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Showing papers on "Guidance system published in 2009"


Book
25 May 2009
TL;DR: In this article, the reduction in the performance of a UAV was evaluated by using a nonlinear aircraft model and nonlinear fault detection and isolation system, with the aim of reducing the flight time of the UAV.
Abstract: Review.- Nonlinear Aircraft Model.- Nonlinear Fault Detection and Isolation System.- Control Allocation.- Nonlinear Control Design.- Autopilot for the Longitudinal Motion.- Autopilot for the Lateral Motion.- Reconfigurable Guidance System.- Evaluation of the Reduction in the Performance of a UAV.- Conclusions and Outlook.

254 citations


Journal ArticleDOI
TL;DR: In this article, a new guidance law with finite convergent time is proposed, based on new sufficient conditions derived in this paper for the finite time convergence of the line-of-sight angular rate.
Abstract: Conventional guidance laws are designed based on Lyapunov theorems on asymptotic stability or exponential stability. They will guide the line-of-sight angular rate to converge to zero or its small neighborhood, however, only as time approaches infinity. In this paper, new guidance laws with finite convergent time are proposed. The guidance laws are obtained based on new sufficient conditions derived in this paper for the finite time convergence of the line-of-sight angular rate. It is proved that, with the guidance laws, the line-of-sight angular rate will converge to zero or a small neighborhood of zero before the final time of the guidance process. Furthermore, such guidance laws will ensure finite time convergence and finite time stability in both the planar and three-dimensional environments. Simulation results show that the guidance laws are highly effective.

248 citations



Patent
28 Apr 2009
TL;DR: In this article, a method and system for automatically loading and unloading a transport is described, where a guidance system follows a travel path to a position near the transport and then a sensor profiles a transport so that a transport path is determined for an AGV to follow into the transport to place a load and for exiting the transport upon placement of the load.
Abstract: A method and system for automatically loading and unloading a transport is disclosed. A guidance system follows a travel path to a position near the transport and then a sensor profiles a transport so that a transport path is determined for an AGV to follow into the transport to place a load and for exiting the transport upon placement of the load.

195 citations


Journal ArticleDOI
TL;DR: Li et al. as mentioned in this paper proposed a conceptual framework of an agricultural vehicle autonomous guidance system, and then analyzed its device characteristics such as navigation sensors, computational methods, navigation planners and steering controllers.
Abstract: A brief review of research in agricultural vehicle guidance technologies is presented. The authors propose the conceptual framework of an agricultural vehicle autonomous guidance system, and then analyze its device characteristics. This paper introduces navigation sensors, computational methods, navigation planners and steering controllers. Sensors include global positioning systems (GPS), machine vision, dead-reckoning sensors, laser-based sensors, inertial sensors and geomagnetic direction sensors. Computational methods for sensor information are used to extract features and fuse data. Planners generate movement information to supply control algorithms. Actuators transform guidance information into changes in position and direction. A number of prototype guidance systems have been developed but have not yet proceeded to commercialization. GPS and machine vision fused together or one fused with another auxiliary technology is becoming the trend development for agricultural vehicle guidance systems. Application of new popular robotic technologies will augment the realization of agricultural vehicle automation in the future. Keywords: agricultural vehicle, guidance, machine vision, GPS DOI: 10.3965/j.issn.1934-6344.2009.03.001-016 Citation: Ming Li, Kenji Imou, Katsuhiro Wakabayashi, Shinya Yokoyama. Review of research on agricultural vehicle autonomous guidance. Int J Agric & Biol Eng, 2009; 2(3): 1

