"嫦娥三号"将在月球放置着陆器,实现月面软着陆,因此,需要对着陆器进行精确定位。本文简述了月球着陆器的统计定位方法与协方差分析理论,分析了影响统计定位精度的主要误差源。基于现有测控条件,从跟踪弧段和测量数据组合2个..."嫦娥三号"将在月球放置着陆器,实现月面软着陆,因此,需要对着陆器进行精确定位。本文简述了月球着陆器的统计定位方法与协方差分析理论,分析了影响统计定位精度的主要误差源。基于现有测控条件,从跟踪弧段和测量数据组合2个方面,对"嫦娥三号"着陆器的定位精度进行了分析。针对短弧条件下单站测距数据定位不稳键的问题,提出了结合月面高程约束的定位方法。协方差分析结果表明:高程数据的使用可以实现单站30min测距优于1km的定位精度;当观测数据累积至3d时,单站测量与VLBI(Very Long Baseline Interferometry,甚长基线干涉测量)的不同组合可以实现同等量级、优于百m的定位精度;测量系统差是制约定位精度的主要因素,完全标校测量的系统偏差则能实现10m左右的定位精度。展开更多
In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed a...In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed and evaluated based on automatic vehicle location （AVL） data. Based on the statistical analysis of the bus transit travel time, six indices including the coefficient of variance, the width of travel time distribution, the mean commercial speed, the congestion frequency, the planning time index and the buffer time index are proposed. Moreover, a framework for evaluating bus transit travel time reliability is constructed. Finally, a case study on a certain bus route in Suzhou is conducted. Results show that the proposed evaluation index system is simple and intuitive, and it can effectively reflect the efficiency and stability of bus operations. And a distinguishing feature of bus transit travel time reliability is the temporal pattern. It varies across different time periods.展开更多
A joint direction of arrival (DOA) estimation and phase calibration for synchronous CDMA system with decorrelator are presented. Through decorrelating processing DOAs of the desired users can be estimated independentl...A joint direction of arrival (DOA) estimation and phase calibration for synchronous CDMA system with decorrelator are presented. Through decorrelating processing DOAs of the desired users can be estimated independently and all other resolved signal interferences are eliminated. Emphasis is directed to applications in which sensor phases may be in error. It is shown that accurate phase calibration in conjunction with their use in high resolution DOA estimation can be achieved for the decoupled signals.展开更多
Taking Au?Cu system as an example, three discoveries and two methods were presented. First, a new way for boosting sustainable progress of systematic metal materials science (SMMS) and alloy gene engineering (AGE) is ...Taking Au?Cu system as an example, three discoveries and two methods were presented. First, a new way for boosting sustainable progress of systematic metal materials science (SMMS) and alloy gene engineering (AGE) is to establish holographic alloy positioning design (HAPD) system, of which the base consists of measurement and calculation center, SMMS center, AGE center, HAPD information center and HAPD cybernation center; Second, the resonance activating-sychro alternating mechanism of atom movement may be divided into the located and oriented diffuse modes; Third, the equilibrium and subequilibrium holographic network phase diagrams are blueprints and operable platform for researchers to discover, design, manufacture and deploy advanced alloys, which are obtained respectively by the equilibrium lever numerical method and cross point numerical method of isothermal Gibbs energy curves. As clicking each network point, the holographic information of three structure levels for the designed alloy may be readily obtained: the phase constitution and fraction, phase arranging structure and properties of organization; the composition, alloy gene arranging structure and properties of each phase and the electronic structures and properties of alloy genes. It will create a new era for network designing advanced alloys.展开更多
Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy con...Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.展开更多
Estimating the global position of a road vehicle without using GPS is a challenge that many scientists look forward to solving in the near future. Normally, inertial and odometry sensors are used to complement GPS mea...Estimating the global position of a road vehicle without using GPS is a challenge that many scientists look forward to solving in the near future. Normally, inertial and odometry sensors are used to complement GPS measures in an attempt to provide a means for maintaining vehicle odometry during GPS outage. Nonetheless, recent experiments have demonstrated that computer vision can also be used as a valuable source to provide what can be denoted as visual odometry. For this purpose, vehicle motion can be estimated using a non-linear, photogrametric approach based on RAndom SAmple Consensus (RANSAC). The results prove that the detection and selection of relevant feature points is a crucial factor in the global performance of the visual odometry algorithm. The key issues for further improvement are discussed in this letter.展开更多
