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Point mass filter based matching algorithm in gravity aided underwater navigation

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Journal of Systems Engineering and Electronics 2018年第1期29卷 152-159页

作者： HAN Yurong WANG Bo DENG Zhihong fu mengyin School of Automation Beijing Institute of TechnologyBeijing 100081China Nanjing University of Science and Technology Nanjing 210094China

Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.

关键词： gravity-aided inertial navigation system(INS) navigation point mass filter(PMF) deterministic resampling

Study of the control-equilibrium of control systems

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Journal of Systems Engineering and Electronics 2008年第4期19卷 775-778页

作者： Liu Qiaoge fu mengyin Sun Changsheng Dept. of Automatic Control School of Information Science and Technology Beijing Inst. of Technology Beijing 100081 P. R. China

Not so much had been talked about equilibrium in control area. On the basis of the phenomenon of balance, the concept of control-equilibrium and control-equilibrium of a control system is proposed. According to this theory, a perfect control method should not only guarantee stability of the system, but also ensure the control-equilibrium of the system. To achieve the control-equilibrium, feed-forward control is required.

关键词： balance control-equilibrium-state control-equilibrium feed-forward control

Design and performance analysis of networked control systems with random delay

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Journal of Systems Engineering and Electronics 2009年第4期20卷 807-822页

作者： Xia Yuanqing fu mengyin Liu Bo Liu Guoping Dept. of Automatic Control Beijing Inst. of Technology Beijing 100081 P. R. China Dept. of Engineering Univ. of Glamorgan Pontypridd CF37 1DL U. K.

The design and performance analysis of networked control systems with random network delay in the forward channel is proposed, which are described in a state-space form. A new control scheme is used to overcome the effects of network transmission delay, which is termed networked predictive control （NPC）. furthermore, three different ways to choose control input are discussed and the performances are analyzed, respectively. Both real-time simulations and practical experiments show the effectiveness of the control scheme.

关键词： networked control system. Dredictive control random network delay stability

Decentralized Adaptive Filtering for Multi-agent Systems with Uncertain Couplings

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 101-112页

作者： Hongbin Ma Yini Lv Chenguang Yang mengyin fu the School of Automation Beijing Institute of Technology the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the School of Computing and Mathematics Plymouth University

In this paper, the problem of decentralized adaptive filtering for multi-agent systems with uncertain couplings is formulated and investigated. This problem is challenging due to the mutual dependency of state estimation and coupling estimation. First, the problem is divided into four typical types based on the origin of coupling relations and linearity of the agent dynamics. Then models of the four types are given and the corresponding decentralized adaptive filtering algorithms are designed for the purpose of estimation of the unknown states and couplings which denotes the relations between agents and their neighbor agents in terms of states or outputs simultaneously,with preliminary stability analysis and discussions. For testing the effects of algorithm, with the so-called certainty-equivalence principle, control signals are designed based on the results of state estimation and coupling estimation got by the proposed decentralized adaptive filtering algorithms. Extensive simulations are conducted to verify the effectiveness of considered algorithms..

关键词： Couplings Covariance matrices Multi-agent systems Adaptation models Kalman filters Mathematical model

Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter

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Decentralized Filtering a Multi-Agent System with Local Para...

第25届中国控制与决策会议

作者： Yini Lv Hongbin Ma mengyin fu Chenguang Yang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institution of Technology School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781467355339

In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors’ previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements （outputs） and its neighbor agents’ outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.

关键词： multi-agent system kalman filter parametric couplings parameter estimation states estimation decentralized filtering

Lateral Control of Autonomous Vehicles Based on fuzzy Logic

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Lateral Control of Autonomous Vehicles Based on Fuzzy Logic

第25届中国控制与决策会议

作者： Xinyu Wang mengyin fu Yi Yang Hongbin Ma School of Automation Beijing Institution of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781467355322

Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing lateral control law and the strategy of determining the giving speed for autonomous vehicles. An improved method of calculating lateral offset and angle error based on multiple look-ahead distances is proposed to reduce the impact of noise in reference path data on the lateral control system. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed including forward and backward to deal with both simple and complex reference paths. Satisfactory simulation and experimental results have been obtained for different reference paths including a path with U-turn task in which backward driving is needed.

关键词： Autonomous Vehicle Lateral Control Multiple Look-ahead Distances Given Driving Speed fuzzy Logic

UKF based Fault Detection and State Estimation for Nonlinear Systems with Correlated Noise 36

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UKF based Fault Detection and State Estimation for Nonlinear...

第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia mengyin fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

A Novel Robust Kalman Filter for Unmanned Ground Vehicles Positioning under GNSS Abnormal Measurements

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A Novel Robust Kalman Filter for Unmanned Ground Vehicles Po...

第三十九届中国控制会议

作者： Zhang Yin mengyin fu Kai Shen School of Automation Beijing Institute of Technology

For unmanned ground vehicles（UGV）, reliable and precise navigation solution is a main challenge in complex environment, especially when measurements of global navigation satellite system（GNSS） are abnormal. In order to address this challenge, we propose an algorithmic solution strategy and present a novel robust Kalman filter for UGV positioning via fusing information from GNSS and inertial navigation system（INS）. Firstly, we review the positioning requirements of UGVs by analyzing the technical needs of continuously determining a vehicle’s location on road and precise navigation of lane ***, a new robust algorithm of Kalman filter is designed to reduce the positioning errors of GNSS/INS integrated navigation system when GNSS signals are abnormal. Thirdly, the application of the proposed algorithm to UGV positioning is illustrated. Simulation results with real data sets gathered from road tests show that the new robust filter can help us to evaluate the information quality of measurement, and can further autonomously adjust the Kalman gain and error covariance estimation matrices online. As a result, the accuracy and robustness of integrated navigation with the new filter can be improved in GNSS-challenged environments.

关键词： GNSS/SINS integrated navigation Roust Kalman filter Reliable positioning Unmanned ground vehicle

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限制搜索区域的分层路径规划算法

计算机辅助设计与图形学学报 2005年第8期17卷 1773-1777页

作者：付梦印李杰邓志红北京理工大学信息科学技术学院北京100081

依据城市路网独特的空间分布特性及不同道路等级特性,提出一种限制搜索区域的分层路径规划算法.与文献[2]相比,文中算法新增了对路网空间分布特性的利用,引入了限制搜索区域的搜索机制.结合路径规划算法在实时车辆导航系统中的实际应用... 详细信息

依据城市路网独特的空间分布特性及不同道路等级特性,提出一种限制搜索区域的分层路径规划算法.与文献[2]相比,文中算法新增了对路网空间分布特性的利用,引入了限制搜索区域的搜索机制.结合路径规划算法在实时车辆导航系统中的实际应用,给出该算法的一个应用实例,通过对实验结果的分析验证了其有效性.

关键词：车辆导航系统路径规划道路网络空间分布特性限制搜索区域道路等级分层