SINS/GPS组合导航系统仿真研究

以某载体的规划航迹数据为对象,针对捷联、卫星组合导航系统(SINS/GPS)进行了仿真研究。由规划航迹数据计算出载体的比力和角速度信息,输入至惯性测量器件模型,模型输出激励捷联解算模块,得到惯导系统输出参数;同时对规划数据添加观测噪声模拟GPS测量值。采用相对简单的基于半位置、半速度误差的误差方程作为状态方程,以松耦合方式进行集中式Kalman滤波,给出了SINS单独工作与SINS/GPS组合得到的半位置、半速度误差分布。对各状态的观测度进行了研究,确定了不可观测的状态并给出了部分状态可观测度的时间分布。仿真结果表明,方法正确有效,可对SINS/GPS组合导航系统进行算法验证和方案性评估。     

基于公交车轨迹数据的道路GPS环境友好性评估

GPS是应用最为广泛的室外定位系统,随着技术的发展精度不断提升.然而城市中,由于GPS卫星信号被建筑遮挡,仍然可能产生较大的多径误差.此类误差已称为城市GPS定位误差的主要成分.评估城市道路中环境对GPS精度的负面影响,即环境的GPS友好度,将有助于对不同地段GPS的误差范围进行预判,从而提升位置服务相关应用的用户体验,并为理解环境特征与多径误差的关系,确定在何处部署辅助定位的设备提供支持.为此,提出了1种通过处理和分析海量公交车GPS轨迹历史数据,从而评估城市主要路段的环境友好性的方法.该方法充分利用公交车运行线路固定的特点,大幅提升数据处理的效率;针对路网数据可能存在的错误,提出了容错性的方案;利用相同车辆及相同路段在GPS误差上存在的内在关联,对缺失数据进行补全;并充分考虑到不同质量GPS端设备对环境友好性评估的影响,确定了基于端设备质量加权的评估计算策略.利用成都市二环内的4869辆公交车1个月的数据,对共计5648个不同路段的环境友好性进行了评估,并通过卫星地图和街景照片,分析验证了方法结果的合理性.     

Online Approach for Spatio-Temporal Trajectory Data Reduction for Portable Devices

As location data are widely available to portable devices, trajectory tracking of moving objects has become an essential technology for most location-based services. To maintain such streaming data of location updates from mobile clients, conventional approaches such as time-based regular location updating and distance-based location updating have been used. However, these methods suffer from the large amount of data, redundant location updates, and large trajectory estimation errors due to the varying speed of moving objects. In this paper, we propose a simple but effcient online trajectory data reduction method for portable devices. To solve the problems of redundancy and large estimation errors, the proposed algorithm computes trajectory errors and finds a recent location update that should be sent to the server to satisfy the user requirements. We evaluate the proposed algorithm with real GPS trajectory data consisting of 17201 trajectories. The intensive simulation results prove that the proposed algorithm always meets the given user requirements and exhibits a data reduction ratio of greater than 87% when the acceptable trajectory error is greater than or equal to 10 meters.     

无线传感器网络中协作误差传播感知的机会可靠传输机制

针对无线传感器网络协作通信过程中误差传播对系统性能的影响,提出了一种基于机会式误差修正的可靠传输机制。首先,在多节点协作无线传感器网络中建立三种协作传输方案,基于信道质量和误符号率建立协作误差传播模型。接着,针对协作误差中的合并、调度和干扰等类型,通过在信道、信源和协作网络物理层提出机会式误差修正算法。最后,在上述结论基础上,综合感知用户的性能要求、调度复杂度和协作传播模型,提出了机会式可靠传输机制。数学分析结果不仅验证了机会式传输机制比静态机制具有高可靠性,而且证明了所提机制在端到端通信的实时性、可靠性、吞吐率和能效等方面有优越性。     

提高GPS定位精度的数据处理技术

尽管全球定位系统（GPS）已经是目前精度最高的无线电导航系统,但仍有许多用户不满足于GPS定位的原始精度,希望获得更高的性能。基于GPS输出信息的数据处理就是一种广泛采用的技术。GPS数据基本的处理方法有两种：基于GPS接收机输出数据的滤波、平滑处理;基于两个或多个GPS接收机的差分校正处理（DGPS）。差分GPS只能消除选择可用性和电离层时延等公共误差,对多径干扰仍无能为力。多径已成为近距差分的主要误差源。为了抗多径,本文还综述了两种先进的GPS数据处理方法：空间－时间处理抗多径方法和数据诊断与剔除抗多径方法。     

Smartphone-based pedestrian tracking in indoor corridor environments

As the use of smartphones spreads rapidly, user localization becomes an important issue for providing diverse location-based services (LBS). While tracking users in outdoor environments is easily done with GPS, the solution for indoor tracking is not trivial. One common technique for indoor user tracking is to employ inertial sensors, but such a system needs to be capable of handling noisy sensors that would normally lead to cumulative locating errors. To reduce such error, additional infrastructure has often been deployed to adjust for these cumulative location errors. As well, previous work has used highly accurate sensors or sensors that are strapped to the body. This paper presents a stand-alone pedestrian tracking system, using only a magnetometer and an accelerometer in a smartphone in indoor corridor environments that are normally laid out in a perpendicular design. Our system provides reasonably accurate pedestrian locations without additional infrastructure or sensors. The experiment results show that the location error is less than approximately 7 m, which is considered adequate for indoor LBS applications.     

