A new pseudolites (PLs) structure optimization model of global navigation satellite system (GNSS)/PLs integration positioning system used in deep open-pit mine was presented. Position dilution of precision (Pdop...A new pseudolites (PLs) structure optimization model of global navigation satellite system (GNSS)/PLs integration positioning system used in deep open-pit mine was presented. Position dilution of precision (Pdop) and reliability were selected as the optimization indicators to build a multi-objective optimization model to decide the optimum PLs location. A scheme was designed by establishing a four-dimensional model taking azimuth (a), elevation angle (e) and epoch (t) of satellites as the input independent variables and Pdop as the dependent variable to calculate the optimum PLs location zone considering the real circumstances. And then the ultimate PLs location can be fixed by testing the curves of Pdop along time. A field collected Trimble R8 GPS data set in China University of Mining and Technology (CUMT) campus was used for the model test to show the effectiveness, and the proposed PLs optimum design scheme was used at the west open-pit mine of Fushun mining group Co., Ltd., in China, better Pdop and reliability have been achieved for the integration system. Both experiments show that the proposed scheme is excellent in designing GNSS/PLs system which is helpful for improving the performance of the positioning system and reducing the cost.展开更多
Robust and efficient vision systems are essential in such a way to support different kinds of autonomous robotic behaviors linked to the capability to interact with the surrounding environment, without relying on any ...Robust and efficient vision systems are essential in such a way to support different kinds of autonomous robotic behaviors linked to the capability to interact with the surrounding environment, without relying on any a priori knowledge. Within space missions, above all those involving rovers that have to explore planetary surfaces, vision can play a key role in the improvement of autonomous navigation functionalities: besides obstacle avoidance and hazard detection along the traveling, vision can in fact provide accurate motion estimation in order to constantly monitor all paths executed by the rover. The present work basically regards the development of an effective visual odometry system, focusing as much as possible on issues such as continuous operating mode, system speed and reliability.展开更多
基金Project(2013RC16)supported by the Fundamental Research Funds for the Central Universities,China
文摘A new pseudolites (PLs) structure optimization model of global navigation satellite system (GNSS)/PLs integration positioning system used in deep open-pit mine was presented. Position dilution of precision (Pdop) and reliability were selected as the optimization indicators to build a multi-objective optimization model to decide the optimum PLs location. A scheme was designed by establishing a four-dimensional model taking azimuth (a), elevation angle (e) and epoch (t) of satellites as the input independent variables and Pdop as the dependent variable to calculate the optimum PLs location zone considering the real circumstances. And then the ultimate PLs location can be fixed by testing the curves of Pdop along time. A field collected Trimble R8 GPS data set in China University of Mining and Technology (CUMT) campus was used for the model test to show the effectiveness, and the proposed PLs optimum design scheme was used at the west open-pit mine of Fushun mining group Co., Ltd., in China, better Pdop and reliability have been achieved for the integration system. Both experiments show that the proposed scheme is excellent in designing GNSS/PLs system which is helpful for improving the performance of the positioning system and reducing the cost.
文摘Robust and efficient vision systems are essential in such a way to support different kinds of autonomous robotic behaviors linked to the capability to interact with the surrounding environment, without relying on any a priori knowledge. Within space missions, above all those involving rovers that have to explore planetary surfaces, vision can play a key role in the improvement of autonomous navigation functionalities: besides obstacle avoidance and hazard detection along the traveling, vision can in fact provide accurate motion estimation in order to constantly monitor all paths executed by the rover. The present work basically regards the development of an effective visual odometry system, focusing as much as possible on issues such as continuous operating mode, system speed and reliability.