The uncertainty of observers＇ positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in ...The uncertainty of observers＇ positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in source localization to reduce the errors of the observer positions and improve the accuracy of the source localization. The relative distance measurements of the two coordinative observers are used for the linear minimum mean square error （LMMSE） estimator. The results of computer si-mulations prove the feasibility and effectiveness of the proposed method. With the general estimation errors of observers＇ positions, the MSE of the source localization with self-location calibration, which is significantly lower than that without self-location calibra-tion, is approximating to the Cramer-Rao lower bound （CRLB）.展开更多
To identify the endemic error of the precise point positioning which cannot be weakened or eliminated in precise point positioning (PPP) zero-difference model, the 24 h observation data acquired from CHAN station on O...To identify the endemic error of the precise point positioning which cannot be weakened or eliminated in precise point positioning (PPP) zero-difference model, the 24 h observation data acquired from CHAN station on Oct 31st, 2010, were adopted for analyses, different correction models of various errors were discussed and their influences on traditional zero-difference model were analyzed. The results show that the errors cannot be ignored. They must be corrected with suitable models and estimated with auxiliary parameters. The influence magnitudes of all errors are defined, and the results have guiding significance to improve the accuracy of precise point positioning zero-difference model.展开更多
The position synthesis of planar linkages is to locate the center point of the moving joint on a rigid link, whose trajectory is a circle or a straight line. Utilizing the min-max optimization scheme, the fitting curv...The position synthesis of planar linkages is to locate the center point of the moving joint on a rigid link, whose trajectory is a circle or a straight line. Utilizing the min-max optimization scheme, the fitting curve needs to minimize the maximum fitting error to acquire the dimension of a planar binary P-R link. Based on the saddle point programming, the fitting straight line is determined to the planar discrete point-path traced by the point of the rigid body in planar motion. The property and evolution of the defined saddle line error can be revealed from three given separate points. A quartic algebraic equation relating the fitting error and the coordinates is derived, which agrees with the classical theory. The effect of the fourth point is discussed in three cases through the constraint equations. The multi-position saddle line error is obtained by combination and comparison from the saddle point programming. Several examples are presented to illustrate the solution process for the saddle line error of the moving plane. The saddle line error surface and the contour map presented to show the variations of the fitting error in the fixed frame. The discrete kinematic geometry is then set up to disclose the relations of the separate positions of the rigid body, the location of the tracing point on the moving body, and the position and orientation of the saddle line to the point-path. This paper presents a new analytic geometry method for saddle line fitting and provides a theoretical foundation for position synthesis.展开更多
This paper focus on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle. The method of dealing with the systematic error based on a sem...This paper focus on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle. The method of dealing with the systematic error based on a semi-parametric adjustment model was proposed. Firstly, the influence of sound velocity change on ranging error is analyzed. Secondly, a semi-parametric adjustment model for determining three-dimensional coordinates of seafloor control points was established. And respectively proposed solutions under two different conditions, the observation duration is an integral multiple or non-integer multiple of the long-period term of the ranging error. The simulation experiment shows that this method can obviously improve the accuracy of vertical solution of seafloor control point compared with the difference technique and the least-squares method when internal waves exist and observation duration is less than an integer multiple of the long-period term of the ranging error.展开更多
To determine the distribution of positional error of a line segment, Monte Carlo approach is applied to simulate the probability density function of a line segment with the assumption that the error of endpoints in a ...To determine the distribution of positional error of a line segment, Monte Carlo approach is applied to simulate the probability density function of a line segment with the assumption that the error of endpoints in a line segment follows a two-dimensional normal distribution. For such purpose, a stochastic generator used for uncertain endpoints with the two-dimensional normal distribution is presented. This forms the basis of the generation of random line segment for the simulation of the error model of a whole line segment. The error models cover the cases where two endpoints are either independent or dependent to each other, also including a special case that the distance between two random endpoints in a line segment is close enough.展开更多
Traditional cubature Kalman filter(CKF)is a preferable tool for the inertial navigation system(INS)/global positioning system(GPS)integration under Gaussian noises.The CKF,however,may provide a significantly biased es...Traditional cubature Kalman filter(CKF)is a preferable tool for the inertial navigation system(INS)/global positioning system(GPS)integration under Gaussian noises.The CKF,however,may provide a significantly biased estimate when the INS/GPS system suffers from complex non-Gaussian disturbances.To address this issue,a robust nonlinear Kalman filter referred to as cubature Kalman filter under minimum error entropy with fiducial points(MEEF-CKF)is proposed.The MEEF-CKF behaves a strong robustness against complex nonGaussian noises by operating several major steps,i.e.,regression model construction,robust state estimation and free parameters optimization.More concretely,a regression model is constructed with the consideration of residual error caused by linearizing a nonlinear function at the first step.The MEEF-CKF is then developed by solving an optimization problem based on minimum error entropy with fiducial points(MEEF)under the framework of the regression model.In the MEEF-CKF,a novel optimization approach is provided for the purpose of determining free parameters adaptively.In addition,the computational complexity and convergence analyses of the MEEF-CKF are conducted for demonstrating the calculational burden and convergence characteristic.The enhanced robustness of the MEEF-CKF is demonstrated by Monte Carlo simulations on the application of a target tracking with INS/GPS integration under complex nonGaussian noises.展开更多
