Navigation with Signals and Constraints of Opportunity: Exploiting Unstructured Environments for State Estimation

Navigation with Signals and Constraints of Opportunity: Exploiting Unstructured Environments for State Estimation offers a conceptual framework for navigation and positioning using such sensors on the lines of the standard control theory, dealing with navigation as state estimation in both indoor and outdoor environments. Using signals and constraints of opportunity, it is shown how geomagnetic field, topography (changes in the direction of g locally), landmarks, angles to celestial bodies, local acoustics and presence of magnetic fields, and changes in background radiation (radio signals, wi-fi, etc.) could all be integrated for accurate geolocation in place or in conjunction with GPS to aid inertial navigation. Accelerometers, gyroscopes, cameras, magnetometers, microphones, and several other sensors are currently being produced in industrial scale, small sizes, and high quality. As miniaturization advances both price and portability keep decreasing. The authors have created and integrated several sensors that could be incorporated in navigation systems, cellphones, or automated irrigation devices. In this book the fundamental problem of navigation is stated and the usage of signals of opportunity is detailed and integrated into an alternative navigation framework. Algorithms and experimental data are provided so the readers can apply the concepts to their specific needs. Provides elements for integrating natural fields into navigation strategyCovers fundamentals of positioning, navigation, and applicationsPresents concepts and algorithms suitable for navigation in air, ground, and underwater navigation-both indoors and outdoorsCovers several sensors that could be incorporated in navigation systems, cell phones, or automated irrigation devices INDICE: 1. The problem of navigation 2. Sensing and state estimation 3. The potential of some natural fields 4. Field Mapping and State Estimation via Interval Analysis 5. Global Recursive state estimation 6. Indoor Geolocation with Magnetic Mapping 7. Exploiting acoustic fields 8. Sensing the Sun for Orientation and Geolocation 9. Local landmarks and Lidar Self Calibration 10. Using local signals of opportunity

• ISBN: 978-0-12-803132-2
• Editorial: Butterworth-Heinemann
• Encuadernacion: Rústica
• Páginas: 412
• Fecha Publicación: 01/03/2017
• Nº Volúmenes: 1
• Idioma: Inglés