一种北斗联合低轨星座的导航增强方法研究

单纯依靠北斗导航系统提供定位导航授时服务,存在卫星信号落地功率低、易受遮蔽和阻断的不足。针对此问题,研究了一种北斗联合低轨星座实现导航增强的系统架构;提出了一种新的适应严重遮蔽或干扰条件下,基于到达时间(TOA)和到达频率(FOA)联合观测的定位解算算法;对高中低轨混合星座条件下的覆盖特性和精度衰减因子进行了仿真分析。分析结果表明,用户可见星数平均增加了64.2%,位置精度衰减因子(PDOP)平均改善了28.7%。研究结果可为下一代北斗的论证设计与研制建设提供参考借鉴。     

Validation of performance of real-time kinematic PPP. A possible tool for deformation monitoring

Structural failures (bridge or building collapses) and geohazards (landslides, ground subsidence or earthquakes) are worldwide problems that often lead to significant economic and loss of life. Monitoring the deformation of both natural phenomena and man-made structures is a major key to assessing structural dynamic responses. Actually, this monitoring process is under real-time demand for developing warning and alert systems.One of the most used techniques for real-time deformation monitoring is the Global Navigation Satellite System (GNSS) real-time procedure, where the relative positioning approach, using a well-known reference station, has been applied.This study was conducted to evaluate the actual quality of the real-time kinematic Precise Point Positioning (PPP) GNSS solution for deformation monitoring, where it can be concluded that a promise tool is under development and should be taken into account on actual and near future real-time deformation monitoring studies and applications.     

Tracing success: graphical methods for analysing successful collaborative problem solving

The aim of this paper is to evaluate the use of trace diagrams for analysing collaborative problem solving. The paper describes a study where trace diagrams were used to analyse joint navigation in a virtual environment. Ten pairs of undergraduates worked together on a distributed virtual task to collect five flowers using two bees with each participant controlling one of the bees. This task is used extensively in research on multi-robot systems. The joint navigation of the pairs was analysed using trace diagrams. They showed that more successful pairs divided the task up, showed very little overlap and very little backtracking. Whereas, the less successful pairs, showed no task division, there was significant overlap and extensive backtracking. From this analysis we developed numerical measures of task division, overlap and backtracking. Task division was significantly and negatively related with task performance. Backtracking and overlap were significantly and positively correlated.     

Structured document storage and refined declarative and navigational access mechanisms in HyperStorM

The combination of SGML and database technology allows to refine both declarative and navigational access mechanisms for structured document collection: with regard to declarative access, the user can formulate complex information needs without knowing a query language, the respective document type definition (DTD) or the underlying modelling. Navigational access is eased by hyperlink-rendition mechanisms going beyond plain link-integrity checking. With our approach, the database-internal representation of documents is configurable. It allows for an efficient implementation of operations, because DTD knowledge is not needed for document structure recognition. We show how the number of method invocations and the cost of parsing can be significantly reduced. Edited by Y.C. Tay. Received April 22, 1996 / Accepted March 16, 1997     

Characterizing navigation maps for web applications with the NMM approach

This paper presents the Navigation Maps Modeling approach (NMM), which provides platform independent models for characterizing navigation maps of web applications. The NMM approach is conceived to obtain a trade off between high and low-level design notations. As high-level design notations, NMM models permit architectural details that may hinder the overall understanding of the web application to be left out. As low-level design notations, NMM models can easily be transformed into detailed architectural designs, which are very valuable at coding and maintenance stages.     

Self-calibration based on invariant view recognition: Dynamic approach to navigation

We extend a dynamic approach of behavior generation to the representation of spatial information. Two levels of dynamics integrate dead-reckoning, dominant far from home bases, and piloting, dominant near home bases. When the view-based piloting system recognizes a home base, visual place information recalibrates the dead-reckoning system, inverting the hierarchical ordering of the two dynamic levels by time scale inversion. Reference views taken at discrete home bases are recognized invariantly under rotation of views. This process yields compass information. Continuous translational information is obtained as a neural place representation built from view correlations with a scattered set of local views. This self-calibrating cognitive map couples into a dynamics of heading direction integrating the behaviors of obstacle avoidance and target acquisition. Targets can be designated in terms of the cognitive map. We demonstrate the dynamical model in simulation.     

水平阻尼作为干扰的平台式惯导统一控制方程

研究惯导系统统一控制的优化设计。传统的统一控制采用一体化设计方案,通用性不强。为简捷高效地实现惯导计算机的程序编排,提出了将水平阻尼作为干扰项的平台式惯导统一控制。通过改变系统框图结构,将无阻尼惯导系统和阻尼网络人为分离,水平阻尼网络的输出可视为干扰项。系统控制方程始终采用无阻尼条件下的表达式,惯导系统控制和阻尼网络可以实现模块化设计,使控制的实现形式和推导过程大为简化。给出了惯导计算机的运算流程,并分别在静、动基座条件下,对无阻尼、内水平阻尼和外水平阻尼状态的惯导系统做了仿真。结果表明新的统一控制模型有效体现了惯导系统的参数变化,且设计简便,具有更好的实用性。     

星地时间同步任务规划综合评价技术研究

星地时间同步是导航定位系统的重要组成部分,准确评价星地时间同步任务规划的好坏,是卫星方案设计及优化提高卫星导航系统运行效率的基础。针对导航卫星星地时间同步任务规划评价问题,建立了基于任务、资源、性能的多层次评价指标体系,构造了通用的综合评价框架,最后通过仿真验证了方法的可行性,为导航系统的顶层设计与地面资源配置优化提供决策支持。     

多普勒声纳系统原理及应用

多普勒声纳已成功应用于多种水下载体的导航。首先分析了水下导航的特点,推导了四波束配置多普勒声纳速度矢量的最小二乘估计,给出了误差速度的计算方法和物理意义,最后介绍了多普勒声纳在水下导航中的应用。     

融合UWB与INS的消防员室内定位与NLOS检测算法

融合超宽带（UWB）和惯性导航系统（INS）能够实现消防员室内精确定位。为实现UWB的非视距（NLOS）误差检测,设计一种双级EKF框架。该框架以松耦合形式实现UWB/INS的数据融合,通过INS获取的初始位置估计坐标以检测UWB测量值的NLOS误差,根据检测结果计算残差矩阵来动态调整融合滤波器的测量噪声矩阵,以达到缓解NLOS误差的目的。实验结果表明,与三角不等式原理检测算法和无NLOS检测的UWB/INS简单融合算法相比,所提NLOS检测算法具备良好的检测能力、较强的稳定性及较高的定位精度。