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Precise acoustic seafloor positioning with joint estimation of sound speed field structure using a layered sound speed gradient model 认领 引用
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作者 Wenlong Yang Tianhe Xu +2 位作者 Junting Wang Yangfan Liu Zhen Xiao 《Satellite Navigation》 SCIE EI CSCD 2026年第1期394-419,I0008,共26页
The accuracy of GNSS-Acoustic(GNSS-A)seafloor positioning is much affected by spatiotemporal variability in the ocean Sound Speed Field(SSF).The conventional depth-invariant horizontal sound speed gradient models repr... The accuracy of GNSS-Acoustic(GNSS-A)seafloor positioning is much affected by spatiotemporal variability in the ocean Sound Speed Field(SSF).The conventional depth-invariant horizontal sound speed gradient models represent the water-column sound speed structure using a single effective depth-averaged gradient,which cannot adequately describe the vertical heterogeneity of horizontal gradients and therefore introduce model errors and posi tioning biases.To address this issue,we propose a layered sound speed gradient model and a corresponding joint inversion framework for precise GNSS-A seafloor positioning.The proposed method parameterizes horizontal sound speed gradients in multiple depth layers and couples adjacent layers through depth-weighted interlayer continu ity constraints,which jointly estimates seafloor transponder coordinates,the depth-invariant temporal perturbation,and layer-wise horizontal gradients.Simulation results under depth-dependent horizontal gradient scenarios show that the conventional single-layer model introduces systematic positioning biases,whereas the proposed layered model significantly improves positioning accuracy,accurately estimates the temporal perturbation and layer-wise horizontal gradients,and is robust for a broad range of layering configurations and constraint parameters.Field experiments using real GNSS-A observations further demonstrate the practical value of the proposed method.The results show that the proposed approach improves the fitting of acoustic observations,maintains short-term repeata bility,and yields consistent multi-epoch coordinate time series together with reasonable site-velocity estimates.These findings indicate that incorporating a layered horizontal gradient structure can improve GNSS-A seafloor positioning and provides an interpretable modeling and inversion framework for long-term seafloor deformation monitoring and characterization of ocean environmental variability. 展开更多
关键词 GNSS-A Seafloor positioning Vertically layered sound speed gradient model Sound speed field Joint inversion
Improving Cyclic Positioning Strategy Accuracy of UWB System in Complex Underground Environments 认领 引用
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作者 Bo Cao Mingrui Jiang +3 位作者 Shibo Wang Menglan Li Linghua Cui Biyong Xu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第4期926-938,共13页
The high-precision automatic positioning technology of the shearer is crucial for the automated and unmanned mining.However,the existing localization approaches commonly deliver inaccurate,unsatisfactory and unreliabl... The high-precision automatic positioning technology of the shearer is crucial for the automated and unmanned mining.However,the existing localization approaches commonly deliver inaccurate,unsatisfactory and unreliable results.In response to this challenge,we propose a novel cyclic positioning strategy to automatically migrate the anchor nodes group(ANG)after the completion of the current cutting operation,thereby achieving long-term period positioning.Meanwhile,we design an innovative technique that appropriately incorporates the shrinkage estimation method based on the minimum mean square error criterion(MMSEC),the improved diversity-guided quantum particle swarm optimization(QPSO),and the extended Kalman filter(EKF)to enhance the localization accuracy of the ultra-wideband(UWB)system in each cycle positioning.Firstly,the cycle positioning strategy and the calculation method of the ANG coordinate position are proposed at the end of fully mechanized mining face.Secondly,the MMSEC method is developed by taking into account of the large measurement noise in the underground environments,and the improved diversity-guided QPSO method is implemented to optimize the result of MMSEC approach.Subsequently,the EKF is executed to suppress the influence of distance residuals on the positioning accuracy and further refine the final estimation accuracy.Lastly,the experimental investigation is performed to evaluate the effectiveness of the proposed cyclic positioning strategy.The experimental results sufficiently demonstrate that the developed MMSEC-QPSO-EKF technique significantly enhances localization accuracy and substantially outperforms the conventional methods,which is capable of achieving better estimation accuracy in each cycle positioning.The proposed cyclic positioning strategy can be successfully implemented,and the achieved accuracies are less than 0.2 m as the ANG is migrated three times,showcasing outstanding localization performance and robustness. 展开更多
关键词 Autonomous positioning diversity-guided quantum particle swarm optimization (QPSO) migration strategy minimum mean square error criterion (MMSEC) underground environment
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Reverse Nystagmus During Canalith Repositioning:A Misunderstood Predictor of Failed Epley Maneuver:A Retrospective Study Based on 60 Patients with Posterior Semicircular Canal BPPV 认领 引用
