High-precision Positioning Technology Research Articles

Route Planning Method of UAV Patrol Based on High Precision Tower Model

The high-precision positioning technology of industrial Unmanned Aerial Vehicle (UAV) plays a vital role in intelligent trajectory planning in power inspection. First, the information on power facilities is collected and processed to form a planning grid to optimize the flight path and correct the trajectory of UAV. However, the preparatory work is more complex, and the algorithm model which needs more detailed and complex terrain database data is not universal enough. To improve the safety of UAV and the efficiency of path planning, we establish a three-dimensional model of the power tower, calculate the coordinate position of the inspection work according to the information of the high-voltage transmission tower, and then determine the corresponding relationship between the inspection point and the flight trajectory combined with the safe distance. Based on the set of random interference semaphores and model rasterization, the discrete error strategy and Euler method are introduced to improve the performance. In each iteration, the best solution is first updated using the execution strategy. We continue to calculate the spatial coordinates of all reference points and provide the coordinate position distribution for the flight mission. The solution of equipment inspection trajectory optimization is realized by using dynamic obstacle perception. The proposed discrete measurement error self-correction algorithm is deployed on the flight platform to guide UAV inspection tasks according to the point cloud coordinate model of transmission equipment in the power system and to correct the flight route in time. To verify the research results, the Algorithm Artemisinin optimization and Whale Optimization Algorithm test verify that the ability of the proposed algorithm to get rid of local optimization is improved by 8.94% and, 12.42% respectively compared with other optimization algorithms. The convergence accuracy is 12.4% and 7.9% higher than other schemes, and it has a better effect in solving numerical problems. The research results using the embedded system to complete the task deployment and unloading provide a reference for trajectory planning and task design in different application scenarios.

An improved multiple-outlier-robust GNSS/INS EKF filer based on multiple statistical similarity measure

Abstract High-precision and highly reliable location information is the key support for autonomous driving applications. Global Navigation satellite system (GNSS)/Inertial navigation system (INS) integrated positioning is a typical high-precision positioning technology. However, satellite signals are easily affected by various interferences such as signal blocking and multipath problems, leading to performance degradation in complex urban environments. The traditional extended Kalman filtering (EKF) cannot handle observation outlier, and the system’s positioning accuracy sharply declines when the observations are affected by non-Gaussian heavy-tailed noise. Therefore, this paper presents an improved multiple-outlier-robust extended Kalman filter (I-MOREKF) for GNSS/INS Loosely Coupled Integration. A multiple statistical similarity measure (MSSM) is built to evaluate the similarity between two random vectors from dimension to dimension. Then, the I-MOREKF is proposed by maximizing a cost function based on the MSSM, and considering the robust estimation with IGG III model. The proposed model effectively removes multiple types of errors in complex environments. A vehicular test was carried out to validate the feasibility and performance of the proposed model. Simulated random gross errors are introduced in GNSS measurements, and the measurement noises are corrupted by heavy-tail noise. The results show that simulated gross errors can be successfully detected with I-MOREKF model, and the 3D position Root Meas Square Error is 0.0148 m for I-MOREKF, which are improved by 97.2%,13.5% and 52.9%, as compared with EKF, IGG Ⅲ and MOREKF.

Maglev train high-precision positioning technology based on FBG array time division multiplexing

The positioning system is crucial in operating, controlling and monitoring maglev trains. This study proposes a maglev train positioning technology based on weak Fiber Bragg Grating (wFBG) sensing array time division multiplexing (TDM). The onboard Halbach permanent magnet array generates a traveling wave magnetic field that follows the train movement. The wFBG magnetic sensor array fixed on the track senses the magnetic field changes which cause periodical variation in sensors’ center wavelength. The relative position of the onboard Halbach array and the sensors on the track can be determined with the changes in center wavelength. Therefore, train positioning can be achieved. A rotating motor equipped with a circumferentially arranged magnet array is utilized for simulation experiment to verify the frequency response characteristics of the magnetic sensor. The result is that the operating frequency range of the sensor is at most 160 Hz so the sensor can be applied to positioning under the theoretical speed of 23 km/h. A small-scale experiment containing nine sensors is also conducted, which achieves relative positioning accuracy of 20 mm and absolute positioning accuracy of 540 mm, demonstrating the feasibility of the positioning technology. This study introduces the FBG TDM technology into maglev train positioning and provides new ideas about maglev train positioning.

