基于“北斗”卫星定位系统的舰船监控系统

本文介绍了双星导航定位系统的原理，然后根据双星定位系统的特点提出了一种基于双星定位系统的舰船监控系统的框架，并讨论了其在海军指挥自动化系统中的应用。     

关于北斗_GPS组合导航定位系统的设计与研究

北斗卫星定位系统是由中国建立的区域导航定位系统。它是覆盖中国本土的区域导航系统。全球卫星定位系统——GPS是最具有开创意义的高新技术之一,其全球性、全能性、全天侯性的导航定位、定时、测速优势必然会在诸多领域中得到越来越广泛的应用。但是我国单纯应用GPS存在风险的可能性,卫星导航走向系统兼容可达到最佳效果。提出北斗与GPS组合导航系统的总体框架并分析该系统的主要特点及应用范围。     

全球定位系统及其应用综述(一) ——导航定位技术发展的沿革

较全面地介绍了导航定位技术发展的历史进程，科学地阐述了陆基导航技术和星基导航定位系统对人类的重大贡献，着重介绍了美国GPS、俄罗斯GLONASS、中国北斗和欧盟Galileo四大卫星导航定位系统，客观地分析了全球卫星导航定位系统在现代社会生活中的重要作用，尤其揭示了当今世界在卫星导航定位这一新兴技术领域的激烈竞争和发展方向。     

多无人水下航行器协同导航定位研究进展

介绍了多无人水下航行器(UUV)协同导航定位的原理,进而详细综述了国内外多UUV协作系统及多UUV协同导航定位系统的研究进展,重点研究和分析了水声测距及通信一体化、协同导航定位算法、协同导航定位观测、水下UUV组网等关键技术的研究特点和发展趋势。研究表明,随着海洋研究的不断深入,多UUV协同导航定位系统的发展将会更注重减小体积质量、适应复杂海洋环境和能源限制方面的研究。     

浅谈在输电线路勘测中GPS的应用

GPS系统是一种具有海陆空全方位、实时三维导航与定位功能的新一带卫星导航与定位系统。通俗地说,GPS系统就是利用卫星,在全球范围内适时进行导航、定位,本文主要介绍了GPS在输电线路勘测中的应用。     

汽车GPS全球卫星定位系统应用分析

GPS是以"子午仪卫星导航定位"技术为依托的导航定位、测时、测速系统,近些年来,汽车GPS全球卫星定位系统逐渐成为关注焦点,首先对GPS全球卫星定位系统进行简单介绍,在此基础上对汽车GPS卫星定位系统的实际应用进行较为深入的分析。     

基于北斗导航定位系统改进技术的定位误差仿真和分析研究

对北斗导航定位系统、使用三星定位技术及伪卫星技术的定位误差进行了仿真分析.通过仿真和分析表明,三星定位技术虽然解决了原有系统的缺陷,但存在定位精度的问题;而伪卫星技术不仅解决了原有系统的缺陷,同时提高了定位精度.     

一种水下GPS系统及其在蛙人定位导航中的应用

研究了一种适用于蛙人导航的水下GPS系统。针对蛙人执行水下任务所需的高精度导航,提出了一种由主动声纳浮标作为定位基站的GPS定位系统,介绍了该系统基于延时测量的定位原理和求解方法,给出了Kalman滤波器和扩展Kalman滤波器的设计,并通过数值仿真进行了验证,结果表明：为提高定位精度,在定位解算的基础上进行滤波平滑是必要的。     

试论舰船导航应用的全球卫星定位

导航定位技术在我国已有多年的发展历史，卫星导航定位系统在军事、航天、交通等许多方面发挥着重要作用，为我国的经济发展贡献力量。在舰船导航方面，为了研制出适用的相关导航系统，应该积极借鉴国内外成熟的导航技术，充分利用各个系统之间的兼容性，开发合适的舰船导航系统，实现方便安全的导航功能。本文首先对国内外卫星导航定位系统的发展做了介绍，重点分析了我国的北斗卫星定位系统，对其在舰船导航中的应用做了阐述。     

一种基于双星导航系统的无源定位方法研究及其实现方案

为扩展双星导航定位系统的应用范围，针对双星导航系统双星定位时用户的有源问题提出了一种无源导航定位方法，用户不必发射导航定位请求信号，直接接收就可完成定位．同时，结合差分技术来提高用户导航的定位精度．通过理论分析和仿真，说明该方法是可行的．     

