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为解决车辆行驶数据缺失和滞后造成路径规划系统不稳定问题,建立了基于车路协同系统(CVIS)的新型区域路径实时决策方法。首先,通过获取网联车辆的实时行驶数据,结合交通信号配时和路径转向信息,并考虑车辆在途经交叉口时可能遇到的非自由流行驶情况,动态计算当前路段路阻值;其次,根据当前时刻各路段的路阻统计数据,以及区域路网拓扑结构,实时预测各备选路线的行程时间,选择行程时间最少的路线作为车辆最优行驶路径;最后,选取北京市望京地区的典型区域路网数据进行验证。在150组实验过程中,计算得出不同时段下按所提方法得到的最优路线用时平均比常规导航系统推荐最优路线用时分别短9.52 s、13.39 s及20.65 s,证明了所提方法的有效性。 相似文献
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针对当前矿区生产作业效率低下、安全事故频发等问题,提出了一种矿用运输车辆无人驾驶感知及控制方法。感知部分,设计出基于激光雷达和毫米波雷达融合的多目标识别架构,在数据关联的基础上,应用基于卡尔曼滤波的联合概率数据关联(JPDA)算法实现矿区环境下多目标识别;控制部分,采用路径预瞄-跟踪的方式,将横向控制与纵向控制进行解耦,并通过反馈机制实时进行偏差修正,实现无人驾驶矿用运输车辆精准的横向与纵向控制。此外,搭建了矿车无人驾驶系统平台,在矿区不同场景下对上述感知及控制方法进行了测试。实验结果表明,感知算法能够实现道路可行驶区域的精确检测,并可识别出多种障碍物类型,控制算法在上下坡等场景下可实现无人驾驶矿用运输车辆纵向速度和横向位置的精准控制,满足实际应用需求。 相似文献
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针对高速公路上车辆行驶速度快,换道行为危险程度高的问题,聚焦于不可避免、发生频繁、一旦发生事故后果严重的强制换道行为,改进基于门控循环单元(GRU)的换道模型,对强制换道行为进行分析与预测。为保证模型的有效性,选取下一代仿真技术(NGSIM)数据作为模型的训练集与检测集,使用侧向加速度将车辆侧向摆动数据有效删除并得到强制换道的最迟换道点,进而实现车辆位置与换道决策的预测。实验结果证明,所提模型能够以96.01%的准确率判定车辆在最迟换道点的强制换道行为,相较于LSTM模型准确率提升了3.67%,同时相较于朴素贝叶斯网络准确率提高了7.31%。 相似文献
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定位导航授时(PNT)系统是一个国家重要的基础设施,我国正在建设的北斗卫星导航系统是我国PNT体系结构的核心,能为海陆空天的军民商和科研用户提供精确的位置、速度和授时服务,带来巨大的军事、经济和社会效益。北斗导航系统正按"先区域、后全球"的总体发展思路分步实施,目标是在2020年前建成技术先进、开放兼容、独立运行、稳定可靠,并拥有自主知识产权的全球导航卫星系统,成为能与美、俄、欧导航系统相互兼容和互操作的全球导航卫星系统(GNSS)四大供应商之一。从建设、运营到用户认可,路漫漫其修远兮,北斗系统将如何四方求索? 相似文献
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12月13日下午,由中国卫星通信广播电视用户协会主办的《“北斗”星导航产业及应用发展促进方案》论证会在京举行。协会副会长兼秘书长侯庆国主持会议。曹冲教授和李冬航主任着重就我国“北斗”产业的发展现状、未来前景和促进发展的措施作了讲解和论证。当前我国“北斗”产业建设空前活跃,主要产业集聚区在环渤海(以北京为中心)、长三角、珠三角、中西部陕川渝、鄂豫湘地区,已建成一批创新企业产业园。2012年底宣布“北斗”正式提供区域服务及政府促进措施落地以来,2013年“北斗”芯片及终端产品质量、数量都有显著提高和增长。“北斗”应用市场潜力巨大,主要是军事应用、公安武警应用、应急救援和行业应用,涉及到测绘、航运、物流、汽车、通信、农林、机械控制、智能交通业;大众应用包括私家车辆、移动终端、互联网、个人位置服务及游戏娱乐应用等。自“北斗”覆盖亚太地区以来,国际市场正在拓展,已与巴基斯坦、缅甸、斯里兰卡、老挝、文莱等国家签署合作协议,与泰国合作项目也已落地。到2020年,“北斗”服务将覆盖全球。 相似文献
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受GPS定位精度的限制,浮动车在主辅路并行路网结构下进行地图匹配和路径推测存在困难,直接影响路况信息获取的准确性.在现有浮动车信息处理框架基础上,运用统计学方法提升地图匹配的精度,并将主辅路径同时作为车辆的行驶轨迹输出,有效降低了路径推测错误的可能性.最后,引入证据推理框架以解决路径选择策略调整所带来的信息不可信和信息冲突问题.对比实验表明,改进系统在主路和辅路上的路况准确性分别有14.26%和9.46%的提升. 相似文献
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2011年,广州市启动了公务用车使用管理信息系统建设服务项目,公务用车使用管理信息系统通过为车辆安装"北斗"卫星定位车载终端设备和身份识别装置,搭建监控中心管理平台,建立"北斗"车辆监控系统,为加强公务车辆使用管理提供强有力的信息化保障手段。 相似文献
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定位导航授时(PNT)系统是一个国家重要的基础设施,我国正在建设的北斗卫星导航系统是我国PNT体系结构的核心,能为海陆空天的军民商和科研用户提供精确的位置、速度和授时服务,带来巨大的军事、经济和社会效益.北斗导航系统正按“先区域、后全球”的总体发展思路分步实施,目标是在2020年前建成技术先进、开放兼容、独立运行、稳定可靠,并拥有自主知识产权的全球导航卫星系统,成为能与美、俄、欧导航系统相互兼容和互操作的全球导航卫星系统(GNSS)四大供应商之一.从建设、运营到用户认可,路漫漫其修远兮,北斗系统将如何四方求索? 相似文献
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Sandra Verhagen Peter J.G. Teunissen 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
