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.     

GPS在高速公路快速抢修中的应用

利用基于GPs的几何定位技术和施工装备，对高速公路进行精确的测量和机械化施工抢修，迅速高效地完成高速公路的快速抢修：分析了工程机械先进技术的发展方向，提出了使用基于3DGPS技术的工程机械是未来高速公路快速抢修的发展目标与方向的观点。     

汽车远程智能控制的研究

为满足人们对汽车更加智能化,人性化的需求,基于全球定位系统(GPS),人工智能技术以及智能手机控制技术等实现汽车的远程智能控制。文章将从国内外汽车智能控制发展现状,汽车远程智能控制如何实现,需要运用的技术点出发进行阐述,如何实现对汽车远程智能控制,以及实现汽车远程智能化控制后带来的便利进行描述。文章主要从汽车如何实现远程智能控制相关技术问题,以及其优缺点和未来发展前景。充分展现人工智能时代带来的便利,促进汽车自动驾驶的时代的到来。     

发射内弹道计算模型研究

对以燃气-蒸汽式发射动力装置为动力源的导弹冷弹射过程进行了分析，对冷却水汽化机理进行了研究，针对不同状态的冷却水，提出了不同汽化方式组合的冷却水汽化模型，在此基础上将弹射过程划分为4个阶段，并推导出各个阶段的汽化方程和能量平衡方程，建立了发射内弹道基本方程组。计算模型改进后，发射内弹道的计算精度有很大提高。     

GPS RTK技术在铁路站场极坐标测量中的应用

介绍了应用GPSRTK技术进行既有站场极坐标测量的方法、步骤及精度控制,并用全站仪进行了检测比较。结果表明:在合理的测量技术设计和严格规范的外业操作前提下,采用GPSRTK技术测量站场极坐标,精度满足既有站场极坐标测量的要求。     

全球定位系统和全球卫星导航系统伪距综合法

论述了综合GPS、GLONASS伪距测量值获取定位信息的滤波方法。GPS、GLONASS的坐标系、时间系统、工作频率不同，不同卫星的方位、高度各不相同，因而其测距的系统误差也各不相同，通常的方法是用GPS和GLONASS的钟差2个参数来描述不同系统卫星的系统误差，需用5颗卫星来定位，且精度受限。采用扩展状态维数，对不同卫星的系统误差进行在线估计的滤波方法，可以有效地改进卫星定位的精度。同时既可以用多星定位，充分利用测量信息，也可在任一系统的l颗卫星可用时，给出测者的最优估计位置信息，改进了双星系统的导航性能。     

GPS RTK技术在铁路客运专线放线中的应用

以Trimble 4700（或5700）GPS接收机为例，介绍了GPS RTK在铁路客运专线放线中的应用过程，重点叙述了坐标转换参数的求解和设置。通过GPS RTK放线试验阐述了GPS RTK在铁路客运专线放线中的可行性及优势，并对铁路客运专线的放线工作提出了建议。     

高山区GPS网正常高求解方法研究

导出了计算地形起伏引起的高程异常的实用公式，该公式特别适用于地形复杂地区，能避免中央区域的积分奇异。在此基础上建立了顾及地形影响的ＧＰＳ正常高求解的数学模型。文中讨论了两种ＧＰＳ正常高求解的方法，并通过实际工程算例验证了本文所述方法的实用性和有效性。     

GPS在实船测量中的应用

本文讲述了全球卫星定位系统（GPS）在舰船实船性能实验中的及有关实例。     

GPS技术在潍坊市进港公路测量中的应用

以在潍坊市进港公路测量为例,介绍了GPS技术在公路测量中的运用及前景.