WiFi Indoor Positioning and Tracking Algorithm Based on Compressive Sensing and Sage-Husa Adaptive Kalman Filter

Aiming at the problem that the positioning accuracy of WiFi indoor positioning technology based on location fingerprint has not reached the requirements of practical application, a WiFi indoor positioning and tracking algorithm combining adaptive affine propagation (AAPC), compressed sensing (CS) and Kalman filter is proposed. In the off-line phase, AAPC algorithm is used to generate clustering fingerprints with optimal clustering effect performance;In the online phase, CS and nearest neighbor algorithm are used for position estimation;Finally, the Kalman filter and physical constraints are combined to perform positioning and tracking. By collecting a large number of real experimental data, it is proved that the developed algorithm has higher positioning accuracy and more accurate trajectory tracking effect.

An Indoor Radon Survey in Three Different Climate Regions in Mexico, and the Influence of Climate in the Obtained Values

In this paper we present the results of a survey of indoor radon concentration levels in Mexico. In order to investigate whether differences in climate translate into significant differences in indoor radon concentrations, the country was divided into three climate regions: the northern semi-desert region, the central semitropical region and the southern tropical region. The survey was carried out using nuclear track methodology. The dosimeters employed for the survey were based on the passive closed-end cup device, developed at the Physics Institute of the National Autonomous University of Mexico, and used PADC as detector material. A well-established protocol for chemically etching and reading the detectors was followed. Average annual temperatures differ between regions (from 15℃ to 28℃) but vary relatively little within each region. Atmospheric temperature is one of the most important factors which need to be considered when carrying out a survey of indoor radon concentrations because temperature largely determines building ventilation habits, and ventilation habits are known to have significant effects on indoor radon concentrations. Other factors, including building construction materials, architectural styles, geological and hydrological characteristics, and seismicity, vary from region to region and within each region. In each of the three regions low levels of indoor radon (from 37 to 179 Bq·m-3) were found.

A Set of Tracking Car Scheduling Management System

With the rapid improvement of China’s economic level and the rapid development of e-commerce, the demand for logistics warehousing, which is one of the most important links in the logistics transportation system, has also greatly increased. The dispatching management system applied in the warehouse has a wide range of applications in the logistics storage system. Improving the operational efficiency of the dispatching management system can effectively improve the efficiency of the automated warehouse system and reduce the cost of logistics transportation. Therefore, this paper designs a set of dispatching systems with the tracking car as the control target and realizes the positioning and path planning functions of the tracking car in the system. At present, the tracking car can completely receive the commands sent by the system, accurately follow the established path. At the same time, the system software can also obtain the video images taken by the camera on the car and play them smoothly.

基于毫米波雷达的室内人员定位与跟踪实验设计

为了帮助学生深入理解雷达传感器中信号检测和估计理论知识,掌握室内人员定位与跟踪实现过程,结合信号检测与估计理论课程,设计了一个基于毫米波雷达对室内人员定位与跟踪的实验。首先采用60 GHz的毫米波雷达采集人体运动数据,对数据进行预处理后使用多维快速傅里叶变换(FFT)构建距离-多普勒频谱图,然后结合二维单元均值恒虚警率(CA-CFAR)检测算法获取人体运动的距离和速度信息,再使用多信号分类MUSIC算法估计人体的方位角,最后利用扩展卡尔曼滤波算法进行人体运动状态估计,实现目标跟踪。实验结果表明,在多人定位和跟踪上平均每帧处理时间为33.2 ms,与实际运动路径的误差为0.275 m,表现出较好的实时性和准确性。

Indoor^(222)Rn Levels and Effective Dose Estimation of Academic Staff in izmir-Turkey

Objective To investigate the annual effective doses from indoor radon received by academic staff in the Faculty building. Methods Measurements of indoor radon concentrations were performed in the Arts and Sciences Faculty of Dokuz Eylul University for two surveys of about 1 month duration respectively using the SSNTD （Solid State Nuclear Track Detectors） method with LR115 detectors. Time integrated measurements comprised different locations inside the faculty building： classrooms, toilets, canteen and offices. Homes of academic staff were also tested for radon. Results The aritthmetic mean radon concentration is 161 Bq m-3 with a range between 40 and 335 Bq m-3 in the Faculty. Six offices and three classrooms have a radon concentration above 200 Bq m-3. The results show that the radon concentration in classrooms is generally higher than in offices. Based on the measured indoor radon data, the annual effective doses received by staff in the Faculty were estimated to range from 0.79 to 4.27 mSv, according to UNSCEAR methodology. The annual effective doses received by staff ranged from 0.78 to 4.20 mSv in homes. On average, the Faculty contributed 56% to the annual effective dose. Conclusion Reported values for radon concentrations and corresponding doses are within the ICRP recommended limits for workplaces.

