Showing papers on "Guidance system published in 1994"

Driver preference responsive 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 maneuver 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 manoeuver.

Precision guidance system for aircraft launched bombs

Abstract: The disclosure relates to a low cost and highly accurate precision guided system suitable for use in conventional aircraft launched bombs. The system includes a kit mounted upon the nose of the conventional bomb which replaces the conventional fuse disposed in a fuse well, the kit including guidance electronics controlling a self-contained jet reaction device and GPS P-code receiver electronics. The bombs are readied for discharge by signals broadcast from the aircraft into the bomb bay which transfer initial GPS data and commence operation of a gas generator which powers the jet reaction device.

Multi-mode route guidance system and method therefor

Abstract: A multi-mode route guidance system and a corresponding method for same include a device to determine a present position, and an input device (111) for inputting a destination position. A map database (115) provides memory capable of storing a first type of record (225) that has topology and connectivity information (227), and a second type of record (217) that has topology, connectivity, and traffic flow restriction information (227, 229). A route guidance device (101) retrieves selected records (217, 219, 221, 223, 225) from the map database (115), determined by the specified destination position and the present position of a traveler. The route guidance device (101) uses a selected record of the first type (225) to provide ground track guidance cues (601) to the traveler, and a selected record of the second type (217) to provide maneuver instruction guidance cues (501) to the traveler.

Computer imaging system and method for remote in-flight aircraft refueling

Abstract: A visual guidance system and method includes a subsystem which both locates the aircraft and mating structures thereof and also determines their motion and their rate of change of motion The locating subsystem has an electrical output which feeds the location and motion data to a guidance system computer which utilizes software which combines the data with other data in a database containing the dimensional size and configuration of the aircraft and mating structures The combined data is converted to a suitable form and fed to the computer monitor which displays the aircraft and mating structures thereof in real time during the refueling operation The computer and computer monitor are provided with image controls which allow the operator to select the perspective viewing angle as well as the image contrast and color in order to enhance the visual cues provided by the image and facilitate the refueling operation

Probability-based decision making for automated highway driving

Abstract: Real-time, rule-based guidance systems for autonomous vehicles on limited-access highways are investigated. The goal of these systems is to plan trajectories that are safe, while satisfying the driver's requests based on stochastic information about the vehicle state and the surrounding traffic. A rule-based system is used for high-level planning. Given a stochastic model of the traffic situation driven by current measurements, the probable evolution of traffic and the best trajectory to follow are predicted. Simulation results assess the impact of uncertain knowledge of traffic on the performance of the guidance system, showing that uncertainty can and must be taken into account. >

Robot vision using target holes, corners and other object features

Abstract: A method and apparatus uses naturally occurring object features as targets in a machine vision based robot (or other) guidance system. In one embodiment, a special high speed processor finds at least 3 pre-selected feature points on an object, which when considered with the data base for the object, allows a rapid 6 degree of freedom solution for the object location relative to the camera and thence connected automation. While primarily envisioned for industrial robots, the invention is useful for all sorts of machines including vehicles, construction machinery and the like--anywhere the target object has a known data base relative to the features in question.

Orientation estimate for mobile robots using gyroscopic information

Abstract: An error model for a solid-state gyroscope developed previously by the authors is included in a Kalman filter for improving the orientation estimate of a mobile robot. Orientation measurement with the error model is compared to the performance when no error model is incorporated in the system. The results demonstrate that without error compensation, the error in localization is between 5-15/spl deg//min but can be improved by a factor of 5 to 7 if an adequate error model is supplied. Results from tests of this gyroscope on a large outdoor mobile robot system are described and compared to the results obtained from the robot's own radar-based guidance system. Like all inertial systems, the platform requires additional information from some absolute position sensing mechanism to overcome long-term drift. However, the results show that with careful and detailed modelling of error sources, low cost inertial devices can provide valuable orientation and position information particularly for outdoor mobile robot applications. >

Camera guidance system

Abstract: A camera guidance system uses multiple GPSs distributed on the camera-supporting platform and on the cameras' target, to automatically point the cameras and the antennas conveying video signals to a receiver.

