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Inertial optimization MCL deep mine localization algorithm based on grey prediction and artificial bee colony

WIRELESS NETWORKS 2021年第4期27卷 3053-3072页

作者： Yu Xiuwu Li Ying Liu Yong Yu Hao Univ South China Sch Resource & Environm & Safety Engn Hengyang Peoples R China Univ South China Hengyang Peoples R China

To solve the problem that the existing Monte Carlo localization (MCL) algorithm has long localization time and large localization error in the real-time localization of downhole personnel and mobile equipment, an inertial optimization MCL deep mine localization algorithm based on gray prediction and artificial bee colony (IMCL-GABC) is proposed. Firstly, the movement speed and direction of the personnel or equipment to be located at the current moment are estimated by the grey prediction model, and the sampling area is determined by combining with the structural characteristics of the deep mine roadway. Secondly, the artificial bee colony algorithm is introduced to optimize the filtering to eliminate the less likely position points and obtain the approximate optimal estimated position sampling set. Finally, the weight of the sample is optimized by motion inertia, so as to complete the localization of the personnel or mobile equipment to be located. The simulation results show that the average localization error of the IMCL-GABC algorithm is 0.46 m and the average localization time required for the node to move one step is 0.21 s. Compared with the other two mobile node localization algorithms MCL and Monte Carlo localization Boxed, the localization error of IMCL-GABC algorithm is reduced by 50% and 37.84% respectively, and the localization time is reduced by 4.6 s and 0.93 s respectively, which proves that IMCL-GABC algorithm effectively improves the localization accuracy and efficiency of downhole personnel and mobile equipment.

关键词： Wireless sensor network localization algorithm Deep mine Grey prediction Artificial bee colony (ABC) Motion inertia

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A Hybrid localization algorithm for an Adaptive Strategy-Based Distance Vector-Hop and Improved Sparrow Search for Wireless Sensor Networks

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SENSORS 2023年第20期23卷 8426页

作者： Sun, Zhiwei Wu, Hua Liu, Yang Zhou, Suyu Guan, Xiangmin Shandong Jiaotong Univ Sch Informat Sci & Elect Engn Jinan 250357 Peoples R China Civil Aviat Management Inst China Sch Gen Aviat Beijing 100102 Peoples R China

Wireless sensor networks (WSNs) are applied in many fields, among which node localization is one of the most important parts. The Distance Vector-Hop (DV-Hop) algorithm is the most widely used range-free localization algorithm, but its localization accuracy is not high enough. In this paper, to solve this problem, a hybrid localization algorithm for an adaptive strategy-based distance vector-hop and improved sparrow search is proposed (HADSS). First, an adaptive hop count strategy is designed to refine the hop count between all sensor nodes, using a hop count correction factor for secondary correction. Compared with the simple method of using multiple communication radii, this mechanism can refine the hop counts between nodes and reduce the error, as well as the communication overhead. Second, the average hop distance of the anchor nodes is calculated using the mean square error criterion. Then, the average hop distance obtained from the unknown nodes is corrected according to a combination of the anchor node trust degree and the weighting method. Compared with the single weighting method, both the global information about the network and the local information about each anchor node are taken into account, which reduces the average hop distance errors. Simulation experiments are conducted to verify the localization performance of the proposed HADSS algorithm by considering the normalized localization error. The simulation results show that the accuracy of the proposed HADSS algorithm is much higher than that of five existing methods.

关键词： wireless sensor network localization algorithm DV-Hop improve sparrow search

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Impact localization of composite laminates based on four points localization algorithm of MXene/CNT sensors

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APPLIED PHYSICS A-MATERIALS SCIENCE & PROCESSING 2022年第10期128卷 925-925页

作者： Ying Wang Man Tiannan Lu, Shaowei Liu, Siyu Liu, Xinhua Shenyang Aerosp Univ SAU Coll Aerosp Engn Shenyang Peoples R China Shenyang Aerosp Univ SAU Coll Mat Sci & Engn Shenyang Peoples R China

Composite laminates are susceptible to impact damage during service, and some damage is invisible. So it is necessary to monitor the impact location on the surface of composite laminates. Novel carbon nanomaterials represented by carbon nanotubes and MXene films have unique nanoscale structures and excellent physical properties. Applying the carbon nanotubes (CNT) and MXene films to monitoring the damage area of composite laminates under impact. Laying sensor arrays within the monitoring range, a localization algorithm suitable for sensor arrays is proposed, which can accurately calculate and locate the impact position to the monitoring area. Then check the impact location area, detect damage in time, and avoid structural damage or even failure caused by accumulated damage. After the impact test, the sum of the resistance change rate of the sensor in the M-5 area is 0.6030, which is higher than the sum of the resistance change rate of other areas, and the impact point is determined to be in the M-5 area. The calculation results are completely consistent with the real impact area, which greatly improves the efficiency of detection and maintenance, and has certain engineering significance.