多传感器融合的智能车定位导航系统设计

车辆定位导航系统实时、准确获取车辆位置对实现智能驾驶具有重要意义。针对传统定位导航系统存在的精度低、成本高、鲁棒性差等问题，基于GPS/INS(global positioning system /inertial navigation system,全球定位系统/惯性导航系统)、机器视觉和超声波雷达技术，设计了一种多传感器融合的智能车定位导航系统，旨在实现智能车在简单、结构化道路环境下的自动驾驶。利用GPS/INS技术实现智能车地理坐标获取，利用机器视觉技术实现智能车前方车道线检测，利用超声波雷达技术实现道路边沿检测，并对地理坐标、车道线和道路边沿数据进行深度融合，实现车道级定位导航。最后，进行了智能车定位导航现场测试，结果表明该系统满足车道级定位导航性能要求。研究结果表明，在简单、结构化道路环境下，多传感器融合的智能车定位导航系统结构简单，实际运行状况良好，可极大提高定位导航精度。     

GPS民间应用的一个最大市场——汽车导航系统

汽车导航系统是解决城市交通拥堵的一种高科技手段,是21世纪智能交通（ITS）的发展方向。我们应跳出“要致富先修路”的单纯想法,用科学的方法减少占用可耕地,促进汽车工业的发展。章着重介绍了汽车导航系统的结构与工作原理,提出了三重精度的工程方案,其市场前景广阔。     

Intelligent Mining Technology for an Underground Metal Mine Based on Unmanned Equipment

This article analyzes the current research status and development trend of intelligent technologies for underground metal mines in China, where such technologies are under development for use to develop mineral resources in a safe, efficient, and environmentally friendly manner. We analyze and summarize the research status of underground metal mining technology at home and abroad, including some specific examples of equipment, technology, and applications. We introduce the latest equipment and technologies with independent intellectual property rights for unmanned mining, including intelligent and unmanned control technologies for rock-drilling jumbos, down-the-hole (DTH) drills, underground scrapers, underground mining trucks, and underground charging vehicles. Three basic platforms are used for intelligent and unmanned mining: the positioning and navigation platform, information-acquisition and communication platform, and scheduling and control platform. Unmanned equipment was tested in the Fankou Lead-Zinc Mine in China, and industrial tests on the basic platforms of intelligent and unmanned mining were carried out in the mine. The experiment focused on the intelligent scraper, which can achieve autonomous intelligent driving by relying on a wireless communication system, location and navigation system, and data-acquisition system. These industrial experiments indicate that the technology is feasible. The results show that unmanned mining can promote mining technology in China to an intelligent level and can enhance the core competitive ability of China’s mining industry.     

Optimizing of ANFIS for estimating INS error during GPS outages

Global positioning system (GPS) has been extensively used for land vehicle navigation systems. However, GPS is incapable of providing permanent and reliable navigation solutions in the presence of signal evaporation or blockage. On the other hand, navigation systems, in particular, inertial navigation systems (INSs), have become important components in different military and civil applications due to the recent advent of micro-electro-mechanical systems (MEMS). Both INS and GPS systems are often paired together to provide a reliable navigation solution by integrating the long-term GPS accuracy with the short-term INS accuracy. This article presents an alternative method to integrate GPS and INS systems and provide a robust navigation solution. This alternative approach to Kalman filtering (KF) utilizes artificial intelligence based on adaptive neuro-fuzzy inference system (ANFIS) to fuse data from both systems and estimate position and velocity errors. The KF is usually criticized for working only under predefined models and for its observability problem of hidden state variables, sensor error models, immunity to noise, sensor dependency, and linearization dependency. The training and updating of ANFIS parameters is one of the main problems. Therefore, the challenges encountered implementing an ANFIS module in real time have been overcome using particle swarm optimization (PSO) to optimize the ANFIS learning parameters since PSO involves less complexity and has fast convergence. The proposed alternative method uses GPS with INS data and PSO to update the intelligent PANFIS navigator using GPS/INS error as a fitness function to be minimized. Three methods of optimization have been tested and compared to estimate the INS error. Finally, the performance of the proposed alternative method has been examined using real field test data of MEMS grade INS integrated with GPS for different GPS outage periods. The results obtained outperform KF, particularly during long GPS signal blockage.     

