To solve the problem of large positioning error and discontinuous positioning of special forces members when moving in cross-region indoors and outdoors, and to compensate for the linearization error and local converg...To solve the problem of large positioning error and discontinuous positioning of special forces members when moving in cross-region indoors and outdoors, and to compensate for the linearization error and local convergence problem that may exist in the extended Kalman filter(EKF)in nonlinear systems, that is,the iterative results may be trapped in a local optimum situation, a seamless indoor-outdoor switching localization algorithm based on cubature Kalman filter (CKF) is proposed. CKF does not require the computation of Jacobian matrices, which can improve computational efficiency and filtering accuracy to a certain extent. In the system, an inertial measurement unit (IMU) is employed to correct the positioning errors of ultra-wideband (UWB)and BeiDou navigation satellite system(BDS).The positioning data from UWB and BeiDou in cross-region are weighted fused and then fused with the data from the IMU using CKF to obtain the final accurate positioning information. This study designs a scene-switching mechanism to achieve seamless switching between indoor and outdoor positioning scenes. By jointly analyzing the positioning accuracy of UWB and BeiDou,the positioning scene is determined, and appropriate counting thresholds are set to avoid frequent erroneous scene switches. Experimental results show that the proposed algorithm achieves a positioning accuracy of approximately 21.7 cm in cross-region,which can enable seamless integration of indoor and outdoor positioning,avoid positioning jumps, and enhance positioning accuracy.展开更多
本文介绍了一种潜电流测试仪。它基于LXI(LAN eXtension for Instrument)总线技术而设计,集成了安捷伦公司最新推出的符合LXI标准的多功能开关/测量单元34980A和程控电源N5746A等设备,测试应用软件的开发平台为Agilent VEE Pro。该潜电...本文介绍了一种潜电流测试仪。它基于LXI(LAN eXtension for Instrument)总线技术而设计,集成了安捷伦公司最新推出的符合LXI标准的多功能开关/测量单元34980A和程控电源N5746A等设备,测试应用软件的开发平台为Agilent VEE Pro。该潜电流测试仪是针对航空航天领域的实际应用而开发的一种专用的自动测试装置。系统通过立式机柜组装,设计紧凑,接口简单,使用方便,且具有良好的可扩展性。展开更多
基金supported by the Shaanxi Provincial Key Research and Development Program under Grant 2021GY-022.
文摘To solve the problem of large positioning error and discontinuous positioning of special forces members when moving in cross-region indoors and outdoors, and to compensate for the linearization error and local convergence problem that may exist in the extended Kalman filter(EKF)in nonlinear systems, that is,the iterative results may be trapped in a local optimum situation, a seamless indoor-outdoor switching localization algorithm based on cubature Kalman filter (CKF) is proposed. CKF does not require the computation of Jacobian matrices, which can improve computational efficiency and filtering accuracy to a certain extent. In the system, an inertial measurement unit (IMU) is employed to correct the positioning errors of ultra-wideband (UWB)and BeiDou navigation satellite system(BDS).The positioning data from UWB and BeiDou in cross-region are weighted fused and then fused with the data from the IMU using CKF to obtain the final accurate positioning information. This study designs a scene-switching mechanism to achieve seamless switching between indoor and outdoor positioning scenes. By jointly analyzing the positioning accuracy of UWB and BeiDou,the positioning scene is determined, and appropriate counting thresholds are set to avoid frequent erroneous scene switches. Experimental results show that the proposed algorithm achieves a positioning accuracy of approximately 21.7 cm in cross-region,which can enable seamless integration of indoor and outdoor positioning,avoid positioning jumps, and enhance positioning accuracy.
文摘本文介绍了一种潜电流测试仪。它基于LXI(LAN eXtension for Instrument)总线技术而设计,集成了安捷伦公司最新推出的符合LXI标准的多功能开关/测量单元34980A和程控电源N5746A等设备,测试应用软件的开发平台为Agilent VEE Pro。该潜电流测试仪是针对航空航天领域的实际应用而开发的一种专用的自动测试装置。系统通过立式机柜组装,设计紧凑,接口简单,使用方便,且具有良好的可扩展性。
