To improve the accuracy of the calculation of a heading angle under magnetic interference,magnetometers and inertial measurement units(IMUs)were fused.The observation value of the heading angle was deduced on the basi...To improve the accuracy of the calculation of a heading angle under magnetic interference,magnetometers and inertial measurement units(IMUs)were fused.The observation value of the heading angle was deduced on the basis of the modeling of the magnetometer error and the analysis of the relation of the magnetometer triaxial output and the distribution characteristics of the magnetic field at two adjacent time periods.Meanwhile,the gyro state and angular velocity increment were used as the basis of the IMU to calculate the prediction value of the heading angle.With the changes in the heading angle and environmental interference,a random forest(RF)algorithm was used to iteratively calculate the weights to fuse the observation value of the heading angle based on the magnetometer and the prediction value of the heading angle based on the IMU.The results show that relative to the common sensor fusion method,the proposed sensor fusion method based on the RF algorithm achieved an approximate 60%improvement in heading angle accuracy.Hence,the proposed method can effectively improve the accuracy of the heading angle under magnetic interference by using an RF algorithm to calculate the output weights of the magnetometer and IMU.展开更多
Raman spectra of xLa203-（1-x）TeO2 （x=0, 0.05, 0.10, 0.15, 0.20, and 0.25） lanthanum tellurite glasses were measured and analyzed over the entire glass-forming region in an effort to quantitatively follow the struc...Raman spectra of xLa203-（1-x）TeO2 （x=0, 0.05, 0.10, 0.15, 0.20, and 0.25） lanthanum tellurite glasses were measured and analyzed over the entire glass-forming region in an effort to quantitatively follow the structural changes caused by lanthanum oxide variation. For the first time, systematic intensity measurements have been performed to elucidate the composition induced structural changes in tile high-frequency stretching vibration region and a possible mechanism was proposed. The network structure of the glasses is formed by mixing TeO4 trigonal bipyramid and Te03 trigonal pyramid units. The change of the lanthanum oxide content results in conversion of the TeO4 units to TeO3 units with a varying number of non-bridging oxygen atoms. Analysis of the Raman band contours in terms of vibrations due to different oxygen bridged trigonal bipyramid and trigonal pyramid tellurite structural units, allowed to calculate the relative amounts of the species involved in the structural changes with composition. The fraction of the terminal oxygen atoms has been estimated from the Raman intensities with the aid of a structural model concerning the structure of tellurite network systems. The simulation of the experimental density of lanthanum tellurite glasses with modifier content up to 25% revealed that the short range order building units assumed here are sufficient to account for the overall structure in these glasses.展开更多
Under dynamic conditions, the signals of power system have time-varying magnitude and frequency, which might lead to considerable errors for synchrophasor measurement. The traditional discrete Fourier transform (DFT) ...Under dynamic conditions, the signals of power system have time-varying magnitude and frequency, which might lead to considerable errors for synchrophasor measurement. The traditional discrete Fourier transform (DFT) based algorithms used in Phasor Measurement Unit (PMU) are hard to meet the requirements of measurement accuracy because of the existence of spectral leakage. A dynamic phasor measurement algorithm is proposed in this paper in which the input sampled data are considered as non-stationary signals with amplitude modulation-frequency modulation (AM-FM) form, and the measurement is achieved by AM-FM demodulation. An angle-shifted energy operator (ASEO) is used to extract the instantaneous amplitude and low pass differential filter is introduced for frequency estimation. Simulation results indicate that the proposed algorithm can effectively improve the phasor measurement accuracy and has very short response time for PMU under dynamic conditions.展开更多
基金The National Natural Science Foundation of China(No.51708299).
文摘To improve the accuracy of the calculation of a heading angle under magnetic interference,magnetometers and inertial measurement units(IMUs)were fused.The observation value of the heading angle was deduced on the basis of the modeling of the magnetometer error and the analysis of the relation of the magnetometer triaxial output and the distribution characteristics of the magnetic field at two adjacent time periods.Meanwhile,the gyro state and angular velocity increment were used as the basis of the IMU to calculate the prediction value of the heading angle.With the changes in the heading angle and environmental interference,a random forest(RF)algorithm was used to iteratively calculate the weights to fuse the observation value of the heading angle based on the magnetometer and the prediction value of the heading angle based on the IMU.The results show that relative to the common sensor fusion method,the proposed sensor fusion method based on the RF algorithm achieved an approximate 60%improvement in heading angle accuracy.Hence,the proposed method can effectively improve the accuracy of the heading angle under magnetic interference by using an RF algorithm to calculate the output weights of the magnetometer and IMU.
文摘Raman spectra of xLa203-（1-x）TeO2 （x=0, 0.05, 0.10, 0.15, 0.20, and 0.25） lanthanum tellurite glasses were measured and analyzed over the entire glass-forming region in an effort to quantitatively follow the structural changes caused by lanthanum oxide variation. For the first time, systematic intensity measurements have been performed to elucidate the composition induced structural changes in tile high-frequency stretching vibration region and a possible mechanism was proposed. The network structure of the glasses is formed by mixing TeO4 trigonal bipyramid and Te03 trigonal pyramid units. The change of the lanthanum oxide content results in conversion of the TeO4 units to TeO3 units with a varying number of non-bridging oxygen atoms. Analysis of the Raman band contours in terms of vibrations due to different oxygen bridged trigonal bipyramid and trigonal pyramid tellurite structural units, allowed to calculate the relative amounts of the species involved in the structural changes with composition. The fraction of the terminal oxygen atoms has been estimated from the Raman intensities with the aid of a structural model concerning the structure of tellurite network systems. The simulation of the experimental density of lanthanum tellurite glasses with modifier content up to 25% revealed that the short range order building units assumed here are sufficient to account for the overall structure in these glasses.
基金supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No.20090002110040)
文摘Under dynamic conditions, the signals of power system have time-varying magnitude and frequency, which might lead to considerable errors for synchrophasor measurement. The traditional discrete Fourier transform (DFT) based algorithms used in Phasor Measurement Unit (PMU) are hard to meet the requirements of measurement accuracy because of the existence of spectral leakage. A dynamic phasor measurement algorithm is proposed in this paper in which the input sampled data are considered as non-stationary signals with amplitude modulation-frequency modulation (AM-FM) form, and the measurement is achieved by AM-FM demodulation. An angle-shifted energy operator (ASEO) is used to extract the instantaneous amplitude and low pass differential filter is introduced for frequency estimation. Simulation results indicate that the proposed algorithm can effectively improve the phasor measurement accuracy and has very short response time for PMU under dynamic conditions.
