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Mesh自组网与惯导组合的班组协同定位算法研究 被引量:2
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作者 方针 曹加昇 +6 位作者 崔巍 王汶新 谢宇 路永乐 邹新海 余小柳 刘宇 《压电与声光》 CAS 北大核心 2021年第3期385-390,共6页
采用单一低精度惯性传感终端完成定位解算将导致定位精度发散,定位信息回传覆盖范围小,且传输易受干扰,因此,该文提出了一种Mesh自组网与惯导组合的班组协同定位方法。该方法建立的一种基于线性化卡尔曼滤波的班组协同定位算法模型,以... 采用单一低精度惯性传感终端完成定位解算将导致定位精度发散,定位信息回传覆盖范围小,且传输易受干扰,因此,该文提出了一种Mesh自组网与惯导组合的班组协同定位方法。该方法建立的一种基于线性化卡尔曼滤波的班组协同定位算法模型,以高、低精度惯导组合的班组协同为基础,结合Mesh网络的通信传输功能,可抑制单一低精度惯性传感终端的短期累积误差,提高长航时定位精度。实验结果表明,采用班组协同定位算法,低精度惯性班组人员定位的闭环轨迹误差分别降低3.28%和3.2%,30 min累积定位平均误差分别降低5.82%和6.43%,有效抑制了单一低精度惯性定位成员的短期累积误差,提升了班组整体的定位精度。 展开更多
关键词 惯性定位 协同定位 线性化卡尔曼滤波 距离约束 自组网
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A Homogeneous Linear Estimation Method for System Error in Data Assimilation 被引量:1
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作者 WU Wei WU Zengmao +1 位作者 GAO Shanhong ZHENG Yi 《Journal of Ocean University of China》 SCIE CAS 2013年第3期335-344,共10页
In this paper, a new bias estimation method is proposed and applied in a regional ensemble Kalman filter (EnKF) based on the Weather Research and Forecasting (WRF) Model. The method is based on a homogeneous linea... In this paper, a new bias estimation method is proposed and applied in a regional ensemble Kalman filter (EnKF) based on the Weather Research and Forecasting (WRF) Model. The method is based on a homogeneous linear bias model, and the model bias is estimated using statistics at each assimilation cycle, which is different from the state augmentation methods proposed in pre- vious literatures. The new method provides a good estimation for the model bias of some specific variables, such as sea level pres- sure (SLP). A series of numerical experiments with EnKF are performed to examine the new method under a severe weather condi- tion. Results show the positive effect of the method on the forecasting of circulation pattern and meso-scale systems, and the reduc- tion of analysis errors. The background error covarianee structures of surface variables and the effects of model system bias on EnKF are also studied under the error covariance structures and a new concept 'correlation scale' is introduced. However, the new method needs further evaluation with more cases of assimilation. 展开更多
关键词 model bias estimation data assimilation ensemble Kalman Filter WRF
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