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The signal blockage and multipath effects of the Global Navigation Satellite System (GNSS) caused by urban canyon scenarios have brought great technical challenges to the positioning and navigation of autonomous vehicles. In this paper, an improved factor graph optimization algorithm enhanced by a resilient noise model is proposed. The measurement noise is resilient and adjusted based on an approximate Gaussian distribution-based estimation. In estimating and adjusting the noise parameters of the measurement model, the error covariance matrix of the multi-sensor fusion positioning system is dynamically optimized to improve the system accuracy. Firstly, according to the approximate Gaussian statistical property of the GNSS/odometer velocity residual sequence, the measured data are divided into an approximate Gaussian fitting region and an approximate Gaussian convergence region. Secondly, the interval is divided according to the measured data, and the corresponding variational Bayesian network and Gaussian mixture model are used to estimate the innovation online. Further, the noise covariance matrix of the adaptive factor graph-based model is dynamically optimized using the estimated noise parameters. Finally, based on low-cost inertial navigation equipment, GNSS, odometer, and vision, the algorithm is implemented and verified using a simulation platform and real-vehicle road test. The experimental results show that in a complex urban road environment, compared with the traditional factor graph fusion localization algorithm, the maximum improvement in accuracy of the proposed algorithm can reach 65.63%, 39.52%, and 42.95% for heading, position, and velocity, respectively.

Considering that laser scan stations are expensive and heavy for the indoor environment reconstruction of unmanned systems, a low-cost and light reconstruction system is proposed in this research. The system consists of a cross-structured light visual (SLV) sensor and an inertial navigation system (INS). The cross-SLV sensor is used to scan the surroundings and to estimate the angle change between two adjacent measurements. To improve the robustness and accuracy of the angle measurement, a Kalman Filter (KF) with simple construction is designed to fuse the inertial information from the INS. The factors which influence ranging accuracy are analyzed and ranging experiments show that the SLV sensor has an accuracy of higher than 2% when the distance is less than 4 m. Then the reconstruction results of a kitchen and corridor show that the error of most points is less than 50 mm for either kitchen (94%) or corridor (85%), and the mean errors and standard deviations of kitchen and corridor are less than 20 mm and 30 mm, respectively.

The effective identification and mitigation of non-line-of-sight (NLOS) ranging errors are essential for achieving high-precision positioning and navigation with ultra-wideband (UWB) technology in harsh indoor environments. In this paper, an efficient UWB ranging-error mitigation strategy that uses novel channel impulse response parameters based on the results of a two-step NLOS identification, composed of a decision tree and feedforward neural network, is proposed to realize indoor locations. NLOS ranging errors are classified into three types, and corresponding mitigation strategies and recall mechanisms are developed, which are also extended to partial line-of-sight (LOS) errors. Extensive experiments involving three obstacles (humans, walls, and glass) and two sites show an average NLOS identification accuracy of 95.05%, with LOS/NLOS recall rates of 95.72%/94.15%. The mitigated LOS errors are reduced by 50.4%, while the average improvement in the accuracy of the three types of NLOS ranging errors is 61.8%, reaching up to 76.84%. Overall, this method achieves a reduction in LOS and NLOS ranging errors of 25.19% and 69.85%, respectively, resulting in a 54.46% enhancement in positioning accuracy. This performance surpasses that of state-of-the-art techniques, such as the convolutional neural network (CNN), long short-term memory–extended Kalman filter (LSTM-EKF), least-squares–support vector machine (LS-SVM), and k-nearest neighbor (K-NN) algorithms.

Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption.

