Vision-based target motion estimation based Kalman filtering or least-squares estimators is an important problem in many tasks such as vision-based swarming or vision-based target pursuit.In this paper,we focus on a p...Vision-based target motion estimation based Kalman filtering or least-squares estimators is an important problem in many tasks such as vision-based swarming or vision-based target pursuit.In this paper,we focus on a problem that is very specific yet we believe important.That is,from the vision measurements,we can formulate various measurements.Which and how the measurements should be used?These problems are very fundamental,but we notice that practitioners usually do not pay special attention to them and often make mistakes.Motivated by this,we formulate three pseudo-linear measurements based on the bearing and angle measurements,which are standard vision measurements that can be obtained.Different estimators based on Kalman filtering and least-squares estimation are established and compared based on numerical experiments.It is revealed that correctly analyzing the covariance noises is critical for the Kalman filtering-based estimators.When the variance of the original measurement noise is unknown,the pseudo-linear least-squares estimator that has the smallest magnitude of the transformed noise can be a good choice.展开更多
The deoxyfluorination of carboxylic,sulfonic,phosphinic acids and phosphine oxides is a fundamentally important approach to access acyl fluorides,sulfonyl fluorides and phosphoric fluorides,thus the development of ine...The deoxyfluorination of carboxylic,sulfonic,phosphinic acids and phosphine oxides is a fundamentally important approach to access acyl fluorides,sulfonyl fluorides and phosphoric fluorides,thus the development of inexpensive,stable,easy-to-handle,versatile,and efficient deoxyfluorination reagents is highly desired.Herein,we report the use of potassium salts of perfluoroalkyl ether carboxylic acids(PFECA)featuring CF_(2)0 units as deoxyfluorination reagents,which are generated mainly as by-products in the manufacture of hexafluoropropene oxide(HFPO).The synthesis of acyl fluorides,sulfonyl fluorides and phosphoric fluorides can be realized via carbonic difluoride(COF_(2))generated in situ from thermal degradation of the PFECA salt.展开更多
基金This work was supported by the National Natural Science Foundation of China(82172114)the Anhui Provincial Natural Science Foundation for Distinguished Young Scholars(2108085J37).
文摘Vision-based target motion estimation based Kalman filtering or least-squares estimators is an important problem in many tasks such as vision-based swarming or vision-based target pursuit.In this paper,we focus on a problem that is very specific yet we believe important.That is,from the vision measurements,we can formulate various measurements.Which and how the measurements should be used?These problems are very fundamental,but we notice that practitioners usually do not pay special attention to them and often make mistakes.Motivated by this,we formulate three pseudo-linear measurements based on the bearing and angle measurements,which are standard vision measurements that can be obtained.Different estimators based on Kalman filtering and least-squares estimation are established and compared based on numerical experiments.It is revealed that correctly analyzing the covariance noises is critical for the Kalman filtering-based estimators.When the variance of the original measurement noise is unknown,the pseudo-linear least-squares estimator that has the smallest magnitude of the transformed noise can be a good choice.
基金the National Natural Science Foundation of China(Nos.21737004,21672239,and 21421002)Chinese Academy of Science(KF-STS-QYZX-068)is gratefully acknowledged.
文摘The deoxyfluorination of carboxylic,sulfonic,phosphinic acids and phosphine oxides is a fundamentally important approach to access acyl fluorides,sulfonyl fluorides and phosphoric fluorides,thus the development of inexpensive,stable,easy-to-handle,versatile,and efficient deoxyfluorination reagents is highly desired.Herein,we report the use of potassium salts of perfluoroalkyl ether carboxylic acids(PFECA)featuring CF_(2)0 units as deoxyfluorination reagents,which are generated mainly as by-products in the manufacture of hexafluoropropene oxide(HFPO).The synthesis of acyl fluorides,sulfonyl fluorides and phosphoric fluorides can be realized via carbonic difluoride(COF_(2))generated in situ from thermal degradation of the PFECA salt.
