目前主要集中在：高精度惯性导航技术、图像匹配定位技术、室内外无缝高性能智能手机导航等
个人简介
曾庆化博士，副教授/硕士生导师，惯性技术学会会员、中国宇航学会会员、国际工程师协会(IAENG)会员，IEEE会员。2000年南京航空航天大学本科毕业；2006年2月获南京航空航天大学导航、制导与控制专业工学博士学位；2007年受国家留学基金委资助前往英国Leeds大学进行为期1年的博士后研究；2014年12月到2015年11月，在美国德克萨斯州德州农工大学（corpus christi分校）访问做为期1年的访问研究。2006-至今，主要从事惯性/卫星/视觉/图像匹配/无线传感器组合导航，及多信息数据融合理论与技术方面的科研工作。
学术成果
PUBLICATIONS:1.Qinghua Zeng, Shanshan Gu, Jianye Liu, Sheng Liu and Weina Chen,A Gyro Signal Characteristics Analysis Method based on Empirical Mode Decomposition, Journal of Sensors, (accepted)2.Qinghua Zeng, Qian Meng, Jianye Liu, Shaojun Feng, Huanhao Wang, Acquisition and loop control of ultra-tight INS/BeiDou integration system, Optik 127(2016) 8082-8089.3.Qinghua Zeng，MAV Pose Measurement algorithm Based on Visual Systems, June, 2015，USA，Dallas， AIAA AVIATION 2015,(INSPEC:**)4.Qinghua Zeng，Lei Huang, Jianye Liu, Leijiang Chen, Shanshan Gu, Real-time filtering methods of FOG random noise based on ARMA model, Journal of Chinese Inertial Technology, 2015/1. 23(1) EI:20**35.Qinghua Zeng，Ji Zhao, Kai Huang, Jianye Liu, Xiaowen Sun, Design of Ground Control Station for Multi-rotor Vehicle Testbed Based on MCS, Computer technology and development， 2015,25(9), 218-221.6.Qinghua Zeng，Jianye Liu, Xiaoyi Deng, Integrating Monocular Vision and Laser point for Indoor UAV SLAM, UPINLBS 2014. 2014年11月，USA, Corpus Christi, (INSPEC:**),EI: 20**1.7.Qinghua Zeng, Jianye Liu, Andrew. H. Kemp, Yufeng He, Node Localization Algorithm Based on UKF Filtering with TOF, Chinese Control and Decision, Conference (CCDC), 2013,EI.8.Xiaoyi Deng, Qinghua Zeng, Research on Laser-assisted odometry of Indoor UAV with Monocular Vision, IEEE-CYBER 2013, June 2013, Nanjing, China. 9.He Yufeng, Qinghua Zeng，Path Planning for Indoor UAV Based on Ant Colony Optimization，Chinese Control and Decision Conference (CCDC), 2013, 2013, Guiyang China.10.Tong Zhuang, Qinghua Zeng, Jianye Liu, Liang Dong, Attitude Algorithm of Micro-unmanned Air Vehicle Based on Monocular Vision, Computer Engineering, 2012, 38(15):197-200.11.Qinghua Zeng, Jianye Liu, Di Ya, Junwei Wan，The improved TCAR by adding small search spaces ，2012 International Conference on Localization and GNSS, Starnberg, Germany, 2012.6.25-27. 12.Lei Ni, Qinghua Zeng, Tong Zhuang, Jianye Liu, Overview on Indoor MAV Autonomous Navigation and Guidance Technologies Based on Onboard Sensors, Computer Applications and Software, 2012, 29(8):160-166.13.Wei-Na Chen, Qinghua Zeng, Rongbing Li, Jianye Liu，Mixed linear regression temperature compensation method for annular-vibrating MEMS gyroscope，Zhongguo Guanxing Jishu Xuebao/journal of Chinese Inertial Technology, 20(1), pp 99-103, 2012.14.Di Yang, Qinghua Zeng, Jianye Liu, Qianqian Hu, Analysis of Performance of Multi-constellation Modernized Satellite Navigation System, Computer Simulation, 2012,29(09): 65-68.15.Di Yang, Qinghua Zeng, Jianye Liu, Junwei Wan, A GNSS Three-carrier Ambiguity Resolution (TCAR) Algorithm for Attitude Determination, China Satellite Navigation Conference, 2012.16.Guoan Song, Qinghua Zeng, Bin Zhang, Qianqian Hu, Design and Realization of Strapdown AHRS Based on DSP & CPLD, Computer Technology and Development, 2012,22(06): 187-190+194.17.Qianqian Hu, Qinghua Zeng, Guoan Song, Weina Chen, Systematic Calibration for Vehicular SINS System Based on Data Fusion, Computer Simulation, 2012,29(08):336-339+343.18.Xian-Min Wang, Qinghua Zeng, Zhi Xiong, Jianye Liu，Speeded up scene matching algorithm based on inertial navigation characteristics，Xi Tong Gong Cheng Yu Dian Zi Ji Shu/systems