Indoor Localization with Multi-Rate Extended Kalman Filter: Based on Elisa-3 robot

Localization is one of the most fundamental competencies required by an autonomous robot, providing crucial information about its position for decision-making in indoor environments. In the current literature, an indoor localization system utilizes exteroceptive sensors such as GNSS(Global Navigation Satellite System), a camera, or an ultrasonic...

Bathymetry SLAM using reduced rank Gaussian Processes and DVL range measurements: For real-time underwater position estimation

Underwater position estimation is challenging due to the absence of Global Navigation Satellite System (GNSS) signals. Underwater vehicles are typically equipped with a Doppler Velocity Log (DVL) that measures the velocity relative to the seafloor. Aside from the velocity, the DVL also measures the range of each of the four beams. When compared...

Compensation Method of Position Estimation Error for High-Speed Surface-Mounted PMSM Drives Based on Robust Inductance Estimation

This article proposes a compensation method of position estimation error for high-speed surface-mounted permanent magnet synchronous motors based on robust inductance estimation. The proposed method relies on the variation of the estimated δ-axis back back-electromotive force when a small current is injected into the γ axis. The inductance...

Acoustic target tracking through a cluster of mobile agents

This paper discusses the problem of tracking a moving target by means of a cluster of mobile agents that is able to sense the acoustic emissions of the target, with the aim of improving the target localization and tracking performance with respect to conventional fixed-array acoustic localization. We handle the acoustic part of the problem by...

High-reflection microprismatic material as a base for passive reference marks in machine vision metrology applications

Towards monolithic scintillator based TOF-PET systems: Practical methods for detector calibration and operation

Gamma-ray detectors based on thick monolithic scintillator crystals can achieve spatial resolutions <2 mm full-width-at-half-maximum (FWHM) and coincidence resolving times (CRTs) better than 200 ps FWHM. Moreover, they provide high sensitivity and depth-of-interaction (DOI) information. While these are excellent characteristics for...

A 32 mm × 32 mm × 22 mm monolithic LYSO: Ce detector with dual-sided digital photon counter readout for ultrahigh-performance TOF-PET and TOF-PET/MRI

New applications for positron emission tomography (PET) and combined PET/magnetic resonance imaging (MRI) are currently emerging, for example in the fields of neurological, breast, and pediatric imaging. Such applications require improved image quality, reduced dose, shorter scanning times, and more precise quantification. This can be...

Time-based position estimation in monolithic scintillator detectors

Gamma-ray detectors based on bright monolithic scintillation crystals coupled to pixelated photodetectors are currently being considered for several applications in the medical imaging field. In a typical monolithic detector, both the light intensity and the time of arrival of the earliest scintillation photons can be recorded by each of the...

A positioning system based on NAVSAT

A worldwide navigation system called NAVSAT is discussed. This positioning system is based on satellites which broadcast information which can be used by receivers of this Information to estimate their position. The motion of the users is modelled by splines. The estimation procedure is based on the extended Kalman filter approach.

Study of NAVSAT control segment characteristics: part III: executive summary

On the proposed satellite-based navigation system NAVSAT, a study has been performed concerning the characteristics of the control segment. Starting from the outcome of earlier preliminary studies of ESA, this study shows that the concept is feasible.

In-flight attitude estimations and control experiments with Iras based on modern control theory

One of the research activities of the Space Division of the National Aerospace Laboratory NLR is the application of modern estimation and control theory to spacecraft attitude control problems. Algorithms for spacecraft state estimation and attitude control, as well as for inertial-optical attitude determination have been developed previously...

Application of model following control and estimation techniques to attitude control of manoeuvring spacecraft Part I: Theory and simulation results

This document presents an approach to sampled data, on-board estimation and control of the attitude motion of manoeuvring spacecraft. Algorithms which are developed include: a - model following control of attitude manoeuvres b - estimation of spacecraft state (attitude, angular velocity, disturbance torque) c - optical-inertial attitude...

Digital filtering methods, with applications to spacecraft attitude determination in the presence of modelling errors. Part II: Extension of theory, and applications

The present issue is the second and final part of a report describing the results of a study about digital filtering. The first part is available as the report NLR TR 760U8 U. The report considers a number of digital filtering methods and gives examples of their application. The methods include batch processing methods and recursive methods....