The evolving BeiDou Navigation Satellite System constellation brings new opportunities for high-precision applications. In this contribution the focus will be on one such application, namely precise and instantaneous relative navigation of a formation of LEO satellites. The aim is to assess the ambiguity resolution performance with the future GPS and BeiDou constellations depending on system choice (GPS, BeiDou, or GPS+BeiDou), single- or dual-frequency observations, receiver noise, and uncertainties in ionosphere modelling. In addition, for the GPS+BeiDou constellation it will be shown how the growing BeiDou constellation in the years to come can already bring an important performance improvement compared to the GPS-only case. The performance will be assessed based on the percentage of time that the required precision can be obtained with a partial ambiguity resolution strategy. 相似文献
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Wenwu Ding Bingfeng Tan Yongchang Chen Felix Norman Teferle Yunbin Yuan 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2018,61(3):951-961
The performance of real-time (RT) precise positioning can be improved by utilizing observations from multiple Global Navigation Satellite Systems (GNSS) instead of one particular system. Since the end of 2012, BeiDou, independently established by China, began to provide operational services for users in the Asia-Pacific regions. In this study, a regional RT precise positioning system is developed to evaluate the performance of GPS/BeiDou observations in Australia in providing high precision positioning services for users. Fixing three hourly updated satellite orbits, RT correction messages are generated and broadcasted by processing RT observation/navigation data streams from the national network of GNSS Continuously Operating Reference Stations in Australia (AUSCORS) at the server side. At the user side, RT PPP is realized by processing RT data streams and the RT correction messages received. RT clock offsets, for which the accuracy reached 0.07 and 0.28?ns for GPS and BeiDou, respectively, can be determined. Based on these corrections, an accuracy of 12.2, 30.0 and 45.6?cm in the North, East and Up directions was achieved for the BeiDou-only solution after 30 min while the GPS-only solution reached 5.1, 15.3 and 15.5?cm for the same components at the same time. A further improvement of 43.7, 36.9 and 45.0 percent in the three directions, respectively, was achieved for the combined GPS/BeiDou solution. After the initialization process, the North, East and Up positioning accuracies were 5.2, 8.1 and 17.8?cm, respectively, for the BeiDou-only solution, while 1.5, 3.0, and 4.7?cm for the GPS-only solution. However, we only noticed a 20.9% improvement in the East direction was obtained for the GPS/BeiDou solution, while no improvements in the other directions were detected. It is expected that such improvements may become bigger with the increasing accuracy of the BeiDou-only solution. 相似文献
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基于北斗卫星反射信号的海面溢油探测方法及试验 总被引:1,自引:1,他引:0
为了监测小规模固定海域的溢油状况,针对岸基接收平台提出了一种基于北斗卫星反射信号的海面溢油探测方法,该方法将全球导航卫星系统反射信号(GNSS-R)技术应用于岸基条件下的海面溢油探测。进行了岸基试验,利用右旋圆极化(RHCP)天线和左旋圆极化(LHCP)天线分别采集北斗卫星直射与反射信号,在信号同步的基础上提取卫星直射和反射信号的相关功率,并结合北斗卫星的高度角与方位角信息,反演目标海域的介电常数来判断海面有无溢油。试验结果表明探测表面为油面时,介电常数反演结果均值为3.6,标准差为2.13,这与油的真实介电常数范围2.0~4.5一致,远小于海水介电常数,证明将GNSS-R应用到岸基海面溢油探测中具有可行性。 相似文献