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作者 Jing Chen Shuo Yang 《Journal of Otology》 CSCD 2026年第3期172-176,共5页
Objective:To analyze the types,directions,and intensities of nystagmus occurring during each step(positions 2,3,and 4)of the Epley maneuver in patients with posterior semicircular canal benign paroxysmal positional ve... Objective:To analyze the types,directions,and intensities of nystagmus occurring during each step(positions 2,3,and 4)of the Epley maneuver in patients with posterior semicircular canal benign paroxysmal positional vertigo(BPPV),and to explore their relationship with a positive Dix-Hallpike test at 24-48 hours post-maneuver,indicating incomplete canalith clearance.Methods:Clinical data from 60 patients with unilateral posterior semicircular canal canalithiasis were retrospectively analyzed.All patients underwent a standard Epley maneuver under video nystagmography(VNG)monitoring.The direction and slow phase velocity(SPV)of nystagmus were recorded at each repositioning step.The need for a second repo-sitioning was determined by repeat Dix-Hallpike test 24-48 hours after the maneuver.Univariate and multivariate logistic regression analyses were performed to identify associations between nystagmus characteristics at each step and the need for a second procedure.Sensitivity,specificity,and predictive values were calculated.Results:Among 60 patients,19(31.7%)required a second repositioning.Univariate analysis showed that reverse nystagmus at position 3,reverse nystagmus at position 4,reverse nystagmus at either position 3 or 4,SPV of reverse nystagmus at position 4≥10°/s,diagnostic vertical SPV≥20°/s,and latency≤2 s were significantly associated with the need for a second procedure(all P0.05).All four patients who exhibited down-beating nystagmus did not require a second procedure.Conclusion:During the Epley maneuver,reverse nystagmus occurring at position 4 is the strongest predictor of the need for a second repositioning,with a positive predictive value exceeding 94%.Down-beating nystagmus indicates a favorable outcome and was associated with a lower probability of requiring a second repositioning.Real-time nystagmus feedback during the procedure allows early identification of high-risk patients and enables optimized,individualized follow-up strategies. 展开更多
关键词 Benign Paroxysmal Positional Vertigo Epley Maneuver Reverse Nystagmus Second Repositioning Nystagmus Prognostic Prediction
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Multi-System Real-Time Kinematic Positioning Based on Fast Satellite Selection and Improved Kalman Filter 认领 引用 被引量：1
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作者 TANG Haibo WAN Bohan MAO Xuchu 《Journal of Shanghai Jiaotong university(Science)》 EI 2026年第4期992-1002,I0016,共11页
In optimal observation conditions,the number of visible satellites from the four global navigation satellite systems(GNSSs)can rise to approximately 50.This substantially elevates the computational demands for positio... In optimal observation conditions,the number of visible satellites from the four global navigation satellite systems(GNSSs)can rise to approximately 50.This substantially elevates the computational demands for position determination.To expedite position calculations without compromising accuracy,we introduce a rapid satellite selection algorithm that merges the geometric distribution approach with the transformation formula technique.The dynamic environment presents more challenges compared with static positioning,being both intricate and less consistent.To bolster the precision and robustness of kinematic positioning,we present a four-GNSS fusion positioning algorithm grounded in the extended Kalman filter.Experimental results indicate that our proposed methodologies can attain centimeter-level precision and enhance computational efficiency. 展开更多
关键词 real-time kinematic extended Kalman filter ambiguity resolution least-squares ambiguity decorrelation adjustment kinematic positioning
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A GNSS PPP framework augmented using asynchronous ground-based positioning systems 认领 引用
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作者 Xinchen Zhang Zheng Yao +1 位作者 Caoming Fan Mingquan Lu 《Satellite Navigation》 SCIE EI CSCD 2026年第1期144-162,I0004,共19页
Precise Point Positioning(PPP)has attracted considerable research interest due to its high accuracy and flexibility.However,its long convergence time remains a major barrier to wide adoption,particularly in real-time ... Precise Point Positioning(PPP)has attracted considerable research interest due to its high accuracy and flexibility.However,its long convergence time remains a major barrier to wide adoption,particularly in real-time applications.Synchronized Ground-Based Positioning Systems(GBPS)have been shown to effectively augment PPP,but they require precise time synchronization,which is complex and costly,significantly limiting their practical deployment.In contrast,Asynchronous Ground-Based Positioning Systems(A-GBPS)eliminate the need for time synchroniza tion,offering a more practical augmentation solution for PPP,owing to their ease of deployment,strong signal power,and rapid convergence.This paper proposes a tightly coupled PPP augmentation algorithm with A-GBPS.The algorithm employs a static Clock Bias Monitor(CBM)station,requiring no prior knowledge of its position,to correct A-GBPS carrier-phase measurements and uses an Extended Kalman Filter(EKF)to tightly fuse observations from multi ple sources.This paper provides a theoretical analysis proving the performance gains achievable through A-GBPS aug mentation.Both numerical simulations and field experiments validate the effectiveness of the proposed approach.Results show that A-GBPS significantly accelerates PPP convergence and enhances steady-state positioning accuracy. 展开更多