Aiming at the problems of the low robustness and poor reliability of a single positioning source in complex indoor environments, a multi-level fusion indoor positioning technology considering credible evaluation is proposed. A multi-dimensional electromagnetic atlas including pseudolites (PL), Wi-Fi and a geomagnetic field is constructed, and the unsupervised learning model is used to sample in the latent space to achieve a feature-level fusion positioning. A location credibility evaluation method is designed to improve the credibility of the positioning system through a multi-dimensional data quality evaluation and heterogeneous information auxiliary constraints. Finally, a large number of experiments were carried out in the laboratory environment, and, finally, about 90% of the positioning error was better than 1 m, and the average positioning error was 0.56 m. Compared with several relatively advanced positioning methods (Inter-satellite CPDM/Epoch-CPDS/Z-KPI) at present, the average positioning accuracy is improved by about 56%, 83.5% and 82.9%, respectively, which verifies the effectiveness of the algorithm. To verify the effect of the proposed method in a practical application environment, the proposed positioning system is deployed in the 2022 Winter Olympics venues. The results show that the proposed method has a significant improvement in the positioning accuracy and continuity.

This paper presents an evaluation of real-time kinematic (RTK)/Pseudolite/landmarks assistance heuristic drift elimination (LAHDE)/inertial measurement unit-based personal dead reckoning systems (IMU-PDR) integrated pedestrian navigation system for urban and indoor environments. Real-time kinematic (RTK) technique is widely used for high-precision positioning and can provide periodic correction to inertial measurement unit (IMU)-based personal dead reckoning systems (PDR) outdoors. However, indoors, where global positioning system (GPS) signals are not available, RTK fails to achieve high-precision positioning. Pseudolite can provide satellite-like navigation signals for user receivers to achieve positioning in indoor environments. However, there are some problems in pseudolite positioning field, such as complex multipath effect in indoor environments and integer ambiguity of carrier phase. In order to avoid the limitation of these factors, a local search method based on carrier phase difference with the assistance of IMU-PDR is proposed in this paper, which can achieve higher positioning accuracy. Besides, heuristic drift elimination algorithm with the assistance of manmade landmarks (LAHDE) is introduced to eliminate the accumulated error in headings derived by IMU-PDR in indoor corridors. An algorithm verification system was developed to carry out real experiments in a cooperation scene. Results show that, although the proposed pedestrian navigation system has to use human behavior to switch the positioning algorithm according to different scenarios, it is still effective in controlling the IMU-PDR drift error in multiscenarios including outdoor, indoor corridor, and indoor room for different people.

As pedestrian dead-reckoning (PDR), based on foot-mounted inertial sensors, suffers from accumulated error in velocity and heading, an improved heuristic drift elimination (iHDE) with a zero-velocity update (ZUPT) algorithm was proposed for simultaneously reducing the error in heading and velocity in complex paths, i.e., with pathways oriented at 45°, curved corridors, and wide areas. However, the iHDE algorithm does not consider the changes in pedestrian movement modes, and it can deteriorate when a pedestrian walks along a straight path without a pre-defined dominant direction. To solve these two problems, we propose enhanced heuristic drift elimination (eHDE) with an adaptive zero-velocity update (AZUPT) algorithm and novel heading correction algorithm. The relationships between the magnitude peaks of the y-axis angular rate and the detection thresholds were established only using the readings of the three-axis accelerometer and the three-axis gyroscopic, and a mechanism for constructing temporary dominant directions in real time was introduced. Real experiments were performed and the results showed that the proposed algorithm can improve the still-phase detection accuracy of a pedestrian at different movement motions and outperforms the iHDE algorithm in complex paths with many straight features.

This paper considers the problem of tracking a three-dimensional target under the condition that only a single two-dimensional radar is available. Since a two-dimensional radar can only measure the slant range and azimuth information relative to the target, an unobservability issue arises in this tracking application. Therefore, we first investigate the observability issue of tracking a three-dimensional target with a single two-dimensional radar from two perspectives, including intuitive illustration and quantitative analysis. From the perspective of intuitive illustration, we demonstrate “What is the unobservability issue” and “How does the relative target-radar geometry influence the observability of the tracking system”. From the perspective of quantitative analysis, we construct a novel observability metric for this special tracking problem. Second, aiming at improving tracking performance under the unobservability of target height, we propose an observability-based Gaussian sum cubature Kalman filter. Built within the Gaussian sum framework and based on the height-parameterized strategy, this novel algorithm uses a set of independent fifth-degree cubature Kalman filters, each of which can detect the system observability variation and enhance the tracking accuracy by using a Gaussian splitting scheme under low-degree observability. Finally, the effectiveness of the presented filtering algorithm is validated through lots of simulation experiments.

