Abstract: A grouting device for high-coagulability grouting materialsincludes a grouting pipe, a connector and a self-sealing pipe head, wherein one end of the connector is connected with a grouting pump through the grouting pipe, the other end of the connector is connected with the self-sealing pipe head through the grouting pipe, and the grouting pipe is connected with the connector and the self-sealing pipe head in a fixed and sealed mode. The grouting device is easy to install, features reliable connection between the grouting pipe and the connector and the self-sealing pipe head, and can be reused. Because the inner diameter of the connector is consistent with the inner diameter of the grouting pipe, and a slurry outlet on an end cap of the self-sealing pipe head is a circular slurry outlet, pressure loss in the grouting process is effectively reduced, and the grouting effect is good.

Abstract: The invention relates to the grouting field, in particular to a grouting device for high-coagulability grouting materials. The grouting device comprises a grouting pipe, a connector and a self-sealing pipe head, wherein one end of the connector is connected with a grouting pump through the grouting pipe, the other end of the connector is connected with the self-sealing pipe head through the grouting pipe, and the grouting pipe is connected with the connector and the self-sealing pipe head in a fixed and sealed mode. The grouting device is easy to install, features reliable connection between the grouting pipe and the connector and the self-sealing pipe head, and can be reused. Because the inner diameter of the connector is consistent with the inner diameter of the grouting pipe, and a slurry outlet on an end cap of the self-sealing pipe head is a circular slurry outlet, pressure loss in the grouting process is effectively reduced, and the grouting effect is good.

Abstract: In one embodiment, a method for synchronizing sensor data of an autonomous driving vehicle includes determining, by a processing device of an inertial navigation system (INS), that global navigation satellite system (GNSS) data is unavailable and identifying an alternative source of time information. The method further includes retrieving time information from the alternative source and synchronizing sensor data with the time information from the alternative source of time information.

Abstract: In one embodiment, a method for calculating a location of an autonomous driving vehicle includes receiving new global navigation satellite system (GNSS) data. The method further includes identifying a first previously estimated location from a plurality of previously estimated locations with a timestamp that is closest to the timestamp of the new GNSS data and identifying a second previously estimated location from the plurality of previously estimated locations with a most recent timestamp. The method further includes calculating a difference between the first previously estimated location and the second previously estimated location, adjusting the new GNSS data based on the difference; and calculating a current estimated location of the ADV based on the adjusted GNSS data.

Abstract: In one embodiment, a system includes a global navigation satellite system (GNSS) receiver unit, a first inertial measurement unit (IMU) and a second IMU. The system may further include a first micro-controller unit (MCU) coupled to the first IMU and the GNSS receiver unit to receive data from the first IMU and the GNSS receiver unit and a second MCU coupled to the second IMU and the GNSS receiver unit to receive data from the second IMU and the GNSS receiver unit.

Abstract: In one embodiment, a method for calculating a location of an autonomous driving vehicle includes receiving new global navigation satellite system (GNSS) data. The method further includes identifying a first previously estimated location from a plurality of previously estimated locations with a timestamp that is closest to the timestamp of the new GNSS data and identifying a second previously estimated location from the plurality of previously estimated locations with a most recent timestamp. The method further includes calculating a difference between the first previously estimated location and the second previously estimated location, adjusting the new GNSS data based on the difference; and calculating a current estimated location of the ADV based on the adjusted GNSS data.

Abstract: A method of treating tunnel collapse includes leveling a collapse body and moving a pavilion support under the collapse cavity, lifting a shield plate until a lower edge of the shield plate surpasses a contour line of an initial supporting arch of a tunnel, connecting a bottom column and inserting a padding plate under a column. If the hydraulic prop retracts, the column, the bottom column, the padding plate and the hydraulic prop bear a load from the shield plate. Mounting and connecting the initial supporting arch, welding the intersection point of the column and the initial supporting arch, cutting off the column in the initial supporting arch. Transferring the load of the shield plate from the pavilion support to an initial supporting shed, spraying fast-setting concrete to a grid arch to form a closed shell, and pumping filling material to fill the space of the collapse cavity.

Abstract: A method of treating tunnel collapse includes mounting a shield plate, a column, a support column to form a combined support and moving the combined support onto an operation platform, lifting up the combined support, and enabling the height of canopy to be greater than the height of an initial supporting arch. Actively contacting a surface of a collapse cavity by a fixed support column and bearing a load, and lifting a movable support column to the top of the collapse cavity and bearing a load. Mounting an initial supporting arch, and welding the initial supporting arch with the support column. Removing a hydraulic prop after the support column contacting the initial supporting arch is cut off and the load of the shield plate is transferred to a supporting shed. Mounting an exhaust pipe and a filling material pumping pipe, and pumping a filling material into a collapse cavity space.

