This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Second...This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Secondly, the geomagnetic navigation model is established by constructing a cost function. Then, by taking into consideration the biological magneto-taxis movement behavior for the geomagnetic environment stimulus, the multiobjective evolutionary search algorithm is derived to describe the search process. Finally, compared to the state-of-the-art, the proposed method presents better robustness. The simulation results demonstrate the reliability and feasibility of the proposed method.展开更多
The autonomous "celestial navigation scheme" for deep space probe departing from the earth and the autonomous "optical navigation scheme" for encountering object celestial body are presented. Then,...The autonomous "celestial navigation scheme" for deep space probe departing from the earth and the autonomous "optical navigation scheme" for encountering object celestial body are presented. Then, aiming at the conditions that large initial estimation errors and non-Gaussian distribution of state or measurement errors may exist in orbit determination process of the two phases, UPF (unscented particle filter) is introduced into the navigation schemes. By tackling nonlinear and non-Gaussian problems, UPF overcomes the accuracy influence brought by the traditional EKF (extended Kalman filter), UKF (unscented Kalman filter), and PF (particle filter) schemes in approximate treatment to nonlinear and non-Gaussian state model and measurement model. The numerical simulations demonstrate the feasibility and higher accuracy of the UPF navigation scheme.展开更多
A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acous...A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method.展开更多
The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein t...The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein the optical observation is aided by one-way Doppler measurements.The errors are then analyzed respectively for the optical observation and one-way Doppler measurements.The real-time calculating scheme which exploits the extended Kalman filter(EKF)framework is designed for the integrated navigation.The simulation tests demonstrate that the errors of optical navigation,which select the Mars moon as the observation target,are relatively smaller than those in the Mars-orientation optical navigation case.On one hand,the integrated navigation errors do not depend on the selecting pattern of optical observation targets.On the other hand,the integrated navigation errors are significantly reduced as compared with those in the optical-alone autonomous navigation mode.展开更多
In order to improve the autonomous navigation capability of satellite,a pulsar/CNS（celestial navigation system） integrated navigation method based on federated unscented Kalman filter（UKF） is proposed.The celestia...In order to improve the autonomous navigation capability of satellite,a pulsar/CNS（celestial navigation system） integrated navigation method based on federated unscented Kalman filter（UKF） is proposed.The celestial navigation is a mature and stable navigation method.However,its position determination performance is not satisfied due to the low accuracy of horizon sensor.Single pulsar navigation is a new navigation method,which can provide highly accurate range measurements.The major drawback of single pulsar navigation is that the system is completely unobservable.As two methods are complementary to each other,the federated UKF is used here for fusing the navigation data from single pulsar navigation and CNS.Compared to the traditional celestial navigation method and single pulsar navigation,the integrated navigation method can provide better navigation performance.The simulation results demonstrate the feasibility and effectiveness of the navigation method.展开更多
An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation syste...An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation system manager make optimum use of the various navigation sensors and allow rapid fault detection,isolation and recovery.The normal full fusion feedback method of federated unscented Kalman filter（UKF） cannot meet the needs of it.So a no-reset feedback federated Kalman filter architecture is developed and used in the autonomous navigation system.The minimal skew sigma points are chosen to improve the calculation speed.Simulation results are presented to demonstrate the advantages of the algorithm.These advantages include improved failure detection and correction,improved computational efficiency,and reliability.Additionally,its＇ accuracy is higher than that of the full fusion feedback method.展开更多
The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional na...The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.展开更多
