Integrating GPS/INS/PL for Robust Positioning

Jinling Wang,Ravindra Babu,Di Li,Franics Chan,Jinho Choi 한국항해항만학회 2006 한국항해항만학회 학술대회논문집 Vol.1 No.-

The Global Positioning System (GPS), Inertial Navigation System (INS) and Pseudolite (PL) technologies all play very important roles in navigation systems. As an independent navigation system, GPS can provide high precision positioning results which are independent of time. However, the performance will become unreliable when the system experiences high dynamics, or when the receiver is exposed to jamming or RF interference. In comparison to GPS, though INS is autonomous and provides good short-term accuracy, its use as a standalone navigation system is limited due to the time-dependent growth of the inertial sensor errors. PLs are ground-based transmitters that can transmit GPS-like signals. They have some advantages in that their positions can be determined precisely, and the Signal-to-Noise Ratios (SNR) are relatively high. Because their combined performance, in principle, overcomes the shortcomings of the individual systems, the integration of GPS, INS and PL is increasingly receiving attention from researchers. Depending on the desired performance vs complexity, system integration can be carried out at different levels, namely loose, tight and ultra-tight coupling. Compared with loose and tight integration, although it is more complex in terms of system design, ultra-tight integration will be the basis of the next generation of reliable and robust navigation systems. Its main advantages include improved performance under exposure to high dynamics, and jamming and RF interference mitigation. This paper presents an overview of the ultra-tight integration developments and discusses some of the challenging issues.

An Analysis of the Lacquer Art of the Exported Folding Fans of the Qing Dynasty in China

Jinling Wang,Zihan Yang 한국디자인학회 2021 디자인학연구 Vol.34 No.3

An empirical study on the impact of academic competitions on innovation and entrepreneurship among Chinese university students

Jinling Wang,Ning Wang 한국국제교육교류학회 2023 국제교류와 융합교육 Vol.3 No.1

사회주의 중국 건국 이후 의무교육 단계 교과서 제도의 변화

왕금령(Jinling Wang) 교과와 교과서학회 2023 교과와교과서연구 Vol.3 No.2

A Survey on Filtering Issues for Two-Dimensional Systems: Advances and Challenges

Fan Wang,Zidong Wang,Jinling Liang,Jun Yang 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3

In the past few decades, both theoretical developments and practical applications of the two-dimensional (2-D) systems have received considerable research interest due to their clear engineering insights in many industrial branches. In order to estimate the actual system states from available and possibly noisy measurements, various filtering strategies have been proposed in the existing literature which include, but are not limited to, Kalman filtering, variance- onstrained filtering, H∞ filtering, l2-l∞ filtering, l1 filtering, dissipative filtering, and protocol-based filtering approaches. In particular, the filtering issues of 2-D systems subjected to disturbances/noises from different sources have drawn much research attention. The intent of this survey is to not only provide a comprehensive review of the latest results but also bestow some in-depth insights on the future research with respect to the filter design problems for 2-D systems under various performance requirements. The fundamentals of the 2-D systems are first presented and the corresponding filtering techniques are introduced from the aspects of engineering insights and physical interpretations. Then, several well-known 2-D systems are recalled and discussed, and some other 2-D systems with more complicated dynamics are surveyed. Subsequently, the recent advances in designing appropriate 2-D filtering algorithms under specific filtering performance indices are reviewed. Finally, this paper is concluded with some possible future research topics outlined on the 2-D filtering schemes.

