For the underwater long baseline(LBL)positioning systems,the traditional distance intersection algorithm simplifies the sound speed to a constant,and calculates the underwa-ter target position parameters with a nonlin...For the underwater long baseline(LBL)positioning systems,the traditional distance intersection algorithm simplifies the sound speed to a constant,and calculates the underwa-ter target position parameters with a nonlinear iteration.However,due to the complex underwater environment,the sound speed changes with time and space,and then the acoustic propagation path is actually a curve,which inevitably causes some errors to the traditional distance intersection positioning algorithm.To reduce the position error caused by the uncertain underwater sound speed,a new time of arrival(TOA)intersection underwater positioning algorithm of LBL system is proposed.Firstly,combined with the vertical layered model of the underwater sound speed,an implicit positioning model of TOA intersection is constructed through the constant gradient acoustic ray tracing.And then an optimization function based on the overall TOA residual square sum is advanced to solve the position parameters for the underwater target.Moreover,the particle swarm optimization(PSO)algorithm is replaced with the tra-ditional nonlinear least square method to optimize the implicit positioning model of TOA intersection.Compared with the traditional distance intersection positioning model,the TOA intersec-tion positioning model is more suitable for the engineering practice and the optimization algorithm is more effective.Simulation results show that the proposed methods in this paper can effectively improve the positioning accuracy for the underwater target.展开更多
Background: We characterized baseline laboratory data of patients to identify priority treatment areas, most affected populations, anticipated clinical complications and assessed the potential burden of retention in c...Background: We characterized baseline laboratory data of patients to identify priority treatment areas, most affected populations, anticipated clinical complications and assessed the potential burden of retention in care in Jos, Plateau State—North Central Nigeria. Methods: This study was a cross-sectional design from January 2004 to December 2005 at Faith Alive Foundation (FAF). All participants were HIV-positive and underwent pre-antiretroviral therapy counseling based on the national antiretroviral therapy (ART) guidelines and baseline laboratory testing. Data were captured on Microsoft Excel, validated on Epi Info and analyzed on SPSS version 21 at P < .05 level of significance. Results: Total of 1499 (463 men and 1036 women) participants were evaluated in this study. The age and sex related distribution of participants showed that majority (80.3% for males and 92.5% for females) were 16 - 45 years old. Amylase and creatinine were significantly higher in males than females (P = .02). Anaemia was the most common baseline abnormality (63% for females and 58% for males), while baseline CD4 count was significantly lower in males than females (P < .02) and at one-third had elevated liver enzymes (AST and ALT). Conclusion: The baseline laboratory profile of most HIV positive patients in Jos and environs of North Central–Nigeria was characterized by anaemia, elevated creatinine, and abnormal liver transaminase levels (AST and ALT). This pre-ART laboratory result suggests that HIV-positive individuals have multiple clinical abnormalities which may require more extensive care than just treating the HIV disease.展开更多
The Global Positioning System(GPS)offers the interferometer for attitude determination by processing the carrier phase observables.By using carrier phase observables,the relative positioning is obtained in centimeter ...The Global Positioning System(GPS)offers the interferometer for attitude determination by processing the carrier phase observables.By using carrier phase observables,the relative positioning is obtained in centimeter level.GPS interferometry has been firstly used in precise static relative positioning,and thereafter in kinematic positioning.The carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector,defined as the vector between the antenna designated master and one of the slave antennas,connected to a rigid body.Determining the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude determination.The conventional solution of the baseline vectors based on least-squares approach is inherently noisy,which results in the noisy attitude solutions.In this article,the complementary Kalman filter(CKF)is employed for solving the baseline vector in the attitude determination mechanism to improve the performance,where the receiver-satellite double differenced observable was utilized as the measurement.By using the carrier phase observables,the relative positioning is obtained in centimeter level.Employing the CKF provides several advantages,such as accuracy improvement,reliability enhancement,and real-time assurance.Simulation results based on the conventional method where the least-squares approach is involved,and the proposed method where the CKF is involved are compared and discussed.展开更多