To solve the highly nonlinear and non-Gaussian recursive state estimation problem in geomagnetic navigation, the unscented particle filter （UPF） was introduced to navigation system. The simulation indicates that geo...To solve the highly nonlinear and non-Gaussian recursive state estimation problem in geomagnetic navigation, the unscented particle filter （UPF） was introduced to navigation system. The simulation indicates that geomagnetic navigation using UPF could complete the position estimation with large initial horizontal position errors. However, this navigation system could only provide the position information. To provide all the kinematics states estimation of aircraft, a novel autonomous navigation algorithm, named unscented particle and Kalman hybrid navigation algorithm （UPKHNA）, was proposed for geomagnetic navigation, The UPKHNA used the output of UPF and barometric altimeter as position measurement, and employed the Kahnan filter to estimate the kinematics states of aircraft. The simulation shows that geomagnetic navigation using UPKHNA could provide all the kinematics states estimation of aircraft continuously, and the horizontal positioning performance is better than that only using the UPF.展开更多
Nowadays, new paradigm of enterprise organization i s constantly changing due to the emergence of the global marketplace, the rise of information technology, and the emphasis of the social developments. This re quires...Nowadays, new paradigm of enterprise organization i s constantly changing due to the emergence of the global marketplace, the rise of information technology, and the emphasis of the social developments. This re quires a more flexible form of organization that are more adaptable to rapid cha nges in business environment such as autonomous work groups (AWGs) in order to achieve higher productivity and effectiveness. AWGs are work units responsib le for the production of goods and the provision of services. They involve team members in making decisions that are traditionally the responsibility of the sup ervisors and managers (Cohen & Bailey, 1997). Team members of AWGs are allowed t o self-regulate their behavior on jobs such as task assignments, methods for ca rrying out the work, and scheduling of activities etc. (Cohen & Ledford, 1994). For example, Motorola achieved a high organizational performance due to the succ essful implementation of AWGs in quality management (Piczak & Hauser, 1996). Xer ox also reported their operational successes based on the team-oriented work gr oups (Wageman, 1997). In recent years many organizations have replaced the traditional layers of manag ement with autonomous team-based work arrangements. Surveys indicated that the adoption of AWGs has soared in responding to the competitive business challenges . Many enterprises are making a deliberate effort to use AWGs to carry out work and operational processes as an alternative for hierarchical approaches (Lawler et al., 1995). There is a growing body of evidence that AWGs are more effective than traditionally managed groups and they contributes to organizational perform ance, such as improvement in operational performance, productivity, quality, cos t savings, employee attitude and behavior, and employee satisfaction (e.g. Pears on, 1992; Cohen & Ledford, 1994; Seers et al. 1995). Given the complexity and cognitive nature of team-based organizations, the mech anisms that the enterprises use in the development of the increasingly sophistic ated models, which can contribute to the effective functioning of AWGs, are extr emely important. The process of developing effective AWGs enables enterprises to inherent built-in intelligence of the organizations so that they will be more able to accommodate to external pressures and changes. The context of this paper is the construction of a dynamics framework and a stra tegic path for autonomous work groups in the technology-oriented manufacturing organization re-design. The framework is a conceptual one drawn from the litera ture survey. The importance of studying autonomous work groups for today’s manuf acturing organizations is claimed. Based on the General System Theory (GST), the characterization of AWGs is addressed. Three-dimensional domains such as t echnical content, service content, and relationship content are identified. A st rategic path is proposed to guide the organizations how the development of AWGs progresses at different levels of maturity that are associated with organization al effectiveness and performance. The utility of the model for AWGs is expected to provide technology-oriented organizations with a strategic path to achieve h igher organizational performance.展开更多
传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, ...传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, SLAM)技术下的温室自主导航系统,可利用激光雷达等传感器实时构建温室内的地图,并利用SLAM算法实现自主定位与导航。为了提高系统的鲁棒性和性能,提出了一种基于改进粒子滤波算法的姿态估计方法。试验结果表明:该温室自主导航系统能够高效准确地实现温室内的自主导航任务,为农业生产提供了一种新的自动化解决方案。展开更多
传统的机器人定位导航方法在复杂建筑环境中存在精度不高、依赖传感器严重、无法有效处理动态障碍物等问题,导致其在实际应用中难以达到预期效果。为解决这些问题,引入了建筑信息模型(building information modeling,BIM)技术,借助BIM...传统的机器人定位导航方法在复杂建筑环境中存在精度不高、依赖传感器严重、无法有效处理动态障碍物等问题,导致其在实际应用中难以达到预期效果。为解决这些问题,引入了建筑信息模型(building information modeling,BIM)技术,借助BIM的几何和语义信息支持,在复杂环境中辅助机器人定位导航,为机器人提供更精确的环境感知和最优路径规划,减少与环境构件的碰撞风险,并提升任务执行的精准度和效率。比较论述了BIM技术在机器人定位、建图、路径规划等方面的应用现状,分析了其在建筑环境中的应用优势和挑战,并展望了未来在智能建筑和机器人智能化领域的应用前景。展开更多
基金supported by the National Natural Science Foundation of China(5137917651179156)
文摘This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Secondly, the geomagnetic navigation model is established by constructing a cost function. Then, by taking into consideration the biological magneto-taxis movement behavior for the geomagnetic environment stimulus, the multiobjective evolutionary search algorithm is derived to describe the search process. Finally, compared to the state-of-the-art, the proposed method presents better robustness. The simulation results demonstrate the reliability and feasibility of the proposed method.
