Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-tru...Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-trust autonomous driving environments,the possibility of measurement failures and malicious communication attacks tends to reduce positioning performance.With this in mind,this paper presents an ultra-wide bandwidth(UWB)based cooperative positioning system with the specific objective of ICV localization in zero-trust driving environments.Firstly,to overcome measurement degradation under non-line-ofsight(NLOS)propagation conditions,this study proposes a decentralized 3D cooperative positioning method based on a distributed Kalman filter(DKF)by integrating relative rangeazimuth-elevation measurements,unlike the state-of-the-art methods that rely on only one single relative range information to update motion states.More specifically,in contrast to pioneering studies that mainly focus on the positioning problem arising from only one single type of communication attack(either false data injection(FDI)or denial of service(DoS)),we consider a more challenging case of secure cooperative state estimation under mixed FDI and DoS attacks.To this end,a singular-value decomposition(SVD)-assisted decoupled DKF algorithm is proposed in this work,in which a novel update-triggered inter-vehicular communication mechanism is introduced to ensure robust positioning performance against communication attacks while maintaining low transmission load between individuals.To verify the effectiveness in practical 3D NLOS scenarios,we design an intelligent connected multi-robot platform based on a robot operating system(ROS)and UWB technology.Consequently,extensive experimental results demonstrate its superiority and feasibility by achieving a high positioning accuracy of 0.68 m under adverse attacks,especially in the case of hybrid FDI and DoS attacks.In addition,several critical discussions,including the impact of attack parameters,resilience assessment,and a comparison with event-triggered methods,are provided in this work.Moreover,a demo video has been uploaded in the supplementary materials for a detailed presentation.展开更多
化学蚀变指数（chemical index of alteration）最早作为判别源岩区化学风化程度的指标而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA=n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]×100...化学蚀变指数（chemical index of alteration）最早作为判别源岩区化学风化程度的指标而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA=n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]×100。CaO^＊代表硅酸盐中的CaO，n（CaO^＊）=n（CaO）-n（CO2，方解石）-O．5·n（CO2，白云石）-10／3·n（P2O5）。化学蚀变指数研究样品的选取极为重要，最佳岩性为细碎屑岩，需要清除成岩过程中钾交代作用的影响。用成分变异指数（ICV）来判别沉积再循环作用和沉积物成分被改造的程度。用A—CN—K三角图解来判别物源区的源岩性质和样品钾交代的特征及其风化趋势。宜昌三斗坪地区南华系CIA研究表明：该区南华系下统莲沱组下部的CIA值在50～65之间（干燥寒冷），上部为65～75之间（温暖潮湿）和顶部为55～60之间（干燥寒冷）；南华系上统南沱组的CIA值基本在60～65之间（干燥寒冷），近顶部两个样品的CIA值达70（温暖潮湿）。上述CIA值变化表明本区南华纪经历自老到新由冰期干燥寒冷-间冰期温暖潮湿-冰期干燥寒冷沉积环境的变化过程。本文据此提出了新的扬子古陆南华系新的划分和对比方案。展开更多
化学蚀变指数（chemical index of alteration）（CIA）最早作为判别源岩化学风化程度而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA={n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]}×10...化学蚀变指数（chemical index of alteration）（CIA）最早作为判别源岩化学风化程度而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA={n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]}×100。CaO^＊代表硅酸盐中的CaO，n（CaO^＊）=n（CaO）-n（CO2方解石）-n0．5×n（CO2白云石）-10／3xn（P2O5）。化学蚀变指数样品的选取极为重要，最佳岩性为细碎屑岩，并需清除成岩过程中钾交代作用的影响，以及采用成分变异指数（ICV）来判别沉积再循环作用和沉积物成分被改造的程度。使用A—CN—K三角图解判别物源区的源岩性质和样品钾交代的程度及其风化趋势。黔南-桂北地区南华系的CIA研究表明：该地区南华系下部的长安组其下部CIA值为60～65之间，中部为70～5，上部回落到65—70之间。南华系中部富禄组CIA值高，在85-95之间。南华系上部的南沱组CIA值再次回落到60—65的范围。上述CIA值的变化表明本区南华纪时期自老至新经历多次由干燥寒冷-温暖潮湿气候期的变化。本文据此提出扬子地块南华系新的划分、对比方案。展开更多
基金supported in part by the National Natural Science Foundation of China(62273065,62003064,62303386)the Natural Science Foundation of Chongqing(CSTB2023NSCQ-LZX0014)+1 种基金the Science and Technology Research Program of Chongqing Municipal Education Commission(KJZDK201800701,KJQN202000717)Sichuan Science and Technology Program(2024NSFSC0525).
