Sensor fusion for heading angle estimation based on random forest algorithm

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.

刑事指导性案例中的法律论证

刑事指导性案例既有理论研究主要集中于指导性案例的具体内容、合法性、合理性及类案判断等本体论层面,而之于指导性案例的法律论证结构鲜有涉及。遵循法律论证的基本程序,为了确立对判决结果的理性论辩框架,刑事指导性案例主要从内部证成与外部证成两个维度展开。具体而言,刑事指导性案例的内部证成主要基于罪刑法定原则和形式逻辑的有效性展开,而外部证成主要着眼于刑事裁判的融贯性以及后果论证展开。考察刑事指导性案例在司法判决中的论证结构,对合理认识刑事指导性案例论证价值和发生机制等具有重要意义。