Showing papers on "Guidance system published in 1992"

Integrated Estimation, Guidance, and Control System Design Using Game Theoretic Approach

Abstract: In order to produce a robust coupling between the guidance system and autopilot and improve the target intercept capability, the game theoretic approach is applied to the derivation of an integrated estimation, guidance and control scheme for missile intercept problem. The objective of fomulating the game problem is to find a contoller, combining the guidance law and autopilot controller, which minimizes the final miss distance and the control energy in the worst case of target maneuver and the worst case of measurement uncertainty, and to find an estimator that provides feedback information for autopilot implementation and target tracking information for guidance processing. The controller and estimator obtained from the game theoretic approach form a linear n-dimensional compensator and the controller is solved in closed-form. In a full information and nonmaneuver case, the solution recovers the integrated guidance and control (IGC) law designed by using the linear quadratic optimal approach as presented in [Lin and Yueh, 1984(a)-(c); Yueh and Lin, 1985].

Optical guidance system for underground mine vehicles

Abstract: In underground mines, the operation of loading, hauling, and dumping the ore is a repetitive task, performed by LHD (load-haul-dump) vehicles. The operators of these vehicles are subjected to high levels of noise and vibration, and are exposed to hazardous situations. To improve the safety of operators and their productivity, an optical guidance system adapted to the hostile environment of underground mines has been developed. The physical guideline consists of a high-efficiency optical reflector, and is installed on the back of a mine drift to resist corrosion and frequent blasting. An optical guideline detector, consisting of a camera and an artificial vision system, is used to measure the deviation of the vehicle from the guideline. The performance of the system is analyzed by simulated and by experimental test on a small-scale electric vehicle. Field tests have shown that the optical guidance system has the capability to guide vehicles in a mining environment. >

Travelguide - ontario's route guidance system demonstration

Abstract: The Ministry of Transportation, Ontario, is actively pursuing the assessment and possible development of TravElGuide, a route guidance system that will offer most of the benefits of more advanced systems but at significantly lower cost. The present concept includes a portable device that provides advice to the driver on the route to take from his current position to this destination based on real-time traffic information. Transit users can find out about the expected arrival time of buses at their stop. The system does not include an on-board vehicle location or navigation capability but rather relies on the driver to act as the navigator. This significantly reduces cost without significantly sacrificing functionality. This paper provides a brief overview of route guidance systems, describes the TravElGuide concept and compares it against route guidance systems in operation or under development elsewhere.

Interactive user modeling: An integrative explicit-implicit approach

Abstract: User modeling issues are examined in the context of a user-adapted guidance system. The system provides users with instructions about natural tasks without introducing a special time-consuming sub-dialog to learn the user's knowledge. A model for providing such guidance is developed on the basis of a phenomenological analysis of human guidance, and illustrated by a system that gives directions in geographical domains. The main features of the user model design include: (1) Bothimplicit andexplicit acquisition methods are employed in a flexible manner; (2) The guidance instructions and the user model are generated incrementally and interchangeably; (3) User's responses and no-responses are employed as a source of information for the user modeling. The model and the resulting system's performance are examined in light of recent development in the cognitive literature.

Optimum 4D guidance for long flights

Abstract: For long flights of commercial aircraft, the minimum cost flight profile produced by a flight management system (FMS) is significantly affected by the cost index used. In a 4D guidance system the FMS seeks to adjust the cost index to achieve a required time of arrival, but the flight time versus cost index relation for long flight contains discontinuities due to changes in the optimum step climb points. This is especially significant if winds are included in the optimization function. Such discontinuities prevent convergence to some RTA values unless special provisions are made to remove them. An example of a flight case shows a 17-min interval to which no cost index corresponds. The author identifies two types of discontinuities and presents methods for removing them. Removal of discontinuities is absolutely necessary to achieve optimum 4D guidance. >

A New Mobile Robot Guidance System Using Optical Reflectors

Abstract: We present a new guidance system using optical reflectors as landmarks. The advantages of using the reflectors are; (1) easy to identify, (2) inexpensive, (3) easy to set up, and (4) inconspicuous to human. We also present a method to generate and follow smooth paths between the discrete landmarks, and to control a mobile robot in real-time for a smooth and non-stop motion.