关键词 Precise point positioning Asynchronous ground-based positioning systems Real-time PPP PPP augmentation
Enhancing monocular visual positioning:3D target-assisted initialization 认领 引用
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作者 MA Junyu SUN Changku +1 位作者 WANG Peng FU Luhua 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2026年第1期36-48,共13页
Monocular visual positioning systems are valued for their low cost and straightforward calibration.However,the lack of real-scale information and the complexity of initialization processes limit their application in s... Monocular visual positioning systems are valued for their low cost and straightforward calibration.However,the lack of real-scale information and the complexity of initialization processes limit their application in scenarios requiring accurate absolute positioning.Existing solutions present trade-offs:markerless approaches depend on environmental priors(e.g.,fixed camera height constraints)for scale recovery,while marker-based methods typically necessitate that target patterns remain within the camera’s field of view throughout the process.To address these challenges,we propose a 3D target-assisted initialization method that enables scale recovery with just two target images.This modular approach can be seamlessly integrated into monocular simultaneous localization and mapping(SLAM)frameworks.We validated our proposed initialization method through integration with ORB-SLAM3 and semi-direct visual odometry(SVO).Experimental results demonstrated that our method provides real-scale information without compromising real-time performance,making it suitable for applications such as indoor navigation and industrial robot localization,where accurate absolute positioning is essential. 展开更多
关键词 monocular simultaneous localization and mapping(SLAM) real-time positioning scale recovery 3D target absolute positioning visual odometry
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Lightweight Complex-Valued Neural Network for Indoor Positioning 认领 引用
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作者 Le Wang Bing Xu +1 位作者 Peng Liu En Yuan 《Computers, Materials & Continua》 SCIE EI 2026年第2期1770-1783,共14页
Deep learning has been recognized as an effective method for indoor positioning.However,most existing real-valued neural networks(RVNNs)treat the two constituent components of complex-valued channel state information(... Deep learning has been recognized as an effective method for indoor positioning.However,most existing real-valued neural networks(RVNNs)treat the two constituent components of complex-valued channel state information(CSI)as real-valued inputs,potentially discarding useful information embedded in the original CSI.In addition,existing positioning models generally face the contradiction between computational complexity and positioning accuracy.To address these issues,we combine graph neural network(GNN)with complex-valued neural network(CVNN)to construct a lightweight indoor positioning model named CGNet.CGNet employs complexvalued convolution operation to directly process the original CSI data,fully exploiting the correlation between real and imaginary parts of CSI while extracting local features.Subsequently,the feature values are treated as nodes,and conditional position encoding(CPE)module is applied to add positional information.To reduce the number of connections in the graph structure and lower themodel complexity,feature information is mapped to an efficient graph structure through a dynamic axial graph construction(DAGC)method,with global features extracted usingmaximum relative graph convolution(MRConv).Experimental results show that,on the CTW dataset,CGNet achieves a 10%improvement in positioning accuracy compared to existing methods,while the number of model parameters is only 0.8 M.CGNet achieves excellent positioning accuracy with very few parameters. 展开更多
关键词 Indoor positioning complex-valued neural network channel state information lightweight model
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Design and analysis of modular truss deployable antenna mechanism based on tetrahedral basic unit mechanism with dual height positioning nodes 认领 引用
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作者 Enbo LIU Yongsheng ZHAO +5 位作者 Tengfei CAO Shudan LI Bo CHEN Xinlu WEI Yundou XU Jiantao YAO 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第2期593-608,共16页
