State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

云南地区GNSS应变率场异常识别方法及地震预测效能评估

利用1999-2020年云南及邻区近300个GNSS测站的观测数据解算获取的速度场为约束,采用克里金插值方法分时段估计了1999-2007年,2009-2014年,2015-2020年三期区域应变率场;通过回溯各个观测时段之后3年内M_(S)≥5.0地震事件,分析区域地壳形变特征与地震事件发生地点之间的相关性,结果表明,绝大部分地震都发生在面应变高梯度带的张压转换区和最大剪应变率沿断层方向的高值区或其边缘。基于上述应变率场异常特征,提出格网地震危险因子算法,建立地震危险区识别模型,通过估计格网最大剪应变率和面应变率风险区划因子,定量提取异常区地震危险指标,结果显示采用数值模型识别出的异常区与地震事件具有较好地对应关系;进一步采用R值评分的方式对应变率场异常区模型识别方法进行地震预测效能量化评估与分析,结果显示3期应变率场预测结果均通过R值评分检测。

基于GNSS-IR高度角偏差修正方法的研究与评估

针对高度角偏差使全球导航卫星系统干涉反射测量(GNSS-IR)反演海面高度的精度降低这一问题,提出一种基于电离层区域的高度角偏差修正方法,为验证方法的可靠性,将修正高度角偏差前后的反演结果进行对比。结果表明,经过高度角偏差修正的反演结果精度更高,利用高度角偏差修正方法可以较好地修正电离层引起的高度角偏差。

2023年甘肃积石山M_(S)6.2地震对GNSS基准站形变影响快速分析

收集2023-12-18积石山地震震中附近多座GNSS地面基准站地震前后1 Hz高频数据,采用PRIDE PPP-AR、TRACK软件进行动态PPP解算和高精度静态数据处理,得到GNSS基准站的同震形变位移波动和永久形变位移,分析地震对震中GNSS地面基准站造成的形变影响。结果表明,PRIDE PPP-AR和TRACK软件均可计算地震对基准站造成的同震形变位移影响。静态解算结果显示,此次地震造成LXJS站(距震中5.3 km)在水平方向产生约18 mm的永久形变位移,对GNSS基准站稳定性的影响范围约50 km。该快速形变分析方法和结果可为防灾减灾和实时导航定位服务提供参考和数据支撑。

青藏高原地壳隆升的GNSS与GRACE联合研究进展

作为世界屋脊,青藏高原现今的地壳隆升状态是地球科学的一个重要关注点,对其地壳运动的观测与动力机制分析是深入认识该问题的关键.随着卫星大地测量的快速发展,以全球导航卫星系统(GNSS)和重力恢复与气候实验卫星(GRACE)为主的观测技术在青藏高原地球动力学研究中表现出巨大优势和潜力.GNSS给出了精细的三维地壳变形结果,GRACE提供了丰富的时变重力数据,前人已有效结合这两种资料对青藏高原地壳运动与固体物质迁移问题进行了充分研究,较系统地评估了高原地壳隆升现状.因此,本文将综述当前联合GNSS与GRACE数据进行高原地壳隆升研究的科学进展,涉及到高原地壳位移场与时变重力场观测、负荷变形估算与构造变形提取、地壳厚度与Moho面深度变化反演等研究成果,本文还简单讨论分析青藏高原当前地壳隆升的环境背景与动力机制.

安卓GNSS原始数据转换为RINEX的方法与实现

安卓设备收集的全球导航卫星系统(GNSS)数据在从地理空间定位到环境监测的各种应用中越来越重要。但缺乏将安卓GNSS原始数据转换为接收机独立交换格式(RINEX)的标准化工具,这给初学者和研究人员带来了重大挑战。为了满足这一需求,本文基于Python开发安卓GNSS原始数据转换RINEX工具箱(AGRDRT),旨在简化转换过程并提高安卓GNSS数据的可用性。所提出的工具箱利用Python的versatility提供一个友好的用户界面,用于将安卓GNSS原始数据转换为广泛采用的RINEX 3.05标准格式。AGRDRT主要功能包括强大的数据解析算法、对不同GNSS星座的支持以及与各种安卓设备配置的兼容性。

