Fiber-optics gyroscopes (“gyros”) are gaining importance as a means for improving dead-reckoning accuracy in mobile robots. In the past, the relatively high drift rate of moderately priced gyros presented the foremost technical limitation of these devices. More recently, fiber-optics gyros with very low drift rates have become available and affordable. Because of their low drift rate attention ...

A major challenge facing outdoor navigation is the localization of a mobile robot as it traverses a particular terrain. Inaccuracies in dead-reckoning and the loss of global positioning information (GPS) often lead to unacceptable uncertainty in vehicle position. We propose a localization algorithm that utilizes cost-based registration and particle filtering techniques to localize a robot in th...

Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). In this paper we present acoustic navigation results for the Odyssey II AUV obtained by using a Kalman lter that integrates dead-reckoning with acoustic range measurements made to an array of acoustic beacons pre-deployed in the operating environment. Because spurious acoustic measurements due to mu...

Based on a large body of neurophysiological, neuroanatomical, and behavioral data, it has been suggested that the hippocampal formation serves as a spatial learning and localization system. This spatial representation is metric in nature and arises as a result of associations between sensory inputs and dead-reckoning information generated by the animal. However, despite the fact that these two ...

The paper deals with positioning system for an autonomous vehicle ARSKA. Localization of the vehicle is based on fusion of internal dead reckoning navigation and periodic absolute position measurements. Fusion is done by using Kalman-filtering technique. Similar kind of approach is used in correcting the heading measurement. This is important because the position error is mostly result of the a...

Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement un...

Abstract: In this paper, in order to develop an accurate localization for mobile robots, we propose a dead-reckoning system based on increments of the robot movements read directly from the floor using optical mouse sensors. The movements of two axes are measurable with an optical mouse sensor. Therefore, in order to calculate a robot’s deviation of position and orientation, it is necessary to ...

We present an early experimental result toward solving the localization problem with range-only sensors. We perform an experiment in which a mobile robot localizes using dead reckoning and range measurements to stationary radio-frequency beacons in its environment, incorporating the range measurements into the position estimate using a Kalman lter. This data set involves over 20,000 range readi...

Abstract Planetary rover navigation frequently relies on dead reckoning and external infrastructure such as orbiting satellites. Celestial techniques combine measurements of the Sun, stars, gravity to provide autonomous absolute localization. This study examines performance digital star sextants (DSS)—a suite sensors combining a tracker an inclinometer—on estimating position planetary ...

Animals navigate using cues generated by their own movements (self-movement cues or idiothetic cues), as well as the cues they encounter in their environment (distal cues or allothetic cues). Animals use these cues to navigate in two different ways. When dead reckoning (deduced reckoning or path integration), they integrate self-movement cues over time to locate a present position or to return ...