车载GPS／DR／地图匹配组合导航系统的自适应联合卡尔曼滤波模型

首次设计了实现车载ＧＰＳ／ＤＲ／地图匹配组合导航系统最优综合的联合卡尔曼滤波器,给出了滤波算法,并提出一种自适应联合卡尔曼滤波器结构及其算法。理论分析及计算机仿真结果均表明,应用该自适应联合卡尔曼滤波器可大大提高车载ＧＰＳ／ＤＲ／地图匹配组合导航系统的定位精度及容错能力。     

用于交会对接的载波相位GPS相对导航系统

精确确定两个交会对接（ＲＶＤ）的航天器之间的相对位置和相对速度是十分重要的，全球定位系统（ＧＰＳ）相对导航系统是一种适用于交会对接任务的导航系统，因为几乎在ＲＶＤ的每个阶段都能用ＧＰＳ实现连续的精确导航，本文提出了一种利用差分载波相位测量的增强型ＧＰＳ相对导航系统，这个系统的载波相位模糊解通过模糊估计滤波器在几分钟的即可解性，因此可以利用厘米级精度的相位测量技术把系统的相对定位粗度提高到优于１．０     

强劲的i845D,让P4狂飙—磐英EP—4BDA2＋主板实测手记

一年前，我们在开始享受由Ｐ４带来的快感的同时通常都会加上一句：Ｐ４，你需要ＲＡＭＢＵＳ吗？事实上，我们知道用ＲＡＭＢＵＳ来配合Ｐ４会获得近乎完美的性能，但由于组合的高价使得众多玩家只能远远的观望，这也很大程度的阻碍了Ｐ４占领市场的脚步。其实，如果用ＤＤＲ内存来搭配Ｐ４平台，那么花费就会减少很多，更容易让消费者接受。事实上ＤＤＲ内存搭配Ｐ４平台在内存带宽上不会比Ｐ４与ＲＡＭＢＵＳ的组合差太远，并由于ＤＤＲ内存在延时上面比ＲＡＭＢＵＳ更快，所以会有所弥补。既然如此，那么Ｉｎｔｅｌ为什么迟迟不发布支持…     

汽车GPS／SINS导航系统中的联合卡尔曼滤波算法

本文简要介绍了汽车ＧＰＳ（全球定位系统）／ＳＩＮＳ（捷联惯性导航系统）组合导航系统的设计,根据联合卡尔曼滤波算法的原理,分析了联合卡尔曼滤波在ＧＰＳ／ＳＩＮＳ组合导航系统的应用,并提出了自适应联合滤波的方法。     

DGPSL：A DISTRIBUTED GRAPHICS LIBRARY

ＤＧＰＳＬ：ＡＤＩＳＴＲＩＢＵＴＥＤＧＲＡＰＨＩＣＳＬＩＢＲＡＲＹＳｈｉＪｉａｏｙｉｎｇ；ＰａｎＺｈｉｇｅｎｇ；ＺｈｅｎｇＷｅｎｔｉｎｇＤＧＰＳＬ：ＡＤＩＳＴＲＩＢＵＴＥＤＧＲＡＰＨＩＣＳＬＩＢＲＡＲＹ￥ＳｈｉＪｉａｏｙｉｎｇ；ＰａｎＺｈｉｇｅｎｇ；...     

北京公交GPS车辆监控系统研究

介绍北京市公共交通总公司智能化调度指挥系统中的ＧＰＳ车辆监控系统的组成及其所采用的一些关键技术：ＤＧＰＳ、组合定位、集群通信、电子地图等，描述了系统中采用的具体工作方式： ＴＤ－ＭＡ、专用信道、广播同步等，阐述了硬件设计及实现中的ＦＰＧＡ技术。最后说明了系统的应用环境。     

GPS近期发展动态

ＧＰＳ近期发展动态ＳｃｏｔＲ．Ｇｏｕｒｌｅｙ徐继泽朱晓元译最近，ＮＡＶＳＰＥＣＷＡＲＣＯＭ（美国海军特种作战司令部）所属机构将对微型水下ＧＰＳ接收机ＭＵＧＲ进行野外试验，这仅是ＧＰＳ众多技术升级工作之一。为介绍该工作的广泛领域及ＧＰＳ对军民两用技术...     

一种基于DSP技术的C/A码高动态GPS接收机设计

讨论了高动态环境给接收ＧＰＳ信号所带来的问题，分析了设计高动态ＧＰＳ接收机的思路，介绍了一种基于ＤＳＰ技术、全数字、１２通道的高动态ＧＰＳ接收机设计方案。     

赋值层化占先模型

Ｂｅｚｚａｚｉ,Ｍａｋｉｎｓｏｎ及Ｐｉｎｏ最近系统地研究了一些非Ｈｏｒｎ型推理规则（它们强于ＲＭ规则或者与ＲＭ规则不可比）,给出了Ｐ＋ＲＭ＋ＷＤ与Ｐ＋ＲＭ＋ＲＣ非单调后承的表示定理,并将另两个非单调后承Ｐ＋ＷＤ及Ｐ＋ＲＣ的表示定理作为开问题提出来,文中提出两个新的占先模型类－赋值层化占先模型与ＰＲＣ模型,在有限语言情形下,利用这两个模糊类分别建立了Ｐ＋ＷＤ及Ｐ＋ＲＣ后承的表示定理,并用Ｐ＋ＷＤ的表     

INS/GPS组合导航系统卡尔曼滤波的并行实现*

本文采用并行处理技术对ＩＮＳ／ＧＰＳ组合导航系统中卡尔曼滤波的实时性问题进行了研究。     

Piecemeal Learning of an Unknown Environment

We introduce a new learning problem: learning a graph bypiecemeal search, in which the learner must return every so often to its starting point (for refueling, say). We present two linear-time piecemeal-search algorithms for learningcity-block graphs: grid graphs with rectangular obstacles.     