Anti-swarm UAV radar system based on detection data fusion

There is a growing body of research on the swarm unmanned aerial vehicle(UAV)in recent years,which has the characteristics of small,low speed,and low height as radar target.To confront the swarm UAV,the design of anti-UAV radar system based on multiple input multiple output(MIMO)is put forward,which can elevate the performance of resolution,angle accuracy,high data rate,and tracking flexibility for swarm UAV detection.Target resolution and detection are the core problem in detecting the swarm UAV.The distinct advantage of MIMO system in angular accuracy measurement is demonstrated by comparing MIMO radar with phased array radar.Since MIMO radar has better performance in resolution,swarm UAV detection still has difficulty in target detection.This paper proposes a multi-mode data fusion algorithm based on deep neural networks to improve the detection effect.Subsequently,signal processing and data processing based on the detection fusion algorithm above are designed,forming a high resolution detection loop.Several simulations are designed to illustrate the feasibility of the designed system and the proposed algorithm.

Review on uncertainty analysis and information fusion diagnosis of aircraft control system

In the aircraft control system,sensor networks are used to sample the attitude and environmental data.As a result of the external and internal factors(e.g.,environmental and task complexity,inaccurate sensing and complex structure),the aircraft control system contains several uncertainties,such as imprecision,incompleteness,redundancy and randomness.The information fusion technology is usually used to solve the uncertainty issue,thus improving the sampled data reliability,which can further effectively increase the performance of the fault diagnosis decision-making in the aircraft control system.In this work,we first analyze the uncertainties in the aircraft control system,and also compare different uncertainty quantitative methods.Since the information fusion can eliminate the effects of the uncertainties,it is widely used in the fault diagnosis.Thus,this paper summarizes the recent work in this aera.Furthermore,we analyze the application of information fusion methods in the fault diagnosis of the aircraft control system.Finally,this work identifies existing problems in the use of information fusion for diagnosis and outlines future trends.

Induction System for a Fusion Reactor: Quantum Mechanics Chained up

In the quest for a sustainable and abundant energy source, nuclear fusion technology stands as a beacon of hope. This study introduces a groundbreaking quantum mechanically effective induction system designed for magnetic plasma confinement within fusion reactors. The pursuit of clean energy, essential to combat climate change, hinges on the ability to harness nuclear fusion efficiently. Traditional approaches have faced challenges in plasma stability and energy efficiency. The novel induction system presented here not only addresses these issues but also transforms fusion reactors into integrated construction systems. This innovation promises compact fusion reactors, marking a significant step toward a clean and limitless energy future, free from the constraints of traditional power sources. This revolutionary quantum induction system redefines plasma confinement in fusion reactors, unlocking clean, compact, and efficient energy production.

Parameter Estimation of a Valve-Controlled Cylinder System Model Based on Bench Test and Operating Data Fusion

The accurate estimation of parameters is the premise for establishing a high-fidelity simulation model of a valve-controlled cylinder system.Bench test data are easily obtained,but it is challenging to emulate actual loads in the research on parameter estimation of valve-controlled cylinder system.Despite the actual load information contained in the operating data of the control valve,its acquisition remains challenging.This paper proposes a method that fuses bench test and operating data for parameter estimation to address the aforementioned problems.The proposed method is based on Bayesian theory,and its core is a pool fusion of prior information from bench test and operating data.Firstly,a system model is established,and the parameters in the model are analysed.Secondly,the bench and operating data of the system are collected.Then,the model parameters and weight coefficients are estimated using the data fusion method.Finally,the estimated effects of the data fusion method,Bayesian method,and particle swarm optimisation(PSO)algorithm on system model parameters are compared.The research shows that the weight coefficient represents the contribution of different prior information to the parameter estimation result.The effect of parameter estimation based on the data fusion method is better than that of the Bayesian method and the PSO algorithm.Increasing load complexity leads to a decrease in model accuracy,highlighting the crucial role of the data fusion method in parameter estimation studies.

