Absolute Positioning Using the Earth\u27s Magnetic Anomaly Field

Achieving worldwide alternatives to GPS is a challenging engineering problem. Current GPS alternatives often suffer from limitations such as where and when the systems can operate. Navigation using the Earth\u27s magnetic anomaly field, which is globally available at all times, shows promise to overcome many of these limitations. We present a navigation filter which uses the Earth\u27s magnetic anomaly field as a navigation signal to aid an inertial navigation system (INS) in an aircraft. The filter utilizes highly-accurate optically pumped cesium (OPC) magnetometers to make scalar measurements of the Earth\u27s magnetic field and compare them to a map using a marginalized particle filter approach. We demonstrate navigation accuracy of 13 meters DRMS with a high quality magnetic anomaly map at low altitudes with real flight data. We conduct a simulation over the continental United States to predict accuracies with respect to variables like location and altitude. Finally, we address the problem of map availability by presenting a method for a self-building magnetic anomaly model

Towards a robust slam framework for resilient AUV navigation

Autonomous Underwater Vehicles (AUVs) are playing an increasing part in modern navies, to the point that the control of oceans will soon be decided by their strategic use. In face of more complex missions occurring in potentially hostile environments, the resilience of such systems becomes critical. In this study, we investigate the following scenario: how does a lone AUV could recover from a temporary breakdown that has created a gap in its measurements, while remaining beneath the surface to avoid detection? It is assumed that the AUV is equipped with an active sonar and is operating in an uncharted area. The vehicle has to rely on itself by recovering its location using a Simultaneous Localization and Mapping (SLAM) algorithm. While SLAM is widely investigated and developed in the case of aerial and terrestrial robotics, the nature of the poorly structured underwater environment dramatically challenges its effectiveness. To address such a complex problem, the usual side scan sonar data association techniques are investigated under a global registration problem while applying robust graph SLAM modelling. In particular, ways to improve the global detection of features from sonar mosaic region patches that react well to the MICR similarity measure are discussed. The main contribution of this study is centered on a novel data processing framework that is able to generate different graph topologies using robust SLAM techniques. One of its advantages is to facilitate the testing of different modelling hypotheses to tackle the data gap following the temporary breakdown and make the most of the limited available information. Several research perspectives related to this framework are discussed. Notably, the possibility to further extend the proposed framework to heterogeneous datasets and the opportunity to accelerate the recovery process by inferring information about the breakdown using machine learning.PH

Feature relative navigation for automous underwater vehicles

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1997.Includes bibliographical references (leaves 184-196).by Andrew Arnold Bennett.Ph.D

Aeronautical engineering: A cumulative index to a continuing bibliography (supplement 274)

This publication is a cumulative index to the abstracts contained in supplements 262 through 273 of Aeronautical Engineering: A Continuing Bibliography. The bibliographic series is compiled through the cooperative efforts of the American Institute of Aeronautics and Astronautics (AIAA) and the National Aeronautics and Space Administration (NASA). Seven indexes are included: subject, personal author, corporate source, foreign technology, contract number, report number, and accession number

Multimetal smithing : An urban craft in rural settings?

Multimetal smithing should be defined as the use of more than one metal and/or different metalworking techniques within thesame crafts-milieu. This complex metalworking has long been linked to centrality, central places and urbanity in Scandinavia.It has been extensively argued that fine casting and smithing, as well as manufacture utilizing precious metals was exclusivelyundertaken within early urban settings or the “central places” pre-dating these. Furthermore, the presence of complex metalcraftsmanship has been used as a driving indicator of the political, social and economic superiority of certain sites, therebyenhancing their identity as “centralities”.Recent research has come to challenge the universality of this link between urbanity, centrality and complex metalworkingas sites in rural settings with evidence of multimetal smithing are being identified. This shows that the relationship between thecraft and centrality (urbanity) must be nuanced and that perhaps multimetal craftsmanship should be reconsidered as an urbanindicator.The thesis project “From Crucible and onto Anvil” started in 2015 and focuses on sites housing remains of multimetalcraftsmanship dating primarily from 500-1000 AD. Within the project a comprehensive survey of sites will be used to evaluate thepresence of multimetal craftsmanship in the landscape. Sites in selected target areas will also be subject to intra-site analysisfocusing on workshop organisation, production output, metalworking techniques and chronological variances.A key aim in the project is to elucidate the conceptual aspects of complex metalworking. The term multimetality is used toanalytically frame all the societal and economic aspects of multimetal craftsmanship. Through this inclusive perspective both thecraftsmanship and the metalworkers behind it are positioned within the overall socioeconomic framework. The metalworkers,their skills and competences as well as the products of their labour are viewed as dynamic actors in the landscape and on thearenas of political economy of the Late Iron Age.The survey has already revealed interesting aspects concerning multimetal smithing and urbanity. Although the multimetalsites do cluster against areas of early urban development there are also other patterns emerging. Multimetal craftsmanship – both as practice and concept – was well represented in both rural peripheral settings and urban crafts-milieus. This means that therole of multimetality as part of an “urban conceptual package” is crucial to investigate. Such an approach will have the dual endsof properly understanding the craft and its societal implications, but also further the knowledge of the phenomenon of urbanityas a whole. Was multimetal smithing part of an “urban package” that spread into the rural landscape? Did the multimetality differbetween urban and rural crafts-milieus? How does early urbanity relate to the chronology of multimetal craftsmanship?This paper aims to counter these questions using examples from the survey of multimetal sites conducted within the thesisproject. A comparison between selected sites will be presented. The purpose of this is to evaluate the role of multimetality withinthe “urban package” and discuss the role of complex metalworking in the establishment of urban arenas of interaction in LateIron Age Scandinavia