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41.
基于鲁棒非线性卡尔曼滤波的自适应SLAM算法 总被引:1,自引:0,他引:1
针对传统非迹卡尔曼滤波算法缺乏在线自适应调整能力,在噪声模型出现误差时滤波精度下降的问题,提出了一种基于鲁棒无迹卡尔曼滤波的同步定位与地图创建算法。该算法引入了一个多维观测噪声尺度因子,能根据观测噪声统计特性的实际变化情况对每种传感器的噪声模型做出自适应调整,使其逼近真实噪声水平,进而将滤波增益调整到一个适当值,实现滤波器的最优估计。SLAM仿真实验结果表明,在噪声统计特性发生变化的情况下,该算法相比其它几种SLAM算法具有更好的自适应能力,估计精度更高,鲁棒性更强。 相似文献
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星载GNSS-R测高系统采用多波束相控阵天线和干涉互相关处理方式,接收北斗导航卫星和GPS导航卫星发射的L波段导航直射信号与海面反射信号,进行海面高度探测。详细介绍GNSS-R测高系统设计与实现、集成和外场试验等,外场试验不仅验证了相控阵GNSS-R测高系统功能,更重要的是验证了核心软件算法的正确性。GNSS-R测高系统适用于中尺度海洋现象的观测,可在时间和空间尺度上扩展雷达高度计的观测能力,并与之相互补充,有利于对复杂海面的中尺度结构进行较高时间分辨率的观测。GNSS-R测高仪为星载高精度海面高度探测提供了新型载荷。 相似文献
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Abstract Human navigation in an unknown environment requires an understanding of the spatial relationships of the terrain. For example, a soldier who is on a reconnaissance mission in a new city needs to “know” the spatial layout of the surroundings with high confidence. Oftentimes, this understanding must be acquired within a very short amount of time and with limited sensory inputs. The soldier would benefit from a digital avatar that draws inferences about the spatial layout of the city based on an initial set of observations and guides the soldier either in further exploring the environment or in making decisions based on these inferences. In this paper, we present and evaluate an inductive approach to learning spatial associations using sensory data that is available from the simulation environment of a computer game, Unreal Tournament. We study two kinds of spatial relationships between nodes on a level of a game map: nodes that are placed near each other to satisfy some spatial requirement and nodes that are placed near each other to satisfy the design preferences of a level architect. We show that we can infer both kinds of relationships using an association rule mining algorithm. Furthermore, we show how to use an ontology to distinguish between these relationships in order to discover different types of spatial arrangements on a specific map. We discuss how the inferred associations can be used to control an avatar that makes recommendations for navigating unexplored areas on a map. We conclude with some thoughts on the applicability of our methods to scenarios in the real world, beyond the simulation environment of a game, and on how the learned associations can be represented and queried by a simple question-answer type system. 相似文献
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针对信道慢时变特性及噪声复杂的特点,提出了适用于低压电力线通信的降低峰均比的改进算法.改进算法对原始输入序列中的部分数据进行循环移位来获得一系列不同的新数据序列;在每个新数据序列尾部插入相应的边带信息组成一个输入候选序列;对这一系列不同的输入候选序列分别实施傅里叶反变换,得到不同的输出序列;从中选择峰均比最小的用于传输,达到降低系统峰均比的目的.结果表明:改进算法能够有效地降低系统的峰均比,并且能够获得更好的误码率性能,同时具有比传统选择性映射方法更低的计算复杂度. 相似文献
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在Hilbert空间中,使用单调混杂算法,修正了由Zhao等引进的隐迭代格式,分别对一族有限个非扩张映像和非扩张半群证明了强收敛定理。同时,也使用这种算法来逼近单调算子的零点,并得到强收敛定理。 相似文献
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Yann Alibert Christoph Mordasini Olivier Mousis Willy Benz 《Space Science Reviews》2005,116(1-2):77-95
We present models of giant planet formation, taking into account migration and disk viscous evolution. We show that migration
can significantly reduce the formation timescale bringing it in good agreement with typical observed disk lifetimes. We then
present a model that produces a planet whose current location, core mass and total mass are comparable with the one of Jupiter.
For this model, we calculate the enrichments in volatiles and compare them with the one measured by the Galileo probe. We
show that our models can reproduce both the measured atmosphere enrichments and the constraints derived by Guillot et al. (2004), if we assume the accretion of planetesimals with ices/rocks ratio equal to 4, and that a substantial amount of CO2 was present in vapor phase in the solar nebula, in agreement with ISM measurements. 相似文献
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F. Montmessin 《Space Science Reviews》2006,125(1-4):457-472
Solar variability influences the climate of a planet by radiatively forcing changes over a certain timescale; orbital variations
of a planet, which yield similar solar forcing modulations, can be studied within the same scientific context. It is known
for Earth that obliquity changes have played a critical role in pacing glacial and interglacial eras. For Mars, such orbital
changes have been far greater and have generated extreme variations in insolation. Signatures associated with the presence
of water ice reservoirs at various positions across the surface of Mars during periods of different orbital configurations
have been identified. For this reason, it has been proposed that Mars is currently evolving between ice ages. The advent of
climate tools has given a theoretical frame to the study of orbitally-induced climate changes on Mars. These models have provided
an explanation to many puzzling observations, which when put together have permitted reconstruction of almost the entire history
of Mars in the last 10 million years. This paper proposes to give an overview of the scientific work dedicated to this topic. 相似文献