Showing papers on "Guidance system published in 2017"

Fast and Near-Optimal Guidance for Docking to Uncontrolled Spacecraft

Abstract: This paper proposes a guidance scheme for autonomous docking between a controlled spacecraft and an uncontrolled tumbling target in circular orbit. The onboard trajectory planning consists of a direct optimization method based on the inversion of the system dynamics. The trajectory components of the controlled spacecraft are imposed by using polynomial functions. Some of the polynomial coefficients are constrained to satisfy path constraints, whereas the remaining coefficients are varied parameters to be optimized. The optimal control problem is converted into a nonlinear programming problem by inverting the system dynamics. The proposed guidance scheme, based on the closed-loop implementation of this optimization problem, is applied to several scenarios. The resulting trajectories closely match the solutions of the correspondent optimal control problems. The guidance scheme is shown to perform precise maneuvers in most maneuvering situations, even in the presence of orbital perturbations. The sensitivity...

Cooperative Nonlinear Guidance Strategies for Aircraft Defense

Abstract: This paper presents nonlinear guidance strategies for scenarios where an aircraft launches a defender missile as a countermeasure against an incoming attacking missile. The guidance system offers an additional degree of freedom due to two available controls, the lateral accelerations of defender and aircraft. This extra degree of freedom is used in various ways to design guidance strategies. These guidance strategies, in addition to each ensuring interception of missile, also individually allow: 1) to reduce sensitivity of guidance law to erroneous time-to-go estimates, 2) the aircraft to perform optimal evasive maneuvers, and 3) either of the aircraft or the defender to maneuver independently with their maximum limit small as compared to that of missile. The design of guidance strategies is performed in a nonlinear framework, using sliding-mode control technique, with relevant zero-effort miss variables as switching surfaces. For reduction of sensitivity against time-to-go, an additional zero-effort velo...

Evaluation of indoor guidance systems using eye tracking in an immersive virtual environment

Abstract: In this article, we present a novel method for evaluating guidance systems using an immersive virtual environment in combination with a mobile eye tracking system. Accurate measurements of position...

High-Quality See-Through Surgical Guidance System Using Enhanced 3-D Autostereoscopic Augmented Reality

Abstract: Objective: Precise minimally invasive surgery (MIS) has significant advantages over traditional open surgery in clinic. Although pre-/intraoperative diagnosis images can provide necessary guidance for therapy, hand–eye discoordination occurs when guidance information is displayed away from the surgical area. In this study, we introduce a real three-dimensional (3-D) see-through guidance system for precision surgery. Methods: To address the resolution and viewing angle limitation as well as the accuracy degradation problems of autostereoscopic 3-D display, we design a high quality and high accuracy 3-D integral videography (IV) medical image display method. Furthermore, a novel see-through microscopic device is proposed to assist surgeons with the superimposition of real 3-D guidance onto the surgical target is magnified by an optical visual magnifier module. Results: Spatial resolutions of 3-D IV image in different depths have been increased 50%∼70%, viewing angles of different image sizes have been increased 9%∼19% compared with conventional IV display methods. Average accuracy of real 3-D guidance superimposed on surgical target was 0.93 mm ± 0.41 mm. Preclinical studies demonstrated that our system could provide real 3-D perception of anatomic structures inside the patient's body. Conclusion: The system showed potential clinical feasibility to provide intuitive and accurate in situ see-through guidance for microsurgery without restriction on observers’ viewing position. Significance: Our system can effectively improve the precision and reliability of surgical guidance. It will have wider applicability in surgical planning, microscopy, and other fields.

