A semantic vector map-based approach for aircraft positioning in GNSS/GPS denied large-scale environment

Accurate positioning is one of the essential requirements for numerous applications of remote sensing data,especially in the event of a noisy or unreliable satellite signal.Toward this end,we present a novel framework for aircraft geo-localization in a large range that only requires a downward-facing monocular camera,an altimeter,a compass,and an open-source Vector Map(VMAP).The algorithm combines the matching and particle filter methods.Shape vector and correlation between two building contour vectors are defined,and a coarse-to-fine building vector matching(CFBVM)method is proposed in the matching stage,for which the original matching results are described by the Gaussian mixture model(GMM).Subsequently,an improved resampling strategy is designed to reduce computing expenses with a huge number of initial particles,and a credibility indicator is designed to avoid location mistakes in the particle filter stage.An experimental evaluation of the approach based on flight data is provided.On a flight at a height of 0.2 km over a flight distance of 2 km,the aircraft is geo-localized in a reference map of 11,025 km~2using 0.09 km~2aerial images without any prior information.The absolute localization error is less than 10 m.

POSITIVE MAPS CONSTRUCTED FROM PERMUTATION PAIRS

A property(C) for permutation pairs is introduced. It is shown that if a pair{π_1, π_2} of permutations of(1,2,…,n) has property(C),then the D-type map Φ_(π_1,π_2) on n× n complex matrices constructed from {π_1,π_2} is positive. A necessary and sufficient condition is obtained for a pair {π_1,π_2} to have property(C),and an easily checked necessary and sufficient condition for the pairs of the form {π~p,π~q} to have property(C) is given, whereπ is the permutation defined by π(i) = i + 1 mod n and 1≤ p < q≤ n.

Fixed Points Associated to Power of Normal Completely Positive Maps*

Let be a normal completely positive map with Kraus operators . An operator X is said to be a fixed point of , if . Let be the fixed points set of . In this paper, fixed points of are considered for , where means j-power of . We obtain that and for integral when A is self-adjoint and commutable. Moreover, holds under certain condition.

A Classification of Completely Positive Maps

This paper concerns classifying completely positive maps between certain C*-algebras. Several invariants for classifying completely positive maps are constructed. It is proved that one of them is isomorphic to the Ext-group of C*-algebra extensions in special circumstances. Furthermore, this invariant induces a functor from C*-algebras to abelian groups which is split-exact.

MAPS PRESERVING THE NORM OF THE POSITIVE SUM IN L_(p) SPACES

For 1<p<∞,let S(Lp)+be the set of positive elements in L_(p) with norm one.Assume that V_(0):S(L_(p)(Ω_(1)))+→S(L_(p)(Ω_(2)))+is a surjective norm-additive map;that is,‖V_(0)(x)+V_(0)(y)‖=‖x+y‖,■x,y∈S(L_(p)(Ω_(1)))+.In this paper,we show that V_(0) can be extended to an isometry from L_(p)(Ω_(1))onto L_(p)(Ω_(2)).

Completely Positive Definite Maps Over Topological-algebras

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On Positive Eigenvalues and Positive Fixed Points of Multivalued Condensing Mappings

In this paper,we discuss the calculations of fixed point indexs for multivalued condensing map-pings and κ-set-contraction mappings,obtain some theorems on the eigenvalues and the fixed points under the suitable conditions.Our conclusions improve and generalie some well-known results.

Solving Fractional Differential Equations via Fixed Points of Chatterjea Maps

In this paper,we present the existence and uniqueness of fixed points and common fixed points for Reich and Chatterjea pairs of self-maps in complete metric spaces.Furthermore,we study fixed point theorems for Reich and Chatterjea nonexpansive mappings in a Banach space using the Krasnoselskii-Ishikawa iteration method associated withSλand consider some applications of our results to prove the existence of solutions for nonlinear integral and nonlinear fractional differential equations.We also establish certain interesting examples to illustrate the usability of our results.

