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    Wyświetlanie 1-15 z 15
    Tytuł:
    Laser nuclear fusion: current status, challenges and prospect
    Autorzy:
    Badziak, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/201663.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    laser
    plasma
    inertial fusion
    laser acceleration
    Opis:
    In 2009, in Lawrence Livermore National Laboratory, USA, National Ignition Facility (NIF) - the largest thermonuclear fusion device ever made was launched. Its main part is a multi-beam laser whose energy in nanosecond pulse exceeds 1MJ (106 J). Its task is to compress DT fuel to the density over a few thousand times higher than that of solid-state DT and heat it to 100 millions of K degrees. In this case, the process of fuel compression and heating is realized in an indirect way - laser radiation (in UV range) is converted in the so-called hohlraum (1 cm cylinder with a spherical DT pellet inside) into very intense soft X radiation symmetrically illuminating DT pellet. For the first time ever, the fusion device's energetic parameters are sufficient for the achieving the ignition and self-sustained burn of thermonuclear fuel on a scale allowing for the generation of energy far bigger than that delivered to the fuel. The main purpose of the current experimental campaign on NIF is bringing about, within the next two-three years, a controlled thermonuclear 'big bang' in which the fusion energy will exceed the energy delivered by the laser at least ten times. The expected 'big bang' would be the culmination of fifty years of international efforts aiming at demonstrating both physical and technical feasibility of generating, in a controlled way, the energy from nuclear fusion in inertial confined plasma and would pave the way for practical realization of the laser-driven thermonuclear reactor. This paper briefly reviews the basic current concepts of laser fusion and main problems and challenges facing the research community dealing with this field. In particular, the conventional, central hot spot ignition approach to laser fusion is discussed together with the more recent ones - fast ignition, shock ignition and impact ignition fusion. The research projects directed towards building an experimental laser-driven thermonuclear reactor are presented as well.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 4; 729-738
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    High Power Laser Laboratory at the Institute of Plasma Physics and Laser Microfusion : equipment and preliminary research
    Autorzy:
    Zaraś-Szydłowska, A.
    Badziak, J.
    Rosiński, M.
    Makowski, J.
    Parys, P.
    Piotrowski, M.
    Ryć, L.
    Wołowski, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/146603.pdf
    Data publikacji:
    2015
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    femtosecond pulses
    high-power laser
    inertial confinement fusion
    laser plasma
    Opis:
    The purpose of this paper is to present the newly-opened High Power Laser Laboratory (HPLL) at the Institute of Plasma Physics and Laser Microfusion (IPPLM). This article describes the laser, the main laboratory accessories and the diagnostic instruments. We also present preliminary results of the first experiment on ion and X-ray generation from laser-produced plasma that has been already performed at the HPLL.
    Źródło:
    Nukleonika; 2015, 60, 2; 245-248
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Diagnostics of laser-produced plasmas
    Autorzy:
    Batani, D.
    Morace, A.
    Maheut, Y.
    Jakubowska, K.
    Volpe, L.
    Powiązania:
    https://bibliotekanauki.pl/articles/146508.pdf
    Data publikacji:
    2016
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    laser-produced plasmas
    inertial-confinement fusion (ICF)
    X-ray imaging
    VISAR
    Opis:
    We present the general challenges of plasma diagnostics for laser-produced plasmas and give a few more detailed examples: spherically bent crystals for X-ray imaging, velocity interferometers (VISAR) for shock studies, and proton radiography.
    Źródło:
    Nukleonika; 2016, 61, 4; 393-401
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Can laser - driven protons be used as diagnostics in ICF experiments ?
    Autorzy:
    Volpe, L.
    Batani, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/146375.pdf
    Data publikacji:
    2012
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    laser-driven protons
    inertial confinement fusion (ICF)
    proton radiography (PR)
    radio-chromic films (RCF)
    Opis:
    Point projection proton backlighting was recently used to image a cylindrical imploding target at Rutherford Appleton Laboratory (UK). Due to the relatively low energy and to the very large mass densities reached during implosion, protons traveling through the target undergo a very large number of collisions which reduced the resolution. Here, we present a simple analytical model to study the proton radiography (PR) performance as a function of the main experimental parameters. This approach leads to define two different criteria for PR resolution describing different experimental conditions.
