Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978736
Xuesong Zhou, Lei Zou, Youjie Ma, Zhiqiang Gao
In the present, more and more concerns have been paid to the world energy conservation and environmental protection, therefore, the development of electric vehicles(EVs) are speeding up. Electric vehicles have good environmental protection performance and can taking many kinds of energy as power the prominent characteristic, and electric vehicles are considered as green transportation for the 21st century. Automotive manufacturers, governments, and environmental organizations are taking more and more care about the electric vehicle. As zero emission vehicles, electric vehicles can radically decrease vehicles exhausting pollution to improve air environment and adjust the energy structure. So, the author assumes that electric vehicles should be developed vigorously in our country, but large-scale EVs charging has become a practical problem in the grid operation and planning of the distribution network. It might have great impacts on the system performance, such as overloading, reducing efficiency, deteriorating power quality and increasing power system losses. As the light vehicle fleet moves to electric drive (hybrid, battery, and fuel cell vehicles), an opportunity opens for “vehicle-to-grid” (V2G) power. V2G only makes sense if the vehicle and power market are matched. This paper briefly discusses the impact of the charging on the distribution system, the factors of causing the influence, the charging control methods that reduce the impacts on the distribution network and V2G techniques. Based on the current development status and problems, discuss the trend of EV.
{"title":"Research on impacts of the electric vehicles charging and discharging on power grid","authors":"Xuesong Zhou, Lei Zou, Youjie Ma, Zhiqiang Gao","doi":"10.1109/CCDC.2017.7978736","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978736","url":null,"abstract":"In the present, more and more concerns have been paid to the world energy conservation and environmental protection, therefore, the development of electric vehicles(EVs) are speeding up. Electric vehicles have good environmental protection performance and can taking many kinds of energy as power the prominent characteristic, and electric vehicles are considered as green transportation for the 21st century. Automotive manufacturers, governments, and environmental organizations are taking more and more care about the electric vehicle. As zero emission vehicles, electric vehicles can radically decrease vehicles exhausting pollution to improve air environment and adjust the energy structure. So, the author assumes that electric vehicles should be developed vigorously in our country, but large-scale EVs charging has become a practical problem in the grid operation and planning of the distribution network. It might have great impacts on the system performance, such as overloading, reducing efficiency, deteriorating power quality and increasing power system losses. As the light vehicle fleet moves to electric drive (hybrid, battery, and fuel cell vehicles), an opportunity opens for “vehicle-to-grid” (V2G) power. V2G only makes sense if the vehicle and power market are matched. This paper briefly discusses the impact of the charging on the distribution system, the factors of causing the influence, the charging control methods that reduce the impacts on the distribution network and V2G techniques. Based on the current development status and problems, discuss the trend of EV.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"1 1","pages":"1398-1402"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83681236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7979332
Xin Jia
Deep learning algorithms are a subset of the machine learning algorithms, which aim at discovering multiple levels of distributed representations. Recently, numerous deep learning algorithms have been proposed to solve traditional artificial intelligence problems. This work aims to review the state-of-the-art in deep learning algorithms in computer vision by highlighting the contributions and challenges from recent research papers. It first gives an overview of various deep learning approaches and their recent developments, and then briefly describes their applications in diverse vision tasks. Finally, the paper summarizes the future trends and challenges in designing and training deep neural networks.
