顾及时间相关噪声的单频GPS精密单点定位

扩展Kalman滤波(EKF)常常被用于单频GPS精密单点定位。Kalman滤波的前提假设之一是观测噪声为白噪声,即时间不相关,这在实践中往往不能满足。因为单频GPS观测值中包含有很难被完全消除的电离层、对流层等大气折射误差,以及多路径影响误差。这些误差在时间上是相关的,严重地影响了滤波解的精度和收敛时间。这里提出一种顾及时间相关噪声的Kalman滤波,在移动窗口内,利用核估计预测时间相关噪声的系统部分,进而实时修正当前历元的观测值和观测向量的协方差矩阵。该方法还有一个明显的优点就是,在滤波过程中不需要对时间相关误差做任何假设。最后通过一个实测算例验证了该算法的适用性。

带时间相关乘性噪声多传感器系统的分布式融合估计

研究带时间相关乘性噪声多传感器系统的分布式融合估计问题,其中时间相关的乘性噪声满足一阶高斯-马尔科夫过程.通过引入虚拟状态和虚拟过程噪声,构建了虚拟状态的递推方程.首先,基于新息分析方法,分别对系统状态和虚拟状态设计局部一步预报器.然后,基于一步预报器设计状态的局部线性滤波器、多步预报器和平滑器.推导了任意两个局部状态估计误差之间的互协方差矩阵.接着,基于线性最小方差意义下的矩阵加权、对角矩阵加权和标量加权融合算法,给出相应的分布式融合状态估值器.最后,分析算法的稳定性.仿真研究验证了该算法的有效性.

考虑时间相关噪声的火星捕获段天文组合导航

针对火星捕获段高精度实时自主导航的需求,提出一种以火星及太阳为导航目标源的天文光学图像测角和天文光谱测速的组合自主导航滤波方法。针对天文组合导航系统中测量信息包含时间相关测量噪声的问题,首先分析时间相关噪声对状态估计过程的影响,然后建立考虑时间相关噪声的状态方程和量测方程,并分析和推导了改进的卡尔曼滤波器方程。仿真结果显示,同传统方法相比,所提出的滤波方法可将导航精度提高一个数量级,对火星探测器捕获段实时高精度自主导航具有一定的参考意义。

时间相关噪声条件下的捷联惯导/星敏感器组合导航方法

针对星敏感器测量信息含有时间相关测量噪声和振动环境下惯性传感器带来的时间相关系统噪声问题,在不增加滤波维数的基础上,提出了一种基于改进卡尔曼滤波的捷联惯导/星敏感器组合导航方法。分析了时间相关噪声对状态估计的影响,构建了基于时间相关噪声模型下的状态方程和量测方程,详细推导了改进卡尔曼滤波方程,给出了组合导航方法。利用仿真对所提方法进行了验证,仿真结果表明,组合导航方法取得了400 m/1200 s的导航精度;在时间相关噪声条件下,与标准卡尔曼滤波相比,基于改进卡尔曼滤波的组合导航方法定位精度提高了50 m,是有效可行的。

基于自相关算法的超低噪声CMOS相机设计研究

根据CMOS探测器噪声的特点,针对传统降噪方法较难去除的时间相关噪声提出了一种降噪的新算法。对算法进行了原理分析,介绍了该算法基于FPGA硬件实现的新方法。最后,通过实验结果,对该算法的效果进行了评价。

基于误差时间特性的INS/GNSS观测噪声方差在线计算方法

基于INS、GNSS不同误差时间特性,提出了一种组合导航闭环校正下GNSS观测噪声方差阵在线计算方法。该方法的核心是根据惯性导航的短时高精度和GNSS测量噪声的时间不相关性,利用滑动时间窗口内的INS、GNSS增量样本数据之差进行方差统计。结合某次实际飞行数据验证了这种思路的可行性;并利用一组飞行仿真数据验证了该方法对GNSS观测噪声发生变化时能较好的跟踪,且得到更为准确的速度、位置估计值。

虫口模型中的关联色噪声

研究了乘性色噪声和加性白噪声之间的耦合为色噪声时虫口模型的动力学行为.在噪声相关时间不同和噪声间耦合不同的情况下求出了系统的有效本征值λeff和强度相关时间Tc.结果表明,噪声的有色性和噪声之间的耦合对虫口模型的涨落有重要的影响.

