Sensors and Methods for Mobile Robot Positioning

2.4.2.2 Watson Gyrocompass ............................................55
2.4.2.3 KVH Fluxgate Compasses .........................................56
2.4.3 Hall-Effect Compasses .............................................. 57
2.4.4 Magnetoresistive Compasses .......................................... 59
2.4.4.1 Philips AMR Compass ............................................59
2.4.5 Magnetoelastic Compasses ........................................... 60
Chapter 3 Ground-Based RF-Beacons and GPS ..................................65
3.1 Ground-Based RF Systems ............................................... 65
3.1.1 Loran ............................................................ 65
3.1.2 Kaman Sciences Radio Frequency Navigation Grid ....................... 66
3.1.3 Precision Location Tracking and Telemetry System .........................67
3.1.4 Motorola Mini-Ranger Falcon ........................................ 68
3.1.5 Harris Infogeometric System.......................................... 69
3.2 Overview of Global Positioning Systems (GPSs) ...............................70
3.3 Evaluation of Five GPS Receivers by Byrne [1993] ............................78
3.3.1 Project Goals ...................................................... 78
3.3.2 Test Methodology .................................................. 78
3.3.2.1 Parameters tested ................................................79
3.3.2.2 Test hardware ..................................................81
3.3.2.3 Data post processing .............................................82
3.3.3 Test Results ....................................................... 83
3.3.3.1 Static test results ................................................84
3.3.3.2 Dynamic test results ..............................................88
3.3.3.3 Summary of test results ............................................ 91
3.3.4 Recommendations .................................................. 91
3.3.4.1 Summary of problems encountered with the tested GPS receivers ..........92
3.3.4.2 Summary of critical integration issues ................................92
Chapter 4 Sensors for Map-Based Positioning .................................. 95
4.1 Time-of-Flight Range Sensors ..............................................95
4.1.1 Ultrasonic TOF Systems ............................................. 97
4.1.1.1 Massa Products Ultrasonic Ranging Module Subsystems .................97
4.1.1.2 Polaroid Ultrasonic Ranging Modules ................................99
4.1.2 Laser-Based TOF Systems .......................................... 101
4.1.2.1 Schwartz Electro-Optics Laser Rangefinders .........................101
4.1.2.2 RIEGL Laser Measurement Systems ...............................107
4.1.2.3 RVSI Long Optical Ranging and Detection System ....................109
4.2 Phase-Shift Measurement ................................................112
4.2.1 Odetics Scanning Laser Imaging System .................................115
4.2.2 ESP Optical Ranging System ........................................ 116
4.2.3 Acuity Research AccuRange 3000 .....................................117
4.2.4 TRC Light Direction and Ranging System .............................. 119
4.2.5 Swiss Federal Institute of Technology's “3-D Imaging Scanner” ..............120
4.2.6 Improving Lidar Performance .........................................121
4.3 Frequency Modulation ................................................. 123
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