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2017 Forum on Cooperative Positioning and Service (CPGPS)最新文献

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An iBeacon-based indoor and outdoor positioning system for the fire emergency command 基于ibeacon的消防应急指挥室内外定位系统
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075148
Linjun Yu, Yalan Liu, T. Chi, Ling Peng
The real-time tracking of indoor locations for firefighters and trapped people is key information for the fire emergency command, especially in high-rise buildings or complex buildings. An enhanced iBeacon-based indoor positioning system is proposed in this paper to solve the indoor positioning problem for the fire emergency command. A fire emergency command platform is developed based on this iBeacon-based indoor positioning system. The key issues for the fire emergency command are solved in this platform, including tracking and visualization of the indoor and outdoor positioning for firefighters and trapped people and information sharing and synchronization among different systems such as the firemen handheld terminals, the command platforms in the command center and the mobile command platforms. The results show that the positional accuracy can reach approximately 3 meters. The iBeacon station used in this paper can operate for 3 years based on its battery life, which suggests that the developed platform can provide real-time indoor and outdoor positioning services and mapping services for the fire emergency command rescue after the fire occurs. Therefore, the fire commander can now determine whether there are firefighters who are trapped or lost in the fire by monitoring their real-time positions.
消防人员和被困人员室内位置的实时跟踪是消防应急指挥的关键信息,特别是在高层建筑或复杂建筑中。针对消防应急指挥中的室内定位问题,提出了一种基于ibeacon的增强型室内定位系统。基于ibeacon室内定位系统,开发了消防应急指挥平台。该平台解决了消防应急指挥的关键问题,包括消防员和被困人员室内外定位的跟踪和可视化,以及消防员手持终端、指挥中心指挥平台和移动指挥平台等不同系统之间的信息共享和同步。结果表明,定位精度可达3米左右。本文使用的iBeacon台站按电池寿命计算可运行3年,说明开发的平台可为火灾发生后的消防应急指挥救援提供实时的室内外定位服务和测绘服务。因此,消防指挥官现在可以通过监控消防员的实时位置来确定是否有消防员被困或迷失在火灾中。
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引用次数: 10
Simulation study on cooperative localization 协同定位的仿真研究
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075144
Xiaogang Qi, Xingcheng Liu, Haijun Dong, Lifang Liu
Traditional algorithms are explained theoretically without provement from the actual simulation, resulting in many non-locatable nodes and selection problems of the proportion of anchor nodes in wireless sensor network. Against these problems, three typical algorithms that start from collaborative localization are simulated in the following two scenarios to compare their performance. The first scenario combines the anchor nodes and blind nodes localized by anchor nodes to localize other blind nodes, while the other blind nodes preferentially localize their position through anchor nodes. Otherwise, blind nodes knowing their position participate in localization only if there aren't anchor nodes less than three. Large simulation results show that the second performs better than first in term of localization error and the number of non-locatable nodes under the same condition. Moreover, the optimal solution is provided for the proper selection of the anchor nodes.
传统的算法都是理论上的解释,没有经过实际的仿真验证,导致无线传感器网络中存在许多不可定位节点和锚节点比例的选择问题。针对这些问题,本文在以下两种场景下对从协同定位开始的三种典型算法进行仿真,比较它们的性能。第一种场景结合锚节点和锚节点定位的盲节点对其他盲节点进行定位,其他盲节点优先通过锚节点定位自己的位置。否则,只有锚节点不少于3个时,知道自己位置的盲节点才会参与定位。大量仿真结果表明,在相同条件下,第二种方法在定位误差和不可定位节点数量方面优于第一种方法。并为锚节点的合理选择提供了最优解。
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引用次数: 0
Error analysis of digital satellite TV differential timing 数字卫星电视差时误差分析
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075087
Wang Shan-he, Xiang Yu, Hua Yu, Huang Changjiang, Gao Yuanyuan
The principle of digital satellite TV differential timing is illustrated and the error sources that influence timing accuracy are analyzed, which include ephemeris error and error caused by ranging method and signal transmission. Error correction and estimation are also presented. By comparing with Two Way Satellite Time Frequency Transfer method, the results after error correction and data processing show that the timing precision of digital satellite TV differential timing method is higher than 10ns.
