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学者姓名：何虔恩
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Abstract ：
Low-cost Micro-Electro-Mechanical Inertial Measurement Units (MIMU) are widely used in various fields such as healthcare, sports, industry, and indoor navigation. However, rapid and robust heading alignment under dynamic conditions remains a challenge. A novel heading alignment method of low-cost MIMU using position loci for indoor navigation is proposed. Aiming at the state-of-the-art acceleration-based optimization-based alignment (ABOBA) method’s vulnerability to dynamic disturbances, observation equation of the initial attitude matrix is established based on velocity and position loci. On this basis, the Davenport’s q-method is adopted to estimate the initial attitude. Field tests are conducted under dynamic conditions with about 0.7 m/s to verify the performance of the proposed method and the effect of the referenced position error on the heading alignment is explored. Results show that the initial heading error could be quickly converged to less than 4° within 5 s, which is far better than the state-of-the-art method and is of significant merits to solve the challenge of in-motion accurate heading alignment under weak acceleration condition. IEEE
Keyword ：
indoor navigation indoor navigation In-motion heading alignment method In-motion heading alignment method low-cost MIMU low-cost MIMU position loci position loci
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| GB/T 7714 | He, Q. , He, G. , Yang, H. et al. In-Motion Rapid and Robust Heading Alignment of Low-cost Inertial Measurement Units Using Position Loci for Indoor Navigation [J]. | IEEE Sensors Journal , 2024 , 24 (12) : 1-1 . |
| MLA | He, Q. et al. "In-Motion Rapid and Robust Heading Alignment of Low-cost Inertial Measurement Units Using Position Loci for Indoor Navigation" . | IEEE Sensors Journal 24 . 12 (2024) : 1-1 . |
| APA | He, Q. , He, G. , Yang, H. , Chen, S. , Wang, J. , Liu, S. . In-Motion Rapid and Robust Heading Alignment of Low-cost Inertial Measurement Units Using Position Loci for Indoor Navigation . | IEEE Sensors Journal , 2024 , 24 (12) , 1-1 . |
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In recent years, mobile robots have found extensive application across diverse sectors including industry, agriculture, healthcare, and defense. However, relying solely on a single sensor for mobile robot localization presents several challenges, such as limited accuracy, divergence of localization errors over time, and susceptibility to obstruction from obstacles. This paper proposes an indoor mobile robot localization algorithm assisted by Ultra-Wideband (UWB). The algorithm begins by calculating the credibility of the Line-of-Sight (LOS) environment using UWB ranging measurements and predicted distances, enabling the identification of the Non-Line-of-Sight (NLOS) environment. Subsequently, ranging measurements affected by NLOS errors are compensated by using a complementary filter. Finally, these measurements are utilized for Extended Kalman Filter updates to achieve the best estimation of the mobile robot's position. Field tests are conducted on a wheeled robot to validate the effectiveness and performance of the developed approach. Results show that the localization approach reduces the maximum localization error from 41 cm to 19 cm compared to UWB trilateration, achieving a 53.7% improvement. Even under a prolonged NLOS environment, the algorithm ensures that the localization error remains below 25 cm. The proposed method is of significant merit in solving the challenge of indoor mobile robot localization. © Published under licence by IOP Publishing Ltd.
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| GB/T 7714 | He, G. , He, Q. . Study on the indoor mobile robot localization based on multi-sensor fusion [未知]. |
| MLA | He, G. et al. "Study on the indoor mobile robot localization based on multi-sensor fusion" [未知]. |
| APA | He, G. , He, Q. . Study on the indoor mobile robot localization based on multi-sensor fusion [未知]. |
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Abstract ：
In recent years, mobile robots have found extensive application across diverse sectors including industry, agriculture, healthcare, and defense. However, relying solely on a single sensor for mobile robot localization presents several challenges, such as limited accuracy, divergence of localization errors over time, and susceptibility to obstruction from obstacles. This paper proposes an indoor mobile robot localization algorithm assisted by Ultra-Wideband (UWB). The algorithm begins by calculating the credibility of the Line-of-Sight (LOS) environment using UWB ranging measurements and predicted distances, enabling the identification of the Non-Line-of-Sight (NLOS) environment. Subsequently, ranging measurements affected by NLOS errors are compensated by using a complementary filter. Finally, these measurements are utilized for Extended Kalman Filter updates to achieve the best estimation of the mobile robot’s position. Field tests are conducted on a wheeled robot to validate the effectiveness and performance of the developed approach. Results show that the localization approach reduces the maximum localization error from 41 cm to 19 cm compared to UWB trilateration, achieving a 53.7% improvement. Even under a prolonged NLOS environment, the algorithm ensures that the localization error remains below 25 cm. The proposed method is of significant merit in solving the challenge of indoor mobile robot localization.