{"title":"Image recognition method based on deep learning","authors":"Xin Jia","doi":"10.1109/CCDC.2017.7979332","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7979332","url":null,"abstract":"Deep learning algorithms are a subset of the machine learning algorithms, which aim at discovering multiple levels of distributed representations. Recently, numerous deep learning algorithms have been proposed to solve traditional artificial intelligence problems. This work aims to review the state-of-the-art in deep learning algorithms in computer vision by highlighting the contributions and challenges from recent research papers. It first gives an overview of various deep learning approaches and their recent developments, and then briefly describes their applications in diverse vision tasks. Finally, the paper summarizes the future trends and challenges in designing and training deep neural networks.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"69 1","pages":"4730-4735"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84354531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978091
Sang Tian, Chen Jiabin, Song Chunlei, Yu Huan
Integrated navigation system usually uses Kalman filter to make it possible for error compensation. In order to improve the precision of navigation and the stability of data, we introduce the R-T-S (Rauch-Tung-Striebel) optimal fixed-interval smoothing into the post-processing of data. On the basis of the forward Kalman filter, we add the backward information filter to the system and use the measured data to verify the algorithm. The results show that compared with the traditional Kalman filter, the R-T-S optimal fixed-interval smoothing can not only improve the precision of the position and posture but can also improve the precision of navigation significantly in case of lock-lose, making it possible as an effective way of data processing.
{"title":"The application of R-T-S smoothing algorithm in the post-processing of the integrated navigation","authors":"Sang Tian, Chen Jiabin, Song Chunlei, Yu Huan","doi":"10.1109/CCDC.2017.7978091","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978091","url":null,"abstract":"Integrated navigation system usually uses Kalman filter to make it possible for error compensation. In order to improve the precision of navigation and the stability of data, we introduce the R-T-S (Rauch-Tung-Striebel) optimal fixed-interval smoothing into the post-processing of data. On the basis of the forward Kalman filter, we add the backward information filter to the system and use the measured data to verify the algorithm. The results show that compared with the traditional Kalman filter, the R-T-S optimal fixed-interval smoothing can not only improve the precision of the position and posture but can also improve the precision of navigation significantly in case of lock-lose, making it possible as an effective way of data processing.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"8 1","pages":"197-201"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82403412","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978469
Ke Da, L. Xiaoyu, Zhang Bi
The path planned by the traditional A∗ algorithm is not the shortest and there are too many steps because of the one grid step length. To overcome the drawbacks, an improved A∗ algorithm based on variable-step-length is presented for path planning of mobile robots. The environment of the mobile robot is modeled by the grid method. Considering that the reachable region of the mobile robot may be larger than one grid in each searching step, a variable-step-length scheme is proposed. The path planned in each cycle can be selected from the lines pointing to every grid in the reachable range surrounding the current grid. For the sake that the line distance between two points is the shortest, the planning indices such as the path distance and the step number are all better than those of the polygonal line planned by the traditional A∗ algorithm. Base on the variable-step-length, the searching direction and the improved cost function are designed for the optimal step. The corresponding obstacle avoidance algorithm is also discussed. The proposed variable-step-length A∗ algorithm make the mobile robot to choose an appropriate step according to the current environment and find a shorter and less steps path. The simulation results show the improved algorithm is more efficient for the path planning of the mobile robot.
{"title":"Variable-step-length A∗ algorithm for path planning of mobile robot","authors":"Ke Da, L. Xiaoyu, Zhang Bi","doi":"10.1109/CCDC.2017.7978469","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978469","url":null,"abstract":"The path planned by the traditional A∗ algorithm is not the shortest and there are too many steps because of the one grid step length. To overcome the drawbacks, an improved A∗ algorithm based on variable-step-length is presented for path planning of mobile robots. The environment of the mobile robot is modeled by the grid method. Considering that the reachable region of the mobile robot may be larger than one grid in each searching step, a variable-step-length scheme is proposed. The path planned in each cycle can be selected from the lines pointing to every grid in the reachable range surrounding the current grid. For the sake that the line distance between two points is the shortest, the planning indices such as the path distance and the step number are all better than those of the polygonal line planned by the traditional A∗ algorithm. Base on the variable-step-length, the searching direction and the improved cost function are designed for the optimal step. The corresponding obstacle avoidance algorithm is also discussed. The proposed variable-step-length A∗ algorithm make the mobile robot to choose an appropriate step according to the current environment and find a shorter and less steps path. The simulation results show the improved algorithm is more efficient for the path planning of the mobile robot.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"30 1","pages":"7129-7133"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81671543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978917
L. Xiaosong, Lv Bin, Jia Yujiao
The scientific analysis about Civil-military integration degree is foundation for Civil-military integration of weapon equipment research and production system. This paper defined concept about Civil-military integration degree, analyzed the model of Civil-military integration degree, designed causal relationship diagram of Civil-military integration degree, gave seven main variables to describe causal relationship diagram of Civil-military integration degree, the main variables included Market Concentration Rate, Efficiency of Resource Allocation, Market Access, Economies of Scale, Technological Innovation, Risk and Effectiveness, get six feedback loop for causal relationship diagram of Civil-military integration degree, established flowchart of System Dynamics model for Civil-military integration degree, constructed System Dynamics model of Civil-military integration degree. On this basis, simulated and analyzed Civil-military integration degree for three fields of weapon equipment research and production, get the optimal Civil-military integration degree for three fields of weapon equipment research and production. The conclusion will have definitely meaning to set up Civil-military integration of weapon equipment research and production system which have Chinese characteristics.