关键词： Impact area location Thin film sensor Sensor array localization algorithm

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Error-state Kalman filter-based localization algorithm with velocity estimation for deep-sea mining vehicle

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OCEAN ENGINEERING 2022年 264卷

作者： Xu, Wenhao Yang, Jianmin Wei, Handi Mao, Jinghang Lu, Haining Li, Xin Shanghai Jiao Tong Univ State Key Lab Ocean Engn Shanghai 200240 Peoples R China SJTU Sanya Yazhou Bay Inst Deepsea Technol Hainan 572024 Peoples R China Shanghai Jiao Tong Univ Inst Marine Equipment Shanghai 200240 Peoples R China

The deep-sea mining vehicle is one of the critical equipment of the deep-sea mining system, which is used to collect manganese nodules on the seafloor. When the deep-sea mining vehicles operates, a reliable localization system is essential. This study developed and validated a localization algorithm, named 'ESKF-slip', for deep-sea mining vehicles. The algorithm uses error-state Kalman filtering and incorporates velocity estimation using angle encoders, considering the effects of slip and sinkage. A localization system was established for a newly designed deep-sea mining vehicle named "Pioneer 1"based on the proposed localization algorithm. The hardware included an inertial measurement unit, an ultrashort baseline, a compass, and angle encoders of tracks, and the software framework was coded based on the Robot Operating System. Sea trials were performed in the South China Sea to validate the localization algorithm. The results show that the deep-sea mining vehicle could obtain accurate localization results in various complex navigations, demonstrating the feasibility and applicability of the proposed algorithm.

关键词： Deep-sea mining vehicle localization algorithm Error-state Kalman filter Vehicle slip Sea trial

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Ultraviolet anti-collision and localization algorithm in UAV formation network

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OPTIK 2019年 192卷 162919-000页

作者： Zhao, Taifei Yu, Xuxu Liu, Ping Liu, Le Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Shaanxi Peoples R China Hong Kong Polytech Univ Dept Elect & Informat Engn Hung Hom Kowloon Hong Kong 710048 Shaanxi Peoples R China

Ultraviolet (UV) Communication is a communication mode used 200nm (similar to)280nm wavelength ultraviolet light as an information carrier. It has the advantages of all-weather operations, non-lineof-sight (NLOS) communication with a wide field and strong anti-interference ability etc. Solar blind characteristics can achieve anti-collision in unmanned aerial vehicles (UAV) formation flying. The distance calculation formula for line-of-sight (LOS) and NLOS is analyzed. One kind of three dimensional (3D) localization algorithm based on wireless UV communication is put forward. UAVs need anti-collision and location methods to ensure flight safety when flying or performing tasks in a complex atmospheric environment. Computer simulation result shows that the ranging precision of UV ranging algorithm can reach 3m, The node localization accuracy rate of localization algorithm can reach more than 80%. Numerical simulation results show that the localization algorithm has a high location accuracy, which can meet the requirements of anti-collision in UAV formation.

关键词： Ultraviolet communication Non-line-of-sight (NLOS) localization algorithm Anti-collision UAV formation

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Scan Matching Cross-Correlation-Based localization algorithm: Embedded Systems Implementation Perspective

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IFAC-PapersOnLine 2018年第6期51卷 90-95页

作者： Konecny, Jaromir Prauzek, Michal Tran, An Martinek, Radek Hlavica, Jakub Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava-Poruba70833 Czech Republic

localization in an indoor environment is a challenging aspect of an autonomous mobile robot control as such mobile systems typically have limited computational capacity. It is therefore essential to design an algorithm capable of reliable robot's position calculation and, at the same time, suitable for implementation in embedded devices. This contribution describes a modified point-to-point Scan Matching algorithm based on cross-correlation, which was first introduced in our previous study. The newly developed algorithm running in a single thread is implemented in C language and decreases the computational complexity, i.e. time needed for calculation of the robot's position, by as much as 20% compared to the original solution implemented in C#. LiDAR sensor was used to test the algorithm. © 2018

关键词： Embedded systems Machine design Optical radar Robot applications Robots Autonomous Mobile Robot Computational capacity Cross correlations localization algorithm Robot localization Scan matching SLAM Systems implementation

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RESEARCH OF localization algorithm OF INTERNET OF VEHICLES BASED ON INTELLIGENT TRANSPORTATION 15

RESEARCH OF LOCALIZATION ALGORITHM OF INTERNET OF VEHICLES B...

