In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual ...In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.展开更多
文摘目的:探讨血浆中术前游离脂肪酸(free fatty acid, FFA)水平在预测胃癌术后炎性反应及并发症中的价值。方法:选取2017-2022年我院200例胃癌患者的临床资料。按照Clavien-Dindo分类,Ⅱ级以上56例为并发症组,144例为无并发症组。比较两组患者手术前FFA、体质量指数(body mass index, BMI)、白蛋白及血脂指标差异,筛选出影响术后并发症的单因素指标,并进行Logistic回归分析。将危险因素纳入受试者工作特征曲线(receiver operator characteristic, ROC),评价各因素对胃癌术后并发症的诊断价值。比较术前及术后FFA水平变化对术后并发症的诊断价值。以术前FFA截断值为界分为高FFA组与低FFA组,比较两组术后炎性反应指标[C-反应蛋白/白蛋白比值(C-reactive protein/albumin, CAR)、C-反应蛋白(C-reactive protein, CRP)]的差异。结果:单因素结果显示,并发症组术前FFA显著高于无并发症组,而术前胆固醇及高密度脂蛋白显著低于无并发症组,差异具有统计学意义(P<0.05)。BMI在两组比较中,组间差异具有统计学意义(P<0.05);多因素Logistic分析显示:术前FFA是影响胃癌患者并发症的独立危险因素[OR=7.407(3.610~15.196),P<0.05];绘制胃癌患者术前FFA、BMI对术后并发症诊断价值的ROC曲线,结果显示曲线下面积(area under the curve, AUC)分别为0.784、0.564;术前及术后FFA水平ROC曲线下面积显示:术前FFA的AUC均大于术后FFA及两者变化差值的AUC,表明术前FFA对并发症诊断价值大于后两者。高FFA组术后第3天(postoperative day 3,POD3)炎性反应指标(CAR、CRP)显著高于低FFA组,差异具有统计学意义(P<0.05)。结论:术前FFA对胃癌术后并发症的预测能力高于BMI;术前FFA升高增加胃癌术后的炎性反应程度,并增加术后并发症发生的可能性。
基金supported by China Postdoctoral Science Foundation(2023M741882)the National Natural Science Foundation of China(62103222,62273195)。
文摘In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.