Three dimensional imaging millimeter wave tracking and guidance system

Abstract: An improved imaging system. The inventive imaging system (10) is adapted to transmit a plurality of first radar signals at millimeter wave frequencies at an area including an object along with background clutter. The return signals are processed to provide a three dimensional image for applications demanding visibility through fog, haze, smoke and other obscurants. Such applications include enhanced vision for helicopters, ships, buses, trucks, traffic observation stations for an intelligent highway or security cameras for plants and military installations. In a guidance system application, for example, the inventive system would include an electronically scanning antenna (12) to provide range and amplitude signals representative of a target area. The range and amplitude signals (18, 20) are compared to stored signals (26, 30) to create the three dimensional image. The stored signals are selected for comparison based on the dive angle of the missile (28, 32). The three dimensional image is then processed (22, 24, 34, 36, 38, 40) to derive guidance commands for the missile.

Effectiveness of the Parking Guidance System in Frankfurt am Main

Abstract: Information systems based on variable message signs are used extensively in the urban context in parking guidance and information (PGI) systems and in the highway context in variable direction signing or variable speed control systems. This paper reports the findings of a study focusing in particular on the impact of the PGI system on parking search behavior, based on a series of surveys performed before and after the installation of the system. The PGI system and its setting is described briefly, and surveys performed are discussed and their results are presented. Finally, the conclusions and policy implications are highlighted.

Advanced homing guidance system and method

Abstract: A guidance system for directing a vehicle toward a target which includes a measurement processing section, a target state estimator, and a command processing section. The measurement processing section determines the inertial orientation and length of a line-of-sight vector which conceptually connects the vehicle with the target from measurements taken by a plurality of sensors. The target state estimator provides an estimation of the speed and angular aspect of the target relative to line-of-sight vector, by relating the vehicle and the target to each other through a mechanical conceptualization. This mechanical conceptualization treats the line-of-sight as a collapsible rod which is connected at one end through a mechanical gimbal set, and connected at the other end through a universal joint with four degrees of freedom. The command processing section generates command signals for the autopilot of the vehicle. These command signals seek to minimize the angular difference between the relative velocity vector of the vehicle with respect to the target and the line-of-sight vector to the target.

Satellite antenna with adjustment guidance system

Abstract: A satellite dish antenna for receiving a broadcast signal from a satellite includes a low noise block which receives the signal reflected from the dish and provides a human-perceptible guidance signal, such as a sequence of beep tones, to aid an individual in properly orienting the satellite dish with respect to the satellite. A time interval between the beep tones is varied in dependence on the strength of the broadcast signal received at the low noise block. A circuit for providing the guidance signal is activated by a non-contact switch, such as a magnetic lead switch. A magnet is movably mounted on the surface of the low noise block for selectively activating and deactivating the guidance signal circuit.

The Analysis of a Generic Air-to-Air Missile Simulation Model

Abstract: A generic missile model was developed to evaluate the benefits of using a dynamic missile fly-out simulation system versus a static missile launch envelope system for air-to-air combat simulation. This paper examines the performance of a launch envelope model and a missile fly-out model. The launch envelope model bases its probability of killing the target aircraft on the target aircraft9s position at the launch time of the weapon. The benefits gained from a launch envelope model are the simplicity of implementation and the minimal computational overhead required. A missile fly-out model takes into account the physical characteristics of the missile as it simulates the guidance, propulsion, and movement of the missile. The missile9s probability of kill is based on the missile miss distance (or the minimum distance between the missile and the target aircraft). The problems associated with this method of modeling are a larger computational overhead, the additional complexity required to determine the missile miss distance, and the additional complexity of determining the reason(s) the missile missed the target. This paper evaluates the two methods and compares the results of running each method on a comprehensive set of test conditions.

Simulation study of driving performance with selected route guidance systems

Abstract: Experiments were conducted in a driving simulator developed by the Hughes Aircraft Corporation to study the human factors aspects of route guidance systems. The primary objective of this research was to study how in-vehicle route guidance system attributes, driver characteristics, and traffic conditions affect driving performance. Four types of route guidance systems were tested. They are: (1) Paper Map, (2) Heads Down Electronic Map, (3) Heads Up Display (HUD) in combination with Electronic Map, and (4) Voice Guidance in combination with Electronic Map. Data were collected for a total of 18 subjects, 9 male and 9 female. All subjects were tested in all four route guidance systems. The following performance measures were collected in the simulator: Number of Navigation Errors and Reaction times to external events. Apart from these, an unobstrusive eye tracker was also used to monitor eye fixations. Data were also collected on driver preferences and subjective workload associated with each of the four route guidance systems. The results of the study can be summarized as follows: (a) Subjective workload, user perceptions, eye tracker dwelling times, and number of errors all indicated that the voice guidance/electronic map combination performed the best, and the paper map the worst. The electronic map was found to be the second best, closely followed by the HUD electronic map. (b) The reaction time modelling yielded slightly different device performance depending on the event being reacted to. The heads up display/electronic map combination performed much better in comparison to its performance in the other performance measures, with voice/electronic map also doing well. The paper map again consistently performed the worst. (c) Driving performance did vary with gender and experience. Not surprisingly, drivers with higher experience performed better than drivers with lower experience. This effect was more prominent among females than males.