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| GB/T 7714 | Guobao He , Qianen He . Study on the indoor mobile robot localization based on multi-sensor fusion [J]. | Journal of Physics:Conference Series , 2024 , 2803 (1) . |
| MLA | Guobao He et al. "Study on the indoor mobile robot localization based on multi-sensor fusion" . | Journal of Physics:Conference Series 2803 . 1 (2024) . |
| APA | Guobao He , Qianen He . Study on the indoor mobile robot localization based on multi-sensor fusion . | Journal of Physics:Conference Series , 2024 , 2803 (1) . |
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Permanent magnet synchronous motors (PMSMs) are widely used in a variety of fields such as aviation, aerospace, marine, and industry due to their high angular position accuracy, energy conversion efficiency, and fast response. However, driving errors caused by the non-ideal characteristics of the driver negatively affect motor control accuracy. Compensating for the errors arising from the non-ideal characteristics of the driver demonstrates substantial practical value in enhancing control accuracy, improving dynamic performance, minimizing vibration and noise, optimizing energy efficiency, and bolstering system robustness. To address this, the mechanism behind these non-ideal characteristics is analyzed based on the principles of space vector pulse width modulation (SVPWM) and its circuit structure. Tests are then conducted to examine the actual driver characteristics and verify the analysis. Building on this, a real-time compensation method is proposed, physically matched to the driver. Using the volt-second equivalence principle, an input-output voltage model of the driver is derived, with model parameters estimated from test data. The driving error is then compensated with a voltage method based on the model. The results of simulations and experiments show that the proposed method effectively mitigates the influence of the driver's non-ideal characteristics, improving the driving and speed control accuracies by 88.07% (reducing the voltage error from 0.7345 V to 0.0879 V for a drastic command voltage with a sinusoidal amplitude of 10 V and a frequency of 50 Hz) and 53.08% (reducing the speed error from 0.0130 degrees/s to 0.0061 degrees/s for a lower command speed with a sinusoidal amplitude of 20 degrees and a frequency of 0.1 Hz), respectively, in terms of the root mean square errors. This method is cost-effective, practical, and significantly enhances the control performance of PMSMs.
Keyword ：
driving error compensation driving error compensation permanent magnet synchronous motor permanent magnet synchronous motor space vector pulse width modulation space vector pulse width modulation speed control speed control
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| GB/T 7714 | Chen, Qihang , Wu, Wanzhen , He, Qianen . Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors [J]. | SENSORS , 2024 , 24 (24) . |
| MLA | Chen, Qihang et al. "Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors" . | SENSORS 24 . 24 (2024) . |
| APA | Chen, Qihang , Wu, Wanzhen , He, Qianen . Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors . | SENSORS , 2024 , 24 (24) . |
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Abstract ：
Low-cost microelectromechanical inertial measurement units (MIMUs) are widely used in various fields such as healthcare, sports, industry, and indoor navigation. However, rapid and robust heading alignment under dynamic conditions remains a challenge. A novel heading alignment method of low-cost MIMU using position loci for indoor navigation is proposed. Aiming at the state-of-the-art acceleration-based optimization-based alignment (ABOBA) method's vulnerability to dynamic disturbances, the observation equation of the initial attitude matrix is established based on velocity and position loci. On this basis, Davenport's q-method is adopted to estimate the initial attitude. Field tests are conducted under dynamic conditions with about 0.7 m/s to verify the performance of the proposed method and the effect of the referenced position error on the heading alignment is explored. Results show that the initial heading error could be quickly converged to less than 4 degrees within 5 s, which is far better than the state-of-the-art method and is of significant merits to solve the challenge of in-motion accurate heading alignment under weak acceleration conditions.
Keyword ：
Accelerometers Accelerometers Indoor navigation Indoor navigation Inertial navigation Inertial navigation in-motion heading alignment method in-motion heading alignment method low-cost microelectromechanical inertial measurement unit (MIMU) low-cost microelectromechanical inertial measurement unit (MIMU) Odometers Odometers position loci position loci Vectors Vectors Vehicle dynamics Vehicle dynamics Wheels Wheels
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| GB/T 7714 | He, Qianen , He, Guobao , Yang, Hongze et al. In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (12) : 19454-19465 . |
| MLA | He, Qianen et al. "In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation" . | IEEE SENSORS JOURNAL 24 . 12 (2024) : 19454-19465 . |
| APA | He, Qianen , He, Guobao , Yang, Hongze , Chen, Shen , Wang, Jiaqing , Liu, Sheng . In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation . | IEEE SENSORS JOURNAL , 2024 , 24 (12) , 19454-19465 . |
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Currently, wideband integrated optical phase modulators are available in several types such as silicon modulators, polymer modulators, and lithium niobate modulators [1], [2]. Among these, Lithium niobate (LiNbO3) phase modulators are particularly noteworthy due to their extensive applications in the fields of fiber optic communication, microwave photonics, and fiber optic sensing [3]-[5]. Designing corresponding high-precision phase modulator driver circuits is crucial to achieve accurate modulation of optical phase. Nonetheless, due to the impact of structure asymmetry, electronic noise and weak interference immunity, traditional phase modulator driving circuits cannot ensure the driving voltage sequences applied to the two electrodes strictly align. It could cause phase deviation in actuality and reduce the modulation accuracy.
