How Navigational Aids Impair Spatial Memory: Evidence for Divided Attention

Abstract

Research has demonstrated navigational aids impair spatial memory, but has not considered important spatial cognitive concepts. For example, impairment may stem from spatial perspective switches between route-based aids and survey-based memory assessments. Further, the verbal format of aid instructions may selectively interfere with verbal working memory (VWM). To address these potential explanations, participants navigated desktop virtual environments in a goal-directed manner. In each within-participants condition, participants either navigated with a verbal or tonal aid that presented mixed spatial perspective instructions or without aid. Both aids yielded slight navigational advantages and steep spatial memory costs despite their mixed perspective instructions. The equivalent impairment between information formats suggests navigational aids impair spatial memory by dividing attention rather than selective interference of VWM.     

基于多模PPP-AR技术的大气水汽探测性能分析

精密单点定位（precise point positioning，PPP）反演大气可降水量（precipitable water vapor，PWV）具有精度高、实时性强等优点，能够在灾害监测、降雨预报及探测降水信息等方面发挥重要作用。为评估整周模糊度固定模式下PPP-AR（PPP ambiguity resolution）反演PWV的性能，选取全球范围16个MGEX站2022年4个时段的观测数据，采用最终精密星历解算，设置不同星座组合（GPS,BDS-3,GPS+BDS-3,GPS+GLO+GAL+BDS-3）获取对流层延迟（zenith total delay，ZTD）估值，并转换为PWV。从PPP-ZTD与IGS-ZTD的相关性、PPP-ZTD收敛时间、ZTD估值精度和PPP-PWV估值精度4个方面评价多模PPP-AR探测水汽的性能。结果表明，与单（G、C）、双系统（GC）固定解相比，多系统（GREC）固定解获取ZTD估值更加精确，相关系数更高。相较于单、双系统，多系统具有更快的收敛速度，收敛时间分别缩短了27%,25%和20%，多系统固定解与浮点解相比收敛时间缩短11%。此外，对GNSS PPP反演的PWV与探空站PWV（RS-PWV）进行对比，结果表明，WUH2站与HOB2站单、双、多系统固定解、多系统浮点解（float-GREC）的平均均方根误差分别为6.40 mm,6.48 mm,6.19 mm,6.17 mm,6.19 mm和5.82 mm,5.77 mm,5.72 mm,5.62 mm,5.70 mm。多模下得到的PWV估值精度最高，可为高精度的水汽反演提供支持。     

Qualitative Spatial Reasoning for Topological Map Learning

Abstract

In this paper we investigate the application of qualitative spatial reasoning methods for learning the topological map of an unknown environment. We develop a topological mapping framework that achieves robustness against ambiguity in the available information by tracking all possible graph hypotheses simultaneously. We then exploit spatial reasoning to reduce the space of possible hypotheses. The considered constraints are qualitative direction information and the assumption that the map is planar. We investigate the effects of absolute and relative direction information using two different spatial calculi and combine the approach with a real mapping system based on Voronoi graphs.     

捷联姿态解算宏汇编软件

编制捷联姿态解算软件是捷联惯性姿态参考系统研制中的重要一环。由于对计算的实时性和精度都有较高的要求，又在专用的弹上计算机上进行，所以增加了制作的难度。从变量取值范围、比例因子确定、字长选择、程序结构等几方面介绍了捷联姿态解算软件的编制情况。该软件是在导弹计算机上用ＴＭＳ３２０Ｃ２５宏汇编语言编制的。该软件经过地面实物试验，验证了其正确性。     

Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of the system, and for the uncertainties, we utilize an online-adaptive control law to estimate the unknown parameters. The stability analysis of the closed-loop system is also conducted. Simulation results show that, with the application of the adaptive fuzzy sliding mode control, small miss distances and smooth missile trajectories are achieved, and the system is robust against system uncertainties and external disturbances.     

陀螺RRW在惯导系统中的误差传播特性

角速率随机游走是高精度光纤陀螺的一项主要随机误差源,对惯性导航系统的误差有着较大影响。分析了角速率随机游走的统计特性,推导了角速率随机游走引起的惯性导航系统姿态、位置误差的解析表达式,研究了静基座环境下的惯性导航系统在长时间导航环境下的随机误差传播规律,对角速率随机游走作用下的惯性导航系统误差进行了仿真与实验,验证了所推导公式的正确性,对惯性导航系统的设计与误差分析具有一定的参考意义。     

基于交互式多模型的飞机编队相对导航算法研究

在飞机编队飞行时,成员间的相对位置信息是实现系统协同作战的重要保证,为了提高机群编队飞行的相对导航定位精度,在无地面基准的机群编队飞行JTIDS/GPS/TACAN/IFDL组合的相对导航系统中,采用交互式多模型扩展卡尔曼滤波(IMM-EKF)算法,设计实现了多传感器相对导航系统,克服了飞机动态模型参数变化导致使用单一动态模型滤波精度下降的问题。仿真分析结果表明,交互式多模型算法可以提高相对导航系统的定位精度和可靠性,特别在GPS可见卫星很少的情况下,依然能够具有良好的定位性能。     

载体角运动对旋转捷联惯导误差的影响分析

旋转捷联惯导系统采用旋转调制误差补偿技术对陀螺仪和加速度计误差进行调制,可以提高系统导航精度。在简要分析旋转调制误差补偿机理基础上,研究了单轴旋转方案中载体常值旋转和周期旋转2种角运动模式对导航误差的影响。结果表明：载体特定角运动对旋转捷联惯导的误差补偿效果有一定影响,且单轴正反转停方案中误差补偿效果所受影响相对较小。     

基于对偶四元数的INS/GPS组合导航算法研究

在基于对偶四元数的捷联惯导解算方法的基础上,推导了以惯性系作为导航系的惯导误差方程,在此基础上设计了卡尔曼滤波组合导航算法。通过激光惯导跑车采集数据,进行了仿真分析,试验结果表明,该组合导航算法能有效的消除惯导累积的速度误差和位置误差,相比于目前广泛应用的INS/GPS组合导航算法,本文描述了INS/GPS组合导航的另一种实现方式,获得了相当的精度,具有一定的工程应用价值。     

提高导航精度的载波相位平滑伪距方法研究

本文推导了基于载波相位平滑伪距技术的SINS/BD组合导航公式并进行误差分析.结合北斗卫星伪距的无模糊度和载波相位的高精度的特点,在组合导航系统中采用北斗载波相位平滑伪距的方法提高导航的精度,最终对处理效果进行实验验证.验证了此方法提高组合导航精度的有效性.