The Concept of Using the Decision-Robustness Function in Integrated Navigation Systems

Czaplewski, Krzysztof; Czaplewski, Bartosz

doi:10.3390/s22166157

Cited by 3 publications

(1 citation statement)

References 22 publications

(35 reference statements)

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“…The development of vehicles in this respect is linked to the increasing automation of the individual processes they perform. In the case of the topic addressed by the authors, this is automatic navigation [ 2 , 3 ] and automatic obstacle avoidance [ 4 , 5 ]. The lane change manoeuvre is encountered in situations of avoiding, overtaking, and when an unexpected obstacle suddenly appears on the road.…”

Section: Introductionmentioning

confidence: 99%

The Validity of Sensors and Model in the Lane Change Control Process

Dębowski

Faryński

Żardecki

2023

Sensors

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The paper demonstrates the validity of sensors and the model in the algorithm for a lane change controller. The paper presents the systematic derivation of the chosen model from the ground up and the important role played by the sensors used in this system. The whole concept of the system on which the tests were carried out is presented step by step. Simulations were realised in the Matlab and Simulink environments. Preliminary tests were performed to confirm the need for the controller in a closed-loop system. On the other hand, sensitivity (the influence of noise and offset) studies showed the advantages and disadvantages of the developed algorithm. This allowed us to create a research path for future work with the aim of improving the operation of the proposed system.

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Section: Introductionmentioning

confidence: 99%

The Validity of Sensors and Model in the Lane Change Control Process

Dębowski

Faryński

Żardecki

2023

Sensors

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Assessing the accuracy of ship position through real-time measurements

Loginovsky

2024

jour

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One of the most important tasks of shipping for ensuring the efficiency and safety of navigation is accurately determining the ship position during the voyage. Research on the accuracy of finding a ship coordinates is always at the top of the list of urgent navigational issues, even nowadays with the widespread implementation of state-ofthe-art information technologies and the progress of navigation systems and techniques. If to follow measurement standards, there are two close terms applied in marine navigation in this context. They are “accuracy” and “precision” of measurements, which in principle might confuse the understanding of the task onboard the ship. In marine navigation, the traditional understanding of ship current position accuracy is to assess the impact of a combination of random errors in measured navigation parameters on random errors in computed coordinates. Two-dimensional confidence intervals centered on the fixed ship position serve as a graphical representation of the assessed accuracy, which is algebraically, might be described by the covariance matrix of coordinate errors. As a result of the high level of uncertainty caused by the effect of random errors in real-time measurements, it is impossible to assess the accuracy of ship position during the voyage. The magnitude and mathematical sign of these errors are unknown, and the navigation parameter indications themselves do not provide any information on their accuracy. For this reason, a priori prediction of the precision of navigation parameters associated with certain sets of measurements made in the past under specific standard conditions are used to assess the accuracy of the real-time ship position. This priori data inspires to substitute the concept of accuracy of the real-time ship position with the concept of precision of the navigation system, technique, or device operation, which is essentially the theoretical inconsistency. The purpose of this study is to partially solve this inconsistency. The study outcome is a proposed indicator that, by using information gathered from redundant measurements of navigation parameters obtained in real time without the use of priori data, can indirectly assess the accuracy of the real-time fixed coordinates of the ship position. The indicator concept is based on assessing the area of the real-time figure of errors. This area is limited by its outer contour of position lines and has a high degree of measurement redundancy to guarantee that, the probability of locating the true point within this figure is 100 %. In addition to having high precision features, modern navigation technology also makes it possible to handle a larger volume of measurement data utilizing contemporary technologies, such as Big Data platforms, which do not restrict the number of measurements. Consequently, higher number of navigation measurements can significantly raise the probability of finding the true position in the ensuing complicated figure of errors. The shape of the figure allows for a spatial analysis of the proximity of potential navigational hazards and the ship location, by using, for example, the least squares method. The area of such a figure is a characteristic of the uncertainty (an analog of precision) of coordinate errors, and its minimum area provides the best accuracy. The ability to determine the real-time figure area with sheer certainty of existing the true point in it stimulates the development of the next more technologically advanced and encouraging level of alternative and autonomous methods for determining the vessel position. These methods are based primarily on the possibility of increasing the volume of processed measurement information. It directly relates, for example, to the development of azimuthal methods of nautical astronomy, which make it possible to perform an unlimited number of autonomous navigation measurements in the absence of a visible horizon, which undoubtedly becomes valuable when ships are sailing in high latitude regions, especially during a long period of polar night.

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Method of Autonomous Vehicle Control Using Simplified Reference Models and Regulators

FARYŃSKI (jakub.farynski@wat.edu.pl,

ŻARDECKI (dariusz.zardecki@wat.edu.pl),

DĘBOWSKI (andrzej.debowski@wat.edu.pl)

2023

Problems of Mechatronics Armament Aviation Safety Engineering

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This study contains a conceptual solution of the control method for an autonomous vehicle based on a simplified reference model and controllers. The whole issue is considered on the example of the execution phase of the lane change manoeuvre, in which the well-known 4WS (Four-Wheel-Steering) bicycle model and Kalman regulators based on the LQR (Linear-Quadratic Regulator) technique were used. The overall developed control mechatronic system was subjected to simulation studies in Matlab&Simulink. The simulation results showed correct functioning of the entire mechatronic control system and allowed us to determine further research directions. The developed control method can also find application in military vehicles.

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The Concept of Using the Decision-Robustness Function in Integrated Navigation Systems

Cited by 3 publications

References 22 publications

The Validity of Sensors and Model in the Lane Change Control Process

The Validity of Sensors and Model in the Lane Change Control Process

Assessing the accuracy of ship position through real-time measurements

Method of Autonomous Vehicle Control Using Simplified Reference Models and Regulators

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