    Źródło:
    Nukleonika; 2012, 57, 2; 231-235
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Generation of shock waves in dense plasmas by high-intensity laser pulses
    Autorzy:
    Pasley, J.
    Bush, I. A.
    Robinson, A. P. L.
    Rajeev, P. P.
    Mondal, S.
    Lad, A. D.
    Ahmed, S.
    Narayanan, V.
    Ravindra Kumar, D
    Kingham, R. J.
    Powiązania:
    https://bibliotekanauki.pl/articles/147346.pdf
    Data publikacji:
    2015
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    shock waves
    radiation hydrodynamics
    laser–plasma interactions
    fast ignition
    inertial confinement fusion
    Doppler spectroscopy
    Opis:
    When intense short-pulse laser beams (I > 1022 W/m2, τ < 20 ps) interact with high density plasmas, strong shock waves are launched. These shock waves may be generated by a range of processes, and the relative significance of the various mechanisms driving the formation of these shock waves is not well understood. It is challenging to obtain experimental data on shock waves near the focus of such intense laser–plasma interactions. The hydrodynamics of such interactions is, however, of great importance to fast ignition based inertial confinement fusion schemes as it places limits upon the time available for depositing energy in the compressed fuel, and thereby directly affects the laser requirements. In this manuscript we present the results of magnetohydrodynamic simulations showing the formation of shock waves under such conditions, driven by the j × B force and the thermal pressure gradient (where j is the current density and B the magnetic field strength). The time it takes for shock waves to form is evaluated over a wide range of material and current densities. It is shown that the formation of intense relativistic electron current driven shock waves and other related hydrodynamic phenomena may be expected over time scales of relevance to intense laser–plasma experiments and the fast ignition approach to inertial confi nement fusion. A newly emerging technique for studying such interactions is also discussed. This approach is based upon Doppler spectroscopy and offers promise for investigating early time shock wave hydrodynamics launched by intense laser pulses.
    Źródło:
    Nukleonika; 2015, 60, 2; 193-198
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Experimental results on advanced inertial fusion schemes obtained within the HiPER project
    Autorzy:
    Batani, D.
    Gizzi, L. A.
    Koester, P.
    Labate, L.
    Honrubia, J.
    Antonelli, L.
    Morace, A.
    Volpe, L.
    Santos, J. J.
    Schurtz, G.
    Hulin, S.
    Ribeyre, X.
    Nicolai, P.
    Vauzour, B.
    Dorchies, F.
    Nazarov, W.
    Pasley, J.
    Richetta, M.
    Lancaster, K.
    Spindloe, Ch.
    Tolley, M.
    Neely, D.
    Kozlová, M.
    Nejdl, J.
    Rus, B.
    Wołowski, J.
    Badziak, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/147696.pdf
    Data publikacji:
    2012
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    advanced ignition schemes
    fast ignition
    shock ignition
    inertial fusion
    propagation of fast electrons
    short-pulse ultra-high-intensity laser
    shock compressed matter
    cylindrical implosions
    Opis:
    This paper presents the results of experiments conducted within the Work Package 10 (fusion experimental programme) of the HiPER project. The aim of these experiments was to study the physics relevant for advanced ignition schemes for inertial confinement fusion, i.e. the fast ignition and the shock ignition. Such schemes allow to achieve a higher fusion gain compared to the indirect drive approach adopted in the National Ignition Facility in United States, which is important for the future inertial fusion energy reactors and for realising the inertial fusion with smaller facilities.
    Źródło:
    Nukleonika; 2012, 57, 1; 3-10
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fusion 2050 : European and Polish Perspective
    Autorzy:
    Romaniuk, R. S.
