Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

SNWPM:A Siamese Network Based Wireless Positioning Model Resilient to Partial Base Stations Unavailable

Artificial intelligence(AI)models are promising to improve the accuracy of wireless positioning systems,particularly in indoor environments where unpredictable radio propagation channel is a great challenge.Although great efforts have been made to explore the effectiveness of different AI models,it is still an open problem whether these models,trained with the data collected from all base stations(BSs),could work when some BSs are unavailable.In this paper,we make the first effort to enhance the generalization ability of AI wireless positioning model to adapt to the scenario where only partial BSs work.Particularly,a Siamese Network based Wireless Positioning Model(SNWPM)is proposed to predict the location of mobile user equipment from channel state information(CSI)collected from 5G BSs.Furthermore,a Feature Aware Attention Module(FAAM)is introduced to reinforce the capability of feature extraction from CSI data.Experiments are conducted on the 2022 Wireless Communication AI Competition(WAIC)dataset.The proposed SNWPM achieves decimeter-level positioning accuracy even if the data of partial BSs are unavailable.Compared with other AI models,the proposed SNWPM can reduce the positioning error by nearly 50%to more than 60%while using less parameters and lower computation resources.

TOA positioning algorithm of LBL system for underwater target based on PSO

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.

Dynamic Visible Light Positioning Based on Enhanced Visual Target Tracking

In visible light positioning systems,some scholars have proposed target tracking algorithms to balance the relationship among positioning accuracy,real-time performance,and robustness.However,there are still two problems:(1)When the captured LED disappears and the uncertain LED reappears,existing tracking algorithms may recognize the landmark in error;(2)The receiver is not always able to achieve positioning under various moving statuses.In this paper,we propose an enhanced visual target tracking algorithm to solve the above problems.First,we design the lightweight recognition/demodulation mechanism,which combines Kalman filtering with simple image preprocessing to quickly track and accurately demodulate the landmark.Then,we use the Gaussian mixture model and the LED color feature to enable the system to achieve positioning,when the receiver is under various moving statuses.Experimental results show that our system can achieve high-precision dynamic positioning and improve the system’s comprehensive performance.

New Three-Dimensional Assessment Model and Optimization of Acoustic Positioning System

This paper addresses the problem of assessing and optimizing the acoustic positioning system for underwater target localization with range measurement.We present a new three-dimensional assessment model to evaluate the optimal geometric beacon formation whether meets user requirements.For mathematical tractability,it is assumed that the measurements of the range between the target and beacons are corrupted with white Gaussian noise with variance,which is distance-dependent.Then,the relationship between DOP parameters and positioning accuracy can be derived by adopting dilution of precision(DOP)parameters in the assessment model.In addition,the optimal geometric beacon formation yielding the best performance can be achieved via minimizing the values of geometric dilution of precision(GDOP)in the case where the target position is known and fixed.Next,in order to ensure that the estimated positioning accuracy on the region of interest satisfies the precision required by the user,geometric positioning accuracy(GPA),horizontal positioning accuracy(HPA)and vertical positioning accuracy(VPA)are utilized to assess the optimal geometric beacon formation.Simulation examples are designed to illustrate the exactness of the conclusion.Unlike other work that only uses GDOP to optimize the formation and cannot assess the performance of the specified size,this new three-dimensional assessment model can evaluate the optimal geometric beacon formation for each dimension of any point in three-dimensional space,which can provide guidance to optimize the performance of each specified dimension.

Performance Analysis of GNSS/MIMU Tight Fusion Positioning Model with Complex Scene Feature Constraints

In order to meet the requirements of high-precision vehicle positioning in complex scenes,an observation noise adaptive robust GNSS/MIMU tight fusion model based on the gain matrix is proposed considering static zero speed,non-integrity,attitude,and odometer constraint models.In this model,the robust equivalent gain matrix is constructed by the IGG-Ⅲmethod to weaken the influence of gross error,and the on-line adaptive update of observation noise matrix is carried out according to the change of actual observation environment,so as to improve the solution performance of filtering system and realize high-precision position,attitude and velocity measurement when GNSS signal is unlocked.A real test on a road over 600 km demonstrates that,in about 100 km shaded environment,the fixed rate of GNSS ambiguity resolution in the shaded road is 10%higher than that of GNSS only ambiguity resolution.For all the test,the positioning accuracy can reach the centimeter level in an open environment,better than 0.6 m in the tree shaded environment,better than 1.5 m in the three-dimensional traffic environment,and can still maintain a positioning accuracy of 0.1 m within 10 s when the satellite is unlocked in the tunnel scene.The proposal and verification of the algorithm model show that low-cost MIMU equipment can still achieve high-precision positioning when there are scene feature constraints,which can meet the problem of high-precision vehicle navigation and location in the urban complex environment.