激光导引AGV的自动引导系统设计

 激光导引技术是目前AGV系统普遍采用的引导方法，柔性好和精确高是其突出特点．介绍了AGV的基本概念、导引方式、车体结构和运动控制方式，重点介绍了激光扫描车体方位计算原理并结合路径轨迹推算导向法，设计了激光导引AGV的自动引导系统的结构和软件功能。     

基于神经网络辅助观测的连续组合导航算法研究

针对因全球定位系统(GPS)信号失效导致捷联式组合导航系统SINS/GPS组合导航系统发散的问题,设计了一种基于神经网络辅助观测的智能组合导航算法.该方法在GPS信号有效时训练神经网络,当GPS失效后利用神经网络自主重构组合导航系统,将神经网络的输出信息作为观测量构建新的Kalman滤波器,以实现对捷联惯性导航系统误差的连续反馈校正,从而实现了高精度的连续导航.该方法得到了仿真验证,从仿真结果可以看出,在GPS短时失效的情况下,该方法有效抑制了姿态角、速度和位置的发散现象,提高了组合导航系统的精度和可靠性.     

Construction of a system for precise determination of the position of users of global navigation satellite systems

An analysis of the components of the errors associated with determination of the positions of users of global satellite navigation systems is presented. Results of precision determination of position with the use of improved ephemeris-time information produced by a differential correction and monitoring system for GLONASS and GPS navigation satellites are presented. Conclusions concerning the outlook for the development of systems of precise point positioning derived from the radio signals of satellite systems are arrived at on the basis of the studies.     

Towards the development of intelligent navigation support systems for group shipping and global marine traffic control

Computerised navigation is a developing technology in a branch of autonomous and intelligent engineering systems. It aims to enhance safety and security at sea and to improve the reliability of ship-to-ship operations and global marine traffic control. A recently standardised automatic identification system (AIS) takes full advantage of GPS based real-time positioning and timing information of ships. The use of the AIS is steadily growing to meet the needs of the merchant shipping and fishing industries. Nevertheless, a significant decrease in the number of ship accidents and hazardous incidents in open waterways has yet to occur. The work gathered in this paper is to establish a proactive means to prevent marine accidents by the use of the full potential of the AIS. Specifically, this paper describes the development of an AIS synthesis capable navigation support system enhanced with a degree of intelligence built from a physical model suitable to capture the dynamics of group based navigation of ocean-going vessels. The system envisioned is to provide adequate decision making support for group shipping, especially during the critical maneuvering in restricted areas such as channel passing and harbour approaches. Foundations for and experimental results of this study, including an analysis with the simulated traffic of Tokyo Uraga Channel route, are presented.     

3D Trajectory Planning of Positioning Error Correction Based on PSO-A* Algorithm

Aiming at the yaw problem caused by inertial navigation system errors accumulation during the navigation of an intelligent aircraft, a three-dimensional trajectory planning method based on the particle swarm optimization-A star (PSO-A*) algorithm is designed. Firstly, an environment model for aircraft error correction is established, and the trajectory is discretized to calculate the positioning error. Next, the positioning error is corrected at many preset trajectory points. The shortest trajectory and the fewest correction times are regarded as optimization goals to improve the heuristic function of A star (A*) algorithm. Finally, the index weights are continuously optimized by the particle swarm optimization algorithm. The optimal trajectory is found by the A* algorithm under the current evaluation index, so the ideal trajectory is planned. The experimental results show that the PSO-A* algorithm can quickly search for ideal trajectories in different environment models, indicating that the algorithm has certain feasibility and adaptability, and verifies the rationality of the proposed trajectory planning model. The PSO-A* algorithm has better convergence accuracy than the A* algorithm, and the search efficiency is significantly better than the grid search A star (GS-A*) algorithm. The PSO-A* algorithm proposed in this paper has certain engineering application value. The researchers will study the realtime and systematic nature of the algorithm.     

A Novel Edge Computing Based Area Navigation Scheme

The area navigation system, discussed in this paper, is composed of ground responders and a navigation terminal and can position a high-velocity aircraft and measure its velocity. This navigation system is silent at ordinary times. It sends out a request signal when positioning is required for an aircraft, and then the ground responders send a signal for resolving the aircraft. Combining the direct sequence spread spectrum and frequency hopping, the concealed communication mode is used in the whole communication process, with short communication pulses as much as possible, so the system has strong concealment and anti-interference characteristics. As the transmission delay is apparent in the response communication mode, there is a big error where the common navigation algorithm is used for the positioning and velocity measurement of a high-velocity aircraft. In this paper, a new algorithm is proposed, which can eliminate the influence of response communication delay on the positioning of a high-velocity moving target to realize the precise positioning and velocity measurement of a high-velocity aircraft.