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.

Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

Abstract： The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator＇s cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

Research on Car Reversing Warning System based on CAN Bus

The paper study the software and hardware principles of ultrasonic ranging reversing radar, design the vehicle reversing radar based on intelligent node of CAN bus, realize data communication and resource sharing with other intelligent nodes of the reversing radar. The experimental results show that, the design can achieve the expected technical indicators design, measurement precision and the reliability is high, which has certain guiding significance in the design of the car reversing radar, has wide application prospect and practical significance in the function of the extended CAN bus communication messages design and automotive CAN network.

Effect of diffraction on the ultrasonic velocity measuredby the pulse interference method in VHF range

The effect of diffraction on the ultrasonic velocity measured by the pulse interference method has been investigated in VHF range theoretically and experimentally. Two silicate glasses are taken as the specimens, their frequency dependences of longitudinal velocities are measured in the frequency range of 50-350 MHz, and the phase advances of ultrasonic signals caused by diffraction effect are calculated using A. O. Williams' theoretical expression. For the velocity error due to diffraction effect, the experimental results are in good agreement with the theoretical prediction. It has been shown that the velocity error due to diffraction effect is directly proportional to dθ21 (f)/df, whereθ21 (f) is the phase advances difference between the two partial reflection signals used in velocity measurement and f is the ultrasonic frequency.