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基于ROS2的稻麦轮作农田智能路径规划与自动导航系统
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作者 陈立邦 杜歆桐 +1 位作者 张波 吴春笃 《农机化研究》 北大核心 2026年第3期145-153,共9页
针对稻麦轮作农田中农机自动导航系统稳定性与智能化水平亟待提升的现状,集成传感数据融合技术、经过优化的智能路径规划算法和自动化的导航控制模块,开发了一套智能农用导航系统。该系统的核心架构基于第二代机器人操作系统(ROS2),利... 针对稻麦轮作农田中农机自动导航系统稳定性与智能化水平亟待提升的现状,集成传感数据融合技术、经过优化的智能路径规划算法和自动化的导航控制模块,开发了一套智能农用导航系统。该系统的核心架构基于第二代机器人操作系统(ROS2),利用其强大的通信能力和丰富的软件包支持,构建了高精度实时动态定位系统(RTK-GNSS),通过扩展卡尔曼滤波器(EKF)对GPS信号、惯性测量单元(IMU)数据和里程计信息进行深度融合,实现了同步定位与建图(Simultaneous Localization and Mapping, SLAM)功能,为农业机械提供实时、准确的位置信息,集成至ROS2的Navigation2堆栈以执行导航任务。同时,配套研发了适配ROS2的农田路径规划算法(Farmland Path Planning, FPP),以优化路径规划方案,并结合Mapviz接入天地地图实现导航过程可视化操作。依托3WPZ-500K型喷雾机作为试验平台,进行了农机调度和现场作业导航试验,结果显示:平均横向偏移误差为7.68 cm、作业导航点平均误差为2.25 cm、速度平均误差为0.026 m/s、航向角平均误差为0.036 rad。整个导航系统能长时间稳定运行,可满足农机调度和田间作业导航需求。 展开更多
关键词 稻麦轮作 ROS2 路径规划 SLAM RTK navigation2 EKF
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TESLA-Based Authentication for BeiDou Civil Navigation Message 被引量:3
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作者 Zhijun Wu Yun Zhang +1 位作者 Liang Liu Meng Yue 《China Communications》 SCIE CSCD 2020年第11期194-218,共25页
Due to the civil BeiDou navigation system is open,unauthenticated,and non-encrypted,civilian BeiDou navigation signals may have great security loopholes during transmission or reception.The main security loophole here... Due to the civil BeiDou navigation system is open,unauthenticated,and non-encrypted,civilian BeiDou navigation signals may have great security loopholes during transmission or reception.The main security loophole here is spoofing attacks.Spoofing attacks make the positioning or timing results of BeiDou civilian receivers wrong.Such errors may cause a series of security problems,which lays a serious hidden danger for Bei-Dou satellite information security.This article proposes an anti-spoofing method for BeiDou navigation system based on the combination of SM commercial cryptographic algorithm and Timed Efficient Stream Loss-tolerant Authentication(TESLA)for spoofing attacks.In this solution,we use the SM3 algorithm to generate a TESLA key chain with time information,and then use the key in the key chain to generate the message authentication code for the BeiDou D2 navigation message.The message authentication code is inserted into a reserved bit of the D2 navigation message.In addition,this solution uses the SM2 algorithm to protect and encrypt time information in the TESLA key chain to prevent key replay attacks in TESLA.The experimental results tested on the experimental platform built in this paper show that this scheme reduces the possibility of the BeiDou navigation system being deceived and enhances the safety of the BeiDou navigation system. 展开更多
关键词 BeiDou navigation system SM commercial cryptographic algorithm TESLA message authentication code D2 navigation message
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The 10th BeiDou 2 Navigation Satellite Flew into Space
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《Aerospace China》 2011年第4期23-,共1页
LM launch vehicles established a new record by successfully performing the 16th successful flight this year.A LM-3A launched the 10th BeiDou 2 satellite into its predetermined transfer orbit on December 2 from the XSL... LM launch vehicles established a new record by successfully performing the 16th successful flight this year.A LM-3A launched the 10th BeiDou 2 satellite into its predetermined transfer orbit on December 2 from the XSLC in Sichuan Province. 展开更多
关键词 The 10th BeiDou 2 Navigation Satellite Flew into Space
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Clinical application of improved 2D computer-assisted fluoroscopic navigation through simulating a 3D vertebrae image to guide pedicle screw internal fixation
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作者 刘恩志 《外科研究与新技术》 2011年第2期94-94,共1页
Objective To study the effect of using improved 2D computer-assisted fluoroscopic navigation through simulating 3D vertebrae image to guide pedicle screw internal fixation.Methods Posterior pedicle screw internal fixa... Objective To study the effect of using improved 2D computer-assisted fluoroscopic navigation through simulating 3D vertebrae image to guide pedicle screw internal fixation.Methods Posterior pedicle screw internal fixation,distraction 展开更多
关键词 Clinical application of improved 2D computer-assisted fluoroscopic navigation through simulating a 3D vertebrae image to guide pedicle screw internal fixation
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