Virtual 3D city model as a priori information source for vehicle localization system

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.     

基于“1+3”的复合型人才课程体系的探索与实践——以新能源汽车技术专业为例

当前时期,针对复合型人才教学体系的创新,应当有对性地构建起更加完善的人才培养体系,并做好对于学生的专业性知识技能和专业性职业技能优化培养。结合现阶段的新能源汽车技术专业培养,要针对把握性教学标准和教学要求,做好有效性的更新和完善,本文主要结合基于"1+3"的复合型人才课程体系的探索与实践展开了研究分析。     

龙角镇高边坡稳定性FLAC^3D数值分析

对重庆云阳龙角镇岩质高边坡进行了数值模拟，包括边坡的初始应力场、开挖过程中位移、塑性区及稳定性的分析、计算，为高边坡工程的设计提供了依据和建议。     

舰艇仿真指控系统的设计与实现

舰艇指控系统是海军新型舰艇的作战指挥控制中心，实现仿真指控系统是舰艇新装备尽快形成战斗力的需要。在“新型导弹驱护舰作战指控舱仿真训练系统”项目建设的基础上，提出了舰艇仿真指控系统的设计方案和有关技术难点的实现方法。     

南京长江第三大桥钢塔工程控制技术

南京长江第三大桥索塔为“人”字形曲线钢塔。通过试验验证钢筋混凝土棒剪力键群传递荷载的传力机理及承载能力,并编制了制造及架设工艺技术标准。钢塔制造采用板单元件、块体、箱体三阶段制作工艺;采用组装胎型和施焊方法,控制曲线钢塔线型;开发集激光跟踪测量、计算机控制及液压技术于一体的精密加工找正技术,进行钢塔端面加工;采用计算机预拼代替多节段实际预拼,开发精度管理系统进行累计精度控制。钢塔架设采用自立式定臂塔机吊装,施工过程中对关键部位布设应变计进行实时监测,严格工序检查和现场检测,3个月完成高232 m、最大重160 t的钢塔吊装;形成并采用TMD、TLD相结合的钢塔吊装被动制振方案。2005年9月交工验收检测:安装端面接触率≥65%,最大偏位≤1/6 000。     

C~3Ⅰ系统抗攻击能力评估研究

介绍一种评估C3Ⅰ系统抗攻击能力的方法。首先提出用网络熵的方法进行定量分析,然后用模糊综合评判的方法进行评估,最后结合实例对该方法进行验证,得出评估结论。     

三维设计在船体结构中的应用

在三维空间里设计水面舰艇的船体结构是军船结构设计的发展趋势。介绍船体结构三维设计的构思;三维设计方法与传统二维设计方法的比较;目前三维设计可达到的设计深度。详细论述结构三维设计的研究内容和具体实施方法,揭示三维设计中的关键技术,最后提出舰艇船体结构三维设计的发展构想。     

对基坑开挖和土钉支护条件下的基坑稳定性的FLAC3D数值模拟分析

运用FLAC~(3D)软件对郑州某基坑工程进行了开挖与支护模拟计算,对基坑稳定性进行了分析,对土钉支护工作机理进行初步研究,得到基坑边坡变形和受力以及土钉受力的规律。最后结果表明应用FLAC~(3D)程序对基坑土钉支护的数值模拟是可行的,通过计算得出不同开挖阶段的基坑边坡位移、基底隆起以及对土钉拉力为工程设计与施工提供参考。     

水上信息平台构建的思考

上海国际航运中心的建设,船舶的通航密度增加和航速提高,对港口水域的安全性提出了新的挑战,通过构建水上信息平台,为船舶提供实时的航海环境场资信,让航行更安全,海洋更清洁。港口的发展、水运工程建设、水上救助、防台防汛、通航管理等领域的信息化发展对水上信息的多元化服务提出了更高的要求。     

回流区水流运动三维数值模拟

建立了三维有限元水流模型,模型中采用了高分辨率计算格式。依此模型计算了突扩引起的回流,获得的掺混区流速分布和回流区固定点水位、流速非恒定过程与实测结果基本一致。