The escalating proliferation of space debris poses an increasing risk to spinning satellites, elevating the probability of hazardous collisions that can result in severe damage or total loss of functionality. To address this concern, a pioneering inflatable protective structure is employed to ensure the optimal functionality of spinning satellites. Additionally, a multi-body dynamic modeling method based on spring hinge unfolding/spring expansion is proposed to tackle the complex dynamics of spinning satellites with inflatable protective structures during flight. This method enables analysis of the motion parameters of spinning satellites. First, the structural composition of a spinning satellite with inflatable protective structures is introduced and its flight process is analyzed. Then, an articulated spring hinge unfolding model or a spring expansion model using the Newton–Euler method is established to describe the unfolding or expansion of the spinning satellite with inflatable protective structures during flight. Finally, the effects on the motion parameters of a spinning satellite are analyzed through simulation under various working conditions.

A short-term rapid subsidence event occurred in the Bi Guiyuan community in Balitai Town, Tianjin City, leading to the tilting of high-rise buildings and the emergency evacuation of over 3000 residents. In response to this incident, InSAR (Interferometric Synthetic Aperture Radar) technology was swiftly employed to monitor the subsidence in the area before and after the event. Our observations indicate that the region had maintained stability for 8 months prior to the incident. However, over the course of the 15-day event, the ground experienced more than 10mm of subsidence. By integrating the findings from an InSAR analysis with geological studies, we speculate that the rapid subsidence in the region is related to the extraction of geothermal resources. It is suspected that during drilling operations, the wellbore mistakenly penetrated a massive underground karst cavity. Consequently, this resulted in a sudden rapid leakage of drilling fluid, creating a pressure differential that caused the overlying soil layers to collapse and rapidly sink into the cavity. As a result, short-term rapid subsidence on the ground surface and tilting of high-rise buildings occurred.

The reliability of the high-voltage drive motor system for pure electric commercial vehicles is in premium demand. Conventional reliability based on fault tree analysis methods is not suitable for the quantitative assessment of polymorphic systems. As an example of a pure electric commercial vehicle, this paper combines polymorphic theory and Bayesian theory to establish a polymorphic Bayesian network model of a high-voltage drive motor system in terms of a polymorphic fault tree and to quantitatively judge the system. The polymorphic Bayesian network (BN) model can accurately depict the high-voltage drive motor system’s miscellaneous fault states and solve the top event’s probability in every state, also solving the system and drawing the consistent conclusion that the presence of abrasive particles, high-temperature gluing, moisture, and localized high temperatures are the system’s weak links by solving the critical importance, probabilistic importance, and posterior probability of the underlying event, which provides a theoretical reference for structure contrive optimization and fault diagnosis. This is extremely important in terms of improving pure electric commercial vehicles’ high-voltage drive motor systems.

Due to the simplified assumptions or unascertained equipment parameters, traditional mechanism models of boiler system in coal-fired power plant usually have predictive errors that cannot be ignored. In order to further improve the predictive accuracy of the model, this paper proposes a novel recurrent neural network-based hybrid modeling method for digital twin of boiler system. First, the mechanism model of boiler system is described through recurrent neural network (RNN) to facilitate training and updating parameters, while the interpretability of the model does not degenerate. Second, for the time-varying parameters in the mechanism model, the functional relationship between them and the state variables is constructed by neurons to improve the predictive accuracy. Third, the long short-term memory (LSTM) neural network model is established to describe the unascertained dynamic characteristics to compensate the predictive residual of the mechanism model. Fourth, the update architecture and training algorithm applicable to the hybrid model are established to realize the iterative optimization of model parameters. Finally, experimental results show that the hybrid modeling method proposed in this paper can improve the predictive performance of traditional models effectively.