微型无人直升机姿态测量系统设计与实现

为补偿载体运动加速度对基于加速度计和磁传感器的低成本姿态测量系统造成的影响,将GPS速度差分得到的运动加速度信号引入到比力矢量观测方程.通过构建线性虚拟观测方程,将带观测滞后的非线性系统滤波问题转换成带时间相关测量噪声与状态相关噪声的线性系统滤波问题,同时给出了相应的线性Kalman滤波算法并将该算法应用于微型无人直升机的姿态测量系统.实验结果表明,该姿态测量系统可有效减小运动加速度的影响,显著提高机动环境下无人直升机飞行姿态的测量精度.

Effects of Colored Noise on Periodic Orbits in a One-Dimensional Map

Noise can induce inverse period-doubling transition and chaos. The effects of the colored noise on periodic orbits, of the different periodic sequences in the logistic map, are investigated. It is found that the dynamical behaviors of the orbits, induced by an exponentially correlated colored noise, are different in the mergence of transition, and the effects of the noise intensity on their dynamical behaviors are different from the effects of the correlation time of noise. Remarkably, the noise can induce new periodic orbits, namely, two new orbits emerge in the period-four sequence at the bifurcation parameter value μ = 3.5, four new orbits in the period-eight sequence at μ= 3.55, and three new orbits in the period-six sequence at μ = 3.846, respectively. Moreover, the dynamical behaviors of the new orbits clearly show the resonancelike response to the colored noise.

Entropic Resonant Activation and Stochastic Resonance Driven by Non-Gaussian Noise

The transition rate and stochastic resonance （SR） of a Brownian particle moving in a confined system under the presence of entropic barriers are investigated when the system is driven by non-Gaussian noise. The explicit expressions of the transition rate and the speetrai power amplification （SPA） are obtained, respectively. The effects of the parameter q indicating the departure from the Ganssian noise and the correlation time T of the non-Gaussian noise on the transition rate and the SPA are discussed. Research results show that： （i） The transition rate as a function of the noise strength exhibits a maximum. This maximum for transition rate identifies the phenomenon of entropie resonant activation （ERA）, the parameter q and the noise correlation time T weaken the ERA of the system; （ii） The curves of SPA appear a transition from one peak to double-peak, and then to one peak again as the noise correlation time T of non-Gaussian noise increases.

Extinction Time of a Metapopulation Driven by Colored Correlated Noises

The simplified incidence function model which is driven by the colored correlated noises is employed to investigate the extinction time of a metapopulation perturbed by environments. The approximate Fokker-Planck Equation and the mean first passage time which denotes the extinction time （Tex） are obtained by virtue of the Novikov theorem and the Fox approach. After introducing a noise intensity ratio and a dimensionless parameter R = D /α （D and a are the multiplicative and additive colored noise intensities respectively）, and then performing numerical computations, the results indicate that： （i） The absolute value of correlation strength A and its correlation time τ3 play opposite roles on the Tex; （ii） For the case of 0 〈λ〈 1,α and its correlation time τ2 play opposite roles on the Tex in which R〉 1 is the best condition, and there is one-peak structure on the Tex - D plot; （iii） For the case of-1 〈 λ≤ 0, D and its correlation time τ1 play opposite roles on the Tex in which R 〈 1 is the best condition and there is one-peak structure on the Tex - τ2 plot.

Processing Seismic Ambient Noise Data to Obtain Reliable Surface Wave Dispersion Measurements

Ambient noise tomography is a rapidly emerging field of seismological research. This paper presents the current status of ambient noise data processing and its development history over the past several years, with the intention to explain and justify this development through salient examples. The ambient noise data processing procedure can be divided into four principal phases： ① single station data preparation; ② cross- correlation and temporal stacking; ③ measurements of dispersion curves （ performed with frequency-time analysis for both group and phase speeds） ; ④ quality control, including SNR analysis and selection of the acceptable measurements. In addition, we provide a specific solution for a better use of the seismic station data to ambient noise study.