阐述了数字卫星电视差时的原理,分析了影响差时精度的误差来源,包括星历误差、测距方法误差和信号传输误差。给出了误差校正和估计。通过与卫星双向时频传输方法的比较,经过误差校正和数据处理后的结果表明,数字卫星电视差分授时方法的授时精度高于10ns。
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引用次数: 3
SLR data quality analysis and assessment based on zero-difference kinematic orbit of GRACE satellites 基于GRACE卫星零差运动轨道的单反数据质量分析与评估
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075132
Yang Honglei, Xu Tianhe, Jia Song
In this paper, we use SLR normal point observations provided by EDC to validate AIUB zero-difference kinematic orbit of GRACE satellites. By selecting 4 representative SLR sites, they are analyzed in detail from the regularity of observed elevation angle, azimuth angle and residual value of GRACE-A/B satellites. The results show that the data quality of different SLR sites is uneven, and more than 97% of the SLR observed data are very stable. There is almost no systematic error in the SLR validation of GRACE kinematic orbits, and the accuracy is better than 2.5 cm for GRACE-A and 2.7 cm for GRACE-B respectively. Under the statistics of nearly 350,000 available observations for each satellite, the accuracy indicators have strong similarity in the same site. The SLR residuals of each site obey normal distribution. The number of SLR data is inversely proportional to the observed elevation angle, and the geometric distribution of spatial observation points has a periodicity of π at different azimuth angles.
本文利用EDC提供的单反法向点观测数据对GRACE卫星的AIUB零差运动轨道进行验证。选取具有代表性的4个SLR站点,从GRACE-A/B卫星观测的仰角、方位角和残值的变化规律进行了详细分析。结果表明,不同单反站点的数据质量参差不齐,97%以上的单反观测数据非常稳定。GRACE运动轨道的单反验证几乎没有系统误差,精度分别优于GRACE- a和GRACE- b的2.5 cm和2.7 cm。在每颗卫星近35万次观测数据的统计下,同一站点的精度指标具有很强的相似性。各站点的单反残差服从正态分布。单反数据数与观测仰角成反比,空间观测点的几何分布在不同方位角下具有π的周期性。
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引用次数: 0
GNSS 3D attitude measurement system based on dual-antenna receiver with common clock 基于通用时钟双天线接收机的GNSS三维姿态测量系统
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075129
Xiang Ji, Chao Yu, Wen Chen, D. Dong
The high-precision measurement of attitude information is of great significance to the satellites, aircraft and vehicle. How to measure the three-dimensional attitude of the carrier efficiently and accurately becomes the hotspot in the related research field. This paper proposes a new GNSS 3D attitude measurement system based on dual-antenna receiver with common clock. This system uses single-difference model to get real-time settlement of the carrier high-precision attitude information. When the baseline of the system is 1m in static environment, the baseline measurement accuracy is 2 mm, the yaw accuracy is 0.08 degrees, the pitch accuracy is 0.15 degrees and the roll accuracy is 0.14 degrees. When the baseline of the system is 0.5m in dynamic environment, the yaw accuracy is 0.4526 degrees, the pitch accuracy is 0.4801 degrees and the roll accuracy is 0.4353 degrees. The experimental results show that the system has good performance in terms of stability and applicability. It can be used in multi-system combining attitude measurement in the future, which has a strong practical application value and broad prospects.
姿态信息的高精度测量对卫星、飞行器和飞行器都具有重要意义。如何高效、准确地测量载体的三维姿态成为相关研究领域的热点。提出了一种基于通用时钟双天线接收机的GNSS三维姿态测量系统。该系统采用单差模型实时求解载体高精度姿态信息。系统在静态环境下基线为1m时,基线测量精度为2mm,偏航精度为0.08度,俯仰精度为0.15度,滚转精度为0.14度。在动态环境下,当系统基线为0.5m时,横摆精度为0.4526度,俯仰精度为0.4801度,横摇精度为0.4353度。实验结果表明,该系统具有良好的稳定性和适用性。未来可用于多系统组合姿态测量,具有较强的实际应用价值和广阔的前景。
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引用次数: 2
Noise analysis of common mode error in CMONOC GPS coordinate time series CMONOC GPS坐标时间序列共模误差噪声分析
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075122
Zhaohan Zhu, Xiaohui Zhou, Jingyu Liu
Common mode errors (CMEs) commonly exist in GPS coordinate time series, and it would affect the accuracy and reliability of the position and velocity of a reference station. The reduction of CME decreases the amplitude of seasonal variation and colored noise. This paper analyzes the noise of CME of 27 reference stations in the Crustal Movement Observation Network of China (CMONOC) using maximum likelihood estimation (MLE) method. The mean spectral index of CME is approximately −1 in N, E and U components, indicating that flicker noise may be the main colored noise in CME. Further analysis of optimal noise model shows that the main noise model of CME in CMONOC is white noise plus flicker noise and white noise plus power law noise. In horizontal component, the proportions of these two models are similar. In vertical component, over 60% of stations are behaved as white noise plus power law noise model.
GPS坐标时间序列中普遍存在共模误差(CMEs),它会影响基准站位置和速度的精度和可靠性。日冕物质抛射的减少降低了季节变化幅度和彩色噪声。本文利用极大似然估计(MLE)方法对中国地壳运动观测网(CMONOC) 27个参考站的CME噪声进行了分析。CME的N、E和U分量的平均光谱指数近似为−1,表明闪烁噪声可能是CME的主要彩色噪声。进一步的优化噪声模型分析表明,CMONOC中CME的主要噪声模型是白噪声加闪烁噪声和白噪声加幂律噪声。在水平分量上,两种模型的比例相似。在垂直分量上,60%以上的台站表现为白噪声+幂律噪声模型。
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引用次数: 2
Compensation method for temperature error of fiber optic gyroscope based on support vector machine 基于支持向量机的光纤陀螺仪温度误差补偿方法
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075090
Fei Yu, Shiwei Fan, Ya Zhang, Pengfei Wu, Jiachong Chang
The error of fiber optic gyroscope (FOG) seriously affects the positioning accuracy of inertial navigation system. The temperature of the environment seriously affects the accuracy of FOG. And the temperature error mathematical model of fiber optic gyroscope is analyzed. Based on the function fitting capability of support vector machine (SVM), a new modeling and compensation method for gyroscope temperature error is proposed. Experiment results demonstrate that the proposed method can decrease 95% temperature error of FOG and promote its adaptability towards environmental temperature of FOG.
光纤陀螺仪的误差严重影响惯性导航系统的定位精度。环境温度严重影响光纤陀螺的精度。分析了光纤陀螺仪温度误差的数学模型。基于支持向量机(SVM)的函数拟合能力,提出了一种新的陀螺仪温度误差建模与补偿方法。实验结果表明,该方法可使光纤陀螺的温度误差降低95%,提高光纤陀螺对环境温度的适应性。
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引用次数: 3
Design and implementation of community safety management oriented public information platform for a smart city 面向社区安全管理的智慧城市公共信息平台的设计与实现
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075149
Yalan Liu, Linjun Yu, T. Chi, Banghui Yang, Xiaojing Yao, Lina Yang, Xin Zhang, Yuhuan Ren, Shufu Liu, Shaolong Cui, Ling Peng
With the deepening use of public information resources in smart cities, public information platforms have been paid more attention as the basic support platform for intelligent city application. At present, new urbanization construction is in full swing in China. Fine security management for communities has become the core of new urbanization. Smart community security management needs to integrate the Internet of Things (IOT), Mobile Internet and other technologies to seamlessly manage indoor and outdoor data. In this paper, the development of the technical framework of the Public Information Platform for Smart City (PIPSC/CMF) is discussed, and the four key technologies are studied in detail including indoor and outdoor integrated data management, 3D reconstruction and dynamic simulation emergency, indoor-outdoor integrated positioning and indoor-outdoor integrated spatial analysis. Finally, demonstrations are presented, which show that PIPSC/CMF can provide a technical reference for the development of a smart city.
随着智慧城市公共信息资源利用的不断深入,公共信息平台作为智慧城市应用的基础支撑平台越来越受到重视。当前,中国新型城镇化建设正如火如荼地进行。社区精细安全管理已成为新型城镇化的核心。智慧社区安防管理需要融合物联网(IOT)、移动互联网等技术,实现室内外数据的无缝管理。本文探讨了智慧城市公共信息平台(PIPSC/CMF)技术框架的构建,并对室内外综合数据管理、三维重构与动态仿真应急、室内外综合定位、室内外综合空间分析等四项关键技术进行了详细研究。最后给出了实例,表明PIPSC/CMF可以为智慧城市的发展提供技术参考。
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引用次数: 3
An algorithm for global troposphere delay determination by the combination of GPT/UNB3m and classic models GPT/UNB3m结合经典模式确定全球对流层延迟的算法
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075100
Guo‐Hua Liu, Guorong Yu
Determination of troposphere delay has always been a challenging issue in Global Navigation Satellite System (GNSS) applications, such as high precision GNSS positioning and atmospheric delay parameter estimation. In this study, an improved algorithm, named SEU, is proposed, using a modified classic model to calculate the zenith tropospheric delay. The temperature and barometric pressure in the algorithm are derived from the Global Pressure and Temperature (GPT) model, while the water vapour pressure parameters are obtained by applying the relative humidity calculation in the UNB3m model, instead of the conventional method of using standard meteorological parameters. For verification, datasets for the whole year of 2011 from 242 globally distributed stations were calculated. Annual mean error, standard deviation and RMS of the difference between the results from this algorithm and Centre for Orbit Determination in Eucrope (CODE) are about 0.67 cm, 4.11 cm and 5.2 cm. Distinctively, the proposed algorithm is better than the classic models, such as Hopfield and compared with UNB3m, the advantages of SEU are regional and seasonal. In regional analysis, SEU algorithm performs better than UNB3m model in the southern hemisphere especially Antarctica, and the accuracy of the proposed algorithm is nearly uniform in the global scope while the accuracy of UNB3m shows decreasing trend from north to south in general; while in seasonal analysis, the precision of SEU algorithm is superior to that of UNB3m model in the southern hemisphere, except in June and July. From November to next April i.e. during winter SEU algorithm is better than UNB3m during the period in the northern hemisphere. Therefore the proposed algorithm still being an empirical model with simple operation, just the location and the time required, an accurate priori tropospheric delay value with real-time practicability and worldwide availability could be achieved for GNSS positioning and other space research.
