基于联合卡尔曼滤波器的燃料电池传感器故障检测与容错研究

介绍了基于多传感器信息融合技术的联合卡尔曼滤波器的结构和算法,并将此方法运用于燃料电池发动机多传感器的复杂系统中．理论分析与仿真结果表明,该联合卡尔曼滤波器设计合理,其融合算法具有全局最优性,能够有效地对燃料电池发动机传感器的故障进行检测,改善了系统的容错能力和复原能力,提高了系统运行的稳定性．     

一种减小TOA测量距离中NLOS影响的DMS模型和估计算法

有效的滤波方法和多尺度估计是无线定位技术的重要研究方向。为了减小在蜂窝网无线定位中非视距传 播(NLOS)对波达时间(TOA)测量距离的误差影响,先结合NLOS误差特性对标准Kalman滤波进行修正,然后提 出将不同采样率的修正Kalman滤波方程与多个尺度联系起来,建立了一种动态多尺度系统(DMS)模型,并给出基 于Haar小波的实现方法。仿真结果表明,基于上述方法优于直接进行Kalman滤波的效果,能较大幅度地提高 TOA测量距离的精度。     

基于EKF的水下LD通信精对准控制算法

高速激光通信中接收机与光斑中心很难处于精对准状态,导致水下光通信链路难以稳定建立.首先采用蒙特卡洛仿真统计法分析激光光子在海水中传输的接收光强分布规律,再通过实验对接收端的光斑图像进行采样分析,利用曲线拟合得到接收器位置与接收光强的关系.仿真与实验结果表明:光束经过25 m的水下传输,接收光强分布仍近似为高斯分布.采用非线性估计算法(扩展卡尔曼滤波)与基本状态控制反馈理论,根据接收光强度估计接收器当前位置与最大光强处的距离,通过反馈算法实现接收端与光斑中心的主动跟踪对准.算法仿真结果显示,接收端对准误差在2 mm以下,稳定后接收效率超过98%.     

自适应滤波器在微型姿态确定系统中的应用

基于MEMS的IMU由于低成本、体积小和低耗能得到了很广泛的应用.但是,惯性MEMS传感器有很大的噪声、偏差以及刻度误差,由于传统低成本的MEMS传感器使用的捷联算法很难取得令人满意符合性能要求的姿态确定值.利用改进的自适应增益卡尔曼滤波器在随机模式下建立一个小型姿态确定系统.这个改进的滤波器在一个时间变量转移矩阵中有六个状态量,它们分别是:三个姿态倾斜角和三个陀螺偏移误差.滤波器用三个加速度计的测量量和磁罗盘来驱动状态的更新.当系统处于非加速度状态下,加速度计对重力加速度的测量以及磁罗盘对航向的测量很显然可以产生很好的状态估计量;当系统处于高速动态状态并且偏移可以收敛到一个精确估计值时,对姿态的估算就需要很长一段时间.自适应滤波器可以在动态状况下用加速度计自动调整增益产生最佳性能.提供了这种技术的算法,并且对此进行分析,之后给出实验结果.     

卡尔曼滤波光谱法用于化学平衡研究

提出了光谱法与卡尔曼滤波及因子分析相结合的新方法以研究化学平衡,将复杂的化学平衡视为特殊的多组分混合体系,其中各物种在不同介质中存在相互的平衡,卡尔曼滤波及因子分析被用作有效的化学计量学分辨工具,从光谱数据中提取信息,已用于确定所存在的物种数目和浓度以及平衡常数,本文以部分三苯甲烷试剂为例确定其酸碱平衡常数。     

国产滤纸室温燐光背景的考察和降低背景方法的研究

固体基质室温燐光法(SS-RTP)的检出限依赖于固体基质的RTP背景的高低。本文考察了七种国产滤纸在重原子存在时和不存在时的RTP背景。研究了各种降低滤纸背景的处理方法。研究结果表明,采用NaOH、β-环糊精、EDTA、乙醇和丙酮浸泡或煮沸滤纸,都能不同程度的降低滤纸背景,最大降低率为88％。KI、NaAc、Pb(Ac)_2、TlNO_3和Cscl等重原子可使滤纸背景有较大幅度的增强,而经处理的滤纸,RTP背景较未处理滤纸背景降低一倍以上,最大可降低94.5％。用NaOH溶液处理滤纸,不仅能有效地降低背景,而且能提高分析物的RTP信号。研究表明纤维素伴生物质——木素,可能是产生燐光背景的杂质之一。     

