状态变换扩展卡尔曼平滑算法在AUV水下航迹修正中的应用

水下自主潜航器(AUV)在水下勘测过程中常采用定期上浮的方式利用卫星定位信息(GNSS)校正惯性/多普勒测速仪(SINS/DVL)组合导航造成的位置误差,并通过平滑算法校正之前计算的水下航迹。针对AUV上浮前的水下航迹矫正问题,提出一种基于计算地理坐标系的状态变换扩展卡尔曼平滑算法(STEKF-RTS)。首先推导状态变换扩展卡尔曼滤波器的系统误差状态方程,并分别以GNSS信息和DVL速度为观测信息构建量测方程,以此系统模型进行前向滤波。完成前向滤波后,即潜航器上浮GNSS校正完成后,采用RTS平滑算法对水下航行阶段的航迹进行修正。实验结果表明,STEKF相较于EKF能减缓位置误差积累,STEKF-RTS相比EKF-RTS平滑算法能够进一步有效校正航线误差,1 h上浮时间间隔情况下,勘测航迹精度可控制在0.5%D以内。     

Second-order random wave solutions for interfacial internal waves in N-layer density-stratified fluid

This paper studies the random internal wave equations describing the density interface displacements and the velocity potentials of N-layer stratified fluid contained between two rigid walls at the top and bottom. The density interface displacements and the velocity potentials were solved to the second-order by an expansion approach used by Longuet-Higgins （1963） and Dean （1979） in the study of random surface waves and by Song （2004） in the study of second- order random wave solutions for internal waves in a two-layer fluid. The obtained results indicate that the first-order solutions are a linear superposition of many wave components with different amplitudes, wave numbers and frequencies, and that the amplitudes of first-order wave components with the same wave numbers and frequencies between the adjacent density interfaces are modulated by each other. They also show that the second-order solutions consist of two parts： the first one is the first-order solutions, and the second one is the solutions of the second-order asymptotic equations, which describe the second-order nonlinear modification and the second-order wave-wave interactions not only among the wave components on same density interfaces but also among the wave components between the adjacent density interfaces. Both the first-order and second-order solutions depend on the density and depth of each layer. It is also deduced that the results of the present work include those derived by Song （2004） for second-order random wave solutions for internal waves in a two-layer fluid as a particular case.     

事后分层方法及其在交通运输抽样调查中的应用

本文介绍事后分层技术，说明了它不仅可用于简单随机抽样，而且可以用于放回ＰＰＳ抽样。给出了事后分层估计量的形式，证明了它的无编性，并给出了它在交通运输抽样调查中的应用。     

K—半分层空间是闭映射的不变量

本文证明了：若Ｘ是Ｋ－半分层空间，ｆ是闭映射，则ｆ（Ｘ）是Ｋ－半分层空间，这一结果推广改进了Ｌｕｔｚｅｒ与高国士的有关结果。     

APON系统ONT中AAL5CPCS子层的实现

本文介绍了APON的系统结构和网络分层，并根据AAL5 CPCS子层实现的功能及DSP的优良特性，给出了APON系统ONT中AAL5公共会聚子层的一种实现方案，即应用DSP实现CPCS子层的各项功能。     

连续调查的整群抽样

本文讨论了连续调查中应用普查方法时的整群抽样和分层整群抽样。     

条形装箱问题的优化模型和增广Lagrange算法

This paper formulates a two-dimensional strip packing problem as a non-linear programming(NLP)problem and establishes the first-order optimality con-ditions for the NLP problem.A numerical algorithm for solving this NLP problemis given to find exact solutions to strip-packing problems involving up to 10 items.Approximate solutions can be found for big-sized problems by decomposing the setof items into small-sized blocks of which each block adopts the proposed numericalalgorithm.Numerical results show that the approximate solutions to big-sized prob-lems obtained by this method are superior to those by NFDH,FFDH and BFDHapproaches.     

非均匀散射层矢量辐射传输(VRT)方程高阶散射解的迭代法

将散射介质层在z轴方向划分成薄层，用薄层的一阶散射强度、Fourier变换和迭代方法求解散射介质整层的矢量辐射传输(VRT)方程的高阶散射解.该方法将一阶散射与高阶散射迭代结合起来，计算公式简明，可计算高阶迭代解，计算时间少.计算结果与一层均匀散射介质的VRT方程一阶Mueller矩阵解、半空间均匀散射介质二阶Mueller矩阵解、以及离散坐标-特征值特征矢量法的VRT热辐射的数值解作了全面的比较.提出并讨论了非均匀散射层主动与被动VRT方程的高阶解.本计算程序可以通用于非球形粒子多层结构及非均匀介质的散射和热辐射计算. 关键词： VRT方程 分层 迭代解     

Laboratory Studies of the Stratified Rotating Flow Passing over an Isolated Obstacle

We study the flow of a density-stratified fluid passing over an isolated obstacle,using towing-tank experiments.Our special concern is the response of the flow with different Froude numbers passing over a three-dimensional obstacle.A series of experiments of the stratified rotating flow passing over an isolated obstacle was carried out with the towering -tank controlled by the similarity laws and dynamic non-dimension parameters.These experiments show that the Froude number is a very important parameter,and the lee wave and the eddy structure experiments show that the Froude number is a very important parameter,and the lee wave and the eddy structure appear simultaneously under an appropriate conditions.The effect of rotation on the lee wave is mainly to change wave amplitude,particularly to restrain the development of the lee wave and to promote the formation of an eddy.