Search Results (425)

Laser fiber-based collimation straightness measurement can eliminate the intrinsic drift of the laser source while offering a simple configuration and simultaneous measurement of straightness in two orthogonal directions. As a high-precision optoelectronic sensing method, it has been widely used for the measurement of straightness, parallelism, perpendicularity, and multi-degree-of-freedom geometric errors. However, two common issues remain in practical applications. One is the nonlinear response of the four-quadrant detector, the core position-sensitive sensor, which is caused by detector nonuniformity and the quasi-Gaussian distribution of the spot. The other is the degradation of measurement performance by atmospheric inhomogeneity and air turbulence along the optical path, particularly in long-distance measurements. To address these issues, a two-dimensional planar calibration method is first proposed to replace conventional one-dimensional linear calibration. A polynomial surface-fitting model is introduced to correct the nonlinear response and inter-axis coupling errors of the four-quadrant photoelectric sensor. Simulation and experimental results show that the proposed method significantly reduces the standard deviation of calibration residuals and improves measurement accuracy. In addition, based on our previously developed common-path beam-drift digital compensation method, comparative experiments were carried out on double-pass common-path and single-pass optical configurations employing corner-cube retroreflectors, and theoretical simulations were performed to analyze the influence of air-turbulence disturbances on measurement stability. Both theoretical and experimental results show that the double-pass common-path configuration exhibits more pronounced temporal drift. Therefore, a real-time digital compensation method for beam drift in long-distance single-pass common-path measurements is proposed. Experimental results demonstrate that the proposed method effectively suppresses drift induced by environmental air turbulence and thereby improving the accuracy and stability of long-travel geometric-error and related straightness measurement for machine-tool linear axes. Full article

Indoor localization in GNSS-denied environments remains a significant challenge due to the low sampling frequency and high variability of wireless signal measurements. This~paper presents a wireless communication-based indoor localization method that integrates Wi-Fi received signal strength indication (RSSI) measurements with optical initialization and inertial sensor fusion. The proposed approach eliminates the need for labor-intensive fingerprinting and specialized infrastructure by leveraging existing Wi-Fi networks. Optical pose estimation using ArUco markers provides accurate initial position and orientation, enabling alignment between sensor coordinate systems and reducing inertial drift. During tracking, inertial measurements compensate for motion between sparse Wi-Fi observations by virtually translating historical RSSI samples, allowing statistically consistent averaging and improved distance estimation. A simplified factor graph framework is employed to fuse heterogeneous measurements while maintaining computational efficiency suitable for real-time operation on mobile devices. Experimental validation using a robot-based ground-truth reference system demonstrates sub-meter localization accuracy with an average positioning error of approximately 0.40~m. The proposed method provides a low-cost and scalable solution for indoor positioning and navigation applications such as access-controlled environments, exhibitions, and large public venues. Full article

Accurate calibration is essential for ensuring the performance of magnetic gradient tensor (MGT) arrays. Existing calibration methods generally rely on mechanical rotation to obtain magnetic responses under multiple orientations. However, for large-scale cubic MGT arrays, rotating the entire array using a high-precision non-magnetic turntable is often costly and impractical, while manual rotation is difficult to control and may introduce array-center offsets. To address these limitations, this paper proposes a rotation-free scalar calibration framework for cubic MGT arrays, in which a tri-axial Helmholtz coil system generates constant-magnitude magnetic fields with randomized orientations while compensating for ambient magnetic drifts. Based on the acquired data, a hierarchical calibration algorithm is developed to estimate sensor-level intrinsic errors and array-level misalignment errors. Experimental results show that the proposed method reduces the joint tensor invariant $C_T$ from $9.07\times {10}^3$ nT/m to 11.51 nT/m, corresponding to a 99.87% reduction. In addition, compared with a conventional rotation-based fast calibration method, the proposed framework further decreases the mean and RMS of the joint $C_T$ by 62.7% and 63.1%, respectively. These results demonstrate that the proposed framework improves the spatial consistency of the MGT array and provides a practical calibration solution for large-scale MGT array systems. Full article

