The scheme of robot positioning based on multiple quick response(QR)code landmarks is proposed.Firstly,the pose of the robot relative to the QR code landmarks is obtained by extracting the feature points of the QR cod...The scheme of robot positioning based on multiple quick response(QR)code landmarks is proposed.Firstly,the pose of the robot relative to the QR code landmarks is obtained by extracting the feature points of the QR code,combined with the visual computing technology.Then,the conversion of the absolute pose of the robot is completed based on the absolute position of the QR code landmark,and thus the real-time position of the robot is obtained.The proposed scheme makes full use of the QR code fault tolerance and multiple QR code landmarks to improve the calculation accuracy.It has good robustness and versatility,and it is easy to implement.It can help the robot to complete the positioning in the actual work,making robot navigation more accurate.展开更多
Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navi...Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.展开更多
Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneousl...Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneously.There are two problems:1)the hybrid systems are difficult to extract distinguishable positioning beacon features without affecting communication performance,2)in the hybrid systems,the lost data bits in the inter-frame gap(IFG)are hard to recover,which affects positioning and communication performance.Therefore,in this article,we propose a novel VL-based hybrid positioning and communication system,named HY-PC system,to solve the above problems.First,we propose the robust T-W mapping for recognizing specific Light Emitting Diodes(LEDs),which can provide stable LED recognition accuracy without adding extra beacon data and does not decrease the communication rate.Furthermore,we also propose the novel linear block coding and bit interleaving mechanism,which can recover the lost data bits in the IFG and improve data communication performance.Finally,we use commercial off-the-shelf devices to implement our HY-PC system,extensive experimental results show that our HY-PC system can achieve consistent high-precision positioning and low-BER data communication,simultaneously.展开更多
A hybrid control strategy has been designed and developed for the electro-hydraulic posi-tion servo control system with generalized Pulse code modulation （GPCM）, which is suitable for the area where the work conditi...A hybrid control strategy has been designed and developed for the electro-hydraulic posi-tion servo control system with generalized Pulse code modulation （GPCM）, which is suitable for the area where the work condition is poor and a large flow rate is required. It is difficult to control the GPCM system because the system is discrete. With consideration of the stability and speediness of the GPCM position servo control system, a control strategy is developed through the theoretical and ex-perimental analyses. The control strategy integrates the merits of Bang-Bang control, PID control and fuzzy control. With this hybrid control strategy, the electro hydraulic control system has good per-formances, and the servo control is carried out with GPCM through on-off valves.展开更多
Two end-users which have symmetric traffic requirements in terms of data rate are considered. They exchange information in Rayleigh flat-fading channels and multiple serial half-duplex relay nodes are employed to exte...Two end-users which have symmetric traffic requirements in terms of data rate are considered. They exchange information in Rayleigh flat-fading channels and multiple serial half-duplex relay nodes are employed to extend the communication coverage and assist the bidirectional communication between them using the analog network coding( ANC) protocol. With the objective of minimizing the sum transmit energy at the required data rate c,the optimal relay positioning and power allocation problem is firstly investigated and then the sub-optimal solutions for a two-relay channel are proposed,due to no close-form optimal solution. Furthermore,a sub-optimal scheme of relay positioning and power allocation,called equal-distance equal-transmit-power( EDEP) for an arbitrary Nrelay channel,N > 1 is proposed. Simulation results demonstrate a consistence with our proposed scheme.展开更多
Considering the need of target positioning,a remote positioning system is designed based on global positioning system(GPS)and general packet radio service(GPRS);The data collection terminal is based on microcontroller...Considering the need of target positioning,a remote positioning system is designed based on global positioning system(GPS)and general packet radio service(GPRS);The data collection terminal is based on microcontroller unit(MCU)PIC24FV301.It uses GPRS network to create wireless link and transmits GPS source information which is collected by LEA-5H board to monitor center on the Internet.The monitor center obtains the target information through processing and analysis of the calculated data.Actual operation results indicate that the designed system has excellent performance and achieves the goal of the remote location.展开更多