Vision‐based obstacle detection for rotorcraft flight

Abstract: An obstacle detection approach to rotorcraft flight is described which is based on feature tracking and recursive range estimation. Flight characteristics are taken into account. A range map derived on the basis of this approach provides an advisory display to the pilot and can serve as input to an automatic obstacle-avoidance guidance system. A NASA CH-47 Chinook helicopter was used to develop an image and rotorcraft flight data base for verification of obstacle detection concepts. The performance of the passive range estimation algorithms is demonstrated using both laboratory image and flight image data.

Modelling The Dynamics Of Route Guidance

Abstract: This paper concentrates on simulation modelling aimed at studying the relative benefits of the dynamic elements of route guidance systems within the two DRIVE projects CARGOES and LLAMD.

Approach guidance in a downburst

Abstract: We present a nonlinear feedback law for safe aircraft penetration through downbursts on landing approach. It is based on following a nominal approach path relative to the ground, subject to a minimum airspeed constraint. The guidance design uses a point-mass aircraft model and considers the flight path to be in the vertical plane. We modify the slack variable transformation method to handle the airspeed constraint and apply the nonlinear dynamic inversion technique for the guidance law synthesis. Nonlinear numerical simulation results are presented for three different downburst histories. The main features of the proposed guidance logic are normal behavior when there is no wind, tracking of the nominal path in the presence of downbursts, and insensitivity to different downburst models. Piloting implications and other aspects of landing approach in downbursts are discussed.

A vehicle route guidance system

Abstract: A vehicle route guidance system considers driver preferences, vehicle parameters such as speed and performance capabilities in a navigation computer, and outputs flexible guidance instructions based on these considerations. The system monitors vehicle parameters such as current location and speed with sensors such as an odometer (109), a compass (115), and a GPS receiver (113). The system also determines the location of a vehicle manoeuvre and then, considering the former attributes with a model free mechanism, in this case a navigation computer with fuzzy inferencing (101), communicates to the driver instructing him how to manoeuvre.

Dynamic Route Guidance And Traffic Management Operation In Germany

Abstract: Presents EURO-SCOUT as a dynamic route guidance and traffic management system in Germany. Covers the following areas: the system architecture, Advanced Transport Telematics (ATT)-DRIVE II field trials, implementation of traffic guidance systems in Germany including collective systems such as variable traffic signs, ARI and RDS/TMC, and individual systems such as EURO-SCOUT

Appraisal of digital terrain elevation data for low-altitude flight

Abstract: The use of terrain elevation databases in advanced guidance and navigation systems has greatly expanded. However, the limitations and accuracies of these databases must be considered and established prior to safe system flight evaluation. A simple approach to quantify reasonable flight limits is presented and evaluated for a helicopter guidance system dependent on a terrain database. The flight test evaluated involved a helicopter equipped with a Global Positioning System (GPS) receiver and radar altimeter, and a ground station GPS receiver which provided improved helicopter positioning. The precision navigation and radar altimeter data was acquired while flying low-altitude missions in south-central Pennsylvania. The aircraft-determined terrain elevations were compared with the terrain predicted by the Defense Mapping Agency (DMA) Level 1 terrain elevation data for the same area. The results suggest a safe set clearance altitude of 220 ft for flight testing of a DMA-based guidance avionic in the same area.

Parking guidance system in Tapiola.

Abstract: Describes a real-time parking guidance system using changeable message signs in the Tapiola commercial center of Espoo, Finland.