국제 교류 시각에서 본 조선시대 한문교육 분석

왕금령(Wang jinling) 한국국제교육교류학회 2022 국제교류와 융합교육 Vol.2 No.1

본 연구는 문헌 연구를 통하여 국제 교류 시각에서 조선시대의 한문교육 시행의 의미에 대해 살펴보 았다 구체적으로 역사적 자료들을 정리하면서 조선시대 한문교육의 시행 기관 교육내용 및 주요 특 . , 징 당시 한반도에 미치는 영향 및 오늘날 중국의 중국어 국제교육에 주는 시사점을 살펴봤다 연구결 , . 과 조선시대의 한문 교육 기관으로 주로 사역원과 승문원에서 한문 교육의 역할을 하고 있었다 시행 , . 한 한문 교육의 내용은 주로 중국어 구어 교재의 개발 운서와 같은 도구 서적의 간행 사전 등에 대한 , , 편찬 및 중국어 통역원 양성 등으로 나타났다 중국 운서에 대한 깊은 연구를 통하여 한반도는 년 . 1443 자기 민족의 문자인 한글이 창제되어 한자의 의지에서 벗어나게 되었다 한글의 발명은 한반도의 정치 . , 경제 및 문화 분야의 발전을 크게 발전시켰다 또한 조선시대의 한문교육은 오늘날 중국의 중국어 국 . 제교육에 좋은 경험을 제공해 주었다. Through literary research, this study aims to study chinese characters in the Chosun Dynasty from the perspective of international exchange. While sorting out the historical materials, it investigates the implementation organ, educational content and main characteristics of Chinese education in the Chosun Dynasty, its influence on the Korean peninsula at that time and Its enlightenment to today's Chinese international education. The results show that the Chinese language education institutions in the Chosun Dynasty mainly played the role of Chinese language education in the Si service academy and the Sheng Wen Academy. The contents of Chinese language education mainly include the development of oral Chinese teaching materials, the publication of rhymes and other reference books, the compilation of dictionaries and the training of Chinese translators. Through the in-depth study of Chinese rhymes, the Korean Peninsula created its own Korean national character in 1443, getting rid of the will of Chinese characters. The invention of Korean language has greatly encouraged the political, economic and cultural development of the Korean peninsula. In addition, the Chinese language education in the Chosun Dynasty provides a good experience for today's Chinese international education in China.

Numerical analysis of the formation mechanism and suppression method of the reverse flow in a semi-open centrifugal pump

Like Wang,Jinling Lu,Weili Liao,Wei Wang,Jianjun Feng,Yaping Zhao 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.9

Reverse flow has a detrimental effect on the stable and safe operation of centrifugal pumps. To study the formation mechanism and suppression of the reverse flow, a semi-open centrifugal pump with circumferential groove in the shroud was simulated. Then, the flow field and pressure fluctuation were analysed. The absolute flow angle at the blade inlet nearing the shroud was close to 180° because of the joint action of the leakage flow and blade inlet impact under low flow rate. This phenomenon resulted in the formation of a low-speed region and the reverse flow and low-frequency pressure fluctuation. The circumferential groove provided a channel for the leakage flow, which could quickly pass through the groove, and reduced the absolute flow angle at the blade inlet nearing the shroud and weakened the trend of the tip leakage flow to upstream. The low-frequency pressure pulsation was eliminated, and the amplitude of the blade passing frequency was reduced under 0.7 Q d (Q d is the design flow rate). The reverse flow thickness coefficient became zero with the circumferential groove. The proportion of the reverse flow volume to the volume of inlet pipe decreased from 14.7 % to 2.2 % under 0.4 Q d . This research indicated that the circumferential groove arranged in the shroud could effectively suppress or eliminate reverse flow.

Effect of asymmetrical tip clearances on energy performance and cavitation characteristics of NACA0009 hydrofoil in tidal energy

Like Wang,Xingqi Luo,Jinling Lu,Jianjun Feng,Guojun Zhu,Wei Wang,Kai Wang 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.9

Tidal energy is an important renewable energy that uses the potential energy created by the rising and falling of ocean tides to generate electricity. The tip leakage vortex (TLV) and cavitation caused by the tip leakage flow have adverse effects on the energy conversion efficiency and stable operation of the tubular turbine. The selection of the tip clearance shape is critical. Therefore, the effects of four different combinations of asymmetrical tip clearance shapes on the energy and cavitation characteristics of hydrofoils are studied in this paper. The results show that the TLV remains unchanged when tipwall and endwall are sinusoidal and cosine curve shaped, respectively. When tip clearance is the combination of a flat tipwall and a sinusoidal endwall, the lift-drag ratio decreases by 10.72 %. The high shear stress region of tipwall near leading edge decreases. The flow resistance of the leakage flow decreases, and the leakage flow becomes more serious. The cavitation volume is 2.5 times that under the original flat tip clearance. When tip clearance is the combination of a flat tipwall and a cosine endwall, and the lift-drag ratio increases by 9.67 %. The shear stress increases, the leakage flow decreases. The swirling strength around the center of the vortex core is weakened. The cavitation volume is 3.81, with a decrease of nearly 30 %. A proper asymmetrical tip clearance can effectively improve the energy performance and cavitation characteristics of hydrofoils. This study provides theoretical support for the design and optimization of hydraulic machine with tip clearance.