The two-station positioning system based on time difference and azimuth measurement has measurement redundancy. Therefore, not only can a positioning solution which is completely independent of the baseline length bet...The two-station positioning system based on time difference and azimuth measurement has measurement redundancy. Therefore, not only can a positioning solution which is completely independent of the baseline length between two stations be derived, but also the baseline length can be solved as an unknown quantity. These findings not only enhance the performance of the two-station positioning system, but also provide a design basis for the construction of a self-organizing dynamic intelligent positioning system.展开更多
Relative positioning is recognized as an important issue for vehicles in urban environments.Multi-vehicle Cooperative Positioning(CP)techniques which fuse the Global Navigation Satellite System(GNSS)and inter-vehicle ...Relative positioning is recognized as an important issue for vehicles in urban environments.Multi-vehicle Cooperative Positioning(CP)techniques which fuse the Global Navigation Satellite System(GNSS)and inter-vehicle ranging have attracted attention in improving the performance of baseline estimation between vehicles.However,current CP methods estimate the baselines separately and ignore the interactions among the positioning information of different baselines.These interactions are called’information coupling’.In this work,we propose a new multivehicle precise CP framework using the coupled information in the network based on the Carrier Differential GNSS(CDGNSS)and inter-vehicle ranging.We demonstrate the benefit of the coupled information by deriving the Cramer-Rao Lower Bound(CRLB)of the float estimation in CP.To fully use this coupled information,we propose a Whole-Net CP(WN-CP)method which consists of the Whole-Net Extended Kalman Filter(WN-EKF)as the float estimation filter,and the Partial Baseline Fixing(PBF)as the ambiguity resolution part.The WN-EKF fuses the measurements of all baselines simultaneously to improve the performance of float estimation,and the PBF strategy fixes the ambiguities of the one baseline to be estimated,instead of full ambiguity resolution,to reduce the computation load of ambiguity resolution.Field tests involving four vehicles were conducted in urban environments.The results show that the proposed WN-CP method can achieve better performance and meanwhile maintain a low computation load compared to the existing methods.展开更多
To solve the problem that traditional long baseline（LBL） positioning system is easily affected by severe sound speed varying results in low calibration precision, low efficiency and inconsistent position using diffe...To solve the problem that traditional long baseline（LBL） positioning system is easily affected by severe sound speed varying results in low calibration precision, low efficiency and inconsistent position using different references, we propose a high precision array calibration method. We use distances between beacons to build error adjustment model. This model improves the calibration performance of traditional calibration method. The theory shows this method can achieve equal calibration precision with distance measurement precision in horizon. This method can improve the calibration efficiency, solve position ambiguity and achieve high precision especially in deep ocean. The shallow water experiment shows this method has millimeter calibration precision which is equal to distance measurement error. The calibration precision improves from centimeter to millimeter compared to traditional calibration method.The method also decreases the operation complexity. The localized positions are more close to GPS compared to traditional method, which has great application values.展开更多
The position decoding accuracy and the spatial resolution of positron emission tomography detectors are greatly influenced by the performance of the two-dimensional position map,including the gain uniformity of photom...The position decoding accuracy and the spatial resolution of positron emission tomography detectors are greatly influenced by the performance of the two-dimensional position map,including the gain uniformity of photomultiplier tube (PMT),the baseline offset of the PMT signals and the accuracy of analogue to digital converter (ADC).In this work,a PMT-quadrant sharing detector was designed.Two data acquisition platforms are employed to conduct the influence factors on the two-dimensional position map performances,one was that the waveforms of the PMT signals were scanned by the sequence acquisition mode based on the oscilloscope of LeCroy waveRunner 204MXi-A,and another was a self-developed high speed ADC data acquisition module.Results show that the event decoding positions were concentrated on the PMT with higher gain,the position map was distorted at the baseline offset of signal,and the cross-line artifacts were caused by the insufficient ADC sampling bit for a larger size position map.All the parameters need be adjusted properly to stabilize a real system,and the flexible oscilloscope platform can be used to design the detector block and the other platform with high ADC accuracy.Likely,the electrical circuit with a proper ADC accuracy adjusts the PMT gains and baseline offsets.展开更多
基金supported by the National Natural Science Foundation of China(61903086,61903366,62001115)the Natural Science Foundation of Hunan Province(2019JJ50745,2020JJ4280,2021JJ40133)the Fundamentals and Basic of Applications Research Foundation of Guangdong Province(2019A1515110136).