Wormhole attack is one of the most devastating threats for range-free localization in wireless sensor networks. In this paper, we evaluate three statistical estimation methods with the same network model and geographi...Wormhole attack is one of the most devastating threats for range-free localization in wireless sensor networks. In this paper, we evaluate three statistical estimation methods with the same network model and geographic information obtailaed by the DV-Hop algorithm. We analyze the limits of Minimum Mean Square Estimate （MMSE）, Least Median of Squares （LMS） and Enhanced greedy At- tack-Resistant MMSE （EARMMSE） and propose an improved EARMMSE with the hop-distance relationship, named EARMMSE＋. Simulation results illustrate the performance of MMSE, LMS and EARMMSE＋ with different anchor fraction, the length of wormhole link and the average local neighborhood and show that EARMMSE＋ outperforms MMSE and LMS.展开更多
A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current...A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.展开更多
A three-dimensional positioning method for global positioning system(GPS)receivers based on three satellites was proposed.In the method,the measurement equation used for positioning calculation was expanded by means o...A three-dimensional positioning method for global positioning system(GPS)receivers based on three satellites was proposed.In the method,the measurement equation used for positioning calculation was expanded by means of two measures.In this case,the measurement equation could be solved,and the function of positioning calculation could be performed.The detailed steps of the method and how to evaluate the positioning precision of the method were given,respectively.The positioning performance of the method was demonstrated through some experiments.It is shown that the method can provide the three-dimensional positioning information under the condition that there are only three useful satellites.展开更多
Aiming at the application of a wireless sensor network to locating miners in underground mine,we design a wireless sensor network location node system,considering the communication performance and the intrinsic safety...Aiming at the application of a wireless sensor network to locating miners in underground mine,we design a wireless sensor network location node system,considering the communication performance and the intrinsic safety. The location node system consists of a mobile node,several fixed nodes,and a sink node,all of whose circuits were designed based on CC2430. A varistor and a RC circuit were used in the reset circuit of a sensor node to guarantee the intrinsic safety by reducing discharge energy,the theoretical analysis of the discharge energy shows that the reset circuit is an intrinsic safety one. The analysis and simulation about the performance of the location node system are discussed,such as network communication delay and packet loss rate,the results show that the highest network communication delay of the system is about 0.11 seconds,and the highest packet loss rate is about 0.13,which assures the location node system has a high reliability,and can locate miners in the underground mine.展开更多
文摘"嫦娥三号"将在月球放置着陆器,实现月面软着陆,因此,需要对着陆器进行精确定位。本文简述了月球着陆器的统计定位方法与协方差分析理论,分析了影响统计定位精度的主要误差源。基于现有测控条件,从跟踪弧段和测量数据组合2个方面,对"嫦娥三号"着陆器的定位精度进行了分析。针对短弧条件下单站测距数据定位不稳键的问题,提出了结合月面高程约束的定位方法。协方差分析结果表明:高程数据的使用可以实现单站30min测距优于1km的定位精度;当观测数据累积至3d时,单站测量与VLBI(Very Long Baseline Interferometry,甚长基线干涉测量)的不同组合可以实现同等量级、优于百m的定位精度;测量系统差是制约定位精度的主要因素,完全标校测量的系统偏差则能实现10m左右的定位精度。
基金The Soft Science Research Project of Ministry of Housing and Urban-Rural Development of China (No. 2008-k5-14)
文摘In order to provide important parameters for schedule designing, decision-making bases for transit operation management and references for passengers traveling by bus, bus transit travel time reliability is analyzed and evaluated based on automatic vehicle location （AVL） data. Based on the statistical analysis of the bus transit travel time, six indices including the coefficient of variance, the width of travel time distribution, the mean commercial speed, the congestion frequency, the planning time index and the buffer time index are proposed. Moreover, a framework for evaluating bus transit travel time reliability is constructed. Finally, a case study on a certain bus route in Suzhou is conducted. Results show that the proposed evaluation index system is simple and intuitive, and it can effectively reflect the efficiency and stability of bus operations. And a distinguishing feature of bus transit travel time reliability is the temporal pattern. It varies across different time periods.
文摘A joint direction of arrival (DOA) estimation and phase calibration for synchronous CDMA system with decorrelator are presented. Through decorrelating processing DOAs of the desired users can be estimated independently and all other resolved signal interferences are eliminated. Emphasis is directed to applications in which sensor phases may be in error. It is shown that accurate phase calibration in conjunction with their use in high resolution DOA estimation can be achieved for the decoupled signals.
