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Improved inclination correction method applied to the guidance system of agricultural vehicles

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International Journal of Agricultural and Biological Engineering 2020年第6期13卷 183-194页

作者： Ricardo Ospina Noboru Noguchi Research Faculty of Agriculture Hokkaido UniversitySapporo 060-8589 HokkaidoJapan

This research introduces a new inclination correction method with increased accuracy applied to the guidance system of an agricultural *** method considers the geometry of a robot tractor and uses an Inertial Measurement Unit(IMU)to correct the lateral error of the RTK-GPS antenna measurements raised by the tractor's inclinations.A parameters optimization experiment and an automatic guidance experiment under real working conditions were used to compare the accuracy of a traditional correction method with the new correction method,by calculating the RMSE of the lateral error and the error reduction *** additional tuned correction method was found by using a simple analytical method to find the optimal variables that reduced the lateral error to a *** results indicate that the new correction method and the tuned correction method display a significant error reduction percentage compared to the traditional correction *** methods could correct the GPS lateral error caused by the roll inclinations in *** resulting lateral deviation caused by the tractor's inclinations could be reduced up to 23%for typical travelling speeds.

关键词： inclination correction method guidance system agricultural vehicles robot tractor IMU RTK-GPS precision farming

Exploration of BD2/SINS Deeply Integrated Navigation in CZ-7 Launch Vehicle guidance system

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Exploration of BD2/SINS Deeply Integrated Navigation in CZ-7...

Design of Model Reference Adaptive Controller for Active guidance system of High Speed Maglev Train

第五届中国卫星导航学术年会

作者： TANG Yi ZHONG Wenan SHOU Junming HU Wenfeng Unit 63810

ISBN: (纸本)9783642547393

Long March 7（CZ-7） launch vehicle is China’s new generation of non-toxic,non-polluting,high performance,low cost and high thrust medium launch vehicle *** an important part of launch vehicle flight control system,the main function of the guidance system is to control the center of mass motion using the motion parameters provided by navigation system,ensure that the launch vehicle along a predetermined *** present,CZ-7 launch vehicle guidance system used global navigation satellite system（GNSS） and the strapdown inertial navigation system（SINS） loosely integrated navigation *** the first flight phase of launch vehicle,the positioning antenna of satellite receiver disturbed largely,and launch vehicle injection accuracy is decided by the guidance accuracy of second flight phase,thus GNSS/SINS loosely integrated navigation mode used only in the second flight phase of launch *** order to further improve injection accuracy of CZ-7 launch vehicle,the BD2/SINS deeply integrated which applied in the CZ-7 launch vehicle guidance system are discussed in this *** system structure and applicability condition for BD2/SINS deeply integrated navigation are analysis briefly in the paper,based on the new characteristics of CZ-7 launch *** research results can provide a theoretical basis and technical support for the new launch vehicle guidance system.

关键词： BD2 strapdown inertial navigation system deeply integrated navigation launch vehicle guidance system

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Design of Model Reference Adaptive Controller for Active Gui...

High Precision guidance system of the Gravity-1 Launch Vehicle

第32届中国控制与决策会议

作者： Bowen Li Xiaolong Li Zhiqiang Long College of Intelligence Science and Technology National University of Defense Technology

The electromagnetic suspension type high-speed maglev train guidance system is an unstable system and requires active *** the train passes the curve or is subjected to cross wind,the vehicle body will be greatly *** order to ensure that the guidance control system maintains good control performance,a model reference adaptive controller is ***,a model of a dual electromagnet guidance system was *** design of the current loop reduces the response delay of the electromagnet and reduces the order of the *** on Lyapunov stability theory,an adaptive mechanism is designed so that the gap state of the controlled object can follow the gap state of the reference *** results show that the system can maintain good control performance under different disturbance dynamics.

关键词： High speed maglev train guidance system Model Reference Adaptive Controller

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Aerospace China 2024年第1期25卷 56-60页

作者： ZHANG Jie XU Guoguang BU Xiangwei Orienspace Technology(Shandong)Co. LtdBeijing 100076

In the development of the Gravity-1 launch vehicle, solid rocket motors without a thrust termination mechanism created great challenges for ascent guidance. To resolve this problem, the Gravity-1 GNC system used cross product guidance in the core 2nd stage, and a nonlinear adaptive guidance algorithm in core 3rd stage, in order to achieve high orbit injection precision. On January 11, 2024, the Gravity-1 launch vehicle successfully carried out its maiden flight from a mobile sea platform off the coast of Haiyang in Shandong province, inserting its payload into a low earth orbit at an altitude of 500 kilometers, validating the guidance algorithm.

关键词： Gravity-1 guidance system high precision

guidance systematic Error Separation Method Based on Nonlinear Combinatorial Model

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Guidance Systematic Error Separation Method Based on Nonline...

Improving seeking precision by utilizing ghost imaging in a semi-active quadrant detection seeker

第37届中国控制会议

作者： Xuanying Zhou Zhengming Wang Dong Li Haiyin Zhou Jiongqi Wang Department of Mathematics Nation University of Defense and Technology College of systems Engineering Nation University of Defense and Technology Unit 94 PLA 91550

In order to improve the attack accuracy about sea-based missiles, an accurate separation of the guidance systematic errors including the instrumentation errors and the initial errors, is the key problem. However, the environmental matrix in traditional linear model is ill-conditioning as some systematic errors are coupling. Here we provide a nonlinear combinatorial model by making use of trajectory tracking data, and give a parameter estimation method to separate the guidance systematic errors under launch coordinate. In this study, we give the Bayesian Maximum a posterior（MAP） estimation, and apply this method to separate the guidance instrumentation errors and the initial errors simultaneously combining with trajectory tracking data fusion model. The simulation result shows that the precision of nonlinear combinatorial guidance systematic errors separation is higher than that of the traditional linear model.