Trajectory planning and optimal tracking for an industrial mobile robot

Abstract: This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems The tracking performance of the proposed guidance system is analyzed by simulation

Self-initializing internal guidance system and method for a missile

Abstract: A guidance system for internally controlling the flight path of a missile includes a guidance platform having dispersion control means mounted on the guidance platform for detecting acceleration of the missile due to lift and side forces. The dispersion control means includes dispersion detection means to calculate the velocity and position errors relative to a drag-only trajectory from the detected acceleration due to the lift and side forces. The internal guidance system also includes missile positioning means for controlling the position of the missile platform to substantially eliminate the velocity and position errors. The guidance system also includes level finding means for determining a substantially horizontal level axis and the orientation of the missile relative to a level axis. The missile positioning means also performs other functions such as missile leveling in which the wings-level axis of the missile is aligned to the level axis. Accordingly, the position of a free-falling missile may be internally controlled to increase the targeting accuracy of the missile without initialization of the missile from the launch platform.

Application of head-up displays for in-vehicle navigation/route guidance

Abstract: The paper first discusses using HUDs for in-vehicle navigation/route guidance systems based on the results of preliminary experiments. It then discusses how and what kinds of information should be displayed by HUDs to assure ease of recognition by the driver. Finally, based on these considerations, a HUD system is proposed as a visual interface for future in-vehicle navigation/route guidance systems. >

Guidance system and information terminal

Abstract: PURPOSE:To easily obtain information of a periphery of a goal and to superimpose the obtained information on a map on a display screen by inputting guidance information inputted from an input means to a display means and superimposing it on the map information to display. CONSTITUTION:When telephoning to a guidance system 10 with a mobile telephone 3, and a target institution is specified to a retrieval part 11, the retrieval part 11 reads out up-to-date guidance information and positional information from a data base 12 to send it. These information from the guidance system 10 arrive at the mobile telephone 3, and are outputted from the mobile telephone 3 to an adaptor 2, and after the information are converted to a data format acceptable by a navigation system 1 in the adaptor 2, to be outputted to the navigation system 1. The navigation system 1 investigates the positional information among the input information, and displays a mark on a relevant point on a picture map. Thereafter, the guidance information are displayed on the screen.

Route guidance system for mounting on vehicle

Abstract: PURPOSE: To prevent a driver from missing a voice guidance operation when a vehicle approaches a crossing in a system which is provided with an audio apparatus for mounting on the vehicle in addition to a navigation system with the voice guidance operation. CONSTITUTION: The present position of an own vehicle is always detected by an angle sensor and a speed sensor for a navigation system 3 or by a GPS receiver 35. A monitoring means inside the navigation system 3 monitors the distance between the position of the own vehicle and a next crossing. When the distance becomes a definite value or lower, it is checked by a discrimination means which discriminates whether the crossing is a specific crossing which is to be guided by a voice. When the crossing is the specific crossing, a navigation controller 31 outputs, via a bus line 6, a control signal by which a sound volume to an audio apparatus is attenuated or made zero, and the voice guidance operation of the crossing is performed. After that, it is confirmed that the voice guidance operation has been finished or that the distance between the present position of the own vehicle and the crossing has become the definite value or higher, the sound volume is restored, a pause is released, and a reproducing operation is restarted.

Experimental optimization of route guidance information using context information

Abstract: Navigation in an unfamiliar area is a very demanding task of the average driver. The support quality of a route guidance system depends strongly on an optimal way of presenting information to the driver. The work described in this paper investigates the extent to which landmark information and the combinations of subsequent decisions improve navigation. Data gathered in a driving simulator and field test show that traffic related context and "chunking" of route guidance information has positive effects on driver behaviour. (A) For the covering abstract see IRRD 868006.

