With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation sa...With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.展开更多
Many ontologies are provided to representing semantic sensors data.However,heterogeneity exists in different sensors which makes some service operators of Internet of Thing(IoT) difficult(such as such as semantic infe...Many ontologies are provided to representing semantic sensors data.However,heterogeneity exists in different sensors which makes some service operators of Internet of Thing(IoT) difficult(such as such as semantic inferring,non-linear inverted index establishing,service composing) .There is a great deal of research about sensor ontology alignment dealing with the heterogeneity between the different sensor ontologies,but fewer solutions focus on exploiting syntaxes in a sensor ontology and the pattern of accessing alignments.Our solution infers alignments by extending structural subsumption algorithms to analyze syntaxes in a sensor ontology,and then combines the alignments with the SKOS model to construct the integration sensor ontology,which can be accessed via the IoT.The experiments show that the integration senor ontology in the SKOS model can be utilized via the IoT service,and the accuracy of our prototype,in average,is higher than others over the four real ontologies.展开更多
基金supported in part by the Guangxi Power Grid Company’s 2023 Science and Technol-ogy Innovation Project(No.GXKJXM20230169)。
文摘With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.
基金Supported by National Natural Science Foundation of China(No.61601039)financially supported by the State Key Research Development Program of China(Grant No.2016YFC0801407)+3 种基金financially supported by the Natural Science Foundation of Beijing Information Science & Technology University(No.1625008)financially supported by the Opening Project of Beijing Key Laboratory of Internet Culture and Digital Dissemination Research(NO.ICDD201607)Open Foundation of State key Laboratory of Networking and Switching Technology(Beijing University of Posts and Telecommunications)(NO.SKLNST-2016-2-08)financially supported by the Importation and Development of High-Caliber Talents Project of Beijing Municipal Institutions(Grant No.CIT&TCD201504056)
文摘Many ontologies are provided to representing semantic sensors data.However,heterogeneity exists in different sensors which makes some service operators of Internet of Thing(IoT) difficult(such as such as semantic inferring,non-linear inverted index establishing,service composing) .There is a great deal of research about sensor ontology alignment dealing with the heterogeneity between the different sensor ontologies,but fewer solutions focus on exploiting syntaxes in a sensor ontology and the pattern of accessing alignments.Our solution infers alignments by extending structural subsumption algorithms to analyze syntaxes in a sensor ontology,and then combines the alignments with the SKOS model to construct the integration sensor ontology,which can be accessed via the IoT.The experiments show that the integration senor ontology in the SKOS model can be utilized via the IoT service,and the accuracy of our prototype,in average,is higher than others over the four real ontologies.