Flexible deformation sensors inevitably suffer from sensitivity degradation and severe measurement errors during long-term cyclic stretching due to structural fatigue. Traditional material-level optimizations are costly and lack dynamic adaptability. Herein, we propose an artificial intelligence (AI)-driven predict-and-compensate framework for the online calibration of flexible sensors. To overcome training sample scarcity, a generative adversarial network (GAN) performs temporal data augmentation. Subsequently, a hybrid deep learning framework integrating long short-term memory (LSTM) networks and a Sequence Attention mechanism is employed. This architecture accurately captures both local signal fluctuations and multiscale long-term decay trends, enabling precise multi-step prediction and output compensation. Experimental evaluations validate that this strategy significantly suppresses sensor response drift. Under cyclic loading, an initially substantial relative measurement error of 48.63% plummets to 7.16% post-calibration, with typical errors consistently reduced to the ~1% level. Furthermore, when deployed in a smart glove gesture recognition system, this method successfully restores the recognition accuracy from a fatigue-induced low of 75.73% (after 200 stretch cycles) back to 97.70%. This generative and attention-based deep learning paradigm offers robust, real-time error calibration, providing a highly viable solution for extending the long-term reliability and stability of flexible sensor systems. Full article

With the rapid development of underground spaces and demand for infrastructure-independent autonomous positioning in post-disaster rescue, Pedestrian Dead Reckoning (PDR) has become a key research focus. However, traditional PDR suffers from cumulative heading drift, inadequate 3D positioning performance, and poor anti-magnetic interference capabilities, failing to meet the high-precision positioning requirements of rescuers in underground and multistory buildings. To address these issues, this paper proposes an adaptive 3D-PDR method fusing inertial, geomagnetic, and barometric (3D-IMB-APDR). Sensor data are optimized via FFT dominant frequency extraction and Butterworth zero-phase filtering, with magnetic interference compensated by geomagnetic ellipse fitting. A segmental heading correction with a multi-criteria dynamic geomagnetic reliability model suppresses heading drift. A barometer-based coarse estimation and inertial fine correction architecture is adopted, where a lightweight CNN-BiLSTM network extracts inertial features for step height, and AEKF fuses multi-source data to achieve accurate vertical height estimation and precise 3D positioning. Validated in sports fields, underground parking garages, and staircases, the method outperforms four comparative methods, reducing positional RMSE by 65.77–98.23%, with endpoint errors of 1.40 m, 2.56 m, and 0.32 m, respectively. Relying solely on chest-worn sensors, it provides a reliable 3D autonomous positioning solution for rescuers in post-disaster rescue and underground engineering. Full article

In active debris removal missions in low Earth orbit, the semi-major axis difference between a service platform and its target can be large. Analytical relative dynamics models used in formation-flying applications typically retain only the first-order expansion in the orbital element differences; at large separations, the discarded higher-order terms—particularly the power-law dependence on the semi-major axis—introduce systematic along-track drift that degrades the propagation accuracy. This paper derives the power-law truncation correction, a closed-form additive vector that exactly compensates the truncated semi-major-axis power-law remainder, together with a consistent Jacobian correction for the extended Kalman filter covariance prediction. The state dimension and state transition matrix structure remain unchanged. Propagation tests over semi-major axis differences of 36–146 km yield ten-revolution terminal position errors of 0.008–0.065 km for the corrected models, compared with tens to hundreds of kilometers for the uncorrected first-order models and 0.1–8 km for the second-order state transition tensor. In 500-run Monte Carlo angles-only filtering experiments, the corrected filter reduces the median terminal position error by one to nearly three orders of magnitude relative to the uncorrected model. A process noise sensitivity study confirms robustness to calibration uncertainty across two orders of magnitude at a lower computational cost and with simpler implementation than higher-order tensor methods. Full article