148 citations


Book ChapterDOI
01 Jan 2009
TL;DR: In this paper, the authors consider the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles, and define the control objectives associated with each scenario as work-space tasks instead of configurationspace tasks.
Abstract: A mix between a monograph and an article collection, this PhD thesis considers the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles. The motion control scheme is defined to involve the combination of a guidance system which issues meaningful velocity commands with a velocity control system which has been specifically designed to take vehicle maneuverability and agility constraints into account when fulfilling these commands such that a given motion control objective can be achieved in a controlled and feasible manner without driving the vehicle actuators to saturation. Furthermore, motion control scenarios are classified in a novel way according to whether they involve desired motion which has been defined a priori or not. Consequently, in addition to the classical scenarios of point stabilization, trajectory tracking, path following and maneuvering, the so-called target tracking scenario is considered. The resulting scenarios then involve target tracking, path following, path tracking and path maneuvering. In addition, it is proposed to define the control objectives associated with each scenario as work-space tasks instead of configurationspace tasks. Such a choice seems better suited for practical applications, since most vehicles operate in an underactuated configuration exposed to some kind of environmental disturbances. The thesis also proposes a novel mechanization of constant bearing guidance, which is a classical guidance principle well-known in the guided missile literature. This suggestion is motivated by a need to solve the target tracking motion control objective for marine vehicles. The proposed implementation enables explicit specification of the transient rendezvous behavior toward the target by selection of two intuitive tuning parameters. In addition, a singularity-free guidance law applicable to path following scenarios involving regularly parameterized paths which do not need to be arc-length parameterized is proposed. An extension to this guidance law is also suggested in order to enable off-path traversing of regularly parameterized paths for formation control purposes. A novel velocity control system which inherently takes maneuverability, agility and actuator constraints into account is developed for the purpose of controlling underactuated marine vehicles moving at high speed. The system is derived through a design method which involves a control-oriented modeling approach and requires a minimum of system identification tests to be carried out. The thesis also gives a novel overview of the major developments in marine control systems as seen from a Norwegian perspective. The development can be viewed as three waves of control, where the first wave concerned development of novel ship automation technology in the 1960s and 1970s, the second wave involved development of unique dynamic positioning systems in the 1970s and 1980s, while the third wave is expected to encompass the development of unmanned vehicle technology for a large number of maritime applications. A summary of the historical development, present status and future possibilities associated with unmanned surface vehicles (USVs) is also given. Current Norwegian activities are particularly emphasized. Furthermore, an overview of the main formation control concepts applicable to marine surface vehicles is given. A novel formation control functionality named coordinated target tracking is subsequently suggested within a leader-follower framework. Employing a guided motion control system using the suggested mechanization of constant bearing guidance, this functionality is then implemented for two different types of underactuated USVs such that they are able to move in formation with a leader vessel which can maneuver freely without being constrained to any predefined motion pattern. In particular, excerpts from successful full-scale formation control experiments involving a manned leader vessel and the two USVs executing coordinated target tracking at high speed are presented. This functionality currently seems to be unique on a worldwide basis, providing a convenient plug-and-play formation control capability for manned leader vessels involved in maritime survey operations.

136 citations


Patent
08 May 2009
TL;DR: In this paper, a swarm of independent UAVs is used to inspect a portion of a structure as it executes its respective operating program, where each UAV may be programmed with an operating program that defines a path of travel for it, relative to a structure to be inspected.
Abstract: A method for inspecting structures that includes using a plurality of independent unmanned mobile vehicles. The unmanned mobile vehicles are equipped with a control and guidance system for enabling each unmanned mobile vehicle to operate autonomously. Each unmanned mobile vehicle may be programmed with an operating program that defines a path of travel for it, relative to a structure to be inspected. The unmanned mobile vehicles are deployed so that they cooperatively form a swarm that travels about the structure. At least one of said unmanned mobile vehicles is used to obtain inspection data of a portion of the structure as it executes its respective operating program.

92 citations


Journal ArticleDOI
30 Mar 2009
TL;DR: A new adaptive guidance system for robotic walkers has been developed that is able to lead the walking aid user to a given target while considering his inputs during guidance and adapting the path respectively.
Abstract: In the last years, several robotic walking aids to assist elderly users with mobility constraints and thus to react to the growing number of elderly persons in our society have been developed. In order to ensure good support for the user, the robotic walker should adapt to the motion of the user while at the same time not losing the target out of sight. Even though some of the existing active robotic walkers are able to guide their user to a target, during guidance, the input of the user is not considered sufficiently. Therefore a new adaptive guidance system for robotic walkers has been developed. It is able to lead the walking aid user to a given target while considering his inputs during guidance and adapting the path respectively. The guidance system has been implemented on the mobile robot assistant Care-O-bot II and a field test was done in an old people’s residence proving the correct function and usefulness of the guidance system.

