A present invention embodiment includes a navigation system with a front-end GPS receiver, auxiliary sensors and a digital signal processor providing filtering and other processing. The navigation system enhances a UTC type architecture by employing an inertial compensation unit and a stochastic regulator. The inertial compensation unit compensates for inertial errors within the sensors, while the stochastic regulator applies an optimal stochastic control law to control system operation. The inertial compensation unit and stochastic regulator mitigate instability within the navigation system and provide: the functionality to attain high position accuracy in the sub-meter range that is stable and reliable; an optimal solution evident in the process of signal recovery time after loss and reacquisition, thereby resulting in signal-loss recovery with an order of magnitude improvement; and the ability to mitigate inertial errors that originate in the sensors. The navigation system provides navigation information for indoor and urban environmental conditions.

Navigation system and method of obtaining accurate navigational information in signal challenging environments

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. Since its inception in 2006, the ALHAT Project has executed four field test campaigns to characterize and mature sensors and algorithms that support real-time hazard detection and global/local precision navigation for planetary landings. The driving objective for Government Fiscal Year 2012 (GFY2012) is to successfully demonstrate autonomous, real-time, closed loop operation of the ALHAT system in a realistic free flight scenario on Earth using the Morpheus lander developed at the Johnson Space Center (JSC). This goal represents an aggressive target consistent with a lean engineering culture of rapid prototyping and development. This culture is characterized by prioritizing early implementation to gain practical lessons learned and then building on this knowledge with subsequent prototyping design cycles of increasing complexity culminating in the implementation of the baseline design. This paper provides an overview of the ALHAT/Morpheus flight demonstration activities in GFY2012, including accomplishments, current status, results, and lessons learned. The ALHAT/Morpheus effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

/pdf/free-flight-terrestrial-rocket-lander-demonstration-for-nasa-57nb28vo55.pdf

Free-Flight Terrestrial Rocket Lander Demonstration for NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System

A system for generating a non-visual notification of a machine condition includes a machine condition sensor configured to sense a machine condition. A notification generation controller is in communication with the machine condition sensor. The notification generation controller generates a notification according to the sensed machine condition. In a feedback configuration the notification generation controller compares an integral of a rate of change of the sensed machine condition with a threshold to trigger the generation of a notification. In a guidance configuration the notification generation controller uses the deviation of the machine condition from a guidance direction determined with a steering algorithm to control the generation of a notification. A non-visual notification generator is in communication with the notification generation controller and generates a non-visual notification based on the notification.

Non-visual navigation feedback system and method

An irrigation robot 1 and system, comprises a drive means for steering and moving the irrigation robot on a working region 9, an irrigation means 13 and an intelligence means 4 disposed on the robot for autonomously controlling the drive means and/or the irrigation means Preferably the control of the drive means is based on positional means 5 information signals of the robot obtained from a GPS, satellite signals, radar, infrared sensors, cameras and/or by determining a length/angle of hose 7 unwound from its real 6 which is connected to the robot The intelligence means may also receive moisture sensor data as well as weather data A preprogrammed or self-generated digital map of the working region may be used to determine which regions thereof may or may not require watering Additionally the drive means may include and electric motor 3 and a turbine and an energy conversion means for generating electrical energy from the flow of water and or the environment Also the robot may include a docking means 8

Autonomous Irrigation Robot

A turning direction calculating unit determines a turning direction of a vehicle based on a change in azimuth of the vehicle. An angular velocity calculating unit calculates an angular velocity of the vehicle. A turning radius calculating unit calculates a turning radius of the vehicle by using the angular velocity and a travel distance of each predetermined time period. A turning radius correcting unit corrects the turning radius so that the turning radius becomes larger by a correction value WL according to a traveling position on a road if the vehicle turns to the left, and corrects the turning radius so that the turning radius becomes smaller by a correction value WR according to a traveling position on a road if the vehicle turns to the right. A vehicle position estimating unit estimates a vehicle position on a center line of the road by using the corrected turning radius.

Navigation system and vehicle position estimating method

A real-time path-directed controller for navigating an object along a desired path is disclosed. The controller comprises: a position sensor which contributes to the production of a conditioned object position signal to a controller summer; a heading conditioning module which contributes to the production of a conditioned heading signal to the controller summer; a control apparatus sensor which contributes to the production of a conditioned control apparatus signal to the controller summer; and a control apparatus null position conditioning module which contributes to the production of a conditioned null position signal to the controller summer. The controller summer sums the signals to produce a controller summer signal to a controller summer conditioning module so as to produce a control apparatus control signal to a control apparatus controller so as to direct the control apparatus and thereby direct the object by feedback control along the desired path.

Navigation control system

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Navigation control system