检索结果-内蒙古大学图书馆

2023 International Technical Meeting of The Institute of navigation, ITM 2023

作者： Lin, Zhao Yang, Li Chun, Jia Liang, Li Shufan, Yang Jiachang, Jiang College of Intelligent Systems Science and Engineering Harbin Engineering University China Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation China

ISBN: (纸本)9781713871378

Successful resolution of cycle ambiguities plays a crucial to high accuracy and high integrity navigation by carrier phase differenced positioning architecture. However, a cycle slip caused by loss-of-lock of signal changes the fixed ambiguity, which will affect the cycle resolution integrity. It is, therefore, necessary for detecting cycle slip and further satisfying its integrity. In general, dual-frequency measurements are deployed to construct the carrier phase differenced positioning architecture for satisfying the stringent accuracy and integrity performance for safety-critical applications, such as automatic shipboard landing. Thus, dual-frequency-based cycle slip detection methodologies can be introduced in this positioning architecture. The geometry-free (GF) modeling uses only dual-frequency phase measurements to construct the statistical residuals, which are sensitive to small cycle slips that should be detected in high-integrity applications. At present, the threshold of the GF modeling is generally designed as an empirical constant, such as 5 cm, lacking theoretical derivation to quantify its integrity risk. Therefore, this paper proposes an integrity monitoring method for GF modeling to satisfy the integrity performance. Determining the threshold value of the cycle slip statistical test is designed as a function of a required false alarm probability and the quality of raw phase measurements. A required missed detection probability can be used to construct the minimal detectable error (MDB), which can evaluate the availability of the integrity monitoring method to control the missed detection probability. As noted above, the threshold and the MDB are jointly deployed to provide the high-integrity requirements. This paper collects simulated and real-world dual-frequency GNSS datasets to verify the performance of the proposed method. The results show that this method can dynamically adjust the detection threshold to control the false alarm probability and

关键词： Errors

来源：评论

学校读者我要写书评

暂无评论

System Level Calibration Method for Drift of Rotary Accelerometer Gravity Gradiometer 30

System Level Calibration Method for Drift of Rotary Accelero...

引用

30th Saint Petersburg International Conference on Integrated navigation systems, ICINS 2023

作者： Da, Li Chengsuo, Li Wei, Gao Zhong, Li Zishan, Zhang Yuan, Yuan Laboratory of Science and Technology on Marine Navigation Control of China State Shipbuilding Corporation Tianjin Navigation Instrument Research Institute Tianjin China Harbin Engineer University College of Intelligent Systems Science and Engineering Harbin China Tianjin Navigation Instrument Research Institute Tianjin China SUN YAT-SEN University School of Geospatial Engineering and Science Zhuhai China Laboratory of Science and Technology on Marine Navigation Control of China State Shipbuilding Corporation Tianjin China

ISBN: (纸本)9785919950950

This paper proposes a system level calibration method for the successive startup error of the signal drift measured by a rotating accelerometer gravity gradiometer. Firstly, based on the measurement principle of a rotating accelerometer gravity gradiometer and the transformation relationship of the gravity gradient tensor matrix between different coordinate systems, a gravity gradient drift calibration equation was established. Secondly, the calibration equation was rewritten in a recursive form, and the optimal estimation of the drift of the gravity gradient instrument was solved through recursive least squares. Based on this, a system level calibration method for gravity gradient drift was proposed by driving the instrument stabilization platform to achieve the rotation of the sensor along the geographical direction. Finally, the effectiveness of instrument system level calibration was verified through comparative experiments conducted on two gravity gradiometers at multiple locations. The experimental results showed that the method proposed in this article can achieve high-precision system level calibration of the drift of gravity gradiometers, with a calibration accuracy better than 1E, and has engineering significance. © 2023 Concern CSRI Elektropribor, JSC.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization

DeRO: Dead Reckoning Based on Radar Odometry With Accelerome...

