顾及有色噪声的自适应粒子滤波UWB定位算法

传统卡尔曼滤波算法要求噪声模型符合高斯分布,在UWB室内定位中,由于载体本身的机制等干扰,观测噪声不仅仅是白噪声,也存在有色噪声的情况,而粒子滤波可以处理有色噪声的问题。本文通过增加似然分布自适应调整来改进粒子滤波用于目标跟踪的精度,同时研究在白噪声、有色噪声下似然分布自适应调整粒子滤波和拓展卡尔曼滤波在UWB中的优势与不同。试验结果表明：观测噪声为白噪声时,拓展卡尔曼滤波和粒子滤波均可以较好地实现对行人的定位跟踪;观测噪声为有色噪声时,自适应粒子滤波定位效果优于粒子滤波、拓展卡尔曼滤波。     

Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.     

海洋水声环境调查数据处理系统的设计与实现

针对目前海洋环境调查现状,结合国内现有的技术条件和现有的处理方法、原理,详细论述了海洋水声环境调查处理系统软件主要功能的设计及关键技术,该系统软件满足海洋调查的需求,极大提高了海洋环境数据处理的自动化、数字化和信息化程度。     

Stochastic Response Analysis of Piled Offshore Platform Excited by Stationary Filtered White Noise

In this paper,the analysis method of stochastic response of piled offshore platform excited bystationary filtered white noise is presented.With this method,the strong ground motion is considered asthree direction stationary filtered white noise process,the theoretic solutions of three special integrationequations are derived with the residue theorem,and the expression of response nodal displacements andmember forces of offshore platform excited by the stationary filtered white noise is put forward.Thestochastic response of a piled offshore platform excited by the stationary filtered white noise,which is lo-cated 114.3m in water depth,is computed.The results are compared with those obtained with the re-sponse spectrum analysis method and the stationary white noise model analysis method,and the corre-sponding conclusion is drawn.     

云南区域数字地震台网的监测能力与限幅问题

采用地噪声包络幅度作为背景噪声的统计特征量,利用噪声峰值角频率处的地噪声速度振幅与对应的地噪声位移振幅Aμn的转换关系,把Av换算成近震震级公式中所需的位移量Aμ,在此基础上,计算了云南数字地震台网的监测能力,计算结果与实际观测结果相符.同时,分析了云南"九五"地震监测台网的大震限幅问题.     

S-wave velocity images of the Dead Sea Basin provided by ambient seismic noise

Based on passive seismic interferometry applied to ambient seismic noise recordings between station pairs belonging to a small-scale array, we have obtained shear wave velocity images of the uppermost materials that make up the Dead Sea Basin. We extracted empirical Green’s functions from cross-correlations of long-term recordings of continuous data, and measured inter-station Rayleigh wave group velocities from the daily correlation functions for positive and negative correlation time lags in the 0.1–0.5 Hz bandwidth. A tomographic inversion of the travel times estimated for each frequency is performed, allowing the laterally varying 3-D surface wave velocity structure below the array to be retrieved. Subsequently, the velocity-frequency curves are inverted to obtain S-wave velocity images of the study area as horizontal depth sections and longitude- and latitude-depth sections. The results, which are consistent with other previous ones, provide clear images of the local seismic velocity structure of the basin. Low shear velocities are dominant at shallow depths above 3.5 km, but even so a spit of land with a depth that does not exceed 4 km is identified as a salt diapir separating the low velocities associated with sedimentary infill on both sides of the Lisan Peninsula. The lack of low speeds at the sampling depth of 11.5 km implies that there are no sediments and therefore that the basement is near 10–11 km depth, but gradually decreasing from south to north. The results also highlight the bowl-shaped basin with poorly consolidated sedimentary materials accumulated in the central part of the basin. The structure of the western margin of the basin evidences a certain asymmetry both whether it is compared to the eastern margin and it is observed in north–south direction. Infill materials down to ∼8 km depth are observed in the hollow of the basin, unlike what happens in the north and south where they are spread beyond the western Dead Sea shore.     

青藏高原东部基于噪声的面波群速度分布特征

通过收集青海、甘肃、四川三省的76个地震台记录的2008年1—12月三分量的连续噪声数据,利用噪声面波层析成像的方法获得了青藏高原东部的面波群速度分布特征。首先采用多重滤波方法提取了1 000多条台站对5～50 s的三分量面波群速度频散曲线,然后将研究区域划分为0.2°×0.2°的网格,利用O ccam方法反演了瑞利波(R-R)和勒夫波(T-T)的群速度分布。反演得到的群速度分布特征与地表地质和构造特征表现出较好的相关性,清晰地揭示了地壳内部的横向速度变化。层析成像的结果显示在短周期(8～20 s)内,拥有较厚的沉积层的四川盆地表现为明显的低速特征,而青藏高原东部则表现为较高的群速度分布特征;随着周期的增加(>20 s),群速度的分布特征呈现出与短周期相反的特性,青藏高原东部下方的速度远远低于四川盆地,这可能与青藏高原东部中、下地壳低速层相关联,同时也意味着研究区域的地壳结构具有明显的横向不均匀性。在群速度分布图上,龙门山不仅是四川盆地与青藏高原的地形和构造分界带,同时也对应着高群速度与低群速度的过渡带。     

消减地震勘探随机噪声:导数算子约束下的维纳滤波

为使传统的维纳滤波方法在最小均方准则下的解更准确、稳定,采用正则化思想,提出导数算子约束下的最小均方准则;在这种准则下,推导了维纳滤波因子及其频率响应.通过在不同频段取不同的正则化函数值,控制滤波结果.理论及实际地震勘探资料的分析表明:正则化维纳滤波去噪效果比传统维纳滤波好,且对有效波的损失较小,表明了文中所取正则项的可行性及有效性.最后讨论了通过建立正则化函数关系式,方便地提供正则化函数值以及圆滑振幅谱对改进滤波效果的可能性.     

局部奇异值分解法压制随机干扰

对于低信噪比资料,压制随机噪声,增强有效信号是地震资料处理的首要任务。而传统的奇异值分解去噪算法,在有效信号横向相干性较强时,去噪效果明显,但当有效信号同相轴呈倾斜、弯曲或孤立状态时,其在压制随机噪声的同时,存在滤除部分有效信号的弊端,为此通过对不同时窗内的地震数据进行拉平、奇异值分解数据重构与反拉平等处理方法,对常规奇异值分解算法进行改进,以克服其对包含非水平连续信号资料去噪效果差的局限。理论数据和实际资料的去噪结果表明,改进后的算法去噪效果明显优于常规奇异值分解法,能在保证有效波不被滤除的前提下有效提高地震资料的信噪比。     

Is there a black hole among the black-hole candidates?

None of the tentative black-hole identifications has remained without serious difficulties. As a class, the black-hole candidates differ in no obvious property from neutron-star binaries other than in their estimated high mass. We favour an interpretation of the black-hole candidates as binary neutron stars surrounded by a more or less massive accretion disc