顾及有色噪声的自适应粒子滤波UWB定位算法     

张园  谭兴龙  赵长胜  李晓明 《测绘通报》2019,(8):30-33

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   

Indoor localization for pedestrians with real-time capability using multi-sensor smartphones     

Catia Real Ehrlich 《地球空间信息科学学报》2019,22(2):73-88

ABSTRACT

The localization of persons or objects usually refers to a position determined in a spatial reference system. Outdoors, this is usually accomplished with Global Navigation Satellite Systems (GNSS). However, the automatic positioning of people in GNSS-free environments, especially inside of buildings (indoors) poses a huge challenge. Indoors, satellite signals are attenuated, shielded or reflected by building components (e.g. walls or ceilings). For selected applications, the automatic indoor positioning is possible based on different technologies (e.g. WiFi, RFID, or UWB). However, a standard solution is still not available. Many indoor positioning systems are only suitable for specific applications or are deployed under certain conditions, e.g. additional infrastructures or sensor technologies. Smartphones, as popular cost-effective multi-sensor systems, is a promising indoor localization platform for the mass-market and is increasingly coming into focus. Today’s devices are equipped with a variety of sensors that can be used for indoor positioning. In this contribution, an approach to smartphone-based pedestrian indoor localization is presented. The novelty of this approach refers to a holistic, real-time pedestrian localization inside of buildings based on multi-sensor smartphones and easy-to-install local positioning systems. For this purpose, the barometric altitude is estimated in order to derive the floor on which the user is located. The 2D position is determined subsequently using the principle of pedestrian dead reckoning based on user's movements extracted from the smartphone sensors. In order to minimize the strong error accumulation in the localization caused by various sensor errors, additional information is integrated into the position estimation. The building model is used to identify permissible (e.g. rooms, passageways) and impermissible (e.g. walls) building areas for the pedestrian. Several technologies contributing to higher precision and robustness are also included. For the fusion of different linear and non-linear data, an advanced algorithm based on the Sequential Monte Carlo method is presented.  相似文献   

Evidence for the Retrograde Accretion onto Supermassive Black Holestwo     

Wang Kai  Huang Zheng-peng  Wang Jian-min 《Chinese Astronomy and Astrophysics》2019,43(2):217-224

Recently, Sloan Digital Sky Survey successfully carried out the reverberation mapping of a sky area, aiming to test the R ? L relation that has been already widely used. Here, R is the responsivity-weighted radius of the broad line region, and L is the optical luminosity at 5100 Å. Two results have been obtained from the data in the first year: (1) The time lags of AGNs (Active Galactic Nuclei) with a high accretion rate are much shorter than that estimated from the R ? L relation, which confirmed the results of reverberation mapping observations made by the Lijiang 2.4 meter telescope. (2) Some AGNs with a lower accretion rate also have very short time lags. The shortening of the time lags of the AGNs with a low accretion rate is caused by the retrograde accretion of black holes. This result has verified from observations the theoretical prediction made by Wang et al. (2014). The discovery of the black holes with a retrograde accretion has important significance, it indicates that the cosmological evolution of the black holes in quasars is implemented via the inherently random accretion.  相似文献   

GRB 170817A的洛伦兹因子和观测角          下载免费PDF全文

林一清 《天文学报》2020,61(1):6

伴随着引力波事件GW170817的短暴GRB (Gamma-Ray Burst) 170817A首次提供了双中子星并合与短暴相联系的直接证据.但是短暴GRB 170817A具有非常弱的光度,意味着观测的视线方向可能偏离喷流轴方向.根据短暴静止系的峰值能量E_(p,i)和各向同性光度L_(iso)。之间的关系以及洛伦兹因子Γ和L_(iso)。之间的关系估算了短暴GRB 170817A以及长短暴GRB 060614观测角与喷流边缘的夹角θ'_(obs)和洛伦兹因子Γ,结果表明GRB 170817A的Γ=45±27,θ'_(obs)=2.2±0.5°,而GRB 060614的Γ=214±93,θ'_(obs)=0.5±0.1°.这个结果相当于GRB 170817A的正轴各向同性光度L_(iso,on)=(2.1±0.7)×10~(49) erg·s~(-1),比典型的短暴少2-3个数量级.GRB 060614的L_(iso,on)=(5.12±1.91)×10~(51) erg·s~(-1)与典型短暴相当.这意味着GRB 060614可能属于短暴类型,而GRB 170817A可能本质上就是一个弱暴.  相似文献   