The B-spline mapping function (BMF): representing anisotropic troposphere delays by a single self-consistent functional model

Troposphere’s asymmetry can introduce errors ranging from centimeters to decimeters at low elevation angles, which cannot be ignored in high-precision positioning technology and meteorological research. The traditional two-axis gradient model, which strongly relies on an open-sky environment of the receiver, exhibits misfits at low elevation angles due to their simplistic nature. In response, we propose a directional mapping function based on cyclic B-splines named B-spline mapping function (BMF). This model replaces the conventional approach, which is based on estimating Zenith Wet Delay and gradient parameters, by estimating only four parameters which enable a continuous characterization of the troposphere delay across any directions. A simulation test, based on a numerical weather model, was conducted to validate the superiority of cyclic B-spline functions in representing tropospheric asymmetry. Based on an extensive analysis, the performance of BMF was assessed within precise point positioning using data from 45 International GNSS Service stations across Europe and Africa. It is revealed that BMF improves the coordinate repeatability by approximately 10%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$10\\%$$\\end{document} horizontally and about 5%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$5\\%$$\\end{document} vertically. Such improvements are particularly pronounced under heavy rainfall conditions, where the improvement of 3-dimensional root mean square error reaches up to 13%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$13\\%$$\\end{document}.

Warehouse Management Information System Technology Review

With the rapid development of information technology, warehouse management information systems are playing an increasingly important role in modern logistics management. This paper first elaborates on the importance of warehouse management information systems and the impact of technological development on warehouse management, and then reviews the development process of warehouse management information systems. Next, it focuses on introducing the application of key technologies such as barcode technology, RFID technology, UWB high-precision positioning technology, wireless network communication technology, cloud computing technology, and big data analysis technology in warehouse management. In addition, this paper also analyzes the current problems faced by warehouse management information systems and discusses the application prospects of emerging technologies such as artificial intelligence, Internet of Things, blockchain, automation, and robotics in warehouse management. Finally, it summarizes the main findings of the review and proposes insights and suggestions for the development of warehouse management information systems and future research directions.

Design and implementation of a monitoring platform based on beidou high precision positioning technology

Traditional BDS positioning technology has limitations in accuracy, robustness, and availability in certain real-time monitoring applications. Therefore, this article designs and implements a monitoring platform based on Beidou high-precision positioning technology to solve the limitations of traditional BDS positioning technology and provide more accurate, reliable, and real-time positioning services. The research first analyzes and optimizes the positioning algorithms of the existing Beidou system to improve the accuracy of position measurement. Then apply the optimized algorithm to the system architecture of the monitoring platform to achieve high-precision positioning function. Finally, design a suitable user interface and data processing module so that users can easily obtain and analyze positioning data. Through experimental verification, this platform has achieved high accuracy and stability in position measurement. Users can obtain real-time location information through this platform and further analyze and process it.

DPTP-LICD: A differential privacy trajectory protection method based on latent interest community detection

With the rapid development of high-speed mobile network technology and high-precision positioning technology, the trajectory information of mobile users has received extensive attention from academia and industry in the field of Location-based Social Networks. Researchers can mine users’ trajectories in Location-based Social Networks to obtain sensitive information, such as friendship groups, activity patterns, and consumption habits. Therefore, mobile users’ privacy and security issues have received growing attention in Location-based Social networks. It is crucial to strike a balance between privacy protection and data availability. This paper proposes a differential privacy trajectory protection method based on latent interest community detection(DPTP-LICD), ensuring strict privacy protection standards and user data availability. Firstly, based on the historical trajectory information of users, spatiotemporal constraint information is extracted to construct a potential community strength model for mobile users. Secondly, the latent interest community obtained from the analysis is used to identify preferred hot spots on the user’s trajectory, and their priorities are assigned based on a popularity model. A reasonable privacy budget is allocated to prevent excessive noise from being added and rendering the protected trajectory data unusable. Finally, to prevent privacy leakage, we add Laplace and exponential noise in generating preferred hot spots and recommending user interest points. Security and effectiveness analysis shows that our mechanism provides effective points of interest recommendations and protects users’ privacy from disclosure.