    Powiązania:
    https://bibliotekanauki.pl/articles/226588.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    European research programs
    7FP
    accelerator science and technology
    large research infrastructures
    JET
    ITER
    IFMIF
    DEMO
    nuclear fusion
    thermonuclear power engineering
    DT fusion
    Neutrons
    aneutronic technologies
    inertial fusion
    tokomak
    stellarator
    fusion reactor
    tritium
    electronics for fusion
    Opis:
    Fusion, in all its varieties, is a very current subject of science and technology. The results of strongly exothermic reaction of thermonuclear fusion between nuclei of deuterium and tritium are: helium nuclei and neutrons, plus considerable kinetic energy of neutrons of over 14 MeV. DT nuclides synthesis reaction is probably not the most favorable one for energy production, but is the most advanced technologically. More efficient would be possibly an aneutronic fusion. The EU by its EURATOM agenda prepared a Road Map for research and implementation of Fusion as a commercial method of thermonuclear energy generation in the time horizon of 2050. The milestones on this road are tokomak experiments JET, ITER and DEMO, and neutron experiment IFMIF. There is a hope, that by engagement of the national government, and all research and technical fusion and plasma communities, part of this Road Map may be realized in Poland. The infrastructure build for fusion experiments may be also used for material engineering research, chemistry, biomedical, associated with environment protection, power engineering, security, etc. Construction of such research and industrial accelerator and tokomak infrastructure may have potentially a profound meaning for the development of science and technology in Poland.
    Źródło:
    International Journal of Electronics and Telecommunications; 2014, 60, 1; 95-101
    2300-1933
    Pojawia się w:
    International Journal of Electronics and Telecommunications
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Studies on fast electron transport in the context of fast ignition
    Autorzy:
    Batani, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/146597.pdf
    Data publikacji:
    2011
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    inertial confinement fusion (ICF)
    fast ignition (FI)
    fast electrons
    ultra-high-intensity lasers
    relativistic laser-plasma interaction
    Opis:
    This paper deals with the problem of fast electron propagation in plasmas, in the context of the fast ignition (FI) approach to inertial confinement fusion (ICF). In FI, a short-pulse high-intensity laser beam should generate a beam of relativistic electrons, which propagate into the compressed pellet, depositing energy and igniting the fuel. The study of electron propagation in dense matter is hence essential to the success of this scheme. The propagation of relativistic electrons in dense matter is determined by collisions of fast electrons with ions and electrons in the material, which can be described in terms of stopping power, but it also depends on self-generated magnetic and electric fields, which play a major, or even dominant role. In this paper we will show the importance of such collective effects by discussing several experimental examples.
    Źródło:
    Nukleonika; 2011, 56, 2; 99-106
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A feedback weighted fusion algorithm with dynamic sensor bias correction for gyroscope array
    Autorzy:
    Yuan, Ding
    Qin, Yongyuan
    Shen, Xiaowei
    Wu, Zongwei
    Powiązania:
    https://bibliotekanauki.pl/articles/1848956.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    inertial sensor
    gyroscope array
    weighted fusion
    bias correction
    Opis:
    Low-cost Micro-Electromechanical System (MEMS) gyroscopes are known to have a smaller size, lower weight, and less power consumption than their more technologically advanced counterparts. However, current low-grade MEMS gyroscopes have poor performance and cannot compete with quality sensors in high accuracy navigational and guidance applications. The main focus of this paper is to investigate performance improvements by fusing multiple homogeneous MEMS gyroscopes. These gyros are transformed into a virtual gyro using a feedback weighted fusion algorithm with dynamic sensor bias correction. The gyroscope array combines eight homogeneous gyroscope units on each axis and divides them into two layers of differential configuration. The algorithm uses the gyroscope array estimation value to remove the gyroscope bias and then correct the gyroscope array measurement value. Then the gyroscope variance is recalculated in real time according to the revised measurement value and the weighted coefficients and state estimation of each gyroscope are deduced according to the least square principle. The simulations and experiments showed that the proposed algorithm could further reduce the drift and improve the overall accuracy beyond the performance limitations of individual gyroscopes. The maximum cumulative angle error was -2.09 degrees after 2000 seconds in the static test, and the standard deviation (STD) of the output fusion value of the proposed algorithm was 0.006 degrees/s in the dynamic test, which was only 1.7% of the STD value of an individual gyroscope.