Videotext technology: an overview with special reference to transaction processing as an interactive service or Everything you never wanted to know about text on TV and were terrified that someone would tell you

Abstract

This paper presents a comprehensive overview of videotext technology with specific reference to transaction processing. Transaction processing is taken to include: banking, shopping, ticket booking and the downline loading of software. The overview characterizes the interactive transaction services offered by videotext systems. First, the hardware aspects of delivery of the information are considered including broadcast delivery and telephone and cable network delivery. Second, the software aspects of the construction of the information are discussed, including character and graphics (picture) generation. Last, the interactive services offered on videotext systems are reviewed, including transaction modes, dialogue types, task elements and user classification. Conclusions are drawn with respect to the suitability of videotext systems for different modes of transaction processing.     

改进粒子群算法的潜器导航规划

针对粒子群算法的寻优搜索能力强和已有的一些导航算法存在收敛速度慢、迭代时间长的缺点,提出一种基于粒子群算法的潜器导航算法.利用群智能理论,对基本粒子群算法进行改进:提出一个含突变因子的可变调的惯性权值策略,从而达到增强粒子群算法局部和全局寻优的调度能力.通过实验仿真验证,证明了改进粒子群算法具有更优的性能.在此基础上,将该算法应用到水下潜器的路径规划中,通过对环境的建模分析进行条件约束,最终将路径规划问题转化为路径点求解的优化问题.实验仿真结果获得了从起点到终点的无碰撞路径,收敛速度也较快,验证了该方法的有效性和可行性.     

Relating Torque and Slip in an Odometric Model for an Autonomous Agricultural Vehicle

This paper describes a method of considering the slip that is experienced by the wheels of an agricultural autonomous guided vehicle such that the accuracy of dead-reckoning navigation may be improved. Traction models for off-road locomotion are reviewed. Using experimental data from an agricultural AGV, a simplified form suitable for vehicle navigation is derived. This simplified model relates measurements of the torques applied to the wheels with wheel slip, and is used as the basis of an observation model for odometric sensor data in the vehicle's extended Kalman filter (EKF) navigation system. The slip model parameters are included as states in the vehicle EKF so that the vehicle may adapt to changing surface properties. Results using real field data and a simulation of the vehicle EKF show that positional accuracy can be increased by a slip-aware odometric model, and that when used as part of a multi-sensor navigation system, the consistency of the EKF state estimator is improved.     

一种结构模式可变的组合导航算法研究

根据毫米波/红外双导引头数据融合装置在工程应用中对性能指标的特殊要求,提出了一种新的组合导航算法。该算法根据各传感器的工作状态,自适应改变跟踪算法的结构模式,从而有效缩短目标截获时间、增长截获距离、提高跟踪精度。通过计算机仿真,验证了该算法的可行性。该算法也可以推广到其他异类传感器构成的组合导航系统中去。     

电磁诱导农用喷雾机器人路径导航系统的设计与实现

针对温室内农药喷洒作业自动化的需求，设计了一种电磁诱导式农用喷雾机器人路径导航系统．采用数字波形合成技术设计实现了基于ARM7单片机的信号发生器系统．研制了机器人位置检测传感器和以霍尔芯片为核心的磁标志检测传感器．利用信号发生器和传感器成功实现了喷雾机器人的导航控制．     

Neural Networks for Autonomous Path-Following with an Omnidirectional Image Sensor

This paper presents a path-following system implemented with two different types of neural networks, that enables an autonomous mobile robot to return along a previously learned path in a dynamic environment. The path-following is based on data provided by an omnidirectional conical visual system, derived from the COPIS sensor, but with different optical reflective properties. The system uses optical and software processing and a neural network to learn the path, described as a sequence of selected points. In the navigation phase it drives the robot along this learned path. Interesting results have been achieved using low cost equipment. Test and results are presented.     

一处室内轮式自主移动机器人的导航控制研究

介绍了一种室内移动机器人CASIA-I.对该机器人的运动机构做了较为详细地阐述, 针对该运动机构给出了机器人的运动方程和一种导航控制算法,并根据该算法进行了软件仿真 和实物实验.在软件仿真和实物实验两种环境下,机器人都能够实时避开障碍物奔向目标.仿真 和实验表明:该移动平台具有良好的可靠性,且该导航控制算法是一种有效的导航算法.     

A multimode navigation system for an assistive robotics project

Assistive technology is an emerging area, where robotic devices can help individuals with motor disabilities to achieve independence in daily activities. This paper deals with a system that provides remote control of Sony AIBO, a commercial mobile robot, within the assistive project ASPICE. The robot can be controlled by various input devices, including a Brain-Computer Interface. AIBO has been chosen for its friendly-looking aspect, in order to ease interaction with the patients. The development of the project is described by focusing on the design of the robot navigation system. Single step, semi-autonomous and autonomous navigation modes have been realized to provide different levels of control. Automatic collision avoidance is integrated in all cases. Other features of the system, such as the video feedback from the robotic platform to the user, and the use of AIBO as communication aid, are briefly described. The performance of the navigation system is shown by simulations as well as experiments. The system has been clinically validated, in order to obtain a definitive assessment through patient feedback.

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability.