Qianshuo Liu, Jun Zhao^*

Phyton-International Journal of Experimental Botany, Vol.93, No.10, pp. 2663-2681, 2024, DOI:10.32604/phyton.2024.056054 - 30 October 2024

Abstract Traditional machine vision algorithms have difficulty handling the interference of light and shadow changes, broken rows, and weeds in the complex growth circumstances of soybean fields, which leads to erroneous navigation route segmentation. There are additional shortcomings in the feature extractFion capabilities of the conventional U-Net network. Our suggestion is to utilize an improved U-Net-based method to tackle these difficulties. First, we use ResNet’s powerful feature extraction capabilities to replace the original U-Net encoder. To enhance the concentration on characteristics unique to soybeans, we integrate a multi-scale high-performance attention mechanism. Furthermore, to do multi-scale feature… More >

Yan Wang^*, You Lu, Yuqing Zhou, Zhijian Zhao

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.3, pp. 2673-2703, 2024, DOI:10.32604/cmes.2023.046743 - 11 March 2024

Abstract Indoor positioning is a key technology in today’s intelligent environments, and it plays a crucial role in many application areas. This paper proposed an unscented Kalman filter (UKF) based on the maximum correntropy criterion (MCC) instead of the minimum mean square error criterion (MMSE). This innovative approach is applied to the loose coupling of the Inertial Navigation System (INS) and Ultra-Wideband (UWB). By introducing the maximum correntropy criterion, the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise, thus enhancing its adaptability to diverse environmental localization requirements. Particularly in… More >

Siyu Lu¹, Jun Yang¹, Bo Yang¹, Zhengtong Yin², Mingzhe Liu^3,*, Lirong Yin⁴, Wenfeng Zheng^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.1, pp. 669-685, 2023, DOI:10.32604/cmes.2023.027417 - 23 April 2023

Abstract With the help of surgical navigation system, doctors can operate on patients more intuitively and accurately. The positioning accuracy and real-time performance of surgical instruments are very important to the whole system. In this paper, we analyze and design the detection algorithm of surgical instrument location mark, and estimate the posture of surgical instrument. In addition, we optimized the pose by remapping. Finally, the algorithm of location mark detection proposed in this paper and the posture analysis data of surgical instruments are verified and analyzed through experiments. The final result shows a high accuracy. More >

Qi Wang^1,2,3,*, Changsong Yang^2,3,5, Yuxiang Wang^1,2,3, Shao-en Wu⁴

Intelligent Automation & Soft Computing, Vol.26, No.6, pp. 1433-1442, 2020, DOI:10.32604/iasc.2020.012759 - 24 December 2020

Abstract To improve the positioning accuracy of farming vehicle in precision agriculture, an integrated positioning system is proposed based on Global Navigation Satellite System (GNSS)/Strapdown Inertial Navigation System (SINS)/Wireless Sensor Networks (WSN) with low cost and high reliability. The principles of commonly used localization technologies in vehicle positioning are compared and the Received Signal Strength Indication (RSSI) based measurement method is chosen as the integrated positioning system for information fusion considering the complexity of the algorithm, positioning accuracy and hardware requirements in the application scenario. The research of wireless signal propagation loss model of farmland environment More >

Jin Sun¹, Dengyin Zhang^{1, *}, Xiaoye Shi¹, Fei Ding^{1, 2}

CMC-Computers, Materials & Continua, Vol.65, No.2, pp. 1349-1360, 2020, DOI:10.32604/cmc.2020.011459 - 20 August 2020

Abstract Initial alignment is the precondition for strapdown inertial navigation system (SINS) to navigate. Its two important indexes are accuracy and rapidity, the accuracy of the initial alignment is directly related to the working accuracy of SINS, but in selfalignment, the two indexes are often contradictory. In view of the limitations of conventional data processing algorithms, a novel method of compass alignment based on stored data and repeated navigation calculation for SINS is proposed. By means of data storage, the same data is used in different stages of the initial alignment, which is beneficial to shorten More >

Qi Wang^{1, 2, *}, Changsong Yang^{2, 3}, Shao’en Wu⁴

CMC-Computers, Materials & Continua, Vol.64, No.2, pp. 973-986, 2020, DOI:10.32604/cmc.2020.07575 - 10 June 2020

Abstract Strapdown non-exchangeable error compensation technology in high dynamic environment is one of the key technologies of strapdown inertial navigation system. Mathematical platform is used in strapdown inertial navigation system instead of physical platform in traditional platform inertial navigation system, which improves reliability and reduces cost and volume of system. The maximum error source of attitude matrix solution is the non-exchangeable error of rotation due to the non-exchangeable of finite rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in coning motion, although it can be reduced by shortening the correction period and increasing More >

Lihua Zhu¹, Yu Wang¹, Lei Wang², Zhiqiang Wu^1,*

CMC-Computers, Materials & Continua, Vol.59, No.3, pp. 1015-1026, 2019, DOI:10.32604/cmc.2019.05656

Abstract The performance of the transfer alignment has great impact on inertial navigation systems. As the transfer alignment is generally implemented using a filter to compensate the errors, its accuracy, rapidity and anti-disturbance capability are key properties to evaluate the filtering process. In terms of the superiority in dealing with the noise, H∞ filtering has been used to improve the anti-disturbance capability of the transfer alignment. However, there is still a need to incorporate system uncertainty due to various dynamic conditions. Based on the structural value theory, a robustness stability analysis method has been proposed for More >

Mengchu Tian¹, Yuming Bo¹, Zhimin Chen^2,3, Panlong Wu¹, Gaopeng Zhao¹

CMES-Computer Modeling in Engineering & Sciences, Vol.108, No.5, pp. 285-301, 2015, DOI:10.3970/cmes.2015.108.285

Abstract Particle filter based on particle swarm optimization algorithm is not precise enough and easily trapping in local optimum, it is difficult to satisfy the requirement of advanced integrated navigation system. To solve these problems, an improved adaptive particle filter based on chaos particle swarm was proposed and used in GPS/INS integrated navigation system. This algorithm introduced chaos sequence to update the weight and threshold, which could improve the quality of samples and reduce the local optimization and enhance the global searching ability. In addition, the avoid factor was set which made the particles be away More >

Zhimin Chen^1,2, Yuanxin Qu¹, Tongshuang Zhang¹, Xiaoshu Bai¹, Xiaohong Tao¹, Yong Liu¹

CMES-Computer Modeling in Engineering & Sciences, Vol.106, No.6, pp. 379-393, 2015, DOI:10.3970/cmes.2015.106.379

Abstract Particle swarm optimization algorithm based particle filter is trapping in local optimum easily, it is not able to satisfy the requirement of modern integrated navigation system. In order to solve the problem, A novel particle filter algorithm based on hybrid adaptive particle swarm optimization(HPSO-PF) is presented in this paper. This improved particle filter will conduce to finding the ideal solution domain by making use of the global convergence of artificial fish swarm and enhancement of fusion precision by guiding particles to move toward the high likelihood area through particle swarm optimization. Finally different models are More >

Chien-Hao Tseng¹, Dah-Jing Jwo², Chih-Wen Chang¹

CMC-Computers, Materials & Continua, Vol.27, No.1, pp. 23-54, 2012, DOI:10.3970/cmc.2012.027.023

Abstract The extended particle filter (EPF) assisted by the Takagi-Sugeno (T-S) fuzzy logic adaptive system (FLAS) is used to design the ultra-tightly coupled GPS/INS (inertial navigation system) integrated navigation, which can maneuver the vehicle environment and the GPS outages scenario. The traditional integrated navigation designs adopt a loosely or tightly coupled architecture, for which the GPS receiver may lose the lock due to the interference/jamming scenarios, high dynamic environments, and the periods of partial GPS shading. An ultra-tight GPS/INS architecture involves the integration of I (in-phase) and Q (quadrature) components from the correlator of a GPS… More >