2022 IEEE International Conference on Unmanned Systems (ICUS)最新文献_第7页

Partial Ambiguity Resolution for Low Cost GNSS Receiver in UAV Navigation Applications: A Comparative Study 低成本GNSS接收机在无人机导航中的部分模糊分辨率比较研究

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987056

Xin Liu, Jiaju Guo, Haoli Zhang, Dezhong Zhou, Yanqing Hou

{"title":"Partial Ambiguity Resolution for Low Cost GNSS Receiver in UAV Navigation Applications: A Comparative Study","authors":"Xin Liu, Jiaju Guo, Haoli Zhang, Dezhong Zhou, Yanqing Hou","doi":"10.1109/ICUS55513.2022.9987056","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987056","url":null,"abstract":"This paper compares several Ambiguity Resolution (AR) methods, including the Least square AMBiguity Decorrelation Adjustment (LAMBDA) method, the Modified LAMBDA (MLAMBDA) method, the Two-step Success Rate Criterion (TSRC) method with the low cost GNSS receivers. The algorithms were firstly tested with the low cost ublox F9P dual frequency multi-GNSS receivers in vehicle field test and UAV flight test. The ambiguity fix rate and the Time To First Fix (TTFF) are used as indices to compare the algorithms. Experiments show that the Co-LAMBDA algorithm achieves a TTFF of 480 epochs and a fix rate of 53.7%, and the TSRC algorithm achieves a TTFF of 112 epochs and a fix rate of 91.3%. It can be seen that TSRC algorithm has better performance in both TTFF and fix rate in the low cost GNSS UAV dynamic positioning applications. Then the algorithms were tested with a quasi-dynamic medium-long baseline Real-Time Kinematic (RTK) experiment, a total of 970 experimental results verify that the TSRC algorithm improves the median fix rate from 41.51% to 90.83%, and the median correct rate slightly degrades from 100% to 96.98%, which is reasonable since it computes the statistics from many more fixed-solution samples.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115047974","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}

引用次数: 0

Distributed Adaptive Formation Control for Nonholonomic Mobile Robots over Noisy Communication Networks 噪声通信网络下非完整移动机器人的分布式自适应编队控制

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986942

Weiwei Zhan, Zhiqiang Miao, Yanjie Chen, Yaonan Wang

引用次数: 0

Distributed Iterative Localization for Wireless Sensor Networks Subject to DoS Attacks DoS攻击下无线传感器网络的分布式迭代定位

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986971

Ya Wang, Lei Shi, Jinliang Shao, Yuhua Cheng, Houjun Wang

引用次数: 0

Highly Adaptive Ship Detection Based on Arbitrary Quadrilateral Bounding Box 基于任意四边形边界框的高自适应船舶检测

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986765

Yan Zhang, Yucan Chi, Yongsheng Fan

{"title":"Highly Adaptive Ship Detection Based on Arbitrary Quadrilateral Bounding Box","authors":"Yan Zhang, Yucan Chi, Yongsheng Fan","doi":"10.1109/ICUS55513.2022.9986765","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986765","url":null,"abstract":"With the rapid development of space remote sensing technology, accurate ship detection based on high-resolution optical remote sensing images has steadily attracted considerable research interest. However, most of the current methods adopt a fixed horizontal detection frame to predict the target. Although these methods have good detection accuracy, because the ship's orientation is arbitrary in reality, a large error occurs in the matching degree of the detection effective area, resulting in inaccurate target detection. Therefore, this paper proposes a ship detection algorithm based on an arbitrary quadrilateral prediction frame. We redefine the loss function and directly predict the detection frame's four vertices through the designed eight-parameter regression process. In addition, the convolutional block attention module (CBAM) is introduced to optimize the original network structure, and the clustering method is used to optimize the calculation of the anchor point. To replace the intersection over union (IoU), which cannot distinguish different alignments of objects, we adopt a generalized intersection over union (GIoU). Finally, we conduct experiments based on the DOTA ship dataset and the HRSC2016 dataset. The results show that our method is better than YOLOv3 and other commonly used target detection algorithms in terms of accuracy and visualization. Meanwhile, we compared with SOTA algorithm in real-time and dense ship detection. Experimental results prove that its speed and performance on mobile platform are in the lead, and it has a great effect on dense ship detection.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384212","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}

