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Modified attitude factor graph fusion method for unmanned helicopter under atmospheric disturbance

Chinese Journal of Aeronautics 2022年第6期35卷 285-297页

作者： kecheng sun Qinghua ZENG Jianye LIU Wenqi QIU Jinhen SHI Navigation Research Center Nanjing University of Aeronautics&AstronauticsNanjing 211106China Key Laboratory of the MIIT Advanced Aircraft Navigation Control and Health ManagementNanjing 211106China Jiangsu University Collaborative Innovation Center for Satellite Communication and Navigation Nanjing 211106China

The Unmanned Aerial Helicopter(UAH)has attracted increasing attention in the military and civil areas with the unique flight *** significant impact on the attitude measurement performance of UAHs by the strong airflow disturbance is an essential factor threatening flight *** improve the attitude measurement performance of UAHs under atmospheric disturbance,an attitude fusion method over the factor graph is applied and provides the plug-and-play *** on the relationship between position,velocity and attitude,a new attitude correction algorithm for the Modified Attitude Factor Graph Fusion(MAFGF)navigation method is designed and constructed through the fused position and velocity ***,results of simulation and experiment are given to show the effectiveness of the proposed method.

关键词： Attitude correction Factor graph Integrated navigation Strong airflow environment Unmanned aerial helicopter

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浅谈工程建设和工程项目管理——以紫金山金矿为例

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中国矿业 2006年第1期15卷 12-15页

作者：孙克成中国地质大学武汉430074

本文就工程建设和工程项目管理进行了全面系统的阐述,总结了紫金山金矿开发建设过程中工程项目管理的成功经验,并就如何形成具有紫金矿业特色的工程建设和工程项目管理模式,提出了基本原则和构想,以适应经济全球化和管理现代化的要求,... 详细信息

本文就工程建设和工程项目管理进行了全面系统的阐述,总结了紫金山金矿开发建设过程中工程项目管理的成功经验,并就如何形成具有紫金矿业特色的工程建设和工程项目管理模式,提出了基本原则和构想,以适应经济全球化和管理现代化的要求,促进公司的发展壮大,实现公司的长远发展战略目标。

关键词：工程项目管理模式效率优先社会化管理风险管理组织建设质量管理信息管理绩效管理

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Smartphone heading correction method based on LSTM Neural Network

Smartphone heading correction method based on LSTM Neural Ne...

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第十三届中国卫星导航年会

作者： Yan Huang Qinghua Zeng Qiyao Lei Zhijun Chen kecheng sun College of Automation Engineering Nanjing University of Aeronautics ＆ Astronautics

The error of heading estimation is the main factor that affects the accuracy of the navigation and positioning of the smartphone based on the pedestrian dead reckoning. In this paper, aiming at the heading error caused by gyroscope drift in smartphone pedestrian heading estimation, a smartphone heading error compensation model based on Long Short-Term Memory network（LSTM） is proposed. Due to the low precision of inertial devices in smartphones, the direct integration will lead to cumulative errors that the neural network can correct. Considering that the calculation method of inertial navigation is dead reckoning, the data time of the preceding and following moments is related. And LSTM performs better in the long sequence than the ordinary neural network, so this paper uses a dynamic capture system to get high-precision attitude information. The LSTM actual value of the neural network training establishes the direction error correction model of smartphones. By comparing the proposed algorithm with traditional quaternion heading estimation methods, the error correction model presented in this paper can effectively suppress the influence of gyroscope drift. The result is better,which can meet the basic needs of pedestrian navigation and positioning.

关键词： Pedestrian dead reckoning Heading correction Smartphone Netural network

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An Auxiliary Heterogeneous Visual Localization Algorithm Based on Improved Hough Transform Line Matching

An Auxiliary Heterogeneous Visual Localization Algorithm Bas...

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第十三届中国卫星导航年会

作者： Yixue Luo Qinghua Zeng Wenqi Qiu Yineng Li kecheng sun College of Automation Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of the MIIT advanced aircraft navigation control and health management Jiangsu University Collaborative Innovation Center for satellite communication and navigation

With the increasing demand for all-weather,uninterrupted aviation missions,heterogeneous visual navigation and positioning technology based on visible images and infrared images has been developed,and the key technology of heterogeneous image matching has become a research *** to the different imaging mechanisms of heterogeneous images,it is difficult to directly apply the homogeneous image matching algorithm to heterogeneous images,and the feature extraction accuracy of algorithms based on line segment structure such as Hough transform needs to be ***,an improved Hough transform line matching algorithm to assist heterogeneous visual positioning is proposed in this *** on the heterogeneous image obtained by different optical sensors,the adaptive Canny operator of the improved maximum inter-class variance method is used for edge *** detected edge binary image is processed by Hough transform,and the line features in the heterogeneous images are extracted for *** experimental results show that the Hough transform line matching algorithm using the improved Canny operator has a line feature detection accuracy of 66%,which is 74.23% higher than the traditional Hough transform line matching *** number of correctly matched line features of the proposed algorithm is better than that of the traditional algorithm,which can provide ideas for the pose calculation based on heterogeneous *** running time of the proposed algorithm is better than that of the traditional Hough transform line matching algorithm,and the total time is reduced by 46.62%.

关键词： Heterogeneous Image Hough Transform Canny Operator Feature Matching Visual Positioning

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基于SOA架构的配电自动化系统与GIS信息交互

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重庆电力高等专科学校学报 2017年第2期22卷 46-49页

作者：孙克成南京四方亿能电力自动化有限公司江苏南京211101

提出一种基于面向服务架构(SOA)的系统方案,使用网络服务(web service)技术,以解决配电自动化系统与配电地理信息系统(GIS)之间的信息交互问题,并对方案中各个相关模块及接口进行了说明。最后,对信息在模块中的传输效率进行分析。此方... 详细信息

提出一种基于面向服务架构(SOA)的系统方案,使用网络服务(web service)技术,以解决配电自动化系统与配电地理信息系统(GIS)之间的信息交互问题,并对方案中各个相关模块及接口进行了说明。最后,对信息在模块中的传输效率进行分析。此方案支持配电网所要求的数据"源端唯一,信息共享"原则,可以很好地应用到实际电网场景中。

关键词：配电自动化系统地理信息系统公共信息模型矢量图形面向服务架构网络服务

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