{"title":"Research on civil-military integration degree of weapon equipment research and production by system dynamics model","authors":"L. Xiaosong, Lv Bin, Jia Yujiao","doi":"10.1109/CCDC.2017.7978917","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978917","url":null,"abstract":"The scientific analysis about Civil-military integration degree is foundation for Civil-military integration of weapon equipment research and production system. This paper defined concept about Civil-military integration degree, analyzed the model of Civil-military integration degree, designed causal relationship diagram of Civil-military integration degree, gave seven main variables to describe causal relationship diagram of Civil-military integration degree, the main variables included Market Concentration Rate, Efficiency of Resource Allocation, Market Access, Economies of Scale, Technological Innovation, Risk and Effectiveness, get six feedback loop for causal relationship diagram of Civil-military integration degree, established flowchart of System Dynamics model for Civil-military integration degree, constructed System Dynamics model of Civil-military integration degree. On this basis, simulated and analyzed Civil-military integration degree for three fields of weapon equipment research and production, get the optimal Civil-military integration degree for three fields of weapon equipment research and production. The conclusion will have definitely meaning to set up Civil-military integration of weapon equipment research and production system which have Chinese characteristics.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"26 1","pages":"2403-2406"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78263440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978078
Songsong Cheng, Yiheng Wei, Yanan Xiao, Yuquan Chen, Yong Wang
By utilizing LDU factorization of high frequency gain (HFG) Kp, a novel fractional order composite model reference adaptive control (MRAC) is investigated for a class of fractional order multi variable systems. Firstly, in the proposed method, the stringent symmetry assumption related with the plant high frequency gain matrix is removed. Besides, by means of fractional order tracking differentiator, the parameter estimation errors is obtained to construct the fractional order parameter updating laws, which can improve the tracking performance and reduce the control cost. In addition, by utilizing indirect Lyapunov approach, the convergence of closed-loop control systems and parameters estimation are proved. Finally, for the purpose of showing the effectiveness of the proposed method, a numerical example are developed.
{"title":"A fractional order composite MRAC for multi variable systems based on LDU factorization of Kp","authors":"Songsong Cheng, Yiheng Wei, Yanan Xiao, Yuquan Chen, Yong Wang","doi":"10.1109/CCDC.2017.7978078","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978078","url":null,"abstract":"By utilizing LDU factorization of high frequency gain (HFG) Kp, a novel fractional order composite model reference adaptive control (MRAC) is investigated for a class of fractional order multi variable systems. Firstly, in the proposed method, the stringent symmetry assumption related with the plant high frequency gain matrix is removed. Besides, by means of fractional order tracking differentiator, the parameter estimation errors is obtained to construct the fractional order parameter updating laws, which can improve the tracking performance and reduce the control cost. In addition, by utilizing indirect Lyapunov approach, the convergence of closed-loop control systems and parameters estimation are proved. Finally, for the purpose of showing the effectiveness of the proposed method, a numerical example are developed.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"9 1","pages":"123-128"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86909979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7979051
Huijie Zhu, Fuqiang Gao, Weiwen Wu, Fenglin Liu
Bowtie filter, as a beam shaping attenuator placed between X-ray source and scanned object in computed tomography system, can effectively reduce radiation dose. In addition, the bowtie filter is expected to be able to compress the dynamic range which could limit the application of some detectors. In this paper, we propose a methodology for dynamic bowtie which can balance the photon flux on a detector array in real time. Our goal is to determine the shape of dynamic bowtie filter for modulating detector reading in the target angle of 20° with a reflected target. Monte Carlo simulation has been employed. The results demonstrate the designed high-attenuation bowtie filter has a unique advantage in terms of balancing photon flux data on a detector array.
