针对目前船舶自主航行和姿态导航信息快速交互的需要,借鉴航空多功能显示器显示理念,开展了一种基于姿态球和导航罗盘的多功能船舶姿态导航图形化显示界面研究与设计。基于OpenGL开放图形库技术编制了界面图形产生算法、视口控制算法、...针对目前船舶自主航行和姿态导航信息快速交互的需要,借鉴航空多功能显示器显示理念,开展了一种基于姿态球和导航罗盘的多功能船舶姿态导航图形化显示界面研究与设计。基于OpenGL开放图形库技术编制了界面图形产生算法、视口控制算法、汉字显示算法、用色优选等;使用Lab Windows CVI开发平台对所述算法进行绘制,完成了界面输出,优化调整了软件效率与细节体验等。结果显示,所述界面能以姿态球的形式与渔船载体随动指示平台摇摆数据,能以罗盘旋转的形式指示航向信息,能以刻度尺平移的形式指示速度当前值信息、变化趋势、变化速率等,达到设计目标。经论证,该软件界面具有信息表述容量大、交互效率高、人机功效好等优点,可用作渔船数字座舱及无人驾驶渔船遥控基站的基础配套部件,具有较强实用价值。展开更多
A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initializatio...A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.展开更多
The paper aims to challenge non-GPS navigation problems by using visual sensors and geo-referenced images. An area-based method is proposed to estimate full navigation parameters(FNPs), including attitude, altitude an...The paper aims to challenge non-GPS navigation problems by using visual sensors and geo-referenced images. An area-based method is proposed to estimate full navigation parameters(FNPs), including attitude, altitude and horizontal position, for unmanned aerial vehicle(UAV) navigation. Our method is composed of three main modules: geometric transfer function, local normalized sobel energy image(LNSEI) based objective function and simplex-simulated annealing(SSA) based optimization algorithm. The adoption of relatively rich scene information and LNSEI, makes it possible to yield a solution robustly even in the presence of very noisy cases, such as multi-modal and/or multi-temporal images that differ in the type of visual sensor, season, illumination, weather, and so on, and also to handle the sparsely textured regions where features are barely detected or matched. Simulation experiments using many synthetic images clearly support noise resistance and estimation accuracy, and experimental results using 2367 real images show the maximum estimation error of 5.16(meter) for horizontal position, 9.72(meter) for altitude and 0.82(degree) for attitude.展开更多
文摘针对目前船舶自主航行和姿态导航信息快速交互的需要,借鉴航空多功能显示器显示理念,开展了一种基于姿态球和导航罗盘的多功能船舶姿态导航图形化显示界面研究与设计。基于OpenGL开放图形库技术编制了界面图形产生算法、视口控制算法、汉字显示算法、用色优选等;使用Lab Windows CVI开发平台对所述算法进行绘制,完成了界面输出,优化调整了软件效率与细节体验等。结果显示,所述界面能以姿态球的形式与渔船载体随动指示平台摇摆数据,能以罗盘旋转的形式指示航向信息,能以刻度尺平移的形式指示速度当前值信息、变化趋势、变化速率等,达到设计目标。经论证,该软件界面具有信息表述容量大、交互效率高、人机功效好等优点,可用作渔船数字座舱及无人驾驶渔船遥控基站的基础配套部件,具有较强实用价值。
文摘A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.
文摘The paper aims to challenge non-GPS navigation problems by using visual sensors and geo-referenced images. An area-based method is proposed to estimate full navigation parameters(FNPs), including attitude, altitude and horizontal position, for unmanned aerial vehicle(UAV) navigation. Our method is composed of three main modules: geometric transfer function, local normalized sobel energy image(LNSEI) based objective function and simplex-simulated annealing(SSA) based optimization algorithm. The adoption of relatively rich scene information and LNSEI, makes it possible to yield a solution robustly even in the presence of very noisy cases, such as multi-modal and/or multi-temporal images that differ in the type of visual sensor, season, illumination, weather, and so on, and also to handle the sparsely textured regions where features are barely detected or matched. Simulation experiments using many synthetic images clearly support noise resistance and estimation accuracy, and experimental results using 2367 real images show the maximum estimation error of 5.16(meter) for horizontal position, 9.72(meter) for altitude and 0.82(degree) for attitude.