    Źródło:
    Metrology and Measurement Systems; 2021, 28, 1; 161-179
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Nuclear fusion - energy for future
    Autorzy:
    Sadowski, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/147936.pdf
    Data publikacji:
    2005
    Wydawca:
    Instytut Chemii i Techniki Jądrowej
    Tematy:
    fusion reaction
    magnetic confinement
    inertial confinement
    RPI facility
    SM magnetic trap
    Opis:
    This invited paper has been written on the 50th anniversary of the Institute of Nuclear Research (IBJ). The introduction describes basic nuclear fusion reactions and the appearance of high-temperature plasma, as well as different methods of the plasma generation and containment. The first part of the paper contains a concise description of the present status of research on controlled fusion and the construction of a thermonuclear reactor. The most important results of experiments oriented on magnetic confinement fusion (MCF) or inertial confinement fusion (ICF) are characterized. The second part of the paper presents a story of high-temperature plasma research carried out at IBJ (and now continued at IPJ) at Świerk. The main experimental facilities and scientific results, as obtained with those, are described. The most important achievements of IBJ (IPJ) researchers in the field of plasma physics and technology are indicated, and in particular: invention and development of the so-called RPI facilities producing intense plasma-ion streams, discovery and experimental study of a new configuration of a magnetic trap called the spherical multipole (SM) configuration, development of various plasma diagnostic techniques, and the optimization of different plasmafocus (PF) facilities.
    Źródło:
    Nukleonika; 2005, 50,suppl.3; 53-58
    0029-5922
    1508-5791
    Pojawia się w:
    Nukleonika
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    SLAM aided Inertial Navigation System
    System nawigacji inercjalnej wspomagany SLAM
    Autorzy:
    Naus, K.
    Marchel, Ł.
    Powiązania:
    https://bibliotekanauki.pl/articles/222977.pdf
    Data publikacji:
    2015
    Wydawca:
    Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
    Tematy:
    SLAM
    inertial navigation
    data fusion
    extended Kalman filter
    nawigacja inercjalna
    fuzja danych
    rozszerzony filtr Kalmana
    Opis:
    The interdisciplinary nature of navigation leads us to drawing on knowledge contained in solutions used in related technical fields. An example of this trend is combining it with elements of robotics, in which SLAM (Simultaneous Localization And Mapping) is commonly used for positioning a vehicle. To calculate position changes, the location of characteristic objects on a continuously updated map of an environment is used. The attractiveness of the implementation of this technology in connection with marine navigational aids, stems from the possibility of enhancing positioning accuracy in harbor, off-shore or narrow areas. That is in the areas where there is a built up hydro-technical infrastructure, such as breakwaters, waterfronts or navigational infrastructure in the form of marked water fairways and anchorages. In this article an analysis of SLAM combined with INS (Inertial Navigation System) is carried out. It focuses on the possibilities of enhancing accuracy in fixing position coordinates for a submarine. The first part of the article presents a mathematical base for combining INS and SLAM using the Extended Kalman Filter. The second part describes a study on the accuracy in positioning a mobile robot (in this instance a wheeled vehicle) which employs a navigation system based on INS and INS aided SLAM. The final part of the article includes the results of the study and their analysis. It also contains generalized conclusions indicating advantages and disadvantages of the proposed solution.
    Interdyscyplinarność nawigacji skłania do czerpania wiedzy z rozwiązań stosowanych w pokrewnych dziedzinach nauk technicznych. Przykładem jest połączenie z elementami robotyki, w której do pozycjonowania pojazdu powszechnie wykorzystywana jest technika SLAM (Simultaneous Localization And Mapping). Polega ona na pozycjonowaniu pojazdu na podstawie zmian położenia obiektów charakterystycznych znajdujących się na stale aktualizowanej mapie otoczenia. Implementacja tej technologii w połączeniu z morskimi urządzeniami nawigacyjnymi zwiększa dokładność pozycjonowania w obszarach portowych, przybrzeżnych lub ścieśnionych, gdzie istnieje rozbudowana infrastruktura hydrotechniczna, np. falochrony, nabrzeża, oraz infrastruktura nawigacyjna w postaci oznakowanych torów wodnych i kotwicowisk. W artykule przeprowadzono analizę technologii SLAM w połączeniu z INS (Inertial Navigation System) pod kątem możliwości zwiększenia dokładności wypracowywania współrzędnych pozycji na okręcie podwodnym. W pierwszej części przedstawiono podstawę matematyczną zespolenia INS ze SLAM przy użyciu rozszerzonego filtru Kalmana (Extended Kalman Filter), w drugiej opisano badanie dokładności pozycjonowania robota mobilnego (pojazdu kołowego) wykorzystującego system nawigacyjny oparty na INS i INS wspomagany SLAM, na zakończenie przedstawiono wyniki badania oraz ich analizę, a także uogólnione wnioski ukazujące zalety i wady zaproponowanego rozwiązania.
