Where am I? Sensors and Methods for Mobile Robot Positioning

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Excitation actuator Metglas reed Tunneling tip cantelever Reed following actuator Figure 2.32: Side view of the double cantilevered design. (Adapted from [Fenn et al., 1992].)
Chapter 3: Active Beacons 65 CHAPTER 3 GROUND-BASED RF-BEACONS AND GPS In this chapter we discuss sensors used for active beacon navigation. Active beacons have been used for many centuries as a reliable and accurate means for navigation. Stars can be considered as active beacons with respect to navigation; and lighthouses were early man-made beacon systems. Typical non-robotics applications for active beacon navigation include marine navigation, aircraft navigation, race car performance analysis, range instrumentation, unmanned mobile target control, mine localization, hazardous materials mapping, dredge positioning, geodetic surveys, and most recently, position location and range information for golfers [Purkey, 1994]. Modern technology has vastly enhanced the capabilities of active beacon systems with the introduction of laser, ultrasonic, and radio-frequency (RF) transmitters. It should be noted, though, that according to our conversations with manufacturers, none of the RF systems can be used reliably in indoor environments. Ground-based RF systems will be discussed in Section 3.1. However, the most revolutionary technology for outdoor navigation is the recently completed Global Positioning System (GPS). Because of the rapidly increasing popularity of GPSs we have dedicated a large portion of this chapter to this subject. Section 3.2 explains GPS technology, Section 3.3 includes a major comparative study of five different GPS receivers [Byrne, 1993], and Section 3.4 presents some state-of-the-art commercially available systems. 3.1 Ground-Based RF Systems Ground-based RF position location systems are typically of two types: & & Passive hyperbolic line-of-position phase-measurement systems that compare the time-of-arrival phase differences of incoming signals simultaneously emitted from surveyed transmitter sites. Active radar-like trilateration systems that measure the round-trip propagation delays for a number of fixed-reference transponders. Passive systems are generally preferable when a large number of vehicles must operate in the same local area, for obvious reasons. 3.1.1 Loran An early example of the first category is seen in Loran (short for long range navigation). Developed at MIT during World War II, such systems compare the time of arrival of two identical signals broadcast simultaneously from high-power transmitters located at surveyed sites with a known separation baseline. For each finite time difference (as measured by the receiver) there is an associated hyperbolic line of position as shown in Figure 3.1. Two or more pairs of master/slave stations are required to get intersecting hyperbolic lines resulting in a two-dimensional (latitude and longitude) fix. The original implementation (Loran A) was aimed at assisting convoys of liberty ships crossing the North Atlantic in stormy winter weather. Two 100 kW slave transmitters were located about 200 miles on either side of the master station. Non-line-of-sight ground-wave propagation at around 2 MHz was employed, with pulsed as opposed to continuous-wave transmissions to aid in sky-wave
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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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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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132 Part II Systems and Methods for
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R e t r o r e f l e c t i v e m a r
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CHAPTER 8 MAP-BASED POSITIONING Map
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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266 Index glass ...................
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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Where am I? Sensors and Methods for Mobile Robot Positioning

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