Federated Kalman Filter for GPS/DR Integrated Navigation Systems in Land Vehicle

GPS/DR is a low-cost and high-reliability navigation facility. A federated Kalman filter was designed to real- ize the optimal synthesis of GPS/DR integrated land vehicle navigation system, and its algorithm is presented. A field test was performed. The theoretical analysis and the experiment results both show that, by using this federated Kahnan filter, the positioning accuracy and fault tolerance capability of the GPS/DR integrated navigation system can be greatly improved.     

基于双模定位的冷链物流实时监测系统

为加强冷链物流监管，实现冷链物流的全程温度和定位监测，设计了基于双模定位的冷链物流实时监测系统。本系统除了集成嵌入式技术、卫星定位技术和GPRS无线通信技术等以实现温度采集、数据远程传输和定位等功能，还使用融合数据的双模定位取代单GPS定位以提高复杂环境下的定位精度，并提出使用改进的扩展卡尔曼滤波算法进行定位解算以实现双系统下定位数据融合，在静态时对水平精度和三维精度分别提高了37.5%和28.6%。测试结果表明，本系统提高了冷链物流监测能力，为未来研究冷链无人配送的定位问题提供基础。     

Adaptive Filtering Algorithm to GPS/INS Integrated System

GPS/INS integrated systems are applied in the self-positioning of the high dynamic targets. This paper forms state equations and observation equations by the integrated system and GPS observation respectively. An adaptive filtering algorithm is introduced which estimates observation noise covariance with observation data, and estimates dynamic noise covariance by use of Sage-Husa filtering algorithm which has faster convergent speed and better stability than the conventional Kalman filtering algorithm. At last, simulations are given to verify the effectiveness of the algorithm.     

State of charge estimation of lithium iron phosphate batteriesbased on adaptive Kalman filters

The Kalman filter algorithm can be used to estimate the state of charge (SOC) of power batteries, however, it easily causes divergence due to uncertain of system noise and its estimation performance is affected by model. An adaptive Kalman filter algorithm is adopted to dynamically estimate SOC of lithium iron phosphate batteries for application in electric vehicles. At first, an equivalent circuit model, appropriate for SOC estimation is built after studying battery models. Then some charging and discharging experiments are carried out for parameter identification and the results are verified. At last, the adaptive Kalman filter algorithm is used on this model for on-line SOC estimation under unknown interfering noise. Simulation results show that adaptive Kalman filter method can correct SOC estimation error caused by tiny model error online, and the estimate accuracy is higher than Kalman filter method. Adaptive Kalman filter algorithm can also correct the initial error. Full-cycle test in electric vehicles proves that the algorithm is appropriate for SOC estimation of lithium iron phosphate battery.     

Multi-target tracking algorithm based on adaptive sampling interval in wireless sensor networks

Multi-target tracking is a hot topic of current research on wireless sensor networks (WSN). Based on adaptive sampling interval, we propose a multi-target tracking algorithm in order to save energy consumption and prevent tracking lost for WSN. We contrast the targets moving model by using the position metadata, and predicte the targets moving status based on extended Kalman filter (EKF).we adopt the probability density function (PDF) of the estimated targets to establish the tracking cluster. By defining the tracking center, we use Markov distance to quantify the election process of the main node (MN). We comput targets impact strength through the targets importance and the distance to MN node, and then use it to build tracking algorithm. We do the simulation experiment based on MATLAB, and the experiment results show that the proposed algorithm can accurate predict the trajectory of the targets, and adjust the sampling interval while the targets were moving. By analyzing the experiments data, we know that the proposed algorithm can improve the tracking precision and save the energy consumption of WSN obviously.     

Research and development of the real time remote monitoring control system of hybrid electric vehicles

This paper develops a vehicle carried remote data acquisition terminal based on GPS/GPRS integrated DTU(data transfer unit) and CAN Bus data acquisition module, and built a parameter remote monitoring system of HEV with GPRS and Internet. By using PIC18F4580 with built in CAN control module and industrial DTU MD610G, we transmitted the parameter data and GPS information of the HEV(Hybrid Electric Vehicle) terminals to the remote data control center through GPRS(General Packet Radio Service) and INTERNET. Taking VC++ as the development tool, we programmed a monitoring software of data exchanging, data processing and monitoring. The software also has the function of CANoe data playbacking and strengthened the system versatility. Eventually, the parameter remote monitoring system of HEV is developed. The experiment results show that the system works well.     

Auto gain control design in vibration acquire system

Aiming at the problem that the gain amplitude is hard to identify in advance and the gain value can not be set properly, an auto gain control (AGC) strategy using Kalman filter is presented to deal with the uncertainty in vibration acquire system. The design principles, algorithms and circuit implementation are described. The experimental results show that this method can not only control auto gain in dynamic data acquiring system, but also get wide gain amplitude range without setting the initial value. It has important practical application value in high dynamic range data acquisition.     

