In the strapdown inertial navigation system,the attitude information is obtained through an inertial measurement unit(IMU)device,which mainly includes a triaxial gyroscope,a triaxial accelerometer and a triaxial magne...In the strapdown inertial navigation system,the attitude information is obtained through an inertial measurement unit(IMU)device,which mainly includes a triaxial gyroscope,a triaxial accelerometer and a triaxial magnetometer.However,IMU sensors have system noise and drift errors,and these errors can accumulate over time,which makes it difficult to control the attitude accuracy.In order to solve the problems of gyro drift over time and random errors generated by the surrounding environment,this paper presents an attitude calculation algorithm based on wavelet neural network-extended Kalman filter(WNN-EKF).The wavelet neural network(WNN)is used to optimize the model and compensate the extended Kalman filter’s own model error.Through the semi-physical simulation experiment,the results show that the algorithm improves the accuracy of attitude calculation and enhances the self-adaptability to the environment.展开更多
The effect of small-world connection and noise on of Hodgkin-Huxley neurons are investigated in detail. Some the formation and transition of spiral wave in the networks interesting results are found in our numerical s...The effect of small-world connection and noise on of Hodgkin-Huxley neurons are investigated in detail. Some the formation and transition of spiral wave in the networks interesting results are found in our numerical studies, i） The quiescent neurons are activated to propagate electric signal to others by generating and developing spiral wave from spiral seed in small area. ii） A statistical factor is defined to describe the collective properties and phase transition induced by the topology of networks and noise, iii） Stable rotating spiral wave can be generated and keeps robust when the rewiring probability is below certain threshold, otherwise, spiral wave can not be developed from the spiral seed and spiral wave breakup occurs for a stable rotating spiral wave. iv） Gaussian white noise is introduced on the membrane of neurons to study the noise-induced phase transition on spiral wave in small-world networks of neurons. It is confirmed that Ganssian white noise plays active role in supporting and developing spiral wave in the networks of neurons, and appearance of smaller factor of synchronization indicates high possibility to induce spiral wave.展开更多
基金National Natural Science Foundation of China(No.61863024)Basic Research Innovation Group Program of Gansu Province(No.1606RJIA327)+2 种基金Higher Education Research Project Funding of Gansu Province(No.2018C-11)Natural Foundation of Gansu Province(No.18JR3RA107)Science and Technology Program Funding of Gansu Province(No.18CX3ZA004)。
文摘In the strapdown inertial navigation system,the attitude information is obtained through an inertial measurement unit(IMU)device,which mainly includes a triaxial gyroscope,a triaxial accelerometer and a triaxial magnetometer.However,IMU sensors have system noise and drift errors,and these errors can accumulate over time,which makes it difficult to control the attitude accuracy.In order to solve the problems of gyro drift over time and random errors generated by the surrounding environment,this paper presents an attitude calculation algorithm based on wavelet neural network-extended Kalman filter(WNN-EKF).The wavelet neural network(WNN)is used to optimize the model and compensate the extended Kalman filter’s own model error.Through the semi-physical simulation experiment,the results show that the algorithm improves the accuracy of attitude calculation and enhances the self-adaptability to the environment.
基金Supported by the Natural Nature Foundation of China under Grant Nos.10747005,10972179the Nature Foundation of Lanzhou University of Technology under Grant No.Q200706
文摘The effect of small-world connection and noise on of Hodgkin-Huxley neurons are investigated in detail. Some the formation and transition of spiral wave in the networks interesting results are found in our numerical studies, i） The quiescent neurons are activated to propagate electric signal to others by generating and developing spiral wave from spiral seed in small area. ii） A statistical factor is defined to describe the collective properties and phase transition induced by the topology of networks and noise, iii） Stable rotating spiral wave can be generated and keeps robust when the rewiring probability is below certain threshold, otherwise, spiral wave can not be developed from the spiral seed and spiral wave breakup occurs for a stable rotating spiral wave. iv） Gaussian white noise is introduced on the membrane of neurons to study the noise-induced phase transition on spiral wave in small-world networks of neurons. It is confirmed that Ganssian white noise plays active role in supporting and developing spiral wave in the networks of neurons, and appearance of smaller factor of synchronization indicates high possibility to induce spiral wave.
