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针对城市环境下GNSS车辆导航存在卫星信号易受影响的问题,利用GNSS/INS组合算法提高复杂环境下城市车辆定位性能。基于城市环境下实测GNSS数据评估分析定位结果,使用GNSS/INS组合的常规卡尔曼滤波算法实现卫星失锁区域导航。同时,提出一种基于新息的自适应卡尔曼滤波算法,可有效增强卫星数较少及信号干扰严重区域的车辆导航定位能力。该方法利用量测与预测的关系构造自适应因子,改善定位精度。结果表明,常规卡尔曼滤波可在20 s卫星信号失锁情况下保证亚m级导航精度,自适应卡尔曼滤波算法在卫星信号受到严重干扰时,其定位精度相比于常规卡尔曼滤波算法提高30%,可满足在城市复杂环境下的高精度、高可靠性车辆导航定位服务需求。 相似文献
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Martha Gledhill Constant M. G. van den Berg Rob F. Nolting Klaas R. Timmermans 《Marine Chemistry》1998,59(3-4)
Variations in the speciation of iron in the northern North Sea were investigated in an area covering at least two different water masses and an algal bloom, using a combination of techniques. Catalytic cathodic stripping voltammetry was used to measure the concentrations of reactive iron (FeR) and total iron (FeT) in unfiltered samples, while dissolved iron (FeD) was measured by GFAAS after extraction of filtered sea water. FeR was defined by the amount of iron that complexed with 20 μM 1-nitroso-2-napthol (NN) at pH 6.9. FeT was determined after UV-digestion at pH 2.4. Concentrations of natural organic iron complexing ligands and values for conditional stability constants, were determined in unfiltered samples by titration. Mean concentrations of 1.3 nM for FeR, 10.0 nM for FeT and 1.7 nM for FeD were obtained for the area sampled. FeR concentrations increased towards the south of the area investigated, as a result of the increased influence of continental run off. FeR concentrations were found to be enhanced below the nutricline (below 40 m) as a result of the remineralisation of organic material. Enhanced levels of FeT were observed in some surface samples and in samples collected below 30 m at stations in the south of the area studied, thought to be a result of high concentrations of biogenic particulate material and the resuspended sediments respectively. FeD concentrations varied between values similar to those of FeT in samples from the north of the area to values similar to those of FeR in the south. The bloom was thought to have influenced the distribution of both FeR and FeT, but less evidence was observed for any influence on FeR and FeD. The concentration of organic complexing ligands, which could possibly include a contribution from adsorption sites on particulate material, increased slightly in the bloom area and in North Sea waters. Iron was found to be fully (99.9%) complexed by the organic complexing ligands at a pH of 6.9 and largely complexed (82–96%) at pH 8. The ligands were almost saturated with iron suggesting that the ligand concentration could limit the concentration of iron occurring as dissolved species. 相似文献
236.
Methyl halides (monohalomethanes), especially methyl bromide, are known to contribute significantly to ozone destruction in the stratosphere. Budgets of natural and anthropogenic methyl bromide suggest that marine organisms may be the source of a significant proportion of the total global production. Since phytoplankton are abundant in surface waters, they are obvious candidates. Cultures of nine phytoplankton species were grown in CO2-enriched, nitrate-limited medium in sealed glass vessels. Species tested include Chaetoceros calcitrans, Isochrysis sp., Porphyridium sp., Synechococcus sp., Phaeodactylum tricornutum, Tetraselmis sp., Prorocentrum sp., Emiliania huxleyi and Phaeocystis sp. Methyl bromide (CH3Br) and methyl chloride (CH3Cl) concentrations were determined by bubbling the cultures with high-purity air, cryotrapping the effluent and analyzing it on a gas chromatograph with an electron capture detector. The Phaeocystis sp. samples were monitored with GCMS. Cell population, bacterial population, Chl a, pH, and nitrate concentration were monitored for periods of at least two weeks. CH3Cl was produced by all cultures. CH3Br was absent in Tetraselmis sp. and Isochrysis sp. cultures, but present in all the others. Methyl iodide (CH3I) was present in most cultures but could not be quantified due to analytical limitations. CH3I and CH3Br production was fastest in stationary phase and continued long after cell division had ceased. Axeic cultures of Phaeocystis sp. achieved almost identical production rates of CH3Cl and CH3Br as xenic cultures of the same species. Species from tropical waters had faster CH3Cl and CH3Br production rates than temperate species. Scaling the observed production rates using global standing stock estimates for Chl a and particulate nitrogen indicate that phytoplankton can account for only a fraction of the CH3Cl and CH3Br believed to be produced in the ocean. Calculations based on the estimated global biomass of Phaeocystis sp. and E. huxleyi blooms show that their contribution is insignificantly small. 相似文献
238.
Jose M. Ruiz 《Marine Ecology》1999,20(1):1-9
Filter feeders such as bivalves are increasingly being shown to control phytoplankton blooms in eutrophic estuaries. The possibility of such a top-down effect on macroalgae, however, has not been considered previously even though most green tide algal species reproduce by pelagic swarmers that are equivalent to phytoplankton. This work presents circumstantial evidence from an oyster-culturing French embayment where, despite eutrophication since the mid-1970s, macroalgae did not proliferate until 1982. This was also the year when tributyltin pollution from antifouling paints dropped substantially following a world-wide prime ban that was implemented to save the shellfish industry. From the recorded evolution of the oyster stock, it is shown how tributyltin reduced the bivalve filter capacity within those years and resulted in Enteromorpha swarmers being much more likely to germinate and bloom. This suggests that the green tides had been successively contained by the biological activity and the chemical pressure. The effects of the latter on the former would thus have cascaded to ecosystem-level changes, and so the functional role of bivalves should be evaluated and preserved wherever relevant. 相似文献
239.
GPS动态测量连续周跳检验 总被引:29,自引:2,他引:27
本文针对GPS动态测量中经常出现的连续周跳,提出了一种新的连续周跳的检验方法。该方法在理论上是最优的,与Kalman滤波平行操作,能够实行处理周跳引起的偏差;而且,在偏差估计的同时,兼顾后续偏差检验,因而可利用尽可能多的观测历元信息来获取精度较高的偏差估值。实例计算表明,该方法在应用中是很有效的。 相似文献
240.
磷酸一酯(RO)P(O)(OH)2是一种强极性的有机磷化合物。研究了水体中磷酸一(1-萘)酯的富集和上色谱分析,建立了一个简便快速、高灵敏度、实用的分析方法。富集是采用固相萃取方法,选用载有十八烷基硅烷的尼龙滤膜吸附,甲醇洗脱,回收率达72% ̄7%。它的气相色谱分析选用BSTFA为衍生剂,反应条件为温度65℃,反应时间30min,获得了满意的结果。方法的最低检测限为0。06ng。 相似文献