基于扩展卡尔曼滤波的高程估计算法

在室内行人定位系统中,行人的高程定位精度关系到整个定位系统的可靠性。提出一种基于腰间传感器的室内行人高程估计算法。首先利用支持向量机识别行人上楼下楼动作,针对行人的运动状态采用自适应的高程估计算法。针对气压计测量值易受环境影响的问题,采用了基于EKF融合气压和加速度的高度估计算法,提高了高度估计算法的稳定性。经实验验证,当室内人员进行平地走、上楼等一连串动作后,基于差分气压测高法计算的高度误差为9.92%,基于加速度估计的行人高度误差为9.52%,EKF融合后定位误差下降到2.32%,提高了高程估计的精度。     

基于智能手机传感器的林区行人定位算法

针对林区卫星信号缺失、跟踪定位困难的问题,提出了基于智能手机传感器的林区行人定位算法(forest-pedestrian location,FPL)。算法在行人航位推算算法(pedestrian dead reckoning,PDR)基础上进行改进：采用扩展卡尔曼滤波(extended Kalman filter, EKF)与卡尔曼滤波(Kalman filter, KF)融合算法对磁力计、加速度计及陀螺仪输出进行多次融合,以提高方位角测量精度;随后,使用Savitzky-Golay(S-G)滤波处理方位角测量值,以提高PDR算法中方位角的估计精度;引入K邻近(K-nearest neighbor, KNN)算法估计步长,将拟合显式步长函数问题转化为“懒惰学习”问题;使用差分气压测高法求解行人高程信息,从而获取行人在林区内的3维定位信息。实验结果表明,该算法可以提高方位角及步长的估计精度,同时可以增加精准的高程定位信息,整体误差控制在5%以内,可以满足林区无信号条件下的定位需求。     

室内行人航迹推算/超声波组合定位融合算法

为提高室内定位系统精度和跟踪性能以及适应复杂环境,将行人航迹推算与超声波定位组合,提出基于平方根无迹卡曼滤波的噪声权因子辅助协方差加权融合算法,并将全局最优融合状态作为反馈量引入算法。针对超声波对行人航向角测量困难,采用一种简单有效的几何方法。仿真结果表明:在模拟的室内动态环境中,包括在多路径效应和惯性累积误差的影响下,融合算法始终比单模型定位精度高,并有很好的收敛性、稳定性与适应性,对室内定位技术研究与应用具有重要意义。     

基于有源RFID的室内移动机器人定位系统

针对有源射频识别(RFID)技术在室内定位的特点,使用有源射频模块,基于Visual C++6.0平台,开发了一种室内移动机器人定位系统。选用接收信号强度指示值最大的4个标签作为定位标签,提出了一种增加移动误差的改进极大似然估计定位算法,实现了室内移动机器人位置的测量。实验表明:应用改进极大似然估计定位算法的定位系统可较好地实现机器人稳定工作;平均定位偏差降低32%,达到0.332 14 m;定位精度明显提高,可满足室内移动机器人的定位要求。     

室内剔除行人特征点的视觉SLAM算法

针对视觉SLAM系统在室内场景下易受行人干扰,导致定位精度和稳定性下降的问题,提出了一种室内剔除行人特征点的视觉SLAM算法,该算法在传统的ORB＿SLAM2算法中集成了一个新的动态目标检测线程,此线程使用YOLOV5s目标检测算法识别并剔除行人动态信息。首先,系统对YOLOV5s引入坐标注意力机制,提取图像中与目标相关的特征;其次,将彩色图像同时输入到ORB＿SLAM2算法和动态目标检测线程中,ORB＿SLAM2算法实时估计相机位姿,动态目标检测线程识别和剔除行人动态目标,从而减少其对ORB＿SLAM2算法的干扰;最后,将2个线程的输出融合至静态地图构建线程,生成无行人干扰的地图构建结果。针对文中算法,在不同数据集下开展试验验证。结果表明：相对于ORB＿SLAM2算法,改进算法在TUM的高动态数据集中绝对轨迹精度提高了96.51%,相对轨迹精度提高了96.57%,相对轨迹误差的旋转精度提高了96.47%。室内剔除行人特征点的视觉SLAM算法充分过滤了行人特征点,提高了SLAM系统的精度,为室内导航、建图等领域提供了一种新的解决方案。     

单目视觉行人身体多部件距离融合估计算法

针对现有自主汽车辅助驾驶系统中,单目摄像头行人距离估计精度不高的问题,提出一种单目视觉行人身体多部件距离融合计算法。联合脚部件与头部件共同对行人目标进行距离估计,分别采用半水波形等距线脚部部件距离估计与头部部件高度插值距离估计算法来获取行人的距离估计结果,使得算法能够同时具备精准性和稳定性。经仿真验证,该算法在非遮挡条件下,35 m内能够将误差控制在1 m以内,在半遮挡条件下,35 m内能够将误差控制在2 m以内,满足车载辅助驾驶对行人距离估计精度的要求。     