From soil aggregates to riverine flocs: a laboratory experiment assessing the respective effects of soil type and flow shear stress on particles characteristics          下载免费PDF全文

T. Grangeon  I. G. Droppo  C. Legout  M. Esteves 《水文研究》2014,28(13):4141-4155

Particles eroded from hillslopes and exported to rivers are recognized to be composite particles of high internal complexity. Their architecture and composition are known to influence their transport behaviour within the water column relative to discrete particles. To‐date, hillslope erosion studies consider aggregates to be stable once they are detached from the soil matrix. However, lowland rivers and estuaries studies often suggest that particle structure and dynamics are controlled by flocculation within the water column. In order to improve the understanding of particle dynamics along the continuum from hillslopes to the lowland river environment, soil particle behaviour was tested under controlled laboratory conditions. Seven flume erosion and deposition experiments, designed to simulate a natural erosive event, and five shear cell experiments were performed using three contrasting materials: two of them were poorly developed and as such can not be considered as soils, whilst the third one was a calcareous brown soil. These experiments revealed that soil aggregates were prone to disaggregation within the water column and that flocculation may affect their size distribution during transport. Large differences in effective particle size were found between soil types during the rising limb of the bed shear stress sequence. Indeed, at the maximum applied bed shear stress, the aggregated particles median diameter was found to be three times larger for the well‐developed soil than for the two others. Differences were smaller in the falling limb, suggesting that soil aggregates underwent structural changes. However, characterization of particles strength parameters showed that these changes did not fully turn soil aggregates into flocs, but rather into hybrid soil aggregate–floc particles. Copyright © 2013 John Wiley & Sons, Ltd.  相似文献   

三极地区雪冰中黑碳研究进展     

马翔宇  李传金 《冰川冻土》2021,43(1):92-106

黑碳被认为是除温室气体外对气候变暖贡献最大的辐射强迫因子。三极（北极、南极和青藏高原）地区是全球雪冰分布最集中的区域,沉积至雪冰中的黑碳可反映人类活动的历史变化,并可能导致反照率降低而影响物质能量平衡。通过系统回顾三极地区雪冰黑碳的研究方法、空间分布、时间变化及其造成的辐射强迫,得到的研究结果表明： 由于处于不同的地理位置和环境条件,三极雪冰中黑碳的时空分布及其辐射强迫差异较大,其中青藏高原是浓度和辐射强迫影响最大的地区,也是对水资源和生态安全潜在影响最严重的区域。三极地区雪冰中保存着长时间序列的黑碳沉积记录,是研究自然变率、人类活动影响黑碳沉积历史（如北极与青藏高原冰芯中记录的工业革命以来黑碳沉积的快速上升）的良好介质,同样为模型预测未来变化提供了数据支持。三极地区是全球变化的指示器和放大器,在全球变暖不断加剧的背景下,黑碳必然会在未来的三极地区气候演变中扮演更为重要的角色。  相似文献   

黔北地区奥陶纪—志留纪之交黑色页岩地球化学特征及意义——以贵州道真道页1井为例     

安亚运  杨忠琴  向坤鹏  黄艺  陈厚国  贺永忠  刘伟  余谦 《地质论评》2021,67(4):67041105-67041118

奥陶纪—志留纪之交是华南被动大陆边缘盆地向前陆盆地演化的重要转折时期,形成广泛分布的五峰组—龙马溪组黑色页岩。为进一步探讨该套黑色页岩的形成背景,以黔北地区道页1井为例,开展沉积序列和地球化学研究。研究结果表明:五峰组及龙马溪组底部主要为硅质碳质页岩,夹多层斑脱岩,U/Th为0.2～2.90,V/Cr为1.18～14.34,Ni/Co为2.31～11.59,TOC为0.68%～5.91%,平均3.76%,稀土配分曲线为平坦型,δEu以弱正异常为主、个别为弱负异常;龙马溪上部及新滩组主要由泥岩及钙质泥岩组成,U/Th为0.16～0.23,V/Cr为0.88～1.79,Ni/Co为1.77～3.91,TOC为0.1%～0.84%,δEu以明显负异常为主,表现出低斜率右倾型稀土配分曲线。以上特征表明五峰组及龙马溪组底部形成于间歇性缺氧的还原环境,龙马溪组上部及新滩组为富氧环境。结合斑脱岩的分布特征综合分析认为,五峰组及龙马溪组底部页岩是汇聚背景下前陆盆地早期沉积的产物,强烈火山作用给大陆边缘海带来营养元素,刺激初级生产力的增加,造成水体迅速缺氧,可能是造成同期海底缺氧的主要诱因。  相似文献   