基金the National "863" High Technology Development Project of China (2005AA735080).
文摘The autonomous "celestial navigation scheme" for deep space probe departing from the earth and the autonomous "optical navigation scheme" for encountering object celestial body are presented. Then, aiming at the conditions that large initial estimation errors and non-Gaussian distribution of state or measurement errors may exist in orbit determination process of the two phases, UPF (unscented particle filter) is introduced into the navigation schemes. By tackling nonlinear and non-Gaussian problems, UPF overcomes the accuracy influence brought by the traditional EKF (extended Kalman filter), UKF (unscented Kalman filter), and PF (particle filter) schemes in approximate treatment to nonlinear and non-Gaussian state model and measurement model. The numerical simulations demonstrate the feasibility and higher accuracy of the UPF navigation scheme.
基金Sponsored by National Natural Foundation (50979093)the High Technology Research and Development Program of China (863 Program)( 2007AA809502C)Program for New Century Excellent Talents in University (NCET-06-0877)
文摘A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method.
基金the National Natural Science Foundation of China(61273090).
文摘The optical navigation errors of Mars probe in the capture stage depend closely on which targets are selected to be observed in the Mars system.As for this problem,an integrated navigation scheme is proposed wherein the optical observation is aided by one-way Doppler measurements.The errors are then analyzed respectively for the optical observation and one-way Doppler measurements.The real-time calculating scheme which exploits the extended Kalman filter(EKF)framework is designed for the integrated navigation.The simulation tests demonstrate that the errors of optical navigation,which select the Mars moon as the observation target,are relatively smaller than those in the Mars-orientation optical navigation case.On one hand,the integrated navigation errors do not depend on the selecting pattern of optical observation targets.On the other hand,the integrated navigation errors are significantly reduced as compared with those in the optical-alone autonomous navigation mode.
基金supported by the National High Technology Research and Development Program of China(2006AAJ109)Aviation Science Fund(20070818001)
文摘In order to improve the autonomous navigation capability of satellite,a pulsar/CNS（celestial navigation system） integrated navigation method based on federated unscented Kalman filter（UKF） is proposed.The celestial navigation is a mature and stable navigation method.However,its position determination performance is not satisfied due to the low accuracy of horizon sensor.Single pulsar navigation is a new navigation method,which can provide highly accurate range measurements.The major drawback of single pulsar navigation is that the system is completely unobservable.As two methods are complementary to each other,the federated UKF is used here for fusing the navigation data from single pulsar navigation and CNS.Compared to the traditional celestial navigation method and single pulsar navigation,the integrated navigation method can provide better navigation performance.The simulation results demonstrate the feasibility and effectiveness of the navigation method.
基金supported by the Aviation Science Foundation(20070852009)
文摘An effective autonomous navigation system for the integration of star sensor,infrared horizon sensor,magnetometer,radar altimeter and ultraviolet sensor is developed.The requirements of the integrated navigation system manager make optimum use of the various navigation sensors and allow rapid fault detection,isolation and recovery.The normal full fusion feedback method of federated unscented Kalman filter（UKF） cannot meet the needs of it.So a no-reset feedback federated Kalman filter architecture is developed and used in the autonomous navigation system.The minimal skew sigma points are chosen to improve the calculation speed.Simulation results are presented to demonstrate the advantages of the algorithm.These advantages include improved failure detection and correction,improved computational efficiency,and reliability.Additionally,its＇ accuracy is higher than that of the full fusion feedback method.
基金supported by the National Natural Science Foundation of China(61803357)。
文摘The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.
