Generalized reliability measures of Kalman filtering for precise point positioning

To deal with the adverse influence of model failures on Kalman filtering （KF） estimation, it is necessary to investigate the generalized reliability theory, including the model failure detection and identification method as well as the separability and reliability theories. Although the generalized reliability theory for the least square has been discussed for many decades, the generalized reliability theory of KF is not widely discussed. Compared with the least square, KF includes not only the measurement model, but also the dynamic model. In KF, the predicted value of the state parameters from the dynamic model is considered as pseudomeasurements and combined with the observed measurements to compose the form of the least square. According to the reliability of the least square, the generalized reliability of KF is derived. Then, the dynamic model failure of precise point positioning is simulated to demonstrate the usage of the generalized reliability theory. The results show that the adverse influence of the dynamic model failure is more severe than that of the measurement model. Moreover, it is recommended that the model failure identification should always be used even if the overall model test passes. It is shown that the derived generalized reliability measures are suitable for the generalized KF estimation.

球孢白僵菌对中蜂外勤蜂慢性毒性测定

球孢白僵菌广泛应用于农林害虫防治,中蜂外出采集活动时可能会接触到球孢白僵菌。为了探明球孢白僵菌对中蜂外勤蜂的影响。配制含不同浓度(10~5、10~6、10~7孢子/mL)的球孢白僵菌分生孢子,在室内30℃、60%RH条件下测试对中蜂外勤蜂的慢性毒性。结果表明,中蜂外勤蜂接触球孢白僵菌(10~5、10~6、10~7孢子/mL)14天后,三组的校正死亡率分别为36.4%、68.2%、100%,生存率显著低于对照组,呈剂量毒性效应关系,说明球孢白僵菌对中蜂外勤工蜂的触杀毒性强。而取食10~5、10~6、10~7孢子/mL孢子糖液的工蜂生存曲线与剂量无对应关系,说明外勤蜂食入白僵菌孢子后无明显毒性。建议在球孢白僵菌施用期间,宜避开中蜂养殖区或开花的蜜粉源,或蜂群转场,以减少对中蜂的触杀毒害。