Self-alignment of full skewed RSINS：observability analysis and full-observable Kalman filter

Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.     

三角网格模型五轴加工刀轴矢量调整及优化

为消除全局干涉,提出了一种基于K-D树及刀具离散的高效刀轴矢量调整算法.算法首先以有限个点离散表示刀具,然后利用K-D树快速查找刀具的可能干涉点,并在此基础上计算调整后的刀轴矢量.为避免过大的刀轴矢量突变,提出一种分角度区域方法优化刀轴矢量.实例验证表明:算法能够高效实现全局干涉避免及刀轴矢量优化.     

Global vegetation change analysis based on MODIS data in recent twelve years①

Vegetation cover change is critical for understanding impacts and responses of vegetation to climate change. A study found that vegetation in the regions between 45°N-70°N was increasing using normalized difference vegetation index( NDVI) from 1981 to 1991 ten years ago. The global vegetation growth has changed because of climate change in recent twelve years( 2001- 2012). After thorough analysis based on satellite data,it is found that it is evident that the global vegetation changed( NDVI) little,and it is increasing slightly in Northern hemisphere while it is decreasing slightly in Southern Hemisphere. For different latitudes,vegetation is increasing 0.17% every year from 60°N to 70 °N( R~2= 0.47,P 0.013),while the vegetation is decreasing 0.11% every year from 10°N to 10° S( R~2= 0.54,P 0.004). For different continents,the vegetation in South America is decreasing 0.16% every year( R~2= 0.78,P 0.0001) and it is increasing 0.05% every year in Asia( R~2= 0.28,P 0.072) and 0.25% every year in Oceania( R~2= 0.24,P 0.1). The analysis of global vegetation in different seasons indicates that spatial distribution of global temperature and water vapor will affect the spatial distribution of vegetation,in turn,the spatial distribution of vegetation will also regulate the global temperature and water vapor spatial distribution at large scale. The growth and distribution of vegetation are mainly caused by the orbit of the celestial bodies,and a big data model based on gravitational-magmatic change with the solar or the galactic system as its center is proposed to be built for analyzing how the earth's orbit position in the solar and galaxy system affects spatial-temporal variations of global vegetation and temperature at large scale. These findings promise a holistic understanding of the global climate change and potential underlying mechanisms.     

2×2线性退化系统初边值问题的显式解

给出了一类2×2线性退化拟线性双曲系统初边值问题解的显式公式,并证明初边值问题古典解的存在性和惟一性.     

任意大初值等温相对论欧拉方程组的奇性形成问题

主要证明了当初始值受到挤压以及初始流体向外流出时等温相对论欧拉方程组光滑解的奇性形成问题.通过引入与解有关的泛函,证明该泛函满足适当的微分不等式,同时证明该微分不等式的解会发生奇性,继而得到等温相对论欧拉方程组解的奇性形成结果.     

基于全局与局部特征的嵌入式人脸识别系统

基于主成分分析人脸识别算法,提出一种基于全局特征和局部特征的加权算法,并且在嵌入式(Tiny6410)上完成系统的设计与实现.利用主成分分析提取人脸全局特征,根据特征值贡献率获取降维后的人脸子空间,采用欧氏距离匹配测试样本;用人眼检测算法、鼻子检测算法等提取每个样本的左眼、右眼、鼻子、嘴,分别建立样本集,采用主成分分析;分别计算全局和局部特征的离散度,根据离散度进行自动加权算法,给出最终的人脸识别结果.实验表明,该系统具有一定的稳定性,识别效果优于单一模块的识别.     

Chemostat 中单营养食物链模型的全局稳定性分析

目的研究一类单营养食物链模型的全局稳定性。方法通过解常微分方程讨论模型平衡点的存在性,应用Hurwitz判别法和特征方程法对模型平衡点的稳定性进行分析。结果得到了该模型的3个平衡点的稳定性的充分条件,并且得到了围绕平衡点E_2(x_1~*,x_2~*)至少存在一个极限环的条件。结论单营养食物链的Chemostat系统不仅可以达到生态平衡,而且还存在达到生态平衡的相对弱化的条件。     

一类非线性斯图谟—刘维尔问题正解的存在性

本文讨论了非线性斯图谟-刘维尔方程[p(x)u'(x)]'+f[u(x)]=0在两端固定边条件下的边值问题,当p(x)是区间[0,1]上的分段线性函数时,其正解存在。     

一类特殊的 Volterra型积分方程的解的存在性

本文主要应用压缩映像原理讨论了一类特殊的Volterra型积分方程的解的存在性问题,获得解的存在性条件,并举例说明了其应用。     

有雾天气图像的清晰化方法

为了改善雾天图像的退化现象,本文提出了一种有雾天气图像的清晰化方法。该方法根据正态分布将图像分为非天空区域与天空区域,然后以全局直方图均衡算法(HE)和子块部分重叠的局部直方图均衡算法(POSHE)为基础对雾天图像进行均衡化处理,均衡后的图像能够保持图像细节,同时也能够避免图像的过增强。实验结果表明:该算法能够有效改善图像的退化现象,提高图像的对比度和分辨率,增强后的图像更加自然。