This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-dire...

Effective evaluation of positioning methods in order to give fair results when comparing different positioning technologies, requires performance measurements applicable to all the positioning technologies for mobile positioning. In this paper, we outline and compare five major performance measures namely, accuracy, reliability, availability, latency, and applicability, and how they apply to po...

This paper presents the initial results of research suggesting a concept of taking an advantage of known GIS information, primarily the ground elevation contour, to enhance the performance of satellite positioning systems in terms of improved availability and positioning accuracy. Recent advances of laser telemetry allow nowadays very accurate measurements of the Earth’s elevation down to sub-m...

This paper presents a Discrete-Time Variable-Structure Control (DTVSC) for the dynamic positioning system of a marine supply vessel. The DTVSC guarantees robustness with respect to disturbances and parametric variations. Two wave-filtering approaches are employed: the Extended Kalman filter (EKF) and the multi-rate Kalman filter (MREKF) . The proposed solution is compared with a PID-based contr...

Abstract: The paper deals with an evaluation and comparison of the estimation performance of two non-linear observers in simulation as well as in a practical application. The objectives are to underline the different parameters synthesis of both observers, the choice of the numerical solver and the difficulty to obtain good performances with an electropneumatic system. A High Gain Observer and ...