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传统卡尔曼滤波算法要求噪声模型符合高斯分布,在UWB室内定位中,由于载体本身的机制等干扰,观测噪声不仅仅是白噪声,也存在有色噪声的情况,而粒子滤波可以处理有色噪声的问题。本文通过增加似然分布自适应调整来改进粒子滤波用于目标跟踪的精度,同时研究在白噪声、有色噪声下似然分布自适应调整粒子滤波和拓展卡尔曼滤波在UWB中的优势与不同。试验结果表明:观测噪声为白噪声时,拓展卡尔曼滤波和粒子滤波均可以较好地实现对行人的定位跟踪;观测噪声为有色噪声时,自适应粒子滤波定位效果优于粒子滤波、拓展卡尔曼滤波。 相似文献
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DING Chengzhi JIANG Xiaoming WANG Lieen FAN Hui CHEN Liqiang HU Jinming WANG Hailong CHEN Yifeng SHI Xiaotao CHEN Hao PAN Bohui DING Liuyong ZHANG Chao HE Daming 《中国地理科学(英文版)》2019,(1):26-36
Dam removal is becoming an effective approach for aquatic biodiversity restoration in damming river in order to balance the aquatic ecosystem conservation with large-scale cascade damming. However, the effects of dam removal on fish communities in Asian mountainous rivers, which are dominated by Cypriniformes fishes, are still not well known. To determine whether dam removal on a mountainous river benefit restoration of fish diversity, we investigated the response of fish assemblage to dam removal using a before-after-control-impact design in two tributaries of the Lancang River(dam removal river: the Jidu River, and control river: the Fengdian River). Fish surveys were conducted one year prior to dam removal(2012) and three years(2013–2015) following dam removal. We observed rapidly and notably spatio-temporal changes in fish biodiversity metrics and assemblage structure, occurring in the Jidu River within the first year after dam removal. Overall, fish species richness, density and Shannon-Wiener diversity all increased immediately in above-and below-dam sites, and maintained a stable level in subsequent years, compared to unchanged situation in the control river. All sites in the Jidu River experienced shifts in fish composition after dam removal, with the greatest temporal changes occurred in sites below-and above-the former dam, resulting in a temporal homogenization tendency in the dam removed river. These findings suggest that dam removal can benefit the recovery of habitat conditions and fish community in Asian mountainous rivers, but the results should be further evaluated when apply to other dammed rivers since the dam age, fluvial geomorphology and situation of source populations could all affect the responses of fish assemblages. 相似文献
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对古浪县第二次全国湿地资源调查的技术、结果进行了系统分析,探索了研究区内湿地资源调查更新的方法,通过"天空地"协同和"互联网+"的调查更新技术全面更新研究区内湿地资源调查数据库,以全面掌握湿地资源状况。研究结果:1)古浪县第二次湿地资源调查范围内的非湿地类型面积达4 615.35 hm2,占全县第二次湿地调查总面积的59.31%。2)变更后县域内湿地资源总面积4 131.54 hm2,以河流水面、内陆滩涂、水库水面、沟渠为主要用地类型,较第二次调查湿地面积净减少3 650.25 hm2。3)"天空地"协同遥感监测技术为湿地资源变更监测提供高精度多源数据,保证了调查、监测的精度和准确性。 相似文献
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珠江口盆地珠一坳陷在中始新世裂陷期文昌组沉积早、晚期之间存在明显的构造转换,该构造事件对古近系源?汇体系的形成和演变有重大影响.基于研究区地震、钻井、测井等资料的综合分析,本文认为构造转换控制了裂陷期源?汇体系的盆山地貌、物源供给、搬运方向及沉积样式等基本要素,并影响深层古近系储层条件.而且在构造转换的制约下,研究区发... 相似文献
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Twenty-four compounds including eight steroids (1-8), nine triterpenoids (9-16, 24), three flavonoids (20-22), and four benzenecarboxylic derivatives (17-19, 23) were isolated and identified from stems and twigs of medicinal mangrove plant Sonneratia caseolaris. The structures of the isolated compounds were determined by extensive analysis of their spectroscopic data. Among these metabolites, compounds 1, 4-20 and 22-24 were isolated and identified for the f'urst time from S. caseolaris. In the in vitro cytotoxic assay against SMMC-7721 human hepatoma cells, compound 21 (3',4',5,7-tetrahydroxyflavone)exhibited significant activity with IC50 2.8 μg/mL, while oleanolic acid (14), 3,3'-di-O-methyl ether ellagic acid (18), and 3,3',4-O-tri-O-methyl ether ellagic acid (19) showed weak activity. None of these compounds displayed significant antibacterial activites. 相似文献
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