The present study aims to analyze the shift in shoreline due to coastal processes and formulate available for best estimate of future shoreline positions based on precedent shorelines. Information on rates and trends ...The present study aims to analyze the shift in shoreline due to coastal processes and formulate available for best estimate of future shoreline positions based on precedent shorelines. Information on rates and trends of shoreline change can be used to improve the understanding of the underlying causes and potential effects of coastal erosion which can support informed coastal management decisions. In this paper, researchers go over the changes in the recent positions of the shoreline of the Balasore coast for the 38 years from 1975 through 2013. The study area includes the Balasore coastal region from Rasalpur to Udaypur together with Chandipur, Choumukh, Chandrabali as well as Bichitrapur. Transects wise shoreline data base were developed for approximately 67 kilometers of shoreline and erosional/accretional scenario has also been analysed by delineating the shoreline from Landsat imageries of 1975, 1980, 1990, 1995, 2000, 2005, 2010 and 2013. A simple Linear Regression Model and End Point Rate (EPR) have been adopted to take out the rate of change of shoreline and its future positions, based on empirical observations at 67 transects along the Balasore coast. It is found that the north eastern part of Balasore coast in the vicinity of Subarnarekha estuary and Chandrabali beach undergo high rates of shore line shift. The shoreline data were integrated for long- (about 17 years) and short-term (about 7 years) shift rates analysis to comprehend the shoreline change and prediction. For the prediction of future shoreline, the model has been validated with the present shoreline position (2013). The rate of shoreline movement calculated from the fixed base line to shoreline position of 1975, 1980, 1990, 1995, 2000, 2005 and 2010 and based on this, the estimated shoreline of 2013 was calculated. The estimated shoreline was compared with the actual shoreline delineated from satellite imagery of 2013. The model error or positional shift at each sample point is observed. The positional error varies from??4.82 m to 212.41 m. It has been found that model prediction error is higher in the left hand side of river Subarnarekha. The overall error for the entire predicted shoreline was found to be 41.88 m by Root Mean Square Error (RMSE). In addition, it was tested by means difference between actual and predicted shoreline positions using “t” test and it has been found that predicted shore line is not significantly different from actual shoreline position at (t132 = 0.278) p < 0.01.展开更多
Analyzed the relation between time delay difference and time delay estimation errors, based on the principles of three-point locating, a reformed threshold method for time delay difference estimation of impulse signal...Analyzed the relation between time delay difference and time delay estimation errors, based on the principles of three-point locating, a reformed threshold method for time delay difference estimation of impulse signals, called as amendment estimation for short, is developed by introducing channel equalization technique to its conventional version, named as direct estimation in this paper, to improve the estimation stability. After inherent relationship between time delay and phase shift of signals is analyzed, an integer period error compensation method utilized the diversities of both contribution share and contribution mode of concerned estimates is proposed under the condition of high precision phase lag estimation. Finally, a cooperative multi-threshold estimation method composed of amendment and direct estimations to process impulse signals with three thresholds is established. In sea trials data tests of passive locating, this method improves the estimation precision of time delay difference efficiently. The experiments verify the theoretical predictions.展开更多
Although the Cramer-Rao Bound(CRB) can be used as the benchmark of estimation algorithm performance,it's too complicated for joint training sequence(TS) design for multiple input multiple output(MIMO) orthogonal f...Although the Cramer-Rao Bound(CRB) can be used as the benchmark of estimation algorithm performance,it's too complicated for joint training sequence(TS) design for multiple input multiple output(MIMO) orthogonal frequency division multiplexing(OFDM) coordination on multiple point(CoMP) systems.So a minimum mean square error(MSE) based sub-optimal sequence design criterion was proposed,including ideal sequence correlation property and sequence length constraint.The simulation results verify the theory analysis.展开更多
基金supported by the Fundamental Research Funds for the Central Universities(ZYGX2009J016)
文摘The uncertainty of observers＇ positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in source localization to reduce the errors of the observer positions and improve the accuracy of the source localization. The relative distance measurements of the two coordinative observers are used for the linear minimum mean square error （LMMSE） estimator. The results of computer si-mulations prove the feasibility and effectiveness of the proposed method. With the general estimation errors of observers＇ positions, the MSE of the source localization with self-location calibration, which is significantly lower than that without self-location calibra-tion, is approximating to the Cramer-Rao lower bound （CRLB）.