文摘Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-trust autonomous driving environments,the possibility of measurement failures and malicious communication attacks tends to reduce positioning performance.With this in mind,this paper presents an ultra-wide bandwidth(UWB)based cooperative positioning system with the specific objective of ICV localization in zero-trust driving environments.Firstly,to overcome measurement degradation under non-line-ofsight(NLOS)propagation conditions,this study proposes a decentralized 3D cooperative positioning method based on a distributed Kalman filter(DKF)by integrating relative rangeazimuth-elevation measurements,unlike the state-of-the-art methods that rely on only one single relative range information to update motion states.More specifically,in contrast to pioneering studies that mainly focus on the positioning problem arising from only one single type of communication attack(either false data injection(FDI)or denial of service(DoS)),we consider a more challenging case of secure cooperative state estimation under mixed FDI and DoS attacks.To this end,a singular-value decomposition(SVD)-assisted decoupled DKF algorithm is proposed in this work,in which a novel update-triggered inter-vehicular communication mechanism is introduced to ensure robust positioning performance against communication attacks while maintaining low transmission load between individuals.To verify the effectiveness in practical 3D NLOS scenarios,we design an intelligent connected multi-robot platform based on a robot operating system(ROS)and UWB technology.Consequently,extensive experimental results demonstrate its superiority and feasibility by achieving a high positioning accuracy of 0.68 m under adverse attacks,especially in the case of hybrid FDI and DoS attacks.In addition,several critical discussions,including the impact of attack parameters,resilience assessment,and a comparison with event-triggered methods,are provided in this work.Moreover,a demo video has been uploaded in the supplementary materials for a detailed presentation.
文摘化学蚀变指数（chemical index of alteration）最早作为判别源岩区化学风化程度的指标而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA=n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]×100。CaO^＊代表硅酸盐中的CaO，n（CaO^＊）=n（CaO）-n（CO2，方解石）-O．5·n（CO2，白云石）-10／3·n（P2O5）。化学蚀变指数研究样品的选取极为重要，最佳岩性为细碎屑岩，需要清除成岩过程中钾交代作用的影响。用成分变异指数（ICV）来判别沉积再循环作用和沉积物成分被改造的程度。用A—CN—K三角图解来判别物源区的源岩性质和样品钾交代的特征及其风化趋势。宜昌三斗坪地区南华系CIA研究表明：该区南华系下统莲沱组下部的CIA值在50～65之间（干燥寒冷），上部为65～75之间（温暖潮湿）和顶部为55～60之间（干燥寒冷）；南华系上统南沱组的CIA值基本在60～65之间（干燥寒冷），近顶部两个样品的CIA值达70（温暖潮湿）。上述CIA值变化表明本区南华纪经历自老到新由冰期干燥寒冷-间冰期温暖潮湿-冰期干燥寒冷沉积环境的变化过程。本文据此提出了新的扬子古陆南华系新的划分和对比方案。
文摘化学蚀变指数（chemical index of alteration）（CIA）最早作为判别源岩化学风化程度而提出，随后又应用于对沉积物沉积环境的判定。化学蚀变指数的表达式为CIA={n（Al2O3）／[n（Al2O3）＋n（CaO^＊）＋n（Na2O）＋n（K2O）]}×100。CaO^＊代表硅酸盐中的CaO，n（CaO^＊）=n（CaO）-n（CO2方解石）-n0．5×n（CO2白云石）-10／3xn（P2O5）。化学蚀变指数样品的选取极为重要，最佳岩性为细碎屑岩，并需清除成岩过程中钾交代作用的影响，以及采用成分变异指数（ICV）来判别沉积再循环作用和沉积物成分被改造的程度。使用A—CN—K三角图解判别物源区的源岩性质和样品钾交代的程度及其风化趋势。黔南-桂北地区南华系的CIA研究表明：该地区南华系下部的长安组其下部CIA值为60～65之间，中部为70～5，上部回落到65—70之间。南华系中部富禄组CIA值高，在85-95之间。南华系上部的南沱组CIA值再次回落到60—65的范围。上述CIA值的变化表明本区南华纪时期自老至新经历多次由干燥寒冷-温暖潮湿气候期的变化。本文据此提出扬子地块南华系新的划分、对比方案。