{"title":"Dynamic bowtie filter design with Monte Carlo simulation for cone-beam CT","authors":"Huijie Zhu, Fuqiang Gao, Weiwen Wu, Fenglin Liu","doi":"10.1109/CCDC.2017.7979051","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7979051","url":null,"abstract":"Bowtie filter, as a beam shaping attenuator placed between X-ray source and scanned object in computed tomography system, can effectively reduce radiation dose. In addition, the bowtie filter is expected to be able to compress the dynamic range which could limit the application of some detectors. In this paper, we propose a methodology for dynamic bowtie which can balance the photon flux on a detector array in real time. Our goal is to determine the shape of dynamic bowtie filter for modulating detector reading in the target angle of 20° with a reflected target. Monte Carlo simulation has been employed. The results demonstrate the designed high-attenuation bowtie filter has a unique advantage in terms of balancing photon flux data on a detector array.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"4 Suppl 1 1","pages":"3160-3165"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90289859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978204
Cheng Qiming, Tan Fengren, Gao Jie, Zhang Yu, Yu Deqing
The second-order generalized integrator (SOGI) and cascade delayed signal cancellation (DSC) have been used respectively in the separation of positive and negative component. But they have their own disadvantages. In order to extract grid's positive and negative sequence fundamental component from unbalanced power system, the strategy of second-order generalized integrator eliminating higher harmonic and cascade delayed signal cancellation eliminating the specific frequency harmonic has been put forward in this article. It can quickly and accurately separate the positive and negative sequence fundamental component of the grid While grid voltage is distortion, symmetrical fault and asymmetric fault cases. Then, this new method is applied to unbalanced PWM rectifier.
{"title":"The separation of positive and negative sequence component based on SOGI and cascade DSC and its application at unbalanced PWM rectifier","authors":"Cheng Qiming, Tan Fengren, Gao Jie, Zhang Yu, Yu Deqing","doi":"10.1109/CCDC.2017.7978204","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978204","url":null,"abstract":"The second-order generalized integrator (SOGI) and cascade delayed signal cancellation (DSC) have been used respectively in the separation of positive and negative component. But they have their own disadvantages. In order to extract grid's positive and negative sequence fundamental component from unbalanced power system, the strategy of second-order generalized integrator eliminating higher harmonic and cascade delayed signal cancellation eliminating the specific frequency harmonic has been put forward in this article. It can quickly and accurately separate the positive and negative sequence fundamental component of the grid While grid voltage is distortion, symmetrical fault and asymmetric fault cases. Then, this new method is applied to unbalanced PWM rectifier.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"14 1","pages":"5804-5808"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88439742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978220
Jie Wang, Zuren Feng, N. Lu
Common spatial pattern (CSP) as a feature extraction algorithm has been successfully applied to classify EEG based motor imagery tasks in brain computer interface (BCI). Successful application of CSP depends on the character of input signals and the first and last m eigenvectors of projection matrix. In this study, we proposed a novel and robust feature extraction method designated frequency domain CSP (FDCSP) that the samples in frequency domain obtained by fast Fourier transform (FFT) algorithm and evenly distributed in 8–30Hz were employed as the input signals of CSP. Besides, we made some modifications to classical CSP to address the inconsistent issue and enhance the generalization ability. Cross validation classification accuracy and standard deviation based on training data were employed as the principle to optimize the subject-specific parameter m. Two public EEG datasets (BCI competition IV dataset 2a and 2b) were used to validate the proposed method. Experimental results demonstrated that the proposed method significantly outperformed many other state-of-the-art methods in classification performance. What's more, samples in frequency domain as the input signals of CSP are demonstrated more robust against preprocessing. Based on the two public datasets, the proposed FDCSP method has potential significance to motor imagery based BCI design in practice.