An Improved Particle Filter Map Matching Algorithm for Personal Inertial Positioning

The current particle filtering map matching algorithm has problems such as low map utilization and poor accuracy of turnoff positioning, etc. This paper proposed an improved particle filtering-based map-matching algorithm for the inertial positioning of personnel. The historical moment position constraint and feasible region constraint of particles were introduced in this paper. A resampling method based on multi-stage backtracking of particles was proposed. Therefore, the effectiveness of newly generated particles could be guaranteed. The utilization rate of map information could be improved, thus enhancing the accuracy of personnel localization. The walking experiment results showed that, compared with the traditional PDR algorithm, the proposed method had higher localization accuracy and better repeatability of the localization trajectory for multi-turn paths. Under the total travel of 480 meters, the deviation of the starting end point was less than 2 meters, which was about 0.4% of the total travel.

The Local Theory of Completely 1-Summing Mapping Spaces

In this paper, we investigate local properties in the system of completely 1-summing mapping spaces. We introduce notions of injectivity, local reflexivity, exactness, nuclearity and finite-representability in the system of completely 1-summing mapping spaces. First we obtain that if V has WEP, V is locally reflexive in the system (Ⅱ1(⋅,⋅), π1(⋅)) if and only if it is locally reflexive in the system (Ⅰ(⋅,⋅), t(⋅)). Furthermore we prove that an operator space V ⊆ B(H) is exact in the system (Ⅱ1(⋅,⋅), π1(⋅)) if and only if V is finitely representable in {Mn}n∈N in the system (Ⅱ1(⋅,⋅), π1(⋅)). At last, we show that an operator space V is finitely representable in {Mn}n∈N in the system (Ⅱ1(⋅,⋅), π1(⋅)) if and only if V = C.

基于IMU-LiDAR紧耦合的煤矿防冲钻孔机器人定位导航方法

防冲钻孔机器人是冲击地压矿井卸压的关键设备,其在复杂卸压巷道的精确地图构建和的稳定导航是实现钻孔作业智能化的基础和前提。在分析激光雷达点云畸变成因和同步定位与地图构建(SLAM)算法缺陷的基础上,设计了基于惯性测量单元(IMU)连续时间轨迹的点云畸变矫正方法,建立了激光雷达和IMU的数据融合模型,提出了基于IMU-LiDAR紧耦合的防冲钻孔机器人定位建图方法。根据煤矿卸压巷道特点建立了密闭坡道模型,开展了建图效果仿真分析,结果表明,所提算法在定位精度、轨迹误差方面均优于现有常用算法。在此基础上,设计了基于改进人工势场法和快速扩展随机树的动态路径规划方法,建立了适用于防冲钻孔机器人的路径规划与导航融合方案,并设计了2种仿真运动场景,结果表明,所提路径规划方法在全局路径规划和动态路径规划的平均路径长度、平均运行时间、平均生成节点数等方面均具有较好的综合性能。为了进一步验证防冲钻孔机器人定位导航方法的实用性,在校内模拟巷道、地面实验基地和井下卸压巷道等场景下开展了多组对比实验,结果表明:将IMU数据与LiDAR数据紧耦合后,所提方法的定位建图精度明显提高,在特征退化场景中具有优越的定位建图性能,且规划路径的运算效率和路径代价方面均具有良好的表现,验证了所提定位导航方法在多种场景中的可行性和优越性。

