Navigation and Pose Estimation Systems - 3127 Words

Basic Theory In the previous chapter, we introduce about the indoor positioning system techniques and the research directions. In this chapter we will describe the basic theory related with the navigation and pose estimation systems for example, the coordinate system, the dead-reckoning method, the characteristic of Wi-Fi radio signal propagation etc. For all of the basic ideas are very important thing to understanding the configuration of our research as follow; 2.1 The Local Coordinate system The coordinate system was used to defined in local-area environment name is the Cartesian coordinate system refer to [55]. It can be referenced by placing the origin to the local point consist with 3 reference axis, there are axis is directed to the vertical, axis is pointed to the north and axis is directed to the east, see in figure 1. Figure 1 The Cartesian coordinate system. The plane is the horizontal plane and the vertical plane is defined perpendicular to the ellipsoid such a coordinate system is also called a local horizontal coordinate system. From figure 1. can be described, the projection point whose coordinates in global and local coordinate system are and respectively, one has relation of as follow: (2.1) Where the is the azimuth angle measure from the north clockwise, is the zenith distance that mean the angle the vertical and the radian and r is the radian of the in the local system. 2.1.1 Transformation Matrix in Cartesian coordinateShow MoreRelatedWhat Is The Methods Of Objective Control Of UGV?950 Words   |  4 Pagesadaptive version of passivity-based LMPC can be used into navigation. This model can be used as generalized trajectory planning for high speed UGVs on a rough terrain [26]. Although many researches show successful obstacle avoidance by using MPC [27], [28], [29], there are still many questions remain to be answered. Furthermore, MPC is based on assumptions like the environment is known. In reality, the information provided by sensors installed in system is the only known information about environment. MoreoverRead MoreNavigation and Pose Estimation Theory1193 Words   |  5 Pagesabout the indoor positioning system techniques and the research directions. In this chapter we will describe the basic theory related with the navigation and pose estimation systems for example, the coordinate system, the dead-reckoning method, the characteristic of Wi -Fi radio signal propagation etc. For all of the basic ideas are very important thing to understanding the configuration of our research as follow; 2.1 The Local Coordinate system The coordinate system was used to defined in local-areaRead MoreThe Effects Of Sea Ice On The Earths Climate System1686 Words   |  7 Pagesspace and during winter it radiates heat into the space. Sea ice acts as a large lid on the polar oceans controlling the exchange of heat and mass across the ocean-sea ice-atmosphere interface, thus playing a significant role in the Earth’s climate system. The accelerated melting of Arctic sea ice in recent decades may have long-term impact on the Earth’s climate likely to affect the lives and property of billions of humans (Stroeve et al. 2007; IPCC 2014). This chapter identifies hazards related toRead MoreTerra Cog Case1272 Words   |  6 Pagesoptions†¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦ 7 6) Recommendation †¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦.. 11 7) Action Plan†¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦ 11 8) Exhibit †¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦... 12 Situation Analysis: TerraCog Global Positioning System (GPS), since its inception in the late 1990’s, has steadily built up a strong relationship with key accounts and customers. 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