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Introduction to Direction-of-Arrival Estimation
Direction-of-Arrival (DOA) estimation concerns the estimation of direction finding signals in the form of electromagnetic or acoustic waves, impinging on a sensor or antenna array. DOA estimation is used for locating and tracking signal sources in both civilian and military applications. This authoritative volume provides an overview and performance analysis of the basic DOA algorithms, including comparisons between the various types. The book offers you a detailed understanding of the arrays pertinent to DOA finding, and presents a detailed illustration of the ESPRIT-based DOA algorithms complete with their performance assessments. From antennas and array receiving systems, to advanced topics on DOA estimation, this book serves as a one-stop resource for professionals and students. Nearly 100 illustrations and more than 281 equations support key topics throughout.
eBook
You are here : from the compass to GPS, the history and future of how we find ourselves
\"The story of the rise of modern navigation technology, from radio location to GPS-and the consequent decline of privacy What does it mean to never get lost? You Are Here examines the rise of our technologically aided era of navigational omniscience-or how we came to know exactly where we are at all times. In a sweeping history of the development of location technology in the past century, Bray shows how radio signals created to carry telegraph messages were transformed into invisible beacons to guide ships and how a set of rapidly-spinning wheels steered submarines beneath the polar ice cap. But while most of these technologies were developed for and by the military, they are now ubiquitous in our everyday lives. Our phones are now smart enough to pinpoint our presence to within a few feet-and nosy enough to share that information with governments and corporations. Filled with tales of scientists and astronauts, inventors and entrepreneurs, You Are Here tells the story of how humankind ingeniously solved one of its oldest and toughest problems-only to herald a new era in which it's impossible to hide\"-- Provided by publisher.
Book
Mobile Positioning and Tracking
This book presents the most recent state of the art in mobile positioning and tracking techniques.
Current trends in mobile services envisage location-based networking as a major strong stimulator for the development of novel solutions for obtaining positioning information in wireless networks. This book discusses mobile positioning solutions applied on top of current wireless communication networks. In addition, the authors introduce advanced and novel topics such as localization in heterogeneous and cooperative networks, providing a unified treatment of the topic for researchers and industry professionals alike. Furthermore, the book focuses on application areas of positioning, basics of wireless communications for positioning, data fusion and filtering techniques, fundamentals of tracking, error mitigation techniques, positioning systems and technologies, and cooperative mobile positioning systems. Key Features: • Covers the state of the art of satellite- and terrestrial-based positioning systems, spanning from outdoor to indoor environments and from wide area networks to short-range networks • Discusses a whole range of topics related to mobile positioning: from fundamentals of positioning to the description of a wide spectrum of mobility models for tracking, from details on data fusion and filtering techniques to error mitigation techniques (including aspects of signal processing) • Provides a solid bridge between research and industry envisaging a potential implementation of the presented solutions • Fills the gap between positioning and communication systems, showing how features of communication systems can be used for positioning purposes and how the retrieved location information can be used to enhance the performance of wireless networks. • Includes an accompanying website This book will be a valuable guide for advanced students studying related courses. Professionals and practitioners in the field of positioning and mobile technologies, and software and service developers will also find this book of interest. www.wiley.com/go/figueiras_mobile
eBook
Implementing e-Navigation
Hagen outlines equipment and practices of maritime navigation, and elaborates on the development and objectives of the strategy to increase awareness, safety, and security in commercial shipping as well as the impact of digital globalization, unmanned ships and big data.
eBook
You Are Here
The story of the rise of modern navigation technology, from radio location to GPSand the consequent decline of privacy What does it mean to never get lost? You Are Here examines the rise of our technologically aided era of navigational omniscienceor how we came to know exactly where we are at all times. In a sweeping history of the development of location technology in the past century, Bray shows how radio signals created to carry telegraph messages were transformed into invisible beacons to guide ships and how a set of rapidly-spinning wheels steered submarines beneath the polar icecap. But while most of these technologies were developed for and by the military, they are now ubiquitous in our everyday lives. Our phones are now smart enough to pinpoint our presence to within a few feetand nosy enough to share that information with governments and corporations. Filled with tales of scientists and astronauts, inventors and entrepreneurs, You Are Here tells the story of how humankind ingeniously solved one of its oldest and toughest problemsonly to herald a new era in which it's impossible to hide.
eBook
Correction: Ou et al. Autonomous Navigation by Mobile Robot with Sensor Fusion Based on Deep Reinforcement Learning. Sensors 2024, 24, 3895
There were errors in the original publication [...]
