一种基于车载信号还原机动车道3D地图的大数据方法

提出一种基于多台行驶中汽车产生数据重建机动车道3D地图的大数据策略.每台在线汽车上的程序实时上传经过优化的汽车3D坐标信息至服务器.优化方法为使用最小二乘法结合卡尔曼滤波器，利用汽车总线信号实时修正汽车的位置，相比GPS信号，经纬度和高度误差均降低50%以上.此外，还使用遗传算法代替卡尔曼滤波器，进一步降低卡尔曼滤波器的经纬度误差达16%.其次，服务器根据来自多台在线汽车上传的数据建立道路表面的3D点云数据库，并使用K-聚类算法进行数据挖掘，可推算出具有多条行车线道路的每条行车线的中心轨迹，以此建立机动车道3D地图.所建立的地图可为汽车能耗优化策略提供数据支持，降低行驶能耗.     

Fiberoptic receiver performance: A tutorial review

A tutorial review of fiberoptic receivers is presented, and their performance analyzed in terms of two quantities: quantum noise, a fundamental limit, and Noise Equivalent Power, or NEP, an engineering parameter. The NEP, a quantity specified by manufacturers as constant, is shown to vary with bandwith (data rate). The exact dependence of NEP on bandwidth is derived for two types of receivers: transimpedance and integrating, in both analog and digital modes. The results are applied to the calculation of the minimum required power for digital and analog receivers operation, and universal curves ofpower vs. bandwidth are presented. It is shown that the NEP specified by manufacturerscan be fitted to these universal curves, from which receiver performance can be predicted.

For tutorial purposes, the treatment is self-contained and many well-known classical results such as signal-to-noise ratio of PCM signals and noise-equivalent circuits are re-derived from fundamental principles.     

Advances in pulsed laser weld monitoring by the statistical analysis of reflected light

This paper describes two new techniques for monitoring the quality of laser welds by statistical analysis of the reflected light signal from the weld surface. The first technique involves an algorithm that analyses the variance of the peak values of the reflected signal as a measure of the stability of the surface during pulsed Nd:YAG laser welding in the heat conduction mode. Kalman filtering is used to separate a useful signal from the background noise. A good correlation between weld disruption and signal fluctuation has been identified. This technique could be used in tandem with the present practice of simply using the peak values of reflected (or emitted) light as an indicator of weld quality. The second technique investigated involves an assessment of the temporal shape of the power distribution of individual reflected pulses in comparison with an average of the results from a high quality weld. Once again a high correlation between a poor signal match and inferior quality welding was discovered, which may pave the way towards a new generation of optical weld monitoring devices.     

Pattern recognition based Kalman filter for indoor localization using TDOA algorithm

In this paper, we will present a motion pattern recognition based Kalman filter (PRKF), and apply it to the time difference of arrival (TDOA) algorithm of indoor localization. The state matrix in Kalman filter (KF) is determined by the motion pattern which the target node is supposed to act, and this will bring new system error if the assumption is not correct. Considering this, we first create three fuzzy sets using three KFs whose state matrix stand for different motion patterns, then linearly combined the memberships of a target node of the fuzzy sets. Finally, simulation results show that the PRKF can enhance the localization accuracy about more than 20%.     

基于弯道自适应强跟踪卡尔曼滤波的侧向坡度估计算法

道路的侧向坡度直接影响车辆侧向运动，侧向坡度估计已成为智能汽车稳定控制系统的关键部分之一。然而，侧向坡度与车身侧倾之间存在耦合，且侧向力估计困难，准确的侧向坡度估计难度较大。为此，提出了一种基于加速度传感器的可拓融合侧向坡度估计算法：首先，提出加速度传感器模型和车辆侧倾模型，采用弯道自适应强跟踪卡尔曼滤波算法（CASTKF）对侧向坡度进行估计；然后，提出基于侧向加速度传感器的直接估计方法，防止CASTKF算法在失去可观性后的错误估计；再后，利用可拓算法对两种模式的估计值进行数据融合；最后，采用硬件在环测试（HIL）验证所提算法的有效性。结果表明，智能汽车的侧向坡度估计中采用CASTKF融合算法具有更高的精度和鲁棒性。     