71 citations


Journal ArticleDOI
TL;DR: In this article, a fuzzy logic enhanced Kalman filter was developed to fuse the information from machine vision, laser radar, IMU, and speed sensor for guiding an autonomous vehicle through citrus grove alleyways.
Abstract: This article discusses the development of a sensor fusion system for guiding an autonomous vehicle through citrus grove alleyways. The sensor system for path finding consists of machine vision and laser radar. An inertial measurement unit (IMU) is used for detecting the tilt of the vehicle, and a speed sensor is used to find the travel speed. A fuzzy logic enhanced Kalman filter was developed to fuse the information from machine vision, laser radar, IMU, and speed sensor. The fused information is used to guide a vehicle. The algorithm was simulated and then implemented on a tractor guidance system. The guidance system's ability to navigate the vehicle at the middle of the path was first tested in a test path. Average errors of 1.9 cm at 3.1 m s -1 and 1.5 cm at 1.8 m s -1 were observed in the tests. A comparison was made between guiding the vehicle using the sensors independently and using fusion. Guidance based on sensor fusion was found to be more accurate than guidance using independent sensors. The guidance system was then tested in citrus grove alleyways, and average errors of 7.6 cm at 3.1 m s -1 and 9.1 cm at 1.8 m s -1 were observed. Visually, the navigation in the citrus grove alleyway was as good

59 citations


Journal ArticleDOI
TL;DR: A predictive guidance algorithm is developed for a spin-stabilized hit-to-kill guided projectile used as an interceptor against rockets, mortar, and artillery based on a new rapid trajectory prediction algorithm for projectiles fired at high quadrant elevations.
Abstract: In this paper, a predictive guidance algorithm is developed for a spin-stabilized hit-to-kill guided projectile. The projectile is used as an interceptor against rockets, mortar, and artillery. Guidance is based on a new rapid trajectory prediction algorithm for projectiles fired at high quadrant elevations. The interceptor uses lateral pulse jets located near the mass center for control. High spin rates require additional guidance compensation for gyroscopic effects when compared to a fin-stabilized projectile. The probability of kill (PK) is evaluated based on typical gun pointing errors, roll angle uncertainty, and target acquisition errors. It is shown that guided interceptors can achieve a 90% PK by using as few as 5 projectiles in the presence of roll, gun pointing, and target errors. It is also shown that, despite sensitivity to errors in gun pointing and target errors, the predictive guidance system is able to achieve an acceptable PK. For a spin-stabilized interceptor, estimated-roll orientation errors may become large. Simulations are performed for errors in the estimated roll, and it is demonstrated that roll does not need to be precisely known for a successful interception.

25 citations


Journal ArticleDOI
TL;DR: The objective of the present Note is to provide answers to questions raised by an extensive simulation study evaluating the validity of the integrated estimation/guidance algorithm of [9] in a set of three-dimensional nonlinear endoatmospheric BMD interception scenarios.
Abstract: S UCCESSFUL interception of maneuvering tactical ballistic missiles (TBM), requiring very small miss distances or even a direct hit, has been a challenging problem since their reintroduction as a terror weapon in the 1991GulfWar. At the Faculty of Aerospace Engineering of the Technion—Israel Institute of Technology, a multiyear research has been conducted investigating the difficulties of effective ballistic missile defense (BMD). It has been aimed to identify and correct the deficiencies of the conservative common practice in the estimation/guidance law design. In the last years, several papers dealing with this yet unsolved problem were published [1–9]. In a recently published work [9], an integrated estimation/guidance design paradigm against randomly maneuvering targets was introduced, based on several innovative concepts that provide robust satisfactory homing performance. The main ideas involved in this revolutionary design concept were developed and tested by using a simplified linearized planar (horizontal) constantspeed model of the interception scenario. A set of Monte Carlo simulations demonstrated that in such scenarios this new approach yields a substantial improvement in homing accuracy, compared with earlier results. The simplified mathematical model of the interception scenario raised two critical questions. The main concern has been whether an algorithm that was developed for a time-invariant planar model will perform well in a realistic endoatmospheric BMD scenario, which is inherently three-dimensional with variable speeds and maneuverability constraints. The other question related to target maneuver types. Because the study in [9] was focused on a single maneuver structure (a bang–bang type with random switching time), can the algorithm deal with other types of feasible target maneuvers? The objective of the present Note is to provide answers to these questions by reporting the results of an extensive simulation study evaluating the validity of the integrated estimation/guidance algorithm of [9] in a set of three-dimensional nonlinear endoatmospheric BMD interception scenarios. The test was performed against two types of the most stressing random target maneuvers: namely, the bang–bang-type with random switching time (used in [9]) and a periodical random-phase maneuver discussed in some recent work [10]. Although an eventual threat can generate other maneuver structures, they will be less effective and therefore less likely. Early distinction between the two types of evasive maneuvering is one of the new elements of this study,modifying the originally planar algorithm of [9] to suit a realistic three-dimensional environment. The limited length of a Technical Note did not allow elaborating on the theory and the underlying mathematics. More details can be found in the references and, in particular, in [9]. The structure of this Note is the following. In the next section, the three-dimensional BMD problem is formulated. In Sec. III, the main elements of the integrated estimation/guidance algorithm used in [9] are summarized and the modifications needed for its application in a realistic three-dimensional BMD are outlined. This is followed by the scenario data, including the generic target and interceptor models used in this validation study. The three-dimensional simulation philosophy and the results of extensive Monte Carlo simulations are presented in Sec.V. Summary and conclusions are offered in Sec.VI.

