Utilizing the ACC-FMCW radar for land vehicles navigation
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Notice bibliographique
Résumé
The Global Navigation Satellite Systems (GNSS) such as Global Positioning System (GPS) are the prime land and autonomous vehicles navigation information source. However, urban canyons high rise buildings block the GPS signal. Therefore, the Inertial Navigation System (INS) or the Reduced Inertial Sensor System (RISS) are utilized as an alternative source of the navigation information. The RISS is able to produce a full navigation solution using less number of sensors and calculations. Dramatically, the RISS solution drifts over time as the INS system. The integration between the GPS and the RISS is mitigating each system drawbacks. However, during the GPS outage periods, the navigation system is only depending on the inertial measurements. The RISS is utilizing the odometer/speedometer to measure the vehicle's forward speed. Many types of error affect the odometer measurements. These errors are either due to the vehicle's specifications as the differences in wheel diameters, and/or inefficient wheelbase or the road nature as wheel slips, uneven road surfaces, and/or skidding. In this paper, a Radar-based RISS system is introduced to take place the traditional RISS or INS systems. The radar unit is an essential part of the adaptive cruise control (ACC) system. Furthermore, it is capable of measuring the relative velocity and distance between the carrying and the in front vehicle to reduce collisions and increase the safety of driving. In addition, the radar measurements are not affected by the error sources that affect the odometer. The idea is to invest the ground reflection and derive the forward speed of the onboard vehicle as the ACC keep a safe distance between the cars. A novel method based on extracting the ground reflection features is introduced to obtain the onboard vehicle's speed. The obtained speed is utilized with two accelerometers and one vertical gyroscope to produce the Radar-based RISS system. The proposed system has been integrated with the GPS producing a Radar-based RISS/GPS integrated navigation system. The system has been tested on a real road trajectory in a downtown area and involved several GPS signal outages. The results show the significant capabilities of the proposed system in keeping the navigation solution drift to a minimum especially when the GPS signal is in outage compared with the traditional RISS/GPS system.
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Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découle