基金Project(51071181)supported by the National Natural Science Foundation of ChinaProject(2013FJ4043)supported by the Natural Science Foundation of Hunan Province,China
文摘Taking Au?Cu system as an example, three discoveries and two methods were presented. First, a new way for boosting sustainable progress of systematic metal materials science (SMMS) and alloy gene engineering (AGE) is to establish holographic alloy positioning design (HAPD) system, of which the base consists of measurement and calculation center, SMMS center, AGE center, HAPD information center and HAPD cybernation center; Second, the resonance activating-sychro alternating mechanism of atom movement may be divided into the located and oriented diffuse modes; Third, the equilibrium and subequilibrium holographic network phase diagrams are blueprints and operable platform for researchers to discover, design, manufacture and deploy advanced alloys, which are obtained respectively by the equilibrium lever numerical method and cross point numerical method of isothermal Gibbs energy curves. As clicking each network point, the holographic information of three structure levels for the designed alloy may be readily obtained: the phase constitution and fraction, phase arranging structure and properties of organization; the composition, alloy gene arranging structure and properties of each phase and the electronic structures and properties of alloy genes. It will create a new era for network designing advanced alloys.
文摘Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.
文摘Estimating the global position of a road vehicle without using GPS is a challenge that many scientists look forward to solving in the near future. Normally, inertial and odometry sensors are used to complement GPS measures in an attempt to provide a means for maintaining vehicle odometry during GPS outage. Nonetheless, recent experiments have demonstrated that computer vision can also be used as a valuable source to provide what can be denoted as visual odometry. For this purpose, vehicle motion can be estimated using a non-linear, photogrametric approach based on RAndom SAmple Consensus (RANSAC). The results prove that the detection and selection of relevant feature points is a crucial factor in the global performance of the visual odometry algorithm. The key issues for further improvement are discussed in this letter.
基金Acknov,.4edgements This work was supported in part by National Basic Research Program of China （＂973 program＂） under contract No. 2007CB307101, and in part by National Natural Science Foundation of China under Grant No. 60833002, No. 60802016 and No.60972010.
文摘Wormhole attack is one of the most devastating threats for range-free localization in wireless sensor networks. In this paper, we evaluate three statistical estimation methods with the same network model and geographic information obtailaed by the DV-Hop algorithm. We analyze the limits of Minimum Mean Square Estimate （MMSE）, Least Median of Squares （LMS） and Enhanced greedy At- tack-Resistant MMSE （EARMMSE） and propose an improved EARMMSE with the hop-distance relationship, named EARMMSE＋. Simulation results illustrate the performance of MMSE, LMS and EARMMSE＋ with different anchor fraction, the length of wormhole link and the average local neighborhood and show that EARMMSE＋ outperforms MMSE and LMS.
文摘A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.
基金Project (ZYGX2010J119)supported by the Fundamental Research Funds for the Central Universities of China
文摘A three-dimensional positioning method for global positioning system(GPS)receivers based on three satellites was proposed.In the method,the measurement equation used for positioning calculation was expanded by means of two measures.In this case,the measurement equation could be solved,and the function of positioning calculation could be performed.The detailed steps of the method and how to evaluate the positioning precision of the method were given,respectively.The positioning performance of the method was demonstrated through some experiments.It is shown that the method can provide the three-dimensional positioning information under the condition that there are only three useful satellites.
基金Projects 20070411065 supported by the China Postdoctoral Science Foundation0801028B by the Jiangsu Postdoctoral Science Research Foundation
文摘Aiming at the application of a wireless sensor network to locating miners in underground mine,we design a wireless sensor network location node system,considering the communication performance and the intrinsic safety. The location node system consists of a mobile node,several fixed nodes,and a sink node,all of whose circuits were designed based on CC2430. A varistor and a RC circuit were used in the reset circuit of a sensor node to guarantee the intrinsic safety by reducing discharge energy,the theoretical analysis of the discharge energy shows that the reset circuit is an intrinsic safety one. The analysis and simulation about the performance of the location node system are discussed,such as network communication delay and packet loss rate,the results show that the highest network communication delay of the system is about 0.11 seconds,and the highest packet loss rate is about 0.13,which assures the location node system has a high reliability,and can locate miners in the underground mine.