机动车尾气排放测算行驶周期的自动建立方法

为了建立用于机动车尾气排放测算的行驶周期,利用便携车载尾气采集装置(PEMS)系统和GPS装置进行了大量的机动车尾气排放和驾驶活动数据采集,并对数据进行了预处理,提出了短行程的评价标准,给出了最优短行程自动搜索的2种启发式算法(遗传算法(GA)和离散同步扰动随机逼近(DSPSA)),对建立的行驶周期进行了预测尾气排放总量的有效性验证。结果表明：2种启发式算法均能有效地解决行驶周期自动建立问题,GA算法优化得到的行驶周期更有代表性,该行驶周期能以相对较小的误差预测尾气排放总量。建议将GA算法作为开发其他城市的行驶周期的算法工具。     

安徽省GPS/MET水汽反演资料质量控制初步研究

本着提高安徽省GPS/MET水汽反演资料质量的宗旨,利用综合判别法开展了GPS/MET水汽反演资料质量控制。首先,对2011 年7 月—2014 年9 月GPS/MET水汽反演资料进行分析,形成该资料的界限值,作为综合判别法的第1 步;在第1 步的基础上采用偏差（GPS/MET水汽实际观测值与全球再分析GDAS计算可降水量值的偏差）阈值法进行资料的整体质量控制,作为第2 步;进一步对偏差较大月份的水汽资料采用双权重法进行质量控制,作为第3 步,并且初步给出了GPS/MET水汽反演资料与降水的序列关系,最终形成安徽省GPS/MET水汽反演资料质量控制后的数据集。利用GPS/MET观测系统水汽资料高精度、高时空分辨率的特点,研制的数据集以及相应的质量控制方法能够为后期的水汽资料同化和融合奠定基础。     

Application of the WK Mixed Filter Algorithms in the Processing of Radar Information

The Kalman filter algorithms can not solve the problem of the time-frequency localization, and it often switches between the low-frequency filter and high-frequency filter by the mobile detector (The changeable dimension filter algorithms) or Markovian transfer probability matrix (VD algorithms), so it has delay and some influence of the the mobile detector and Markovian transfer probability matrix. Hence, the filter error of the Kalman filter algorithms is obviously big. This paper brings the new mixed filter algorithms (WK algorithms) of the 2D Wavelet transform and Kalman Filter, which has the characteristics of the well time-frequency localization and real-time. The WK algorithms is used to process the radar information and makes the filter estimated data to approach the true track.     

A Lane-Finding Algorithm Based on Edge Detection and Feature Tracking

This paper do some research on the problem of computer vision on autonomous vehicle navigation system on highways. This algorithm first extracts the lane edges by means of wavelet transformation. Then the feature model of the lane markings is built,Which are tracked them in real time. Finally in terms of the parameterized model for the appearance of the lane in the image it fits the lane and get the road direction. This information assures that the whole system can realize lateral control and longitude control.     

A blind adaptive reduced-rank receiver for ultra-wideband communication systems

A low-complexity blind adaptive receiver for ultra-wideband (UWB) systems in the presence of both multiple access interference (MAI) and inter symbol interference (ISI) is proposed, which is composed of two stages. In the first stage, a reduced-rank algorithm based on the multi-stage Wiener filter (MSWF) is considered to suppress the MAI and extract multi-path components. Channel estimation using the projection approximation subspace tracking with deflation (PASTd) algorithm and multi-path combining are then performed to further enhance the signal to interference plus noise ratio (SINR) of the desired user in the second stage. The simulation results show that the proposed receiver exhibits reasonably good bit error ratio (BER) performance compared with those of matched filter, conventional Rake receiver, decorrelating Rake receiver and adaptive receiver based on constant modulus algorithm (CMA). Moreover, it has faster convergence speed and less complexity.     

A Data Detector Based on Channel Equalizer Designed for the Downlink of CDMA Systems

In code-division multiple-access (CDMA) systems,sub-optimum multi-user or joint detection algorithms have been studied recently, which are mostly designed for the uplink situation. The algorithms are too complex to implement for the downlink situation. The conventional receiver consisting of matched filters is often inefficient in eliminating MAI. The authors propose a data detection algorithm designed for downlink of CDMA systems which introduce channel equalization to eliminate MAI. It consists of a channel equalizer and code matched filter. The equalization algorithm is based on zero forcing (ZF) criterion.The performance of the algorithm is better than metched filter's and its complexity is cower than tunt of sub-optimum multi-user detection.     