Patent
25 Feb 2009
TL;DR: In this article, a system for providing integrated guidance for positioning a needle in a body has two levels of guidance: a coarse guidance and a fine guidance, which consists of a non-invasive imaging system for obtaining an image of the biopsy device in the body, for providing the coarse guidance.
Abstract: A system for providing integrated guidance for positioning a needle in a body has two levels of guidance: a coarse guidance and a fine guidance. The system comprises a non-invasive imaging system for obtaining an image of the biopsy device in the body, for providing the coarse guidance. Furthermore, the system comprises an optical element mounted on the needle for obtaining optical information discriminating tissue in the body, for providing the fine guidance.

Journal ArticleDOI
TL;DR: In this article, the authors present the results of a flight simulation system developed for the setup of the vehicle's servos, which their autonomous guidance system, as well as the module for camera photogrammetric image acquisition and synchronization, will be based on.
Abstract: In the last years, unmanned aerial vehicle (UAV) systems have become very attractive for various commercial, industrial, public, scientific, and military operations. Potential tasks include pipeline inspection, dam surveillance, photogrammetric survey, infrastructure maintenance, inspection of flooded areas, fire fighting, terrain monitoring, volcano observations, and any utilization which requires land recognition with cameras or other sensors. The flying capabilities provided by UAVs require a well-trained pilot to be fully and effectively exploited; moreover the flight range of the piloted helicopter is limited to the line-of-sight or the skill of the pilot to detect and follow the orientation of the helicopter. Such issues are even more important considering that the vehicle will carry and operate automatically a camera used for a photogrammetric survey. All this has motivated research and design for autonomous guidance of the vehicle which could both stabilize and guide the helicopter precisely along a reference path. The constant growth of research programs and the technological progress in the field of navigation systems, as denoted by the production of more and more performing global positioning systems integrated with inertial navigation sensors, allowed a strong cost reduction and payload miniaturization, making the design of low-cost UAV platforms more feasible and attractive. In this paper, we present the results of a flight simulation system developed for the setup of the vehicle’s servos, which our autonomous guidance system, as well as the module for camera photogrammetric image acquisition and synchronization, will be based on. Building a simulated environment allows to evaluate in advance what the main issues of a complex control system are to avoid damage of fragile and expensive instruments as the ones mounted on a model helicopter and to test methods for synchronization of the camera with flight parameters.

