Sensory navigation guide for visually impaired sea kayakers

At present, a visually impaired kayaker needs the assistance of a kayaker coach in charge of guiding him/her by using loud vocal instructions or a sound device during the sea ride. However, neither the coach nor the visually impaired kayaker feel at ease with such a guiding due to the amount of noise generated by the frequent vocal interactions. This paper describes a novel concept of sensory navigation guide meant to help kayakers with visual disabilities to practice sea kayaking in an autonomous way. The innovation here consists in providing kayakers with wristbands that automatically vibrate left or right, depending on the predefined trajectory to be followed. The main contributions of this work include an original navigation algorithm based on GPS feedback to track a corridor‐shaped path on the sea and the definition of specific metrics to analyze the performance of the kayakers along the ride. Experiments carried out on a population of 10 visually impaired kayakers and 10 sighted kayakers showed convincing results. A satisfaction survey confirmed that all participants acknowledged the added value of the system in terms of increased autonomy. Most of the visually impaired participants also enjoyed a greater sports entertainment experience thanks to this guiding system, which can be extended to other kinds of water sports.     

A genetic algorithm for PDA optimal path generation using GPS

Many web-sites provide a variety of electronic mapping services. Currently, many studies are underway to develop vehicle navigation software for PDA maps using GPS data. Popular among these services is one that computes the optimal route between two locations input by a user. This service of computing the optimal route plays an important role in vehicular navigation and distribution and delivery industries. The calculation and manipulation of the optimal route for navigation and vehicular delivery system improve the efficiency of vehicle use and delivery times, thereby reducing costs. The purpose of this study is to compute the optimal route by considering the direction of distribution vehicles and the delivery location and develop a genetic based algorithm that quickly generates the shortest route for delivery. The algorithm also generates the optimal route for itineraries having several destinations.     

基于ARM9的GPS导航系统设计

以ARM9为嵌入式开发环境,移植Linux操作系统搭建软件平台,全面论述采用S3C2440和GPS模块相结合设计GPS导航终端的方法。其中关键技术包括:RMC语句的提取、GPS数据的采集、Qt编程及电子地图与GPS数据的匹配算法,以此实现GPS导航地图的显示及移动,达到系统实时定位的目的。     

基于GPS轨迹的盲用导航算法与实现

利用在Windows CE嵌入式平台下接收到的全球定位系统(GPS)轨迹数据,提出了一种适用于盲人以及视障人士的室外GPS导航算法。通过对已知GPS轨迹数据的分析,判断出轨迹上的拐点位置以及拐弯方向,在实际导航时采用通过语音播报的方式向盲人提供实时导航信息。实验测试结果表明,该算法能够有效筛选出GPS轨迹中的拐点,并为用户播报有效实用的导航信息,指导其安全准确地到达目的地。     

Guide robot intelligent navigation in urban environments

This paper presents an intelligent robotic system to guide visually impaired people in urban environments. The robot is equipped with two laser range finders, global positioning system (GPS), camera, and compass sensors. All the sensors data are processed by a single laptop computer. We have implemented different navigation algorithms enabling the robot to move autonomously in different urban environments. In pedestrian walkways, we utilize the distance to the edge (left, right, or both) to determine the robot steering command. In difference from pedestrian walkways, in open squares where there is no edge information, artificial neural networks map the GPS and compass sensor data to robot steering command guiding the visually impaired to the goal location. The neural controller is designed such as to be employed even in environments different from those in which they have been evolved. Another important advantage is that a single neural network controls the robot to reach multiple goal locations inside the open square. The proposed algorithms are verified experimentally in a navigation task inside the University of Toyama Campus, where the robot moves from the initial to goal location.     

基于GIS路网的公交路线轨迹算法

为解决公交路线轨迹偏移路网以及在GIS路网信息缺失尤其是乡村道路情况下的公交轨迹描绘.论文首先通过深入分析公交车辆GPS数据,分别聚类出线路上下行轨迹点;其次,轨迹点清洗并排序;再次,结合GIS路网基础信息进行地图匹配;最后,根据改进的Dijkstra算法解决路网拓扑结构缺失情况下制作出公交路线轨迹.将该算法实施在A市35条公交线路上,线路匹配成功率为85%,未匹配成功线路由于样本缺失或者路网基础信息错误导致,可见该算法具有较好的准确率和实用性.     

