当前全球导航卫星系统与激光雷达的数据融合被广泛应用于无人驾驶车辆的定位系统中,但在室内环境下由于卫星信号的丢失导致定位精度低甚至无法定位。为此提出一种基于超宽带(Ultra-Wideband,UWB)与激光雷达(Light Detection and Ranging...当前全球导航卫星系统与激光雷达的数据融合被广泛应用于无人驾驶车辆的定位系统中,但在室内环境下由于卫星信号的丢失导致定位精度低甚至无法定位。为此提出一种基于超宽带(Ultra-Wideband,UWB)与激光雷达(Light Detection and Ranging,LiDAR)的融合定位算法。该算法以粒子滤波为基础,对两个传感器的定位数据进行互补融合解算。利用UWB实时定位数据通过提供起始粒子范围的方式来提高LiDAR的定位速率。通过求解LiDAR定位信息与粒子之间的几何距离来更新粒子的权重,从而弥补UWB的非视距误差。搭建一个室内测试场景,并将融合定位算法在智能小车平台上进行验证。实验结果表明,该方法优于UWB或LiDAR单一传感器的定位方案,而且在UWB视距受阻或LiDAR匹配失效的情况下,车辆仍能够获得良好的定位精度和定位实时性。展开更多
A novel, compact, and highly selective ultra-wideband （UWB） bandpass filter with a narrow notched band is presented. Apart from having a basic structure of a slotline multiple-mode resonator （MMR） and microstrip f...A novel, compact, and highly selective ultra-wideband （UWB） bandpass filter with a narrow notched band is presented. Apart from having a basic structure of a slotline multiple-mode resonator （MMR） and microstrip feed lines, this novel design introduces a cross-coupling between the input and output feed lines to enhance the filter selectivity. The design strictly follows the theory and verified by electromagnetic （EM） simulation and experiments. In addition, the narrow notched band is introduced by embedding a pair of split ring resonators （SRR） in order to reject any undesired existing radio signals that may interfere with the Federal Communications Commission （FCC）-defined UWB band. By changing the structural parameters of SRR, it can be easily tuned to any desired frequency. This filter can be integrated in UWB communication systems and efficiently improve the interference immunity from undesired signals such as wireless local area network （WLAN）.展开更多
With the diversified development of big data,detection and precision guidance technologies,electromagnetic(EM)functional materials and devices serving multiple spectrums have become a hot topic.Exploring the multispec...With the diversified development of big data,detection and precision guidance technologies,electromagnetic(EM)functional materials and devices serving multiple spectrums have become a hot topic.Exploring the multispectral response of materials is a challenging and meaningful scientific question.In this study,MXene/TiO_(2)hybrids with tunable conduction loss and polarization relaxation are fabricated by in situ atomic reconstruction engineering.More importantly,MXene/TiO_(2)hybrids exhibit adjustable spectral responses in the GHz,infrared and visible spectrums,and several EM devices are constructed based on this.An antenna array provides excellent EM energy harvesting in multiple microwave bands,with|S11|up to−63.2 dB,and can be tuned by the degree of bending.An ultra-wideband bandpass filter realizes a passband of about 5.4 GHz and effectively suppresses the transmission of EM signals in the stopband.An infrared stealth device has an emissivity of less than 0.2 in the infrared spectrum at wavelengths of 6-14μm.This work can provide new inspiration for the design and development of multifunctional,multi-spectrum EM devices.展开更多
文摘当前全球导航卫星系统与激光雷达的数据融合被广泛应用于无人驾驶车辆的定位系统中,但在室内环境下由于卫星信号的丢失导致定位精度低甚至无法定位。为此提出一种基于超宽带(Ultra-Wideband,UWB)与激光雷达(Light Detection and Ranging,LiDAR)的融合定位算法。该算法以粒子滤波为基础,对两个传感器的定位数据进行互补融合解算。利用UWB实时定位数据通过提供起始粒子范围的方式来提高LiDAR的定位速率。通过求解LiDAR定位信息与粒子之间的几何距离来更新粒子的权重,从而弥补UWB的非视距误差。搭建一个室内测试场景,并将融合定位算法在智能小车平台上进行验证。实验结果表明,该方法优于UWB或LiDAR单一传感器的定位方案,而且在UWB视距受阻或LiDAR匹配失效的情况下,车辆仍能够获得良好的定位精度和定位实时性。
基金supported by the Natural Science Foundation of CQ CSTC(CSTC2010DD2412)Chongqing Municipal Science and Technology Commission of Natural Science Foundation Project(KJ100512)the Research Fund Project of Chongqing University of Posts and Telecommunications(A2011-51)
文摘A novel, compact, and highly selective ultra-wideband （UWB） bandpass filter with a narrow notched band is presented. Apart from having a basic structure of a slotline multiple-mode resonator （MMR） and microstrip feed lines, this novel design introduces a cross-coupling between the input and output feed lines to enhance the filter selectivity. The design strictly follows the theory and verified by electromagnetic （EM） simulation and experiments. In addition, the narrow notched band is introduced by embedding a pair of split ring resonators （SRR） in order to reject any undesired existing radio signals that may interfere with the Federal Communications Commission （FCC）-defined UWB band. By changing the structural parameters of SRR, it can be easily tuned to any desired frequency. This filter can be integrated in UWB communication systems and efficiently improve the interference immunity from undesired signals such as wireless local area network （WLAN）.
基金supported by the National Natural Science Foundation of China(Grant Nos.52373280,52177014,51977009,52273257).
文摘With the diversified development of big data,detection and precision guidance technologies,electromagnetic(EM)functional materials and devices serving multiple spectrums have become a hot topic.Exploring the multispectral response of materials is a challenging and meaningful scientific question.In this study,MXene/TiO_(2)hybrids with tunable conduction loss and polarization relaxation are fabricated by in situ atomic reconstruction engineering.More importantly,MXene/TiO_(2)hybrids exhibit adjustable spectral responses in the GHz,infrared and visible spectrums,and several EM devices are constructed based on this.An antenna array provides excellent EM energy harvesting in multiple microwave bands,with|S11|up to−63.2 dB,and can be tuned by the degree of bending.An ultra-wideband bandpass filter realizes a passband of about 5.4 GHz and effectively suppresses the transmission of EM signals in the stopband.An infrared stealth device has an emissivity of less than 0.2 in the infrared spectrum at wavelengths of 6-14μm.This work can provide new inspiration for the design and development of multifunctional,multi-spectrum EM devices.
