Sensors and Methods for Mobile Robot Positioning

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Systems-at-a-Glance Tables Global Navigation Systems (GPS) - Commercial Products Name GPS Type Static position Static position error Time to City driving: Percent Manufacturer error mean standard dev. first fix of time navigation [m (feet)] [m (feet)] [min] data available Magnavox 6400 (10-year old system, out- 2-channel sequencing receiver 33.48 (110) 23.17 (76) ~30 no nav. data: 10.3% [MAGNAVOX] dated) only 2-D data:0.2% Magnavox Advanced Products full 3-D data: 89.4% and Systems Magellan OEM GPS Module 5-channel GPS receiver, OEM 22.00 (72) 16.06 (53) ~1 to 2 no nav. data: 0.0% [MAGELLAN] type only 2-D data:25.8% Magelan Systems Corp. full 3-D data: 74.2% Magnavox GPS Engine 5-channel GPS receiver, OEM 30.09 (99) 20.27 (67) ~1 to 2 no nav. data: 3.4% [ROCKWELL] type only 2-D data:5.3% Rockwell International full 3-D data: 91.2% Rockwell NavCore V 5-channel GPS receiver, OEM 28.01 (92) 19.76 (65) ~1 to 2 no nav. data: 0.0% [MAGNAVOX] type only 2-D data: 1.1% Magnavox Advanced Products full 3-D data: 98.9% and Systems Trimble Placer 5-channel GPS receiver, OEM 29.97 (98) 23.58 (77) ~1 to 2 no nav. data: 0.0% [TRIMBLE] type only 2-D data:5.2% Trimble Navigation full 3-D data: 94.8% 224
Systems-at-a-Glance Tables Beacon Positioning System - Commercial Products Name Computer Onboard Stationary Accuracy Accuracy - Sampling Features Effective Manufacturer Components Components - position [mm] o orientation [ ] rate [Hz] Range CONAC 486-33 MHz Structured opto- Networked opto- Indoor ±1.3 mm Indoor and 25 Hz 3-D - At least 3 Need line-of-sight [MacLeod, 1993] (computerized electronic acquisi- electronic acquisi- outdoor ±5 mm outdoor ±0.05º NOADS for one for at least three (MTI) opto-electronic tion beacon tion datum acre. Networkable NOADS navigation and (STROAB) (NOAD) for unlim. area control) ROBOSENSE Scanning laser Retroreflective tar- System measures direction and distance to beacons 10-40 Hz 2-D - Measure both 0.3-30 m [SIMAN] rangefinder gets with accuracy
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7KH8QLYHUVLW\RI0LFKLJDQ Where am I?
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Acknowledgments This research was s
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2.4.2.2 Watson Gyrocompass ........
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6.4 Summary .......................
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INTRODUCTION Leonard and Durrant-Wh
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Part I Sensors for Mobile Robot Pos
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14 Part I Sensors for Mobile Robot
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CHAPTER 2 HEADING SENSORS Heading s
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6 42 Part I Sensors for Mobile Robo
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
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