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To detect gross error of maneuver and observation as soon as possible can geta better positioning result, while time delay often exists in the detection. This papergives a new method in real-time kinematic positioning of detecting maneuver andgross error as soon as there is gross error in maneuver and observation data.

为了在实时动态定位中尽可能快地检测出运动载体机动和观测数据何时出现粗差,文中提出了一种对机动和粗差检测的新方法。

Theoretical calculation shows the anomaly of reservoir tidal gravity is measured at μGal level, while the measured data shows the observation error of such tidal gravity at 10-μGal level. This indicates that the data noise may well disguise real anomalies, and therefore that the lack of measured anomaly data does not necessarily equate to the lack of oil and gas reservoir underneath. The actual observed tidal gravity anomaly can reach tens of μGal. Though it is more than three times the observation error, we can not attribute it to the reservoir-induced tidal gravity anomaly.

理论计算表明,油藏潮汐重力异常在微伽量级,而实际资料表明潮汐重力的观测误差为10 μGal量级,油藏潮汐重力异常可能会被噪声淹没,所以没有观测到潮汐重力异常不等于地下没有油气;实际观测的潮汐重力异常可达数十μGal,即使超过观测误差的3倍,也不能将它直接归因于油藏产生的潮汐重力异常。

Usually, we assume that exterior ballisticmeasuring error has normal distribution with zero mean. But during the real measuring,it is possible for exterior ballistic measuring parameters to cause system error.

通常假定外测误差服从零均值正态分布,而在实际测量中,外测参数有可能带有系统误差,它的存在对飞行轨道和落点信息的获取都具有不利的影响。

First of all, we introduce some interval methods and propose a new approach to find confidence interval for the slope in homoscedastic measurement error models. The performance of the interval estimation is compared in terms of both coverage probability and its diameter via simulation studies. Second, we suggest two approaches to estimate confidence intervals for the slope and joint confidence regions for both intercept and slope in heteroscedastic measurement error models. Application of these methods are illustrated with real data sets.

首先,当测量误差的变异是同质性时,我们对斜率项参数建构信赖区间,除了回顾已发表的方法外,也提出一个新的方法,建议的区间方法分别和已存在的方法做模拟比较,比较的标准建构在覆盖机率和平均长度上;另外,当测量误差的变异是异质性时,我们不仅对斜率项参数建构信赖区间提出新的方法,也对截距项参数和斜率项参数建构联合信赖区间。

On the basis of the study on the mathematical model of the closed-loop location control, the analysis of contour error in the process motion control and error calculation model, according to the lack of using normal contour error model not to calculate contour error of curve in real-time, combining real-time contour error compensation control strategy and fuzzy logic theory, the fuzzy logic and real-time contour error calculation based self-discipline control strategy is proposed.

2在研究闭环位置控制数学模型、加工轮廓运动控制中的误差分析和轮廓误差计算模型的基础上,针对利用一般运动轮廓误差计算模型不能实时计算出曲线轮廓误差的不足,结合实时轮廓误差补偿控制策略和模糊逻辑理论,研究了基于模糊逻辑理论和实时误差计算的轮廓自律控制策略。

Utilizing parameters adjust arithmetic of positive and real error transfer function the paper designs a rotor flux adaptive observation.

运用MATLAB的工具软件SIMULINK对转矩的磁通闭环的矢量控制系统进行仿真分析,给出了仿真结果。

The paper analyzes the dynamic relations of the China's real estate price index and main macroeconomic indexes in recent years under the cointegration and error correction model frame. The finding is that real estate price has the support of macroeconomic background, real estate market risk is not severe.

从此角度出发,本文在协整和误差校正模型的框架下,分析了中国近年来房地产价格指数与主要宏观经济指标的长期均衡关系,得出了虽然近年来房地产价格上涨较快,但从总体上看,其变化有宏观经济背景的支持,房地产市场风险还不是很大的结论。

So, the study in this dissertation focuses on some key points in theuncertainty treatment of mobile robot localization as follows: Combined with the multiple proprioceptive and exteroceptive sensors ofmobile robot MORCS-1, aimed at the drift error of fiber optic gyro as theproprioceptive sensor, the neural network using genetic algorithm as optimaltool is proposed to accomplish the modeling and calibration for temperaturedrift of fiber optic gyro, which can reduce the drift error to the standard outputat constant temperature; and aimed at the noisy disturbance of ranging datafrom the exteroceptive sensor laser scanner, a dynamic adaptive filter isintroduced through the analysis of neighboring ranging data in time and spatialcorrelation to realize the real-time and dynamic filter, which can validly filter the noisy disturbance to meet the requirement of the accurately real-timeobstacle detection in mobile robot navigation.

总结全文,在移动机器人定位的不确定性处理研究中,提出了一些具有一定创新性的方法:结合自行研制的移动机器人MORCS-1系统的多种内外部定位传感器,针对内部本体感受传感器光纤陀螺仪的漂移误差,提出采用基于遗传算法优化的神经网络来对光纤陀螺仪的温漂建模及校准,能够将其温漂变化控制在恒温条件下标准测试输出附近;针对外部环境感知传感器激光雷达测距数据中包含的噪声干扰,考虑移动机器人导航中激光雷达测距数据的时空关联性,提出采用动态自适应滤波技术进行预处理,从而可以有效滤除噪声干扰满足导航中障碍实时精确检测的要求。

The results showed that:(1) some governing points, which were measured by submeter precision GPS, were utilized to correct the 1 m precision remote sensing image and it could satisfy the desired precision of geometrical correction, therefore, this method could be used as geometrical correction in the region where was short of the big scale relief map;(2) the density of the original data was the main factor to affect precision of the volume, and the precision of the calculated volume of earthwork could be improved to more than 90% when using the test points and feature points; the sparser the data density were, more significant could be improved; On the base that elevation of test points were measured by the submeter precision GPS, the error of the volume, which was produced by vectoring relief map to obtain DEM, could be calculated, and the calculation precision of the earthwork could be improved markedly.

结果表明:利用平面精度达亚米级的GPS测量控制点坐标对1米分辨率的遥感卫星影像进行几何校正,能够满足其几何校正的精度要求,可以解决缺乏大比例尺地形图地区的高分辨率遥感卫星影像的几何校正问题;通过对模型数据的分析,数据密度是影响体积精度的主要因素,利用检测点高程和特征点可以提高土方量计算的精度,使土方量计算的精度达到90%以上,数据密度越稀疏,精度提高越显著;采用高程精度达厘米级的RTK(Real Time Kinematic实时动态差分)测量检测点的高程,对用地形图扫描矢量化形成的DEM模型进行检测求出误差体积,可以大大提高土方量的计算精度。

The article,based on the real measured data,combining years of testing experience and railroad engineering theory,analyses measured error of stagger value of contact wire qualitatively and quantitatively arised from running speed ,elicits a expressions of speed-expiation for stagger value in real-time measure,improves real-time measured precision of stagger value.

文章依据实测数据,结合多年的运行检测经验与铁道工程理论,定性、定量分析了运行速度对接触网拉出值测量误差的影响,得出实时检测过程中应当采用的拉出值速度补偿公式,提高了拉出值的实时检测精度。

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