Data Logic Structure and Key Technologies on Intelligent High-precision Map

Taking autonomous driving and driverless as the research object,we discuss and define intelligent high-precision map.Intelligent high-precision map is considered as a key link of future travel,a carrier of real-time perception of traffic resources in the entire space-time range,and the criterion for the operation and control of the whole process of the vehicle.As a new form of map,it has distinctive features in terms of cartography theory and application requirements compared with traditional navigation electronic maps.Thus,it is necessary to analyze and discuss its key features and problems to promote the development of research and application of intelligent high-precision map.Accordingly,we propose an information transmission model based on the cartography theory and combine the wheeled robot’s control flow in practical application.Next,we put forward the data logic structure of intelligent high-precision map,and analyze its application in autonomous driving.Then,we summarize the computing mode of“Crowdsourcing+Edge-Cloud Collaborative Computing”,and carry out key technical analysis on how to improve the quality of crowdsourced data.We also analyze the effective application scenarios of intelligent high-precision map in the future.Finally,we present some thoughts and suggestions for the future development of this field.

Rejuvenating LiNi_(0.5)Co_(0.2)Mn_(0.3)O_(2) cathode directly from battery scraps

Battery recycling is indispensable for alleviating critical material shortages and enabling sustainable battery applications.However,current methods mostly focus on spent batteries,which not only require sophisticated disassembly and material extraction but also have unknown chemistries and states of health,resulting in high costs and extreme challenges to achieve regeneration.Here,we propose the direct recycling and effective regeneration of air-degraded LiNi_(0.5)Co_(0.2)Mn_(0.3)O_(2)(NCM523)cathode directly from battery scraps generated during battery manufacturing.The NCM523 shows surface degradation only a few nanometers deep and accordingly can be regenerated without adding Li,achieving restored properties(170 mAh g^(-1) at 0.1 C,92.7%retention after 1000 cycles)similar to those of fresh commercial materials.EverBatt analysis shows that scrap recycling has a profit of$1.984 kg^(-1),which is~10 times higher than conventional recycling,making it practical and economical to rejuvenate slightly degraded electrode materials for sustainable battery manufacturing.

三维铜基集流体的构筑及在锂金属电池中的应用

锂金属因其具有超高比容量(3860 mAh·g^(-1))以及较低的氧化还原电势(-3.04 V vs标准氢电极),被认为是下一代高能量密度二次电池的理想负极材料。然而“无宿主”的金属锂在金属/电解液界面层进行沉积/剥离,不可避免地会生长枝晶,不仅使电极表面电流分布不均,同时可能会刺穿电池隔膜而导致电池短路。通过构造三维集流体/锂金属复合负极可以有效调控锂沉积行为并抑制枝晶生长,从而提升电池的库仑效率、循环寿命以及倍率性能,该领域近年来一直都是研究的热点。本文首先总结了基于三维集流体抑制锂枝晶的相关原理和模型;其次针对用于负极的铜基集流体,根据构成三维结构基底单元的维度,总结了三维铜基集流体的制备方法及其在锂金属负极保护方面的应用;最后,对三维集流体构造复合锂负极进行了总结和展望。

Equivariant filtering framework for inertial-integrated navigation

This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE_(2)(3),the sym-metry of the Lie group can be exploited to design an equivariant filter which extends the invariant extended Kalman filtering on the group-affine system and overcomes the inconsitency issue of the traditional extend Kalman filter.We firstly formulate the inertial-integrated dynamics as the group-affine systems.Then,we prove the left equivariant properties of the inertial-integrated dynamics.Finally,we design an equivariant filtering framework on the earth-centered earth-fixed frame and the local geodetic navigation frame.The experiments show the superiority of the proposed filters when confronting large misalignment angles in Global Navigation Satellite Navigation(GNSS)/Inertial Navigation System(INS)loosely integrated navigation experiments.