Book ChapterDOI
01 Jan 2009
TL;DR: The main goal of this chapter is to introduce to the design and working hypotheses for the construction of a low-cost Autonomous Underwater Vehicle (AUV) devoted to pipeline and cable inspections.
Abstract: The main goal of this chapter is to introduce to the design and working hypotheses for the construction of a low-cost Autonomous Underwater Vehicle (AUV) devoted to pipeline and cable inspections. Underwater inspection is mainly necessary on account of the periodic surveys for the preventive maintenance of submarine infrastructure in the off-shore industries. The advantages of doing them with AUVs instead of Remote Operated Vehicles (ROV) or Towed Unmanned Devices (TUD) are low costs and better data quality in the inspection missions. The vehicle presented in this chapter was thought as an experimental platform to test multiple algorithms and to develop new technology, mainly using artificial intelligence techniques. In this sense, its modular architecture tackles the four main needs that should be solved in an autonomous vehicle to perform useful tasks in an unknown and strongly disturbing environment like the underwater world. They are: a) a robust control system to manage nonlinearities and disturbances, b) a precise guidance system to avoid unnecessary time and thus energy consumption, c) an accurate navigation system to determine self and target’s positions, and d) an intelligent dynamic planner proposing the best possible trajectories and actions to successfully reach the mission objectives, based on decisions taken without human intervention. In a comparison with a biological being, the autonomous robot also need some kind of controlled muscles and forces to move, self perception and notion of the surroundings, and a brain to plan actions and movements. In this work, different approaches for all of the aforementioned systems will be presented and thoroughly analyzed at the light of experimental evidence and author’s experience in mobile robots (Fernandez Leon et al., 2008). These experiments comprise computer simulations, hardware in the loop simulation as well as sea trials with the low-cost prototype described in the sequel, which is expected to navigate in the sea up to 100m of depth. O pe n A cc es s D at ab as e w w w .in te ch w eb .o rg

Journal ArticleDOI
TL;DR: This paper studies the guaranteed miss distance in case a missile is guided by proportional navigation, in which the guidance system is subject to bounded target maneuvers and bounded noise and replaces the stochastic approach by a deterministic approach and the root-mean-square miss by the worst (guaranteed) miss.
Abstract: This paper studies the guaranteed miss distance in case a missile is guided by proportional navigation, in which the guidance system is subject to bounded target maneuvers and bounded noise. It extends the results to the case in which the miss distance is the norm of a vector. This enables us to consider the usual miss distance due to target maneuvers combined by several bounded disturbances that act upon the guidance system. This novel approach is valid even in the case in which no statistical information is available. It replaces the stochastic approach by a deterministic approach and the root-mean-square miss by the worst (guaranteed) miss.

Proceedings ArticleDOI
19 Dec 2009
TL;DR: A perception strategy to fill the DEM the most accuratly possible is established and a system based on this perception strategy by the combinaison of vision and rangefinder is proposed.
Abstract: This paper is about environment perception for navigation system in real outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance system's needs. These needs depend on the vehicle capabilities, its dynamical constraints, its speed etc… Starting with the navigation system's needs, we establish a perception strategy to fill the DEM the most accuratly possible. This stategy allows to efficiently improve perception capability (sensors and computation capabilities) of our robot. Then, we proposed a system based on this perception strategy by the combinaison of vision and rangefinder.

Proceedings ArticleDOI
10 Aug 2009
TL;DR: An original analytical expression for the miss distance at intercept is derived and an optimal deployment of the decoy(s) with, and without, performing the so-called vertical-S manoeuvre is studied.
Abstract: Anti-missile defence scenarios for aircraft involves an evasive manoeuvre and the simultaneous deployment of countermeasures to deceive the threat. In this paper both aspects are considered and an original analytical expression for the miss distance at intercept is derived. The evader aircraft has control over (1) its lateral acceleration in order to perform the evasive strategy, and (2) the deployment of its decoys (time of launch and direction of launch). The pursuer missile uses proportional navigation and it needs a fixed time delay to discriminate between the decoy and the target. Planar linear engagement geometries and a first-order guidance system are considered. As an example, simulation cases are presented in order to study the optimal deployment of the decoy(s) with, and without, performing the so-called vertical-S manoeuvre.

Patent
06 Feb 2009
TL;DR: In this article, an underwater guidance system for guiding an underwater vehicle towards a target structure, such as a docking station, was proposed. But the system was not designed for underwater vehicles.
Abstract: The present invention relates to an underwater guidance system for guiding an underwater apparatus, for example an underwater vehicle, towards a target structure, such as a docking station. The system comprises at least one system for capturing or sensing information on the relative position of the apparatus and the target structure and/or at least one imaging system for capturing an image of the target structure and a transmitter for wireless electromagnetic transmission of data indicative of the position information and/or captured image to the underwater apparatus or an underwater apparatus controller.