PAN-DRIVE: A Vehicle Navigation And Route Guidance System

Abstract: PAN-DRIVE is a vehicle navigation and route guidance system Vehicle position estimation is autonomous and based on deadreckoning and map-matching techniques A routing algorithm generates an itinerary between two map locations by emulating the map topology with a graph and then using advanced techniques to generate the itinerary on the graph A vehicle guidance algorithm provides the driver with all the necessary audio and visual instructions to follow the route suggested by the routing algorithm The paper focuses on a general presentation of the PAN-DRIVE system with specific emphasis on critical design decisions, related to the basic system functionalities: navigation, routing and route guidance PAN-DRIVE is a vehicle navigation and route guidance system based on dead reckoning and map matching techniques The system incorporates both standard and advanced features The basic features include the necessary operations, such as navigation and routing, that guide the driver to any indicated destination using audio and visual insauctions and taking into consideration possible constraints and diverse conditions that may exist These operations are handled by on-board, microprocessor based, units that combine readings from the vehicle sensors and compare the estimated positions with a digital map External aid has been incorporated by the use of fixed locaticri beacons :hat serve primarily for system initialization Advanced features include infonnation and guidance to the closest service or emergency location, such as hospitals, pharmacies, police stations, petrol stations and others, as well as tourist and entertainment information 2 THE COMPONENTS OF THE SYSTEM The PAN-DRIVE system is a real time embedded system The heart of the hardware is based on an Intel 80286 microprocessor running at l6MHz The hardware component also includes four sensors, a radio receiver, a speech unit and a user terminal The software component includes several algorithms, namely, position estimation, routing and guidance, a database management system, a user interface and communication protocols A pictorial block diagram of PAN-DRIVE is shown in Figure 1

Navigation and guidance system for autonomous mobile robots - has sensors for input to neuronal network based controller that has learning capacity to determine direction and motion commands

Abstract: A navigation and guidance system for use with mobile robot units uses inputs from a sensor (10) system mounted on the robot. This can be in the form of TV, radar or IR detectors. An additional sensor provides proximity or range information (12) and can be a laser unit. Both sensor systems provide inputs to a navigation module (14) that is in the form of a neuronal network. The system has a learning capacity and is trained to generate direction and motion commands dependent upon the sensor inputs. The neuronal network is configured as 3 different types providing different classification categories. USE/ADVANTAGE - Uses learning process to determine navigating actions.

Characteristics of Combined Levitation and Guidance EDS Maglev System

Abstract: A levitation method has been introduced which uses 8-shape levitation coils arranged on the vertical surface of the guideway. These coils can act as a guidance means as well as the levitation means. The characteristics of this system are examined using numerical examples and experimental data. The cables connecting right and left coils are not connected to a high-voltage power source unlike the usual guidance system which is combined with propulsion. Thus the electric insulation of the cables is not a problem at present. Numerical examples show that the levitation characteristics of the combined levitation and guidance system are almost the same as in the system without the guidance function, and that it attains reduced running resistance with necessary guidance stiffness obtained. A test run was done at Miyazaki Test Line equipped with coils of this type arranged about 120 m, and the results show stable running and balanced displacement which agrees with calculated values.

Factors affecting the design of dynamic route guidance systems

Abstract: This paper reports on a project studying the fundamental requirements of full scale dynamic route guidance systems. The objectives were to develop a fuller understanding of the most appropriate basis for providing route guidance in a full scale system; develop the fundamental relationships between route guidance, driver response and network performance necessary for the above; develop the analytical tools necessary for establishing and enhancing a full scale route guidance system; and test those methods once the full scale system is introduced in London.

Subsystems for the Extended Range Interceptor (ERINT-1) missile

Abstract: : This paper describes the design and performance of the subsystems being developed and flight tested for the ERINT-1 Missile. The ERINT-1 Program, sponsored by the U.S. Army Strategic Defense Command, consists of the design and flight test of a prototype missile and launch control system for defense against ballistic and maneuvering tactical missiles and aircraft and cruise missiles. The ERINT-1 Missile also has capability against air-breathing aircraft and cruise missiles. The technologies demonstrated by the Flexible, Lightweight, Agile, Guided Experiment (FLAGE) Program and previous ERINT Programs were utilized by the ERINT-1 Program. The performance of the missile is increased to provide intercept capability at higher altitudes and longer ranges than was previously demonstrated by FLAGE. The missile components are redesigned in order to provide packaging commensurate with the small, lightweight, agile missile concept while increasing missile performance. This paper discusses the design, operation, and capability of each of the missile subsystems and those elements of the Launch Control System which have been developed for the Flight Test Program.

