Browsing by Author "Zhang, Liang"

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    A calibration method of USBL installation error based on attitude determination
    (IEEE, 2020-05-18) Zhu, Yongyun; Zhang, Tao; Xu, Shouquan; Shin, Hyosang; Li, Peijuan; Jin, Bonan; Zhang, Liang; Weng, Chengcheng
    The Ultra-short baseline (USBL) positioning system has important application in the positioning of underwater vehicles. The installation error angle of the USBL positioning system has an important influence on the positioning accuracy of USBL system. The traditional calibration methods have limited estimation accuracy for installation error angles and have high route requirements. To solve the above problems, a calibration method of installation error angle based on attitude determination is proposed in this paper. When strapdown inertial navigation system (SINS) and USBL are fixed together in the application process, the installation error angle of USBL is fixed and unchanged. Then the calibration of installation error angle can be accomplished with the idea of attitude determination. The vector observation model based on the installation error angle matrix is established first. Observation vectors are obtained by the relative position of transponders in the USBL coordinate frame. The reference vector is calculated by position of transponder, position and attitude of SINS and lever arm between SINS and USBL. By constructing the observation vectors and the reference vectors, the proposed method can calibrate the installation error angle of SINS and USBL in real time. The advantages of the proposed method are that it has no specific requirements for the calibration route and can calibrate the installation error angle in real time with high accuracy. In order to verify the performance of the proposed algorithm, simulation experiment and field experiment are carried out in this paper. The results of simulation experiment and field experiment show that the proposed method can give the estimated installation error angle of USBL in real time, and the estimated result is the best among several methods. The proposed method can not only achieve the calibration of the installation error angle in circular trajectory, but also in straight trajectory.
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    An efficient constrained weighted least squares method with bias reduction for TDOA-based localization
    (IEEE, 2021-02-05) Zhang, Liang; Zhang, Tao; Shin, Hyosang
    This paper addresses the source location problem by using time-difference-of-arrival (TDOA) measurements. The two-stage weighted least squares (TWLS) algorithm has been widely used in the TDOA location. However, the estimation accuracy of the source location is poor and the bias is significant when the measurement noise is large. Owing to the nonlinear nature of the system model, we reformulate the localization problem as a constrained weighted least squares problem and derive the theoretical bias of the source location estimate from the maximum-likelihood (ML) estimation. To reduce the location bias and improve location accuracy, a novel bias-reduced method is developed based on an iterative constrained weighted least squares algorithm. The new method imposes a set of linear equality constraints instead of the quadratic constraints to suppress the bias. Numerical simulations demonstrate the significant performance improvement of the proposed method over the traditional methods. The bias is reduced significantly and the Cramér–Rao lower bound accuracy can also be achieved
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    Efficient underwater acoustical localization method based on time difference and bearing measurements
    (IEEE, 2020-12-16) Zhang, Liang; Zhang, Tao; Shin, Hyo-Sang; Xu, Xiang
    This article addresses the underwater acoustical localization problem by using the time-difference-of-arrival (TDOA) and bearing-angle-of-arrival (BAOA) measurements. For the underwater acoustic equipment, such as the ultrashort baseline system (USBL), whose bearing measurements are different from the traditional angle-of-arrival (AOA) model, a closed-form solution for the hybrid TDOA/BAOA-based source localization problem is developed. However, the solution suffers from the measurement noise and cannot achieve the Cramer–Rao lower bound (CRLB) performance in the case of large measurement noise. Thus, an iterative constrained weighted least-squares method is presented to further minimize the error in the case of large noise. The CRLB for hybrid TDOA/BAOA source localization is analyzed, and the solution is proved to achieve the CRLB performance. Numerical simulations and field tests demonstrate that the proposed method outperforms the traditional methods in terms of estimation bias and accuracy. It can achieve the CRLB performance better.
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    Human performance analysis of processes for retrieving Beidou satellite navigation system during breakdown
    (Frontiers Media, 2020-02-21) Wu, Mo; Zhang, Liang; Li, Wen-Chin; Wan, Lingyun; Lu, Ning; Zhang, Jingyu
    Satellite navigation systems provide continuous, timely, and accurate signals of location, speed, and time to users all over the world. Although the running of these systems has become highly automated, the human operator is still vital for its continued operation, especially when certain equipment failures occur. In this paper, we examined 180 incidents of one particular type of equipment failure and the whole recovery process as recorded in the log files from a ground control center of the Beidou satellite navigation system. We extracted the information, including the technical description of the failure, the time when the fault occurred, the full recovery time, and the demographic information of the team members on the shift responsible for responding to the failure. We then transformed these information into the cognitive complexity of the task, time of day, shift handover period, and team skill composition. Multiple regression analysis showed that task complexity and shift handover were key predictors of recovery time. Time of day also influenced the recovery time, during midnight to 4 a.m., operators made longer responses. We also found that the fault handling processes could be improved if the team’s most adept member is more skillful at that role than in other teams. We discussed the theoretical and practical implication of this study.