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Abstract: This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar motion model of the podded propulsion USV is established. Then, the classical line-of-sight (LOS) guidance strategy is improved by adaptive sideslip angle and a time-varying lookahead distance. Based on the guidance system, the corresponding controllers for yaw rate and surge speed are presented, which are combined by backstepping technology, the neural network minimum parameter learning method and the neural shunting model. Specifically, the neural network minimum parameter learning method is proposed to compensate the uncertainty of the model and the immeasurability of external disturbances, and the neural shunting model is employed to cope with the “explosion of complexity” problem of backstepping. Meanwhile, an auxiliary dynamic system is introduced to prevent actuator saturation (input saturation). All error signals of the system are proven to be uniformly ultimately bounded (UUB) by employing Lyapunov stability theory. Finally, two numerical simulations are given to prove the correctness of the proposed scheme.

Monocular Modes for Autonomous Platform Guidance Systems with Auxiliary Sensors

Abstract: The described positional awareness techniques employing sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy. The sensory data are gathered from an operational camera and one or more auxiliary sensors.

Systems and methods for dynamic object tracking using a single camera mounted on a moving object

Abstract: A self-contained, low-cost, low-weight guidance system for vehicles is provided. The guidance system can include an optical camera, a case, a processor, a connection between the processor and an on-board control system, and computer algorithms running on the processor. The guidance system can be integrated with a vehicle control system through “plug and play” functionality or a more open Software Development Kit. The computer algorithms re-create 3D structures as the vehicle travels and continuously updates a 3D model of the environment. The guidance system continuously identifies and tracks terrain, static objects, and dynamic objects through real-time camera images. The guidance system can receive inputs from the camera and the onboard control system. The guidance system can be used to assist vehicle navigation and to avoid possible collisions. The guidance system can communicate with the control system and provide navigational direction to the control system.

Learning eco-driving behaviour in a driving simulator: Contribution of instructional videos and interactive guidance system

Abstract: The present paper deals with how to design and test an eco-driving training tool in the form of a digital educational game, including a specific guidance system interface to each eco-driving rules. We tested whether learners could reproduce the eco-driving behaviour and implement the rules once they were autonomous. We also aimed to validate the method as a relevant eco-driving teaching tool that does not distract drivers or affect safety behaviour. We examined the contribution of the guidance system to teach procedural skills compared with traditional teaching methods such as video instruction. Results reveal that both methods lead to reduced CO2 emissions, but that the reduction is greater with the interactive guidance system. Further analysis and an eye-movement study revealed no increase in driving time or effect on safety.

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach.

Abstract: [-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft's real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.

Design and Control of Levitation and Guidance Systems for a Semi-High-Speed Maglev Train

Abstract: Research on Maglev (Magnetic Levitation) train is currently being conducted in Korea, concerning Urban Transit (110 km/h of maximum speed), semi-high-speed (200 km/h of maximum speed), and high-speed (550 km/h of maximum speed) trains. This paper presents a research study on the levitation and guidance systems for the Korean semi-high-speed maglev train. A levitation electromagnet was designed, and the need for a separate guidance system was analyzed. A guidance electromagnet to control the lateral displacement of the train and ensure its stable operation was then also designed, and its characteristics were analyzed. The dynamic performance of the designed levitation and guidance electromagnets was modeled and analyzed, using a linearized modeling of the system equations of motion. Lastly, a test setup was prepared, including manufactured prototypes of the designed system, and the validity of the design was verified and examined with performance evaluation tests.

Estimation Enhancement by Cooperatively Imposing Relative Intercept Angles

Abstract: Cooperative estimation/guidance for a team of missiles is the topic of this paper. An example scenario is considered where an aircraft simultaneously launches several cooperative defending missiles...

Design of a navigation and guidance system of missile with trajectory estimation using ensemble Kalman Filter square root (EnKF-SR)

Abstract: This paper is the study on the development of navigation and guidance system for a missile. The development begins by determining the trajectory of missile which is the basic need to know where the missile shall be directed. Then the trajectory is used as a guidance so that the missile can reach the targets according to the given trajectory. The Ensemble Kalman Filter with a square root scheme (EnKF-SR) for the estimation of missile trajectory are applied to keep the missile on the trajectory track. The implementation of EnKF-SR algorithm on the Missile model is carried out by establishing two simulations, namely by generating 150 and 250 ensembles, respectively. The simulations exhibit that the generation of 250 ensembles will give more accurate results in comparison to the generation of 150 ensembles. Furthermore, the best simulation yields the tracking accuracy between the real and simulated trajectories is in the order of 99 %.

