基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

采煤机惯性导航定位动态零速修正技术

基于捷联惯性导航与轴编码器组合的采煤机惯性导航定位是综采工作面可行的采煤机定位技术。惯性导航提供姿态角参数，轴编码器提供速度参数，采煤机惯性导航定位利用航位推算算法解算出东北天坐标系下的位置坐标。为了进一步提高定位精度，在消除确定性偏差的基础上，根据惯性导航姿态误差方程，以东、北、天3个方向的平台失准角为状态量构建状态方程，根据动态零速修正技术的非完整约束条件，以采煤机坐标系横向和垂直方向速度值为观测量构建量测方程，建立卡尔曼滤波模型，并进行移动平台模拟采煤机运行试验验证。在试验条件下，第3刀导航东、北方向最大误差分别由0.639 7，0.856 7 m减小为0.456 4，0.594 2 m。第4刀导航东、北方向最大误差分别由0.644 4，0.910 6 m减小为0.466 5，0.603 0 m。东、北方向定位精度提升了30%。     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

基于船载卫星通信三轴天线的跟踪搜索技术

针对船载卫星通信三轴天线跟踪系统,介绍了船载三轴天线的系统组成,提出了一种基于捷联惯导的船载三轴天线跟踪搜索技术。天线以目标地理角为中心,通过坐标转换将目标地理角转换为天线的目标甲板角,调整AEC三轴使其及时准确地跟随目标甲板角。目前,该方法已经成功应用于多种船载三轴天线。实践表明,该方法能够快速准确地搜索到目标卫星,并实现对目标卫星的稳定跟踪。     

Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision

In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded as a Markov decision process and the cost function of the time-dependent A* is learned using the inverse reinforcement learning via capturing humans' demonstration trajectories. With this method, a robot can plan a path that complies with humans' behaviour patterns and the robot's kinematics. When constructing feature vectors of the cost function, considering the local vision characteristics, we propose a visual coverage feature for enabling robots to learn from how humans move in a limited visual field. The effectiveness of the proposed method has been validated by experiments in real-world scenarios: using this approach robots can effectively mimic human motion patterns when avoiding pedestrians; furthermore, in a limited visual field, robots can learn to choose a path that enables them to have the larger visual coverage which shows a better navigation performance.     

Modeling and analysis for multilayered complex communication network of satellite navigation system

This study is extended to construct the network model, the node model, and the link model of complex communication network for satellite navigation system (CCN‐SNS) based on the hierarchical architecture. Firstly, a method called snapshots was proposed to describe the dynamic topology for CCN‐SNS; secondly, another method was put forward to model the different nodes of the CCN‐SNS; thirdly, the different links between every two different nodes were modeled. Therefore, based on the OPNET tools, a simulation for the CCN‐SNS, which contains the models that proposed earlier used to analyze the navigation accuracy and network transmission performance, was performed.     

车载移动测量系统定位准确度测试方法研究

阐述了移动测量系统的定位准确度需求,对圆概率法、均方差法和中误差法三种位置准确度评估方法进行分析比较,并在标准试验场内开展了车载GNSS/INS定位准确度测试。实验证明:中误差法的评估结果最准确,其误差小于1 m,明显优于圆概率法和均方差法。     

混合式惯导系统自标定技术研究

混合式惯导系统是一种集平台式、捷联式、旋转式惯导系统优点于一体的新型惯导系统。该型惯导可利用自身的旋转机构和高精度、高分辨率角度传感器实现不拆机条件下的误差参数自标定功能,极大简化了标校流程和系统维护工作量,有利于武器平台和作战系统效能的发挥。针对混合式惯导系统的结构特点和典型的旋转方式进行了误差分析,给出了误差参数自标定的设计原则和方法,并用混合式惯导原理样机进行了验证,结果表明,所设计的自标定方案能够在不拆机条件下利用自身旋转机构完成对陀螺漂移、加计零偏、刻度系数误差及安装偏角等参数进行精确估计,因此具有较高的理论意义和工程应用价值。     

基于虚拟导航线的农业机器人精确视觉导航方法

针对农田、野外环境中无人工标记情况下的导航问题，提出了一种基于虚拟导航线的农业机器人精确视觉导航方法。该方法不需要铺设导航线或者路标即可引导机器人行走直线。首先，根据需求确定需要跟踪的目标区域，之后控制机器人调整方向直到目标移至视野中央；其次，根据机器人和目标的位置确定参照目标，并依据两个目标的位置确定虚拟导航线；然后，动态更新导航线，并结合虚拟定标线和虚拟导航线确定偏移角度和偏移距离；最后，利用偏移参数构建模糊控制表，并以此实现对机器人旋转角度和行走速度的调整。实验结果表明，该算法能较为精确地实现对导航路线的识别，进而利用模糊控制策略使机器人沿直线向目标行走，且导航精度在10 cm以内。     

User-friendly search interface for older adults: supporting search goal refreshing in working memory to improve information search strategies

ABSTRACT

This study investigates how a search interface that displays users’ ultimate query (i.e. users’ current search goal) can cope with the age-related decrease of fluid abilities and support older users’ search behaviours. 30 young and 18 older adults completed 9 search problems with a regular web browser or with the experimental search interface. Results showed that older adults spent longer time on the search engine result pages, they needed more time to reformulate, and they had more difficulties exploring the search paths elaborated. Age-differences also appeared as soon as the beginning of the search. The support tool helped older users reformulate their queries more rapidly and elaborate more flexible search strategies at the beginning of the activity. Indeed, older adults who interacted with the support tool switched to the processing of a new search path more rapidly instead of exploiting their initial query (i.e. they visited fewer websites for the initial query produced and reformulated a query instead of keeping on conducting a deeper investigation of the search results provided in the search engine result page). Implications of these findings for the design of effective support tools for older users are discussed.