This paper presents a zero-optical-distance mini-LED backlight with cone-shaped light coupling microstructures to achieve an ultra-thin backlight architecture (~0.1 mm thickness) by combining the characteristics of direct-lit and edge-lit backlights. There is no gap between the light guide plate (LGP) and the reflector, as well as between the LGP and the mini-LED embedded in the reflector. The illuminance uniformity and light extraction efficiency (LEE) of the whole structure reach 91.47% and 77.09%, respectively. Nine sub-modules are spliced together to realize 2D local dimming with 0.29% crosstalk. The structure shows high optical performance while reducing the thickness of the backlight module, which is of great significance for the development of mini-LED backlights.

In the growing mass of social media data, how to efficiently extract the collection of interested concerns has become a research hotspot. Due to the large size and regularity of social media data, traditional indexing techniques are not applicable. Our “Learned Index”, which is a part of social media intelligence solutions, uses mathematical principles to summarize the laws from the data. It predicts the location of the data by learning the mathematical properties of the data distribution to build the model. Although existing methods over single dimension and multi-dimension such as setting gaps are proposed to further optimize the performance of index, they do not consider the update-distribution of data. In this paper, we propose an update-distribution-aware learned index for social media data (TALI) to support update operations and handle the data sliding. In TALI, underlying data are learned through machine learning models, and a recursive hierarchical model is built. It also learns the update-distribution of data to adjust the size of each leaf node. Thus, it can more effectively support all kinds of operations in databases due to the decrease of the leaf nodes’ sliding. In addition, TALI uses the model-based insertion method for bulkload and query, resulting in a small prediction error. Thus, exponential search is used to perform secondary lookup to improve query efficiency. Experiments were tested and compared on four realistic and synthetic social media datasets. Through extensive experiments, TALI performed better than the existing state-of-the-art learned index with less space occupancy on four realistic and synthetic social media datasets.

Cotton is an important economic crop, but large-scale field extraction and estimation can be difficult, particularly in areas where cotton fields are small and discretely distributed. Moreover, cotton and soybean are cultivated together in some areas, further increasing the difficulty of cotton extraction. In this paper, an innovative method for cotton area estimation using Sentinel-2 images, land use status data (LUSD), and field survey data is proposed. Three areas in Hubei province (i.e., Jingzhou, Xiaogan, and Huanggang) were used as research sites to test the performance of the proposed extraction method. First, the Sentinel-2 images were spatially constrained using LUSD categories of irrigated land and dry land. Seven classification schemes were created based on spectral features, vegetation index (VI) features, and texture features, which were then used to generate the SVM classifier. To minimize misclassification between cotton and soybean fields, the cotton and soybean separation index (CSSDI) was introduced based on the red band and red-edge band of Sentinel-2. The configuration combining VI and spectral features yielded the best cotton extraction results, with F1 scores of 86.93%, 80.11%, and 71.58% for Jingzhou, Xiaogan, and Huanggang. When CSSDI was incorporated, the F1 score for Huanggang increased to 79.33%. An alternative approach using LUSD for non-target sample augmentation was also introduced. The method was used for Huangmei county, resulting in an F1 score of 78.69% and an area error of 7.01%. These results demonstrate the potential of the proposed method to extract cotton cultivated areas, particularly in regions with smaller and scattered plots.

The small scale of transmission towers and the environmental diversity around their situations make their detection in Synthetic Aperture Radar (SAR) images a challenging task. This paper presents a new hierarchical detection algorithm for transmission towers. First, Signal-to-Clutter Ratios (SCRs) of pixels are calculated. Afterwards, a SCR threshold is set. Since transmission towers possess strong scattering characteristics, pixels with SCRs above the threshold are considered as potential transmission tower pixels. Second, spatial densities of potential transmission tower pixels are calculated. According to the aggregation characteristics of transmission tower pixels, some potential transmission tower pixels with small spatial densities are removed. The remained potential transmission tower pixels are considered as candidate transmission tower pixels. The candidate transmission tower pixels are grouped by the nearest neighbour scheme such that in each group the distance between pixels is under a given threshold. Thus, each of the groups is viewed as a quasi-transmission tower. Convex-hulls of quasi-transmission towers are built, and then Minimum Bounding Rectangle (MBR) for each convex-hull is generated. According to the rectangle aspect ratios of MBRs, the real transmission towers are extracted. C-band HH-polarization GaoFen-3 (GF-3) amplitude images are used for experiments and four of the most popular transmission tower detection algorithms are selected as comparing algorithms to validate the proposed algorithms. The detection performance of transmission towers is evaluated with detection rate and quality factor. Experimental results verify that the proposed algorithm can efficiently and accurately detect transmission towers while maintaining the transmission tower geometry to a certain extent, which indicates that the proposed algorithm is efficient and promising.

