List of Figures
Figure 1: Screen shot of Atlas Speaks
Figure 2: Route Window in Atlas Speaks
Figure 3: Speech Messaging Class Structure Example
Figure 4: Message being sent to Queue
Figure 5: Adding Message String to Queue
Figure 6: Finished Speaking, Start Speaking next String
Figure 7: Skip Speech
Figure 8: Block Diagram of the Strider Box
Figure 9: Screen shot of Strider
Figure 10: Route-following radial distance with GPS accuracy
Figure 11: Route-following DGPS accuracy with an Atlas Route
Figure 12: Strider Software Interface
Figure 13: Functional Block Diagram of the AtlasSpeaksandStrider Software
Figure 14: Atmospheric Errors cause the SatelliteSignaltobe Deflected [8]
Figure 15: Multipath Error [8]
Figure 16: DGPS Correction [1]
Figure 17: Pendulous Accelerometer [9]
Figure 18: Pendulous Integrating Gyroscope Accelerometer[9a]
Figure 19: Liquid Level Accelerometer [9]
Figure 20: Force-Rebalanced Accelerometer [9]
Figure 21: A Simplified Diagram of the ADXL05 Sensor atRest[10]
Figure 22: ADXL05 Sensor Responding to anExternallyAppliedAcceleration [10]
Figure 23: Simplified Block Diagram ofthePersonalNavigation System
Figure 24: Electrical Representation of a Pedometer Step
Figure 25: Strider Box Layout and Communication
Figure 26: Switching Circuit using one package of NAND's
Figure 27: Switching Circuit equates to a MUX
Figure 28: Simplified Schematic Diagram withtheHC705-KMicrocontroller
Figure 29: Simplified Schematic Diagram withtheHC705-JMicrocontroller
Figure 30: Schematic Diagram of theAlternativeNavigationSystem
Figure 31: State Diagram of the Alternative NavigationSystem
Figure 32: Main Program Flow Diagram
Figure 33: Pedometer Step Recorded after 15Consecutive5vReadings
Figure 34: 205 ms Delay before Registering a Step
Figure 35: Magnification of the Switch'sMechanicalBouncingand Delay Counter
Figure 36: Pedometer ISR Flow Diagram
Figure 37: Timer ISR Flow Diagram
Figure 38: Compass Interface
Figure 39: Data Clock Timing Diagram [12]
Figure 40: Computer Requests Data ISR Flow Diagram
Figure 41: ANS Tested around a City Block
Figure 42: Pedometer Testing – Steps Taken to Steps Recorded
Figure 43: Testing Indoors – Fifth FloorMackenzieBuildingof Carleton University
Figure 44: Guidance System Test under an Overpass
Figure 45: Worst-Case: Total Error accumulated by the ANS
Figure 46: Best-Case: Total Error accumulated in ANS
Figure 47: Order of Steps Recorded
