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.     

基于软件库的软件生产线模型研究

为降低软件生产线初期投入高\, 风险大的问题, 提出基于软件库的软件生产线过程模型及无缝迁移模型。基于生产线过程模型建立了车载多媒体模拟系统以及相关支持工具, 依托关系数据库强大的存储与检索功能。采用这两个模型能降低采用生产线技术的初期投入成本, 并有助于生产线的迁移, 具有一定的实用价值及推广价值。     

我国国有商业银行表外业务存在问题及解决对策

该文通过阐述我国国有商业银行表外业务发展中的情况和特点,根据其出现的品种单一、业务量少、区域发展不均衡和管理不规范等问题,相应地提出了加快金融创新、提高对其业务重要性的认识和业务营销水平、加强银行间区域合作和完善相关规章制度建设等合理的对策,以期能对我国金融业的发展提供些许有益的参考。     

论带“五等”字号的虚封爵——晋宋之际国家官爵制度上的变化之一

晋宋之际，国家官爵制度上发生的重要变化之一就是带“五等”字号虚封爵的出现。晋末特殊军事政治形势之下，京口北府集团凭借强势军功击败高门士族，取得压倒性的军事政治优势，京口北府军功受益阶层由此形成。带“五等”字号虚封爵适时地出现则成为这个现实政治变化的典型表现之一。笔者从这种虚封爵产生的时间和目的进行详细分析，以为正是出于酬赏义熙初年京口北府集团建义之功，朝廷才创设了这种虚封爵。这种虚封爵突破既有的门阀制度优势，确立了以军功为核心的分享军事政治利益的价值导向。这使得京口北府集团凭借军功所获取的军事政治利益不仅在制度层面上得到保障，而且在价值层面上取得其正当性和合法性，也就在这个时候，京口北府军功利益阶层得以成立。酬赏军功的这一目的也直接决定了虚封爵的若干特点，对此，笔者也予以分析说明。     

音幻小屋体验对学龄儿童黑暗焦虑的影响

目的：评价音幻小屋体验对学龄儿童黑暗焦虑的影响。方法：参加音幻小屋体验学龄（7-13岁）儿童78例,用焦虑自评量表（SAS）分别测定音幻小屋体验前及体验后1周,1月对黑暗刺激焦虑评分。结果：体验后1周,1月对黑暗刺激焦虑评分均高于体验前（p〈0.01）,且两者无差异（p〉0.05）。结论：学龄儿童应远离恐怖刺激,避免心理创伤。     

GPSNISNAV integrated relative navigation and attitude determination system for ultra-close spacecraft formation flying

For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.     

江西兰科一新记录种—线柱兰

报道了产于南昌的兰科Orchidaceae线柱兰属Zeuxine线柱兰Z.strateumatica（L.）Schltr.,该种及其所在属均为江西首次发现。     

Characteristics of strontium isotopes and their implications in the Qixing Cave of Guizhou,China

The strontium isotopic compositions (87Sr/86Sr) of samples including soils, bedrock, soil waters, drip waters and their corresponding speleothems in the Qixing Cave (QXC), Guizhou Province, China, were systemically measured and analyzed. The results indicate that there are significant Sr isotopic differences among samples. The mean 87Sr/86Sr ratios in drip water for the samples 1#, 4# and 9# were 0.709568, 0.709139 and 0.708761, respectively, which possibly result from different flow paths, residence times, and other hydrogeological processes in the unsaturated zone overlying QXC. Meanwhile, levels of 40.8%, 57.6% and 72.4% of Sr in drip waters for 1#, 4# and 9#, respectively, were derived from bedrock dissolution, which was calculated by the mixture model of the two end-members (soil and bedrock). There is, however, no positive correlation between the relative proportion from bedrock dissolution (δ13C value is 1.8‰) and drip water δ13CDIC values. The mean drip water δ13CDIC value in 1# is the heaviest (–4.5‰) with the lowest contribution rate of bedrock dissolution, whereas the value in 9# is the lightest (–9.3‰) with the highest contribution rate of bedrock dissolution. The proportion from host rock dissolution in 4# is higher than that in 1# and lower than that in 9#, while its mean drip water δ13CDIC value (–8.6‰) is higher than that of 9# and lower than that for 1#. This suggests that the prior calcite precipitation (PCP) processes in the unsaturated zone overlying the cave are responsible for the δ13CDIC value differences between different drip waters, and not bedrock dissolution. Furthermore, this study also demonstrates that the 87Sr/86Sr ratios of speleothems in the 1# and 4# mainly reflect the variation in the relative proportions from the soil system (soil water) and bedrock dissolution overlying the cave. It is, therefore, feasible to use the strontium isotopic signals of speleothems as an indicator for soil chemical weathering intensity, and consequently as a monsoon proxy in the study area.     

基于变异系数的我国城市化地域差异演变研究

利用我国26个省会城市和4个直辖市的市辖区1998～2007年的非农人口和建成区面积统计数据,采用增长率和变异系数等指标对中国的城市化水平格局及地域差异变化进行研究.结果表明:研究期内我国东部城市化水平差异一直明显高于中、西部地区,但东中西部的差异有所缩小;城市化速率呈现明显的地域差异,2003年之前东部城市化速度最快...     

具有常数红利界限的带干扰Erlang(2)风险模型的Gerber-Shiu折扣罚金函数

利用Taylor展式导出具有常数红利界限的带干扰Erlallg(2)风险模型的Gerber-Shiu折扣罚金函数满足的积分-微分方程和其边界条件.