基金Project(20060417004)supported by the PhD Programs Foundation of Ministry of Education of ChinaProject(2009S049)supported by the Liaoning Province University Research Program,China
文摘To identify the endemic error of the precise point positioning which cannot be weakened or eliminated in precise point positioning (PPP) zero-difference model, the 24 h observation data acquired from CHAN station on Oct 31st, 2010, were adopted for analyses, different correction models of various errors were discussed and their influences on traditional zero-difference model were analyzed. The results show that the errors cannot be ignored. They must be corrected with suitable models and estimated with auxiliary parameters. The influence magnitudes of all errors are defined, and the results have guiding significance to improve the accuracy of precise point positioning zero-difference model.
基金Supported by National Natural Science Foundation of China(Grant No.51275067)
文摘The position synthesis of planar linkages is to locate the center point of the moving joint on a rigid link, whose trajectory is a circle or a straight line. Utilizing the min-max optimization scheme, the fitting curve needs to minimize the maximum fitting error to acquire the dimension of a planar binary P-R link. Based on the saddle point programming, the fitting straight line is determined to the planar discrete point-path traced by the point of the rigid body in planar motion. The property and evolution of the defined saddle line error can be revealed from three given separate points. A quartic algebraic equation relating the fitting error and the coordinates is derived, which agrees with the classical theory. The effect of the fourth point is discussed in three cases through the constraint equations. The multi-position saddle line error is obtained by combination and comparison from the saddle point programming. Several examples are presented to illustrate the solution process for the saddle line error of the moving plane. The saddle line error surface and the contour map presented to show the variations of the fitting error in the fixed frame. The discrete kinematic geometry is then set up to disclose the relations of the separate positions of the rigid body, the location of the tracing point on the moving body, and the position and orientation of the saddle line to the point-path. This paper presents a new analytic geometry method for saddle line fitting and provides a theoretical foundation for position synthesis.
基金The National Key Research and Development Program of China(No.2016YFB0501701)The National High-tech Research and Development Program of China(No.2013AA122501)+1 种基金National Natural Science Foundation of China(Nos.4187610341874016)。
文摘This paper focus on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle. The method of dealing with the systematic error based on a semi-parametric adjustment model was proposed. Firstly, the influence of sound velocity change on ranging error is analyzed. Secondly, a semi-parametric adjustment model for determining three-dimensional coordinates of seafloor control points was established. And respectively proposed solutions under two different conditions, the observation duration is an integral multiple or non-integer multiple of the long-period term of the ranging error. The simulation experiment shows that this method can obviously improve the accuracy of vertical solution of seafloor control point compared with the difference technique and the least-squares method when internal waves exist and observation duration is less than an integer multiple of the long-period term of the ranging error.
基金Funded by the National Natural Science Foundation of China (N0. 40501053), the Open Research Fund Program of LIESMARS (No. WKL040304) and theOpen Research Fund Program of Key Laboratory of Geomatics and Digital Technology, Shandong Province (No. SD040201)
文摘To determine the distribution of positional error of a line segment, Monte Carlo approach is applied to simulate the probability density function of a line segment with the assumption that the error of endpoints in a line segment follows a two-dimensional normal distribution. For such purpose, a stochastic generator used for uncertain endpoints with the two-dimensional normal distribution is presented. This forms the basis of the generation of random line segment for the simulation of the error model of a whole line segment. The error models cover the cases where two endpoints are either independent or dependent to each other, also including a special case that the distance between two random endpoints in a line segment is close enough.