一种基于最小二乘法的船舶碰撞计算方法

针对海上船舶碰撞时的航行路径特征,提出一种基于最小二乘法的船舶碰撞点计算方法,根据船舶碰撞前的历史全球定位系统航行数据,利用墨卡托投影变换,在墨卡托直角坐标系中拟合出船舶航行路径函数,结合船舶航速、危险距离阈值,判断两船的航行拟合函数的交点是否为可能碰撞点。仿真实验分析比较和实际应用结果表明,该方法的计算误差小于传统方法。     

Navigation by pointing to GPS locations

This article deals with a method for interacting with a handheld navigation application, based on using the mobile device for pointing. When the user points the device in any direction, feedback will be provided based on if the user is aiming at the next point in the track or beside it. The presented study has been performed in order to get a better understanding of how the basic parameters in this type of interaction—like the angle for pointing and the size of the target—influence the navigation performance. We have applied a dual investigation by running a computer simulation varying additional parameters such as GPS accuracy and user behavior, and also running an in-context study with 15 participants in a realistic outdoor setting with real location-based GPS data. The study has resulted in general recommendations for angle intervals and the radius of the circles surrounding the track points.     

Mixture reality-based assistive system for visually impaired people

Individuals with visual impairments often face challenges in their daily lives, particularly in terms of independent mobility. To address this issue, we present a mixed reality-based assistive system for visually impaired individuals, which comprises a Microsoft Hololens2 device and a website and utilizes a simultaneous localization and mapping (SLAM) algorithm to capture various large indoor scenes in real-time. This system incorporates remote multi-person assistance technology and navigation technology to aid visually impaired individuals. To evaluate the effectiveness of our system, we conducted an experiment in which several participants completed a large indoor scene maintenance task. Our experimental results demonstrate that the system is robust and can be utilized in a wide range of indoor environments. Additionally, the system enhances environmental perception and enables visually impaired individuals to navigate independently, thus facilitating successful task completion.     

Visual saliency assistance mechanism based on visually impaired navigation systems

Visually impaired people face significant challenges in their work, studies, and daily lives. Nowadays, numerous visually impaired navigation devices are available to help visually impaired people solve daily life problems. These devices typically include modules for target recognition, distance measurement, and text reading aloud. They are designed to help visually impaired people avoid obstacles and understand the presence of things around them through text reading aloud. Due to the need to avoid all potential obstacles, the target recognition algorithms embedded in these devices must recognize a wide range of targets. However, the text reading aloud module cannot read all of them. Therefore, we designed a visual saliency assistance mechanism that simulates the regions that humans may pay the most attention to in the whole picture. The output of the visual saliency assistance mechanism is overlaid with the target recognition result, which can greatly reduce the target number of text reading aloud. This way, the visually impaired navigation device can not only help to avoid obstacles but also help visually impaired people understand the interest targets of most people in the whole picture. The visual saliency assistance mechanism we designed consists of three components: a spatio-temporal feature extraction (STFE) module, a spatio-temporal feature fusion (STFF) module, and a multi-scale feature fusion (MSFF) module. The STFF module fuses long-term spatio-temporal features and improves the temporal memory between frames. The MSFF module fully integrates information at different scales to improve the accuracy of saliency prediction. Therefore, this proposed visual saliency model can assist in the efficient operation of visually impaired navigation systems. The area under roc curve judd (AUC-J) metric of the proposed model was 93.9%, 93.8%, and 91.5% on three widely used saliency datasets: Holly-wood2, UCF Sports, and DHF1K, respectively. The results show that our proposed model outperforms the current state-of-the-art models.     

基于Google API的导航地图软件设计与实现

在J2ME平台下,利用J2ME的JSR179定位开发包作为开发定位程序的API,用Google API获取地图,以即时获取路线规划中所有拐点的信息,设计出GPS电子地图。该电子地图具有实时定位、兴趣点添加、删除、查询、锁定、路线规划以及离线地图定位等功能。实践证明该软件能在中低端手机中流畅运行,是一款通用的电子导航地图软件。     

Design of a GPS data logger device with street-level map interface

The Global Positioning System (GPS) has now become a widely used aid to navigation and it is commonly used in many navigational applications such as land surveying, shipping, piloting, route guidance, map making, study of earthquakes, precise time reference, and hobbies and games such as geocaching. One of the problems with the early GPS system was its low accuracy which prevented it to be used in applications requiring high accuracy, such as piloting and street-level route guidance. With the recent introduction of the sophisticated error correction techniques such as the WAAS/EGNOS, the horizontal accuracy of a GPS system is nowadays around 10 m. This study describes the design of a microcontroller based GPS data logger device with Secure Data (SD) card storage and Google Map mapping interface. The device collects the user co-ordinates in a file on an SD card, and then the Google Map software is used to draw the track of the user on a street-level map.     