Role,path,and vision of“5G+BDS/GNSS”

Communication,positioning,navigation,and decision-making abilities have evolved into Positioning,Navigation,and Timing(PNT)intelligence during the long process of human migration and hence promoted human evolution.This article defines intelligence and smartness from the perspective of biological intelligence.New requirements as a result of the development of communication,navigation,time service,and decision making are identified in this study.The article points out that there are many radio PNT service methods,such as 5G,the new-generation high-speed communication networks and the low-latency and ubiquitous mobile communication networks as well as Global Navigation Satellite System(GNSS),but the integrated application is especially important in providing technical support for the adjustment and control of the physical world by intelligent sensing,cognition,decision-making,and precise coordination.The fusion of 5G and GNSS[including BeiDou Navigation Satellite System(BDS)]information with the corresponding equipment can be embedded into a machine to make it intelligent.Furthermore,the fused information of 5G and GNSS together with the environment information may extend human perception and physical world control ability in terms of time and space scale.It will help to develop critical information infrastructure in the age of intelligence,which will also extend the definition of artificial intelligence.Additionally,the“5G+BDS/GNSS”fusion path is analyzed explicitly herein in terms of realization methods,information processing,and new application services.On the whole,the application of“5G+BDS/GNSS+satellite-based communication”as a critical infrastructure for land,sea,air,space and network spatiotemporal control rights is proposed.

Performance improvement of 5G positioning utilizing multi-antenna angle measurements

Time delay-based the 5th Generation Mobile Communication Technology(5G)positioning is a main method to perform high-precision positioning in Global Navigation Satellite System(GNSS)denied areas.However,in practical applications,the occlusion of signals in a complex environment results in few observable base stations,which affects the reliability and accuracy of positioning.The aim of this study is to improve the performance of the 5G positioning in complex environments with an insufficient number of observable base stations.First,the Angle of Departure(AOD)capability of multi-antennas is integrated into Multi-Round-Trip-Time(Multi-RTT)positioning,establishing a novel 5G RTT/AOD positioning model.Then,the influencing factors of positioning performance,including the Dilution of Precision(DOP)and the accuracy of the AOD measurements,is analyzed.The relationship between DOP and RTT/AOD positioning accuracy is deduced.Afterwards,simulation experiments are performed on 5G positioning with the Multi-RTT and RTT/AOD methods in two scenarios with good and complex environments.The theoretical analysis and experimental results show that 5G positioning with the RTT/AOD method increases the horizontal and vertical accuracies by approximately 25 and 65%,respectively,compared with the Multi-RTT method.The positioning reliability is also greatly improved.The proposed model can well solve the inefficiency of 5G positioning with the RTT method in scenarios where the number of base stations is less than three.

Structure and performance analysis of fusion positioning system with a single 5G station and a single GNSS satellite

NaGlobal vigation Satellite System(GNSS)positioning technology is widely used for its high precision,global,and all-weather service.However,in complex environments such as urban canyons,GNSS performance is often degraded due to signal occlusion and even fails to achieve positioning due to the insufficient visible satellites.Because of the characteristics of large band-width,low latency,and high Base Station(BS)density,the fifth-Generation mobile communication(5G)technology has gradually become a trend for positioning in cities while offering traditional communication service.To supply the communication demands of the User Equipment(UE),only one BS is usually considered to establish a connection with the UE during the BS construction.However,the positioning accuracy with a single BS in urban canyons will be significantly reduced.To further improve the positioning accuracy in such extreme scenarios,this paper proposes a simplified 5G/GNSS fusion positioning system architecture using observations from only a 5G BS and a GNSS satellite.In this system,the GNSS receiver is mounted on the 5G BS,and the measurements provided by the receiver are used to form the differential code and complete the position estimation.The positioning mathematical models of the system based on the original code and differential code are derived.Then,the impacts of the measurements noise and the time synchronization error on the positioning accuracy are analyzed theoretically.Finally,the positioning performance is investigated by a set of simulation experiments.Numerical results show that under the existing 5G measurement noise and 2 m’s code measurement noise,the improvement of the differential code based fusion positioning compared with the 5G-only positioning is more than 32%,which is also about 6%higher than the original code based fusion positioning.Besides,this improvement is not affected by the time synchronization error between the BS and the GNSS satellite.