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111.
Adaptive Kalman Filtering for INS/GPS   总被引:69,自引:0,他引:69  
After reviewing the two main approaches of adaptive Kalman filtering, namely, innovation-based adaptive estimation (IAE) and multiple-model-based adaptive estimation (MMAE), the detailed development of an innovation-based adaptive Kalman filter for an integrated inertial navigation system/global positioning system (INS/GPS) is given. The developed adaptive Kalman filter is based on the maximum likelihood criterion for the proper choice of the filter weight and hence the filter gain factors. Results from two kinematic field tests in which the INS/GPS was compared to highly precise reference data are presented. Results show that the adaptive Kalman filter outperforms the conventional Kalman filter by tuning either the system noise variance–covariance (V–C) matrix `Q' or the update measurement noise V–C matrix `R' or both of them. Received: 14 September 1998 / Accepted: 21 December 1998  相似文献   
112.
We briefly review and extend our discussion of the ROSAT detectionof the extraordinarily luminous (>1042 erg/s) partly extended(>30 kpc diameter) X-ray emission from the ultraluminous infrared galaxy NGC 6240.The `standard'-model of starburst outflow is contrasted with alternatives and a comparison with the X-ray properties of ellipticals is performed.  相似文献   
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The radial optical depth profile of the Encke ringlet obtained by the occultation experiment of the Voyager photopolarimeter (PPS data) is explained to be caused by the gravitational action of the recently discovered stallite 1981 S13 and a second smaller moonlet orbiting near one of its either libration points — L4 or L5. To this aim the results of previous and new numerical particle simulations as well as an extension of the scattering theory concerning a single moonlet to a pair of satellites have been used leading to a triple-peaked ringlet near the orbits of the moonlets. The width and the shape of that ringlet and its separate peaks depend on the mass ratio of both moonlets and on their orbital eccentricites. The best resemblance between the PPS data and the theoretical profile is obtained if the mass ratio of the either moonlets takes M2/M1981S13 ≈ (0.8 … 3.0) × 10−2 and the eccentricities hold: e1981S13 < h1981S13; e2h2 (the values h are the Hill scales of either moonlets defined by h1981S13/2 ≈ (M1981S13/2/3Mh)1/3, Mh = Saturn mass). Furthermore, our results yield a size of 1981 S13 of < 15 km in diameter.  相似文献   
115.
Organic and elemental carbon (OC and EC) content in PM10 was studied at two sites in Prague, which were located in a suburb and in the downtown. Similar overall average levels were found for both species and also for the PM10 mass at the two sites (i.e., 5.5 and 4.8 μg/m3 for OC, 0.74 and 0.80 μg/m3 for EC, and 33 μg/m3 and 37 μg/m3 for the PM10 mass at the suburb and downtown site, respectively), but substantial differences were observed between the two sites in some seasons and/or meteorological situations. Approximately three times higher values were found for OC in winter compared to summer, with a higher winter/summer ratio for the suburban site. The differences for EC were smaller, but still, compared to summer, more than two times higher EC levels were observed during autumn at the suburban site and 1.5 higher EC levels in winter and autumn at the downtown site. The lowest OC to EC ratios at the suburban site were 3.4, while they were around 1.3 for the downtown site. It was found that the origin of the air masses had a major impact on the observed PM10 mass and OC levels, with largest concentrations noted for air masses recirculating over central Europe and arriving from southeastern Europe in winter. Trajectories coming from the west and northwest originating above the Atlantic Ocean and the Artic brought the cleanest air masses to the sites. For EC the largest difference between the two sites was observed for northwesterly winds during the non-heating season when the suburban site was upwind of Prague.  相似文献   
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The oxygen isotopic composition of gem corundum was measured from 22 deposits and occurrences in Madagascar to provide a gemstone geological identification and characterization. Primary corundum deposits in Madagascar are hosted in magmatic (syenite and alkali basalt) and metamorphic rocks (gneiss, cordieritite, mafic and ultramafic rocks, marble, and calc-silicate rocks). In both domains the circulation of fluids, especially along shear zones for metamorphic deposits, provoked in situ transformation of the corundum host rocks with the formation of metasomatites such as phlogopite, sakenite, and corundumite. Secondary deposits (placers) are the most important economically and are contained in detrital basins and karsts. The oxygen isotopic ratios (18O/16O) of ruby and sapphire from primary deposits are a good indicator of their geological origin and reveal a wide range of δ18O (Vienna Standard Mean Ocean Water) between 1.3 and 15.6‰. Metamorphic rubies are defined by two groups of δ18O values in the range of 1.7 to 2.9‰ (cordieritite) and 3.8 to 6.1‰ (amphibolite). “Magmatic” rubies from pyroxenitic xenoliths contained in the alkali basalt of Soamiakatra have δ18O values ranging between 1.3 and 4.7‰. Sapphires are classified into two main groups with δ18O in the range of 4.7 to 9.0‰ (pyroxenite and feldspathic gneiss) and 10.7 to 15.6‰ (skarn in marble from Andranondambo). The δ18O values for gem corundum from secondary deposits have a wide spread between −0.3 and 16.5‰. The ruby and sapphire found in placers linked to alkali basalt environments in the northern and central regions of Madagascar have consistent δ18O values between 3.5 and 6.9‰. Ruby from the placers of Vatomandry and Andilamena has δ18O values of 5.9‰, and between 0.5 and 4.0‰, respectively. The placers of the Ilakaka area are characterized by a huge variety of colored sapphires and rubies, with δ18O values between −0.3 and 16.5‰, and their origin is debated. A comparison with oxygen isotope data obtained on gem corundum from Eastern Africa, India, and Sri Lanka is presented. Giant placer deposits from Sri Lanka, Madagascar, and Tanzania have a large variety of colored sapphires and rubies with a large variation in δ18O due to mingling of corundum of different origin: mafic and ultramafic rocks for ruby, desilicated pegmatites for blue sapphire, syenite for yellow, green, and blue sapphire, and skarn in marbles for blue sapphire.  相似文献   
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