Keyword ：
Circuit synthesis Circuit synthesis Design engineering Design engineering Lithium niobate Lithium niobate Optical design Optical design Optical fibers Optical fibers Optical fiber sensors Optical fiber sensors Optical modulation Optical modulation Optical polymers Optical polymers Phase measurement Phase measurement Phase modulation Phase modulation Silicon Silicon Wideband Wideband
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| GB/T 7714 | He, Qianen , Wang, Jiaqing , Zeng, Congjie et al. Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators [J]. | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE , 2024 , 27 (4) : 76-82 . |
| MLA | He, Qianen et al. "Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators" . | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE 27 . 4 (2024) : 76-82 . |
| APA | He, Qianen , Wang, Jiaqing , Zeng, Congjie , He, Guobao , Xu, Xiuying . Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators . | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE , 2024 , 27 (4) , 76-82 . |
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Timely detection of swimming accidents plays a critical role in keeping the safety of infants in pools. However, the targets in the infant drowning detection are generally small, densely-distributed and often immersed in complicated environment with lighting various and toy disturbances, and thus there are currently few efficient, accurate and comprehensive solutions for such a task. Aiming at this problem, a novel intelligent real-time framework for detecting infant drowning is proposed. Processing of the framework includes two stages: in stage I, an attention mechanism-integrated YOLOv5-alike model is designed to extract infant portrait foreground, which can reduce the interferences caused by background noise and improve the accuracy of detecting tiny objects. On this basis, in stage II, Single Shot Multi-box Detector (SSD) is utilized to filter out the falsely -detected targets in stage I and recognize swimming posture accurately. Live videos are collected from ten infant swimming pools to generate training dataset of totally 7,296 swimming images and 7,723 portrait images of infants for stage I and II respectively. And a set of 1,222 infant swimming images from another two pools are annotated to test the trained framework. Experimental results show that the Mean Average Precision (mAP) of the framework is 97.17%, and the processing speed can reach 43 frames per second, which outperforms any previous related network and has significant application value in practical infant drowning detection. Additionally, a web-based platform is developed to put the framework into practice, whose preliminary test results demonstrate its strong application potential.
Keyword ：
Attention mechanism Attention mechanism Deep learning Deep learning Infant drowning detection Infant drowning detection SSD SSD YOLOv5 YOLOv5
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| GB/T 7714 | He, Qianen , Zhang, Huisheng , Mei, Zhiqiang et al. High accuracy intelligent real-time framework for detecting infant drowning based on deep learning [J]. | EXPERT SYSTEMS WITH APPLICATIONS , 2023 , 228 . |
| MLA | He, Qianen et al. "High accuracy intelligent real-time framework for detecting infant drowning based on deep learning" . | EXPERT SYSTEMS WITH APPLICATIONS 228 (2023) . |
| APA | He, Qianen , Zhang, Huisheng , Mei, Zhiqiang , Xu, Xiuying . High accuracy intelligent real-time framework for detecting infant drowning based on deep learning . | EXPERT SYSTEMS WITH APPLICATIONS , 2023 , 228 . |
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角度传感器零位的精确标校是实现永磁同步电机高精度控制的前提。针对现有零位标校方法复杂及标校精度低的问题，提出一种基于线反电动势观测的三相永磁同步电机角度传感器零位标校方法。根据电磁感应定律，分析外力矩带动电机旋转时相反电动势随机械角变化的规律，并从三相电机结构入手，推导线反电动势和相反电动势之间的相位关系。利用角度传感器过零信号触发捕捉线反电动势波形，并基于线性插值法精确定位线反电动势过零点，再通过移相得到角度传感器零位；借助扰动法分析角度及电压测量误差对角度传感器零位估计精度的影响。理论与测试结果表明，基于线反电动势观测的方法可有效估计角度传感器零位，精度可达0.018°；补偿角度传感器零位后，电机运行效率提升显著。所提方法便捷、经济，对提升永磁同步电机的控制性能具有重要的作用。
Keyword ：
永磁同步电机 永磁同步电机 相反电动势 相反电动势 线反电动势 线反电动势 角度传感器零位标校 角度传感器零位标校
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| GB/T 7714 | 何虔恩 , 林见辽源 , 许秀英 . 基于线反电动势的三相PMSM角度传感器零位标校方法 [J]. | 中国惯性技术学报 , 2023 , 31 (04) : 407-412 . |
| MLA | 何虔恩 et al. "基于线反电动势的三相PMSM角度传感器零位标校方法" . | 中国惯性技术学报 31 . 04 (2023) : 407-412 . |
| APA | 何虔恩 , 林见辽源 , 许秀英 . 基于线反电动势的三相PMSM角度传感器零位标校方法 . | 中国惯性技术学报 , 2023 , 31 (04) , 407-412 . |