引用

IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Hoang Viet Do Yong Hun Kim Joo Han Lee Min Ho Lee Jin Woo Song Department of Convergence Engineering for Intelligent Drone Intelligent Navigation and Control Systems Laboratory (iNCSL) School of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the Doppler velocity obtained by a 4D Frequency Modulated Continuous Wave (FMCW) radar in conjunction with gyroscope data to calculate poses. This approach helps mitigate high drift resulting from accelerometer biases and double integration. Instead, tilt angles measured by gravitational force are utilized alongside relative distance measurements from radar scan matching for the filter’s measurement update. Additionally, to further enhance the system’s accuracy, we estimate and compensate for the radar velocity scale factor. The performance of the proposed method is verified through five real-world open-source datasets. The results demonstrate that our approach reduces position error by 62% and rotation error by 66% on average compared to the state-of-the-art radar-inertial fusion method in terms of absolute trajectory error.

关键词： Accelerometers Matched filters Dead reckoning Radar measurements Estimation Doppler radar Gyroscopes Odometry Doppler effect Velocity measurement

来源：评论

学校读者我要写书评

暂无评论

Decentralized Dynamic Event-triggered Output-feedback control of Stochastic Non-triangular Interconnected systems with Unknown Time-varying Sensor Sensitivity

arXiv

引用

arXiv 2024年

作者： Sun, Libei Song, Yongduan Lv, Maolong Chongqing Key Laboratory of Intelligent Unmanned Systems School of Automation Chongqing University Chongqing400044 China College of Air Traffic Control and Navigation Air Force Engineering University Xi’an710051 China

This study addresses the intricate challenge of decentralized output-feedback control for stochastic non-triangular nonlinear interconnected systems with unknown time-varying sensor sensitivity in a dynamic event-triggered context. The presence of stochastic disturbances, non-triangular structural uncertainties, and evolving sensor sensitivity distinguishes this problem of global asymptotic stability from conventional event-triggered control scenarios. Existing event-triggered control approaches with static event conditions encounter difficulties in simultaneously ensuring zero tracking/stabilization error and preventing the occurrence of Zeno behavior. In this work, we develop a novel solution to address this complex issue. Firstly, we establish a linear relationship between the state vector of each interconnected subsystem and two error vectors through a unique coordinate transformation. This transformation effectively handles the complexities introduced by non-triangular structural uncertainties. Secondly, we introduce a decentralized dynamic event-triggered output-feedback control strategy, which involves a state observer and a decentralized output-feedback controller. Unlike conventional event-triggered control methods with static event conditions, this strategy formulates a modified clock-based dynamic triggering mechanism by introducing an auxiliary variable that evolves based on predicted plant state values, while utilizing a clock variable to guarantee the existence of a positive lower bound on inter-execution times. Rigorous Lyapunov analysis confirms the global asymptotic stability in probability of the closed-loop system, with the states and the output of each local subsystem converging to the equilibrium at the origin in probability. Additionally, the existence of a minimal dwell-time between triggering instants is guaranteed. Finally, we substantiate the advantages and efficiency of the proposed algorithm through comprehensive numerical simulations. Co

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Dynamic Data Processing Method of Gravity Gradiometer Based on Equivalent Source

Dynamic Data Processing Method of Gravity Gradiometer Based ...

引用

2022 DGON Inertial Sensors and systems, ISS 2022

作者： Da, Li Lin, Zhao Haina, Weng Chengsuo, Li Zhi, Pei Jia, Chen College of Intelligent Systems Science and Engineering Harbin Engineer University Nangang District Harbin150001 China Tianjin Navigation Instrument Research Institute Xianyang Hongqiao District Tianjin300131 China State Shipbuilding Corporation Xianyang Laboratory of Science and Technology on Marine Navigation and Control of China Hongqiao District Tianjin300131 China