Rogus - a simulation of dynamic route guidance systems

Abstract: ROGUS is an acronym for ROute GUidance Simulation and is a suite of programs based around the CONTRAM traffic model This paper provides an overview of ROGUS; it discusses the key aspects of the program; possible outputs, and its current status

The effects of dynamic route guidance in london

Abstract: Advances in technology have enabled dynamic route guidance systems to reach the stage of implementation on the road network. Dynamic route guidance measures vehicle journey times and flows through a road network and calculates and conveys to individual drivers information on the best route to a destination. A small scale trial of route guidance systems has been demonstrated and shown to work satisfactorily in Great Britain (Catling, 1991) and Germany (Sparmann, 1989). This report summarises two studies that estimate the impact of introducing dynamic route guidance to the London area bounded by the M25-orbital motorway. The studies used a large scale traffic assignment computer model (DTp, 1987), and comprised a number of tests with varying proportions of guided traffic. The tests included: estimates of the benefits for guided and unguided traffic in the peak period and the inter-peak period, the effect of increased traffic demand on the network, the restriction of guided traffic to strategic sub- networks, and potential accident cost savings. (A)

Air navigation systems

Abstract: A terrain contour matching guidance system which incorporates a sideways-looking radar beam 4 in contrast to the vertically downwardly directed beams of conventional systems The invention allows more precise navigation along valleys and over built-up areas

High speed missile inertial reference optical support and re-initialising system - derives alignment error estimates from comparison of outputs of video camera sensors of reference points located on launcher with values from guidance system

Abstract: Sensors mounted on the missile body detect reference points with known coordinates. The missile body's orientation is derived from the sensor signals and compared with that produced by the inertial reference system. Alignment errors estimated from the results of this comparison are used to re-initialise the inertial reference system. The missile body can be fired from a weapon launcher on which the reference points are arranged. In this case the sensors view in the opposite direction to the flight direction. For an unpowered guided weapon system, the guided weapon forms the reference points and a sensor views in the flight direction and responds to the reference points on the weapon. ADVANTAGE - Ensures highly accurate alignment of inertial reference system nd hence targeting reliability.

Autonomous moving machine and apparatus and method for controlling moving machine

Abstract: PURPOSE: To enable a moving machine to securely avoid an obstacle through its smooth movement irrelevantly to the number of obstacles encountered when the moving machine follows a route and whether an obstacle moves or not. CONSTITUTION: An intermediate value of control output is generated by a route follow-up guidance system with a signal indicating the deviation from the route to be followed, and also generated by an obstacle avoiding guidance system with a signal relating to the movable space of the machine. Weight coefficients corresponding to the two systems are generated through fuzzy inference based upon the signal indicating the deviation from the specific route and the signal relating to the movable space of the machine. A final control output value is calculated from the two intermediate values and two weight coefficients.

The synthesis of dynamic route guidance and urban traffic control

Abstract: Summarizes the findings of the DRIVE project CARGOES, which for the past three years has been investigating the integration of infrastructure-based dynamic route guidance systems with existing forms of urban traffic control. The behavioral and ergonomic aspects of route guidance have also been investigated. The performance of different levels of integration has been studied for various types of dynamic route guidance, ranging from centralized to distributed. Additionally, various types of urban traffic control, ranging from fixed time to traffic responsive, have also been investigated.

Wideband control of gyro/accelerometer multisensors in a strapdown guidance system

Abstract: This paper describes an inertial measurement unit based on three dry tuned gyroscopes, two of which are unbalanced. This configuration, without the three usual accelerometers, leads to savings in space, weight, and cost that are necessary in guidance systems for agile missiles. Design objectives are wideband estimation of angular rate and linear acceleration applied to the inertial measurement unit together with high stiffness of caging loops. The contribution of this paper is to show how to address the coupled high-frequency dynamics of the six measurement outputs of the system, by applying the so-called linear quadratic Gaussian technique. First the linearized model of the rotor motion of each dry-tuned gyroscope is derived from a mechanical analysis. Then the design of the controller/estimator is described. Performances are illustrated with test data.

Experimental sutdies for toyota voice route guidance using beacon

Abstract: This paper describes the experimental studies for a voice route guidance function using assumptive Beacon functions in Toyota and Nippondenso. It also reports on the effectiveness from the results of actual road tests on safety in Nagoya City, Japan. The development of the Toyota Voice Route Guidance System has the following key elements in the design requirements: (1) accurate timing at the beginning of voice guidance; (2) interactive voice generation methodology; (3) linkage with appropriate landmarks in a driver's view.

Dynamic route guidance and traffic management operations.

Abstract: This paper focuses on the dynamic route guidance system EURO-SCOUT and describes its applications in DRIVE II field trials.