检索结果-内蒙古大学图书馆

Open-Source Factor Graph Optimization Package for GNSS: Examples and Applications

学校读者我要写书评

暂无评论

arXiv 2025年

作者： Suzuki, Taro Future Robotics Technology Center Chiba Institute of Technology Chiba Japan

关键词： Kalman filters

Multiple Update Particle Filter: Position Estimation by Combining GNSS Pseudorange and Carrier Phase Observations

学校读者我要写书评

暂无评论

Multiple Update Particle Filter: Position Estimation by Comb...

IEEE International Conference on robotics and Automation (ICRA)

作者： Taro Suzuki Future Robotics Technology Center Chiba Institute of Technology Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents an efficient method for updating particles in a particle filter (PF) to address the position estimation problem when dealing with sharp-peaked likelihood functions derived from multiple observations. Sharp-peaked likelihood functions commonly arise from millimeter-accurate distance observations of carrier phases in the global navigation satellite system (GNSS). However, when such likelihood functions are used for particle weight updates, the absence of particles within the peaks leads to all particle weights becoming zero. To overcome this problem, in this study, a straightforward and effective approach is introduced for updating particles when dealing with sharp-peaked likelihood functions obtained from multiple observations. The proposed method, termed as the multiple update PF, leverages prior knowledge regarding the spread of distribution for each likelihood function and conducts weight updates and resampling iteratively in the particle update process, prioritizing the likelihood function spreads. Experimental results demonstrate the efficacy of our proposed method, particularly when applied to position estimation utilizing GNSS pseudorange and carrier phase observations. The multiple update PF exhibits faster convergence with fewer particles when compared to the conventional PF. Moreover, vehicle position estimation experiments conducted in urban environments reveal that the proposed method outperforms conventional GNSS positioning techniques, yielding more accurate position estimates.

关键词： Global navigation satellite system Estimation error Accuracy Three-dimensional displays Urban areas Estimation Kinematics

Multiple Update Particle Filter: Position Estimation by Combining GNSS Pseudorange and Carrier Phase Observations

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Suzuki, Taro Future Robotics Technology Center Chiba Institute of Technology Japan

关键词： Iterative methods

Mobile Robot Localization with GNSS Multipath Detection using Pseudorange Residuals

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Suzuki, Taro Future Robotics Technology Center Chiba Institute of Technology Japan

This paper proposes a novel positioning technique suitable for use in mobile robots and vehicles in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS positioning, the GNSS satellites that are obstructed by buildings emit reection and diffraction signals, which are called non-line-of-sight (NLOS) multipath signals. These multipath signals cause major positioning errors. To mitigate the NLOS multipath errors, the NLOS signals must be identified from all of the received GNSS signals. The key concept considered in this paper is the estimation of a user's position using the likelihood of the position hy- potheses computed from the GNSS pseudoranges, consisting only of LOS signals based on the analysis of the pseudorange residuals. To determine the NLOS GNSS signals from the pseudorange residuals at the user's position, it is necessary to accurately determine the position before the computation of the pseudorange residuals. This problem is solved using a particle filter. We propose a likelihood estima- tion method using the Mahalanobis distance between the hypotheses of the user's position computed from only the LOS pseudoranges and the particles. To confirm the effectiveness of the proposed tech- nique, a positioning test was performed in a real-world urban environment. The results demonstrated that the proposed method is effective for accurately estimating the user's position in urban canyons, where conventional GNSS positioning can lead to large positioning errors. Copyright © 2024, The Authors. All rights reserved.

关键词： Mobile robots

Smart Anti-Pinch Window Simulation Using H_/H_(∞)Criterion and MOPSO

学校读者我要写书评

暂无评论

Computers, Materials & Continua 2022年第7期72卷 215-226页

作者： Maedeh Mohammadi Azni Mohammad Ali Sadrnia Shahab S.Band Zulkefli Bin Mansor Department of Electrical and Robotics Engineering Shahrood University of TechnologySemnanIran Future Technology Research Center College of FutureNational Yunlin University of Science and Technology 123 University RoadSection 3DouliouYunlin64002Taiwan Faculty of Information Science and Technology Universiti Kebangsan Malaysia43600UKM BangiSelangorMalaysia

Automobile power windows are mechanisms that can be opened and shut with the press of a *** these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part at the right time will result in damage and in some cases,loss of that *** anti-pinch mechanism is an excellent choice to solve this problem,which detects the obstacle in the glass path immediately and moves it *** this paper,an optimal solution H_/H_(∞)is presented for fault detection of the anti-pinch window *** anti-pinch makes it possible to detect an obstacle and prevent damages through sampling parameters such as current consumption,the speed and the position of DC *** this research,a speed-based method is used to detect the *** order to secure the anti-pinch window,an optimal algorithm based on a fault detection observer is *** the residual design,the proposed fault detection algorithm uses theDCmotor angular velocity *** against disturbances and sensitivity to the faults are considered as an optimization problem based on Multi-Objective Particle Swarm Optimization ***,an optimal filter for solving the fault problem is designed using the H_/H_(∞)*** results show that the simulated anti-pinch window is pretty sensitive to the fault,in the sense that it can detect the obstacle in 50 ms after the fault occurrence.