对流层延迟的确定一直是全球导航卫星系统(GNSS)高精度定位和大气延迟参数估计等应用中一个具有挑战性的问题。本文利用改进的经典模型,提出了一种计算天顶对流层延迟的改进算法SEU。算法中的温度和气压来源于全球气压和温度(GPT)模式,而水蒸气压力参数则采用UNB3m模式中的相对湿度计算,而不是传统的使用标准气象参数的方法。为了验证,我们计算了全球分布的242个站点2011年全年的数据集。该算法与欧洲轨道确定中心(CODE)计算结果的年平均误差、标准差和均方根差分别为0.67 cm、4.11 cm和5.2 cm。值得注意的是,本文算法优于Hopfield等经典模型,且与UNB3m相比,SEU的优势具有地域性和季节性。在区域分析中,SEU算法在南半球尤其是南极洲的精度优于UNB3m模型,且在全球范围内精度基本一致,而UNB3m的精度总体上呈现自北向南递减的趋势;季节分析中,除6、7月份外,南半球地区SEU算法的精度优于UNB3m模型。在北半球11月至次年4月即冬季期间,SEU算法优于UNB3m算法。因此,本文提出的算法仍然是一个经验模型,操作简单,只需要位置和时间,就可以获得准确的先验对流层延迟值,具有实时实用性和全球可用性,用于GNSS定位和其他空间研究。
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引用次数: 0
Positioning performance analysis and assessment for BDS B1 frequency based on simulation 基于仿真的BDS B1频率定位性能分析与评估
Pub Date : 2017-05-01 DOI: 10.1109/CPGPS.2017.8075150
Fucheng Song, Peng Gao, Shuangshuang Shi
Constellation of regional BDS has been completed with five Geostationary Earth Orbit (GEO) satellites, five Inclined Geosynchronous Satellite Orbit (IGSO) satellites and four Medium Earth Orbit (MEO) satellites, which can provide positioning, navigation, timing, short-message communication and other services for regional users. China's BDS continues to develop a global system in near future. In order to analyze and assess the positioning performance of BDS B1 frequency, we discuss and analyze the performance of regional BDS (5 GEO + 5 IGSO + 4 MEO) and global BDS (5 GEO + 3 IGSO + 27 MEO) with simulated data in term of satellite visibility, PDOP value and positioning accuracy in the most regions of China. Wuhan station is also selected to test positioning performance for a single day. The results show that the global BDS can provide Chinese users with better service. Compared with the regional BDS, the global BDS improves significantly. The number of average visible satellites increases by 8–10, the average PDOP value decreases by 1–3, and the average positioning accuracy increases by 2–3 m.
区域北斗系统星座已建成,包括5颗地球静止轨道卫星、5颗倾斜地球同步轨道卫星和4颗中地球轨道卫星,可为区域用户提供定位、导航、授时、短报文通信等服务。在不久的将来,中国的北斗系统将继续发展全球系统。为了分析和评估BDS B1频率的定位性能,利用模拟数据,从卫星能见度、PDOP值和定位精度等方面对中国大部分地区的区域BDS (5 GEO + 5 IGSO + 4 MEO)和全球BDS (5 GEO + 3 IGSO + 27 MEO)的定位性能进行了讨论和分析。还选择武汉站进行单日定位性能测试。结果表明,全球北斗系统可以为中国用户提供更好的服务。与区域北斗系统相比,全球北斗系统显著提升。平均可见卫星数增加8-10颗,平均PDOP值减少1-3颗,平均定位精度增加2-3 m。
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引用次数: 0
期刊
2017 Forum on Cooperative Positioning and Service (CPGPS)
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