Modular truss space deployable antennas are key for future large aperture,high precision antennas,already proven in various in-orbit applications globally.This paper introduces a design method for a tetrahedral basic ... Modular truss space deployable antennas are key for future large aperture,high precision antennas,already proven in various in-orbit applications globally.This paper introduces a design method for a tetrahedral basic unit mechanism with dual height positioning nodes.A parametric model is established,and its DOF are analyzed to confirm the mechanism's validity.The new tetrahedral basic unit mechanism constructed by this method is a single DOF mechanism and can locate different parabolic node heights.In order to further adapt to the parabolic and large aperture requirements of the deployable antenna of the truss,a combination unit and modular unit mechanism are developed based on this tetrahedral unit.The DOF and deployment characteristics of the modular unit mechanism are analyzed and validated through simulations.Various networking methods for the modular units are proposed,followed by a comprehensive performance comparison of different modular truss deployable antenna mechanisms.A prototype model of the modular unit mechanism is also developed,with deployment experiments demonstrating the mechanism's simplicity,low DOF,and large deployment ratio.The findings of this study provide a theoretical and technical basis for the future design and development of truss deployable antenna mechanisms. 展开更多
关键词 Degree of freedom(DOF) Deployable truss antenna Dual height node positioning Modularity Screw theory Tetrahedral unit
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Reducing fluoroscopy in acromioclavicular joint reconstruction:Clinical value of the three-point positioning technique 认领 引用
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作者 Musa Ergin Mehmet Ertanıdır 《World Journal of Orthopedics》 2026年第5期1-5,共5页
Acromioclavicular joint dislocation(ACJD)is one of the shoulder girdle injuries that particularly affects young and active individuals.Although various surgical techniques have been developed for coracoclavicular liga... Acromioclavicular joint dislocation(ACJD)is one of the shoulder girdle injuries that particularly affects young and active individuals.Although various surgical techniques have been developed for coracoclavicular ligament reconstruction,TightRope fixation has gained popularity.The procedure relies on frequently repeated intraoperative fluoroscopy to ensure the accuracy of tunnel placement,which increases radiation exposure for both patients and surgical teams.In the recent issue of World Journal of Orthopedics,Chen et al present a novel three-point positioning technique designed to guide tunnel trajectory and implant placement while reducing fluoroscopy time during TightRope fixation.Their retrospective analysis of patients with acute Rockwood type III ACJD demonstrated favorable functional outcomes and,in particular,low intraoperative fluoroscopy exposure.In this editorial,we discuss the clinical significance of radiation reduction in shoulder surgery and highlight the importance of procedural innovations that improve surgical workflow without increasing technical complexity.Simplified intraoperative positioning strategies may represent an important step toward safer and more efficient minimally invasive acromioclavicular joint reconstruction.Furthermore,techniques that minimize radiation exposure while maintaining surgical precision may contribute to improved occupational safety in orthopedic practice.Such practical innovations could play an important role in the future evolution of image-guided shoulder surgery. 展开更多
关键词 Acromioclavicular joint dislocation TightRope fixation Fluoroscopy reduction Three-point positioning technique Coracoclavicular stabilization Shoulder surgery
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A review of UAV positioning in LAIN:toward a 5G-core“space−air−ground”integrated and cooperative architecture 认领 引用 被引量：2
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作者 Yao JIN Zhongliang DENG +3 位作者 He ZHANG Zhenke DING Xiongyan TANG Zelin WANG 《ENGINEERING Information Technology & Electronic Engineering》 SCIE EI CSCD 2026年第1期3-18,共16页
The rapid expansion of the low-altitude economy is driving strong demand for highly accurate and reliable positioning technologies to support diverse aerial operations.This review examines core positioning methodologi... The rapid expansion of the low-altitude economy is driving strong demand for highly accurate and reliable positioning technologies to support diverse aerial operations.This review examines core positioning methodologies within the low-altitude intelligent network(LAIN)framework,beginning with an analysis of positioning requirements and performance metrics for low-altitude flight scenarios.It systematically assesses the principles,strengths,and limitations of mainstream positioning systems,including Global Navigation Satellite Systems(GNSS),terrestrial wireless positioning,and autonomous navigation,and it surveys prevalent integrated and cooperative positioning schemes.Our analysis demonstrates that standalone positioning technologies are inadequate in complex low-altitude settings,underscoring the pivotal role of multi-source fusion and unmanned aerial vehicle(UAV)swarm cooperative positioning as future trends.To address infrastructure gaps and high deployment costs in current LAIN systems,we propose a“space−air−ground”integrated and cooperative positioning architecture centered on GNSS and the 5th generation mobile communication technology(5G).The ground layer integrates 5G and GNSS for wide-area enhanced positioning.The aerial layer uses 5G aircraft-to-everything(A2X)and sidelink(SL)communications to build self-organizing networks for cooperative UAV localization.The space layer leverages low Earth orbit(LEO)satellites to overcome coverage limitations in communication and positioning.This hierarchical architecture reduces deployment costs through infrastructure reuse and enables deep integration of communication and navigation capabilities.By supporting collaborative enhancement across all three domains,the framework improves positioning robustness and delivers cost-effective,ubiquitous,and highly reliable positioning services.Finally,we outline promising research directions.This review aims to provide a systematic reference and a novel architectural perspective for the ongoing development of LAIN. 展开更多