Proceedings ArticleDOI
10 Aug 2009
TL;DR: In this article, a fault-tolerant model predictive controller is proposed to redistribute the control efforts among healthy actuators, respecting their limitations, in order to smooth the transition between two consecutive navigation legs dened by waypoints.
Abstract: This work presents a novel method of fault-tolerant model predictive control where the response of a reference closed-loop model is followed even in the presence of an actuator fault. This architecture is capable of redistributing, in a stable manner, the control efforts among healthy actuators, respecting their limitations. Also, a constrained guidance system is proposed that considers the calculated limitations of the autopilot as input constraints, in order to smooth the transition between two consecutive navigation legs dened by waypoints. The trajectory tracking system composed of the constrained guidance and the fault-tolerant model predictive controller is demonstrated through numerical simulations and experimental results on the VFW-614 ATTAS (Advanced Technologies Testing Aircraft System), showing adequate performance.

Patent
30 Sep 2009
TL;DR: In this article, a view angle changing apparatus and a method in a three dimensional (3D) route guidance system is provided. But this method is limited to a single view angle.
Abstract: A view angle changing apparatus and view angle changing method in a three dimensional (3D) route guidance system is provided. The view angle changing apparatus includes: a distance information obtaining unit to obtain distance information from a current location to a guide point (GP) of the 3D route guidance system which guides a moving route using a 3D map; a determination unit to determine whether the 3D route guidance system is located within a predetermined distance from the GP based on the distance information; and a view angle changing unit to change a view angle for guiding a route for the GP depending on whether the route guidance system is located within the predetermined distance from the GP.


Journal ArticleDOI
TL;DR: In this paper, a vector field based on a conventional artificial potential field method gives a desired trajectory with a use of existing information from sensors in the network, and a well structured Line-of-Sight method is used for an AUV to follow the path.

Proceedings ArticleDOI
10 Aug 2009
TL;DR: A framework to derive absolute performance metrics based on the idea that many guidance problems have a meaningful formulation as an optimal control problem is introduced, which provides a comprehensive insight into the interrelation of space, optimal behavior, as driven by a user specified performance index.
Abstract: Being able to define and measure the performance of guidance systems is fundamental to their proper development. This task is particularly challenging for unmanned aerial vehicles operating in complex spatial environment like cities or mountains, both of which are operational theaters of predilection. Previous research mainly focuses on relative performance metrics. This paper, introduces a framework to derive absolute metrics. The approach is based on the idea that many guidance problems have a meaningful formulation as an optimal control problem. Hence the idea is that absolute performance metrics can be based on an approximation of the optimal control problem. In the following we approximate the vehicle dynamics using motion primitives. The choice of motion primitives is based on an analysis of the vehicle flight performance based on experimental data. As performance metric, we use the approximate cost-to-go maps and associated optimal states computed via dynamic programming for a cell-based world representation. The cost-to-go map, which can be computed for any environment described by Digital Terrain Elevation Data (DTED), provides a comprehensive insight into the interrelation of space, optimal behavior, as driven by a user specified performance index. The only limitation in the choice of performance index is that it should be a function of attributes of the finite state motion primitives. The paper illustrates the method applied to an unmanned R-MAX helicopter (10ft rotor diameter) operating in the down town of San Francisco. Three performance indexes are analyzed: time, energy and length.


Patent
29 Oct 2009
TL;DR: In this paper, the authors proposed a four-dimensional optimum route guidance system for aircrafts, for all the periods from entering a flight control air area, until leaving therefrom, under conditions by which a plurality of aircrafts will not generate conflict with one another.
Abstract: PROBLEM TO BE SOLVED: To provide a four-dimensional optimum route guidance system of an aircraft for calculating four-dimensional optimum routes for all aircrafts, for all the periods, from entering a flight control air area, until leaving therefrom, under conditions by which a plurality of aircrafts will not generate conflict with one another. SOLUTION: A four-dimensional optimum route guidance system 1 for aircrafts comprises an optimum route calculating device 31 that obtains pieces of aircraft information of a plurality of aircrafts 2, respectively, and calculates each four-dimensional optimum route for each aircraft 2 so that each route cost for the entire period, from the entering of each aircraft 2 into the flight control air area Areal, until leaving therefrom, in a state where the aircraft 2 do not conflict with one another, respectively, for the plurality of aircrafts 2 present in the flight control air area Areal; and a transmitting and receiving device 34 receiving each piece of the aircraft information from the plurality of aircrafts 2, to transmit the aircraft information to the calculation device 31 and transmitting each four-dimensional optimum route calculated by the calculation device 31 to each aircraft 2. COPYRIGHT: (C)2010,JPO&INPIT