基于最小二乘曲面拟合的流量计量温度补偿算法

针对时差法超声波式热量表流量计量结果受流体温度影响而存在的非线性误差问题,提出了基于最小二乘曲面拟合的温度补偿算法,通过建立温度和流量之间的非线性映射模型实现温度补偿。在实现温度补偿后,针对超声波式热量表自身计量特性的差异,进一步提出多温度点误差二次修正算法,根据相邻温度点的流量计量误差和可变权值计算当前的流量计量误差,对误差进行二次修正,实现流量计量的全局优化。实验表明,流量计量误差在±2.0%以内,具有较高的工程应用价值。     

Improved Modeling of Elevation Error with Geostatistics

The elevations recorded within digital models are known to be fraught with errors of sampling, measurement and interpolation. Reporting of these errors according to spatial data standards makes several implicit and unacceptable assumptions about the error: it has no spatial distribution, and it is statistically stationary across a region, or even a nation. The approach explored in this paper employs actual elevations measured in ground and aerial survey at higher precision than the elevations in the DEM and recorded on standard paper maps. These high precision elevations are digitized and used to establish the real statistical and spatial distribution of the error. Direct measurements could also have been taken in the field by GPS or any other means of high precision data collection. These high precision elevations are subtracted from values stored in the DEM for approximately the same locations. The distribution of errors specific to the DEM can then be explored, and can be used in the geostatistical method of conditional stochastic simulation to derive alternative realizations of the error modeled and so of the DEM. Multiple versions of the derived products can also be determined. This paper compares the results of using different methods of error modeling. The best method, which gives widely implementable and defensible results, is that based on conditional stochastic simulation.     

扫描仪误差分析

为了解决用扫描仪测量微生物抑菌圈直径时误差较大问题,对扫描仪误差进行了分析。扫描仪误差包括像素间距误差、像素间距横纵比误差及扫描起点误差等。提出用椭圆拟合法对扫描仪误差进行测量。通过V isual C++6.0编程,研究了扫描仪误差与扫描时间、扫描位置、扫描分辨力等因素的关系,发现了一些规律,为编程实现针对扫描条件的测量结果自动修正打下了基础。     

机载激光扫描测距仪的误差分析

对机载激光扫描测距仪在实际测量中的扫描角、目标表面倾斜度、激光束发散角效应、GPS定位精度及INS姿态测量精度等可能引起测量误差的因素进行了分析,并给出了定量化的评估,为机载激光扫描测距系统的测距精度的提高和测距性能的改进提供了有益的参考依据。     

Error detection through mouse movement in an online adaptive learning environment

While response time and accuracy indicate overall performance, their value in uncovering cognitive processes, underlying learning, is limited. A promising online measure, designed to track decision-making, is computer mouse tracking, where mouse attraction towards different locations may reflect the consideration of alternative response options. Using a speedy arithmetic multiple-choice game in an online adaptive learning environment, we examined whether mouse movements could reflect arithmetic difficulties when error rates are low. Results showed that mouse movements towards alternative responses in correctly answered questions mapped onto the frequency of errors made in this online learning system. This mapping was stronger for the younger children, as well as for easy arithmetic problems. On an individual level, users showed more mouse movement towards their previously made response errors than towards other alternative options. This opens the possibility of adapting feedback and instruction on an individual basis through mouse tracking.     

基于双向测距的协同定位系统误差分析

针对协同定位系统中影响节点定位精度受测距误差影响的问题,主要研究和分析了测距误差传播以及移动场景误差对协同定位系统的影响.采用基于GPS(Global Positioning System)和超带宽双程测距的低成本协同定位系统,分析了协同定位系统中的误差传播过程,推导了测距协方差阵和定位协方差阵.在不同场景下进行了仿真,经分析得出节点间几何关系是影响系统定位误差的最重要因素.该结论对于协同定位系统中移动节点的定位精度提升具有一定的指导价值.     

飞机刹车半实物仿真机轮速度信号模拟装置的设计

受器件老化、随机噪声等因素影响,晶振频率变化较复杂。以GPS秒脉冲作为测量标准,构建了晶振频率随时间变化的测量系统,通过对测量数据进行一元回归统计处理,分离出了晶振实际频率与其标称频率的相对偏差及晶振的各种随机误差,并分析了这两种误差对晶振准确度及稳定度的影响。该方法可为频率源误差测量分析提供借鉴作用。     

Robot measuring form errors

This work presents an automated system for the measurement of form errors of mechanical components using an industrial robot. A three-probe error separation technique was employed to allow decoupling between the measured form error and errors introduced by the robotic system. A mathematical model of the measuring system was developed to provide inspection results by means of the solution of a system of linear equations. A new self-calibration procedure, which employs redundant data from several runs, minimizes the influence of probes zero-adjustment on the final result. Experimental tests applied to the measurement of straightness errors of mechanical components were accomplished and demonstrated the effectiveness of the employed methodology.     