文摘For the underwater long baseline(LBL)positioning systems,the traditional distance intersection algorithm simplifies the sound speed to a constant,and calculates the underwa-ter target position parameters with a nonlinear iteration.However,due to the complex underwater environment,the sound speed changes with time and space,and then the acoustic propagation path is actually a curve,which inevitably causes some errors to the traditional distance intersection positioning algorithm.To reduce the position error caused by the uncertain underwater sound speed,a new time of arrival(TOA)intersection underwater positioning algorithm of LBL system is proposed.Firstly,combined with the vertical layered model of the underwater sound speed,an implicit positioning model of TOA intersection is constructed through the constant gradient acoustic ray tracing.And then an optimization function based on the overall TOA residual square sum is advanced to solve the position parameters for the underwater target.Moreover,the particle swarm optimization(PSO)algorithm is replaced with the tra-ditional nonlinear least square method to optimize the implicit positioning model of TOA intersection.Compared with the traditional distance intersection positioning model,the TOA intersec-tion positioning model is more suitable for the engineering practice and the optimization algorithm is more effective.Simulation results show that the proposed methods in this paper can effectively improve the positioning accuracy for the underwater target.
文摘Background: We characterized baseline laboratory data of patients to identify priority treatment areas, most affected populations, anticipated clinical complications and assessed the potential burden of retention in care in Jos, Plateau State—North Central Nigeria. Methods: This study was a cross-sectional design from January 2004 to December 2005 at Faith Alive Foundation (FAF). All participants were HIV-positive and underwent pre-antiretroviral therapy counseling based on the national antiretroviral therapy (ART) guidelines and baseline laboratory testing. Data were captured on Microsoft Excel, validated on Epi Info and analyzed on SPSS version 21 at P < .05 level of significance. Results: Total of 1499 (463 men and 1036 women) participants were evaluated in this study. The age and sex related distribution of participants showed that majority (80.3% for males and 92.5% for females) were 16 - 45 years old. Amylase and creatinine were significantly higher in males than females (P = .02). Anaemia was the most common baseline abnormality (63% for females and 58% for males), while baseline CD4 count was significantly lower in males than females (P < .02) and at one-third had elevated liver enzymes (AST and ALT). Conclusion: The baseline laboratory profile of most HIV positive patients in Jos and environs of North Central–Nigeria was characterized by anaemia, elevated creatinine, and abnormal liver transaminase levels (AST and ALT). This pre-ART laboratory result suggests that HIV-positive individuals have multiple clinical abnormalities which may require more extensive care than just treating the HIV disease.
基金This work has been partially supported by the Ministry of Science and Technology of the Republic of China[Grant Number:MOST 108-2221-E-019-013].
文摘The Global Positioning System(GPS)offers the interferometer for attitude determination by processing the carrier phase observables.By using carrier phase observables,the relative positioning is obtained in centimeter level.GPS interferometry has been firstly used in precise static relative positioning,and thereafter in kinematic positioning.The carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector,defined as the vector between the antenna designated master and one of the slave antennas,connected to a rigid body.Determining the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude determination.The conventional solution of the baseline vectors based on least-squares approach is inherently noisy,which results in the noisy attitude solutions.In this article,the complementary Kalman filter(CKF)is employed for solving the baseline vector in the attitude determination mechanism to improve the performance,where the receiver-satellite double differenced observable was utilized as the measurement.By using the carrier phase observables,the relative positioning is obtained in centimeter level.Employing the CKF provides several advantages,such as accuracy improvement,reliability enhancement,and real-time assurance.Simulation results based on the conventional method where the least-squares approach is involved,and the proposed method where the CKF is involved are compared and discussed.
