GPS在水上测量导航中的应用

文章结合工程实际介绍了GPS在水上测量导航中的应用,并提出了应用中的建议.     

GPS的低噪声放大器的设计

论述应用于GPS的低噪声放大器的设计原理,并通过ADS仿真软件,设计出低噪声放大器。给出噪声系数、增益和输入端匹配的仿真结果。通过优化,可以使得噪声系数达到1.2以下、增益值达到30dB以上的指标。     

测绘技术在矿山抢险中的应用

文中阐述了GPS与全站仪在"11.6"邢台县康立石膏矿矿山抢险中的应用,分析了观测站点的布设方法以及观测数据的处理方法.     

基于预留带宽的光纤通道交换网硬实时通信

为了保证光纤通道(FC)交换网中硬实时通信,提出一种采用通用处理器共享(generalized processor sharing)调度方式交换机构建交换网,并且采用模拟退化算法根据数据流硬实时通信需求找出交换网ISL(inter-switch link)权重参数和数据流预留带宽参数优化配置的方法.在对FC网络以及GPS调度方式进行分析的基础上,建立基于光纤通道交换网的硬实时通信模型,将保证硬实时通信问题转换为组合优化问题;构造了最小预留带宽和目标函数,并采用模拟退火算法找出该问题的最优解.仿真实验结果验证了该方法的有效性,但是通过可接受解和最优解的实验结果比较发现最优解并不能总是获得最佳的系统延迟时间率.     

基于GPS和加速度感应器的组合车辆定位系统研究

GPS位置信号的获取是城市智能交通系统中的一个基础问题,为解决城市中由于建筑物遮挡或信号反射造成GPS信号误差大或根本无法获取GPS信号的问题,设计一种基于GPS接收设备和采用加速度感应器进行航位推导的组合车辆定位系统。     

船载时间统一系统GPS跳秒问题研究与改进

介绍了船载时间统一系统的组成和GPS模块的工作原理。指出了现有时间统一系统存在的GPS跳秒问题。针对船载时间统一系统GPS跳秒问题,建立FTA故障树分析模型,分析故障底事件,定位了GPS跳秒问题的故障部位是GPS定时接收机,并深入分析GPS接收机关于闰秒的相关原理,进一步精确定位了GPS跳秒问题的原因是GPS接收机的闰秒修正软件算法存在缺陷。为了解决该问题,采用在GPS解码程序中增加GPS跳秒检测机制的方法,检测GPS芯片是否发生跳秒现象来避免产生器误同步,从而避免GPS跳秒问题导致的系统时间异常。通过搭建GPS模块程序验证平台和设计GPS验证测试软件进行测试,结果表明改进后的GPS解码程序在检测到GPS定时接收机跳秒后,能使GPS定时接收机复位,并设置GPS信息不可用,避免产生器误同步,从而有效解决了GPS跳秒问题。     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

基于RFID的船舶制造业中间产品定位查询系统

由于目前船舶制造业中间产品数量庞大并且用于存储的堆场面积较大,因此船舶制造业中间产品面临着查找困难、生产效率低等实际问题.针对这些问题,采用GPS技术结合RFID技术的定位查找方法,并利用中间产品定位导航技术,设计了船舶制造业中间产品定位查询系统,实现了制造业中对于中间产品的定位查找和管理功能.对这些功能进行了测试,测试结果表明系统可以有效提高船舶制造业生产效率,减少资源浪费,并可以应用于其他制造业对于中间产品的查找与管理之中.     

Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect

In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS’s antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter’s prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter’s update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.     

基于物联网的智能停车场系统

针对目前国内智能停车场存在全程物理导航费用高、部分导航表达不明确和无法实现二次导航寻车等问题,设计了利用物联网将数据传输给移动设备实现全程导航的方案,并给出了硬件结构和软件组成。采集停车场停车数据于PC机,通过停车场基站号码段识别技术将数据传输给用户手机,用户利用手机接收的数据进行停车场全程导航和二次导航寻车。通过软硬件设计和调试实验结果表明,数据能够可靠传输到用户手机,用户利用手机接收的数据链接百度地图能够轻松实现停车场内定位、导航和二次导航寻车。