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Rapid development methodology of agricultural robot navigation system working in GNSS-denied environment

Advances in Manufacturing 2023年第4期11卷 601-617页

作者： Run-Mao Zhao Zheng Zhu Jian-Neng Chen Tao-Jie Yu Jun-Jie Ma Guo-Shuai Fan Min Wu Pei-Chen Huang School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou310018People’s Republic of China Key Laboratory of Transplanting Equipment and Technology of Zhejiang ProvinceHangzhou310018People’s Republic of China School of Transportation Zhejiang Industry Polytechnic CollegeShaoxing312000ZhejiangPeople’s Republic of China College of Automation Zhongkai University of Agriculture and EngineeringGuangzhou510225People’s Republic of China

Robotic autonomous operating systems in global n40avigation satellite system(GNSS)-denied agricultural environments(green houses,feeding farms,and under canopy)have recently become a research hotspot.3D light detection and ranging(LiDAR)locates the robot depending on environment and has become a popular perception sensor to navigate agricultural robots.A rapid development methodology of a 3D LiDAR-based navigation system for agricultural robots is proposed in this study,which includes:(i)individual plant clustering and its location estimation method(improved Euclidean clustering algorithm);(ii)robot path planning and tracking control method(Lyapunov direct method);(iii)construction of a robot-LiDAR-plant unified virtual simulation environment(combination use of Gazebo and SolidWorks);and(vi)evaluating the accuracy of the navigation system(triple evaluation:virtual simulation test,physical simulation test,and field test).Applying the proposed methodology,a navigation system for a grape field operation robot has been *** virtual simulation test,physical simulation test with GNSS as ground truth,and field test with path tracer showed that the robot could travel along the planned path quickly and *** maximum and mean absolute errors of path tracking are 2.72 cm,1.02 cm;3.12 cm,1.31 cm,respectively,which meet the accuracy requirements of field operations,establishing the effectiveness of the proposed *** proposed methodology has good scalability and can be implemented in a wide variety of field robot,which is promising to shorten the development cycle of agricultural robot navigation system working in GNSS-denied environment.

关键词： Agricultural robot Global navigation satellite system(GNSS)-denied environment navigation system 3D light detection and ranging(LiDAR) Rapid developing Methodology

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Iterative spherical simplex unscented particle filter for CNS/Redshift integrated navigation system

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Science China(Information Sciences) 2017年第4期60卷 113-123页

作者： Kui FU Guangqiong ZHAO Xiajing LI Zhong-Liang TANG Wei HE Center for Robotics University of Electronic Science and Technology of China School of Mathematical Sciences University of Electronic Science and Technology of China School of Automation University of Electronic Science and Technology of China School of Automation and Electrical Engineering University of Science and Technology Beijing

We propose an improved Unscented Particle Filter(UPF) algorithm for the Celestial navigation system/Redshift(CNS/Redshift) integrated navigation system. The algorithm adopts the iterated spherical simplex unscented transformation rather than the traditional unscented transformation. The navigation performance of the proposed algorithm is assessed by several indexes. Simulation results show that the proposed UPF algorithm has advantages over the traditional UPF algorithm in terms of computation burden, navigation accuracy, and numerical stability.

关键词： CNS/Redshift navigation system UPF spherical simplex iteration

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FAULT-TOLERANT INTEGRATED navigation system BASED ON NEURONS

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Transactions of Nanjing University of Aeronautics and Astronautics 1998年第2期15卷 4-7页

作者：马昕袁信南京航空航天大学自动控制系

In this paper, the multisensor data fusion technique of a fault tolerant integrated navigation system is discussed. A neural approach for data fusion is proposed for multisensor integrated systems. The simulation res... 详细信息

关键词： navigation system neuron data fusion fault tolerant

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Availability Modeling and Simulation of Satellite navigation system based on Integration of PDOP and Reliability Maintainability Supportability

Availability Modeling and Simulation of Satellite Navigation...

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第九届中国卫星导航学术年会

作者： Zhuopeng Yang Yujun Gou Yanhua Zhu Heng Zheng China Academy of Aerospace Standardization and Product Assurance

Due to the satellite-launcher-station interactive operation, coupling of PDOP, reliability and maintainability and supportability(RMS), an availability modeling and simulation method of a navigation system is proposed by GSPN, Bayesian network and outage analysis. The availability of a per-slot is conformed based on GSPN, considering short scheduled or unscheduled outage of bus and payload,long outages, on-orbit or ground backup, testing time in launching site as well as launching reliability. Taking PDOP under different outages as the relationship of slots and the service availability is conformed based on Bayesian network. The vulnerable slots are identified and different optimization designs are compared. The simulation results have demonstrated that this method can be applied for navigation system design optimization, and satellite-launcher-station quantitative decision.

关键词： navigation system PDOP Designed life RMS GSPN Bayesian network

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A Comparison of navigation system Based on P300 BCI and SSVEP BCI

A Comparison of Navigation System Based on P300 BCI and SSVE...

