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Although its use is widespread in several other scientific disciplines, the theory of tensor invariants is only marginally
adopted in gravity field modeling. We aim to close this gap by developing and applying the invariants approach for geopotential
recovery. Gravitational tensor invariants are deduced from products of second-order derivatives of the gravitational potential.
The benefit of the method presented arises from its independence of the gradiometer instrument’s orientation in space. Thus,
we refrain from the classical methods for satellite gravity gradiometry analysis, i.e., in terms of individual gravity gradients,
in favor of the alternative invariants approach. The invariants approach requires a tailored processing strategy. Firstly,
the non-linear functionals with regard to the potential series expansion in spherical harmonics necessitates the linearization
and iterative solution of the resulting least-squares problem. From the computational point of view, efficient linearization
by means of perturbation theory has been adopted. It only requires the computation of reference gravity gradients. Secondly,
the deduced pseudo-observations are composed of all the gravitational tensor elements, all of which require a comparable level
of accuracy. Additionally, implementation of the invariants method for large data sets is a challenging task. We show the
fundamentals of tensor invariants theory adapted to satellite gradiometry. With regard to the GOCE (Gravity field and steady-state
Ocean Circulation Explorer) satellite gradiometry mission, we demonstrate that the iterative parameter estimation process
converges within only two iterations. Additionally, for the GOCE configuration, we show the invariants approach to be insensitive
to the synthesis of unobserved gravity gradients. 相似文献
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LIN Xueyuan XU Jin ZHOU Min 《地球空间信息科学学报》2007,10(3):177-180
When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high. 相似文献
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移动机器人在SLAM的闭环检测环节计算量大、运行时间长、匹配误差大,从而导致闭环检测精度较低。针对该问题,本文在CoHOG闭环检测算法的基础上进行改进,将算法中的HOG描述符改进为GDF-HOG描述符,以增强图像特征表现,提高图像特征提取效率;在匹配环节前添加GDF-HOG全局粗匹配,以减少视觉模板的数量,提高算法的计算效率;在匹配环节后添加感兴趣区域（ROI）位置匹配进行检验,以减少闭环检测的假阳性,提高准确率。将本文闭环检测算法与RatSLAM相结合,在公开数据集与真实环境中进行测试,测试结果表明,本文算法在闭环检测环节的准确率较高,且对环境的适应能力较强。 相似文献
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When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high. 相似文献
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从理论上定量分析机械摆和环路滤波等开环诸参数变化对速度传感反馈地震计闭环参数的影响.研究指出,在环路设计中可半自由选取的开环阻尼取值对参数稳定性有重要影响.过大或过小的开环阻尼取值均可能造成参数稳定性急剧变差,影响地震计在只标不调的状况下长期连续稳定工作. 相似文献
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针对目前应用最广的新型仿人机器人NAO平台,和其官网发布的目标识别算法原理,提出一种改进的识别方法,降低光照对目标识别的影响,缩短机器人识别、定位和跟踪整个过程闭环操作过程的反应时间。其中搜索路径采用原地查找、走动和旋转查找三部曲实现360度全视野搜索;目标颜色识别基于YUV颜色空间进行;目标跟踪采用目标始终在视野中心算法实现;同时分析第四代NAO机器人的硬件参数设计头关节垂直偏角与目标的距离计算公式,用于目标快速定位。 相似文献
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一种低成本、低精度SINS/GPS组合导航系统及试验研究 总被引：3，自引：0，他引：3
在SINS（捷联式惯性导航系统）与GPS组合时，航向角的可观测性较弱，经过卡尔曼滤波后，航向角误差虽有所改善，但仍呈发散趋势，当采用低成本、低精度SINS时，该趋势进一步加剧。为了抑制该发散趋势，针对某型低成本、低精度SINS硬件组成（包括AHRS（姿态和航向参考系统）与IMU（惯性测量器件））的特点，提出了利用AHRS代替SINS航向角信息的方法。实际静态与动态试验表明，利用该方法可有效地抑制组合系统航向角的发散趋势，定位精度较高。 相似文献
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MEMS加速度计的噪声和线性指标是地震监测应用领域的关键问题,采用闭环力反馈是提高这些性能的有效途径。然而,由于对质量块不需要额外的电极来施加电静力,并且其残余位移会给闭环传递函数带来显著的非线性,从而影响该方法的有效性。因此,本文提出一种基于离散时间反馈的闭环MEMS加速度计,分时完成电容变化检测及静电力反馈,最大程度的减小了反馈信号对检测信号的馈通及耦合。利用开关电容电路中的相关双采样电路噪声消除技术,及电路参数噪声优化,可实现噪声谱密度小于0.5μg/Hz1/2的微加速度计。 相似文献
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