Single Point Positioning with Sequential Least-Squares Filter and Estimated Real-Time Stochastic Model

获得更高精确的位置估计，随机的模型被估计由用观察的剩余，，因此随机的模型更写实地在大小描述噪音和偏爱。由使用 GPS 数据和广播位置推算历，在亚米水平显示精确位置估计的数字结果是可获得的。

A New Interpretation of the Higgs Vacuum Potential Energy Based on a Planckion Composite Model for the Higgs

We present a new interpretation of the Higgs field as a composite particle made up of a positive, with, a negative mass Planck particle. According to the Winterberg hypothesis, space, i.e., the vacuum, consists of both positive and negative physical massive particles, which he called planckions, interacting through strong superfluid forces. In our composite model for the Higgs boson, there is an intrinsic length scale associated with the vacuum, different from the one introduced by Winterberg, where, when the vacuum is in a perfectly balanced state, the number density of positive Planck particles equals the number density of negative Planck particles. Due to the mass compensating effect, the vacuum thus appears massless, chargeless, without pressure, energy density, or entropy. However, a situation can arise where there is an effective mass density imbalance due to the two species of Planck particle not matching in terms of populations, within their respective excited energy states. This does not require the physical addition or removal of either positive or negative Planck particles, within a given region of space, as originally thought. Ordinary matter, dark matter, and dark energy can thus be given a new interpretation as residual vacuum energies within the context of a greater vacuum, where the populations of the positive and negative energy states exactly balance. In the present epoch, it is estimated that the dark energy number density imbalance amounts to, , per cubic meter, when cosmic distance scales in excess of, 100 Mpc, are considered. Compared to a strictly balanced vacuum, where we estimate that the positive, and the negative Planck number density, is of the order, 7.85E54 particles per cubic meter, the above is a very small perturbation. This slight imbalance, we argue, would dramatically alleviate, if not altogether eliminate, the long standing cosmological constant problem.

Semi-parametric Adjustment Model Methods for Positioning of Seafloor Control Point

This paper focus on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle. The method of dealing with the systematic error based on a semi-parametric adjustment model was proposed. Firstly, the influence of sound velocity change on ranging error is analyzed. Secondly, a semi-parametric adjustment model for determining three-dimensional coordinates of seafloor control points was established. And respectively proposed solutions under two different conditions, the observation duration is an integral multiple or non-integer multiple of the long-period term of the ranging error. The simulation experiment shows that this method can obviously improve the accuracy of vertical solution of seafloor control point compared with the difference technique and the least-squares method when internal waves exist and observation duration is less than an integer multiple of the long-period term of the ranging error.

Model Predictive Controller Design for the Dynamic Positioning System of a Semi-submersible Platform

这篇论文研究怎么使用先进控制技术为预兆的控制(MPC ) 建模到一个半能沉入水中的平台的动态放系统(DPS ) 的设计。首先，有自由的三度的一个线性低频率的运动模型在一个半能沉入水中的平台的上下文被建立。第二，一个模型预兆的控制器基于考虑了系统的限制的一个模型被设计。第三，模拟被执行表明控制器的可行性。结果表演模型预兆的控制器有好性能并且擅长处理系统的限制。

Endemic error correction model and quantitative analysis of precise point positioning

To identify the endemic error of the precise point positioning which cannot be weakened or eliminated in precise point positioning (PPP) zero-difference model, the 24 h observation data acquired from CHAN station on Oct 31st, 2010, were adopted for analyses, different correction models of various errors were discussed and their influences on traditional zero-difference model were analyzed. The results show that the errors cannot be ignored. They must be corrected with suitable models and estimated with auxiliary parameters. The influence magnitudes of all errors are defined, and the results have guiding significance to improve the accuracy of precise point positioning zero-difference model.