ISBN: (数字)9781665490214

ISBN: (纸本)9781665490214

The gravity gradiometer is an instrument that continuously measures the small gravity gradient changes on the earth's surface. The actual output signal of the system contains a lot of noise, and the signal-to-noise ratio is extremely low due to the limitations of the process and performance level of the core sensitive element accelerometer, and the installation errors of multiple links. In order to effectively extract the real gravity gradient signal from the strong noise, a gravity gradient noise reduction method based on the equivalent source model is proposed by using the basic principle that the earth's gravity field is a conservative force field. First, according to the relationship between the rectangular prism and the gravity gradient, the analytical model of the equivalent source is derived, and the regression equation of the equivalent source is established. Aiming at the ill conditioned problem of regression operators, Tikhonov regularization method is proposed, and the optimal regularization parameters are determined by L-curve method, which can reduce the noise of gravity gradient measurement by an order of magnitude in simulation. Using this method to process the measured data of the shipborne test, the results show that this method has an obvious effect on suppressing the dynamic measurement noise of the gravity gradiometer, and can reduce the internal coincidence mean square error of the horizontal tensor gravity gradient measurement signal by 58%, which is of engineering significance. © 2022 IEEE.

关键词： Mean square error

来源：评论

学校读者我要写书评

暂无评论

Adaptive Artificial Potential Field Ship Motion Planning Based on DDPG

Adaptive Artificial Potential Field Ship Motion Planning Bas...

引用

International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Chen, Huimin Liu, Chenguang He, Zhibo Zhang, Guoqing Han, Bing State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan430063 China Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan430063 China School of Transportation and Logistics Engineering Wuhan University of Technology Wuhan430063 China Navigation College Dalian Maritime University Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China National Engineering Research Center of Ship & Shipping Control System Shanghai200134 China

ISBN: (纸本)9789819639601

The paper presents a ship motion planning method that adjusts the attractive and repulsive gain parameters of the artificial potential field (APF) algorithm using the deep deterministic policy gradient (DDPG) algorithm, to address the challenges of parameter design and limited adaptability of traditional APF algorithms. This approach leverages the speed advantage of the APF planning algorithm and the exploration capability of the DDPG reinforcement learning algorithm. By optimizing the parameters of APF with DDPG, the local optima problem can be alleviated in complex obstacle environments. Simulation results demonstrate that the proposed motion planning algorithm can generate reasonable trajectories and exhibit strong adaptability in complex obstacle scenarios. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Design of an Experimental Framework for Testing and Evaluation of Autonomous Ships Based on the Turing Test 7

Design of an Experimental Framework for Testing and Evaluati...

引用

7th IEEE International Conference on Transportation Information and Safety, ICTIS 2023

作者： Yu, Yue Li, Shijie Liu, Jialun Hu, Xinjue Guan, Hongxu School of Transportation and Logistics Engineering Wuhan University of Technology Wuhan China China State Shipbuilding Corporation Laboratory of Science and Technology on Marine Navigation and Control Tianjin China National Engineering Research Center for Water Transport Safety Wuhan China Wuhan University of Technology State Key Laboratory of Maritime Technology and Safety Wuhan China Wuhan University of Technology School of Transportation and Logistics Engineering Wuhan China Wuhan University of Technology Intelligent Transportation Systems Research Center Wuhan China Wuhan University of Technology School of Navigation Wuhan China

ISBN: (纸本)9798350308532

In recent years, there has been a significant growth in intelligent ship technology. As the automation, intelligence, and autonomous development of ships continue to advance, it becomes crucial to conduct extensive testing and verification to ensure the rationality, reliability, and integrity of their functions and performance. Developing a mature and efficient intelligent testing and evaluation system becomes a prerequisite for further advancement in intelligent ship technology. This paper proposes a method for designing an experimental framework for intelligent navigation testing of ships, utilizing the Turing test. The first step involves building the necessary hardware and software experimental platform based on the requirements of driving behavior. Additionally, standardized experimental steps are designed to align with the characteristics of the platform. Subsequently, an experimental data evaluation method is proposed, based on probabilistic statistics and considering different navigation scenarios and characteristics of navigation data. This method relies on the principles of the normal distribution law. Finally, a human-machine confrontation experimental framework is constructed, based on the Turing test principle. The effectiveness of this framework is verified by integrating the experimental platform and experimental parameters. The proposed experimental framework serves as a reference and provides theoretical support for intelligent ship navigation testing, with the aim of promoting the overall development of intelligent ships. © 2023 IEEE.

