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针对临近空间高超声速再入滑翔目标跟踪问题,提出了一种基于新气动力模型的改进的平方根UKF滤波算法(ISR-UKF)。首先对气动力模型进行了变换。其次,在传统平方根UKF基础上,改用球形无迹变换来计算权系数以及sigma点;改进了平方根矩阵的分解方法;同时为解决矩阵求逆易出现奇异值使滤波失效的问题,提出在协方差矩阵更新中引入多重次稳定因子。最后将该算法分别与基于原气动力的ISR-UKF,基于新气动力的平方根UKF以及基于原气动力的平方根UKF进行仿真比较。仿真表明,该算法具有良好的滤波性能,而且能避免奇异值问题的出现,具有很好的可靠性。 相似文献
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In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine (CMM),etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as (l,m,n) by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper. 相似文献
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Effect of Nb contents on microstructure and magnetic properties of FeCoNbB films has been studied. X-ray diffraction (XRD) analysis reveals that Nb plays a role in refining grain and in facilitating formation of amorphous structure. When Nb content is more than 8 at%, the films transform from crystalline to amorphous structure, accompanied by variations in magnetic properties. An unusual out-of-plane anisotropy component is consequently observed. It can be suggested that the anisotropy induced by increasing Nb contents be attributed to stress-related magnetoelastic anisotropy. The undesirable anisotropy is greatly reduced by thermal annealing, reducing film thicknesses or applying an external magnetic field together with Si addition. 相似文献
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本文主要阐述对曲线积分教学的几点思考,即数学思想方法在教学中渗透,教育数学在教学中应用,激发探讨数学概念的兴趣,利用几何直观揭示两类曲线积分概念间的关系,加深学生对曲线积分的理解。 相似文献