Traditional pedestrian inertial navigation (PDR) algorithms usually assume that the carrying mode of a smartphone is fixed and remains horizontal, while ignoring the significant impact of dynamic changes in the carrying mode on heading estimation, which is the core element of PDR algorithms. In practical application scenarios, pedestrians often change their way of carrying smart terminals (e.g., calling) according to their needs, corresponding to the difference in the heading estimation method; especially when the mode is switched, it will cause a sudden change in heading, which will lead to a significant increase in the localization error if it cannot be corrected in time. Existing smart terminal carrying mode recognition methods that rely on traditional machine learning or set thresholds have poor robustness; lack of universality, especially weak diagnostic ability for mutation; and can not effectively reduce the heading error. Based on these practical problems, this paper innovatively proposes a PDR framework that tries to overcome these limitations. Based on this research purpose, firstly, this paper classifies four types of common carrying modes based on practical applications and designs a CNN-LSTM hybrid model, which can classify the four common carrying modes in near real-time, with a recognition accuracy as high as 99.68%. Secondly, based on the mode recognition results, a multi-layer heading correction strategy is introduced: (1) introducing a quaternion-based universal filter (VQF) algorithm to realize the accurate estimation of initial heading; (2) designing an algorithm to accurately detect the mode switching point and developing an adaptive offset correction algorithm to realize the dynamic compensation of heading in the process of mode switching to reduce the impact of sudden changes; and (3) considering the motion characteristics of pedestrians walking in a straight line segment where lateral displacement tends to be close to zero. This study designs a heading optimization method with lateral displacement constraints to further inhibit the drifting of the heading caused by the slight swaying of the smart terminal. In this study, two validation experiments are carried out in two different environment—an indoor corridor and a tree shelter—and the results show that based on the proposed multi-layer heading optimization strategy, the average heading error of the system is lower than 1.5°, the cumulative positioning error is lower than 1% of the walking distance, and the root mean square error of the checkpoints is lower than 2 m, which significantly reduces the positioning error and shows the effectiveness of the framework in complex environments. Full article

Offshore wind turbine operation and maintenance in complex sea states is influenced by the coupled effects of low-frequency vessel drift and high-frequency wave-induced disturbances. In practical operations, the ship dynamic positioning system primarily regulates low-frequency motion through vessel position control, whereas a boarding compensation system is required to attenuate high-frequency six-degrees-of-freedom motions to ensure safe personnel transfer. This study establishes coupled kinematic mapping among the ship dynamic positioning system, the Stewart platform, and a three-degrees-of-freedom gangway and proposes a hierarchical cooperative control architecture. At the upper layer, an extended Kalman filter and an exponential moving average low-pass filter are employed for online state estimation and for separating low-frequency and high-frequency components. A Kalman filter lookahead predictor is then used to generate a short-horizon prediction of the high-frequency component and to construct a feedforward reference signal. At the middle layer, the feedforward reference and the gangway end error feedback are coordinated at the velocity level, and a quadratic programming-based allocation strategy distributes compensation tasks between the Stewart platform and the gangway under safety-related constraints, including actuator stroke limits and singularity avoidance. At the lower layer, a robust feedback controller is designed for the gangway to mitigate modeling uncertainties and environmental disturbances and to ensure stable tracking. MATLAB R2024a-based simulations under representative wave conditions demonstrate that the proposed architecture improves end effector tracking accuracy and closed-loop stability compared with baseline strategies, providing a feasible engineering solution for shipboard boarding operations in complex sea states. Full article

The thermal drift of microring resonators is one of the key obstacles hindering their practical applications. Employing polymers with negative thermo-optic coefficients to compensate for temperature-induced wavelength shifts represents a common solution. This study utilizes polymethyl methacrylate (PMMA) to counter this effect in silicon nitride microring resonators, achieving thermal drift magnitudes below 2.0 ± 0.1 pm/K within the temperature range of 15 °C to 70 °C. Furthermore, nonlinear thermal drift characteristics were experimentally observed, and simulations revealed that these nonlinearities primarily originate from the temperature-dependent Young’s modulus and Poisson’s ratio of PMMA. This research provides design references for waveguide compensation using negative thermo-optic coefficient materials and proposes a conceptual framework for dual-function devices capable of both athermal operation and thermal tuning. Full article