基于WGS构建葡萄高密度遗传图谱及抗炭疽病QTL定位

葡萄炭疽病是一种危害葡萄成熟果实的真菌病害,严重影响葡萄的产量和品质。美洲种葡萄具有适应南方湿热气候且高抗炭疽病的特点,因此构建美洲葡萄高密度分子遗传图谱,定位其抗炭疽病QTL,利用其中的抗病基因指导葡萄抗病育种具有重要意义。本研究以美洲葡萄‘C30-5-1’165株自交后代为作图群体,基于全基因组测序(WGS)开发SNP标记,构建遗传图谱,并对葡萄抗炭疽病QTL进行分析。构建的葡萄分子遗传图谱总遗传距离为3138.74 cM,相邻标记间平均遗传距离为0.98 cM,分布均匀。根据群体炭疽病抗性表型数据,在11号连锁群上检测到1个炭疽病抗性相关QTL,命名为Cgr2,可解释表型变异5.0%,是一个微效QTL。与葡萄参考基因组比对分析发现,该QTL区域包含2个候选抗性基因,分别编码UDP糖基转移酶和类黄酮3’-单加氧酶,它们可能对葡萄炭疽病抗性起重要作用。

基于点云特征的改进RANSAC地面分割算法

针对室外复杂场景下,轻量级和地面优化的激光雷达里程计与测图(LeGO-LOAM)算法由于地面分割不精确而导致算法定位精度降低的问题,提出一种基于改进随机一致性采样(RANSAC)的多线程地面分割算法:相较于传统RANSAC算法,该算法舍弃从全部原始数据中随机选取种子点拟合地面模型的迭代方式,首先利用点云高程、曲率等点特征信息挑选出所有小于高程、曲率等阈值的种子点以构建种子点集合,并根据种子点集合中的种子点数量判断是否需要多线程处理;然后根据判断结果从种子点集合中选择种子点子集进行地面拟合;最后比较各地面模型所包含的点云数量以获得最优地面模型参数以及地面点云集;地面分割精度的提高有效地降低了LeGO-LOAM算法的定位误差。实验结果表明,在室外复杂场景下所提出的地面分割算法分割效果更好,杂点更少;相较于原LeGO-LOAM算法,改进算法的定位误差降低至3.73 m,平面均方根误差降低了20.8%。

激光雷达与惯性测量单元同步融合下的园区三维建图

针对自动驾驶三维建图中存在的建图不准确以及位姿飘移的问题,利用激光雷达里程计消除惯性测量单元(Iner-tial Measurement Unit,nIMU)累计误差并通过IMU预积分去除激光雷达点云畸变,形成激光雷达与IMU的紧耦合建图系统;通过增加回环检测因子、激光雷达里程计因子以及IMU预积分因子进行后端图优化,旨在提升定位建图的全局一致性,减小位姿估计误差,降低累计漂移误差。最后,在学校园区实地场景以及利用开源数据集KITTI进行实验验证,实验表明,在选取的学校园区实地场景下,改进算法APE误差均值相较于原算法降低了11.04%,APE均方根误差较于原算法降低了17.35%;改进算法在KITTI数据集场景下平均APE误差下降了10.04%,均方误差方面相较于原算法平均下降了12.04%。研究结果表明,改进的建图方法能够有效提高建图的位姿估计精度与地图构建精度。

经支气管诊疗机器人设计及其柔性末端执行器位姿研究

经呼吸道活检是肺结节诊断中较为常见的手术,但由于呼吸道疾病存在传染风险以及手动操作时关节受限等,医工结合的诊疗方式逐渐成为发展趋势。为实现柔性体在支气管腔道内复杂弯曲动态环境下灵活运动、精准定位与稳定介入,采用主从协同式远程控制机器人机构设计,模拟传统手术中医生的操作习惯,设计并搭建能够操控支气管镜、活检钳的集成机构原理样机,以实现经支气管进行微创诊疗的双器械协同操控。然后,基于Cosserat杆理论,利用MATLAB软件对机器人柔性末端执行器的力-位映射关系、位姿和工作空间进行仿真求解,并通过实验分析机器人柔性末端执行器在经支气管的远程微创活检手术中的真实位姿以及机器人的实际运行效果,验证了仿真结果的准确性。研究结果可为经自然腔道活检术的多器械协同控制提供理论基础。