基金Project(HIT.NSRIF.2009006) supported by the Fundamental Research Funds for the Central Universities of China
文摘To solve the highly nonlinear and non-Gaussian recursive state estimation problem in geomagnetic navigation, the unscented particle filter （UPF） was introduced to navigation system. The simulation indicates that geomagnetic navigation using UPF could complete the position estimation with large initial horizontal position errors. However, this navigation system could only provide the position information. To provide all the kinematics states estimation of aircraft, a novel autonomous navigation algorithm, named unscented particle and Kalman hybrid navigation algorithm （UPKHNA）, was proposed for geomagnetic navigation, The UPKHNA used the output of UPF and barometric altimeter as position measurement, and employed the Kahnan filter to estimate the kinematics states of aircraft. The simulation shows that geomagnetic navigation using UPKHNA could provide all the kinematics states estimation of aircraft continuously, and the horizontal positioning performance is better than that only using the UPF.
文摘Nowadays, new paradigm of enterprise organization i s constantly changing due to the emergence of the global marketplace, the rise of information technology, and the emphasis of the social developments. This re quires a more flexible form of organization that are more adaptable to rapid cha nges in business environment such as autonomous work groups (AWGs) in order to achieve higher productivity and effectiveness. AWGs are work units responsib le for the production of goods and the provision of services. They involve team members in making decisions that are traditionally the responsibility of the sup ervisors and managers (Cohen & Bailey, 1997). Team members of AWGs are allowed t o self-regulate their behavior on jobs such as task assignments, methods for ca rrying out the work, and scheduling of activities etc. (Cohen & Ledford, 1994). For example, Motorola achieved a high organizational performance due to the succ essful implementation of AWGs in quality management (Piczak & Hauser, 1996). Xer ox also reported their operational successes based on the team-oriented work gr oups (Wageman, 1997). In recent years many organizations have replaced the traditional layers of manag ement with autonomous team-based work arrangements. Surveys indicated that the adoption of AWGs has soared in responding to the competitive business challenges . Many enterprises are making a deliberate effort to use AWGs to carry out work and operational processes as an alternative for hierarchical approaches (Lawler et al., 1995). There is a growing body of evidence that AWGs are more effective than traditionally managed groups and they contributes to organizational perform ance, such as improvement in operational performance, productivity, quality, cos t savings, employee attitude and behavior, and employee satisfaction (e.g. Pears on, 1992; Cohen & Ledford, 1994; Seers et al. 1995). Given the complexity and cognitive nature of team-based organizations, the mech anisms that the enterprises use in the development of the increasingly sophistic ated models, which can contribute to the effective functioning of AWGs, are extr emely important. The process of developing effective AWGs enables enterprises to inherent built-in intelligence of the organizations so that they will be more able to accommodate to external pressures and changes. The context of this paper is the construction of a dynamics framework and a stra tegic path for autonomous work groups in the technology-oriented manufacturing organization re-design. The framework is a conceptual one drawn from the litera ture survey. The importance of studying autonomous work groups for today’s manuf acturing organizations is claimed. Based on the General System Theory (GST), the characterization of AWGs is addressed. Three-dimensional domains such as t echnical content, service content, and relationship content are identified. A st rategic path is proposed to guide the organizations how the development of AWGs progresses at different levels of maturity that are associated with organization al effectiveness and performance. The utility of the model for AWGs is expected to provide technology-oriented organizations with a strategic path to achieve h igher organizational performance.
文摘传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, SLAM)技术下的温室自主导航系统,可利用激光雷达等传感器实时构建温室内的地图,并利用SLAM算法实现自主定位与导航。为了提高系统的鲁棒性和性能,提出了一种基于改进粒子滤波算法的姿态估计方法。试验结果表明:该温室自主导航系统能够高效准确地实现温室内的自主导航任务,为农业生产提供了一种新的自动化解决方案。
文摘传统的机器人定位导航方法在复杂建筑环境中存在精度不高、依赖传感器严重、无法有效处理动态障碍物等问题,导致其在实际应用中难以达到预期效果。为解决这些问题,引入了建筑信息模型(building information modeling,BIM)技术,借助BIM的几何和语义信息支持,在复杂环境中辅助机器人定位导航,为机器人提供更精确的环境感知和最优路径规划,减少与环境构件的碰撞风险,并提升任务执行的精准度和效率。比较论述了BIM技术在机器人定位、建图、路径规划等方面的应用现状,分析了其在建筑环境中的应用优势和挑战,并展望了未来在智能建筑和机器人智能化领域的应用前景。