Pointwise -convergence and -convergence in measure of sequences of functions

Let be an ideal. We say that a sequence of real numbers is -convergent to if for every neighborhood U of y the set of n's satisfying y_nU is in . Basing upon this notion we define pointwise -convergence and -convergence in measure of sequences of measurable functions defined on a measure space with finite measure. We discuss the relationship between these two convergences. In particular we show that for a wide class of ideals including Erdős–Ulam ideals and summable ideals the pointwise -convergence implies the -convergence in measure. We also present examples of very regular ideals such that this implication does not hold.     

卡尔曼滤波-分光光度法同时分析长江和嘉陵江地表水中的微量铜、镉和锌

1-(2-吡啶偶氮)-2-萘酚(PAN)是一种用于测定微量金属离子浓度的显色试剂,利用PAN研究了这种显色剂与微量金属离子Cu2 ,Cd2 和Zn2 形成螯合物的分析条件,即与这三种金属离子形成螯合物的最大吸收光谱性质、pH值影响和螯合反应时间等,并结合卡尔曼滤波算法和可见光度计同时联机的定量测定技术,定量分析了实验室水样、长江和嘉陵江地表水样中微量Cu2 ,Cd2 和Zn2 金属离子的浓度。实验室三种金属离子的定量分析回收率在90.2%~106.2%之间,与长江、嘉陵江国控点例行监测数据的比较则表明:该方法的分析结果具有较好的可比性和可靠性。因此,该方法可以方便和直接应用于实际江河流域金属离子污染水样的定量分析。     

捷联惯导系统中基于卡尔曼滤波的奇异点消除算法

为消除奇异点对大飞艇的姿态解算带来的困扰,提出了一种基于卡尔曼滤波的奇异点消除算法.在构造出的卡尔曼滤波模型基础上,将当前状态变量作为先验估计代入滤波器的时间更新方程中,以便及时投射到测量更新方程,并得到测量更新方程所需的数据;此后,通过测量更新方程来校正先验估计,从而获得此状态的后验估计值,并用该估计值来代替加速度计传感数据中的奇异点,从而达到消除传感数据中奇异点的目的.Matlab实验验证了算法的有效性.结果表明,该算法在没有引入延迟的同时,有效消除了系统中传感器信号的毛刺点.     

Identification of Mixtures of Synthetic Organic Pigments Using UV-VIS Spectrophotometry and Kalman Filtering

Abstract

A Kalman filter is used to determine the number of components and their concentrations in mixtures of synthetic organic pigments. In this way, a quantitative identification of mixtures of these pigments is possible as is shown with a simulated as well a real mixture. The dataset used in the experiments, consisted of as much as 27 candidate pigments.     

Qualitative and Quantitative Analysis of Unresolved Responses In Liquid Chromatoraphy With Fourier Transform Infrared Spectroscopic Detection By Using the Kalman Filter

Abstract

The optimization of chromatographic separations is hindered by difficulties in establishing the identities of components, and by the need to have well-resolved chromatographic peaks for commonly-used methods of quantitation. Full spectra methods, such as Fourier transform infrared spectroscopy, may assist in establishing identities, but are hampered by poor sensitivity. A method is proposed which efficiently reduces the large amounts of spectral data obtained in such cases, and enhances signal-to-noise ratios to permit identification and quantitation of components present in well-and poorly-resolved chromatographic peaks obtained under nonoptimal conditions. the method is based on combined Gram-Schmidt orthogo-nalization for removal of the dominant response from the mobile phase, followed by Kalman filtering for qualitative and quantitative analysis of averaged spectra. the method is demonstrated for infrared detection of a reverse-phase separation of a five-component mixture. Although Kalman filtering is effective at enhancing weak