基于车载三维激光扫描的城市道路竣工测量探讨

车载三维激光扫描系统融合了多种传感器和数据源,可以自动、迅速地获取道路的全方位信息。其扫描速度迅捷、数据信息丰富、精确度高、采集过程安全简单,并能节省人力。此技术显著提高了外业生产效率,并降低了生产成本。对车载三维激光扫描技术在道路工程竣工测量中的内外业处理流程的研究结果表明:该技术的精度可达到1∶500测图精度要求,满足城市高架路竣工规划测绘的精度需求。该技术方案是切实可行的,且能高效地提高生产效率。

基于聚焦滤波的林业专题地图制图综合方法

森林资源规划设计调查成果总是以连续的面状图斑呈现。当大比例尺二类调查成果图缩编为更小比例尺地图时,常常需要制图综合。如何在制图综合时既要简化多边形边界,又要保持各类型林相面积和位置的相对不变,是林业专题制图的一个难题。经大量实验发现,将实施制图综合的连续面状图斑要素从矢量格式转换为栅格格式,经Focal滤波器以Majority方式滤波处理后,再将滤波后结果从栅格数据转换为矢量数据,可较好地实现森林资源专题连续面状要素信息的制图综合。以云南省某地一个1万hm^(2)的实验区为例,使用该方法将1∶2.5万的森林资源二类调查成果图缩编为1∶25万。结果表明,缩编后,多边形边界简化,目视效果较好,各类型林相面积变化绝对值平均为0.2%,位置精确度平均值为94.68%。此方法已应用于云南森林资源状况图集相关专题图等的生产实践。

一维p-Laplacian方程Neumann边值问题正解的存在性和多解性

本文利用时间映像分析法考虑了一类源自人口问题中的稳态反应扩散方程Neumann边值问题{|u'(t)|^(p-2)u'(t))'+λ(au-bu^(2)-c)=0,0<t<1,u'(0)=u'(1)=0多个正解的存在性.其中,1/λ>0为扩散系数,1<p≤2,a>0,b>0,c>0.进一步,当确定了a,b,c,1/λ的值时,本文证明了上述问题多个正解的存在性和解的精确个数,所得结果推广并改进了已有文献的相关结果.

体育锻炼积极情绪扩建理论的可视化分析

利用Citespace V可视化分析软件,以web of science收录的2013-2023年的积极情绪扩建理论研究领域的核心期刊为研究对象,通过对159篇相关文献数据分析并绘制可视化图谱,对积极情绪扩建理论近10年研究的发文量、科研作者、科研机构、研究热点与研究趋势等进行可视化分析。结果表明:文献量自2017年起始终处于波浪式递增;美国北卡罗来纳大学教堂山分校Fredrickson教授及其小组是积极情绪扩建理论的主要研究团队;研究热点与前沿主要集中在积极情绪、扩展与建构理论、积极心理、幸福感、生活满意度;该理论在跨学科研究中获得普遍认可,并广泛应用于抑郁症患者的临床治疗。建议国内学者积极探索适用于我国青少年心理健康发展的理论体系,加强高校、科研院所之间的合作,实现资源共享,提高研究质量,对进一步丰富和提高我国积极心理研究具有十分重要的意义。

论毕飞宇的超空间叙事

毕飞宇的先锋精神始于他的第一部作品《孤岛》,一直延续到当下《欢迎来到人间》。这种先锋精神及其叙事集中体现在空间对时间的割裂。结合空间理论的发展,从詹姆逊的后现代超空间理论视域来看,毕飞宇以认知测绘的写作姿态,塑造了当下超空间的同质化和主体无法超越空间的生存状态。而距离的产生是毕飞宇认知测绘的前提,也是其引导受众重新定位的前提。他拉开了生活与写作、个人与社会、文学与评论之间的距离,以第一人称与第三人称融合的视角,帮助当下受众重塑空间认定和自我认知。ChatGPT的产生却恰恰是抹杀距离的科技推手,技术常态又将像以往一样消减大众认知测绘的能力。因此,当代作家需要强化先锋精神,在创作中强化距离控制力。