基于非均质地层参数表征的颗粒流模型构建          下载免费PDF全文

夏余宏烨  孙平贺  伍新民  盛汉洋  王心龙  张绍和 《探矿工程》2021,48(S1):52-60

非均质地层参数的获取与表征方法是浅层地质体改造的重要依据。基于非均质地层的地质建模,表征具有随机不确定性和模糊不确定性的土体表观参数和物理力学参数。利用 Weibull 分布统计描述局部地层信息,并应用Diamond-Square分形插值方法,结合差分盒子维计算非均质地层分形维数,进一步合理演算整体地层参数。采用PFC3D数值模拟软件,结合马尔科夫链蒙特卡洛方法采样数据,对非均质地层块石颗粒及土颗粒进行建模。通过非均质地层模拟结果,发现其破坏过程与应力应变曲线要比均质土体复杂得多,由于块石大颗粒的含量、分布特性对土样力学性质影响显著。本文建模方法有助于非均质地层参数表征研究。  相似文献   

基于离散元模拟的二元颗粒柱坍塌特性研究     

崔溦  魏杰  张贵科  李宏璧 《岩土力学》2021,(1):280-290

常见的地质灾害如滑坡、泥石流、岩崩等通常都涉及不同形状的颗粒物质运动,这些形状不同的颗粒又多具有不同的尺寸和含量。基于典型的颗粒柱坍塌试验,首先根据试验方法确定了离散元模拟所需的各项参数,然后采用随机多面体方法生成了可控制长细比的大颗粒,利用离散元法就不同大颗粒含量下形态变化对二元颗粒柱坍塌特性的影响开展研究,研究结果表明:(1)利用离散元法可以较好地重现室内试验中小球和多面体组成的二元颗粒系统的颗粒柱坍塌过程;(2)在不同长细比的不规则大颗粒和小球组成的二元颗粒柱系统中,当大颗粒含量高于临界含量值20%时,二元颗粒柱坍塌持续的时间随非球形大颗粒长细比的增加而增加;(3)在不同长细比的不规则大颗粒和小球组成的二元颗粒柱中,当大颗粒含量高于临界含量值20%时,在相同百分比的大颗粒含量下,大颗粒长细比的增加会提高大颗粒平均配位数以及降低颗粒的运动能力,大颗粒间形成更强的互锁作用,降低了颗粒柱的整体流动性,使其最终堆积高度更高、最大跑出距离更短以及更小的归一化动能峰值。(4)在不同长细比的不规则大颗粒和小球组成的二元颗粒柱中,小颗粒可以较为明显降低大颗粒间摩擦及互锁作用,增加流动性,降低大骨料形态对坍塌过程的影响。  相似文献   

基于颗粒识别分析系统的碎屑流堆积物颗粒识别和统计方法研究          下载免费PDF全文

陈达  许强  郑光  彭双麒  王卓  何攀 《水文地质工程地质》2021,48(1):60-69

碎屑流堆积物颗粒识别和统计是碎屑流灾害的研究重点。文章基于图像处理孔隙（颗粒）及裂隙图像识别与分析系统（PCAS）,以贵州纳雍普洒村崩塌-碎屑流为例,结合纳雍崩塌堆积物粒径实测结果,通过阐释识别过程中阈值、孔喉封闭半径、最小孔隙面积的参数意义,研究PCAS软件在碎屑流颗粒识别与统计中的应用,并提出了颗粒识别时这些参数的选取方法。分析结果表明:（1）PCAS能自动准确地识别碎屑流堆积物颗粒与孔隙,相比人工计数更精细,所识别堆积物各区小颗粒比重较大,0～2 m颗粒粒径各区占比都在50%以上;（2）当阈值为170（像素）时能获得精细的二值图像,颗粒与孔隙得到了准确地区分;（3）不同参数取值下获得堆积物颗粒粒径分布结果不同,碎屑流堆积物颗粒识别宜采用较大的孔喉封闭半径和较小孔隙面积,当二者比值为3/30（像素）时能更好地反应颗粒粒径分布情况;（4）PCAS具有较高的可行性,统计结果显示,各粒径含量变化趋势与人工统计相近,两种统计方法各粒径占比、分布规律基本吻合,说明利用PCAS可以实现对崩塌碎屑流颗粒粒径分布的高效便捷分析。  相似文献