如何有效降低WSN(Wiretess Sensor Net work)网内数据传输量,延长WSN的寿命,是WSN领域的研究热点.在分簇WSN基础上,实现了一种误差实时可控的数据融合算法.通过该算法,节点可自行根据近期采集的历史数据实时调整传输阈值,不同节点可保...如何有效降低WSN(Wiretess Sensor Net work)网内数据传输量,延长WSN的寿命,是WSN领域的研究热点.在分簇WSN基础上,实现了一种误差实时可控的数据融合算法.通过该算法,节点可自行根据近期采集的历史数据实时调整传输阈值,不同节点可保持接近的数据传输率,实现均匀耗电;自适应的阈值可以有效控制数据融合的误差.理论分析与仿真实验表明,该算法能够保证不同节点数据传输的公平性;在数据传输率相同的情况下,其求和查询及均值查询的平均绝对误差均远低于当前优秀的基于伯努利采样的数据融合方法.此算法无需先验知识,在多种WSN应用场景中具有较强的可用性与适应性.展开更多
移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性....移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长.展开更多
Location-aware technology spawns numerous unforeseen pervasive applications in a wide range of living, pro- duction, commence, and public services. This article provides an overview of the location, localization, and ...Location-aware technology spawns numerous unforeseen pervasive applications in a wide range of living, pro- duction, commence, and public services. This article provides an overview of the location, localization, and localizability issues of wireless ad-hoc and sensor networks. Making data geographically meaningful, location information is essential for many applications, and it deeply aids a number of network functions, such as network routing, topology control, coverage, boundary detection, clustering, etc. We investigate a large body of existing localization approaches with focuses on error control and network localizability, the two rising aspects that attract significant research interests in recent years. Error control aims to alleviate the negative impact of noisy ranging measurement and the error accumulation effect during coope- rative localization process. Network localizability provides theoretical analysis on the performance of localization approaches, providing guidance on network configuration and adjustment. We emphasize the basic principles of localization to under- stand the state-of-the-art and to address directions of future research in the new and largely open areas of location-aware technologies.展开更多
文摘如何有效降低WSN(Wiretess Sensor Net work)网内数据传输量,延长WSN的寿命,是WSN领域的研究热点.在分簇WSN基础上,实现了一种误差实时可控的数据融合算法.通过该算法,节点可自行根据近期采集的历史数据实时调整传输阈值,不同节点可保持接近的数据传输率,实现均匀耗电;自适应的阈值可以有效控制数据融合的误差.理论分析与仿真实验表明,该算法能够保证不同节点数据传输的公平性;在数据传输率相同的情况下,其求和查询及均值查询的平均绝对误差均远低于当前优秀的基于伯努利采样的数据融合方法.此算法无需先验知识,在多种WSN应用场景中具有较强的可用性与适应性.
文摘移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长.
文摘Location-aware technology spawns numerous unforeseen pervasive applications in a wide range of living, pro- duction, commence, and public services. This article provides an overview of the location, localization, and localizability issues of wireless ad-hoc and sensor networks. Making data geographically meaningful, location information is essential for many applications, and it deeply aids a number of network functions, such as network routing, topology control, coverage, boundary detection, clustering, etc. We investigate a large body of existing localization approaches with focuses on error control and network localizability, the two rising aspects that attract significant research interests in recent years. Error control aims to alleviate the negative impact of noisy ranging measurement and the error accumulation effect during coope- rative localization process. Network localizability provides theoretical analysis on the performance of localization approaches, providing guidance on network configuration and adjustment. We emphasize the basic principles of localization to under- stand the state-of-the-art and to address directions of future research in the new and largely open areas of location-aware technologies.