Wuhan is an important city in central China, with a rapid development that has led to increasingly serious land subsidence over the last decades. Most of the existing Interferometric Synthetic Aperture Radar (InSAR) subsidence monitoring studies in Wuhan are either short-term investigations—and thus can only detect this process within limited time periods—or combinations of different Synthetic Aperture Radar (SAR) datasets with temporal gaps in between. To overcome these constraints, we exploited nearly 300 high-resolution COSMO-SkyMed StripMap HIMAGE scenes acquired between 2012 and 2019 to monitor the long-term subsidence process affecting Wuhan and to reveal its spatiotemporal variations. The results from the Persistent Scatterer Interferometric SAR (PSInSAR) processing highlight several clearly observable subsidence zones. Three of them (i.e., Houhu, Xinrong, and Guanggu) are affected by serious subsidence rates and non-linear temporal behavior, and are investigated in this paper in more detail. The subsidence in Houhu is caused by soft soil consolidation and compression. Soil mechanics are therefore used to estimate when the subsidence is expected to finish and to calculate the degree of consolidation for each year. The COSMO-SkyMed PSInSAR results indicate that the area has entered the late stage of consolidation and compression and is gradually stabilizing. The subsidence curve found for the area around Xinrong shows that the construction of an underground tract of the subway Line 21 caused large-scale settlement in this area. The temporal granularity of the PSInSAR time series also allows precise detection of a rebound phase following a major flooding event in 2016. In the southern industrial park of Guanggu, newly detected subsidence was found. The combination of the subsidence curve with an optical time-series image analysis indicates that urban construction is the main trigger of deformation in this area. While this study unveils previously unknown characters of land subsidence in Wuhan and clarifies the relationship with the urban causative factors, it also proves the benefits of non-linear PSInSAR in the analysis of the temporal evolution of such processes in dynamic and expanding cities.

The excellent generalization ability of deep learning methods, e.g., convolutional neural networks (CNNs), depends on a large amount of training data, which is difficult to obtain in industrial practices. Data augmentation is regarded commonly as an effective strategy to address this problem. In this paper, we attempt to construct a crack detector based on CNN with twenty images via a two-stage data augmentation method. In detail, nine data augmentation methods are compared for crack detection in the model training, respectively. As a result, the rotation method outperforms these methods for augmentation, and by an in-depth exploration of the rotation method, the performance of the detector is further improved. Furthermore, data augmentation is also applied in the inference process to improve the recall of trained models. The identical object has more chances to be detected in the series of augmented images. This trick is essentially a performance–resource trade-off. For more improvement with limited resources, the greedy algorithm is adopted for searching a better combination of data augmentation. The results show that the crack detectors trained on the small dataset are significantly improved via the proposed two-stage data augmentation. Specifically, using 20 images for training, recall in detecting the cracks achieves 96% and Fext(0.8), which is a variant of F-score for crack detection, achieves 91.18%.

Standard Bayesian filtering algorithms only work well when the statistical properties of system noises are exactly known. However, this assumption is not always plausible in real target tracking applications. In this paper, we present a new estimation approach named adaptive fifth-degree cubature information filter (AFCIF) for multi-sensor bearings-only tracking (BOT) under the condition that the process noise follows zero-mean Gaussian distribution with unknown covariance. The novel algorithm is based on the fifth-degree cubature Kalman filter and it is constructed within the information filtering framework. With a sensor selection strategy developed using observability theory and a recursive process noise covariance estimation procedure derived using the covariance matching principle, the proposed filtering algorithm demonstrates better estimation accuracy and filtering stability. Simulation results validate the superiority of the AFCIF.