This paper presents integration of ultrasonic and inertial approaches in indoor navigation system. Ultrasonic navigation systems allow to obtain good results whilst there are at least three beacon transmitters in the range of mobile receiver, but in many situations placement of large number of transmitters is not economically justified. In such situations navigation must be aided by other technique. This paper describes research on supporting ultrasonic system by inertial system based on Magnetic, Angular Rate and Gravity sensor. This can measure current orientation of the receiver and allows to estimate the length of the path by pedometer functionality.

The aim of the present study was to investigate inline lactate dehydrogenase (LDH) dynamic changes based on different cow factors – different number and stages of lactation, milk yield, and the status of reproduction in clinically healthy dairy cows.

In the Herd Navigator system, LDH activity levels (μmol/min per litre) were measured using dry-stick technology. A total of 378 cows were selected. According to their reproductive status, the cows were classified as belonging to the following groups: Fresh (1 – 44 days after calving); Open (45 – 65 days after calving); Inseminated (1 – 35 days after insemination); Pregnant (35 – 60 days after insemination and pregnant). According to their productivity, the cows were classified into the following groups: <15 kg/day, 15 – 25 kg/day, 25 – 35 kg/day and >35 kg/day. The cows were milked with a DeLaval milking robot (DeLaval Inc. Tumba Sweden) in combination with a Herd Navigator analyser (Lattec I/S. Hillerød Denmark).

In conclusion inline dynamic changes in the milk LDH concentration may increase together with the rise in the lactation period frequency. The highest LDH level determinated in the group of the fresh cows ranged from 5 to 10 DIM, while the highest LDH concentration level was found in the fresh cow milk. Thus, there was a positive relationship between the milk concentration of LDH and the milk yield.

This study investigated changes in the real-time measured levels of milk β-hydroxybutyrate according milk yield, lactation number and status of reproduction in dairy cows. A total of 378 cows were selected. According to their reproductive status the cows were classified as belonging to the following groups: Fresh (1 – 44 days after calving. n=43). Open (45 – 65 days after calving. n=78), Inseminated (1 – 35 days after insemination. n=133). Pregnant (35 – 60 days after insemination and pregnant (relatively pregnant) (n=124). The cows were milked with DeLaval milking robot (DeLaval Inc., Tumba, Sweden) in combination with a Herd Navigator (Lattec I/S. Hillerød. Denmark) analyser. We observed that milk β-hydroxybutyrate (BHB) had a tendency of increasing with an increase of lactation number. The average BHB in multiparous cows was 11.111% higher in comparison with primiparous cows (p<0.001). We found higher BHB concentration in the multiparous cows in all reproduction status groups (p<0.001). A strong positive statistically significant (p<0.001) relationship has been found between BHB and the average milk yield within all groups of primiparous cows although we found a statistically unreliable coefficient of correlation (from -0.202 to 0.057) between highest milk yield and BHB in primiparous and multiparous cows.

The cold start of the space GPS receiver, i.e. the start without any information about the receiver position, satellite constellation, and time, is complicated by a large Doppler shift of a navigation signal caused by the satellite movement on the Earth orbit. That increases about five times the search space of the navigation signals compared to the standard GPS receiver. The paper investigates a method of the acceleration of the GPS receiver cold start time designed for the pico- and femto-satellites. The proposed method is based on a combination of the parallel search in Doppler frequency and PRN codes and the serial search in code phase delay. It can shorten the cold start time of the GPS receiver operating on LEO orbit from about 300 to 60 seconds while keeping the simplicity of FPGA signal processor and low power consumption. The developed algorithm was successfully implemented and tested in the piNAV GPS receiver. The energy required for the obtaining of the position fix was reduced five times from 36 on to 7.7 Joules. This improvement enables applications of such receiver for the position determination in smaller satellites like Pocket Cube or femto-satellites with a lower energy budget than the Cube Satellite.

The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.

The aim of the presented work was the development of a tracking algorithm for a stereoscopic camera setup equipped with an additional inertial sensor. The input of the algorithm consists of the image sequence, angular velocity and linear acceleration vectors measured by the inertial sensor. The main assumption of the project was fusion of data streams from both sources to obtain more accurate ego-motion estimation. An electronic module for recording the inertial sensor data was built. Inertial measurements allowed a coarse estimation of the image motion field that has reduced its search range by standard image-based methods. Continuous tracking of the camera motion has been achieved (including moments of image information loss). Results of the presented study are being implemented in a currently developed obstacle avoidance system for visually impaired pedestrians.

