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动态导航与定位的质量取决于对动态载体扰动和观测异常扰动的认知和控制质量.在实践中,观测向量及其动态模型信息均可能存在异常,此时若仍利用标准Kalman滤波,则状态滤波解将极不可靠.在标准Kalman滤波原理的基础上,结合模糊控制理论,提出了一种基于模糊理论的抗差Kalman滤波算法.该方法是依据滤波处理后的数据残差,利用模糊理论构造等价权,从而有效控制粗差对导航解的影响,并用算例验证了该方法的可行性和有效性. 相似文献
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现代动态数据处理中,以Kalman滤波为代表的现代时间序列分析方法发挥着举足轻重的作用。对于平稳性比较好的数据,一般方法都能够得到良好的处理结果,并可以做出相对准确预测,但是在动态数据中总会出现一些粗差值或异常值,如果这些异常数据不能得到有效的处理控制的话,不仅会对本期处理结果造成严重影响,还会因计算过程中状态值吸收此项粗差而对后期数据的处理结果产生影响。针对可能出现的粗差项及其带来的影响,本文首先详细地讲解了Kalman滤波的具体理论,在此基础上提出了一种改进的基于Kalman滤波的修正方法,经过实际实验发现,在无需先探测粗差的情况下,本方法能够对所含粗差项进行有效的修正并且效果良好。 相似文献
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动态导航与定位的质量取决于对动态载体扰动和观测异常扰动的认知和控制质量。在实践中,观测向量及其动态模型信息均可能存在异常,此时若仍利用标准Kalman滤波,则状态滤波解将极不可靠。在标准Kalman滤波原理的基础上,结合模糊控制理论,提出了一种基于模糊理论的抗差Kalman滤波算法。该方法是依据滤波处理后的数据残差,利用模糊理论构造等价权,从而有效控制粗差对导航解的影响,并用算例验证了该方法的可行性和有效性。 相似文献
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针对将Kalman滤波方法应用到星载GPS定轨时,由于动态噪声和观测噪声确定不准而造成滤波的发散、污染观测值造成Kalman滤波估值的扭曲及计算舍入误差可能带来协方差阵的不正定性等缺陷,提出了一种新的综合Kalman滤波方法。该方法用拟准检定法准确地探测和修正量测方程中存在的粗差;用UD分解算法克服了数值的不稳定性,改进了计算精度;用Sage自适应滤波器克服滤波器的发散。算例结果表明,这种综合卡尔曼滤波方法具有数值稳定性好、较强的自适应性和较好地削弱粗差影响等优点。 相似文献
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为了提高GPS数据预处理过程中基线解算的精度,文章研究利用多项式拟合法得到Kalman滤波的系统状态方程和转移矩阵,提出利用Kalman滤波算法对三差观测值进行粗差及周跳的修复。实验结果证明Kalman滤波可以对含噪信号进行有效的降噪,经降噪后的信号具有更好的分布。 相似文献
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《International Journal of Digital Earth》2013,6(1):80-87
Abstract Cultures throughout the world are associating with the rivers. People depend upon the rivers and their tributaries for food, water, transport, and many other aspects of their daily lives. Unfortunately, human beings have not calculated the accurate lengths for the great rivers even today. The lengths of the rivers are very different in popular textbooks, magazines, atlases and encyclopedias, etc. To accurately determine the lengths of the principal rivers of the world, the combination of satellite image analysis and field investigations to the source regions is proposed in this paper. The lengths of the Nile, Amazon, Yangtze, Mississippi, Yellow, Ob, Yenisey, Amur, Congo and Mekong, with lengths over or close to 5000 km, were calculated using the proposed method. The results may represent the most reliable and accurate lengths of the principal rivers of the world that are currently achievable. 相似文献
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软科学这一术语是70年代在国外提出的.然而30多年以来,它在国外不仅未得到普遍的承认,而且对软科学的定义也还未能达成大体上一致的共识.而在改革开放后的中国,出于决策科学化和民主化的需要,经过一些领导人的提倡和支持,特别是通过1986年召开的软科学座谈会及1994年召开的全国软科学工作会议,软科学事业得到了蓬勃的发展.据初步统计,截止1998年底全国共有软科学研究机构1224个,研究人员32655人,初步形成了一支较为强大的研究队伍,并取得了数百项覆盖多个领域的研究成果,为支持各级各类的决策发挥了一定的作用. 相似文献
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Tobias Nilsson Benedikt Soja Kyriakos Balidakis Maria Karbon Robert Heinkelmann Zhiguo Deng Harald Schuh 《Journal of Geodesy》2017,91(7):857-866
The very long baseline interferometry (VLBI) Intensive sessions are typically 1-h and single-baseline VLBI sessions, specifically designed to yield low-latency estimates of UT1-UTC. In this work, we investigate what accuracy is obtained from these sessions and how it can be improved. In particular, we study the modeling of the troposphere in the data analysis. The impact of including external information on the zenith wet delays (ZWD) and tropospheric gradients from GPS or numerical weather prediction models is studied. Additionally, we test estimating tropospheric gradients in the data analysis, which is normally not done. To evaluate the results, we compared the UT1-UTC values from the Intensives to those from simultaneous 24-h VLBI session. Furthermore, we calculated length of day (LOD) estimates using the UT1-UTC values from consecutive Intensives and compared these to the LOD estimated by GPS. We find that there is not much benefit in using external ZWD; however, including external information on the gradients improves the agreement with the reference data. If gradients are estimated in the data analysis, and appropriate constraints are applied, the WRMS difference w.r.t. UT1-UTC from 24-h sessions is reduced by 5% and the WRMS difference w.r.t. the LOD from GPS by up to 12%. The best agreement between Intensives and the reference time series is obtained when using both external gradients from GPS and additionally estimating gradients in the data analysis. 相似文献
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In this letter, we are trying to resolve the electromagnetic problem for the movements of the superconducting particles of the protoplanetary cloud in the magnetic field of Saturn. The force of levitation (Meissner-Ochsenfeld phenomenon) is introduced to the field of planetary science for the first time. It is shown from our theoretical analysis that rings of Saturn might have a superconducting origin, and rings might levitate within magnetic equator plane of the planet. 相似文献
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当目标面与像片平面不平行时,圆形标志的像将为椭圆,椭圆的中心与标志中心的像存在偏差。当标志较大时,此偏差将显著影响求解的精度。揭示了偏差的方向性,导出了求解偏差的方程,给出了偏差的解算步骤 相似文献
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跟踪世界发展动态 致力地球重力场研究 总被引:12,自引:6,他引:12
宁津生 《武汉大学学报(信息科学版)》2001,26(6):471-475
比较系统、扼要地叙述了笔者所在单位40余年来坚持跟踪世界发展动态,致力于地球重力场理论和方法的研究,并从教学和生产需要出发,在地球重力场研究方面所获得的一些有理论意义和实用价值的成果。 相似文献