关键词 Low-altitude intelligent network(LAIN) Unmanned aerial vehicle(UAV) Integrated positioning Integrated communication and navigation Space-air-ground collaboration
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Novel 3-point positioning technique combined with the TightRope system for treating acute Rockwood type III acromioclavicular joint dislocation 认领 引用 被引量：1
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作者 Fei-Xiong Chen Zi-Long Zhao +1 位作者 Hai-Yan Xu Fan-You Ning 《World Journal of Orthopedics》 2026年第5期88-95,共8页
BACKGROUND The TightRope system is a common strategy for treating acute Rockwood type III acromioclavicular joint dislocation(ACJD).However,it requires frequent intraoperative fluoroscopy,which poses potential risks t... BACKGROUND The TightRope system is a common strategy for treating acute Rockwood type III acromioclavicular joint dislocation(ACJD).However,it requires frequent intraoperative fluoroscopy,which poses potential risks to both patients and operators.A novel 3-point positioning technique was developed to reduce intraoperative fluoroscopy time.AIM To evaluate the efficacy of the 3-point positioning technique combined with the TightRope system in acute Rockwood type III ACJD.METHODS Between January 2024 and October 2024,26 patients with acute Rockwood type III ACJD underwent treatment via the 3-point positioning technique combined with the TightRope system.Demographic characteristics,operative parameters,and follow-up data were recorded.Preoperative and postoperative clinical evaluations were performed and compared.RESULTS The study included 26 patients,19 males and 7 females,with a mean age of 41.04±12.93 years.The average intraoperative fluoroscopy time was 8.31±1.54 seconds,and the median follow-up period was 13 months.At the final follow-up,significant improvements in the scores were observed relative to preoperative measurements,with all comparisons yielding statistical significance(P<0.05).The overall complication rate was 3.85%.CONCLUSION The 3-point positioning technique combined with the TightRope system reduces intraoperative fluoroscopy time and provides a safe and effective treatment option for patients with acute Rockwood type III ACJD. 展开更多
关键词 Acromioclavicular joint dislocation 3-point positioning technique TightRope system Minimally invasive Fluoroscopy
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China’s Neighborhood Diplomacy in the New Era:Strategic Positioning,Conceptual Innovation,and Major Practices 认领 引用
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作者 Wei Ling 《China International Studies》 2026年第1期20-53,共34页
The Central Conference on Work Related to Neighboring Countries convened in April 2025 marked another highest-level meeting of China dedicated to its neighborhood diplomacy.It followed the landmark October 2013 Work C... The Central Conference on Work Related to Neighboring Countries convened in April 2025 marked another highest-level meeting of China dedicated to its neighborhood diplomacy.It followed the landmark October 2013 Work Conference on Neighborhood Diplomacy,the first of its kind since the founding of the People’s Republic of China. 展开更多
关键词 neighborhood diplomacyit conceptual innovation neighborhood diplomacythe central conference central conference work related neighboring countries major practices strategic positioning neighborhood diplomacy
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The Impact of Early Proper Limb Positioning Intervention on Limb Function and Daily Living Capacity in Stroke-Induced Hemiplegia Patients 认领 引用
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作者 NIU Liqun 《外文科技期刊数据库（文摘版）医药卫生》 2026年第4期042-046,共5页
Objective: To investigate the impact of early standardized limb positioning intervention on limb function and daily living abilities in stroke patients with hemiplegia. Methods: A total of 158 early rehabilitation pat... Objective: To investigate the impact of early standardized limb positioning intervention on limb function and daily living abilities in stroke patients with hemiplegia. Methods: A total of 158 early rehabilitation patients with stroke from our hospital were selected as the study sample using computerized randomization, with admission dates ranging from June 2023 to June 2025. Patients were divided into groups using a random number generation method, ensuring 79 cases per group. The conventional care group served as the control group, while the observation group received standardized limb positioning interventions. Comprehensive analysis and comparison were conducted between the two groups regarding nursing outcomes. Results: The observation group demonstrated higher accuracy in correct limb positioning and better nursing compliance, with superior outcomes in limb functional recovery, complication incidence, and quality of life compared to the control group (P<0.05). Conclusion: Standardized limb positioning interventions are highly significant for stroke patients with hemiplegia, particularly in reducing incorrect positioning rates and preventing complications caused by improper posture. Additionally, these interventions accelerate limb functional recovery and decrease discomfort during treatment, thereby significantly improving post-stroke functional outcomes, warranting further investigation. 展开更多
