A new algorithm is developed to achieve accurate state estimation in ground moving target tracking by means of using road information. It is an adaptive variable structure interacting multiple model estimator with dyn...A new algorithm is developed to achieve accurate state estimation in ground moving target tracking by means of using road information. It is an adaptive variable structure interacting multiple model estimator with dynamic models modification （DMM VS-IMM for short）. Firstly, road information is employed to modify the target dynamic models used by filter, including modification of state transition matrix and process noise. Secondly, road information is applied to update the model set of a VS-IMM estimator. Predicted state estimation and road information are used to locate the target in the road network on which the model set is updated and finally IMM filtering is implemented. As compared with traditional methods, the accuracy of state estimation is improved for target moving not only on a single road, but also through an intersection. Monte Carlo simulation demonstrates the efficiency and robustness of the proposed algorithm with moderate computational loads.展开更多
In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for mea...In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for measuring urban civilization construction.However,there are many problems in the actual use of tactile ground surface indicators,and the construction of a large number of tactile ground surface indicators has not had a positive impact on the travel of the visually impaired.With the sidewalk of Ninghai Road in Nanjing,Jiangsu,China as the object of study,this study constructed an evaluation system of tactile ground surface indicators installed on the sidewalk beside a road and determined its weight,evaluated the tactile ground surface indicators installed on sidewalks beside Ninghai Road from the perspective of the visually impaired,using fuzzy comprehensive evaluation,and obtained the satisfaction of each indicator and analyzed the reasons of the indicator results.This set of evaluation system can provide basic ideas for the targeted evaluation of tactile ground surface indicators installed on the sidewalk beside a road based on different urban districts,different urban road grades,and different urban environmental conditions.展开更多
基金Foundation item： National Natural Science Foundation of China （60502019）
文摘A new algorithm is developed to achieve accurate state estimation in ground moving target tracking by means of using road information. It is an adaptive variable structure interacting multiple model estimator with dynamic models modification （DMM VS-IMM for short）. Firstly, road information is employed to modify the target dynamic models used by filter, including modification of state transition matrix and process noise. Secondly, road information is applied to update the model set of a VS-IMM estimator. Predicted state estimation and road information are used to locate the target in the road network on which the model set is updated and finally IMM filtering is implemented. As compared with traditional methods, the accuracy of state estimation is improved for target moving not only on a single road, but also through an intersection. Monte Carlo simulation demonstrates the efficiency and robustness of the proposed algorithm with moderate computational loads.
基金Sponsored by the National Key R&D Program of China(2018YFC0704903)
文摘In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for measuring urban civilization construction.However,there are many problems in the actual use of tactile ground surface indicators,and the construction of a large number of tactile ground surface indicators has not had a positive impact on the travel of the visually impaired.With the sidewalk of Ninghai Road in Nanjing,Jiangsu,China as the object of study,this study constructed an evaluation system of tactile ground surface indicators installed on the sidewalk beside a road and determined its weight,evaluated the tactile ground surface indicators installed on sidewalks beside Ninghai Road from the perspective of the visually impaired,using fuzzy comprehensive evaluation,and obtained the satisfaction of each indicator and analyzed the reasons of the indicator results.This set of evaluation system can provide basic ideas for the targeted evaluation of tactile ground surface indicators installed on the sidewalk beside a road based on different urban districts,different urban road grades,and different urban environmental conditions.