    Źródło:
    Zeszyty Naukowe Akademii Marynarki Wojennej; 2015, R. 56 nr 1 (200), 1 (200); 15-28
    0860-889X
    Pojawia się w:
    Zeszyty Naukowe Akademii Marynarki Wojennej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analiza rozwiązań algorytmów estymacji orientacji przestrzennej
    Analysis of solutions for space orientation estimation algorithms
    Autorzy:
    Elert, Szymon
    Sokołowski, Dariusz
    Falkowski, Krzysztof
    Powiązania:
    https://bibliotekanauki.pl/articles/2200786.pdf
    Data publikacji:
    2022
    Wydawca:
    Wojskowy Instytut Techniczny Uzbrojenia
    Tematy:
    estymacja orientacji
    fuzja czujników
    czujniki inercjalne
    symulacja komputerowa
    estimation of orientation
    fusion of sensors
    inertial sensors
    computer simulation
    Opis:
    W artykule przedstawiono dostępne rozwiązania algorytmów estymacji orientacji obiektu w przestrzeni, które potencjalnie mogą zostać wykorzystane do określenia kątów orientacji obiektu o dużej dynamice. Opisane zostały cztery metody, które obecnie są najczęściej spotykane w systemach, gdzie wymagana jest informacja o kątach orientacji przestrzennej. Na wstępie opisano podstawowe czujniki wykorzystywane do wyznaczania kątów orientacji, a więc akcelerometr, giroskop oraz magnetometr. W kolejnym rozdziale pokazana została metodyka każdego z algorytmów w celu ukazania różnic pomiędzy nimi. Na tej podstawie możliwa jest ocena, który algorytm będzie bardziej odpowiedni do określenia kątów orientacji wybranego przez nas obiektu. W drugiej części pracy w oparciu o przeprowadzoną analizę rozwiązań dokonano porównania wyników z przeprowadzonego eksperymentu wykorzystując jednostkę pomiarową składającą się z triady akcelerometrów, giroskopów oraz magnetometrów. Wyniki przestawiono w postaci wykresów dla każdego z trzech kątów: pochylenia, przechylenia i odchylenia.
    The paper presents available solutions of object’s space orientation estimation algorithms which could be used for determination of orientation angles for objects with high dynamics. There were described four methods which are most often used now in the systems requiring information on the space orientation angles. First, some basic sensors used for identification of orientation angles were presented, including accelerometer, gyroscope, and magnetometer. In the next chapter, the methodology of each algorithms was shown to illustrate differences between them. On this ground the evaluation can be made for selecting the best algorithm for determination of orientation angles for specific object. In the second part of the paper the results of carried out experiment with an measurement unit consisting of a triad of accelerometers, gyroscopes, and magnetometers were compared basing on the performed analysis. The results were presented in the form of graphs for each angle of: pitch, roll, and yaw.
    Źródło:
    Problemy Techniki Uzbrojenia; 2022, 51, 162; 67--88
    1230-3801
    Pojawia się w:
    Problemy Techniki Uzbrojenia
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Localization of the Wheeled Mobile Robot Based on Multi-Sensor Data Fusion
    Autorzy:
    Jaroszek, P.