Hybrid Dynamic Variables-Dependent Event-Triggered Fuzzy Model Predictive Control

This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.

Assessment Model of Atmosphere Transmitting Influence on High-resolution Airborne SAR Stereo Positioning

The influence derived from atmosphere transmitting of radar wave, in the application of high-resolution airborne Synthetic Aperture Radar (SAR) stereo positioning, may produce some phase errors, and eventually be introduced into positioning model. This paper described the principle of airborne SAR stereo positioning and the error sources of stereo positioning accuracy that arose from atmosphere transmitting, established a corresponding assess- ment model of atmosphere transmitting influence, and testified the model and the assessment principle taking the 1-m resolution airborne SAR images of Zigong City, Sichuan Province in China, as the test dataset. The test result has proved that the assessment model is reliable and reasonable. And, it has shown that the phase error arisen from time delay is the main error source during the atmosphere transmitting, which has much more influences on cross-track di- rection and introduces a stereo positioning error of about eight meters, but less on the along-track direction.

Adaptive high precision position control of servo actuator with friction compensation using LuGre model

Adaptive control of servo actuator with nonlinear friction compensation is addressed. LuGre dynamic friction model is adopted to characterize the nonlinear friction and a new kind of slid ing mode observer is designed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws are designed to identify the unknown model parameters and the external disturbances, and the system stability and asymptotic trajectory tracking perform ance are guaranteed by Lyapunov function. The position tracking performance is verified by the ex perimental results.

Interpretation,Construction and Exhibition-Seeking the Positive Significance of Ancient Architecture Model Making in the Teaching of History of Chinese Architecture

On the basis of a special project for teaching reform, in order to change the boring and dull situation of History of Chinese Architecture in students, ancient architecture model was introduced in the teaching process of the pure history course. Through the interpretation, construction, and exhibition stages,the ability of students in grasping the knowledge of architecture history can be strengthened. Then, from the historical background, physical composition, artistic conception of space, structural system, detailed structure, and architectural evolution, the positive significance of ancient architecture model to the teaching of the History of Chinese Architecture was discussed, in the hope of providing certain theoretical basis for the teaching of the History of Chinese Architecture.

On ionosphere-delay processing methods for single-frequency precise-point positioning

In single-frequency precise-point positioning of a satellite,ionosphere delay is one of the most important factors impacting the accuracy. Because of the instability of the ionosphere and uncertainty of its physical properties, the positioning accuracy is seriously limited when using a precision-limited model for correction. In order to reduce the error, we propose to introduce some ionosphere parameter for real-time ionosphere-delay estimation by applying various mapping functions. Through calculation with data from the IGS（ International GPS Service） tracking station and comparison among results of using several different models and mapping functions, the feasibility and effectiveness of the new method are verified.

Positive Almost Periodic Solution on a Nonlinear Logistic Biological Model with Grazing Rates

In this paper, we study the following nonlinear biological modeldx(t)/dt = x(t)[a(t)-b(t)x α (t)] + f(t, xt),by using fixed pointed theorem, the sufficient conditions of the existence of unique positive almost periodic solution for the above system are obtained, by using the theories of stability, the sufficient conditions which guarantee the stability of the positive almost periodic solution are derived.

Laser Interferometer Based Measurement for Positioning Error Compensation in Cartesian Multi-Axis Systems

Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.

A New Class of Exactly Solvable Models within the Schrodinger Equation with Position Dependent Mass

The study of physical systems endowed with a position-dependent mass (PDM) remains a fundamental issue of quantum mechanics. In this paper we use a new approach, recently developed by us for building the quantum kinetic energy operator (KEO) within the Schrodinger equation, in order to construct a new class of exactly solvable models with a position varying mass, presenting a harmonic-oscillator-like spectrum. To do so we utilize the formalism of supersymmetric quantum mechanics (SUSY QM) along with the shape invariance condition. Recent outcomes of non-Hermitian quantum mechanics are also taken into account.

Tests and error analysis of a self-positioning shearer operating at a manless working face

Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.