Absolute measurement has consistently been the primary focus in the development of precision linear and angular displace-ment measurements.The scheme design of binary zero position codes is an important factor for abs...Absolute measurement has consistently been the primary focus in the development of precision linear and angular displace-ment measurements.The scheme design of binary zero position codes is an important factor for absolute measurement.Designing and optimizing high-bit zero position codes with over 100 bits face considerable challenges.Simultaneously,the working parameters of zero position codes[unit code width(b),distance(d),and yaw angle(α)]remarkably affect their post-installation performance,particularly in absolute positioning and limit code application in multi-degree-of-freedom measurement schemes.This study addresses these challenges by proposing a design method for zero position codes that considers diffraction based on generative adversarial networks and aims to explore a design with increased efficiency and accuracy as well as optimization for high-bit zero position codes.Additionally,the tolerance range of zero positioning per-formance for each working parameter is examined.By leveraging the adversarial network structure,this study generates the optimization of a 150-bit code and processes the tests of the zero position code by using simulation results.The following working parameter ranges for code design are recommended on the basis of theoretical and experimental results:b greater than 10μm,d andαwithin 1000μm and 3490μrad,and avoidance of intervals with sharp changes in the full width at half maximum.The proposed code design and parameter optimization lay a solid foundation for research and engineering appli-cations in absolute measurement field and have considerable potential for generalization and wide applicability.展开更多
针对位置欺骗如何影响接收机的问题,使用TEXBAT(Texas Spoofing Test Battery)提供的2组无欺骗干扰场景数据集和2组不同场景的GPS位置欺骗数据集,建立了GPS位置欺骗模型,分析了欺骗场景下两种相位对齐模式对欺骗攻击的影响;利用GNSS-SD...针对位置欺骗如何影响接收机的问题,使用TEXBAT(Texas Spoofing Test Battery)提供的2组无欺骗干扰场景数据集和2组不同场景的GPS位置欺骗数据集,建立了GPS位置欺骗模型,分析了欺骗场景下两种相位对齐模式对欺骗攻击的影响;利用GNSS-SDR软件接收机对TEXBAT的原始高保真数字采样数据进行数据处理,分别得到软件接收机受欺骗与未受欺骗时的接收机载噪比、载波多普勒、码速率等随时间的变化情况;分析了两个位置欺骗场景对软件接收机跟踪阶段输出值的影响。实验结果表明,载噪比有大于3(dB·Hz)的波动,码速率方差会发生阶段性的增加和减少;多普勒频率的变化取决于欺骗场景的选取,不同场景的位置欺骗从不同角度有效影响了接收机定位结果。展开更多
基金Project of Introducing Urgently Needed Talents in Key Support Areas of Shandong Province,China。
文摘The scheme of robot positioning based on multiple quick response(QR)code landmarks is proposed.Firstly,the pose of the robot relative to the QR code landmarks is obtained by extracting the feature points of the QR code,combined with the visual computing technology.Then,the conversion of the absolute pose of the robot is completed based on the absolute position of the QR code landmark,and thus the real-time position of the robot is obtained.The proposed scheme makes full use of the QR code fault tolerance and multiple QR code landmarks to improve the calculation accuracy.It has good robustness and versatility,and it is easy to implement.It can help the robot to complete the positioning in the actual work,making robot navigation more accurate.
基金Project(2011CB707102)supported by the National Basic Research Program of ChinaProjects(40901220,41001302)supported by the National Natural Science Foundation of China+1 种基金Project(122025)supported by Fok Ying Tong Education Foundation,ChinaProject(N100401009)supported by Fundamental Research Funds for Central Universities,China
文摘Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.
基金supported by the Guangdong Basic and Applied Basic Research Foundation No.2021A1515110958National Natural Science Foundation of China No.62202215+2 种基金SYLU introduced high-level talents scientific research support planChongqing University Innovation Research Group(CXQT21019)Chongqing Talents Project(CQYC201903048)。
文摘Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneously.There are two problems:1)the hybrid systems are difficult to extract distinguishable positioning beacon features without affecting communication performance,2)in the hybrid systems,the lost data bits in the inter-frame gap(IFG)are hard to recover,which affects positioning and communication performance.Therefore,in this article,we propose a novel VL-based hybrid positioning and communication system,named HY-PC system,to solve the above problems.First,we propose the robust T-W mapping for recognizing specific Light Emitting Diodes(LEDs),which can provide stable LED recognition accuracy without adding extra beacon data and does not decrease the communication rate.Furthermore,we also propose the novel linear block coding and bit interleaving mechanism,which can recover the lost data bits in the IFG and improve data communication performance.Finally,we use commercial off-the-shelf devices to implement our HY-PC system,extensive experimental results show that our HY-PC system can achieve consistent high-precision positioning and low-BER data communication,simultaneously.
文摘A hybrid control strategy has been designed and developed for the electro-hydraulic posi-tion servo control system with generalized Pulse code modulation （GPCM）, which is suitable for the area where the work condition is poor and a large flow rate is required. It is difficult to control the GPCM system because the system is discrete. With consideration of the stability and speediness of the GPCM position servo control system, a control strategy is developed through the theoretical and ex-perimental analyses. The control strategy integrates the merits of Bang-Bang control, PID control and fuzzy control. With this hybrid control strategy, the electro hydraulic control system has good per-formances, and the servo control is carried out with GPCM through on-off valves.