基金supported by the Fundamental Research Funds for the Central Universities(xzy022020045)the National Natural Science Foundation of China(61976175)。
文摘Traditional cubature Kalman filter(CKF)is a preferable tool for the inertial navigation system(INS)/global positioning system(GPS)integration under Gaussian noises.The CKF,however,may provide a significantly biased estimate when the INS/GPS system suffers from complex non-Gaussian disturbances.To address this issue,a robust nonlinear Kalman filter referred to as cubature Kalman filter under minimum error entropy with fiducial points(MEEF-CKF)is proposed.The MEEF-CKF behaves a strong robustness against complex nonGaussian noises by operating several major steps,i.e.,regression model construction,robust state estimation and free parameters optimization.More concretely,a regression model is constructed with the consideration of residual error caused by linearizing a nonlinear function at the first step.The MEEF-CKF is then developed by solving an optimization problem based on minimum error entropy with fiducial points(MEEF)under the framework of the regression model.In the MEEF-CKF,a novel optimization approach is provided for the purpose of determining free parameters adaptively.In addition,the computational complexity and convergence analyses of the MEEF-CKF are conducted for demonstrating the calculational burden and convergence characteristic.The enhanced robustness of the MEEF-CKF is demonstrated by Monte Carlo simulations on the application of a target tracking with INS/GPS integration under complex nonGaussian noises.
文摘The present study aims to analyze the shift in shoreline due to coastal processes and formulate available for best estimate of future shoreline positions based on precedent shorelines. Information on rates and trends of shoreline change can be used to improve the understanding of the underlying causes and potential effects of coastal erosion which can support informed coastal management decisions. In this paper, researchers go over the changes in the recent positions of the shoreline of the Balasore coast for the 38 years from 1975 through 2013. The study area includes the Balasore coastal region from Rasalpur to Udaypur together with Chandipur, Choumukh, Chandrabali as well as Bichitrapur. Transects wise shoreline data base were developed for approximately 67 kilometers of shoreline and erosional/accretional scenario has also been analysed by delineating the shoreline from Landsat imageries of 1975, 1980, 1990, 1995, 2000, 2005, 2010 and 2013. A simple Linear Regression Model and End Point Rate (EPR) have been adopted to take out the rate of change of shoreline and its future positions, based on empirical observations at 67 transects along the Balasore coast. It is found that the north eastern part of Balasore coast in the vicinity of Subarnarekha estuary and Chandrabali beach undergo high rates of shore line shift. The shoreline data were integrated for long- (about 17 years) and short-term (about 7 years) shift rates analysis to comprehend the shoreline change and prediction. For the prediction of future shoreline, the model has been validated with the present shoreline position (2013). The rate of shoreline movement calculated from the fixed base line to shoreline position of 1975, 1980, 1990, 1995, 2000, 2005 and 2010 and based on this, the estimated shoreline of 2013 was calculated. The estimated shoreline was compared with the actual shoreline delineated from satellite imagery of 2013. The model error or positional shift at each sample point is observed. The positional error varies from??4.82 m to 212.41 m. It has been found that model prediction error is higher in the left hand side of river Subarnarekha. The overall error for the entire predicted shoreline was found to be 41.88 m by Root Mean Square Error (RMSE). In addition, it was tested by means difference between actual and predicted shoreline positions using “t” test and it has been found that predicted shore line is not significantly different from actual shoreline position at (t132 = 0.278) p < 0.01.
文摘Analyzed the relation between time delay difference and time delay estimation errors, based on the principles of three-point locating, a reformed threshold method for time delay difference estimation of impulse signals, called as amendment estimation for short, is developed by introducing channel equalization technique to its conventional version, named as direct estimation in this paper, to improve the estimation stability. After inherent relationship between time delay and phase shift of signals is analyzed, an integer period error compensation method utilized the diversities of both contribution share and contribution mode of concerned estimates is proposed under the condition of high precision phase lag estimation. Finally, a cooperative multi-threshold estimation method composed of amendment and direct estimations to process impulse signals with three thresholds is established. In sea trials data tests of passive locating, this method improves the estimation precision of time delay difference efficiently. The experiments verify the theoretical predictions.
基金International Science&Technology Cooperation Projects of Qinghai,China(Nos.2013-H-811,2014-HZ-821)Chunhui Plan Projects,China(Nos.Z2014013,Z2014014)
文摘Although the Cramer-Rao Bound(CRB) can be used as the benchmark of estimation algorithm performance,it's too complicated for joint training sequence(TS) design for multiple input multiple output(MIMO) orthogonal frequency division multiplexing(OFDM) coordination on multiple point(CoMP) systems.So a minimum mean square error(MSE) based sub-optimal sequence design criterion was proposed,including ideal sequence correlation property and sequence length constraint.The simulation results verify the theory analysis.