关键词 Stroke Early rehabilitation Optimal positioning Standardized procedures
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Dialogue Between Tradition and Modernity:Understanding the Positioning and Cultural Connotations of the“Bronze Square Seal-Incense Burner”Through Liu Liangyou’s Incense Studies 认领 引用
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作者 HUANG Yun LIN Hai-tao 《Journal of Literature and Art Studies》 2026年第2期136-141,共6页
This paper takes the theoretical framework of Liu Liangyou,a pivotal figure in the contemporary revival of Chinese incense studies(Xiangxue),as its starting point.Combined with the historical context of Qing Dynasty b... This paper takes the theoretical framework of Liu Liangyou,a pivotal figure in the contemporary revival of Chinese incense studies(Xiangxue),as its starting point.Combined with the historical context of Qing Dynasty bronze ware manufacturing,it conducts a multi-dimensional investigation and analysis of the“Xiangzhuan Tong Sifang Lu”(Bronze Square Seal-Incense Burner).The core issue is to explore how this traditional bronze square burner should be understood and positioned within the modern incense ceremony(Xiangxi)system advocated by Liu Liangyou,which centers on the appreciation of incense fragrance(Pinxiang).The study finds that due to its material and form,the bronze square burner is explicitly excluded from Liu’s strictly defined incense appreciation system,where ceramic burners are the standard.However,when placed within the broader genealogy of incense culture,this artifact can be re-accommodated as an excellent vessel for“seal incense”(Zhuanxiang),a display burner within the“Three Incense Utensils”(Lu Ping San Shi)set,and a multifaceted cultural symbol.This paper argues that Liu Liangyou’s incense studies and the tradition represented by the bronze square burner are not opposed but rather complementary,representing a relationship between“specializationefinement”and“diversification”.Through this specific case study,this research aims to reflect on the“value reconstruction”process that traditional artifacts undergo during modern cultural revivals,advocating for a transmission path that respects in-depth standardization while embracing historical complexity. 展开更多
关键词 Liu Liangyou Xiangxue(Incense Studies) Xiangzhuan(Seal Incense) Bronze Square Incense Burner artifact positioning cultural revival
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Analyzing the Impact of Radio Signal Fading on Train Positioning Accuracy in Tunnel Environments 认领 引用
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作者 Ziran Ge 《Journal of Electronic Research and Application》 2026年第2期178-186,共9页
Accurate and reliable train positioning is a fundamental requirement for modern rail transit signal systems.This requirement faces particular challenges in tunnel environments,as wireless signals are severely affected... Accurate and reliable train positioning is a fundamental requirement for modern rail transit signal systems.This requirement faces particular challenges in tunnel environments,as wireless signals are severely affected by multipath fading,shadowing effects,and attenuation.This study systematically analyzed the impact of specific fading phenomena in tunnel environments on positioning accuracy through ray-tracing simulations and random channel modeling.We simulated typical urban subway tunnel environments and evaluated the performance of positioning technologies such as received signal strength indication,arrival time,and carrier phase in damaged channels.The results showed that signal fading could cause positioning errors ranging from several meters to several tens of meters,and the error distribution was closely related to the type of fading,tunnel cross-section,and algorithm robustness.Deep fading would lead to local failure of positioning capabilities,while shadow fading would cause systematic deviations.To address these challenges,the study proposed comprehensive strategies,such as using inertial navigation units for multi-sensor fusion,deploying distributed antenna systems,and applying advanced channel estimation and filtering algorithms.Only through the organic combination of physical layer redundancy,intelligent infrastructure,and advanced data processing can high-integrity positioning required for safety-critical applications in tunnel environments be achieved,ensuring the safety and efficiency of underground rail transit operations. 展开更多
关键词 Tunnel positioning Signal fading Multipath effect Sensor fusion Railway communications
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UAV clusters information geometry fusion positioning method with LEO satellite system 认领 引用 被引量：1
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作者 Jiaqi LIU Yi ZHANG +3 位作者 Xingxing ZHU Chengkai Tang Zesheng DAN Yangyang LIU 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2025年第5期411-427,共17页
