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Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved. 相似文献
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Vehicle-to-vehicle communication systems allow vehicles to share state information with one another to improve safety and efficiency of transportation networks. One of the key applications of such a system is in the prediction and avoidance of collisions between vehicles. If a method to do this is to succeed it must be robust to measurement uncertainty and to loss of communication links. The method should also be general enough that it does not rely on constraints on vehicle motion for the accuracy of its predictions. It should work for all interactions between vehicles and not just a select subset. This paper presents a method to calculate Time to Collision for unconstrained vehicle motion. This metric is gated using a novel technique based on relative vehicle motion that we call “looming”. Finally, these ideas are integrated into a probabilistic framework that accounts for uncertainty in vehicle state and loss of vehicle-to-vehicle communication. Together this work represents a new way of considering vehicle collision estimation. These algorithms are validated on data collected from real world vehicle trials. 相似文献
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曹妃甸LNG接收站作为我国北方天然气供应的重要保障主体,冬季高峰期月到港LNG船舶达到8~11艘,按照规划扩建后将成为国内外规模最大的LNG接收站。由于LNG船舶通航的严格监管,到港船舶数量的增加会对航道通航效率造成显著压力,因此需要论证码头建设规模与航道的适应性。在现状定线制通航条件下,基于多智能体仿真建模方法,构建曹妃甸港区LNG船舶进出港全过程仿真模型,定量评估不同LNG码头建设规模对LNG船舶通航效率的影响。结果表明,当LNG泊位数达到4个时,船舶进出港受制约明显,优化航路后能有效提高LNG船舶的通航效率。 相似文献
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大源渡航电枢纽拟增建鱼道,受枢纽总平面布置条件限制,鱼道进口如果布置在电站尾水,则施工难度和投资均较大,存在严重安全隐患。为既确保安全、节省投资,又满足过鱼要求,采用SMS-RMA2模型建立了平面二维水动力数学模型,模拟得出枢纽坝轴线下游一定范围内多种不同工况下的流场图,为在坝址所处微弯分汊河段找到合适的鱼道进口位置提供了可靠的参考依据。为提高过鱼效果,建议在鱼道进口上游侧设置导鱼电栅等拦鱼系统和喷淋水声、灯光等诱鱼系统,帮助鱼类及早发现鱼道入口。 相似文献
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信江是鄱阳湖流域的五大河流之一,现状航道为Ⅶ级,不满足社会经济发展要求,信江下游拟通过渠化工程来提高航道等级。根据最新河道地形资料及实测水文资料建立工程段的平面二维水流泥沙数学模型并进行详细验证,对航道整治工程后的水流、泥沙冲淤进行计算。对东大河蔡家洲、干港口、磨盘洲3个重点滩险段航道现状及碍航特性进行分析,提出渠化工程后3个险滩段航道整治布置方案,综合考虑工程后的水流运动、工程量、行洪影响、航槽稳定等条件,综合比选得到3个险滩段的航道整治推荐方案及对蔡家洲滩进行工程方案优化,设计成果可为类似航道整治提供参考。 相似文献
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长江航道大型整治工程施工河段长、工程量大且工序多,施工水域船舶通航密度大、船舶种类多,施工安全生产控制与河段通航安全面临巨大挑战。依托长江干线下、中、上游典型大型航道整治工程,围绕工程施工全过程风险管控及安全保障技术,采用理论分析、仿真模拟、现场试验、系统研发相结合的方法,提出了长江航道大型整治工程风险识别与评估方法,构建了通航安全与施工生产安全风险预测模型,研究了长江航道大型整治工程全方位、全过程、全要素施工安全保障与控制技术,并基于AIS和云技术开发了长江航道整治工程施工区安全综合信息平台,为保障大型航道整治工程生产及通航安全提供了理论依据和技术手段。 相似文献
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This paper aims at demonstrating the usefulness of integrating virtual 3D models in vehicle localization systems. Usually, vehicle localization algorithms are based on multi-sensor data fusion. Global Navigation Satellite Systems GNSS, as Global Positioning System GPS, are used to provide measurements of the geographic location. Nevertheless, GNSS solutions suffer from signal attenuation and masking, multipath phenomena and lack of visibility, especially in urban areas. That leads to degradation or even a total loss of the positioning information and then unsatisfactory performances. Dead-reckoning and inertial sensors are then often added to back up GPS in case of inaccurate or unavailable measurements or if high frequency location estimation is required. However, the dead-reckoning localization may drift in the long term due to error accumulation. To back up GPS and compensate the drift of the dead reckoning sensors based localization, two approaches integrating a virtual 3D model are proposed in registered with respect to the scene perceived by an on-board sensor. From the real/virtual scenes matching, the transformation (rotation and translation) between the real sensor and the virtual sensor (whose position and orientation are known) can be computed. These two approaches lead to determine the pose of the real sensor embedded on the vehicle. In the first approach, the considered perception sensor is a camera and in the second approach, it is a laser scanner. The first approach is based on image matching between the virtual image extracted from the 3D city model and the real image acquired by the camera. The two major parts are: 1. Detection and matching of feature points in real and virtual images (three features points are compared: Harris corner detector, SIFT and SURF). 2. Pose computation using POSIT algorithm. The second approach is based on the on–board horizontal laser scanner that provides a set of distances between it and the environment. This set of distances is matched with depth information (virtual laser scan data), provided by the virtual 3D city model. The pose estimation provided by these two approaches can be integrated in data fusion formalism. In this paper the result of the first approach is integrated in IMM UKF data fusion formalism. Experimental results obtained using real data illustrate the feasibility and the performances of the proposed approaches. 相似文献
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