Route Optimization Method of UAV Autonomous Transmission Line Detection Based on Beidou Positioning Service

By using Beidou high-precision positioning technology, drone autonomous flight technology, and drone communication technology, a drone inspection system has been constructed. In order to further improve the work efficiency of UAV inspection on transmission lines, a single-base tower UAV inspection track optimization method based on the filtering method of the sphere unit limit is proposed. With the assistance of precision positioning services, the autonomous drone inspection hovering accuracy can reach an average of 5cm (E-W), 6cm (N-S), and 7cm (H), which meets the requirements of fine line inspections. The method proposed in this paper can further improve the efficiency of UAV fine independent inspection while improving the intelligent level of transmission line inspection.

COMPUTER VISION IN THE TELEOPERATION OF THE YUTU-2 ROVER

Abstract. On January 3, 2019, the Chang'e-4 (CE-4) probe successfully landed in the Von Kármán crater inside the South Pole-Aitken (SPA) basin. With the support of a relay communication satellite "Queqiao" launched in 2018 and located at the Earth-Moon L2 liberation point, the lander and the Yutu-2 rover carried out in-situ exploration and patrol surveys, respectively, and were able to make a series of important scientific discoveries. Owing to the complexity and unpredictability of the lunar surface, teleoperation has become the most important control method for the operation of the rover. Computer vision is an important technology to support the teleoperation of the rover. During the powered descent stage and lunar surface exploration, teleoperation based on computer vision can effectively overcome many technical challenges, such as fast positioning of the landing point, high-resolution seamless mapping of the landing site, localization of the rover in the complex environment on the lunar surface, terrain reconstruction, and path planning. All these processes helped achieve the first soft landing, roving, and in-situ exploration on the lunar farside. This paper presents a high-precision positioning technology and positioning results of the landing point based on multi-source data, including orbital images and CE-4 descent images. The method and its results have been successfully applied in an actual engineering mission for the first time in China, providing important support for the topographical analysis of the landing site and mission planning for subsequent teleoperations. After landing, a 0.03 m resolution DOM was generated using the descent images and was used as one of the base maps for the overall rover path planning. Before each movement, the Yutu-2 rover controlled its hazard avoidance cameras (Hazcam), navigation cameras (Navcam), and panoramic cameras (Pancam) to capture stereo images of the lunar surface at different angles. Local digital elevation models (DEMs) with a 0.02 m resolution were routinely produced at each waypoint using the Navcam and Hazcam images. These DEMs were then used to design an obstacle recognition method and establish a model for calculating the slope, aspect, roughness, and visibility. Finally, in combination with the Yutu-2 rover mobility characteristics, a comprehensive cost map for path search was generated.By the end of the first 12 lunar days, the Yutu-2 rover has been working on the lunar farside for more than 300 days, greatly exceeding the projected service life. The rover was able to overcome the complex terrain on the lunar farside, and travelled a total distance of more than 300 m, achieving the "double three hundred" breakthrough. In future manned lunar landing and exploration of Mars by China, computer vision will play an integral role to support science target selection and scientific investigations, and will become an extremely important core technology for various engineering tasks.