Patent
13 Apr 2009
TL;DR: In this article, a method and device for guiding an aircraft along a flight trajectory is described, where the flight trajectory has at least one constrained section, and the aircraft flies at a required speed within the constrained section to comply with a required arrival time at a predetermined waypoint in a constrained section.
Abstract: Disclosed is a method and device for guiding an aircraft flying along a flight trajectory. The flight trajectory has at least one constrained section, and the aircraft flies at a required speed within the constrained section to comply with a required arrival time at a predetermined waypoint in the constrained section. Auxiliary speed setpoints are determined to guide the aircraft to arrive at an auxiliary arrival tune at an auxiliary waypoint, with the auxiliary speed setpoints being applied by a guidance system to guide the aircraft.

Patent
02 Apr 2009
TL;DR: In this article, a route guidance system for automatically selecting and guiding a facility desirable for a user is proposed, where the route guidance device automatically executes the guidance by suitable combination and execution of the processes.
Abstract: PROBLEM TO BE SOLVED: To provide a route guidance system for automatically selecting and guiding a facility desirable for a user SOLUTION: This route guidance system includes a route guidance device and an information providing center, summarizes facility statistical information acquired by statistically processing actions of many users to the information providing center connected by communication, provides it to the individual route guidance device according to a demand, and guides the facility desirable for the user to the user Specifically, information is acquired on the basis of an optional position (S3300); the user is guided to a facility easy-to-drop-in in a midway of the route from a departure point to a destination; the optional facility of the user is selected, and the guidance of the facility including the business hours of the facility is provided (S3600) Even when the user collects information by himself and selects a facility to drop in, the route guidance device automatically executes the guidance by suitable combination and execution of the processes Therefore, the time and effort of the user can be saved, and a comfortable route can be guided to the user COPYRIGHT: (C)2009,JPO&INPIT

Journal ArticleDOI
TL;DR: The described procedure uses an odometric estimation of the mobile position, based on the kinematic model of the agricultural vehicle, to combine the data provided by different positioning sensors using a Kalman filter.
Abstract: Conventional positioning techniques based on GPS receivers are not accurate enough to be used with autono- mous guidance systems. High accuracy GPS receivers can be employed, but the cost of the system would be very high. The alternative solution presented in this article is to combine the data provided by different positioning sensors using a Kalman filter. The described procedure also uses an odometric estimation of the mobile position, based on the kinematic model of the agricultural vehicle. Three different implementations of the Kalman filter are described, using different sen- sor combinations but based on the same vehicle model.

Patent
25 Mar 2009
TL;DR: In this paper, the authors propose a guidance system that detects and minimizes an angle between vehicle centerline (or other reference axis) and vehicle velocity vector, as for JDAM penetration.
Abstract: In certain aspects, this invention is a “control system” that detects and minimizes (or otherwise optimizes) an angle between vehicle centerline (or other reference axis) and vehicle velocity vector—as for JDAM penetration. Preferably detection is exclusively by optical flow (which herein encompasses sonic and other imaging), without data influence by navigation. In other aspects, the invention is a “guidance system”, with optical-flow subsystem to detect an angle between the vehicle velocity vector and line of sight to a destination—either a desired or an undesired destination. Here, vehicle trajectory is adjusted in response to detected angle, for optimum angle, e.g. to either home in on a desired destination or avoid an undesired destination (or rendezvous), and follow a path that's ideal for the particular mission—preferably by controlling an autopilot or applying information from navigation. Purposes include real-time angle optimization to improve autopilots or guidance, and vehicle development or testing.

Journal ArticleDOI
TL;DR: The proposed detection scheme combines different approaches: physical redundancy (accelerometers), injection of spectrally-decoupled test signals (magnetic sensors) and analytical redundancy (gyros) to enrich a multisensor avionic strap-down attitude estimation unit with fault detection and isolation capabilities.