    Trojnacki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/384395.pdf
    Data publikacji:
    2015
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    wheeled mobile robot
    localization
    environment map
    laser scanner
    inertial measurement unit
    odometry
    data fusion
    Monte Carlo localization method
    Opis:
    The paper presents a method of localization of a mobile robot which relies on aggregation of data from several sensors. A review of the state of the art regarding methods of localization of ground mobile robots is presented. An overview of design of the four-wheeled mobile robot used for the research is given. The way of representation of robot environment in the form of maps is described. The localization algorithm which uses the Monte Carlo localization method is described. The simulation environment and results of simulation investigations are discussed. The measurement and control equipment of the robot is described and the obtained results of experimental investigations are presented. The obtained results of simulation and experimental investigations confirm the validity of the developed robot localization method. They are the foundation of further research, where additional sensors supporting the localization process could be used.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 3; 73-84
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Research on AGV positioning method combined with IMU and UWB
    Autorzy:
    Qiu, Jiandong
    Zhang, Yang
    Tang, Minan
    Ma, Panpan
    Ran, Jiajia
    Powiązania:
    https://bibliotekanauki.pl/articles/2179826.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    intelligent storage system
    extended Kalman filter
    AGV
    data fusion positioning
    inertial navigation
    inteligentny system przechowywania
    rozszerzony filtr Kalmana
    pozycjonowanie danych
    nawigacja bezwładnościowa
    Opis:
    Aiming at the problem that automated guided vehicle (AGV) is difficult to locate accurately due to the influence of environment and time drift when it works in the indoor intelligent storage system. In this paper, an extended Kalman filtering (EKF) framework is designed. In order to make full use of the original ranging values of ultra wideband (UWB) and inertial measurement unit (IMU), the framework realizes the fusion positioning between UWB module and IMU module in a tight coupling manner, so as to ensure that the system can still work when the available base station signal is inaccurate. Firstly, for the problem that the traditional UWB positioning method is easily affected by the non-line of sight (NLOS) error in-doors, the calculated positioning coordinate value is unstable. With the help of different NLOS probability distribution curves of different obstacles, the weighted least square method is applied to the UWB positioning method to determine the positioning coordinate value of UWB, which improves the sudden change of AGV positioning coordinate in the static environment. Then the data fusion algorithm is optimized, and the error value of IMU and UWB coordinate is taken as the observation value of EKF, which reduces the influence of cumulative error on IMU positioning results, provides the global optimal estimation of the system optimal state, and improves the fusion positioning accuracy. Finally, the measured data of UWB and IMU systems in indoor complex environment are simulated in MATLAB. The experimental results show that when NLOS signal seriously affects the positioning effect, the UWB and IMU combined positioning system can provide more reliable positioning results than the single IMU positioning system. It improves the positioning accuracy of AGV and provides a new idea for indoor positioning mode.
    Źródło:
    Archives of Transport; 2022, 64, 4; 107--117
    0866-9546
    2300-8830
    Pojawia się w:
    Archives of Transport
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A PPP baseline approach for bridge passing
    Autorzy:
    Lass, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201435.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    inland waterways
    precise point positioning
    Global Navigation Satellite System
    multisensor data fusion
    multi-antenna
    navigation and timing
    inertial navigation system
    rate of turn
    Opis:
    Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for inland water navigation. In order to enable automated driving and facilitate driver assistant functions, it becomes of crucial importance to ensure high reliability and accuracy of the GNSS-based navigation solution, especially in challenging environments. One challenging phase of inland waterway navigation is bridge passing which leads to non-line-of-sight (NLOS) effects such as multipath and loss of tracking. This work presents a Precise Point Positioning (PPP) based algorithm in a two-antenna system where one antenna is at the bow and the other is at the stern. Additionally, gyroscope data from an IMU is used. In contrast to a separated position calculation of the two antennas, only one antenna position is estimated and the other is derived from the baseline between the antennas. This allows for accurate positioning even if one antenna does not receive any GNSS measurements. The presented scheme is evaluated using real measurement data from an inland water scenario with multiple bridges. In comparison with a standard PPP scheme as well as an RTK algorithm, the presented approach shows clear advantages in challenging scenarios.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 1; 33--40
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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