Journal of Navigation最新文献_第10页

Graph-optimisation-based self-calibration method for IMU/odometer using preintegration theory 基于预积分理论的IMU/里程表图优化自标定方法

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-13 DOI: 10.1017/S0373463321000722

Shiyu Bai, Jizhou Lai, Pin Lyu, Yiting Cen, Bingqing Wang, Xin Sun

引用次数: 3

Obstacle type recognition in visual images via dilated convolutional neural network for unmanned surface vehicles 基于扩展卷积神经网络的无人水面车辆视觉图像障碍物类型识别

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-13 DOI: 10.1017/S0373463321000941

Binghua Shi, Yixin Su, Cheng Lian, Chang Xiong, Yang Long, Chenglong Gong

{"title":"Obstacle type recognition in visual images via dilated convolutional neural network for unmanned surface vehicles","authors":"Binghua Shi, Yixin Su, Cheng Lian, Chang Xiong, Yang Long, Chenglong Gong","doi":"10.1017/S0373463321000941","DOIUrl":"https://doi.org/10.1017/S0373463321000941","url":null,"abstract":"Abstract Recognition of obstacle type based on visual sensors is important for navigation by unmanned surface vehicles (USV), including path planning, obstacle avoidance, and reactive control. Conventional detection techniques may fail to distinguish obstacles that are similar in visual appearance in a cluttered environment. This work proposes a novel obstacle type recognition approach that combines a dilated operator with the deep-level features map of ResNet50 for autonomous navigation. First, visual images are collected and annotated from various different scenarios for USV test navigation. Second, the deep learning model, based on a dilated convolutional neural network, is set and trained. Dilated convolution allows the whole network to learn deep features with increased receptive field and further improves the performance of obstacle type recognition. Third, a series of evaluation parameters are utilised to evaluate the obtained model, such as the mean average precision (mAP), missing rate and detection speed. Finally, some experiments are designed to verify the accuracy of the proposed approach using visual images in a cluttered environment. Experimental results demonstrate that the dilated convolutional neural network obtains better recognition performance than the other methods, with an mAP of 88%.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2022-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41430273","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Inland waterway network mapping of AIS data for freight transportation planning 利用AIS数据绘制内河航道网络，进行货运规划

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-13 DOI: 10.1017/S0373463321000953

Magdalena I. Asborno, S. Hernandez, K. Mitchell, Manzi Yves

{"title":"Inland waterway network mapping of AIS data for freight transportation planning","authors":"Magdalena I. Asborno, S. Hernandez, K. Mitchell, Manzi Yves","doi":"10.1017/S0373463321000953","DOIUrl":"https://doi.org/10.1017/S0373463321000953","url":null,"abstract":"Abstract Travel demand models (TDMs) with freight forecasts estimate performance metrics for competing infrastructure investments and potential policy changes. Unfortunately, freight TDMs fail to represent non-truck modes with levels of detail adequate for multi-modal infrastructure and policy evaluation. Recent expansions in the availability of maritime movement data, i.e. Automatic Identification System (AIS), make it possible to expand and improve representation of maritime modes within freight TDMs. AIS may be used to track vessel locations as timestamped latitude–longitude points. For estimation, calibration and validation of freight TDMs, this work identifies vessel trips by applying network mapping (map-matching) heuristics to AIS data. The automated methods are evaluated on a 747-mile inland waterway network, with AIS data representing 88% of vessel activity. Inspection of 3820 AIS trajectories was used to train the heuristic parameters including stop time, duration and location. Validation shows 84⋅0% accuracy in detecting stops at ports and 83⋅5% accuracy in identifying trips crossing locks. The resulting map-matched vessel trips may be applied to generate origin–destination matrices, calculate time impedances, etc. The proposed methods are transferable to waterways or maritime port systems, as AIS continues to grow.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2022-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46713066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture 多旋翼无人机路径规划算法在精准农业中的应用综述

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-13 DOI: 10.1017/S0373463321000825

Amin Basiri, V. Mariani, Giuseppe Silano, Muhammad Aatif, L. Iannelli, L. Glielmo

{"title":"A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture","authors":"Amin Basiri, V. Mariani, Giuseppe Silano, Muhammad Aatif, L. Iannelli, L. Glielmo","doi":"10.1017/S0373463321000825","DOIUrl":"https://doi.org/10.1017/S0373463321000825","url":null,"abstract":"Abstract Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2022-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45944983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 29

NAV volume 75 issue 1 Cover and Front matter NAV第75卷第1期封面和封面

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-01 DOI: 10.1017/s037346332200011x

引用次数: 0

Visual imagination and cognitive mapping of a virtual building. 虚拟建筑的视觉想象与认知映射

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-01 DOI: 10.1017/S0373463321000588

Kate Jeffery, Wanying Guo, Danny Ball, Julia Rodriguez-Sanchez

{"title":"Visual imagination and cognitive mapping of a virtual building.","authors":"Kate Jeffery, Wanying Guo, Danny Ball, Julia Rodriguez-Sanchez","doi":"10.1017/S0373463321000588","DOIUrl":"10.1017/S0373463321000588","url":null,"abstract":"<p><p>We investigated the contribution of visual imagination to the cognitive mapping of a building when initial exploration was simulated either visually by using a passive video walk-through, or mentally by using verbal guidance. Building layout had repeating elements with either rotational or mirror symmetry. Cognitive mapping of the virtual building, determined using questionnaires and map drawings, was present following verbal guidance but inferior to that following video guidance. Mapping was not affected by the building's structural symmetry. However, notably, it correlated with small-scale mental rotation scores for both video and verbal guidance conditions. There was no difference between males and females. A common factor that may have influenced cognitive mapping was the availability of visual information about the relationships of the building elements, either directly perceived (during the video walk-through) or imagined (during the verbal walk-through and/or during recall). Differences in visual imagination, particularly mental rotation, may thus account for some of the individual variance in cognitive mapping of complex built environments, which is relevant to how designers provide navigation-relevant information.</p>","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7612610/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46462511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

NAV volume 75 issue 1 Cover and Back matter NAV第75卷第1期封面和封底

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2022-01-01 DOI: 10.1017/s0373463322000108

引用次数: 0

A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation 无稳态振荡的滑模极值寻优控制在无人驾驶帆船速度优化中的应用

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2021-12-14 DOI: 10.1017/S0373463321000667

Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang

{"title":"A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation","authors":"Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang","doi":"10.1017/S0373463321000667","DOIUrl":"https://doi.org/10.1017/S0373463321000667","url":null,"abstract":"Abstract This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46869312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A filter algorithm for receiver tracking loops assisted by inertial information 惯性信息辅助下的接收机跟踪环路滤波算法

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2021-12-14 DOI: 10.1017/S0373463321000916

Zhifeng Han, Zheng Fang

引用次数: 0

A spacecraft attitude manoeuvre planning algorithm based on improved policy gradient reinforcement learning 基于改进策略梯度强化学习的航天器姿态机动规划算法

IF 2.4 4区工程技术

Journal of Navigation Pub Date : 2021-12-14 DOI: 10.1017/S0373463321000813

Bing Hua, Shenggang Sun, Yunhua Wu, Zhiming Chen

引用次数: 1