Evaluating Global Navigation Satellite System (GNSS) Constellation Performance for Unmanned Aerial Vehicle (UAV) Navigation Precision

Accurate localization is paramount for unmanned aerial vehicles (UAVs) spanning various technical and industrial domains, necessitating a comprehensive assessment of global navigation satellite system (GNSS) precision. This study investigates the performance of distinct GNSS constellations in determining the precise location of a building utilizing a high-precision GNSS receiver. The receiver, incorporating advanced multi-frequency and full-constellation positioning capabilities, was integrated with a smartphone via Bluetooth to enable the UAV’s acquisition of centimeter-level positioning data. Sequential utilization of single satellite systems—such as GPS-only, GLONASS-only, Galileo-only, SBAS-only, and BeiDou-only—facilitated the documentation of latitude and longitude coordinates for the designated building. Subsequent comparison of these coordinates with a specialized Geographic Information System (GIS) was conducted to evaluate their positional accuracy. The comparative analysis underscores significant variability in the precision offered by each satellite constellation, providing valuable insights for optimizing UAV navigation across GIS, IoT, construction, and other sectors requiring high-precision localization. This research underscores the significance of high-precision GNSS receivers in enhancing UAV-based geospatial assessments, emphasizing the critical selection of appropriate satellite systems for tailored localization tasks. The study contributes to advancing UAV navigation strategies, ensuring robust and accurate geospatial data collection within diverse operational frameworks.

Leveraging ROTI map derived from Indonesian GNSS receiver network for advancing study of Equatorial Plasma Bubble in Southeast/East Asia

This paper highlights the crucial role of Indonesia’s GNSS receiver network in advancing Equatorial Plasma Bubble(EPB)studies in Southeast and East Asia,as ionospheric irregularities within EPB can disrupt GNSS signals and degrade positioning accuracy.Managed by the Indonesian Geospatial Information Agency(BIG),the Indonesia Continuously Operating Reference Station(Ina-CORS)network comprises over 300 GNSS receivers spanning equatorial to southern low-latitude regions.Ina-CORS is uniquely situated to monitor EPB generation,zonal drift,and dissipation across Southeast Asia.We provide a practical tool for EPB research,by sharing two-dimensional rate of Total Electron Content(TEC)change index(ROTI)derived from this network.We generate ROTI maps with a 10-minute resolution,and samples from May 2024 are publicly available for further scientific research.Two preliminary findings from the ROTI maps of Ina-CORS are noteworthy.First,the Ina-CORS ROTI maps reveal that the irregularities within a broader EPB structure persist longer,increasing the potential for these irregularities to migrate farther eastward.Second,we demonstrate that combined ROTI maps from Ina-CORS and GNSS receivers in East Asia and Australia can be used to monitor the development of ionospheric irregularities in Southeast and East Asia.We have demonstrated the combined ROTI maps to capture the development of ionospheric irregularities in the Southeast/East Asian sector during the G5 Geomagnetic Storm on May 11,2024.We observed simultaneous ionospheric irregularities in Japan and Australia,respectively propagating northwestward and southwestward,before midnight,whereas Southeast Asia’s equatorial and low-latitude regions exhibited irregularities post-midnight.By sharing ROTI maps from Indonesia and integrating them with regional GNSS networks,researchers can conduct comprehensive EPB studies,enhancing the understanding of EPB behavior across Southeast and East Asia and contributing significantly to ionospheric research.

Solar flare forecasting based on a Fusion Model

Solar flare prediction is an important subject in the field of space weather.Deep learning technology has greatly promoted the development of this subject.In this study,we propose a novel solar flare forecasting model integrating Deep Residual Network(ResNet)and Support Vector Machine(SVM)for both≥C-class(C,M,and X classes)and≥M-class(M and X classes)flares.We collected samples of magnetograms from May 1,2010 to September 13,2018 from Space-weather Helioseismic and Magnetic Imager(HMI)Active Region Patches and then used a cross-validation method to obtain seven independent data sets.We then utilized five metrics to evaluate our fusion model,based on intermediate-output extracted by ResNet and SVM using the Gaussian kernel function.Our results show that the primary metric true skill statistics(TSS)achieves a value of 0.708±0.027 for≥C-class prediction,and of 0.758±0.042 for≥M-class prediction;these values indicate that our approach performs significantly better than those of previous studies.The metrics of our fusion model’s performance on the seven datasets indicate that the model is quite stable and robust,suggesting that fusion models that integrate an excellent baseline network with SVM can achieve improved performance in solar flare prediction.Besides,we also discuss the performance impact of architectural innovation in our fusion model.

