Nonlinear initial alignment is a significant research topic for strapdown inertial navigation system(SINS).Cubature Kalman filter(CKF)is a popular tool for nonlinear initial alignment.Standard CKF assumes that the sta...Nonlinear initial alignment is a significant research topic for strapdown inertial navigation system(SINS).Cubature Kalman filter(CKF)is a popular tool for nonlinear initial alignment.Standard CKF assumes that the statics of the observation noise are pre-given before the filtering process.Therefore,any unpredicted outliers in observation noise will decrease the stability of the filter.In view of this problem,improved CKF method with robustness is proposed.Multiple fading factors are introduced to rescale the observation noise covariance.Then the update stage of the filter can be autonomously tuned,and if there are outliers exist in the observations,the update should be less weighted.Under the Gaussian assumption of KF,the Mahalanobis distance of the innovation vector is supposed to be Chi-square distributed.Therefore a judging index based on Chi-square test is designed to detect the noise outliers,determining whether the fading tune are required.The proposed method is applied in the nonlinear alignment of SINS,and vehicle experiment proves the effective of the proposed method.展开更多
The current collector is an indispensable component in potassium-ion hybrid capacitors,which not only provides mechanical support to load electrode materials,but also collects and outputs the current generated.Herein,...The current collector is an indispensable component in potassium-ion hybrid capacitors,which not only provides mechanical support to load electrode materials,but also collects and outputs the current generated.Herein,we investigate the effect of three different current collectors on the electrochemical properties of potassium ion capacitors using carbon black anode as a demonstration.Because of better adhesion and lower charge transfer resistance,the specific capacity of half-cells assembled using three-dimensional(3D)porous copper foil(PCu)and copper as current collector is better than that of Al foil,which stabilizes at 138.2 and 132.8 mAh·g^(-1)after 100 cycles at 0.05 A·g^(-1).The potassium-ion capacitor assembled using PCu exhibits an excellent energy/power density of 86.1 Wh·kg^(-1)and 4000 W·kg^(-1),respectively.This work will boost the rational design and provide an effective strategy to improve the performance of potassium-ion capacitors.展开更多
基金This work is supported by National Natural Science Foundation of China under Grant No.41574069The Major National Projects of China under Grant No.GFZX0301040303.
文摘Nonlinear initial alignment is a significant research topic for strapdown inertial navigation system(SINS).Cubature Kalman filter(CKF)is a popular tool for nonlinear initial alignment.Standard CKF assumes that the statics of the observation noise are pre-given before the filtering process.Therefore,any unpredicted outliers in observation noise will decrease the stability of the filter.In view of this problem,improved CKF method with robustness is proposed.Multiple fading factors are introduced to rescale the observation noise covariance.Then the update stage of the filter can be autonomously tuned,and if there are outliers exist in the observations,the update should be less weighted.Under the Gaussian assumption of KF,the Mahalanobis distance of the innovation vector is supposed to be Chi-square distributed.Therefore a judging index based on Chi-square test is designed to detect the noise outliers,determining whether the fading tune are required.The proposed method is applied in the nonlinear alignment of SINS,and vehicle experiment proves the effective of the proposed method.
基金financially supported by the National Key Research and Development Program of China(No.2017YFE0198100)the National Natural Science Foundation of China(Nos.52072145 and 51802111)+4 种基金the Research Program on Science and Technology from the Education Department of Jilin Province(Nos.JJKH20220439KJ and JJKH20210450KJ)Jilin Talent Development Funding(No.2021Y027)the Funding of Jilin Province Development and Reform Commission(No.2020C026-2)Special Projects of the Central Government in Guidance of Local Science and Technology Development(No.202002017JC)Funding of JLNU Innovation Program for Graduate Education(No.202016)。
文摘The current collector is an indispensable component in potassium-ion hybrid capacitors,which not only provides mechanical support to load electrode materials,but also collects and outputs the current generated.Herein,we investigate the effect of three different current collectors on the electrochemical properties of potassium ion capacitors using carbon black anode as a demonstration.Because of better adhesion and lower charge transfer resistance,the specific capacity of half-cells assembled using three-dimensional(3D)porous copper foil(PCu)and copper as current collector is better than that of Al foil,which stabilizes at 138.2 and 132.8 mAh·g^(-1)after 100 cycles at 0.05 A·g^(-1).The potassium-ion capacitor assembled using PCu exhibits an excellent energy/power density of 86.1 Wh·kg^(-1)and 4000 W·kg^(-1),respectively.This work will boost the rational design and provide an effective strategy to improve the performance of potassium-ion capacitors.