Engineering and Electronics, 33(9), pp 2055-2059, 2011.19.Qinghua Zeng， Jianye Liu， Research on BEIDOU and Modernized GNSS Multi-constellation Integrated Navigation， IGNSS Symposium 2011， University of New South Wales， Sydney， NSW， Australia， 15 – 17 November， 2011.20.Qinghua Zeng, Jianye Liu, Qianqian Hu, Di Yang, Research on Beidou and GNSS Multi-consellation Integrated Navigation, Gnss World of China, 2011，1:53-5721.Yuqin Liang, Qinghua Zeng, Jianye Liu, Qianqian Hu, Application of Adaptive Extended Kalman Filtering in WSN Dynamic Node Localization, Journal of Chinese Computer Systems, 2011,32(08): 1694-1696.22.Qianqian Hu, Qinghua Zeng, Fei Zhao, Yuqin Liang, Research on LQI Location Algorithm and Errors for Wireless Sensor Networks, Journal of Chinese Computer Systems, 2011,32(01): 95-98.23.Qinghua Zeng， Jianye Liu, Lei Sha，Inertial instrument error identification algorithm based on reverse navigation data，613-616页, IEEE/ION Position, Location and Navigation Symposium, PLANS 2010, Indian Wells, CA, United states, 2010.5.4-6.24.Xianmin Wang, Qinghua Zeng, Zhi Xiong, Jianye Liu, Development and Research Analysis on Vision-Based Navigation Technologies, Information and Control, 2010,39(5):609-613.25.Lei Sha, Qinghua Zeng, Yongjun Yu, Track Generator Design Based on 3-DOF Aircraft Model, Computer Simulation, 2010,27(11): 36-40.26.Chunbo Hu, Qinghua Zeng, Weixing Qian, Qian Sun, A New Method for Processing MINS Data Delay in Transfer Alignment Based on LCKF Algorithm, Journal of Projectiles Rockets Missiles and Guidance, 2010:30(05):9-12.27.Yuqin Liang, Qinghua Zeng, Jianye Liu, Research on Node Localization Based on UKF for WSN, Chinese Journal of Sensors and Actuators, 2010:23(06): 878-882.28.Fei Zhao, Qinghua Zeng, Qianqian Hu, Meng Cao, Design of Bus Information Collection System Based on TOA Wireless Sensor, Electronic Measurement Technology, 2010:33(01): 99-103.29.Bin Zhao, Qinghua Zeng, Weixing Qian, Jianye Liu, Research on GPS/INS Integrated Alignment Based on Strong Tracking Filter, Navigation and Control, 2010,09(2):22-26.30.Qinghua Zeng, Jianye Liu, Wei Zhao, Yongrong Sun, Non-GPS distributed intelligent transportation system, ION GNSS 2009 being held in Savannah, Georgia, September 22-25, 2009. 31.Qinghua Zeng, Andrew. H. Kemp, Jianye Liu, Feasibility Study of Real-time Independent Positioning System for retrieving freight containers, CIAC 2009 - Chinese Intelligent Automation Conference, Sep.27, 2009, Nanjing China. 32.Qinghua Zeng, Jianye Liu, Fei Zhao, Yongrong Sun, Intelligent Transportation System based on GPS and Wireless Sensors Network, Global Positioning System conference, June 2009, Qingdao, Shandong province, China.33.Qinghua Zeng, Jianye Liu, Wei Zhao, Yongrong Sun, Intelligent Transportation System based on GPS and Wireless Sensors Network, GNSS World of China, 34(05): 34-38, 200934.Chunbo Hu, Qinghua Zeng, Weixing Qian, Semi-Physical Simulation of Transfer Alignment and Navigation Integration, Journal of Naval Aeronautical and Astronautical University, 2009,24(6):651-655.35.Bin Zhao, Qinghua Zeng, Weixing Qian, Transfer Alignment of Inertial Navigation System Using Specific Force Integration, 2009,27(04):425-429.36.Qinghua Zeng, Jianye Liu, Andrew. H. Kemp, Wei Zhao. A Coning Compensation Algorithm with Pure Filtered Angle Rate Input[C], 2008.10，NAV08/ILA37，The Navigation Conference & Exhibition, London, UK.37.Qinghua Zeng , Jianye Liu, Andrew. H. Kemp, Li Qiao. A New Calibration Method Of The Ring Laser Gyro Strapdown Inertial Navigation