关键词： guidance system error separation nonlinear combinatorial model Bayesian Estimation sea-based missile

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Chinese Journal of Aeronautics 2021年第12期34卷 171-176页

作者： Siyuan WANG Lijing LI Wen CHEN Mingjie SUN Department of Opto-electronic Engineering Beihang UniversityBeijing 100083China

Conventional semi-active laser guidance takes advantage of the laser designator to illuminate the stable and uniform laser spot on target *** seeker collects the reflected light by a quadrant detector and outputs the relative position information to guide the missile to the illuminating laser ***,the designation and guidance accuracy could be jeopardized by the randomly drifting of laser spot caused by the instability of designation platform and air *** this work,ghost imaging technique is adapted to a quadrant detector semi-active seeker by utilizing structured illumination on the *** a series of structured illumination masks,the signals from the quadrant detector are multiplexed to perform calculation of the target relative position as well as image reconstruction of the illuminated area *** target recognition methods could be further applied to the reconstructed image to calculate the designating error and correct the *** results of simulation and experiment demonstrate that the proposed method could improve the guidance accuracy in many circumstances which would lead to attacking deviation if conventional semi-active laser guidance is used.

关键词： Digital micro-mirror device Ghost imaging guidance system Image acquisition Semi-active laser seeker

Low-cost experimental application of real-time kinematic positioning for increasing the benefits in cereal crops

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International Journal of Agricultural and Biological Engineering 2021年第3期14卷 194-199页

作者： Abdelhamid Tayebi Josefa Gómez Marián Fernández Francisco Sáez de Adana Oscar Gutiérrez Computer Science Department University of AlcaláAlcaláde Henares 28801Spain

Traditional agriculture is facing several challenges worldwide such as increased population growth,rapid forestry and urbanization,resource scarcity,climate change,environmental pollution,competition among different ***,farmers need to improve productivity in order to maintain the output *** study attempted to evaluate the benefits of using Real-Time Kinematic(RTK)positioning in precision agriculture through a series of real measurements carried out when farming *** farming management actions involved in the cereal crop process(raise fallow,plow,sow,fertilize,mow,and harvest)have been done using an automatic guidance system that has reduced costs.A reduction of 20%has been quantified in the fuel,the amount of fertilizer,the labor costs and the hours of ***,the environmental impact has been also *** inexpensive system consisting of a reference base station near the field and a mobile unit mounted on the test vehicle has been installed in order to increase the benefits in cereal *** Navigation Satellite system(GNSS)systems including Global Positioning system(GPS),GLONASS,Galileo and Beidou have been used in the *** research serves as a practical guide to implementing a low-cost guidance system to achieve best management practice.

关键词： real-time kinematic low-cost positioning benefits guidance system cereal

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基于问题图谱的铁路客站导向系统现状研究

Navigation system for a smart wheelchair

设计 2023年第2期8卷 438-447页

作者：张依林吴群黄晟昱浙江理工大学艺术与设计学院，浙江杭州清华大学美术学院，北京

随着城市化进程的快速发展，人们的出行需求日益多元化。铁路客站作为满足人们重要出行需求的基础设施，正逐渐向综合化、多元化和站城融合的复合型交通枢纽演变。这一空间形态的转变给铁路客站导向系统设计带来了巨大挑战，即如何在复... 详细信息

随着城市化进程的快速发展，人们的出行需求日益多元化。铁路客站作为满足人们重要出行需求的基础设施，正逐渐向综合化、多元化和站城融合的复合型交通枢纽演变。这一空间形态的转变给铁路客站导向系统设计带来了巨大挑战，即如何在复杂的交通空间环境中为人们提供有效的寻路工具。本文依托高铁用户出行体验问题数据库，采用问题图谱工具分析铁路客站导向标识现存的典型问题，并与国家推荐性标准中对应的设计要求作对比分析。分析结果表明，铁路客站导向系统的消极体验主要集中于载体布局和设置形式混乱、环境系统与导向系统使用需求不匹配、信息和视觉呈现较差等方面。这些现象的根源在于导向系统设计指南的落实不到位以及设计指南细节的缺失。对此，本文提出了系统性的解决策略，包括构建导向系统设计知识库、建立人机协同设计机制以及加强设计系统内外沟通，为提高导向系统的设计质量和用户体验提供方法基础。综上，本文基于铁路客站导向系统的现状进行了系统而深入的分析，并通过定位深层设计问题为导向系统设计质量的提升提供了新的设计方法，助力构建良好的铁路出行体验。

关键词：铁路客站导向系统问题图谱用户体验 Railway Station guidance system Issue Mapping User Experience

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2005年第2期6卷 110-117页

作者： BONCI Andrea LONGHI Sauro MONTERI■ Andrea VACCARINI Massimo Department of Computer Management and Automation Engineering Marche Polytechnic University 60131 Ancona ItalyDepartment of Computer Management and Automation Engineering Marche Polytechnic University 60131 Ancona ItalyDepartment of Computer Management and Automation Engineering Marche Polytechnic University 60131 Ancona ItalyDepartment of Computer Management and Automation Engineering Marche Polytechnic University 60131 Ancona Italy

Recent results on the development of a navigation system for a smart wheelchair are presented in this paper. In order to reduce the development cost, a modular solution is designed by using commercial and low cost devices. The functionalities of the tracking control system are described. Experimental results of the proposed assistive system are also presented and discussed.

关键词： Smart wheelchair guidance system Path planning Tracking control