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151.
This paper describes the structure, geometric model and geometric calibration of Photogrammetron I—the first type of photogrammetron which is designed to be a coherent stereo photogrammetric system in which two cameras are mounted on a physical base but driven by an intelligent agent architecture. The system calibration is divided into two parts: the in-lab calibration determines the fixed parameters in advance of system operation, and the in-situ calibration keeps tracking the free parameters in real-time during the system operation. In a video surveillance set-up, prepared control points are tracked in stereo image sequences, so that the free parameters of the system can be continuously updated through iterative bundle adjustment and Kalman filtering. 相似文献
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基于Kalman滤波的动力学模型误差估计算法 总被引:1,自引:1,他引:0
本文分析介绍了模型误差对滤波解和预报残差影响的表达式.随后,针对GPS/INS松组合导航系统观测信息无冗余的情况,给出了基于Kalman滤波的动力学模型误差估计算法.最后利用一个车载实测数据证明了算法的有效性. 相似文献
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介绍了GPS非差定位中的卡尔曼滤波模型,详细分析了滤波发散的原因.研究并给出了一种改进的自适应滤波,在此基础上编制了相应的软件,结合实例分析了该方法的有效性. 相似文献
158.
For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories. 相似文献
159.
Several, although not all, wind–wave gages are equipped with sensors capable of detecting sea-level oscillations within the tsunami frequency band. The present paper looks at the algorithms to be implemented in the software of these gages in order to automatically perform the real-time detection of a possible tsunami within recorded signals. In particular, a new algorithm is proposed and tested. The first part of the paper concentrates on the algorithms' characteristics, implementation strategies and basic testing. First of all, the situations in which wind–wave measurements are either essential, or useful for real-time tsunami detection are discussed. In the second place, already existing algorithms are recalled, specifying their characteristics and fields of application. Then, the characteristics of the new proposed algorithm – mainly based on an infinite impulse response, time domain filter – are illustrated and analyzed. Performance and efficiency of the considered algorithms are compared using synthetic time series. The second part of the paper discusses the algorithms' use in the framework of Tsunami Early Warning Systems (TEWS), testing them in actual cases. 相似文献
160.
Time-Frequency Peak Filtering (TFPF) is an effective method to eliminate pervasive random noise when seismic signals are analyzed. In conventional TFPF, the pseudo Wigner–Ville distribution (PWVD) is used for estimating instantaneous frequency (IF), but is sensitive to noise interferences that mask the borderline between signal and noise and detract the energy concentration on the IF curve. This leads to the deviation of the peaks of the pseudo Wigner–Ville distribution from the instantaneous frequency, which is the cause of undesirable lateral oscillations as well as of amplitude attenuation of the highly varying seismic signal, and ultimately of the biased seismic signal. With the purpose to overcome greatly these drawbacks and increase the signal-to-noise ratio, we propose in this paper a TFPF refinement that is based upon the joint time-frequency distribution (JTFD). The joint time-frequency distribution is obtained by the combination of the PWVD and smooth PWVD (SPWVD). First we use SPWVD to generate a broad time-frequency area of the signal. Then this area is filtered with a step function to remove some divergent time-frequency points. Finally, the joint time-frequency distribution JTFD is obtained from PWVD weighted by this filtered distribution. The objective pursued with all these operations is to reduce the effects of the interferences and enhance the energy concentration around the IF of the signal in the time-frequency domain. Experiments with synthetic and real seismic data demonstrate that TFPF based on the joint time-frequency distribution can effectively suppress strong random noise and preserve events of interest. 相似文献