Applications of the integrated system for the section measure in the mountain highways

Based on road design information, we derived coordinates of arbitrary points in the pile and cross sectional azimuth which may guide global positioning system (GPS) surveying in section surveys. Also, we introduced Windows CE technology into the measurement process, using embedded programming for the GPS real time data process. It emphasizes designing the functional components of GPS data communications, data displays and cross sectional surveys. The software system may be used to produce the liberal station, real time dynamic display, and indoor and outdoor work processing. This system has been used in the Shanghai Chengdu West Road Item. The results show that the integrated system of indoor and outdoor works for real time kinematic (RTK) surveying in a mountain highway could simultaneously process indoor surveys and outdoor data.     

Integrated Control Strategy for Dual State Continuously Variable Transmission System

Continuously variable transmission (CVT) is the ideal transmission for automobile, it is also one of the most important research items of researchers and automobile companies all over the world. In order to research vehicle with torque converter as starter and metal pushing belt as high speed transmission equipment(dual state CVT system), based on the test data of engine and torque converter, the integrated control strategy for vehicle with dual state CVT system is proposed and integrated control simulation for car with dual state CVT system is finished at the condition of multi mode. The research results provide the theory method of analysing and designing for CVT vehicle.     

GPS Information Obtaining in uClinux Embed System

Data receiving system of GPS system based on Linux was completed. The embedded MCF5272 system, M12 and G18 modules were used in the application based on uClinux. Taken MCF5272 as core, satellite position data were obtained through GPS(Global Positing System)module M12,and uClinux operation system was used in the system for controlling. By G18 module, the GPS data can be transmitted to wireless mobile network linked to Internet and received by remote server, which had been linked to Internet also. The constitution of embedded system is gived and the principle of GPS is introduced. The soft for GPS receiving is realized in uClinux system with C language, and the test data are gived in the end. The resolution of the system is that latitude and longitude: 1 milliarcsecond, height: 0.01 m, velocity: 0. 01 m/s.     

Construction and Application of GPS Location-based Services System Based on JAVA

A method of constructing GPS-based positioning services system by means of JAVA technology is introduced in this paper. The position data, which are sent from GPS satellites, are received by GPS receiving terminal and are analyzed by mobile computing client developed on J2ME in accordance with the differential GPS algorithm. The client submits special position querying information to position server in way of wireless GPRS network. After computing and data querying, the server developed by J2EE returns results to the mobile device. Then, the mobile computing client displays the position map or carries out further processing. All of these form a highly precise location-based services system.     

Vehicle Monitoring Control and Scheduling Management System in a Scenic Area

In order to help tourists choose satisfying scenic spots, content hotels, convenient lines and convenient vehicles, vehicle monitoring control and scheduling management system in a scenic area is presented, which dispatches vehicle by appointments and the statistic of tourists at a sight spot and recommends the tour line by broadcasting in vehicle. Vehicle monitoring control and scheduling management system in a scenic area, a integrative vehicle management system, is an integration of GPS, GIS, trunked radio system, a management system of booking room and a tourist statistic system at a sight spot.     

安徽省地基GPS大气可降水量时空演化特征分析及应用研究

安徽地处梅雨区域,研究此区域的大气可降水量(PWV)时空分布和演化特征对理解水汽相关过程如降雨、蒸发和对流活动等起到重要的作用。笔者分析了安徽地区两个时间段(2012年6月—2012年9月和2014年6月—2014年9月)逐时GPS/PWV资料,揭示了GPS/PWV平均值和地形高度变化存在正相关。相应的GDAS资料积分得到的GDAS/PWV揭示了本区域上层大气中的PWV变化主要集中在地表到700 hPa区间。基于快速傅里叶变换(FFT)得到安徽地区6—9月份PWV具有季节性周期,13.0035天~准2周振荡等多尺度特征。进一步根据季节变化特征得出7月底是GPS/PWV值的关键转折点。最后给出了GPS/PWV和GDAS/PWV在天气预报分析中的应用研究,PWV资料对降水预报能力提高、人工影响天气、空中水资源等分析研究奠定了基础。     

汽车转弯自动照明控制系统数据采集滤波方法

为了减少汽车转弯自动照明控制系统数据滤波处理中的延时,在滑动中值滤波方法基础上,提出了一种带补偿的限幅滑动中值滤波算法,通过补偿的方式跟随信号的变化趋势。该算法通过2个步骤完成滤波,先对数据进行带补偿方式的限幅处理,再进行滑动中值滤波处理。该算法综合了滑动中值滤波法的实时性以及限幅滤波法对偶然性干扰滤除的有效性,实现更准确的滤波。仿真与实测结果表明,与滑动中值滤波方法相比较,改进后的算法滤波能够实时地滤除数据中的干扰,处理时间可减少62%,滤波效果较好,且速度信号的数据滞后时间较短,实时性较高,满足系统设计要求。