在室内导航定位中,射频识别(Radio Frequency Identification,RFID)技术具有信号穿透性强、成本低廉等诸多优点,能够有效代替GPS完成室内组合导航。针对室内惯性导航误差发散和滤波中噪声参数不确定的问题,提出了基于自适应卡尔曼滤波(A...在室内导航定位中,射频识别(Radio Frequency Identification,RFID)技术具有信号穿透性强、成本低廉等诸多优点,能够有效代替GPS完成室内组合导航。针对室内惯性导航误差发散和滤波中噪声参数不确定的问题,提出了基于自适应卡尔曼滤波(Adaptive Kalman Filtering,AKF)的RFID/SINS组合导航系统,通过RFID定位系统抑制惯性导航误差发散,并应用AKF将噪声参数与量测输出参数关联实现实时更新。对AKF和标准卡尔曼滤波(Kalman Filtering,KF)下的RFID/SINS组合导航系统进行了仿真和实验。结果表明,在AKF下组合导航系统平均定位误差降低了10%,位置稳定性提升了7.4%,定位误差保持在0.07 m左右。基于AKF的RFID/SINS组合导航系统能够满足室内高精度定位导航的需求。展开更多
This study aims to investigate the efiect of the mesoscopic characteristics of mineral powder fillers on the rutting resistance of asphalt mortar.Extraction and sieving tests were used to obtain the buton rock asphalt...This study aims to investigate the efiect of the mesoscopic characteristics of mineral powder fillers on the rutting resistance of asphalt mortar.Extraction and sieving tests were used to obtain the buton rock asphalt(BRA)ash with particle size smaller than 0.075 mm,which is consistent with that of the conventional mineral powder.The mesoscopic characteristics of BRA ash and conventional mineral powder were measured by SEM image analysis and the osmotic free pressure water method.Mesoscopic structure models of structural and free asphalts in mortar were obtained.The 70#matrix asphalt was used to prepare two kinds of asphalt mortar with BRA ash and conventional mineral powders fillers.The rutting factor of the two asphalt mortars was tested by dynamic shear test(DSR).Test results show that the ash extracted from BRA has a similar mesoscopic classification with the conventional mineral powder.Still,its fractal dimensions are larger,indicating the particles in BRA ash have more complex shapes and rougher surfaces,which is beneficial for forming structural asphalt and subsequently increasing the rutting factor(G*/sinδ),i e,improving the rutting resistance of the asphalt mortar.展开更多
The performance of a strapdown inertial navigation system(SINS)largely depends on the accuracy and rapidness of the initial alignment.A novel anti-interference self-alignment algorithm by attitude optimization estimat...The performance of a strapdown inertial navigation system(SINS)largely depends on the accuracy and rapidness of the initial alignment.A novel anti-interference self-alignment algorithm by attitude optimization estimation for SINS on a rocking base is presented in this paper.The algorithm transforms the initial alignment into the initial attitude determination problem by using infinite vector observations to remove the angular motions,the SINS alignment is heuristically established as an optimiza-tion problem of finding the minimum eigenvector.In order to further improve the alignment precision,an adaptive recursive weighted least squares(ARWLS)curve fitting algorithm is used to fit the translational motion interference-contaminated reference vectors according to their time domain characteristics.Simulation studies and experimental results favorably demonstrate its rapidness,accuracy and robustness.展开更多
基金Funded by the National Natural Science Foundation of China(No.51978088)。
文摘This study aims to investigate the efiect of the mesoscopic characteristics of mineral powder fillers on the rutting resistance of asphalt mortar.Extraction and sieving tests were used to obtain the buton rock asphalt(BRA)ash with particle size smaller than 0.075 mm,which is consistent with that of the conventional mineral powder.The mesoscopic characteristics of BRA ash and conventional mineral powder were measured by SEM image analysis and the osmotic free pressure water method.Mesoscopic structure models of structural and free asphalts in mortar were obtained.The 70#matrix asphalt was used to prepare two kinds of asphalt mortar with BRA ash and conventional mineral powders fillers.The rutting factor of the two asphalt mortars was tested by dynamic shear test(DSR).Test results show that the ash extracted from BRA has a similar mesoscopic classification with the conventional mineral powder.Still,its fractal dimensions are larger,indicating the particles in BRA ash have more complex shapes and rougher surfaces,which is beneficial for forming structural asphalt and subsequently increasing the rutting factor(G*/sinδ),i e,improving the rutting resistance of the asphalt mortar.
基金supported by the National Natural Science Foundation of China(41174162).
文摘The performance of a strapdown inertial navigation system(SINS)largely depends on the accuracy and rapidness of the initial alignment.A novel anti-interference self-alignment algorithm by attitude optimization estimation for SINS on a rocking base is presented in this paper.The algorithm transforms the initial alignment into the initial attitude determination problem by using infinite vector observations to remove the angular motions,the SINS alignment is heuristically established as an optimiza-tion problem of finding the minimum eigenvector.In order to further improve the alignment precision,an adaptive recursive weighted least squares(ARWLS)curve fitting algorithm is used to fit the translational motion interference-contaminated reference vectors according to their time domain characteristics.Simulation studies and experimental results favorably demonstrate its rapidness,accuracy and robustness.