基金National Natural Science Foundation of China(No.61071214)
文摘Two end-users which have symmetric traffic requirements in terms of data rate are considered. They exchange information in Rayleigh flat-fading channels and multiple serial half-duplex relay nodes are employed to extend the communication coverage and assist the bidirectional communication between them using the analog network coding( ANC) protocol. With the objective of minimizing the sum transmit energy at the required data rate c,the optimal relay positioning and power allocation problem is firstly investigated and then the sub-optimal solutions for a two-relay channel are proposed,due to no close-form optimal solution. Furthermore,a sub-optimal scheme of relay positioning and power allocation,called equal-distance equal-transmit-power( EDEP) for an arbitrary Nrelay channel,N > 1 is proposed. Simulation results demonstrate a consistence with our proposed scheme.
文摘Considering the need of target positioning,a remote positioning system is designed based on global positioning system(GPS)and general packet radio service(GPRS);The data collection terminal is based on microcontroller unit(MCU)PIC24FV301.It uses GPRS network to create wireless link and transmits GPS source information which is collected by LEA-5H board to monitor center on the Internet.The monitor center obtains the target information through processing and analysis of the calculated data.Actual operation results indicate that the designed system has excellent performance and achieves the goal of the remote location.
基金supported by the National Natural Science Foundation of China with No.62275142the Basic and Applied Basic Research Foundation of Guangdong Province with No.2021B1515120007.
文摘Absolute measurement has consistently been the primary focus in the development of precision linear and angular displace-ment measurements.The scheme design of binary zero position codes is an important factor for absolute measurement.Designing and optimizing high-bit zero position codes with over 100 bits face considerable challenges.Simultaneously,the working parameters of zero position codes[unit code width(b),distance(d),and yaw angle(α)]remarkably affect their post-installation performance,particularly in absolute positioning and limit code application in multi-degree-of-freedom measurement schemes.This study addresses these challenges by proposing a design method for zero position codes that considers diffraction based on generative adversarial networks and aims to explore a design with increased efficiency and accuracy as well as optimization for high-bit zero position codes.Additionally,the tolerance range of zero positioning per-formance for each working parameter is examined.By leveraging the adversarial network structure,this study generates the optimization of a 150-bit code and processes the tests of the zero position code by using simulation results.The following working parameter ranges for code design are recommended on the basis of theoretical and experimental results:b greater than 10μm,d andαwithin 1000μm and 3490μrad,and avoidance of intervals with sharp changes in the full width at half maximum.The proposed code design and parameter optimization lay a solid foundation for research and engineering appli-cations in absolute measurement field and have considerable potential for generalization and wide applicability.
文摘差分码偏差(Differential Code Bias,DCB)是高精度定位和电离层建模的主要影响因素之一。为探讨Galileo系统卫星端DCB改正对双频单点定位的影响,本文推导了Galileo 4种不同频点无电离层组合卫星端DCB改正公式。选取4个MGEX(Multi-GNSS Experiment)测站连续7 d的观测数据进行标准单点定位(Standard Point Positioning,SPP)和精密单点定位(Precise Point Positioning,PPP)实验,分析改正与不改正DCB对Galileo定位性能的影响。结果表明:DCB改正对SPP定位精度和PPP收敛时间均有提升,但对PPP收敛后的定位精度几乎没有影响。其中,E1/E5b和E1/E5(a+b)组合提升较小,SPP精度提升为亚厘米至厘米级,PPP收敛速度提升率约为2.0%和5.2%;E1/E6组合提升较大,SPP精度提升为米级,PPP收敛速度提升率约为32.3%。E1/E5a、E1/E5b和E1/E5(a+b)组合SPP定位精度和PPP定位性能基本相当,优于E1/E6组合。
文摘针对位置欺骗如何影响接收机的问题,使用TEXBAT(Texas Spoofing Test Battery)提供的2组无欺骗干扰场景数据集和2组不同场景的GPS位置欺骗数据集,建立了GPS位置欺骗模型,分析了欺骗场景下两种相位对齐模式对欺骗攻击的影响;利用GNSS-SDR软件接收机对TEXBAT的原始高保真数字采样数据进行数据处理,分别得到软件接收机受欺骗与未受欺骗时的接收机载噪比、载波多普勒、码速率等随时间的变化情况;分析了两个位置欺骗场景对软件接收机跟踪阶段输出值的影响。实验结果表明,载噪比有大于3(dB·Hz)的波动,码速率方差会发生阶段性的增加和减少;多普勒频率的变化取决于欺骗场景的选取,不同场景的位置欺骗从不同角度有效影响了接收机定位结果。