Velocity is one of the main navigation parameters of moving objects. However some systems of position estimation using radio wave measurements cannot provide velocity data due to limitation of their performance. In this paper a velocity measurement method for the DS-CDMA radio navigation system is proposed, which does not require full synchronization of reference stations carrier frequencies. The article presents basics of FDOA (frequency difference of arrival) velocity measurements together with application of this method to an experimental radio navigation system called AEGIR and with some suggestions about the possibility to implement such FDOA measurements in other kinds of asynchronous DS-CDMA radio networks. The main part of this paper present results of performance evaluation of the proposed method, based on laboratory measurements

A research study aimed at developing a novel indoor positioning system is presented. The realized system prototype uses sensor fusion techniques to combine information from two sources: an in-house developed local Ultra-Wideband (UWB) radio-based ranging system and an inertial navigation system (INS). The UWB system measures the distance between two transceivers by recording the round-trip-time (RTT) of UWB radio pulses. Its principle of operation is briefly described, together with the main design features. Furthermore, the main characteristics of the INS and of the Extended Kalman Filter information fusion approach are presented. Finally, selected static and dynamic test scenario experimental results are provided. In particular, the advantages of the proposed information fusion approach are further investigated by means of a high dynamic test scenario.

This article presents a system of precise navigation for a visually impaired person which uses GPS navigation and an infrared sensor in the form of an infrared matrix. The presented system allows determining the orientation and distance of a blind person relative to a selected object, e.g. a wall or road edge. The application of the above solution facilitates a significant increase in the accuracy of determining the position of a blind person compared to the accuracy offered by commonly used ground satellite devices. The system uses thermal energy accumulated in the environment without the need to generate additional signals. The main parts of the system are a simple infrared matrix, data processing system and vibrating wristband. Messages and navigation warnings are sent to a blind person in the form of a vibration code. The article describes the method of determining the path of a specified width and distance from the wall of a building, curb, etc., along which a blind person should move. The article additionally describes the method of determining the orientation of a blind person depending on the selected object. Such a method facilitates verifying whether the visually impaired person is moving according to the indicated direction. The method can also be used to navigate mobile robots. Due to the use of natural energy for data registration and processing, the mobile navigation system can be operated for a long time without the need to recharge the battery.

In the era of humanoid robotics, navigation and path planning of humanoids in complex environments have always remained as one of the most promising area of research. In this paper, a novel hybridized navigational controller is proposed using the logic of both classical technique and computational intelligence for path planning of humanoids. The proposed navigational controller is a hybridization of regression analysis with adaptive particle swarm optimization. The inputs given to the regression controller are in the forms of obstacle distances, and the output of the regression controller is interim turning angle. The output interim turning angle is again fed to the adaptive particle swarm optimization controller along with other inputs. The output of the adaptive particle swarm optimization controller termed as final turning angle acts as the directing factor for smooth navigation of humanoids in a complex environment. The proposed navigational controller is tested for single as well as multiple humanoids in both simulation and experimental environments. The results obtained from both the environments are compared against each other, and a good agreement between them is observed. Finally, the proposed hybridization technique is also tested against other existing navigational approaches for validation of better efficiency.

The upcoming hypersonic technologies pose a difficult task for air navigation systems. The article presents a designed model of elastic interaction of penetrating acoustic radiation with flat isotropic suspension elements of an inertial navigation sensor in the operational conditions of hypersonic flight. It has been shown that the acoustic transparency effect in the form of a spatial-frequency resonance becomes possible with simultaneous manifestation of the wave coincidence condition in the acoustic field and equality of the natural oscillation frequency of a finite-size plate and a forced oscillation frequency of an infinite plate. The effect can lead to additional measurement errors of the navigation system. Using the model, the worst and best case suspension oscillation frequencies can be determined, which will help during the design of a navigation system.

This paper describes the prototype version of a mobile application supporting independent movement of the blind. Its objective is to improve the quality of life of visually impaired people, providing them with navigational assistance in urban areas. The authors present the most important modules of the application. The module for precise positioning using DGPS data from the ASG-EUPOS network as well as enhancements of positioning in urban areas, based on the fusion with other types of data sources, are presented. The devices, tools and software for the acquisition and maintenance of dedicated spatial data are also described. The module responsible for navigation with a focus on an algorithms' quality and complexity, as well as the user interface dedicated for the blind are discussed. The system's main advantages over existing solutions are emphasized, current results are described, and plans for future work briefly outlined.

In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.

Nairobi International Convention on the Removal of Wrecks came into force on 14th April 2015 and has been ratified by now by over 40 states across the world (among them Australia, China, India, South Africa and most of the EU countries). The convention provides legal framework for action taken by the Coastal States aiming at removal of wrecks posing danger or impediment to navigation, as well as to the marine environment, or damage to the coastline or related interests of one or more States.

The Convention fills the existing legal gap by enabling the States to remove wrecks beyond their territories (as well as within if States decide so). Beside the existing international regulations like Intervention Convention or UNCLOS, the Nairobi Convention clarifies the Costal State’s rights to remove wrecks from its EEZ if they pose a danger for safe navigation or marine environment. The Convention corresponds with mentioned conventions but also equips Coastal States with new legal instruments to deal with hazardous wrecks beyond their territory. The aim of the paper is to analyse the new rights and duties of states, as well as scope of the notion of navigational and environmental threats causes by wrecks. It will refer also to regulatory problems faced by the states implementing the Convention. Even if the Convention is to be applied to territorial sea, its multiple provisions are not. Moreover, the Convention leaves many important aspects unregulated. Those issues will be analysed from the perspective of a country which has not yet ratified the Convention, and will be confronted with the experience from other jurisdictions.