GNSS与SINS融合下的露天煤矿无人驾驶矿用卡车视觉惯性导航方法

无人驾驶矿用卡车在露天煤矿内工作时,依靠单一的捷联惯性导航系统(SINS)实现车辆惯性导航,长期推算导航过程中会发生信息累积,导致导航轨迹绝对位置误差较大。因此提出全球导航卫星系统(GNSS)与SINS融合的露天煤矿无人驾驶矿用卡车视觉惯性导航方法。获取露天煤矿场景动态视觉图像,依托于同时定位与地图构建(SLAM)算法建立车辆行驶动态环境地图,并运用基于3D距离误差的判断方法,筛选出动态特征点,标注出地图内动态区域,以此来定位无人驾驶矿用卡车实时位置。将GNSS和SINS融合起来,构建一种组合型视觉惯性导航模型,并引入卡尔曼滤波方程优化模型参数。最后,在循环神经网络的辅助下修正导航结果,生成高精度无人驾驶矿用卡车导航结果。实验结果表明,该方法形成的导航轨迹绝对位置误差不超过3 m,证明了其优越的导航性能。

基于Clickteam Fusion的HDB3/AMI编译码实验教学软件设计

论文阐述了一种利用Clickteam Fusion引擎进行HDB3/AMI编译码实验仿真的编程方法。利用计算机技术开发的该仿真实验富有一定的真实感,可直接在计算机上模拟操作。通过学生自主操作,使其掌握光纤实验基本原理,记忆并理解相关操作知识,有效提高实验学习效率。

3D tomographic analysis of equatorial plasma bubble using GNSS-TEC data from Indonesian GNSS Network

Equatorial Plasma Bubbles(EPBs)are ionospheric irregularities that take place near the magnetic equator.EPBs most commonly occur after sunset during the equinox months,although they can also be observed during other seasons.The phenomenon significantly disrupts radio wave signals essential to communication and navigation systems.The national network of Global Navigation Satellite System(GNSS)receivers in Indonesia(>30°longitudinal range)provides an opportunity for detailed EPB studies.To explore this,we conducted preliminary 3D tomography of total electron content(TEC)data captured by GNSS receivers following a geomagnetic storm on December 3,2023,when at least four EPB clusters occurred in the Southeast Asian sector.TEC and extracted TEC depletion with a 120-minute running average were then used as inputs for a 3D tomography program.Their 2D spatial distribution consistently captured the four EPB clusters over time.These tomography results were validated through a classical checkerboard test and comparisons with other ionospheric data sources,such as the Global Ionospheric Map(GIM)and International Reference Ionosphere(IRI)profile.Validation of the results demonstrates the capability of the Indonesian GNSS network to measure peak ionospheric density.These findings highlight the potential for future three-dimensional research of plasma bubbles in low-latitude regions using existing GNSS networks,with extensive longitudinal coverage.

Lipomatous ependymoma with ZFTA:RELA fusion-positive:A case report

BACKGROUND Ependymoma with lipomatous differentiation is a rare type of ependymoma.The ZFTA fusion-positive supratentorial ependymoma is a novel tumor type in the 2021 World Health Organization classification of central nervous system tumors.ZFTA fusion-positive lipomatous ependymoma has not been reported to date.CASE SUMMARY We reported a case of a 15-year-old Chinese male who had a sudden convulsion lasting approximately six minutes.Magnetic resonance imaging showed a round cystic shadow of approximately 1.9 cm×1.5 cm×1.9 cm under the right parieto-occipital cortex.Microscopic examination showed characteristic perivascular pseudorosettes and adipose differentiation in the cytoplasm.Immunohisto-chemical staining showed that the tumor cells were negative for cytokeratin,NeuN,Syn and p53,but positive for GFAP,vimentin and S-100 protein.Signi-ficant punctate intracytoplasmic EMA immunoreactivity was observed.The level of Ki-67 was about 5%.Genetic analysis revealed ZFTA:RELA fusion.A cranio-tomy with total excision of the tumor was performed.The follow-up time was 36 months,no evidence of disease recurrence was found in magnetic resonance imaging.CONCLUSION Based on these findings,the patient was diagnosed as a ependymoma with ZFTA fusion and lipomatous differentiation.This case report provides information on the microscopic morphological features of ependymoma with ZFTA fusion and lipomatous differentiation,which can help pathologists to make a definitive diagnosis of this tumor.

