Distributed data fusion algorithms for inertial network systems

New approaches to the development of data fusion algorithms for inertial network systems are described. The aim of this development is to increase the accuracy of estimates of inertial state vectors in all the network nodes, including the navigation states, and also to improve the fault tolerance of inertial network systems. An analysis of distributed inertial sensing models is presented and new distributed data fusion algorithms are developed for inertial network systems. The distributed data fusion algorithm comprises two steps: inertial measurement fusion and state fusion. The inertial measurement fusion allows each node to assimilate all the inertial measurements from an inertial network system, which can improve the performance of inertial sensor failure detection and isolation algorithms by providing more information. The state fusion further increases the accuracy and enhances the integrity of the local inertial states and navigation state estimates. The simulation results show that the two-step fusion procedure overcomes the disadvantages of traditional inertial sensor alignment procedures. The slave inertial nodes can be accurately aligned to the master node

AUV SLAM and experiments using a mechanical scanning forward-looking sonar

Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods

Disproportionate Frequency Representation in the Inferior Colliculus of Doppler-Compensating Greater Horseshoe Bats. Evidence for an Acoustic Fovea

1. The inferior colliculus of 8 Greater Horseshoe bats (Rhinolophus ferrumequinun) was systematically sampled with electrode penetrations covering the entire volume of the nucleus. The best frequencies and intensity thresholds for pure tones (Fig. 2) were determined for 591 neurons. The locations of the electrode penetrations within the inferior colliculus were histologically verified. 2. About 50% of all neurons encountered had best frequencies (BF) in the frequency range between 78 and 88 kHz (Table 1, Fig. 1A). Within this frequency range the BFs between 83.0 and 84.5 kHz were overrepresented with 16.3% of the total population of neurons (Fig. 1B). The frequencies of the constant frequency components of the echoes fall into this frequency range. 3. The representation of BFs expressed as number of neurons per octave shows a striking correspondence to the nonuniform innervation density in the afferent innervation of the basilar membrane (Bruns and Schmieszek, in press). The high innervation density of the basilar membrane in the frequency band between 83 and 84.5 kHz coincides with the maximum of the distribution of number of neurons per octave across frequency in the inferior colliculus (Fig. 1 C). 4. The disproportionate representation of frequencies in the auditory system of the greater horseshoe bat is described as an acoustical fovea functioning in analogy to the fovea in the visual system. The functional importance of the Doppler-shift compensation for such a foveal mechanism in the auditory system of horseshoe bats is related to that of tracking eye movements in the visual system

Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staf

Bathymetric Artifacts in Sea Beam Data: How to Recognize Them and What Causes Them

Sea Beam multibeam bathymetric data have greatly advanced understanding of the deep seafloor. However, several types of bathymetric artifacts have been identified in Sea Beam\u27s contoured output. Surveys with many overlapping swaths and digital recording on magnetic tape of Sea Beam\u27s 16 acoustic returns made it possible to evaluate actual system performance. The artifacts are not due to the contouring algorithm used. Rather, they result from errors in echo detection and processing. These errors are due to internal factors such as side lobe interference, bottom-tracking gate malfunctions, or external interference from other sound sources (e.g., 3.5 kHz echo sounders or seismic sound sources). Although many artifacts are obviously spurious and would be disregarded, some (particularly the omega effects described in this paper) are more subtle and could mislead the unwary observer. Artifacts observed could be mistaken for volcanic constructs, abyssal hill trends, hydrothermal mounds, slump blocks, or channels and could seriously affect volcanic, tectonic, or sedimentological interpretations. Misinterpretation of these artifacts may result in positioning errors when seafloor bathymetry is used to navigate the ship. Considering these possible geological misinterpretations, a clear understanding of the Sea Beam system\u27s capabilities and limitations is deemed essential

Computationally effective range migration compensation in PCL systems for maritime surveillance

In this paper, we consider the possibility of extending the coherent processing interval (CPI) as a way to improve target detection capability in passive radars for maritime surveillance applications. Despite the low velocity of the considered targets, range walk effects could limit the performance of the system when long CPIs are considered. To overcome these limitations while keeping the computational load controlled, we resort to a sub-optimal implementation of the Keystone Transform (KT), based on Lagrange polynomial interpolation, recently presented by the authors and successfully applied against aerial targets. Following those promising results, we extend the proposed approach to a coastal surveillance scenario. In the considered case, since longer CPI values are used, the proposed strategy appears to be even more attractive with respect to a conventional KT implementation based on the Chirp-Z Transform interpolation. In fact, comparable detection performance are obtained with a remarkable computational load saving. In detail, the effectiveness of the proposed approach is demonstrated against experimental data provided by Leonardo S.p.A., using a DVB-T based passive radar

Implementation of a coherent real-time noise radar system

The utilisation of continuous random waveforms for radar, that is, noise radar, has been extensively studied as a candidate for low probability of intercept operation. However, compared with the more traditional pulse-Doppler radar, noise radar systems are significantly more complicated to implement, which is likely why few systems exist. If noise radar systems are to see the light of day, system design, implementation, limitations etc., must be investigated. Therefore, the authors examine and detail the implementation of a real-time noise radar system on a field programmable gate array. The system is capable of operating with 100% duty cycle, 200\ua0MHz bandwidth, and 268\ua0ms integration time while processing a range of about 8.5\ua0km. Additionally, the system can perform real-time moving target compensation to reduce cell migration. System performance is primarily limited by the memory bandwidth of the off-chip dynamic random access memory