相机位姿估计的加速正交迭代算法

面对需要实时计算的相机位姿估计问题,针对经典的广泛应用的正交迭代算法,提出了一种加速正交迭代算法。其关键思想是将每一次迭代过程规整化,从而提炼出每一次迭代的重复计算,若将此重复计算在迭代开始前提前计算,则可以大幅度的减少迭代过程中的计算量,使得每一次迭代的计算复杂度从O(n)降低为O(1)。因此,可以在更短的时间内迭代更多的次数,从而获得更高的精度。进行了对比实验,结果显示本加速算法计算精度更高,速度更快。并通过实验提出了选择稳健n点透视(RPn P)计算初值,再使用加速正交迭代算法进行迭代运算的方法,在控制点不多的情况下,是一种精度接近最大似然估计,计算速度最快的算法。     

Comparison of two-dimensional integration methods for shape reconstruction from gradient data

As a requisite and key step in some gradient-based measurement techniques, the reconstruction of the shape, more generally the scalar potential, from the measured gradient data has been studied for many years. In this work, three types of two-dimensional integration methods are compared under various conditions. The merits and drawbacks of each integration method are consequently revealed to provide suggestions in selection of a proper integration method for a particular application.     

一种新的卫星钟差Kalman滤波噪声协方差估计方法

采用Kalman滤波方法进行钟差参数计算和预报时, 需确定Kalman滤波噪声协方差矩阵. 针对这一问题, 提出了一种新的卫星钟差Kalman滤波噪声协方差估计方法, 通过建立新息的相关函数序列与未知的噪声参数间的线性函数模型, 采用最小二乘法进行噪声参数估计. 采用精密钟差数据进行钟差参数估计和预报分析, 结果表明, 该方法具有较好的收敛性, 并与顾及随机噪声模型的开窗分类因子自适应抗差估计方法进行对比分析, 验证了新方法的正确性和有效性.     

Experimental and four‐component relativistic DFT studies of tungsten carbonyl complexes

We present a theoretical and experimental study of the structure and nuclear magnetic resonance (NMR) parameters of the pentacarbonyltungsten complexes of η¹‐2‐(trimethylstannyl)‐4,5‐dimethylphosphinine, η²‐norbornene, and imidazolidine‐2‐thione. The three complexes have a pseudo‐octahedral molecular structure with the six ligands bonded to the tungsten atom. The η¹‐2‐(trimethylstannyl)‐4,5‐dimethylphosphinine‐pentacarbonyl tungsten complex was synthesized for the first time. For all compounds, we present four‐component relativistic calculations of the NMR parameters at the Dirac–Kohn–Sham density functional level of theory using hybrid functionals. These large‐scale relativistic calculations of NMR chemical shifts and spin–spin coupling constants were compared with available experimental data, either taken from the literature or measured in this work. The inclusion of solvent effects modeled using a conductor‐like screening model was found to improve agreement between the calculated and experimental NMR parameters, and our best estimates for the NMR parameters are generally in good agreement with available experimental results. The present work demonstrates that four‐component relativistic theory has reached a level of maturity that makes it a convenient and accurate tool for modeling and understanding chemical shifts and indirect spin–spin coupling constants of organometallic compounds containing heavy elements, for which conventional non‐relativistic theory breaks down. Copyright © 2015 John Wiley & Sons, Ltd.     

单矢量水听器估计目标方位的方法与实验

为评估基于单矢量水听器的方位估计能力,在黄海海域对矢量水听器进行实验。矢量水听器吊放于接收船尾部,采用平均声强器和复声强器方位估计方法,并提出以概率密度值最大的方位角作为目标方位估计值的具体处理准则,对恒定方向、匀速行驶的目标船方位进行估计,并求出两种方法的方位估计误差。结果表明,水听器布放深度10 m时,对正横距离为0.42 km的航速10 kn的目标船,平均声强器方法的水平方位角估计误差18°,极角估计误差为5°,可以在离目标船最远1.17 km处估计其方位;复声强法的水平方位角估计误差为13°,极角估计误差为8°,可以在离目标船最远2.35 km处估计其方位。在有接收船的噪声干扰情况下,复声强器比平均声强器方法估计的方位更准确,可以对更远处的噪声源进行方位估计。     

多维矢量矩阵变换域的运动矢量估计

为了实现对视频中运动目标的运动矢量估计,建立了多维矢量矩阵变换域运动估计系统,在变换域对运动视频中运动目标形成的多维能量集中平面进行研究。首先,介绍了多维矢量矩阵理论、变换理论以及运动目标在变换域形成能量集中平面的理论推导;然后,采用平面拟合的方法,求取运动矢量的大小;最后,分析对比了几种方法的效果和迭代速度。实验结果表明:多维矢量矩阵变换域的运动平面拟合方法估计的运动矢量精度达到10^-2 pixel,提供了一种变换域运动矢量估计的高精度方法。     

用声信号识别构件模态频率

本文提出一种新的模态分析方法—用声信号识别构件模态频率.传声器不与结构表面接触,消除了附加质量的影响.同时,结合时间序列谱分析法改善并提高了响应谱的精度.     

对"联邦滤波器信息分配系数的优选算法"一文的商榷

介绍了联邦滤波算法和信息分配原理，指出《中国惯性技术学报》第11卷第6期“联邦滤波器信息分配系数的优选算法”一中存在一些问题，说明使用该优选算法进行信息分配，可能使主滤波器方差阵失去正定性；将联邦滤波用于GPS姿态测量，实验表明动态选择信息分配因子，相对于固定信息分配因子的算法并没有明显优势。     

ADAPTIVE MESHLESS METHOD BASED ON LOCAL FIT TECHNOLOGY

An h-adaptive meshless method is proposed in this paper. The error estimation is based on local fit technology, usually confined to Voronoi Cells. The error is achieved by comparison of the computational results with smoothed ones, which are projected with Taylor series. Voronoi Cells are introduced not only for integration of potential energy but also for guidance of refinement.New nodes are placed within those cells with high estimated error. At the end of the paper, two numerical examples with severe stress gradient are analyzed. Through adaptive analysis accurate results are obtained at critical subdomains, which validates the efficiency of the method.     

惯性测量系统中实时估计方法的耦合分析与比较

一本文通过对不同精度惯性系统的仿真，根据不同的载体和应用条件，分别实施考虑通道耦合和不考虑通道耦合的实时卡尔曼滤波估计，得到耦合因素对估计误差影响不大的结论。最后利用改装的俄制и－２１惯性系统在北京郊区的实际跑车数据，分别实施卡尔曼滤波和曲线拟合处理，对其估计误差进行了分析和比较。