关键词： Ships

来源：评论

学校读者我要写书评

暂无评论

Error-state Kalman Filtering with Linearized State Constraints

TechRxiv

引用

TechRxiv 2023年

作者： Do, Hoang Viet Jung, Jae Hyung Park, Chan Gook Song, Jin Woo The Intelligent Navigation and Control Systems Laboratory Department of Convergence Engineering for Intelligent Drone School of Intelligent Mechatronics Engineering Sejong University Seoul05006 Korea Republic of The Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of The Navigation and Electronic System Laboratory Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

In recent years, the error-state Kalman filter (ErKF) has been extensively employed across various applications, including but not limited to robotics, aerospace, and localization. However, incorporating constraints into the ErKF framework when state constraint is necessary has remained a challenging task due to its intrinsic properties. This paper explores all possible ways to achieve this goal in the context of the estimate projection method. In particular, the constraint can be enforced before or after the ErKF’s correction step. We approach the problem from a mathematical perspective by deriving analytical solutions and discussing their statistical properties. We prove that the two mentioned methods are statistically identical for a linear system with linear constraints. Conversely, the filter’s behavior remains uncertain in the presence of linearized constraints. However, we provide a special case of the nonlinear constraint, wherein the results of the linear case remain valid. To support our theorem and verify the filter’s performance when the assumptions are invalidated, we present two Monte Carlo simulations under the increasing initialization error and the constraint’s incompleteness. The simulation results clearly confirm our insights and lead to the conclusion that constraining the error-state after the correction may offer superior outcomes compared to its competitor. © 2023, CC BY.

关键词： Linearization

来源：评论

学校读者我要写书评

暂无评论

System Level Calibration Method for Drift of Rotary Accelerometer Gravity Gradiometer

System Level Calibration Method for Drift of Rotary Accelero...

引用

Saint Petersburg International Conference on Integrated navigation systems (ICINS)

作者： Li Da Li Chengsuo Gao Wei Li Zhong Zhang Zishan Yuan Yuan Tianjin Navigation Instrument Research Institute Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation Tianjin China College of Intelligent Systems Science and Engineering Harbin Engineer University Harbin China Tianjin Navigation Instrument Research Institute Tianjin China School of Geospatial Engineering and Science SUN YAT-SEN University Zhuhai China Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation Tianjin China

关键词：

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking control of AUV Formation systems based on Adaptive Nonlinear Model Predictive control

Trajectory Tracking Control of AUV Formation Systems based o...

引用

Chinese control and Decision Conference, CCDC

作者： Zhaoyang Wang Weiqing Diao Bo Xu Weihao Li Rongxing Zhong College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation Tianjin China School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

The objective of this work is to examine the difficulty of accomplishing multi-AUV trajectory tracking in underwater environments, which is essential for several underwater jobs like patrol, surveillance, and environment identification. The paper proposes a distributed nonlinear model predictive formation control based on adaptive prediction interval, which enables the achievement of AUV formation tracking and reduction in the computational burden associated with formation tasks. Firstly, a distributed auxiliary control law is proposed to ensure terminal convergence of the prediction interval of the AUV formation system. Second, by creating various constraint terms and adaptive prediction interval in the distributed nonlinear model predictive control (NMPC), the suggested technique tackles the problem of computationally cumbersome and input saturation. Then, by addressing a local MPC optimization problem that considers the state information of the AUV and its neighbors, the control input for every AUV is ascertained. Finally, the coordination and stability of the suggested predictive control system are shown by the presentation of numerical simulation results.

关键词： Adaptive systems Trajectory tracking Surveillance Predictive models Stability analysis Trajectory Object recognition

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：