System[C],2007.10，NAV07, The Navigation Conference & Exhibition, London, UK.38.Qinghua Zeng, Jianye Liu, Yongrong Sun, Zhirong Zhang, SVFA for Passive Beidou Multimode Receiver, Journal of Data Acquisition & Processing, 2007,22(1):100~104.39.Qinghua Zeng, Jianye Liu, WeiZhao, Attitude Algorithm with Incremental Angle of RLG SINS, Journal of Nanjing University of Aeronautics &Astronautics, 2007,39(2):143~148.40.Qinghua Zeng, Jianye Liu, Yanhua Zhu, Jizhou Lai, Compensation for Coning Error of Pure Filtered Angular Rate Inpute, Journal of Applied Sciences 2007， 25(5)：505~509.41.Qinghua Zeng, Jianye Liu, Rongbing Li, Research on DCA of magnetic deviation based on constant attitude errors, Transducer and Microsystem Technologies, 2006,25(4):31~34.42.Qinghua Zeng, Jianye Liu, Zhi Xiong, Feng Yu, Interrelated techniques Developments of Current Satellite Navigation System, GNSS World of China, 2006,(1):35~40.43.Qinghua Zeng, Jianye Liu, Wenming Peng, Yongjun Yu, Interrelated Techniques Developments and Analysis of Chinese Satellite Navigation System, Aerospace Control, 2006,24(4):91~96.44.Qinghua Zeng, Jianye Liu, Wei Zhao, Zhi Xiong, Coning algorithm with hardware-enhanced angle rate of RLG SINS, Journal of Southeast University (Natural Science Edition), 2006, 36(5):746~750.45.Qinghua Zeng , Jianye Liu , Zhi Xiong , Wei, Zhao A High-Accuracy Attitude Algorithm of Ring Laser Gyro Strapdown Inertial Navigation System with Pure Angle Rate Output, Journal of Shanghai Jiaotong University, 2006,40(12):2159~2163.46.Qinghua Zeng, Jianye Liu, Jizhou Lai, Yaling Du, Realization of DSP hardware algorithms for strapdown inertial AHRS, Journal of Chinese Inertial Technology, 2006,14(6):1~4.47.Qinghua Zeng, Jianye Liu, Yaling Du, Ranging Li, The Research of Improving Algorithm on Inertial Integrated Navigation System Precision Based on DSP, Mini-Micro Systems, Jan. 2005， 26(1):139-142, (EI)**.48.Qinghua Zeng, Jianye Liu, Jizhou Lai, Zhi Xiong, The Newest Developments of the Ring Laser Gyro, Journal of Transducer Technology, Nov. 2004,23(1):1-4.49.Qinghua Zeng, Jianye Liu, Jian Xiong, Rongbing Li, Research and Realization on Simulator of 3D Strapdown magnetometer, Journal of Transducer Technology, Feb.2004, 23(2):27-30,33.50.Qinghua Zeng, Jianye Liu, Xueyuan Lin, Chunhua Liu, The Research on BSMA Application of Solving The Twenty-four Solar Terms based on Micro-Processor, Microcomputer & its application, Jan.2004,23(1):39-41.51.Qinghua Zeng, Jianye Liu, Jizhou Lai, Yaling Du，Research Realization of Hardware Algorithm of Strapdown Inertial AHRS based on DSP，International Symposium on Inertial Navigation Technology and Intelligent Traffic，Nanjing, China, Oct.2004.编写论著：[1]曾庆化，刘建业，赵伟，李荣冰，熊智编著，全球导航卫星系统[M]，北京：国防工业出版社，2014.11.[2]刘建业，曾庆化，赵伟，熊智，孙永荣，赖际舟，李荣冰等编著，导航系统理论与应用[M]，西安：西北工业大学出版社，2010.3.2014年，国防科学技术发明奖三等奖（工信部）2014年，访问学者项目（国家留学基金委） 2010年，国防科学技术奖三等奖（工信部） 2006年，国防科学技术奖三等奖（国防科工委） 2006年，2006年度中英优秀青年学者奖学金（国家留学基金委） 2010年，南航科学技术奖三等奖（南航） 2005年，南京市科协第十一届优秀学术论文奖(南京市科学技术协会) 2004年，南航科学技术奖三等奖、二等奖各一项（南航）申请与参与申请的部分专利如下：1）一种中低空下目标自动识别及载体高精度定位方法(申请号:9)。2）微型飞行器微惯性组合导航系统的姿态确定方法（申请号：1.5）。3）微型组合导航系统及自适应滤波方法（申请号：6.4）。4）利用景象匹配提高导航系统精度的方法及组合导航仿真系统(申请号：4.3)。5）惯性测量系统误差模型验证试验方法（专利号：ZL 7.0）。6）智能交通系统及其监测控制方法（申请号：0.1）。7）一种捷联MEMS 惯性测量单元及安装误差标定方法（ 申请号：5.X）。8）基于捷联惯性导航系统的姿态估计和融合的方法（专利号：ZL 2.7）。9）稳瞄吊舱的比力差分匹配传递对准及其组合导航方法（专利号：9.9）。10）卫星/惯性组合导航系统的空中初始对准方法（专利号：0.4）。
承担项目
获得自然基金项目、基础研究项目、中英国际交流项目、横向对准项目、南航专项基金项目和南航大学生创新基金项目等30余项，并作为主要成员先后参加了激光陀螺惯性组合导航系统方面的国防重大专项、国防预研项目和国防基础科研项目等课题，在惯性传感器误差特性、多传感器组合导航、惯性组合导航系统集成及其在应用等方面进行了较为深入的理论和实验研究，具有较丰富的理论和工程实践经验。