文摘The two-station positioning system based on time difference and azimuth measurement has measurement redundancy. Therefore, not only can a positioning solution which is completely independent of the baseline length between two stations be derived, but also the baseline length can be solved as an unknown quantity. These findings not only enhance the performance of the two-station positioning system, but also provide a design basis for the construction of a self-organizing dynamic intelligent positioning system.
基金supported by the National Natural Science Foundation of China(No.61901015)。
文摘Relative positioning is recognized as an important issue for vehicles in urban environments.Multi-vehicle Cooperative Positioning(CP)techniques which fuse the Global Navigation Satellite System(GNSS)and inter-vehicle ranging have attracted attention in improving the performance of baseline estimation between vehicles.However,current CP methods estimate the baselines separately and ignore the interactions among the positioning information of different baselines.These interactions are called’information coupling’.In this work,we propose a new multivehicle precise CP framework using the coupled information in the network based on the Carrier Differential GNSS(CDGNSS)and inter-vehicle ranging.We demonstrate the benefit of the coupled information by deriving the Cramer-Rao Lower Bound(CRLB)of the float estimation in CP.To fully use this coupled information,we propose a Whole-Net CP(WN-CP)method which consists of the Whole-Net Extended Kalman Filter(WN-EKF)as the float estimation filter,and the Partial Baseline Fixing(PBF)as the ambiguity resolution part.The WN-EKF fuses the measurements of all baselines simultaneously to improve the performance of float estimation,and the PBF strategy fixes the ambiguities of the one baseline to be estimated,instead of full ambiguity resolution,to reduce the computation load of ambiguity resolution.Field tests involving four vehicles were conducted in urban environments.The results show that the proposed WN-CP method can achieve better performance and meanwhile maintain a low computation load compared to the existing methods.
基金supported by the National Natural Science Foundation of China(61531012)
文摘To solve the problem that traditional long baseline（LBL） positioning system is easily affected by severe sound speed varying results in low calibration precision, low efficiency and inconsistent position using different references, we propose a high precision array calibration method. We use distances between beacons to build error adjustment model. This model improves the calibration performance of traditional calibration method. The theory shows this method can achieve equal calibration precision with distance measurement precision in horizon. This method can improve the calibration efficiency, solve position ambiguity and achieve high precision especially in deep ocean. The shallow water experiment shows this method has millimeter calibration precision which is equal to distance measurement error. The calibration precision improves from centimeter to millimeter compared to traditional calibration method.The method also decreases the operation complexity. The localized positions are more close to GPS compared to traditional method, which has great application values.
基金Supported by in part by Specialized Research Fund for the Doctoral Program of Higher Education (SRFDP200800031071)National Natural Science Foundation of China (No. 10975086)the National High Technology Research and Development Program (863 Program) of China (No. 2006AA020802)
文摘The position decoding accuracy and the spatial resolution of positron emission tomography detectors are greatly influenced by the performance of the two-dimensional position map,including the gain uniformity of photomultiplier tube (PMT),the baseline offset of the PMT signals and the accuracy of analogue to digital converter (ADC).In this work,a PMT-quadrant sharing detector was designed.Two data acquisition platforms are employed to conduct the influence factors on the two-dimensional position map performances,one was that the waveforms of the PMT signals were scanned by the sequence acquisition mode based on the oscilloscope of LeCroy waveRunner 204MXi-A,and another was a self-developed high speed ADC data acquisition module.Results show that the event decoding positions were concentrated on the PMT with higher gain,the position map was distorted at the baseline offset of signal,and the cross-line artifacts were caused by the insufficient ADC sampling bit for a larger size position map.All the parameters need be adjusted properly to stabilize a real system,and the flexible oscilloscope platform can be used to design the detector block and the other platform with high ADC accuracy.Likely,the electrical circuit with a proper ADC accuracy adjusts the PMT gains and baseline offsets.
