Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.Firs...Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.First of all,the joint posterior distribution of all the terminals＇ positions is represented by factor graph.Because of the nonlinearity between the positions and time-of-arrival（TOA） measurement,messages cannot be obtained in closed forms by directly using the sum-product algorithm on factor graph.To this end,the Euclidean norm is approximated by Taylor expansion.Then,all the messages on the factor graph can be derived in Gaussian forms,which enables the terminals to transmit means and covariances.Finally,the impact of major error sources on the navigation performance are evaluated by Monte Carlo simulations,e.g.,range measurement noise,priors of position uncertainty and velocity noise.Results show that the proposed algorithm outperforms the extended Kalman filter and cooperative extended Kalman filter in both static and mobile scenarios of the JTIDS.展开更多
Propylene was polymerized with a novel supported Ziegler-Natta catalystcontaining 2,2-di-iso-butyl-1,3-dimethoxy-propane (DIBDMP) as internal donor and in theabsence of external donor. The tacticity distribution of po...Propylene was polymerized with a novel supported Ziegler-Natta catalystcontaining 2,2-di-iso-butyl-1,3-dimethoxy-propane (DIBDMP) as internal donor and in theabsence of external donor. The tacticity distribution of polypropylene was obtained by usingtemperature rising elution fractionation (TREF) technique and microstructure of fractionswas studied with ^(13)C-NMR. Compared with the catalyst without electron donor, this cat-alyst gives a considerably narrower tacticity distribution. Fractionation data demonstratethat DIBDMP shows better performance than aromatic diester DNBP (di-n-butyl phtha-late). Chemically inverted propylene units and less stereoblockiness are found in the firstfraction. Possible reasons for these were presented.展开更多
基金supported by the National Natural Science Foundation of China(6120118161471037+1 种基金61571041)the Foundation for the Author of National Excellent Doctoral Dissertation of China(201445)
文摘Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.First of all,the joint posterior distribution of all the terminals＇ positions is represented by factor graph.Because of the nonlinearity between the positions and time-of-arrival（TOA） measurement,messages cannot be obtained in closed forms by directly using the sum-product algorithm on factor graph.To this end,the Euclidean norm is approximated by Taylor expansion.Then,all the messages on the factor graph can be derived in Gaussian forms,which enables the terminals to transmit means and covariances.Finally,the impact of major error sources on the navigation performance are evaluated by Monte Carlo simulations,e.g.,range measurement noise,priors of position uncertainty and velocity noise.Results show that the proposed algorithm outperforms the extended Kalman filter and cooperative extended Kalman filter in both static and mobile scenarios of the JTIDS.
基金This work is supported by the National Natural Science Foundation of China
文摘Propylene was polymerized with a novel supported Ziegler-Natta catalystcontaining 2,2-di-iso-butyl-1,3-dimethoxy-propane (DIBDMP) as internal donor and in theabsence of external donor. The tacticity distribution of polypropylene was obtained by usingtemperature rising elution fractionation (TREF) technique and microstructure of fractionswas studied with ^(13)C-NMR. Compared with the catalyst without electron donor, this cat-alyst gives a considerably narrower tacticity distribution. Fractionation data demonstratethat DIBDMP shows better performance than aromatic diester DNBP (di-n-butyl phtha-late). Chemically inverted propylene units and less stereoblockiness are found in the firstfraction. Possible reasons for these were presented.