Journal Article
An Improved Initial Alignment Method Based on SEsub.2/EKF for SINS/GNSS Integrated Navigation System with Large Misalignment Angles
This paper proposes an improved initial alignment method for a strap-down inertial navigation system/global navigation satellite system (SINS/GNSS) integrated navigation system with large misalignment angles. Its methodology is based on the three-dimensional special Euclidean group and extended Kalman filter (SE[sub.2](3)/EKF) and aims to overcome the challenges of achieving fast alignment under large misalignment angles using traditional methods. To accurately characterize the state errors of attitude, velocity, and position, these elements are constructed as elements of a Lie group. The nonlinear error on the Lie group can then be well quantified. Additionally, a group vector mixed error model is developed, taking into account the zero bias errors of gyroscopes and accelerometers. Using this new error definition, a GNSS-assisted SINS dynamic initial alignment algorithm is derived, which is based on the invariance of velocity and position measurements. Simulation experiments demonstrate that the alignment method based on SE[sub.2](3)/EKF can achieve a higher accuracy in various scenarios with large misalignment angles, while the attitude error can be rapidly reduced to a lower level.
Journal Article
Clinical application and accuracy assessment of imaging-based surgical navigation guided .sup.125I interstitial brachytherapy in deep head and neck regions
Brachytherapy has the advantages of being minimally invasive and highly conformal, and it achieves good results in head and neck tumors. To precisely implant the radioactive seeds according to the preplan in deep head and neck regions, the surgical navigation is applied. This study aims to explore the clinical application and accuracy of imaging-based surgical navigation-guided [.sup.125]I interstitial brachytherapy in terms of seedposition. We included 41 patients with tumors in deep head and neck regions. The brachytherapy treatment plan was designed, and the preplanned data were transferred to the navigation system. Needle implantation and seed delivery were performed under surgical navigation system guidance with or without the combination of individual template. The treatment accuracy was evaluated by comparing seed cluster locations between the preoperative treatment plan and the postoperative treatment outcome. A total of 2879 seeds were delivered. The range, mean and median distances between the geometric centers of the preoperative seed point clusters and the postoperative seed point clusters were 0.8-10.S mm, 4.5 [+ or -] 2.3 mm and 4.1 mm, respectively. The differences between preoperative andpostoperative volumes of the minimum bounding box of seedpoint clusters were nonsignificant. In conclusion, the imaging-based surgical navigation system is a promising clinical tool to provide the preplanned datafor interstitial brachytherapy intraoperatively, andit is feasible and accurate for the real-time guidance of needle implantation and seed delivery in deep head and neck regions.
Journal Article
Basic performance and future developments of BeiDou global navigation satellite system
The core performance elements of global navigation satellite system include availability, continuity, integrity and accuracy, all of which are particularly important for the developing BeiDou global navigation satellite system (BDS-3). This paper describes the basic performance of BDS-3 and suggests some methods to improve the positioning, navigation and timing (PNT) service. The precision of the BDS-3 post-processing orbit can reach centimeter level, the average satellite clock offset uncertainty of 18 medium circular orbit satellites is 1.55 ns and the average signal-in-space ranging error is approximately 0.474 m. The future possible improvements for the BeiDou navigation system are also discussed. It is suggested to increase the orbital inclination of the inclined geostationary orbit (IGSO) satellites to improve the PNT service in the Arctic region. The IGSO satellite can perform part of the geostationary orbit (GEO) satellite’s functions to solve the southern occlusion problem of the GEO satellite service in the northern hemisphere (namely the “south wall effect”). The space-borne inertial navigation system could be used to realize continuous orbit determination during satellite maneuver. In addition, high-accuracy space-borne hydrogen clock or cesium clock can be used to maintain the time system in the autonomous navigation mode, and stability of spatial datum. Furthermore, the ionospheric delay correction model of BDS-3 for all signals should be unified to avoid user confusion and improve positioning accuracy. Finally, to overcome the vulnerability of satellite navigation system, the comprehensive and resilient PNT infrastructures are proposed for the future seamless PNT services.
Journal Article