MagnetometerA magnetometer is a device that measures magnetic field or magnetic dipole moment. Different types of magnetometers measure the direction, strength, or relative change of a magnetic field at a particular location. A compass is one such device, one that measures the direction of an ambient magnetic field, in this case, the Earth's magnetic field. Other magnetometers measure the magnetic dipole moment of a magnetic material such as a ferromagnet, for example by recording the effect of this magnetic dipole on the induced current in a coil.
Kalman filterFor statistics and control theory, Kalman filtering, also known as linear quadratic estimation (LQE), is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, and produces estimates of unknown variables that tend to be more accurate than those based on a single measurement alone, by estimating a joint probability distribution over the variables for each timeframe. The filter is named after Rudolf E. Kálmán, who was one of the primary developers of its theory.
Dynamic positioningDynamic positioning (DP) is a computer-controlled system to automatically maintain a vessel's position and heading by using its own propellers and thrusters. Position reference sensors, combined with wind sensors, motion sensors and gyrocompasses, provide information to the computer pertaining to the vessel's position and the magnitude and direction of environmental forces affecting its position. Examples of vessel types that employ DP include ships and semi-submersible mobile offshore drilling units (MODU), oceanographic research vessels, cable layer ships and cruise ships.
Real-time kinematic positioningReal-time kinematic positioning (RTK) is the application of surveying to correct for common errors in current satellite navigation (GNSS) systems. It uses measurements of the phase of the signal's carrier wave in addition to the information content of the signal and relies on a single reference station or interpolated virtual station to provide real-time corrections, providing up to centimetre-level accuracy (see DGPS). With reference to GPS in particular, the system is commonly referred to as carrier-phase enhancement, or CPGPS.
Ring laser gyroscopeA ring laser gyroscope (RLG) consists of a ring laser having two independent counter-propagating resonant modes over the same path; the difference in phase is used to detect rotation. It operates on the principle of the Sagnac effect which shifts the nulls of the internal standing wave pattern in response to angular rotation. Interference between the counter-propagating beams, observed externally, results in motion of the standing wave pattern, and thus indicates rotation.
Satellite navigation deviceA satellite navigation device, satnav device or satellite navigation receiver is a user equipment that uses one or more of several global navigation satellite systems (GNSS) to calculate the device's geographical position and provide navigational advice. Depending on the software used, the satnav device may display the position on a map, as geographic coordinates, or may offer routing directions. four GNSS systems are operational: the original United States' Global Positioning System (GPS), the European Union's Galileo, Russia's GLONASS, and China's BeiDou Navigation Satellite System.
Inertial measurement unitAn inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers. When the magnetometer is included, IMUs are referred to as IMMUs. IMUs are typically used to maneuver modern vehicles including motorcycles, missiles, aircraft (an attitude and heading reference system), including unmanned aerial vehicles (UAVs), among many others, and spacecraft, including satellites and landers.
Proton magnetometerA proton magnetometer, also known as a proton precession magnetometer (PPM), uses the principle of Earth's field nuclear magnetic resonance (EFNMR) to measure very small variations in the Earth's magnetic field, allowing ferrous objects on land and at sea to be detected. It is used in land-based archaeology to map the positions of demolished walls and buildings, and at sea to locate wrecked ships, sometimes for recreational diving. PPMs were once widely used in mineral exploration.
Particle filterParticle filters, or sequential Monte Carlo methods, are a set of Monte Carlo algorithms used to find approximate solutions for filtering problems for nonlinear state-space systems, such as signal processing and Bayesian statistical inference. The filtering problem consists of estimating the internal states in dynamical systems when partial observations are made and random perturbations are present in the sensors as well as in the dynamical system.
Magnetic fieldA magnetic field is a vector field that describes the magnetic influence on moving electric charges, electric currents, and magnetic materials. A moving charge in a magnetic field experiences a force perpendicular to its own velocity and to the magnetic field. A permanent magnet's magnetic field pulls on ferromagnetic materials such as iron, and attracts or repels other magnets.