Feature-based visual–inertial odometry (VIO) often suffers from initialization failures and tracking drift under degraded visual conditions, such as low-texture regions, abrupt illumination changes, and scenes with a high ratio of dynamic correspondences. We present RISE-VIO, a real-time inertial-navigation-system-centric (INS-centric) visual–inertial odometry system that improves robustness by introducing GNC-style robustification into two failure-critical stages: initialization and per-frame pose estimation. For robust initialization, we develop a GNC-based decoupled rotation–translation initialization module with a two-stage observability gate, consisting of (i) rotation-compensated parallax-rate screening and (ii) a spectral-stability test on the linear global translation (LiGT) system. For online robustness, we design an IMU-prior-guided GNC-EPnP module to selectively downweight or reject outlier correspondences during pose estimation. Experiments on public benchmark datasets show that RISE-VIO achieves more reliable initialization and more stable trajectory estimation in challenging visual conditions while maintaining real-time performance. Additional Monte Carlo perspective-n-point (PnP) evaluations further support the robustness of the proposed pose estimation module under severe outlier contamination. Full article

Inertial measurement units (IMUs) in low-cost navigation systems suffer from significant drift and noise errors due to sensor biases, scale factor instability, and nonlinear stochastic noise. This paper proposes a hybrid error compensation approach that combines Fast Orthogonal Search (FOS), a nonlinear system identification technique, with deep Long Short-Term Memory (LSTM) neural networks to improve IMU signal accuracy in GNSS-denied navigation. The FOS algorithm efficiently models deterministic error patterns (such as bias drift and scale factor errors) using a small training dataset, while the LSTM learns the IMU’s complex time-dependent error dynamics from much longer training data. In the proposed method, FOS is first used to predict the output of a high-end IMU based on that of a low-end IMU, and the trained FOS model is then used to extend the training data for an LSTM-based predictor. We demonstrate the efficacy of this FOS–LSTM hybrid on real vehicular IMU data by training with a limited segment of high-precision reference measurements and testing on extended operation periods. The hybrid model achieves high predictive accuracy for predicting the high-end signal based on the low-end signal, with a mean squared error below 0.1% and yields more stable velocity estimates than models using FOS or LSTM alone. Although long-term position drift is not fully eliminated, the proposed method significantly reduces short-term uncertainty in the inertial solution. These results highlight a promising synergy between model-based system identification and data-driven learning for sensor error calibration in navigation systems. Key contributions include FOS-based pseudo-label bootstrapping for data-efficient LSTM training and a navigation-level evaluation illustrating how signal correction impacts dead reckoning drift. Full article

Position-independent geometric errors crucially impact the accuracy of five-axis machine tools, yet their identification remains challenging due to computational complexities, inadequate measurement pose selection, and disturbances arising from thermal drift and residual uncompensated errors. Existing methods typically rely on linearized kinematic models, heuristic sampling of measurement poses, or computationally expensive global optimization procedures, which collectively limit their effectiveness in industrial environments. This study presents a unified identification framework that overcomes these limitations; it incorporates 3D offset parameters to enhance the decoupling of true geometric errors from non-PIGEs, an observability-driven measurement pose selection strategy to maximize the parameter sensitivity, and an ANN-surrogate model to accelerate high-dimensional global optimization. A genetic algorithm is used to optimize the measurement points based on the observability index of the machine tool. The ANN-surrogate model enhances the identification accuracy of error parameters (11 PIGEs + 3 offsets) through precise kinematic models, global exploration, and final refinement. Experimental validation on a five-axis machine tool demonstrates a volumetric error reduction of 88.615% after compensation, with RMSE decreasing to 0.4337 μm. Sensitivity analysis reveals that PIGEs contribute up to 75.26% of the total inaccuracy, while offset parameters capture 24.74% of the error from thermal and non-PIGE sources. The results confirm the method’s superiority over other techniques in terms of identification accuracy, efficiency, and robustness, providing a practical solution for high-precision applications in the manufacturing industries. Full article