The existing Low-Earth-Orbit(LEO)positioning performance cannot meet the requirements of Unmanned Aerial Vehicle(UAV)clusters for high-precision real-time positioning in the Global Navigation Satellite System(GNSS)den... The existing Low-Earth-Orbit(LEO)positioning performance cannot meet the requirements of Unmanned Aerial Vehicle(UAV)clusters for high-precision real-time positioning in the Global Navigation Satellite System(GNSS)denial conditions.Therefore,this paper proposes a UAV Clusters Information Geometry Fusion Positioning(UC-IGFP)method using pseudoranges from the LEO satellites.A novel graph model for linking and computing between the UAV clusters and LEO satellites was established.By utilizing probability to describe the positional states of UAVs and sensor errors,the distributed multivariate Probability Fusion Cooperative Positioning(PF-CP)algorithm is proposed to achieve high-precision cooperative positioning and integration of the cluster.Criteria to select the centroid of the cluster were set.A new Kalman filter algorithm that is suitable for UAV clusters was designed based on the global benchmark and Riemann information geometry theory,which overcomes the discontinuity problem caused by the change of cluster centroids.Finally,the UC-IGFP method achieves the LEO continuous highprecision positioning of UAV clusters.The proposed method effectively addresses the positioning challenges caused by the strong direction of signal beams from LEO satellites and the insufficient constraint quantity of information sources at the edge nodes of the cluster.It significantly improves the accuracy and reliability of LEO-UAV cluster positioning.The results of comprehensive simulation experiments show that the proposed method has a 30.5%improvement in performance over the mainstream positioning methods,with a positioning error of 14.267 m. 展开更多
关键词 LEO positioning Information fusion UAVclusters Cooperative positioning Distributed
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GSeisRT: A Continental BDS/GNSS Point Positioning Engine for Wide-Area Seismic Monitoring in Real Time 认领 引用 被引量：3
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作者 Jianghui Geng Kunlun Zhang +6 位作者 Shaoming Xin Jiang Guo David Mencin Tan Wang Sebastian Riquelme Elisabetta D’Anastasio Muhammad Al Kautsar 《Engineering》 SCIE EI CSCD 2025年第4期57-69,共13页
Precise coseismic displacements in earthquakesunamic early warning are necessary to characterize earthquakes in real time in order to enable decision-makers to issue alerts for public safety.Real-time global navigatio... Precise coseismic displacements in earthquakesunamic early warning are necessary to characterize earthquakes in real time in order to enable decision-makers to issue alerts for public safety.Real-time global navigation satellite systems(GNSSs)have been a valuable tool in monitoring seismic motions,allowing permanent displacement computation to be unambiguously achieved.As a valuable tool presented to the seismic commu nity,the GSeisRT software developed by Wuhan University(China)can realize multi-GNSS precise point positioning with ambiguity resolution(PPP-AR)and achieve centimeterlevel to sub-centimeter-level precision in real time.While the stable maintenance of a global precise point positioning(PPP)service is challenging,this software is capable of estimating satellite clocks and phase biases in real time using a regional GNSS network.This capability makes GSeisRT especially suitable for proprietary GNSS networks and,more importantly,the highest possible positio ning precision and reliability can be obtained.According to real-time results from the Network of the Americas,the mean root mean square(RMS)errors of kinematic PPP-AR over a 24 h span are as low as 1.2,1.3,and 3.0 cm in the east,north,and up components,respectively.Within the few minutes that span a typical seismic event,a horizontal displacement precision of 4 mm can be achieved.The positioning precision of the GSeisRT regional PPP/PPP-AR is 30%-40%higher than that of the global PPP/PPP-AR.Since 2019,GSeisRT has successfully recorded the static,dynamic,and peak ground displacements for the 2020Oaxaca,Mexico moment magnitude(Mw)7.4 event;the 2020 Lone Pine,California Mw 5.8 event;and the 2021 Qinghai,China Mw 7.3 event in real time.The resulting immediate magnitude estimates have an error of around 0.1 only.The GSeisRT software is open to the scientific community and has been applied by the China Earthquake Ne tworks Center,the EarthScope Consortium of the United States,the National Seismological Center of Chile,Institute of Geological and Nuclear Sciences Limited(GNS Science Te PūAo)of New Zealand,and the Geospatial Information Agency of Indonesia. 展开更多
关键词 Real-time Precise point positioning Multi global navigation satellite system Seismic monitoring Rapid earthquake response
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Positioning error prediction and compensation for the multi-boom working mechanism of a drilling jumbo 认领 引用 被引量：2
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作者 Yuming CUI Songyong LIU +2 位作者 Zhengqiang SHU Zhenli LV Lie LI 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2025年第1期66-77,共12页
