Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied environment...Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied environments.Most of the previous works have tended to build Convolutional Neural Networks(CNNs)to extract features and then directly regress the pose,which will fail when solving the challenges caused by the huge viewpoint and size differences between“UAV-satellite”image pairs in real-world scenarios.Therefore,this paper proposes a probability distribution/regression integrated deep model with the attention-guided triple fusion mechanism,which estimates discrete distributions in pose space and three-dimensional vectors in translation space.In order to overcome the shortage of the relevant dataset,this paper simulates image datasets captured by UAVs with forward-facing cameras during target searching and autonomous attacking.The effectiveness,superiority,and robustness of the proposed method are verified by simulated datasets and flight tests.展开更多
In goodness-of-fit tests, Pearson＇s chi-squared test is one of most widely used tools of formal statistical analysis. However, Pearson＇s chi-squared test depends on the partition of the sample space. Different const...In goodness-of-fit tests, Pearson＇s chi-squared test is one of most widely used tools of formal statistical analysis. However, Pearson＇s chi-squared test depends on the partition of the sample space. Different constructions of the partition of the sample space may lead to different conclusions. Based on an equiprobable partition of sample space, a modified chi^quared test is proposed. A method for constructing the modified chi-squared test is proposed. As an application, the proposed test is used to test whether vectorial data come from an uniformity distribution defined on the hypersphere. Some simulation studies show that the modified chisquared test against different alternative is robust.展开更多
针对城市移动通信环境,提出了散射体各向异性分布的VMF分布模型.在室外宏小区的移动通信环境下引入散射体群的概念,并结合MIMO多天线Y型阵列(UYA)和圆形阵列(UCA)拓扑结构,使得模型能够估计多径衰落信道的重要信道参数,如UYA和UCA的空...针对城市移动通信环境,提出了散射体各向异性分布的VMF分布模型.在室外宏小区的移动通信环境下引入散射体群的概念,并结合MIMO多天线Y型阵列(UYA)和圆形阵列(UCA)拓扑结构,使得模型能够估计多径衰落信道的重要信道参数,如UYA和UCA的空间衰落相关函数(SFC)、衰落信道模型的信道容量及多天线阵列UYA和UCA对平均余纬的敏感度等,并延伸了SFC在求解信道协方差矩阵的应用.结果表明:M IM O多天线系统的性能不仅取决于天线阵列阵元间距,还与到达角度有关;所提模型的信道参数估计结果适用于实际的城市移动通信环境.针对UYA和UCA的SFC和信道容量研究,拓展了VM F分布模型在三维空间域移动通信领域的应用,对MIMO多天线阵列的信道参数评估和无线通信系统仿真提供了有力的工具.展开更多
基金supported by the National Natural Science Foundation of China(No.61973033)the Chongqing Natural Science Foundation,China(No.cstc2021jcyjmsxmX0737).
文摘Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied environments.Most of the previous works have tended to build Convolutional Neural Networks(CNNs)to extract features and then directly regress the pose,which will fail when solving the challenges caused by the huge viewpoint and size differences between“UAV-satellite”image pairs in real-world scenarios.Therefore,this paper proposes a probability distribution/regression integrated deep model with the attention-guided triple fusion mechanism,which estimates discrete distributions in pose space and three-dimensional vectors in translation space.In order to overcome the shortage of the relevant dataset,this paper simulates image datasets captured by UAVs with forward-facing cameras during target searching and autonomous attacking.The effectiveness,superiority,and robustness of the proposed method are verified by simulated datasets and flight tests.
基金Foundation item： the Natural Science Foundation of Beijing （No. 1062001）Academic Human Resources Development in Institutions of Higher Learning Under the Jurisdiction of Beijing Municipality（No. 05006011200702）.Acknowledgements The authors cordially thank the Associate Editor and Reviewers for their constructive comments which lead to improvement of the manuscript. They are also very grateful to Prof. Adelaide Figueiredo for his help.
文摘In goodness-of-fit tests, Pearson＇s chi-squared test is one of most widely used tools of formal statistical analysis. However, Pearson＇s chi-squared test depends on the partition of the sample space. Different constructions of the partition of the sample space may lead to different conclusions. Based on an equiprobable partition of sample space, a modified chi^quared test is proposed. A method for constructing the modified chi-squared test is proposed. As an application, the proposed test is used to test whether vectorial data come from an uniformity distribution defined on the hypersphere. Some simulation studies show that the modified chisquared test against different alternative is robust.
文摘针对城市移动通信环境,提出了散射体各向异性分布的VMF分布模型.在室外宏小区的移动通信环境下引入散射体群的概念,并结合MIMO多天线Y型阵列(UYA)和圆形阵列(UCA)拓扑结构,使得模型能够估计多径衰落信道的重要信道参数,如UYA和UCA的空间衰落相关函数(SFC)、衰落信道模型的信道容量及多天线阵列UYA和UCA对平均余纬的敏感度等,并延伸了SFC在求解信道协方差矩阵的应用.结果表明:M IM O多天线系统的性能不仅取决于天线阵列阵元间距,还与到达角度有关;所提模型的信道参数估计结果适用于实际的城市移动通信环境.针对UYA和UCA的SFC和信道容量研究,拓展了VM F分布模型在三维空间域移动通信领域的应用,对MIMO多天线阵列的信道参数评估和无线通信系统仿真提供了有力的工具.
