The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time perfor...The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.展开更多
Short-term GPS data based taxi pick-up area recommendation can improve the efficiency and reduce the overheads.But how to alleviate sparsity and further enhance accuracy is still challenging.Addressing at these issues...Short-term GPS data based taxi pick-up area recommendation can improve the efficiency and reduce the overheads.But how to alleviate sparsity and further enhance accuracy is still challenging.Addressing at these issues,we propose to fuse spatio-temporal contexts into deep factorization machine(STC_DeepFM)offline for pick-up area recommendation,and within the area to recommend pick-up points online using factorization machine(FM).Firstly,we divide the urban area into several grids with equal size.Spatio-temporal contexts are destilled from pick-up points or points-of-interest(POIs)belonged to the preceding grids.Secondly,the contexts are integrated into deep factorization machine(DeepFM)to mine high-order interaction relationships from grids.And a novel algorithm named STC_DeepFM is presented for offline pick-up area recommendation.Thirdly,we devise the architecture of offline-to-online(O2O)recommendation respectively based on DeepFM and FM model in order to tradeoff the accuracy and efficiency.Some experiments are designed on the DiDi dataset to evaluate step by step the performance of spatio-temporal contexts,different recommendation models,and the O2O architecture.The results show that the proposed STC_DeepFM algorithm exceeds several state-of-the-art methods,and the O2O architecture achieves excellent real-time performance.展开更多
基金supported in part by National Key Research and Development Program under Grant No.2020YFB1708800China Postdoctoral Science Foundation under Grant No.2021M700385+5 种基金Guang Dong Basic and Applied Basic Research Foundation under Grant No.2021A1515110577Guangdong Key Research and Development Program under Grant No.2020B0101130007Central Guidance on Local Science and Technology Development Fund of Shanxi Province under Grant No.YDZJSX2022B019Fundamental Research Funds for Central Universities under Grant No.FRF-MP-20-37Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)under Grant No.FRF-IDRY-21-005National Natural Science Foundation of China under Grant No.62002026。
文摘The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.
基金supported by the National Natural Science Foundation of China(41871320,61873316)the Key Project of Hunan Provincial Education Department(19A172)+1 种基金the Scientific Research Fund of Hunan Provincial Education Department(18K060)the Postgraduate Scientific Research Innovation Project of Hunan Province(CX20211000).
文摘Short-term GPS data based taxi pick-up area recommendation can improve the efficiency and reduce the overheads.But how to alleviate sparsity and further enhance accuracy is still challenging.Addressing at these issues,we propose to fuse spatio-temporal contexts into deep factorization machine(STC_DeepFM)offline for pick-up area recommendation,and within the area to recommend pick-up points online using factorization machine(FM).Firstly,we divide the urban area into several grids with equal size.Spatio-temporal contexts are destilled from pick-up points or points-of-interest(POIs)belonged to the preceding grids.Secondly,the contexts are integrated into deep factorization machine(DeepFM)to mine high-order interaction relationships from grids.And a novel algorithm named STC_DeepFM is presented for offline pick-up area recommendation.Thirdly,we devise the architecture of offline-to-online(O2O)recommendation respectively based on DeepFM and FM model in order to tradeoff the accuracy and efficiency.Some experiments are designed on the DiDi dataset to evaluate step by step the performance of spatio-temporal contexts,different recommendation models,and the O2O architecture.The results show that the proposed STC_DeepFM algorithm exceeds several state-of-the-art methods,and the O2O architecture achieves excellent real-time performance.