Tightly coupled algorithm based on nonlinear filtering in the state space with digital map navigation

This paper describes tightly coupled algorithms of measurements by coarse microelectromechanical sensors with data generated by GPS/GLONASS mobile onboard satellite navigation receivers. The synthesized algorithm ensures a highly accurate and high-frequency recording of linear and angular car parameters when the visible satellite constellation degrades and the accuracy of satellite-aided measurements decreases. The terrestrial vehicle is supposed only to travel along the highway with coordinates recorded in digital navigation maps.     

浅谈高灵敏度GPS室内定位技术

室内环境GPS定位与导航技术的研究实质上是低信噪比环境下信号的处理问题,文章对室内环境下导航与定位的关键技术：微弱GPS信号捕获、微弱GPS信号码跟踪、室内环境下位置解算以及辅助GPS定位等进行了详细的介绍,对一些主要的GPS信号捕获算法进行了计算机仿真,对部分关键技术提出了改进方法,并在最后给出了高灵敏度软件接收机的整体设计方案。     

扩展卡尔曼滤波在组合导航中的应用

松组合导航中,采用组合导航系统(SINS)误差作为状态量,用SINS解算的位置和速度与全球定位系统(GPS)测量的位置速度之差作为量测信息.为了提高组合导航的精度在松组合导航中应用扩展卡尔曼(EKF)滤波算法,通过仿真对载体轨迹的速度、姿态、位置进行跟踪.仿真结果表明:在仿真进入8 min之后系统进入稳态,能准确跟踪载体.因此,采用基于EKF的非线性滤波能有效跟踪载体的位置、速度和姿态.     

基于离散航迹点的舰船航行轨迹仿真估计

最近,航海技术发展迅速,在贸易、军事、科研等众多领域起到越来越重要的作用. 人们对于舰船航行的规划、仿真、监控与跟踪等方面的研究更细致、更全面. 本文主要研究基于舰船航行中跟踪到的稀疏航迹点的航线估计问题,用于态势图的仿真显示. 为了估计出通过所有航迹点、合理、平滑的航线,我们提出了由粗到细的航线估计算法,该算法主要包含三个层级. 提出的算法使用数据量较小的经验航海线路图和全球海陆分布图,这两种图的数据获取容易,并且可实现较快速的航线估计. 大量实验证明,提出的由粗到细的层级算法能较好的完成航线的估计. 同时,提出的算法也可以用于舰船航行前的航线规划. 算法仍然存在一些问题和不足,例如没有考虑海洋水深等问题,这将是我们下一步的研究内容.     

一种基于自适应遗传算法的航迹重规划

航迹重规划技术是保证无人飞行器航行安全的关键技术之一。本文针对遗传算法航迹重规划容易陷入局部最优解的问题展开研究。采用自适应交叉变异概率的遗传算法规划局部航迹,避免了航迹早熟,防止航迹陷入局部最优解。通过仿真实验表明,自适应遗传算法能在模拟环境中规划出满足约束条件的近似最优航迹,提升了遗传算法解决航迹重规划的效能。     

基于百度地图的小区域导航实现方案研究

百度地图客户端的导航功能在大范围导航方面技术比较成熟,但是在具体到特定社区或单位存在导航路线不准确、路线不存在等诸多问题。文中结合基于百度地图应用程序接口的校园导航平台开发实践,主要采用JSP和AJAX技术,对基于百度地图应用程序接口平台的地图展示与人机交互技术进行了系统探讨,实现了校内路线导航及图数编辑等功能。对利用百度地图应用程序接口进行自定义导航提供一些思路,同时也对利用百度地图进行特定区域内地理信息展示应用开发具有一定的借鉴意义。     

GPS与数字地图的匹配研究

GPS测量得到的是WGS-84中的地心大地坐标,而在车辆导航等方面通常使用平面地图坐标。如何实现其中的转换,一直是GPS和GIS集成中所关心的问题。该文介绍了GPS定位原理、我国常用的大地坐标系、高斯投影、从GPS定位结果至平面坐标的转换模型等。同时提出了实现GPS数据与数字地图的匹配,并实时显示车辆行驶轨迹的方法。