Mapping of Radon (²²⁰Rn and ²²²Rn) Concentration Distribution in a Microclimate Condition Cellar Using Nuclear Track Methodology

This work presents the results of the Radon (220Rn and 222Rn) measurements made with 486 chips of CR-39 (Allyl Dyglicol Poly Carbonate) MASL? bared detectors, in a reticular mode distribution, inside of a cellar with average indoor radon concentration 862 ± 49 Bq/m3. The exposure time was 3 months, in microclimate condition of constant temperature, humidity, barometric pressure and no airflow. After these 3 months, all the detectors were chemically etched in KOH 6.25 M solution at 60°C ± 1°C for 18 hours, following a very well established protocol for indoor radon survey by the Dosimetry Applications Laboratory of the Physics Institute of the National Autonomous University of Mexico, and later read automatically by CADIS (Counting Automatically Digital Image System). The results show that each one of the nine measured planes is not homogeneous presenting important differences of indoor radon concentration values. Specifically, the Radon (220Rn and 222Rn) concentration levels vary for each measured point within the cellar. It is a very important observation to consider for the calculation of dose and radiological risk.

基于压电效应的高速铁路路基压电俘能方法研究

为了充分利用高速列车运行中产生的振动能量来解决复杂环境下采集设备的供电问题,将压电技术应用于铁路工程中,而现在针对高铁路基的压电俘能新方法的探究尚不明晰,缺乏相关的结构研究以适应路基发电的需求,导致路基内的振动能以热量的形式消散。针对这一问题,首先,基于压电效应理论,结合高速铁路路基动力响应特点设计出压电俘能装置HRS-PEH(High-speed Railway Piezoelectric Energy Harvester),建立高速铁路路基压电俘能新方法;其次,通过室内列车荷载模拟试验,探究动载振幅、频率和外接电阻等关键参数对HRS-PEH发电量的影响;最后开展现场行车试验,进一步验证HRS-PEH装置的适用性。研究结果表明:1) HRS-PEH的开路电压随动载振幅的增大而增大,且与频率无明显关系,而负载电压随动载频率和振幅的增加,均呈现线性增大的趋势。故可在工程应用中将HRS-PEH布置在基床表层顶面、钢轨正下方,即可获得最大发电量。2) HRS-PEH的输出功率整体上随外接电阻的增加,呈现出先增大后减小趋势,故存在最优外接电阻使得HRS-PEH发电量最大。3)行车试验发现,若将HRS-PEH布置于高铁路基基床表层,当CRH5型高速列车仅以55 km/h低速运行时,HRS-PEH就可收获0.71 J电能,可以满足路基健康监控设备的正常工作需求。研究成果可高效利用列车振动能量转换为无污染电能,推动铁路“双碳”战略目标的实现。

市域铁路无砟轨道WJ-15型有挡肩扣件设计

基于市域铁路工程特点,研发了无砟轨道地段用WJ-15型扣件。该扣件采用有挡肩、弹性不分开式结构,弹性垫板静刚度设计值为(25±5)kN/mm,钢轨左右调整量为-10~+10 mm,钢轨高低调整量为-4~+26 mm。室内试验结果表明:该扣件弹性垫板静刚度、动静刚度比、疲劳后静刚度变化率均满足设计及规范要求;扣件组装疲劳试验后,轨距变化率、组装静刚度变化率以及钢轨纵向阻力、套管抗拔力、绝缘电阻均满足规范要求;标准组装状态下弹条固有频率大于800 Hz,发生共振断裂的风险较小。采用该扣件铺设试验段后开展了实车试验,结果表明,列车以40~210 km/h不同速度级通过时,列车安全性参数及轨道结构稳定性参数均满足规范要求,扣件结构稳定可靠。