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Kai Xiao Fuping Sun Maihang He Lundong Zhang Xinhui Zhu 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2021,67(5):1638-1655
The integer ambiguity resolution (AR) of carrier phase is significant for Global Navigation Satellite System (GNSS) precise positioning. However, in kinematic case, single-epoch AR methods based on alone GNSS are usually not reliable due to the instable pseudorange accuracy. Moreover, the computation of classical AR method Least Squares Ambiguity Decorrelation Adjustment (LAMBDA) is large. Thus, the inertial measurement unit (IMU) is introduced, a new inertial-aided AR method that directly rounds the float ambiguity of BeiDou triple-frequency combined observations, which is characterized by long wavelength, low carrier-phase noise and ionospheric delay, is proposed. The mathematical model of the new method is derived first. Then the impacts of the carrier-phase noise, ionospheric delay and inertial navigation system (INS) position error on the AR success ratio of combined observation are analyzed through probabilistic approach. Based on above investigation, the combinations (0, ?1, 1), (1, 4, ?5) and (4, ?2, ?3) are selected to resolve the original ambiguity. A vehicular integrated navigation test is performed to demonstrate the proposed method. The results show that the average AR success ratios of the three selected combinations, whose float ambiguity errors are 0.041, 0.146, 0.279 cycle respectively, are above 97.25% without regard to low-elevation C05. With respect to positioning accuracy based on our AR method when compared with IE software, the east, north, up error RMS of position are 0.042, 0.024, 0.069 m, respectively. In terms of the AR recover after the BeiDou signals outage, as long as 62 s BeiDou signal complete outage, all the ambiguities of all satellites could be re-fixed immediately. Besides, during the 90 s signals partial outage, the AR is not influenced by the position error, since the float ambiguity errors are all below half-cycle. The research of this contribution demonstrates the effectiveness of the proposed new method, which indicates it is applicable to kinematic positioning, even in BDS degraded and denied environments. 相似文献
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随着全球导航卫星系统反射信号(GNSS-R)的提出,其在海冰检测领域的应用也越来越广泛。北斗地球同步轨道(GEO)卫星的角速度较小且仰角变化仅有3°~4°,因此在相同观测地点其镜面反射点的空间位置非常稳定,可以提高特定区域海冰检测的时间分辨率。对在中国渤海湾进行的2次岸基海冰检测实验(2015年1月24日和2016年1月30日至2月4日)进行分析,验证了北斗GEO B1反射信号对沿岸海冰进行长时间连续检测的可行性。第1个实验结果显示海冰密集度与2颗GEO卫星C01和C03的极化比值结果具有相关性;第2个实验结果显示3颗GEO卫星C01、C02和C03检测的海冰极化比值与大气温度存在正相关关系,其中C01、C02和C03的极化比值与大气温度的相关值分别为0.61、0.72和0.57。 相似文献
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基于动力学模型分析了多机协同控制下的航迹欺骗技术,利用配备有电子欺骗技术的电子战飞行器(ECAVs, Electronic Combat Air Vehicles),对敌方的防空系统中的雷达网实施电子攻击行动来达到欺骗干扰效果.对搭载距离拖引干扰(RGPO, Range Gate Pull-Off)技术的ECAVs在防空雷达网中的作战运用及协同策略进行了研究,空间模型包括单架ECAV对单部雷达以及多架ECAV对雷达组网两种情形.基于ECAV、雷达和虚假航迹点三者共线关系,削减搜索空间,解决动力约束下ECAVs轨迹规划约束最优化难题,算法高效快捷,可实时完成ECAVs轨迹规划. 相似文献