A rock-drilling jumbo is the main piece of tunneling equipment used in the energy and infrastructure industries in various countries.The positioning accuracy of its drilling boom greatly affects tunneling efficiency a... A rock-drilling jumbo is the main piece of tunneling equipment used in the energy and infrastructure industries in various countries.The positioning accuracy of its drilling boom greatly affects tunneling efficiency and section-forming quality of mine roadways and engineering tunnels.In order to improve the drilling-positioning accuracy of a three-boom drilling jumbo,we established a kinematics model of the multi-degree-of-freedom(multi-DOF)multi-boom system,using the improved Denavit-Hartenberg(D-H)method,and obtained the mapping relationship between the end position and the amount of motion of each joint.The error of the inverse kinematics calculation for the drilling boom is estimated by an analytical method and a global search algorithm based on particle swarm optimization(PSO)for a straight blasting hole and an inclined blasting hole.On this basis,we propose a back-propagation(BP)neural network optimized by an improved sparrow search algorithm(ISSA)to predict the positioning error of the drilling booms of a three-boom drilling jumbo.In order to verify the accuracy of the proposed error compensation model,we built an automatic-control test platform for the boom,and carried out a positioning error compensation test on the boom.The results show that the average drilling-positioning error was reduced from 9.79 to 5.92 cm,and the error was reduced by 39.5%.Therefore,the proposed method effectively reduces the positioning error of the drilling boom,and improves the accuracy and efficiency of rock drilling. 展开更多
关键词 Multi-boom rock-drilling jumbo Kinematic model Neural network optimization Positioning error prediction
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A Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles 认领 引用 被引量：1
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作者 Junqiu Zhang Yu Chen +11 位作者 Haoran Li Jiqi Gao Xiangbo Gu Jiachao Wu Xiaojing Qin Kejun Wang Bin Zhu Daobing Chen Tao Sun Jianhua Fan Zhiwu Han Luquan Ren 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第2期727-738,共12页
Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rat... Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rate among invertebrates. This biological phenomenon contrasts sharply with engineered systems, which generally associates high accuracy with substantial energy consumption. Inspired by the Scorpion Compound Slit Sensilla (SCSS) with a stress field modulation strategy, a bionic positioning sensor with superior precision and minimal power consumption is developed for the first time, which utilizes the particular Minimum Positioning Units (MPUs) to efficiently locate vibration signals. The single MPU of the SCSS can recognize the direction of collinear loads by regulating the stress field distribution and further, the coupling action of three MPUs can realize all-angle vibration monitoring in plane. Experiments demonstrate that the bionic positioning sensor achieves 1.43 degrees of angle-error-free accuracy without additional energy supply. As a proof of concept, two bionic positioning sensors and machine learning algorithm are integrated to provide centimeter (cm)-accuracy target localization, ideally suited for the man-machine interaction. The novel design offers a new mechanism for the design of traditional positioning devices, improving precision and efficiency in both the meta-universe and real-world Internet-connected systems. 展开更多
关键词 Scorpion Compound Slit Sensilla(SCSS) Vibration Source Stress Field Modulation Strategy High-accuracy and low-power Positioning Sensor Minimum Positioning Unit(MPU)
Anti-spoofing performance analysis of typical GNSS-based railway train positioning schemes 认领 引用 被引量：1
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作者 Siqi Wang Jiang Liu +3 位作者 Baigen Cai Jian Wang Debiao Lu Wei Jiang 《High-Speed Railway》 CSCD 2025年第1期37-43,共7页
Global Navigation Satellite Systems(GNSSs)are vulnerable to both unintentional interference and intentional attacks,making it difficult to meet the stringent safety requirements of railway train control systems.The gr... Global Navigation Satellite Systems(GNSSs)are vulnerable to both unintentional interference and intentional attacks,making it difficult to meet the stringent safety requirements of railway train control systems.The growing threat to information security posed by spoofing attacks has received limited attention.This study investigates the impact of GNSS spoofing attacks on train positioning,emphasizing their detrimental effects on the accuracy and availability of train location report functions for train operation control.To explore the antispoofing performance of typical GNSS-based train positioning schemes,specific approaches,and system architectures are designed under two GNSS-alone and two GNSS-integrated train positioning schemes.Field data are utilized to establish spoofing attack scenarios for GNSS-based train positioning,with which the anti-spoofing capabilities of different train positioning schemes are evaluated.Experimental results indicate that under specific conditions,the GNSS-integrated positioning schemes demonstrate superior GNSS spoofing suppression capabilities.Results of the tests present valuable guidance for designers and manufacturers in developing more advanced and resilient train positioning solutions and equipment for the next generation of train control systems,thereby promoting the applications of GNSS technology in railway systems. 展开更多
关键词 Railway train control Global navigation satellite system Train positioning Interference attack Anti-spoofing
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