基于混合神经网络的室内可见光定位方法

室内目标定位是智能物流系统的一项关键技术,可见光定位技术因其无需额外通信设备的优点成为智能物流中心的一种可行方案。然而,墙面反射会导致室内可见光定位的准确率下降,针对此问题,提出一种基于混合神经网络的室内可见光定位方法。首先,使用门控循环单元网络捕获可见光功率向量中光功率值之间的依赖性,使用一维卷积层提取光功率向量的局部空间特征;然后,将这两种深度特征融合来增强对光功率向量的特征学习能力,进而提高室内可见光定位的准确性。仿真结果表明,相较于其它基于神经网络的室内可见光定位方法,所提方法的定位误差更低,且时间效率也在合理的范围内。

基于图像分割与轨迹追踪的室内饰面施工进度智能评估方法

施工进度是工程项目管理的关键组成部分,传统的进度管理多依靠人工巡检,耗时费力且无法保障进度评估的时效性。为了实现施工进度的自动化、高效化监管,针对室内施工湿作业铺贴场景,提出一套智能化进度追踪与评估框架,基于改进的Mask R-CNN深度学习框架,自动提取室内墙面和地面的瓷砖铺贴进度,基于相机轨迹追踪算法,将整个施工层的大范围施工进度识别结果映射至BIM可视化模型,为施工数字孪生奠定基础。在上海市某高层建筑项目中进行实例研究,实现了施工图像的高精度分割,验证了研究框架的可行性。该框架不仅适用于室内瓷砖铺贴,也适用于抹灰、刷涂等室内装修工程。

冬奥背景下室内滑雪场建筑设计研究

近年来,我国冰雪产业得到快速发展,特别是2022年北京冬奥会的成功举办,为产业发展带来前所未有的机遇。分析我国室内滑雪场发展现状及趋势,以建筑设计基本要素为切入点,结合实际案例及项目经验,提出总体策划要点和单体设计要点,为室内滑雪场建筑设计提供参考。

基于WiFi指纹的室内轨迹定位模型

基于Wi Fi指纹的无线定位根据目标接收到的无线信号强度来反推其所处位置的定位模型,在室内定位研究中被广泛应用。当前对指纹定位算法的研究主要集中在单点定位,但在实际的应用中经常需要追踪目标在空间上的运动轨迹。为此,在单点定位模型的基础上,提出一种基于核函数的隐马尔科夫链模型,通过高斯核函数计算指纹的似然概率,定义位置点之间的转移概率,同时通过限制转移位置点的搜索范围提高算法效率,并应用隐马尔科夫链模型对移动轨迹进行定位。实验结果表明,该算法在定位准确率和定位误差方面性能均优于对比算法。

一种高效的大监控区域移动目标追踪算法

针对目前无线传感器网络中利用位置指纹进行移动节点室内追踪时,为提高追踪精度引入的训练及匹配计算量大的问题,提出了一种兼顾定位精度和计算效率的算法。该算法适合锚节点稀疏分布的大监控区域,通过锚节点和参考位置点的局部匹配降低指纹匹配的复杂度,利用加权K-近邻算法获得粗定位,再通过融合目标节点加速度信息的卡尔曼滤波进一步减少追踪误差。仿真实验表明,本文算法具有良好的定位一致性和较高的定位精度,在指纹间隔10 m,接收信号强度指示值的测量方差高达16时,追踪过程中平均定位误差为1.4 m,适合室内移动目标的实时追踪。

一种教室节能照明系统的人员识别算法

室内人员识别是教室照明节能系统中的关键技术。为确定教室内人员分布情况,对摄像头采集到的视频图像进行灰度化、二值化、中值滤波等处理。提出采用形态学的方法进行边界提取,结合改进的边界跟踪算法实现人物头部判别的算法。将该算法应用于教室节能照明系统,获得人员位置信息,然后对教室照明灯光进行控制,以节省电能。

