The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error model...The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.展开更多
In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating c...In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.展开更多
This paper uses two navigation schemes to prove the potential of a novel autonomous orbit determination with stellar horizon atmospheric refraction measurements. Scheme one needs a single processor and uses an extende...This paper uses two navigation schemes to prove the potential of a novel autonomous orbit determination with stellar horizon atmospheric refraction measurements. Scheme one needs a single processor and uses an extended Kalman filter. The second scheme needs two parallel processors. One processor uses a hatched leastsquare initial state estimator and a high-precision dynamic state propagator. The other processor uses a real-time orbit predictor. Simulations have been executed respectively for three types （low/medial/high） of satellite orbits on which various numbers of stars are observed. The results show both schemes can autonomously determine the orbits with a considerable performance. The second scheme in general performs a little better than the first scheme.展开更多
The urban traffic information manageanent has become an important way of solving traffic jam of cities. With the wider use of the third generation of mobile conmmunication （3G） networks, information management based...The urban traffic information manageanent has become an important way of solving traffic jam of cities. With the wider use of the third generation of mobile conmmunication （3G） networks, information management based on 3G will be a central issue of application. The paper designs a fi-amework of Global Posititoning System （GPS） vehicle navigating and guiding system using 3G mobile network and Glbal Information System （GIS） electronic map according to moving objects. It discusses moving object＇s time-space attrihltes which will be described by a five-field and a directed graph. It analyzes the GPS mobile apparatus＇ s software functions and hardware structures. Anti it improves the function of GPS mobile apparatus which provide the guiding function utilizing the shared information of traffic. The navigation based on the shortest path algortithm is been advanced to one based on the real-time traffic flow of moving objects, which help people travelling on roads more convenietly.展开更多
This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed comm...This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.展开更多
In order to satisfy sending multi-channel navigation signals in one frequency for modern GNSS（Global Navigation Satellite System）, the principle of Interplex multiplexing were introduced. And the three-way multiplex...In order to satisfy sending multi-channel navigation signals in one frequency for modern GNSS（Global Navigation Satellite System）, the principle of Interplex multiplexing were introduced. And the three-way multiplexing structure and the four-way multiplexing method were also optimized. The Galileo E1 signal, as the example of Interplex reuse, was analyzed in detail. The power configuration of the multiplexing efficiency and the minimum of the multiplexing efficiency were obtained.展开更多
The efficient and accurate approximate nonlinear filters have been widely used in the estimation of states and parameters of dynamical systems. In this paper, an adaptive divided difference filter is designed for prec...The efficient and accurate approximate nonlinear filters have been widely used in the estimation of states and parameters of dynamical systems. In this paper, an adaptive divided difference filter is designed for precise estimation of states and parameters of micromechanical gyro navigation system. Based on the investigation of nonlinear divided difference filter the adaptive divided difference filter(ADDF) was designed, which takes account of the incorrect time-varying noise statistics of dynamical systems and compensation of the nonlinearity effects neglected by linearization. And its performance is superior to that of DDF and extended Kalman filter(EKF). Simulation results indicate that the advantages of the proposed nonlinear filters make them attractive alternatives to the extended Kalman filter.展开更多
To illustrate the irregular and non-standardized sign design in the landscape architecture,itis necessary to research the history of landscape architecture and the function of signs.Design of signs inlandscape archite...To illustrate the irregular and non-standardized sign design in the landscape architecture,itis necessary to research the history of landscape architecture and the function of signs.Design of signs inlandscape architecture is a practical system.The guidance system is an essential part of it,and aestheticand art is second to the guidance system.Likewise,aesthetic and art could not highlight the achievement ofart and personality,and design of signs could not separate from the guidance system.In China,nowadays,standardization of sign design in landscape architecture should break down language and cultural barriers,as well as bringing International style and carrying Chinese characteristics.展开更多
基金Supported by the National Natural Science Foundation of China(60702003)~~
文摘The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.
基金Supported by the Heilongjiang Postdoctoral Foundation under Grant No. LH-04010
文摘In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
文摘This paper uses two navigation schemes to prove the potential of a novel autonomous orbit determination with stellar horizon atmospheric refraction measurements. Scheme one needs a single processor and uses an extended Kalman filter. The second scheme needs two parallel processors. One processor uses a hatched leastsquare initial state estimator and a high-precision dynamic state propagator. The other processor uses a real-time orbit predictor. Simulations have been executed respectively for three types （low/medial/high） of satellite orbits on which various numbers of stars are observed. The results show both schemes can autonomously determine the orbits with a considerable performance. The second scheme in general performs a little better than the first scheme.
文摘The urban traffic information manageanent has become an important way of solving traffic jam of cities. With the wider use of the third generation of mobile conmmunication （3G） networks, information management based on 3G will be a central issue of application. The paper designs a fi-amework of Global Posititoning System （GPS） vehicle navigating and guiding system using 3G mobile network and Glbal Information System （GIS） electronic map according to moving objects. It discusses moving object＇s time-space attrihltes which will be described by a five-field and a directed graph. It analyzes the GPS mobile apparatus＇ s software functions and hardware structures. Anti it improves the function of GPS mobile apparatus which provide the guiding function utilizing the shared information of traffic. The navigation based on the shortest path algortithm is been advanced to one based on the real-time traffic flow of moving objects, which help people travelling on roads more convenietly.
文摘This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.
基金the key projects of education department in Sichuan Province under Grant No.14ZA0292 and the aviation science foundation project under Grand No.20100119004
文摘In order to satisfy sending multi-channel navigation signals in one frequency for modern GNSS（Global Navigation Satellite System）, the principle of Interplex multiplexing were introduced. And the three-way multiplexing structure and the four-way multiplexing method were also optimized. The Galileo E1 signal, as the example of Interplex reuse, was analyzed in detail. The power configuration of the multiplexing efficiency and the minimum of the multiplexing efficiency were obtained.
文摘The efficient and accurate approximate nonlinear filters have been widely used in the estimation of states and parameters of dynamical systems. In this paper, an adaptive divided difference filter is designed for precise estimation of states and parameters of micromechanical gyro navigation system. Based on the investigation of nonlinear divided difference filter the adaptive divided difference filter(ADDF) was designed, which takes account of the incorrect time-varying noise statistics of dynamical systems and compensation of the nonlinearity effects neglected by linearization. And its performance is superior to that of DDF and extended Kalman filter(EKF). Simulation results indicate that the advantages of the proposed nonlinear filters make them attractive alternatives to the extended Kalman filter.
文摘To illustrate the irregular and non-standardized sign design in the landscape architecture,itis necessary to research the history of landscape architecture and the function of signs.Design of signs inlandscape architecture is a practical system.The guidance system is an essential part of it,and aestheticand art is second to the guidance system.Likewise,aesthetic and art could not highlight the achievement ofart and personality,and design of signs could not separate from the guidance system.In China,nowadays,standardization of sign design in landscape architecture should break down language and cultural barriers,as well as bringing International style and carrying Chinese characteristics.