基于轮胎半径自适应的智能车辆组合定位

定位系统是智能车辆环境感知系统的重要组成部分。设计了智能车辆轮胎半径自适应在线估计算法以提高车辆速度估计精度,从而在GNSS(Global Navigation Satellites System)不可用时提升IMU(inertial measurement unit)/WSS(wheel speed sensor)组合定位系统的精度。首先,在GNSS信号良好时,考虑车轮动态设计了多模型融合的轮胎有效滚动半径自适应算法,以准确估计轮胎有效滚动半径;然后,基于自适应误差状态卡尔曼滤波设计了多传感器融合组合定位算法。实车试验结果表明,所设计的算法在初始轮胎半径有不足2%的误差时,丢失GNSS 40s可将定位精度提高30%以上。     

多传感器融合的手机室内三维定位试验

以智能手机为用户端平台,利用行人航迹推算(pedestrian dead reckoning,PDR)改进算法和气压测高原理设计了三维多传感器融合定位的扩展卡尔曼滤波器,基于Android操作系统开发了手机传感器融合的室内三维定位程序。最后,利用中国矿业大学室内外无缝定位试验场进行了定位算法性能评估。结果表明,三维融合定位方法能有效抑制漂移误差,定位精度和可靠性能够满足室内应用环境的要求,且定位精度优于WiFi方法和常规PDR方法。     

激光雷达和行人航迹推算融合的室内目标定位方法

激光雷达(LiDAR)在室内定位中具有抗干扰能力强,速度、角和距离分辨率高等优点,但在定位过程中其精度易受环境因素干扰影响。本文提出一种LiDAR和PDR融合的室内定位方法,以扩展卡尔曼滤波(EKF)为基础,通过对LiDAR的位移增量、角度观测值以及PDR的位姿信息等量测值进行解算,令二者互补融合,有效抑制非视距影响和误差累积的问题,并对单一类组合算法和融合类组合算法的定位精度进行对比分析。实验结果表明：当室内人员为行走状态时,LiDAR和PDR融合定位算法较单一定位方法在精度和稳定性均有效提高,PDR定位误差为0.98m,LiDAR定位误差为0.6m,EKF滤波融合后定位误差可以下降到0.32m。     

基于多新息卡尔曼滤波算法的锂电池SOC估计

针对锂离子电池荷电状态(SOC)较难准确获取的问题,依据锂电池等效电路模型,建立起各参数与SOC的联系,利用脉冲放电的数据对模型进行参数辨识.通过Mat-lab/Simulink验证了模型的正确性和精确性.将扩展卡尔曼滤波算法(EKF)融合多新息理论,建立了多新息扩展卡尔曼滤波算法(MIEKF)估计电池SOC的方法,该方法通过对旧信息的重复使用提高了EKF的估计精度.在美国城市道路循环工况(UDDS)下分别采用EKF和MIEKF算法来估计锂电池SOC,两者估计的最大误差分别为0.0176、0.0087.实验数据表明MIEKF算法估计电池SOC更准确.     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

Design and analysis of generic LBS application developing platform

Location based services is promising due to its novel working style and contents.A software platform is proposed to provide application programs of typical location based services and support new applications developing efficiently. The analysis shows that this scheme is easy implemented, low cost and adapt to all kinds of mobile nework system.     

A computer generator for randomly layered structures

AcomputergeneratorforrandomlylayeredstructuresYUJia shun1,2,HEZhen hua2(1.TheInstituteofGeologicalandNuclearSciences,NewZealand;2.StateKeyLaboratoryofOilandGasReservoirGeologyandExploitation,ChengduUniversityofTechnology,China)Abstract:Analgorithmisintrod…     

橡胶颗粒沥青混合料低温抗裂性试验研究

以AC-13级配为基础,将橡胶颗粒代替部分集料掺入混合料中,以低温弯曲试验为评价方法对不同橡胶颗粒掺量下沥青混合料的低温抗裂性进行研究,并引入应变能密度值对混合料的低温抗裂性进行综合评价.试验结果表明:橡胶颗粒沥青混合料试件的破坏微应变均超过2 300,满足冬寒区的技术指标;无论是否掺加橡胶颗粒,随着温度的下降,沥青混合料破坏时的最大弯拉强度增大,弯拉应变降低,劲度模量增大;弯曲应变能密度在胶粒掺量为1%左右时具有较大的弯曲应变能密度值,此时橡胶颗粒沥青混合料具有较好的低温抗裂性.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.