Abstract: A method of treating tunnel collapse includes leveling a collapse body and moving a pavilion support under the collapse cavity, lifting a shield plate until a lower edge of the shield plate surpasses a contour line of an initial supporting arch of a tunnel, connecting a bottom column and inserting a padding plate under a column. If the hydraulic prop retracts, the column, the bottom column, the padding plate and the hydraulic prop bear a load from the shield plate. Mounting and connecting the initial supporting arch, welding the intersection point of the column and the initial supporting arch, cutting off the column in the initial supporting arch. Transferring the load of the shield plate from the pavilion support to an initial supporting shed, spraying fast-setting concrete to a grid arch to form a closed shell, and pumping filling material to fill the space of the collapse cavity.

Abstract: A method of treating tunnel collapse includes mounting a shield plate, a column, a support column to form a combined support and moving the combined support onto an operation platform, lifting up the combined support, and enabling the height of canopy to be greater than the height of an initial supporting arch. Actively contacting a surface of a collapse cavity by a fixed support column and bearing a load, and lifting a movable support column to the top of the collapse cavity and bearing a load. Mounting an initial supporting arch, and welding the initial supporting arch with the support column. Removing a hydraulic prop after the support column contacting the initial supporting arch is cut off and the load of the shield plate is transferred to a supporting shed. Mounting an exhaust pipe and a filling material pumping pipe, and pumping a filling material into a collapse cavity space.

Abstract: In one embodiment, a system includes a global navigation satellite system (GNSS) receiver unit, a first inertial measurement unit (IMU) and a second IMU. The system may further include a first micro-controller unit (MCU) coupled to the first IMU and the GNSS receiver unit to receive data from the first IMU and the GNSS receiver unit and a second MCU coupled to the second IMU and the GNSS receiver unit to receive data from the second IMU and the GNSS receiver unit.

Abstract: In one embodiment, a method for synchronizing sensor data of an autonomous driving vehicle includes determining, by a processing device of an inertial navigation system (INS), that global navigation satellite system (GNSS) data is unavailable and identifying an alternative source of time information. The method further includes retrieving time information from the alternative source and synchronizing sensor data with the time information from the alternative source of time information.

Abstract: Methods and apparatuses are provided that may be implemented in various electronic devices to identify suspect measurements for use in a position/velocity/time estimation filter and provide corresponding validated measurements that may be either operatively re-weighted in some manner or operatively one-sided isolated in some manner when subsequently considered by the position/velocity/time estimation filter.

Abstract: Methods and apparatuses are provided that may be implemented various electronic devices to affect application of a filtering model used for obtaining a navigation solution. In particular, signal characteristics of one or more received signals are used for selecting application of a particular filtering model from a plurality of filtering models.

Abstract: A navigation system includes a pressure sensor, a calibration module in communication with the pressure sensor, and an altitude module in communication with the calibration module. The calibration module is configured to determine a dynamic pressure proportionality coefficient based at least in part on a static pressure proportionality coefficient, a measured pressure value from the pressure sensor, and a velocity value. The altitude module is configured to calculate a sensor-based altitude value based at least in part on the determined dynamic pressure proportionality coefficient.

Abstract: Methods and apparatuses are provided that may be implemented in various electronic devices to identify suspect measurements for use in a position/velocity/time estimation filter and provide corresponding validated measurements that may be either operatively re-weighted in some manner or operatively one-sided isolated in some manner when subsequently considered by the position/velocity/time estimation filter.

Abstract: Methods and apparatuses are provided that may be implemented various electronic devices to affect application of a filtering model used for obtaining a navigation solution. In particular, signal characteristics of one or more received signals are used for selecting application of a particular filtering model from a plurality of filtering models.

Abstract: A navigation system includes a pressure sensor, a calibration module in communication with the pressure sensor, and an altitude module in communication with the calibration module. The calibration module is configured to determine a dynamic pressure proportionality coefficient based at least in part on a static pressure proportionality coefficient, a measured pressure value from the pressure sensor, and a velocity value. The altitude module is configured to calculate a sensor-based altitude value based at least in part on the determined dynamic pressure proportionality coefficient.