Systems and methods for dynamic planning and operation of autonomous systems using image observation and information theory

Abstract: Systems and methods described herein incorporate autonomous navigation using a vision-based guidance system. The vision-based guidance system enables autonomous trajectory planning and motion execution by the described systems and methods without feedback or communication with external operators. The systems and methods described herein can autonomously track an object of interest while seeking to obtain a diversity of views of the object of interest to aid in object identification. The systems and methods described include a robust reacquisition methodology. By handling navigation and tracking autonomously, systems described herein can react more quickly to non-cooperative moving objects of interest and can operate in situations where communications with external operators is compromised or absent.

Path following for a biomimetic underwater vehicle based on ADRC

Abstract: This paper addresses the problem of path following for a biomimetic underwater vehicle (BUV) propelled by undulatory fins with uncertain model and unknown disturbance. The mechanical structure of the BUV is briefly described. Moreover, the general kinematics and dynamics models of the vehicle are presented and the path following problem is formulated. The controller combining line-of-sight (LOS) guidance system with active disturbance rejection control (ADRC) technique is designed to maneuver the BUV to follow a predefined parameterized curve. Specifically, a guidance system based on LOS principle is implemented to decouple the multi-variable system to steer the surge speed and the course respectively. Furthermore, in order to deal with model uncertainty, ADRC is used in development of the surge speed controller and the course controller. Finally, simulations and experimental results validated the performance of the proposed path following control scheme.

Three-Dimensional Impact Angle Constrained Guidance Laws with Fixed-Time Convergence

Abstract: In this paper, three dimensional coupled engagement dynamics are firstly transformed into a state-space form without decoupling three dimensional engagement dynamics into two mutually orthogonal planes to avoid degrading the performance of the guidance law. Specially, fixed-time guidance laws are proposed to guarantee that the line-of-sight (LOS) angular rates can be steered to zero before the final time of the guidance process at the same time. The exact convergence time can be set beforehand with respect to the LOS rates, and it is independent of initial conditions with respect to the guidance system. Moreover, impact angle constraint is taken into account, and these guidance laws are robust against maneuvering targets by sliding mode techniques. Simulation results validate the effectiveness of the proposed algorithms.

Guidance of Seekerless Interceptors Using Innovation Covariance Based Tuning of Kalman Filters

Abstract: In this paper, an integrated estimation/guidance algorithm that combines Kalman-filter-based interactive multiple-model estimators with a modified differential game guidance law is developed for seekerless interceptors in three-dimensional space. The target is assumed to perform various types of maneuvers, while the sensor has noisy measurements and the interceptor is subject to acceleration bound. To handle these, the Kalman filters used in the interactive multiple model are pretuned using two recently developed metrics based on innovation covariance. To determine the filter tuning parameters, the metrics are evaluated offline for the Kalman filter using different process models, and the tuned values of the process noise covariance are selected in each case. These tuned Kalman filters are then used in the interactive multiple-model configuration to cater to various maneuvers that are expected during the end game. A numerical study compares the performances of these, and a previously reported interactive ...

Fitness training guidance system and method thereof

Abstract: A real-time personal fitness training guidance system is described. A camera unit including one or more cameras is provided to take images of a user ready to use or using an exercise equipment. One or more current vital signs and physical activity information are derived from the captured images. Further, a personal fitness training guidance is generated for the user in accordance with the current vital signs, the physical activity information and a workout program the user is doing. To allow the user to see how he or she is doing in his/her workout, an output unit is provided to show the personal fitness training guidance to the user in real-time. An external device is also provided to generate a coaching guidance for the user.

