简化UKF算法在SINS／GPS组合导航中的应用

针对SINS／GPS组合导航系统的特点,建立了系统的非线性误差模型。根据系统状态方程为非线性而观测方程为线性的特点,将一种简化的UKF方法（Rao-Blackwellisation Additive Unscented Kalman Filter,RBAUKF）用于SINS／GPS组合导航系统中,RBAUKF采用较少的采样点数目和简化的更新算法,降低了计算复杂度。最后,在机动条件下,进行了SINS／GPS组合导航实验仿真。仿真结果表明,RBAUKF相比EKF具有更高的滤波精度,更适合在SINS／GPS组合导航系统中应用。     

基于Unscented卡尔曼滤波器的地磁辅助组合导航

将船位推算与地磁测量相结合构成组合导航方法.首先建立了推算模型,然后利用Unscented卡尔曼滤波方法,直接将地磁测量的结果用于校正推算结果,进行导航定位.此方法不采用匹配方法进行定位,可进行实时定位,能适用于非线性和离散的地磁模型.仿真表明,此方法能减小定位误差,适用于基于船位推算和地磁定位的实时组合导航.     

卡尔曼滤波在潜艇垂直面运动控制器设计中的应用

潜艇低噪声操纵存在无效用舵现象。简要介绍了滤波信号的表示形式,在潜艇垂直面线性运动方程的基础上,得出了滤波信号的系统模型,并对其进行了离散化处理;将均方差最小线性递推滤波算法引入到输入信号的控制过程中,通过仿真证明对输入信号进行卡尔曼滤波能够提高输入信号的品质,用于工程应用。     

一种船舶电力滤波器的仿真研究

在小型船舶电力推进系统中,变频驱动产生了严重的谐波污染,导致电力系统的容量大大增加,恶化电网电能质量,甚至影响了船舶安全运行.针对电力推进船舶电网存在的谐波污染问题,设计了电力滤波器的拓扑结构,制定其控制策略,分析该滤波器的工作原理,并进行计算机仿真,验证了该滤波器的有效性.     

采油厂井下作业成本单井核算模式研究

采油厂实行井下作业成本单井核算,从细化成本管理角度出发,划小了成本核算单元,能够从多角度、深层次开展投入产出分析,为加强井下作业成本控制创造了条件。实施井下作业成本核算不仅需要建立和完善内部管理制度,还要有必要的信息系统予以支撑。为使井下作业成本单井核算模式发挥作用,企业应该科学地规划业务流程和信息系统。     

不锈钢圆管内湍流摩擦因数研究

针对不锈钢圆管湍流摩擦因数计算存在的问题,在雷诺数为(1～15)×104的范围内,测定了不锈钢圆管的阻力性能,并对其湍流摩擦因数进行计算和分析,在此基础上提出了计算该种不锈钢圆管湍流摩擦因数的经验公式,并与常用的计算光滑圆管湍流摩擦因数的经验公式进行比较.结果表明,提出的经验式计算值与实测值基本一致,平均误差0.606...     

Quasi-dynamic estimation of o–d flows from traffic counts: Formulation,statistical validation and performance analysis on real data

The paper proposes a “quasi-dynamic” framework for estimation of origin–destination (o–d) flow from traffic counts, under the assumption that o–d shares are constant across a reference period, whilst total flows leaving each origin vary for each sub-period within the reference period. The advantage of this approach over conventional within-day dynamic estimators is that of reducing drastically the number of unknowns given the same set of observed time-varying traffic counts. Obviously, the gain in accuracy depends on how realistic is the underlying assumption that total demand levels vary more rapidly over time than o–d shares. Firstly, the paper proposes a theoretical specification of the quasi-dynamic estimator. Subsequently, it proposes empirical and statistical tests to check the quasi-dynamic assumption and then compares the performances of the quasi-dynamic estimator of o–d flows with both classical off-line simultaneous dynamic estimators and on-line recursive Kalman filter-based estimators. Experiments are carried out on the real test site of A4–A23 motorways in North-Eastern Italy. Results confirm the acceptability of the assumption of quasi-dynamic o–d flows, even under the hypothesis of constant distribution shares for the whole day and show that the quasi-dynamic estimator outperforms significantly the simultaneous estimator. Data also suggest that using the quasi-dynamic estimates instead of the simultaneous estimates as historical o–d flows improves significantly the performances of the Kalman filter, which strongly depends of the quality of the seed o–d flows. In addition, it is shown that the aggregation of quasi-dynamic o–d estimates across subsequent time slices represents also the most effective way to obtain o–d estimates for larger time horizons (e.g. hourly estimates). Finally, a validation based on an hold-out sample of link flows (i.e. counts not used as inputs in the o–d estimation/updating process) revealed the quasi-dynamic estimator to be overall more robust and effective with respect to the other tested estimators.     

采用井点钢护筒法综合处理钻孔桩断桩的探索

通过工程实例阐述了采用井点降水与钢护筒防护相结合处理钻孔桩断桩的方法,这种断桩处理方案大胆采用钢护筒防护和井点降低地下水位,结合人工下井凿除浮浆、清除泥污,且随灌注混凝土随提拔钢护筒,使桩混凝土仍与土壁接触,确保桩基混凝土与土壁的力学状态不变。其施工难度较大,具有一定的创新性,是一种较实用的工程断桩技术处理方案。     

袋装砂井在京珠高速公路中的应用

该文通过袋装砂井堆载预压法在京珠高速公路广珠东线六标段施工中的应用实例及方案比选,阐述了袋装砂井在软基处理中的施工工艺及优点、质量检验的内容和方法以及应用前景。     

Dual extended Kalman filter for vehicle state and parameter estimation

The article demonstrates the implementation of a model-based vehicle estimator, which can be used for combined estimation of vehicle states and parameters. The estimator is realised using the dual extended Kalman filter (DEKF) technique, which makes use of two Kalman filters running in parallel, thus 'splitting' the state and parameter estimation problems. Note that the two problems cannot be entirely separated due to their inherent interdependencies. This technique provides several advantages, such as the possibility to switch off the parameter estimator, once a sufficiently good set of estimates has been obtained. The estimator is based on a four-wheel vehicle model with four degrees of freedom, which accommodates the dominant modes only, and is designed to make use of several interchangeable tyre models. The paper demonstrates the appropriateness of the DEKF. Results to date indicate that this is an effective approach, which is considered to be of potential benefit to the automotive industry.