GNSS组合导航定位与导航监测性能分析

为了提升GNSS组合导航定位精度与导航监测性能,本文通过介绍GNSS多源融合导航的空间坐标与姿态转换方法,深入探讨了机载导航中GNSS/INS组合定位技术的应用。同时,针对复杂环境下的定位误差问题,提出了融合导航定位的抗差算法。进一步地分析了无人机禁飞区管控现状,并重点研究了导航监测技术,包括导航定位偏差的检验方法。研究结果表明,GNSS多源融合与抗差算法的结合显著提高了导航定位的准确性和可靠性,为无人机等载体的安全、高效运行提供了有力保障。

Pan-TRK positive uterine sarcoma in immunohistochemistry without neurotrophic tyrosine receptor kinase gene fusions:A case report

BACKGROUND The classification of uterine sarcomas is based on distinctive morphological and immunophenotypic characteristics,increasingly supported by molecular genetic diagnostics.Data on neurotrophic tyrosine receptor kinase(NTRK)gene fusionpositive uterine sarcoma,potentially aggressive and morphologically similar to fibrosarcoma,are limited due to its recent recognition.Pan-TRK immunohistochemistry(IHC)analysis serves as an effective screening tool with high sensitivity and specificity for NTRK-fusion malignancies.CASE SUMMARY We report a case of a malignant mesenchymal tumor originating from the uterine cervix,which was pan-TRK IHC-positive but lacked NTRK gene fusions,accompanied by a brief literature review.A 55-year-old woman presented to the emergency department with abdominal pain and distension,exhibiting significant ascites and multiple solid pelvic masses.Pelvic examination revealed a tumor encompassing the uterine cervix,extending to the vagina and uterine corpus.A punch biopsy of the cervix indicated NTRK sarcoma with positive immunochemical pan-TRK stain.However,subsequent next generation sequencing revealed no NTRK gene fusion,leading to a diagnosis of poorly differentiated,advanced-stage sarcoma.CONCLUSION The clinical significance of NTRK gene fusion lies in potential treatment with TRK inhibitors for positive sarcomas.Identifying such rare tumors is crucial due to the potential applicability of tropomyosin receptor kinase inhibitor treatment.

Polyethylene glycol fusion repair of severed sciatic nerves accelerates recovery of nociceptive sensory perceptions in male and female rats of different strains

Successful polyethylene glycol fusion(PEG-fusion)of severed axons following peripheral nerve injuries for PEG-fused axons has been reported to:(1)rapidly restore electrophysiological continuity;(2)prevent distal Wallerian Degeneration and maintain their myelin sheaths;(3)promote primarily motor,voluntary behavioral recoveries as assessed by the Sciatic Functional Index;and,(4)rapidly produce correct and incorrect connections in many possible combinations that produce rapid and extensive recovery of functional peripheral nervous system/central nervous system connections and reflex(e.g.,toe twitch)or voluntary behaviors.The preceding companion paper describes sensory terminal field reo rganization following PEG-fusion repair of sciatic nerve transections or ablations;howeve r,sensory behavioral recovery has not been explicitly explored following PEG-fusion repair.In the current study,we confirmed the success of PEG-fusion surgeries according to criteria(1-3)above and more extensively investigated whether PEG-fusion enhanced mechanical nociceptive recovery following sciatic transection in male and female outbred Sprague-Dawley and inbred Lewis rats.Mechanical nociceptive responses were assessed by measuring withdrawal thresholds using von Frey filaments on the dorsal and midplantar regions of the hindpaws.Dorsal von Frey filament tests were a more reliable method than plantar von Frey filament tests to assess mechanical nociceptive sensitivity following sciatic nerve transections.Baseline withdrawal thresholds of the sciatic-mediated lateral dorsal region differed significantly across strain but not sex.Withdrawal thresholds did not change significantly from baseline in chronic Unoperated and Sham-operated rats.Following sciatic transection,all rats exhibited severe hyposensitivity to stimuli at the lateral dorsal region of the hindpaw ipsilateral to the injury.However,PEG-fused rats exhibited significantly earlier return to baseline withdrawal thresholds than Negative Control rats.Furthermore,PEG-fused rats with significantly improved Sciatic Functional Index scores at or after 4 weeks postoperatively exhibited yet-earlier von Frey filament recove ry compared with those without Sciatic Functional Index recovery,suggesting a correlation between successful PEG-fusion and both motor-dominant and sensory-dominant behavioral recoveries.This correlation was independent of the sex or strain of the rat.Furthermore,our data showed that the acceleration of von Frey filament sensory recovery to baseline was solely due to the PEG-fused sciatic nerve and not saphenous nerve collateral outgrowths.No chronic hypersensitivity developed in any rat up to 12 weeks.All these data suggest that PEG-fusion repair of transection peripheral nerve injuries co uld have important clinical benefits.