Trajectory tracking control for quadrotor UAV

Abstract: This paper proposed a trajectory tracking guidance that controls the horizontal positions of the quadrotor to track the desired trajectory by forcing the direction of velocity converge to a reference line pointing to the trajectories, and remains the magnitude of the velocities constant at desired value. The tracking response can be adjusted for different quadrotor dynamics. A nonlinear dynamic model is presented as two subsystems. The roll and pitch angles are stabilized during velocities tracking. Based on this design, a backstepping controller is derived to approach the desired velocities, vertical position and yaw angle and guaranteed by the Lyapunov theory. Simulations are carried out and show the good performance of trajectory tracking abilities and feasibility of the whole guidance system with controller.

Parking guidance method and system based on big data and deep learning

Abstract: The invention relates to a parking guidance method and a parking guidance system which are used for assisting a user in selecting a parking lot near a destination. The method comprises the following steps: acquiring first time which shows the time when a user arrives at the destination; acquiring a preset screening condition; predicting a first parking lot set which accords with the preset screening condition in the first time; outputting the parking lot with the optimal condition according to the prediction result. The system comprises a time acquiring module, a condition setting module, a predicting module, an output module and a navigation module. By the method and the system, waste of manpower cost and time cost for parking can be avoided; the method and the system are relatively accurate, so the problem of parking failure can be avoided.

Dynamic Route Choice Prediction Model Based on Connected Vehicle Guidance Characteristics

Abstract: A route choice prediction model is proposed considering the connected vehicle guidance characteristics. This model is proposed to prevent the delay in the release of guidance information and route planning due to inaccurate timing predictions of the traditional guidance systems. Based on the analysis of the impact of different connected vehicle (CV) guidance strategies on traffic flow, an indexes system for CV guidance characteristics is presented. Selecting five characteristic indexes, a route choice prediction model is designed using the logistic model. A simulation scenario is established by programming different agents for controlling the flow of vehicles and for information acquisition and transmission. The prediction model is validated using the simulation scenario, and the simulation results indicate that the characteristic indexes have a significant influence on the probability of choosing a particular route. The average root mean square error (RMSE) of the prediction model is 3.19%, which indicates that the calibration model shows a good prediction performance. In the implementation of CV guidance, the penetration rate can be considered an optional index in the adjustment of the guidance effect.

Implementation of a Responsive Human Automation Interaction Concept for Task-Based-Guidance Systems

Abstract: This article presents the implementation of a task-based guidance system for reconnaissance UAVs enabling simplified human-automation interaction through responsive adjustment of details. It provides a way of communicating to the system on the necessary detail level, as well as status feedback in a level of detail currently wanted by the operator. This increases control and helps reducing workload.

parking guidance image camera system for parking guidance using the same and method for parking guidance by parking guidance system

Abstract: The present invention relates to a parking guidance system, and more particularly, to a parking guidance image camera for guiding parking of a vehicle, identifying a plate number of the parked vehicle, and enabling security control, a parking guidance system using the same and a parking guidance method using the parking guidance system. According to the present invention, the parking guidance system using the parking guidance image camera comprises: a plurality of parking guidance image cameras (110, 120, 130 : 100), which guide the vehicle to a parking area, guide the parking with an image and a voice, display an empty sign or a full sign of vehicles with an image, and identify the plate number of the parked vehicle to transmit the plate number to the outside through a communication part; a plurality of power of Ethernet (POE) hubs (200); a plurality of floor hubs (310, 320, 330 : 300); a plurality of floor image analyzers (410, 420, 430 : 400); an entrance total status board (500) installed in a parking entrance and displaying the number of available parking lots for each floor; a kiosk (600); a status board (700) for each floor/zone/block; an all-source situation room server (800); a storage device (900); a main hub (1000); and an integrated guidance control server (1100), which displays a total status of the parking lot on the entrance total status board (500) when receiving information on recognition of existence or nonexistence of a vehicle in a parking lot and the plate number of the vehicle from the parking guidance image camera (100) through the main hub (1000), identifies a location of the vehicle through the kiosk (600), and allows checking the parking duration and the parking fee of the vehicle in relation to the plate number of the car identified on entrance.