This work introduces a trimming technique based on eTrim technology to minimize both the input-referred offset voltage and its temperature drift in the operational amplifiers. The proposed low-voltage op-amp utilizes the body effect to maintain a constant bandwidth across the rail-to-rail input common-mode range under low supply voltages. During input common-mode transitions, the current in the folded cascode stage remains stable, ensuring a robust output stage. Furthermore, a specialized gain-boosting structure enhances the low-frequency gain while preventing occasional latch-up during low-voltage power-up. A pin-multiplexing scheme is employed for trimming data input, thereby eliminating the need for dedicated trimming pins and mitigating post-package parameter variations. At room temperature, a constant-current injection mechanism reduces the DC offset to microvolt levels. At high temperature, temperature-compensated current injection cancels the first-order drift component. Implemented in a low-voltage operational amplifier, post-layout simulation results demonstrate that with a 100-pF capacitive load, the amplifier achieves a gain–bandwidth product exceeding 10 MHz, a low-frequency gain greater than 140 dB, and an input-referred noise of 2.54 µVp-p for the P-channel input and 3.95 µVp-p for the N-channel input. The trimming process reduces the residual offset to the microvolt range and effectively suppresses offset drift, ensuring accurate offset compensation across the specified temperature range. Full article

Quasi-resonant (QR) flyback inverters suffer from significant performance degradation under varying thermal conditions. This is because the thermal drift of passive components’ parameters deviates the switching instants from their optimal valley points, leading to increased switching losses and higher grid current distortion. To address this challenge, we propose an online self-tuning control strategy based on a Recurrent Neural Network (RNN) designed for embedded implementation. The RNN model continuously observes a sequence of non-intrusive operational data, including input voltage, input current, and grid current, and directly predicts the optimal time-delay compensation for the valley-switching logic. This end-to-end approach eliminates the need for online parameter identification, complex physical model calculations, or dedicated thermal sensors. The proposed framework was validated through comprehensive MATLAB/Simulink simulations. The results demonstrate that when operating across a wide temperature range (e.g., from 25 °C to 85 °C), the self-tuning control scheme enhances conversion efficiency by over 3.0% and reduces the grid’s current Total Harmonic Distortion (THD) from 5.8% to below 2.0%, thereby significantly improving the inverter’s lifetime performance and reliability. Full article

Addressing challenges such as the non-Newtonian fluid characteristics of melt, significant system hysteresis, and rheological thermal drift in large-scale glass fiber-reinforced polypropylene (PP-GF) screw-extrusion additive manufacturing (SEAM), this paper proposes a composite pressure control strategy based on inverse model feedforward and variable-structure feedback (VSFC-Smith). This strategy establishes a dynamic pressure benchmark through an inverse rheological model, utilizes a Smith predictor to compensate for time delay, and introduces dead-zone variable-structure feedback to smoothly suppress thermal drift. Experimental results demonstrate that, compared to traditional PID (Proportional-Integral-Derivative) controller, the VSFC-Smith strategy reduces the step pressure overshoot from 23.37% to 17.37%, decreases steady-state screw speed fluctuation by approximately 50%, and limits the error within ±0.04 MPa during complex trajectory tracking. In practical molding validation, this strategy effectively suppressed surface ripples, reducing the surface roughness (Sa) by 14.5% to 124.41 μm; simultaneously, the Z-directional interlayer tensile strength reached 12.63 MPa (a 22.5% improvement compared to open-loop control). This study successfully overcomes the limitations of traditional high-gain feedback, achieving synergistic optimization of the macroscopic morphology and microscopic mechanical properties of composite parts. Full article