An enhanced bit-wise parallel algorithm for real-time GPS software receiver

Software-based global positioning system (GPS) receivers perform all the baseband signal processing and the high level functions on a general purpose processor. The heavy computational loads of the signal correlation in baseband processing make it difficult for software receivers to operate in real time. In order to improve the real-time performance, an enhanced bit-wise parallel algorithm has been developed in this study. The enhanced algorithm has been implemented and tested in a 12 channels real-time GPS software receiver. The system consists of a radio frequency front end, a data acquisition board and software that runs on a laptop with a Pentium-M 1.5 GHz processor running the Window^® XP operating system. The data acquisition board packs the 2-bit intermediate frequency samples with a 2-bit in/8-bit out shift register and transfers the packed samples to laptop through a USB port. The software running on the laptop performs all the baseband and navigation processing in real time. The test results show that the enhanced algorithm significantly improves the real-time performance of the software receiver by reducing the computational operations for signal correlation by 50% compared with the existing bit-wise parallel algorithm. Furthermore, the enhanced algorithm also reduces the amount of required memory for storing data for signal correlation.     

GPS-RTK与全站仪结合在丘陵地区公路断面测量中的应用

介绍了GPS-RTK和全站仪测量技术的特点及二者结合测量公路断面的方法,通过实例论述了该方法运用在丘陵地区公路测量中的实用性和高效性,并进行了精度分析。     

一定分布模式下的最优Lp估计

观测数据在一定的分布模式下,需从理论上解决究竟用多大的ｐ值进行Ｌｐ估计（最优ｐ值的确定）,本文基于渐近方差整体最小的原则,给出了最优Ｌｐ估计的定义。观测数据中含有粗差（异常值）的扰动,其误差分布可视为污染分布,作者分析了最优ｐ值的大小,结果表明,若观测数据中含有不同大小、数量的粗差,为使Ｌｐ估计差最小,则ｐ将取［１．２,１．５］中的某一定值,Ｌｐ估计结果最优,此结论对测量数据处理具有一定的参考价值     

地球空间信息技术在新一轮国土资源大调查中的应用探讨

从分析全球变化和社会可持续发展研究的要求出发,提出地球空间信息技术的形成背景和应用基础。针对新一轮国土资源大调查的性质和任务,探讨了地球空间信息技术在新一轮国土资源大调查中的应用。     

Enhanced orbit determination for BeiDou satellites with FengYun-3C onboard GNSS data

GPS Solutions - A key limitation for precise orbit determination of BeiDou satellites, particularly for satellites in geostationary orbit (GEO), is the relative weak geometry of ground stations....     

语素关联约束的动态环境视觉定位优化

在自动驾驶场景中,视觉相机能够实现低成本的定位与环境感知,但是场景中的动态目标会影响视觉定位的轨迹。对此,本文提出了语素关联约束的动态环境视觉定位优化方法。首先,利用目标检测和语义分割提取环境中的语义实体;然后,通过语素关联模型识别出动态语素;最后,建立动态语素的特征掩膜,用于特征匹配过程中的动态目标特征点过滤,从而提高视觉定位效果。本文基于视觉机器人平台在校园道路开展了试验,发现了动态目标通过关键点影响视觉定位结果的规律——在转弯时或者目标在视野中横向移动时影响较大。试验结果表明,本文方法的动态语义要素识别的平均精度F₁约为87%,并且在语素关联优化前后,局部区域最大轨迹距离差为2.463 m,与真值对比RMSE降低了38%。     

双目视觉与惯导融合的移动机器人定位方法

为了提高移动机器人的定位精度,提出一种双目视觉与惯导融合的视觉SLAM算法.在视觉SLAM前端部分,为了保持直接法计算速度快及特征法精度高的特点,提出一种融合直接法和特征法的半直接法双目视觉里程计.在后端优化阶段,将视觉数据与IMU数据相互融合,在滑动窗口中以非线性优化的方式构建误差函数,优化位姿计算精度.在EuRoc数据集中对本文提出的算法进行试验验证.结果表明,与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比,本文系统在Machine Hal l与Vi con Room两个场景中的定位精度均得到了明显的提升,同时可以保持较高的运行效率.