taking the bucket of multi function earth drill as an example, combining with the conception of multi sensor integration and data fusion, adopting the terrene column chart and digging torque formula as control depende...taking the bucket of multi function earth drill as an example, combining with the conception of multi sensor integration and data fusion, adopting the terrene column chart and digging torque formula as control dependence, the detecting method of the earth drill’s working state is introduced. Multi sensor data fusion is done with the aid of BP neural network in Matlab. The data to be interfused are pre processed and the program of simulation and “point checking” is given.展开更多
A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-mac...A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.展开更多
Global Navigation Satellite Systems(GNSS)is able to achieve centimeter-level accuracy in open-sky areas.However,their performance declines in urban canyons and outdoor shadow areas.Conversely,commercial Fifth Generati...Global Navigation Satellite Systems(GNSS)is able to achieve centimeter-level accuracy in open-sky areas.However,their performance declines in urban canyons and outdoor shadow areas.Conversely,commercial Fifth Generation Mobile Communications Technology(5G)New Radio(NR)signals,with their wider bandwidth and shorter wavelengths,ofer better range accuracy.To enhance positioning accuracy in challenging environments,we developed a deeply integrated method to combine commercial 5G NR signals with the GNSS.This method involves three key steps:Firstly,we use the Secondary Synchronization Signal to aid the Demodulation Reference Signal(SA-DMRS)in the 5G NR synchronization channel,which aims to improve the tracking loop robustness.Secondly,a Phase-Stabilized Kalman Filter(PSKF)is integrated into the Phase-Locked Loop to boost performance under low Carrier-to-Noise Density Ratio conditions.Lastly,the Extended Kalman Filter(EKF)is applied to fuse 5G and GNSS signals for positioning,and the results are fed back to correct the 5G NR tracking loop.Field tests revealed that SA-DMRS boosted range accuracy by 42.3%,PSKF contributed a further 17%improvement,and GNSS-aided improved the range accuracy by about 33.3%.Compared to the GPS(Global Positioning System)-EKF method,our fusion approach enhances horizontal positioning accuracy by approximately 49.8%,and the vertical positioning accuracy is improved by about 53.3%.Additionally,compared to the GPS-only method,the proposed method can still provide positioning services when there are three usable satellites.Compared with the GNSS-only method,the deep coupled method improved the accuracy in the horizontal and vertical by about 51.2%and 24.0%,respectively.These confrm the method’s efectiveness for accurate and reliable positioning in challenging environments.展开更多
文摘taking the bucket of multi function earth drill as an example, combining with the conception of multi sensor integration and data fusion, adopting the terrene column chart and digging torque formula as control dependence, the detecting method of the earth drill’s working state is introduced. Multi sensor data fusion is done with the aid of BP neural network in Matlab. The data to be interfused are pre processed and the program of simulation and “point checking” is given.
文摘A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.
基金The National Natural Science Foundation of China(42171417)Medium-and Long-term Scientifc and Technological Planning Projects for Radio,Television and Audio-Visual Networks+1 种基金Guangxi Science and Technology Major Project(AA22068072)Major Science and Technology Project of Jiangsu Province(No.BG2024003).
文摘Global Navigation Satellite Systems(GNSS)is able to achieve centimeter-level accuracy in open-sky areas.However,their performance declines in urban canyons and outdoor shadow areas.Conversely,commercial Fifth Generation Mobile Communications Technology(5G)New Radio(NR)signals,with their wider bandwidth and shorter wavelengths,ofer better range accuracy.To enhance positioning accuracy in challenging environments,we developed a deeply integrated method to combine commercial 5G NR signals with the GNSS.This method involves three key steps:Firstly,we use the Secondary Synchronization Signal to aid the Demodulation Reference Signal(SA-DMRS)in the 5G NR synchronization channel,which aims to improve the tracking loop robustness.Secondly,a Phase-Stabilized Kalman Filter(PSKF)is integrated into the Phase-Locked Loop to boost performance under low Carrier-to-Noise Density Ratio conditions.Lastly,the Extended Kalman Filter(EKF)is applied to fuse 5G and GNSS signals for positioning,and the results are fed back to correct the 5G NR tracking loop.Field tests revealed that SA-DMRS boosted range accuracy by 42.3%,PSKF contributed a further 17%improvement,and GNSS-aided improved the range accuracy by about 33.3%.Compared to the GPS(Global Positioning System)-EKF method,our fusion approach enhances horizontal positioning accuracy by approximately 49.8%,and the vertical positioning accuracy is improved by about 53.3%.Additionally,compared to the GPS-only method,the proposed method can still provide positioning services when there are three usable satellites.Compared with the GNSS-only method,the deep coupled method improved the accuracy in the horizontal and vertical by about 51.2%and 24.0%,respectively.These confrm the method’s efectiveness for accurate and reliable positioning in challenging environments.