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第24届中国控制与决策会议

作者： Lijing Meng, Jing Jin, Xingyu Wang * Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

A navigation system based on P300 brain computer interface system （BCIs） and steady-state visual evoked potentials （SSVEP） BCIs respectively was designed in this paper. In the experiment, subjects were required to move a ball on the computer screen to the target position by P300 BCI system and SSVEP BCI system. Bayesian linear discriminant analysis （BLDA） is used to detect P300 potentials and canonical correlation analysis （CCA） is used to detect SSVEP. The aim of this paper is to show the drawbacks and advantages of these two BCIs, when they were used in navigation task. The online experimental results show that P300 BCIs is more robust for subjects compared to SSVEP BCIs.

关键词： P300 Steady-State Visual Evoked Potentials (SSVEP) Brain Computer Interface navigation system

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Explicit Symplectic Geometric Algorithms for Quaternion Kinematical Differential Equation

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IEEE/CAA Journal of Automatica Sinica 2018年第2期5卷 479-488页

作者： Hong-Yan Zhang Zi-Hao Wang Lu-Sha Zhou Qian-Nan Xue Long Ma Yi-Fan Niu School of Information Science and Technology Hainan Normal University Haikou 571158 China the Department of Engineering Sino-European Institute of Aviation Engineering Civil Aviation University of China Tianjin 300300 China Civil Aviation University of China Tianjin 300300 China

Solving quaternion kinematical differential equations(QKDE) is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neither preserve the norm of quaternions nor avoid errors accumulated in the sense of long term time. We present explicit symplectic geometric algorithms to deal with the quaternion kinematical differential equation by modelling its time-invariant and time-varying versions with Hamiltonian systems and adopting a three-step strategy. Firstly,a generalized Euler's formula and Cayley-Euler formula are proved and used to construct symplectic single-step transition operators via the centered implicit Euler scheme for autonomous Hamiltonian system. Secondly, the symplecticity, orthogonality and invertibility of the symplectic transition operators are proved rigorously. Finally, the explicit symplectic geometric algorithm for the time-varying quaternion kinematical differential equation, i.e., a non-autonomous and non-linear Hamiltonian system essentially, is designed with the theorems proved. Our novel algorithms have simple structures, linear time complexity and constant space complexity of computation. The correctness and efficiencies of the proposed algorithms are verified and validated via numerical simulations.

关键词： Index Terms-Linear time-varying system navigation system quaternion kinematical differential equation (QKDE) real-timecomputation symplectic method.

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SINS/CNS/GPS integrated navigation algorithm based on UKF

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Journal of systems Engineering and Electronics 2010年第1期21卷 102-109页

作者： Haidong Hu Xianlin Huang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 E R. China

A new nonlinear algorithm is proposed for strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter （UKF） to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle＇s attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm.

关键词： navigation system integrated navigation unscented Kalman filter federated Kalman filter strapdown inertial navigation system celestial navigation system global psitioning system.

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Federated unscented particle filtering algorithm for SINS/CNS/GPS system

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Journal of Central South University 2010年第4期17卷 778-785页

作者：胡海东黄显林李明明宋卓越 Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Electrical and Electronic Engineering University of Manchester

To solve the problem of information fusion in the strapdown inertial navigation system(SINS)/celestial navigation system(CNS)/global positioning system(GPS) integrated navigation system described by the nonlinear/non-Gaussian error models,a new algorithm called the federated unscented particle filtering(FUPF) algorithm was *** this algorithm,the unscented particle filter(UPF) served as the local filter,the federated filter was used to fuse outputs of all local filters,and the global filter result was *** the algorithm was not confined to the assumption of Gaussian noise,it was of great significance to integrated navigation systems described by the non-Gaussian *** proposed algorithm was tested in a vehicle's maneuvering trajectory,which included six flight phases:climbing,level flight,left turning,level flight,right turning and level *** results are presented to demonstrate the improved performance of the FUPF over conventional federated unscented Kalman filter(FUKF).For instance,the mean of position-error decreases from(0.640×10-6 rad,0.667×10-6 rad,4.25 m) of FUKF to(0.403×10-6 rad,0.251×10-6 rad,1.36 m) of *** comparison of the FUKF,the FUPF performs more accurate in the SINS/CNS/GPS system described by the nonlinear/non-Gaussian error models.

关键词： navigation system integrated navigation unscented Kalman filter unscented particle filter

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Cooperative navigation and localization for multiple UUVs

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Journal of Marine Science and Application 2009年第3期8卷 216-221页

作者：张立川徐德民刘明雍严卫生西北工业大学航海学院陕西西安710072

The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line （MLBL） structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.

关键词： navigation system moving long baseline multi-UUVs cooperative navigation and localization extended Kalman filter (EKF)

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Research and application of the logistics information system based on GPS

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International English Education Research 2013年第12期 33-35页

The study of the logistics system mode based on the city construction is mainly according to the concrete characteristics of the logistics operation, to sum up the characteristics of the logistics system in the area of the set of the logistics information system, which aims to design a reasonable response model fi＇amework of the logistics system. This research is mainly based on the research on the GPS system, and deepening the logistics information system is to design and construct the function combination of the countermeasures of the logistics information technology, which is to design a complete system framework of the working state, hi addition to the related GIS technology, and the implementation of the monitoring and the control of the logistics information system, and the implementation of the navigation guidance in a reasonable range, provide the reference for the conslraction plan of the whole system, which lays a theoretical foundation for the healthy and effective operation of the countermeasures of the logistics information technology

关键词： GPS/GIS logistics information system monitoring system navigation system

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