{"title":"Feature extraction by common spatial pattern in frequency domain for motor imagery tasks classification","authors":"Jie Wang, Zuren Feng, N. Lu","doi":"10.1109/CCDC.2017.7978220","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978220","url":null,"abstract":"Common spatial pattern (CSP) as a feature extraction algorithm has been successfully applied to classify EEG based motor imagery tasks in brain computer interface (BCI). Successful application of CSP depends on the character of input signals and the first and last m eigenvectors of projection matrix. In this study, we proposed a novel and robust feature extraction method designated frequency domain CSP (FDCSP) that the samples in frequency domain obtained by fast Fourier transform (FFT) algorithm and evenly distributed in 8–30Hz were employed as the input signals of CSP. Besides, we made some modifications to classical CSP to address the inconsistent issue and enhance the generalization ability. Cross validation classification accuracy and standard deviation based on training data were employed as the principle to optimize the subject-specific parameter m. Two public EEG datasets (BCI competition IV dataset 2a and 2b) were used to validate the proposed method. Experimental results demonstrated that the proposed method significantly outperformed many other state-of-the-art methods in classification performance. What's more, samples in frequency domain as the input signals of CSP are demonstrated more robust against preprocessing. Based on the two public datasets, the proposed FDCSP method has potential significance to motor imagery based BCI design in practice.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"21 1","pages":"5883-5888"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77999322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Altitude is a significant flight parameter for Unmanned Aerial Helicopters(UAH). Traditional vertical damping loop has been used to improve stability of vertical channel of the INS(inertial navigation system) with auxiliary altitude information. Barometer is a common and popular altimeter which can provide the continuous and reliable altitude information, however the measurement performance is rather poor due to several factors, including principle error, drifting behavior and sensitivity to environment changes in pressure uncorrelated with altitude. In this paper, the characteristics of the barometer measurement errors have been thoroughly investigated and we decomposed the barometer measurement errors into three components: principle error, drift error and external disturbance error. We proposed a scheme to estimate and correct the barometer measurement errors. GPS has been utilized in this paper as an auxiliary altimeter. A method has been proposed to estimate and correct the drift error by introducing a factor to change the measurement noise covariance. A serial experiments have been performed to validate the accuracy of the models and illustrate that the proposed method has better performance than normal Kalman filter.
{"title":"Barometer measurement error modeling and correction for UAH altitude tracking","authors":"Xue Bao, Zhi Xiong, Shouzhao Sheng, Yijie Dai, Sheng Bao, Jianye Liu","doi":"10.1109/CCDC.2017.7979052","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7979052","url":null,"abstract":"Altitude is a significant flight parameter for Unmanned Aerial Helicopters(UAH). Traditional vertical damping loop has been used to improve stability of vertical channel of the INS(inertial navigation system) with auxiliary altitude information. Barometer is a common and popular altimeter which can provide the continuous and reliable altitude information, however the measurement performance is rather poor due to several factors, including principle error, drifting behavior and sensitivity to environment changes in pressure uncorrelated with altitude. In this paper, the characteristics of the barometer measurement errors have been thoroughly investigated and we decomposed the barometer measurement errors into three components: principle error, drift error and external disturbance error. We proposed a scheme to estimate and correct the barometer measurement errors. GPS has been utilized in this paper as an auxiliary altimeter. A method has been proposed to estimate and correct the drift error by introducing a factor to change the measurement noise covariance. A serial experiments have been performed to validate the accuracy of the models and illustrate that the proposed method has better performance than normal Kalman filter.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"1 1","pages":"3166-3171"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75546615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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