중국 사회과 교과서에 나타난 국가정체성 및 민족정체성 관련 교육 내용 분석

왕금령(Wang Jinling)(王金玲),김석우(Sukwoo Kim),구경호(Kyungho Koo) 고려대학교 교육문제연구소 2017 敎育問題硏究 Vol.30 No.2

본 연구는 중국 사회과 교과서에 나타난 국가정체성과 민족정체성 관련 내용을 분석하고 이를 통해 향후 다문화 교육을 위한 교육과정 및 교과서 개정 방향을 제시를 하는데 그 목적이 있다. 이를 위해 중국 교과서 중 가장 널리 사용되는 초ㆍ중학교 사회과 교과서 총 13권을 수집ㆍ분석하였다. 내용분석 연구방법으로 중국 사회과 교과서의 정체성 내용을 분석하였으며, 이를 크게 국가정체성, 민족정체성 및 세계관계 속의 국가정체성으로 분류하였다. 연구결과를 제시하면 다음과 같다. 첫째, 사회과에 제시되어 있는 국가정체성 관련 내용은 중화민족의 유구한 역사, 사회주의 현대화 건설의 성과, 중화민족의 우수한 전통문화, 사회주의 민주와 법제, 민족단결교육, 국방교육과 국가안전교육이 주를 이루는 것으로 분석되었다. 특별히 중국의 역사교육 관련 내용이 가장 많은 비중을 차지하였다. 이러한 애국주의 기조의 내용들은 학생들에게 국가에 대한 깊은 애정, 국가의 영광과 발전을 위한 헌신, 국가를 보호하고 국가의 존엄성을 지키겠다는 결심 등을 키우기 위한 것으로 해석된다. 둘째, 사회과에 제시되어 있는 민족정체족성 관련 내용은 주로 티베트족, 위구르족, 장족 등과 같은 소수민족들의 풍습과 정책에 관한 내용이 주를 이루는 것으로 분석되었다. 내용 중 소수민족의 역사, 경제발전수준, 종교, 언어 관련내용은 매우 적거나 없는 것으로 나타났다. 셋째, 세계관계 속의 국가정체성 분석을 한 결과 내용측면에서는 주로 국가 위상에 대한 내용이 강조되었다. 그 외 세계 각지에 있는 중국인, 다른 나라와의 협력, 세계기구에서의 역할 등의 내용이 분석되었다. 본 연구는 중국 사회과 교교서를 통해 국가정체성이나 민족정체성을 분석 외 다른 다문화 내용 파악에는 한계가 있었으나 향후 사회과 교과서의 수정에 필요한 연구자료를 제시하였다는데 그 의의가 있다. The purpose of this study is to find out the contents related national identity and ethnic identity in Chinese social studies textbooks, and to present educational curriculum and revising directions for multi-cultural education in the future. The main research method is content analysis. For this purpose, 13 elementary and middle school sociology textbooks in China were collected and analyzed. The study results are as follows. Firstly, regarding national identity, the contents related national economics and history such as the achievements of modernization of the socialist modernization, the excellent traditional culture of the ethnic Chinese, the socialist democracy and national security education, national unity education, national security education and national security education were described. This shows that social studies textbooks pay more attention to national history and national economic aspects and think that these contents can better cultivate the learners’sense of patriotism. Secondly, the contents regarding ethnic identity minority is less described. These contents were mainly focused on customs and the politics, economy and religions are not introduced. Thirdly, the contents regarding national identity within world relationship. These contents were mainly focused on the roles playing in the international stage such as cooperation with other countries and roles in the world organization.

A Neural Network and Kalman Filter Hybrid Approach for GPS/INS Integration

Jianguo Jack Wang,Jinling Wang,David Sinclair,Leo Watts 한국항해항만학회 2006 한국항해항만학회 학술대회논문집 Vol.1 No.-

It is well known that Kalman filtering is an optimal real-time data fusion method for GPS/INS integration. However, it has some limitations in terms of stability, adaptability and observability. A Kalman filter can perform optimally only when its dynamic model is correctly defined and the noise statistics for the measurement and process are completely known. It is found that estimated Kalman filter states could be influenced by several factors, including vehicle dynamic variations, filter tuning results, and environment changes, etc., which are difficult to model. Neural networks can map input-output relationships without apriori knowledge about them; hence a proper designed neural network is capable of learning and extracting these complex relationships with enough training. This paper presents a GPS/INS integrated system that combines Kalman filtering and neural network algorithms to improve navigation solutions during GPS outages. An Extended Kalman filter estimates INS measurement errors, plus position, velocity and attitude errors etc. Kalman filter states, and gives precise navigation solutions while GPS signals are available. At the same time, a multi-layer neural network is trained to map the vehicle dynamics with corresponding Kalman filter states, at the same rate of measurement update. After the output of the neural network meets a similarity threshold, it can be used to correct INS measurements when no GPS measurements are available. Selecting suitable inputs and outputs of the neural network is critical for this hybrid method. Detailed analysis unveils that some Kalman filter states are highly correlated with vehicle dynamic variations. The filter states that heavily impact system navigation solutions are selected as the neural network outputs. The principle of this hybrid method and the neural network design are presented. Field test data are processed to evaluate the performance of the proposed method.