关键词： H_/H_(∞) anti-pinch residual fault detection multi-objective particle swarm optimization(MOPSO) multi-objective optimization automotive power windows electric windows

Application of Passive Dynamic Walking Model to Gait Trajectory Estimation Using Inertial Measurement Units and LiDAR

学校读者我要写书评

暂无评论

Application of Passive Dynamic Walking Model to Gait Traject...

2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Kasai, Haruki Irie, Kiyoshi Yamazaki, Kimitoshi Shinshu University Graduate School of Science and Technology Japan Chiba Institute of Technology Future Robotics Technology Center Tsudanuma 2-17-1 Chiba Narashino Japan Shinshu University Faculty of Engineering Wakasato 4-17-1 Nagano Nagano Japan

ISBN: (纸本)9798331531614

This paper presents a method for accurately estimating gait trajectory. We have developed an approach that leverages observations from two inertial motion units (IMUs) attached to both insteps and light detection and ranging (LiDAR) mounted on the back. A key advantage of this method is that it does not require observing the person from a fixed point. However, there is potential to further improve the accuracy of the estimated gait trajectory, particularly because the geometry of the gait has been somewhat distorted. In this study, we introduce a passive dynamic walking (PDW) model to preserve gait geometry and detail the formulation for integrating it into the existing method. Additionally, we present a method to address trajectory discontinuities using the PDW model. The effectiveness of the method is explained based on the experimental results using real data. © 2025 IEEE.

关键词： Trajectories

Attitude-Estimation-Free GNSS and IMU Integration

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Suzuki, Taro Future Robotics Technology Center Chiba Institute of Technology Japan

A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial measurement unit (IMU) integration methods have been proposed to improve the accuracy and availability of GNSS positioning. However, all these methods require the addition of a 3D attitude to the estimated state to fuse the IMU data. In this study, we propose a new optimization-based positioning method for combining GNSS and IMU that does not require attitude estimation. The proposed method uses two types of constraints: one is a constraint between states using only the magnitude of the 3D acceleration observed by an accelerometer, and the other is a constraint on the angle between the velocity vectors using the angular change measured by a gyroscope. The evaluation results with the simulation data show that the proposed method maintains the position estimation accuracy even when the IMU mounting position error increases and improves the accuracy when the GNSS observations contain multipath errors or missing data. The proposed method could improve positioning accuracy in experiments using IMUs acquired in real environments. Copyright © 2023, The Authors. All rights reserved.

关键词： Global positioning system

An Underwater Self-Positioning System with a Smartphone Based on Visual-Inertial Odometry and Trajectory Matching

学校读者我要写书评

暂无评论

An Underwater Self-Positioning System with a Smartphone Base...

2025 IEEE Underwater technology, UT 2025

作者： Katayama, Daigo Yasukawa, Shinsuke Nishida, Yuya Hara, Naohiro Fukukawa, Tomoya Ishii, Kazuo Kyushu Institute of Technology Center for Future Society Implementation for Robotics Fukuoka Kitakyushu Japan Kyushu Institute of Technology Dept. of Human Intelligence Systems Fukuoka Kitakyushu Japan Yanmar Holdings Co. Ltd. Innovation & Technology Division Shiga Maibara Japan

ISBN: (纸本)9798331534189

The introduction of net cleaning robots is required in aquaculture. For an efficient operation of net cleaning robots, a high-precision underwater self-positioning system is required. In this research, we have proposed and verified a method by VIO and trajectory matching using a smartphone for the purpose of implementing a small underwater self-positioning system to be implemented in a net cleaning robot. The verification results shows that the system is possible to achieve highly accurate self-position estimation by correcting the estimated position by trajectory matching. © 2025 IEEE.

关键词： Smartphones

Robust UAV Position and Attitude Estimation using Multiple GNSS Receivers for Laser-based 3D Mapping

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Suzuki, Taro Inoue, Daichi Amano, Yoshiharu The Future Robotics Technology Center Chiba Institute of Technology Japan Waseda University Japan

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser scanner is required for numerous remote sensing applications. In direct 3D mapping, the precise information about the position and attitude of the UAV is necessary for constructing 3D maps. In this study, we propose a novel and robust technique for estimating the position and attitude of small-sized UAVs by employing multiple low-cost and light-weight global navigation satellite system (GNSS) antennas/receivers. Using the "redundancy" of multiple GNSS receivers, we enhance the performance of real-time kinematic (RTK)-GNSS by employing single-frequency GNSS receivers. This method consists of two approaches: hybrid GNSS fix solutions and consistency examination of the GNSS signal strength. The fix rate of RTK-GNSS using single-frequency GNSS receivers can be highly enhanced to combine multiple RTK-GNSS to fix solutions in the multiple antennas. In addition, positioning accuracy and fix rate can be further enhanced to detect multipath signals by using multiple GNSS antennas. In this study, we developed a prototype UAV that is equipped with six GNSS antennas /receivers. From the static test results, we conclude that the proposed technique can enhance the accuracy of the position and attitude estimation in multipath environments. From the flight test, the proposed system could generate a 3D map with an accuracy of 5 cm. Copyright © 2023, The Authors. All rights reserved.

关键词： Remote sensing