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Accurate calibration of angle sensor zero-position is a prerequisite for high precision control of permanent magnet synchronous motor (PMSM). To address the problem that the existing method is complicated and the accuracy is low, a three-phase PMSM angle sensor zero-position calibration method based on the observation of line back electromotive force(back-EMF) is proposed. According to the law of electromagnetic induction, the relationship of the phase back-EMF changing with the mechanical angle when external torque drives the motor is analyzed, and the phase relationship between the line back-EMF and the phase back-EMF is deduced from the three-phase motor structure. The capture of the line back-EMF waveform is triggered by signal after angle sensor crossing zero, and the zero point of line back-EMF is precisely located based on the linear interpolation method, and then the angle sensor zero position is obtained by phase shift. The effect of angular and voltage measurement errors on the accuracy of zero estimation of angle sensors is analyzed by perturbation method. The theoretical and test results show that the method based on line back-EMF observation can effectively estimate the angle sensor zero-position, and that the calibration accuracy of the method reaches 0.018 °. The system efficiency is significantly improved after compensation. The method is convenient and economical, which is important to improve the control performance. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
Keyword ：
Calibration Calibration Electric drives Electric drives Electromagnetic induction Electromagnetic induction Electromotive force Electromotive force Permanent magnets Permanent magnets Perturbation techniques Perturbation techniques Synchronous motors Synchronous motors
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| GB/T 7714 | He, Qianen , Lin, Jianliaoyuan , Xu, Xiuying . A novel method of angle sensor zero-position calibration based on line back-EMF for three-phase PMSM [J]. | Journal of Chinese Inertial Technology , 2023 , 31 (4) : 407-412 . |
| MLA | He, Qianen et al. "A novel method of angle sensor zero-position calibration based on line back-EMF for three-phase PMSM" . | Journal of Chinese Inertial Technology 31 . 4 (2023) : 407-412 . |
| APA | He, Qianen , Lin, Jianliaoyuan , Xu, Xiuying . A novel method of angle sensor zero-position calibration based on line back-EMF for three-phase PMSM . | Journal of Chinese Inertial Technology , 2023 , 31 (4) , 407-412 . |
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U-Net is widely lightened to achieve fast semantic segmentation of medical images and remote sensing images. The cheap operation of the GhostNet series provides new lightening ideas. Currently, the GhostNet series has three versions, GhostNet, G-GhostNet, and GhostNetV2, each of which has its own advantages. In this paper, we realize the lightweight improvement of U-Net with the help of the GhostNet series to provide a reference for the lightweight research of U-Net. First, the backbone parts of GhostNet, G-GhostNet, and GhostNetV2 were used as the encoder embedding model of U-Net in turn, and the convolutional operation of U-Net is replaced by their unitary module. Second, the three models were trained and tested with medical public dataset and remote sensing image dataset to obtain various performance scores of the models. Finally, the scores were compared. The experimental results show that the G-GhostNet-based lightweight model is the most efficient in the remote sensing image segmentation task and achieves real-time segmentation. While in the medical imaging segmentation task, the GhostNet-based lightweight model is relatively faster and the segmentation accuracy is much higher than that of the G-GhostNet-based model, and the model is more efficient. GhostNetV2 is not dominant in both segmentation tasks. © 2023 IEEE.
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| GB/T 7714 | Zheng, Y. , He, Q. . Research and comparison of lightweight U-Net based on GhostNets for medical and remote sensing images [未知]. |
| MLA | Zheng, Y. et al. "Research and comparison of lightweight U-Net based on GhostNets for medical and remote sensing images" [未知]. |
| APA | Zheng, Y. , He, Q. . Research and comparison of lightweight U-Net based on GhostNets for medical and remote sensing images [未知]. |
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