A theoretical approach to observability analysis of the SDINS/GPS in maneuvering with horizontal constant velocity

A theoretical method for analyzing the observability of a strapdown inertial navigation system (SDINS) integrated with the global positioning system (GPS) is proposed. The analysis is performed based on two types of maneuvers for a vehicle on a horizontal trajectory: level flight with constant north velocity and level flight with constant east velocity. The observability also is analyzed using the convergence theorem, stationary state observability analysis results, and Kalman filter measurement information to rearrange the SDINS error model equation. The state variables are divided into observable and unobservable parts, and determine which state variables are observable and estimable with some errors from the relationship of observable and unobservable state variables. Our results have shown that the north and east axes accelerometer bias errors were unobservable, and that attitude errors, and east and down axes gyro bias errors were estimable with some unknown bias errors. It has been shown that horizontal maneuvering improves the observability of down axis gyro bias error compared with the stationary state, and the estimation errors of the heading error state and east axis gyro bias error are dependent on the magnitude of north velocity. The results of the theoretical observability analysis are confirmed through computer simulation.     

基于激光位移传感器的小转角测量方法研究

针对结构刚度测试中的转角测量问题,提出了一种新的小转角测量方法。采用激光位移传感器测量待测物体的切向线位移值,再通过几何关系将其转换成转角值。建立了包含4个因素的误差数学模型,分析了±1°的测量范围内各误差因素分别对测量结果的影响,结果表明：光斑距刻线标志偏距Δl对误差的影响较大。应用本方法,针对一异形构件进行了扭转刚度测试,当Δl上下限为±1 mm时,测量误差在2%左右,验证了本方法的有效性和准确性。     

Human errors and violations in computer and information security: the viewpoint of network administrators and security specialists

This paper describes human errors and violations of end users and network administration in computer and information security. This information is summarized in a conceptual framework for examining the human and organizational factors contributing to computer and information security. This framework includes human error taxonomies to describe the work conditions that contribute adversely to computer and information security, i.e. to security vulnerabilities and breaches. The issue of human error and violation in computer and information security was explored through a series of 16 interviews with network administrators and security specialists. The interviews were audio taped, transcribed, and analyzed by coding specific themes in a node structure. The result is an expanded framework that classifies types of human error and identifies specific human and organizational factors that contribute to computer and information security. Network administrators tended to view errors created by end users as more intentional than unintentional, while errors created by network administrators as more unintentional than intentional. Organizational factors, such as communication, security culture, policy, and organizational structure, were the most frequently cited factors associated with computer and information security.     

基于运动状态改变的在线全球定位系统轨迹数据压缩

针对基于偏移量计算的轨迹数据压缩算法中对于关键点的评估不足以及基于在线轨迹数据压缩算法中累积误差和对偏移量考虑不足的问题,提出一种基于运动状态改变的在线全球定位系统(GPS)轨迹数据压缩算法——限定同步欧氏距离(SED)的阈值结合算法(SLTA)。该算法通过轨迹点的转向角度大小和速度变化大小来评估轨迹点信息量的大小;同时用SED限制点的偏移量,以达到较好的信息保留度。实验结果表明,SLTA的轨迹压缩率能够达到50%左右,与阈值结合算法(TA)相比,SLTA的平均SED误差(5 m以内)可以忽略不计;相对于基于偏移量计算的轨迹数据压缩算法,SLTA的平均角度误差最小(1.5°~2.3°),运行时间最稳定。SLTA能够稳定有效地进行在线GPS轨迹数据压缩。     

基于栅格三元距离变换的GPS里程统计算法

为了提高GPS里程统计的精度,提出了一种基于栅格三元距离变换的GPS里程统计算法.首先,将离散的GPS轨迹数据映射成为连续的栅格序列,进而通过三元栅格子序列的空间排列定义距离变换算子,并基于统计分析建立距离变换算子的动态调整模型,进行误差补偿,最终实现高精度的GPS里程统计.为验证算法有效性,设置了连续线段法与栅格欧氏距离变换法两个传统里程统计算法作为对照组,进行里程统计对比实验.实验中,该算法里程统计误差均值约0.24％,标准差为0.55％.相较于对照组算法,该算法表现出了更好的误差特性,实现了更高的里程统计精度.     

共同杂波环境下多目标量测数据的误差传递与校正

在目标跟踪领域, 如何提高目标航迹估计精度是一个重要问题. 传统做法是基于目标量测数据进行滤波或者融合以减小随机误差. 本文提出了基于误差相关性提高估计精度的新思路. 在强相关条件下, 依据误差基本理论, 研究了多目标之间量测数据误差传递和校正的概念、原理和方法, 建立并给出了各关键步骤的算法. 仿真实验表明, 多目标量测数据误差之间具有相关性时, 可以进行误差的传递和校正. 如果相关性较强, 则校正后量测数据精度能够得到较大幅度的提高.