Characterization of a Stable Adaptive Calibration Model Using Near-Infrared Spectroscopy and Partial Least Squares with a Kalman Filter

The calibration model of near-infrared (NIR) spectra established using the Kalman filter-partial least square (partial least squares combined with a Kalman filter) method can be adapted to outdated equipment, environmental changes, external samples, and other applications. However, the variance of the measurement noise estimation for NIR spectrum measurements cannot be easily obtained using Kalman filter-partial least squares; therefore, the variance in the measurement noise is often assumed to be zero for the Kalman filter-partial least square calibration model, which affects the stability of the model. In this study, the measured input and output data were used effectively, and the gamma test method for estimating the measurement noise variance was used to improve the stability of the Kalman filter-partial least square calibration model. First, an accurate estimation of the measurement noise variance was obtained, and accurate modeling was then performed using Kalman filter-partial least squares. Finally, 600 abandoned drilling fluid samples were used to confirm the validity of the proposed method. The Kalman filter-partial least square and gamma test-Kalman filter-partial least square methods are compared. Testing of external samples 401–600 demonstrated that the stability of the Kalman filter-partial least square model decreased. The root mean square error of the prediction of the Kalman filter-partial least square model was 27.135, which was worse than that of the gamma test-Kalman filter-partial least square model (20.307). The validation results show that the proposed method has better stability in tracking the evolution of the NIR spectrometer’s measurement state.     

潜艇侧推无位置传感器永磁同步电机控制系统

为满足潜艇侧推系统快速启动性和高可靠性要求,解决机械传感器的海水密封问题,研究了扩展卡尔曼滤波器无位置传感器永磁同步电动机控制系统,建立了标幺制下的EKF位置和转速估算模型,使应用扩展卡尔曼滤波器估算电机位置和转速时,矩阵的参数不依赖于电机参数,具有更广范围的适用性,降低了使用难度.针对电机初始位置误差造成EKF估算失败的问题提出了一种修正方法,仿真和实验证明了该方法的有效性.     

Multi-Model Communication and Data Assimilation for Mitigating Model Error and Improving Forecasts

Models for weather and climate prediction are complex, and each model typi-cally has at least a small number of phenomena that are poorly represented, such as perhaps the Madden-Julian Oscillation (MJO for short) or El Ni\~{n}o-Southern Oscillation (ENSO for short) or sea ice. Furthermore, it is often a very challenging task to modify and improve a complex model without creating new deficiencies. On the other hand, it is sometimes possible to design a low-dimensional model for a particular phenomenon, such as the MJO or ENSO, with significant skill, although the model may not represent the dynamics of the full weather-climate system. Here a strategy is proposed to mitigate these model errors by taking advantage of each model''s strengths. The strategy involves inter-model data assimilation, during a forecast simulation, whereby models can exchange information in order to obtain more faithful representations of the full weather-climate system. As an initial investigation, the method is examined here using a simplified scenario of linear models, involving a system of stochastic partial differential equations (SPDEs for short) as an imperfect tropical climate model and stochastic differential equations (SDEs for short) as a low-dimensional model for the MJO. It is shown that the MJO prediction skill of the imperfect climate model can be enhanced to equal the predictive skill of the low-dimensional model. Such an approach could provide a route to improving global model forecasts in a minimally invasive way, with modifications to the prediction system but without modifying the complex global physical model itself.     

光纤陀螺随机误差的滤波方案的探讨

范跃祖，宁文如，刘剑．光纤陀螺随机误差的滤波方案的探讨．数理统计与管理，１９９７，１６（４），２９～３２．光纤陀螺是新一代的光学陀螺仪，它的性能决定着惯性参照系统的精度。光纤陀螺的误差分为两大类。一类是有规律的，另一类是随机的。本文提出了两种新的用于光纤陀螺随机误差补偿的Ｋａｌｍａｎ滤波方案，考虑了两种随机模型：（Ⅰ）角速度变化为等随机的；（Ⅱ）角速度变化为等随机加速的。仿真结果表明，第二种方案对噪声起到了很好的抑制作用和滤波效果