Yuan Huizheng

A precise urban vehicle navigation method based on 3D velocity Mamba constraint

Feifan Lin, Qingzhong Cai, Yuan Huizheng, Yue Yu et autres

Abstract In complex urban environments, vehicle-integrated navigation systems based on Global Navigation Satellite Systems (GNSS) aided Inertial Navigation Systems (INS) typically rely on nonholonomic constraints (NHC) and odometer velocity to improve navigation accuracy. However, the performance of such systems is often degraded …

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A precise urban vehicle navigation method based on 3D velocity Mamba constraint

Feifan Lin, Qingzhong Cai, Yuan Huizheng, Yue Yu et autres

Physics-informed random forest algorithm for temperature compensation in fiber optic gyroscopes

Chenxiao Qin, Yue Liu, Rongwang Zeng, Qinghua Xu et autres

Temperature-induced bias drift severely degrades the accuracy of fiber optic gyroscopes. Existing compensation methods face a dilemma between polynomial fitting accuracy and deep learning generalization. To solve this, a physics-informed random forest (PI-RF) algorithm is proposed. By integrating a temporal memory vector …

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FGA: Frequency and geometry-aware attention for robust point cloud understanding

Ying Zhige, Wu Zhe, Zhang Cheng, Chen Hande et autres

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EULF-IUB: An Enhanced UGV Localization Framework Using Tightly Coupled IMU/UWB/Barometer Integration

Feifan Lin, Qingzhong Cai, S Wang, Yue Yu et autres

Accurate 3D localization in Global Navigation Satellite System (GNSS)-denied environments is a critical prerequisite for the autonomous navigation of unmanned ground vehicles (UGVs). However, robust localization remains severely challenged by ultra-wideband (UWB) ranging degradation under multipath and blockage, accumulated inertial errors, and …

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EWHT-AIB: Enhanced Waist-Mounted Human Tracking Framework Based on Array IMU and Barometer

Feifan Lin, Qingzhong Cai, Yue Yu, Yuan Huizheng

With the development of the Internet of Things (IoT) and Artificial Intelligence (AI), indoor location-based services have become an indispensable part of public daily life. The performance of 3D indoor positioning is constrained by the low performance of consumer-grade MEMS IMU, lack …

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Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance

Cheng Zhang, Tianlong Chen, Wei Shang, Zhongzhong Zheng et autres

In this paper, the adaptive super-twisting distributed formation control of multi-quadrotor in the presence of external disturbances and uncertainties is studied. First, the quadrotor formation system is separated into a position subsystem and an attitude subsystem which are represented by unit-quaternions. And …

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Design and implementation of I-FOG with wide start dynamic range

Yuan Huizheng, Bo Gao, Lu Junqing, Xingshan Li et autres

An ideal way to achieve high precision of I-FOG is to enhance Sagnac effect. Lengthing the fiber and enlarging the diameter of fiber coil are the major two methods. However, they bring sharp decrease on the dynamic range of I-FOG. An algorithm …

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A control method based on Smith estimator applied in closed-loop I-FOG

Xingshan Li, Yuan Huizheng, Gao Huiwen, Shao Zhihao et autres

With the rapid development of I-FOG, high precision I-FOG is becoming an urgent demand in strategic submarine, navigation and armed vehicles. This paper focuses on the closed-loop control method design. A direct way to improve the precision of I-FOG is to increase …

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All digital inertial navigation simulating & designing systems based on open architecture

Yuan Huizheng, Xingshan Li, Gao Huiwen, Junqing Lu et autres

All the models established in this paper are based on the principle of AVM Cookbook. SystemC-AMS, which is an open source language, is chosen as the primary programming language to describe the function components in the strap-down fiber IMU. Each function corresponds …

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Study of high performance Fiber Optic Gyroscope based on SLD light source

Xingshan Li, Shao Zhihao, Lu Junqing, Yuan Huizheng et autres

This paper relates the development situation of FOG in china. New weapon system needs high performance Fiber Optic Gyroscope. Through analyzing basic scheme of FOG at home and abroad, comparing Technical index of ASE light source and SLD light source. Therefore, we …

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Spectra of fiber Bragg grating in nuclear environment

Ningfang Song, Yuan Huizheng, Jing Jin, Song Lin et autres

Dense wavelength division multiplexing (DWDM) technology is a promising way for high transmission-rate demand in the ever complex Earth Observation satellites and space station. However, fiber Bragg grating (FBG) filters used in DWDM systems may fail to check out the correct wavelength …

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