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Wei Ouyang

Publications and source records attributed to Wei Ouyang.

29 records · Page 2Linked to original sources
arXiv2021

A Trident Quaternion Framework for Inertial-based Navigation Part II: Error Models and Application to Initial Alignment

This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion inertial navigation attitude alignment for land vehicles. By linearizing the trident quaternion kinematic equation, the left and right trident quaternion error models are obtained, which are found to be equivalent to those derived from profound group affine. The two error models are used to design their corresponding extended Kalman filters (EKF), namely, the left-quaternion EKF (LQEKF) and the right-quaternion EKF (RQEKF). Simulations and field tests are conducted to evaluate their actual performances. Owing to the high estimation consistency, the L/RQEKF converge much faster in the static alignment than the traditional error model-based EKF, even under arbitrary large heading initialization. For the in-motion alignment, the L/RQEKF possess much larger convergence region than the traditional EKF does, although they still require the aid of attitude initialization so as to avoid large initial attitude errors.

cs.RO↗
arXiv2021

A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation

Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and efficient representation for the strapdown inertial navigation system (INS). The current work is motivated by simplifying the existing dual quaternion representation of the kinematic model. This paper proposes a compact and elegant representation of the body's attitude, velocity and position, with the aid of a devised trident quaternion tool in which the position is accounted for by adding a second imaginary part to the dual quaternion. Eventually, the kinematics of strapdown INS are cohesively unified in one concise differential equation, which bears the same form as the classical attitude quaternion equation. In addition, the computation of this trident quaternion-based kinematic equation is implemented with the recently proposed functional iterative integration approach. Numerical results verify the analysis and show that incorporating the new representation into the functional iterative integration scheme achieves high inertial navigation computation accuracy as well.

cs.RO↗
arXiv2020

INS/Odometer Land Navigation by Accurate Measurement Modeling and Multiple-Model Adaptive Estimation

Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error characteristics of the odometer (OD) pulses and investigate three types of odometer measurement models in the INS/OD integrated system. Specifically, in the pulse velocity model, a preliminary Kalman filter is designed to obtain accurate vehicle velocity from the accumulated pulses; the pulse increment model is accordingly obtained by integrating the pulse velocity; a new pulse accumulation model is proposed by augmenting the travelled distance into the system state. The three types of measurements, along with the nonhonolomic constraint (NHC), are implemented in the standard extended Kalman filter. In view of the motion-related pulse error characteristics, the multiple model adaptive estimation (MMAE) approach is exploited to further enhance the performance. Simulations and long-distance experiments are conducted to verify the feasibility and effectiveness of the proposed methods. It is shown that the standard pulse velocity measurement achieves the superior performance, whereas the accumulated pulse measurement is most favorable with the MMAE enhancement.

cs.RO↗
arXiv2019

ImJoy: an open-source computational platform for the deep learning era

Deep learning methods have shown extraordinary potential for analyzing very diverse biomedical data, but their dissemination beyond developers is hindered by important computational hurdles. We introduce ImJoy (https://imjoy.io/), a flexible and open-source browser-based platform designed to facilitate widespread reuse of deep learning solutions in biomedical research. We highlight ImJoy's main features and illustrate its functionalities with deep learning plugins for mobile and interactive image analysis and genomics.

cs.LG↗
arXiv2018

Theoretical Limits and Scaling Laws for Electrokinetic Molecular Concentration via Ion Concentration Polarization

We develop the first theoretical model for the analytical description of ion concentration polarization (ICP)-based electrokinetic molecular concentration, which had not been possible due to the extraordinary complexity of the system. We define the two separate limits for the enrichment factor achievable in a given system and derive the scaling laws for critical parameters, which are validated by numerical simulations and experiments. This work provides clear theoretical explanations on the diverse experimental behaviors previously observed yet unexplainable, while setting solid foundation for the engineering of ICP-based concentrators and other fluid-coupled electrokinetic systems.

physics.flu-dyn↗
arXiv2015

Higher-Order Metric Subregularity and Its Applications

This paper is devoted to the study of metric subregularity and strong subregularity of any positive order $q$ for set-valued mappings in finite and infinite dimensions. While these notions have been studied and applied earlier for $q=1$ and---to a much lesser extent---for $q\in(0,1)$, no results are available for the case $q>1$. We derive characterizations of these notions for subgradient mappings, develop their sensitivity analysis under small perturbations, and provide applications to the convergence rate of Newton-type methods for solving generalized equations.

math.OC↗
arXiv2013

Maximal and area integral characterizations of Bergman spaces in the unit ball of $\mathbb{C}^n$

In this paper, we present maximal and area integral characterizations of Bergman spaces in the unit ball of $\mathbb{C}^n.$ The characterizations are in terms of maximal functions and area integral functions on Bergman balls involving the radial derivative, the complex gradient, and the invariant gradient. As an application, we obtain new maximal and area integral characterizations of Besov spaces. Moreover, we give an atomic decomposition of real-variable type with respect to Carleson tubes for Bergman spaces.

math.FA↗
arXiv2013

Atomic decomposition of real-variable type for Bergman spaces in the unit ball of $\mathbb{C}^n$

In this paper, we show that every (weighted) Bergman space $\mathcal{A}^p_α (\mathbb{B}_n)$ in the complex ball admits an atomic decomposition of real-variable type for any $0 < p \le 1$ and $α> -1.$ More precisely, for each $f \in \mathcal{A}^p_α (\mathbb{B}_n)$ there exist a sequence of real-variable $(p, \8)_α$-atoms $a_k$ and a scalar sequence $\{λ_k \}$ with $\sum_k | λ_k |^p < \8$ such that $f = \sum_k λ_k P_α (a_k),$ where $P_α$ is the Bergman projection from $L^2_α (\mathbb{B}_n)$ onto $\mathcal{A}^2_α (\mathbb{B}_n).$ The proof is constructive, and our construction is based on some sharp estimates about Bergman metric and Bergman kernel functions in $\mathbb{B}_n.$

math.FA↗
arXiv2011

Tent spaces and Littlewood-Paley $g$-functions associated with Bergman spaces in the unit ball of $\mathbb{C}^n$

In this paper, a family of holomorphic spaces of tent type in the unit ball of $\mathbb{C}^n$ is introduced, which is closely related to maximal and area integral functions in terms of the Bergman metric. It is shown that these spaces coincide with Bergman spaces. Furthermore, Littlewood-Paley type $g$-functions for the Bergman spaces are introduced in terms of the radial derivative, the complex gradient, and the invariant gradient. The corresponding characterizations for Bergman spaces are obtained as well. As an application, we obtain new maximal and area integral characterizations for Hardy-Sobolev spaces.

math.FA↗
arXiv2011

Real-variable characterizations of Bergman spaces

In this paper, we give a survey of results obtained recently by the present authors on real-variable characterizations of Bergman spaces, which are closely related to maximal and area integral functions in terms of the Bergman metric. In particular, we give a new proof of those results concerning area integral characterizations through using the method of vector-valued Calderón-Zygmund operators to handle Bergman singular integral operators on the complex ball. The proofs involve some sharp estimates of the Bergman kernel function and Bergman metric.

math.FA↗