초록 ▼

An apparatus and method for measuring chemical, biological, nuclear agents in an environment includes several detectors capable of measuring concentrations of the agents in the environment and a processor capable of operating an algorithm which, based on two sequential measures of concentration of t

An apparatus and method for measuring chemical, biological, nuclear agents in an environment includes several detectors capable of measuring concentrations of the agents in the environment and a processor capable of operating an algorithm which, based on two sequential measures of concentration of the agent, estimates decay or elevation rate of the concentrations of the agent and feeds this estimated change rate to a Kalman filter which predicts the next measurement. The predicted next measurement of concentration is compared with the measured concentration and the error is calculated based on the discrepancy between the measured and predicted concentrations of the agent in the environment. Using this error, the attributes of the Kalman filter are adjusted to lower noise signals and improve further predictions of the concentration of the agent during the mission time.

대표청구항 ▼

An apparatus and method for measuring chemical, biological, nuclear agents in an environment includes several detectors capable of measuring concentrations of the agents in the environment and a processor capable of operating an algorithm which, based on two sequential measures of concentration of t

An apparatus and method for measuring chemical, biological, nuclear agents in an environment includes several detectors capable of measuring concentrations of the agents in the environment and a processor capable of operating an algorithm which, based on two sequential measures of concentration of the agent, estimates decay or elevation rate of the concentrations of the agent and feeds this estimated change rate to a Kalman filter which predicts the next measurement. The predicted next measurement of concentration is compared with the measured concentration and the error is calculated based on the discrepancy between the measured and predicted concentrations of the agent in the environment. Using this error, the attributes of the Kalman filter are adjusted to lower noise signals and improve further predictions of the concentration of the agent during the mission time. hicle; and obstacle position measurement means for receiving signals indicating a vehicle position transmitted from the transmission means and for measuring positions of obstacles near that vehicle based on the vehicle position received; wherein the memory means stores the positions of obstacles measured by the obstacle position measurement means as positions of obstacles common to the plurality of vehicles; and the updating means updates the content stored in the memory means, based on the position of a new obstacle measured by the obstacle position measurement means, every time a signal is received by the reception means indicating that a new obstacle exists. 5. The vehicle guidance system according to claim 1, wherein, when a manned or unmanned work vehicle having vehicle position measurement means for measuring position of its own vehicle is present inside an area traveled over by the plurality of vehicles, the memory means stores the position of the work vehicle measured by the vehicle position measurement means as position of an obstacle common to the plurality of vehicles, and the updating means updates the content stored in the memory means every time the position of the work vehicle is altered by the vehicle position measurement means. 6. The vehicle guidance system according to claim 5, wherein the updating means updates the content stored in the memory means every time the positions of the work vehicles are successively changed in conjunction with traveling of the work vehicles. 7. The vehicle guidance system according to claim 5, wherein the updating means updates the content stored in the memory means every time the work vehicle stops traveling and stopped position of that work vehicle is changed. 8. A vehicle guidance system wherein: each of a plurality of vehicles is provided with vehicle position measurement means for measuring current position of that vehicle; when position data for target points that should be reached by each of the plurality of vehicles are given, data are generated for travel courses that pass through those target points; and each of the plurality of vehicles is made to guide that vehicle along its proper travel course while comparing the current vehicle position measured by the vehicle position measurement means with positions on the generated travel course; the vehicle guidance system comprising: memory means for storing positions of obstacles at a work site common to the plurality of vehicles when the plurality of vehicles travel simultaneously over that work site; updating means for updating content stored in the memory means; travel course generation means which, when position data on the target points are given, generate data for travel courses that pass through those target points, based on content recorded in the memory means, so that there is no conflict with the obstacles; and guidance means for guiding the plurality of vehicles, respectively, along travel courses generated by the travel course generation means. 9. A vehicle guidance system wherein: each of a plurality of vehicles is provided with vehicle position measurement means for measuring current position of that vehicle; when position data for target points that should be reached by each of the plurality of vehicles and position data for a course area capable of being traveled by the plurality of vehicles are given, data are generated for travel courses that travel inside that course area and pass through those target points; and each of the plurality of vehicles is made to guide that subject vehicle along its proper travel course while comparing the current vehicle position measured by the vehicle position measurement means with positions on generated travel course; the vehicle guidance system comprising: memory means for storing positions of obstacles at a work site common to the plurality of vehicles when the plurality of vehicles travel simultaneously over that work site; updating means for u