Itinerary indicator and guidance system used with different transport modes

Abstract: The portable route indicator (1) has a permanent internal database (18), a receiver (21), a keyboard (2) to allow data entry, a computer (19) and a display panel (3). As dynamic data relevant to a planned route is received, the route proposed to the user is modified. The portable unit can be plugged into a connector (8) fitted to a motor vehicle, so the itinerary indication stays effective. The unit is positioned immediately ahead of the steering wheel, and activated while the vehicle is running. The mounting in the vehicle can include extra circuits to extend the facilities, offering satellite location, with head-up display and speech synthesis to reduce driver distraction.

The use of route guidance systems by elderly drivers

Abstract: This paper describes on-road trials of two route-guidance systems with samples of drivers aged 65 and over. The results suggest that the availability of navigation systems could be of benefit to a substantial proportion of elderly drivers, particularly in encouraging them to drive to new and unfamiliar places. The effects of using route guidance on driving safety vary at the individual level, but in general do not appear to have a deleterious effect. The variations between the safe driving characteristics of the individual subjects are far larger than the changes induced by using route guidance. (A) For the covering abstract see IRRD 868006.

Neural model reference adaptive control and application to a BTT-CLOS guidance system

Abstract: In this paper a structure for a direct neural adaptive control scheme is proposed, along with a number of possible techniques with which such a controller could be trained. Finally, a case study example is presented in which a direct neural network controller was developed to improve the control of a bank-to-turn, command-to-line-of-sight (BTT-CLOS) missile. Results from simulation studies are presented to demonstrate the effectiveness of the new technique. >

Design and analysis of a Kalman filter for terrain-referenced positioning and guidance

Abstract: Avionic systems that depend on digitized terrain elevation data for guidance generation or navigational reference require accurate absolute and relative distance measurements to the terrain, especially as they approach lower altitudes. This is particularly exacting in low-altitude helicopter missions, where aggressive terrain hugging maneuvering create minimal horizontal and vertical clearances and demand precise terrain positioning. Sole reliance on airborne precision navigation and stored terrain elevation data for above-ground-level (AGL) positioning severely limits the operational altitude of such systems. A Kalman filter is presented which blends radar altimeter returns, precision navigation, and stored terrain elevation data for AGL positioning. The filter is evaluated using low-altitude helicopter flight test data acquired over moderately rugged terrain. The proposed Kalman filter is found to remove large disparities in predicted AGL altitude (i.e., from airborne navigation and terrain elevation data) in the presence of measurement anomalies and dropouts. Previous work suggested a minimum clearance altitude of 220-ft AGL for a near-terrain guidance system; integration of a radar altimeter suggests operation of that system to 50 ft, subject to obstacle-avoidance limitations.

A sonar based obstacle avoidance system for AUVs

Abstract: In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.

Missile guidance seeker and seeker missile countermeasures system testing appartatus with co-location and independent motion of target sources

Abstract: A test system for evaluating the performance of a seeking missile's guidance system under realistic but laboratory-controlled conditions wherein the guidance system is segregated from an actual missile but used to control a multiple degrees of freedom seeker capturing apparatus The multiple degrees of freedom seeker capturing apparatus is allowed to respond to the seeker's commands in simultaneous of the actual missile's responses to such commands The test system also provides for the introduction of countermeasures information to the seeker's input field The test systems may be embodied with the addition of movable elements, eg, infrared sources to a five-axis flight table apparatus and may employ computer control of the test conditions and results evaluation Use of the disclosed system to test improved countermeasures devices against known seeker capabilities is also contemplated

A local guidance method for low-cost mobile robots using fuzzy logic

Abstract: A local guidance control method for wheeled mobile vehicles equipped with low-cost sensors is presented. This method uses fuzzy logic to provide a smooth path which is not necessarily optimal in distance and/or power consumption but allows guidance, obstacle avoidance and docking using few ultrasound sensors. The module that implements this method receives objectives from a Global Path Generation module as points that the robot should pass by at a specified orientation and speed. An important aspect of this method is that it does not require expensive sensors to create a good map of its surrounding because it relies only on range information provided by inexpensive sensors. Using only this range information also provides real-time performance at low cost.