引用次数: 0

The Implementation of the SLAM Method in ROS System and Underwater Robot SLAM方法在ROS系统和水下机器人中的实现

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986897

Fei Suo, Jiaqi Lv, Zhan Wang

引用次数: 0

Configuration Uncertainty Propagation of Geocentric Interferometric Constellation with Respect to Orbital Element Errors 考虑轨道元误差的地心干涉星座构型不确定度传播

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987220

F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao

{"title":"Configuration Uncertainty Propagation of Geocentric Interferometric Constellation with Respect to Orbital Element Errors","authors":"F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao","doi":"10.1109/ICUS55513.2022.9987220","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987220","url":null,"abstract":"The interferometric constellations are widely applied to high-precision measurement in space, such as space gravitational waves detection. Uncertain propagation study of constellations can provide guidance for configuration design, but highly nonlinear dynamics and large evolution time make it very difficult. This paper aims at the uncertainty propagation of the geocentric interferometric constellations under the action of complex conservative forces. First, the configuration parameters of a constellation are introduced. The magnitudes of the conservative perturbations at different orbital altitudes are analyzed, including the third body perturbations from the Moon, the Sun and the Earth's non-spherical perturbation. Secondly, the initial state of the constellation is represented by the set of orbital elements of each spacecraft. The deviations of the orbital elements are separately applied to the initial configurations of different orientations and sizes to study the configuration uncertainty propagations. It is found that the accumulation of phase deviation is the major factor leading to the configuration deformation. The uncertainty magnitude of the constellation is inversely related to the configurational size. Besides, the configuration of the constellations, whose orbital period is resonated with the Moon, should be avoided in the mission design.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129399966","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}

引用次数: 0

A Latency-offset Online Trajectory Planner based on Successive Convex Approximation 基于连续凸逼近的延迟偏移在线轨迹规划

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986991

Yiming Li, Bin Jiang, Junan Yang, Jian Wang, Beibei Li, Keju Huang, Kun Shao

引用次数: 0

A Pixhawk-ROS Based Development Solution for the Research of Autonomous Quadrotor Flight with a Rotor Failure 基于Pixhawk-ROS的转子故障自主四旋翼飞行研究开发方案

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986633

Tianxing Chen, X. Zhuang, Zhiwei Hou, Hongbo Chen

引用次数: 1

On distributed leader escort control and bipartite time-varying formation tracking of multiple ASVs 多asv分布式领队护航控制与二部时变编队跟踪

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986768

G. Wen

{"title":"On distributed leader escort control and bipartite time-varying formation tracking of multiple ASVs","authors":"G. Wen","doi":"10.1109/ICUS55513.2022.9986768","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986768","url":null,"abstract":"Distributed leader escort control and bipartite time-varying formation tracking (BTFT) problems are investigated respectively in this paper for a group of multiple autonomous surface vessels (ASVs) in the presence of a dynamic leader. To facilitate the analysis, it is assumed that the velocity and acceleration of the dynamic leader are bounded. By utilizing signed graphs, the following ASVs are divided into two groups to form different time-varying formation configurations. Then, two new kinds of controllers are designed respectively for completing the distributed leader escort control and BTFT tasks under the mild condition that only parts of the following ASVs can obtain the leader's information. By using tools from Lyapunov stability theory and sliding mode control theory, it is proven that the objectives of distributed leader escort control and BTFT can be respectively achieved asymptotically under the designed controllers with appropriate control gains. The results are further extended to the scenarios where the dynamics of following ASVs subject to uncertain Coriolis and centripetal matrix, and uncertain damping matrix. At last, some numerical simulations are presented to illustrate the validity of the designed controllers.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130212381","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}

引用次数: 0

Sampled-data-based Event-triggered Affine Formation Control for Multi-agent Systems with Intergrator Dynamics 基于采样数据的多智能体系统事件触发仿射编队控制

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987105

Xiaofeng Chai, Yue Sun, Na Zhang, Shuai Ma, Yuxiang Wang, Qi Diao

引用次数: 0