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Gu, Mu-Song Miao, Fang Gao, Chao-Bang He, Zi-Shu Fan, Wen-Jie Li, Li Chengdu Univ Coll Informat Sci & Technol Chengdu 610106 Peoples R China Univ Elect Sci & Technol China Sch Elect Sci & Engn Chengdu 611731 Peoples R China

ISBN: (纸本)9781538652183

In the Internet of Vehicles, the real-time localization of vehicles is a very significant problem. The relative position between vehicles as well as between vehicle and Road Side Unit (RSU) is the localization data we are in more need of. When compared with the localization algorithm, the non-ranging technology is mainly adopted. In the research of the non-ranging technology, DVHop algorithm is the algorithm studied the most at present but there still exists problems such as major error of localization. Therefore, we have tried to improve it with the chemical reaction optimization and compare it with the original algorithm. Through the simulation experiment, the localization error of the improved algorithm is far lower than that of the original DVHop algorithm, largely enhancing the precision of localization. These information are valuable virtual assets which will provide more reliable basis for post-period data treatment and decision-making analysis.

关键词： localization algorithm Wireless Sensor Network DVHop algorithm Chemical Reaction Optimization Virtual Assets

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Modified DV-Hop localization algorithm Based on Intersecting Circle and Hops Revaluation 18

Modified DV-Hop Localization Algorithm Based on Intersecting...

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3rd International Conference on Intelligent Information Processing (ICIIP)

作者： Yu, Xiuwu Xiao, Renrong Liu, Yong Guo, Qian Li, Xiangyang Liang, Beikong Univ South China State Key Lab Safety & Hlth Met Mines Hunan Engn Res Ctr Uranium Tailings Decommiss & T Hengyang 421001 Peoples R China Univ South China Hengyang 421001 Hunan Peoples R China Univ South China Hunan Engn Res Ctr Uranium Tailings Decommiss & T Hengyang 421001 Peoples R China

ISBN: (纸本)9781450364966

Aiming at the problem that classical DV-Hop localization algorithm has large error in actual positioning, a modified DV-Hop localization algorithm based on intersecting circle and hops revaluation (IHDV-Hop) was proposed. intersecting circle was used and the distance between nodes was obtained by geometric method and random point method;then hops classification was adopted to modify the way estimating minimum hops. The simulation results show that the average localization error of IHDV-Hop was less than DV-Hop when setting the proportion of different anchor nodes, communication radius and total number of nodes, which improved the positioning accuracy.

关键词： Wireless sensor network localization algorithm DV-Hop intersecting circle model hops revaluation

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A DETECTION AND localization algorithm FOR MOVING TARGETS BEHIND WALLS BASED ON ONE TRANSMITTER-TWO RECEIVER CONFIGURATION

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MICROWAVE AND OPTICAL TECHNOLOGY LETTERS 2017年第6期59卷 1252-1259页

作者： Yilmaz, Betul Ozdemir, Caner Mersin Univ Dept Elect & Elect Engn TR-33343 Mersin Turkey Emtech IT Technol Engn Corp Mersin Technol Dev Zone 203 TR-33343 Mersin Turkey

In this paper, we introduce a simple;but an effective algorithm to detect and image the precise location of moving targets behind obstacles based on one-transmitter and two-receiver configuration. The problem geometry together with the formulation details of the algorithm are given. The performance of the algorithm is first evaluated by synthesizing a numerical scenario that is simulated by moving ideal scatterers. Then, the success and the validity of the algorithm are being assessed by an error analysis study that calculates the error associated by the approximations. The algorithm is tested with measured data obtained by an experimental set-up for detecting a human movement behind the wall. Resultant two-dimensional consecutive images indicate that this algorithm can be effectively used for pinpointing the moving targets in TWR or similar through-the-obstacle radar applications with good fidelity. (C) 2017 Wiley Periodicals, Inc.

关键词： remote sensing through-the-wall radar moving target detection radar signal processing localization algorithm

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A new Monte Carlo mobile node localization algorithm based on Newton interpolation

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EURASIP JOURNAL ON WIRELESS COMMUNICATIONS AND NETWORKING 2018年第1期2018卷 1页

作者： Lu, Jian-Yin Wang, Chao Chao Hu Univ Coll Informat Engn Hefei Anhui Peoples R China Anhui Xinhua Univ Coll Informat Engn Hefei Anhui Peoples R China

There are some deficiencies in the Monte Carlo localization algorithm based on rangefinder, which like location probability distribution of the k moment in the prediction phase only related to the localization of the k - 1 moment and the maximum and minimum velocity. And the influences of the motion condition on the movement of the mobile node at k moment are also not considered before the k - 1 moment. What is more is the process of selecting the effective particles is slow in the algorithm. Considering the situations above, this paper presented a Monte Carlo mobile node localization algorithm based on Newton interpolation, which uses the inheritedness of Newton interpolation, inheriting the historical trajectory prediction mechanism of the moving node to estimate the current moment's movement speed and movement direction of the moving node, and optimized the moving node motion model, and used particle filter that is optimized by weight of importance to prevent particle collection depletion. The inference and simulation results show that the algorithm has improved the accuracy of the forecast using Newton interpolation. And this algorithm has effectively avoided the degradation of particles and improved the localization accuracy.

关键词： Newton interpolation Monte Carlo localization algorithm

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