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91	Optimální odhad stavu modelu navigačního systému / Optimal state estimation of a navigation model system Papež, Milan January 2013 (has links) This thesis presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems, which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality and the covariance matrix or its factors conditioning is evaluated for a various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.
92	Designing and experimenting with e-DTS 3.0 Phadke, Aboli Manas 29 August 2014 (has links) Indiana University-Purdue University Indianapolis (IUPUI) / With the advances in embedded technology and the omnipresence of smartphones, tracking systems do not need to be confined to a specific tracking environment. By introducing mobile devices into a tracking system, we can leverage their mobility and the availability of multiple sensors such as camera, Wi-Fi, Bluetooth and Inertial sensors. This thesis proposes to improve the existing tracking systems, enhanced Distributed Tracking System (e-DTS 2.0) [19] and enhanced Distributed Object Tracking System (eDOTS)[26], in the form of e-DTS 3.0 and provides an empirical analysis of these improvements. The enhancements proposed are to introduce Android-based mobile devices into the tracking system, to use multiple sensors on the mobile devices such as the camera, the Wi-Fi and Bluetooth sensors and inertial sensors and to utilize possible resources that may be available in the environment to make the tracking opportunistic. This thesis empirically validates the proposed enhancements through the experiments carried out on a prototype of e-DTS 3.0. Opportunistic Tracking Android-based tracking Distributed Tracking System Indoor tracking system Smartphone-based indoor tracking system Embedded computer systems -- Programming Embedded computer systems -- Reliability Mobile computing Bluetooth technology Multisensor data fusion Sensor networks Androids Remote sensing Wireless LANs Global Positioning System Ubiquitous computing Cell phone systems Ad hoc networks (Computer networks)

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Optimální odhad stavu modelu navigačního systému / Optimal state estimation of a navigation model system

Designing and experimenting with e-DTS 3.0