重庆市主城区室内氡浓度调查与评价

根据重庆市城市组团式建设特点,采用径迹法对重庆市主城建成区开展室内氡浓度调查。结果表明,各区县室内氡浓度整体水平较低,重庆市主城区室内氡浓度平均值为64.5 Bq/m3,168个采样点均小于国家标准200 Bq/m3;吸入氡及子体对人员产生的年均有效剂量均低于《住房内氡浓度控制标准》和《地下建筑氡及其子体控制标准规定》中规定的室内氡浓度行动水平。

基于十八醇磷酸酯单乙醇铵盐的天然气减阻剂室内评价

目前,降低天然气输送阻力、提高管道输送能力的方法包括管道内涂层减阻技术和天然气管输减阻剂技术。由于内涂层技术在施工上存在种种缺陷,因而对天然气管输减阻剂的研究成为天然气输送领域的新热点。为此,根据天然气管输减阻剂的减阻机理,在已有的高碳醇磷酸酯盐合成工艺的基础上,设计合成了十八醇磷酸酯单乙醇铵盐(OPEM)作为天然气管输减阻剂样品,利用室内环道评价系统对其0.1、0.2、0.3g/100mL的乙醇溶液减阻效果进行了评价。结果表明,该样品具有一定的减阻效果,在0.2g/100mL浓度时其减阻效果最好,减阻率在140m3/h流量条件下达到最大值8.0%。并采用L16(54)正交表设计了正交实验对其合成工艺进行了优化,得到最佳工艺条件为:酯化时间为6h,酯化温度为70℃,物料比为3.5∶1,加水比为1∶1,水解温度为90℃。

一种室内无线网络多用户自适应定位及跟踪算法

室内移动网络中各用户的路由策略和其所在的位置紧密相关,所以为提供高效的路由方案,首先要实现准确的室内定位。同时,某些特定的部门,如警方、军方和消防等,更加迫切的需要实用的室内定位算法。但是由于室内环境复杂性的影响,手机和各接收机的距离估计可能存在严重误差。针对复杂的室内环境,提出了一种利用测量到用户之间的接收功率实现定位及跟踪的算法。仿真和模拟证明该方法是有效的。

室内用户语义位置模式挖掘研究--以商场为例

结合室内轨迹数据的特点,研究了室内移动对象语义轨迹序列处理方法,以及利用LDA主题模型与用户历史轨迹进行室内商场用户分类的方法。提出了通过关联规则分析挖掘用户语义位置模式的方法,并以北京某大型商场的实际用户轨迹数据为例,对所提出的方法进行了实验验证。

微表处混合料室内噪声测试方法

微表处混合料以其防水、抗滑、耐磨等优点已经广泛用于路面的养护维修。但是,与普通沥青路面相比,微表处路面噪声较大、且缺乏有效的噪声测试方法。为此,提出了基于湿轮磨耗仪的微表处混合料室内噪声测试方法。其中,微表处混合料试件用以模拟微表处路面,湿轮磨耗仪用以模拟车辆荷载,噪声计用以获取轮胎与路面的噪声。进而,对9种不同级配的微表处混合料的噪声进行了测试,结果表明:第二时段的噪声值与构造深度的相关性较好,并最终确定了微表处混合料的噪声测试方法和流程。最后,采用两种不同级配的微表处混合料对该测试方法进行了验证,结果表明,该方法能够有效评价不同微表处混合料噪声之间的区别,为微表处混合料的配合比设计提供有益补充。

基于改进IMM-UKF算法的一种融合航迹推演的红外路标室内定位方法

在结构化环境中,针对室内机器人导航对精度和实时性的要求,在一种新型红外路标定位方法的基础上,为满足全局导航的需要并简化硬件结构,提出一种融合航迹推演的红外路标室内定位方法,将单个大功率红外发射管作为路标,移动机器人上的红外摄像头作为接收传感器,融合采用改进的交互多模型无迹卡尔曼滤波(interacting multiple models unscented Kalman filter,IMM-UKF)算法。将融合航迹推演的红外路标室内定位方法和一般的定位方法做了比较,并将融合所采用改进的IMM-UKF算法与一般的融合算法做了比较。实验结果表明,提出的基于改进IMM-UKF算法的融合航迹推演的红外路标室内定位方法获得了比一般的定位方法更快的定位速度和更高的定位精度,且改进IMM-UKF算法比一般融合算法获得的定位精度更高。