Research on High-precision Positioning Technology for Partial Discharge of High Voltage Switchgear

With the advancement and development of power technology, the research of high-voltage switchgear has always been a hot issue. Countries around the world are actively conducting related research. Good high-voltage switchgear can have a positive impact on the development of the power grid. This paper studies the partial discharge positioning technology of power system switchgear, introduces the common ground wave and ultrasonic detection of partial discharge technology, and builds the space model of power switchgear, and proposes the use of hyperboloid method and space search method. The positioning technology of the partial discharge of the switchgear is combined with the multi-channel power switchgear detection equipment used in this paper. The effectiveness of the multi-channel switchgear to detect and locate the partial discharge is verified by simulation experiments. This article introduces the principles of high-voltage switchgear diagnosis and collects local high-precision positioning technology. It introduces the most widely used monitoring technology and live TEV AE real-time monitoring technology, and its complex concepts and principles. It can clearly compare two live detection technologies. Existing power companies generally use two mating devices, high-voltage switchgear, to better diagnose the PD phenomenon; they also introduce positioning methods and positioning technologies. The four-channel detection technology is mainly charged and applied positioning methods and positioning Surface space network search method.

Transmission Line Monitoring System Based on Beidou High Precision Positioning Technology

The tower deformation, ground deformation and environmental changes of transmission lines in unmanned or undermanned areas have serious impact on the safety and stability of transmission lines. At the same time, the condition of transmission lines is difficult to transmit to monitoring centers in unmanned areas with weak signals. Aiming at this phenomenon, a transmission line monitoring system based on Beidou high precision positioning technology is proposed. The system can sense the tower deformation, ground deformation and environmental change of transmission line through image sensor, temperature and humidity sensor, rainfall sensor and wind speed sensor, and then realize the data transmission and location function through Beidou high-precision positioning technology. The designed system has the characteristics of high accuracy, fast transmission speed and low power consumption.

The Study of Production Process System of New Multi-Feature Continuous Reel Soft Pack Trademarks

Continuous reel low weight and multi-color soft pack trademarks are used in the high-speed large-volume packaging production process during some new production process. However, most of the existing equipments in the factory are discrete single production machine. Therefore the production process of multi-feature continuous reel soft pack trademarks is needed to be solved urgently. Multi-feature continuous reel soft pack trademark set printing color clarity, color graded accuracy, trademarks pattern and text position accuracy in one. Disposable multi-point high-precision positioning technology, flat local heat transfer technology and digital intermittent control technology are used to achieve continuous reel trademarks high-precision double location synchronization hot stamping. That is, multiple convex word and laser holographic anti-counterfeit pattern intermittent synchronization hot stamping. Machine vision inspection system scan each pixel of trademark with high-speed CCD array and collect it into a computer database for comparison with the standard sample. The defects are recorded by electronic coordinates, building electron stripping system and removing unqualified trademarks, a set of production process system of new continuous reel soft pack trademarks is achieved. This research provides a theoretical basis for technological transformation of enterprises and products the new packaging production, completes its corresponding transformation and crafts integration. It could help enterprise form a new production process system.

Hybrid Combination of GIS,GPS,WSN and GPRS Technology in Modern Digital Agriculture Application

In order to improve the information management of the modern digital agriculture, combined several modern digital agriculture technologies, namely wireless sensor network (WSN), global positioning system (GPS), geographic information system (GIS) and general packet radio service (GPRS), and applied them to the information collection and intelligent control process of the modern digital agriculture. Combining the advantage of the local multi-channel information collection and the low-power wireless transmission of WSN, the stable and low cost long-distance communication and data transmission ability of GPRS, the high-precision positioning technology of the DGPS positioning and the large-scale field information layer-management technology of GIS, such a hybrid technology combination is applied to the large-scale field information and intelligent management. In this study, wireless sensor network routing nodes are disposed in the sub-area of field. These nodes have GPS receiver modules and the electric control mechanism, and are relative positioned by GPS. They can real-time monitor the field information and control the equipment for the field application. When the GPS position information and other collected field information are measured, the information can be remotely transmitted to PC by GPRS. Then PC can upload the information to the GIS management software. All the field information can be classified into different layers in GIS and shown on the GIS map based on their GPS position. Moreover, we have developed remote control software based on GIS. It can send the control commands through GPRS to the nodes which have control modules; and then we can real-time manage and control the field application. In conclusion, the unattended automatic wireless intelligent technology for the field information collection and control can effectively utilize hardware resources, improve the field information intelligent management and reduce the information and intelligent cost.