A derivative UKF for tightly coupled INS/GPS integrated navigation

The tightly coupled INS/GPS integration introduces nonlinearity to the measurement equation of the Kalman filter due to the use of raw GPS pseudorange measurements. The extended Kalman filter (EKF) is a typical method to address the nonlinearity by linearizing the pseudorange measurements. However, the linearization may cause large modeling error or even degraded navigation solution. To solve this problem, this paper constructs a nonlinear measurement equation by including the second-order term in the Taylor series of the pseudorange measurements. Nevertheless, when using the unscented Kalman filter (UKF) to the INS/GPS integration for navigation estimation, it causes a great amount of redundant computation in the prediction process due to the linear feature of system state equation, especially for the case with system state vector in much higher dimension than measurement vector. To overcome this drawback in computational burden, this paper further develops a derivative UKF based on the constructed nonlinear measurement equation. The derivative UKF adopts the concise form of the original Kalman filter (KF) to the prediction process and employs the unscented transformation technique to the update process. Theoretical analysis and simulation results demonstrate that the derivative UKF can achieve higher accuracy with a much smaller computational cost in comparison with the traditional UKF.     

随钻测量用MIMU信号处理

为提高随钻测量系统的姿态估计精度,克服传统算法对于非平稳信号处理的局限性,提出基于ARIMA模型的卡尔曼滤波算法。该算法采用时间序列分析方法,建立了随机漂移误差的ARIMA模型,根据实测数据的ACF和PACF,确定微机械陀螺仪模型的各个参数,利用卡尔曼滤波算法进行滤波处理。实验对模型的拟合残差均值与方差作了比较分析,通过卡尔曼滤波处理,ARIMA模型数据零偏减小了1个数量级,滤波方差相比传统AR模型减小了42%。所建立的ARIMA模型与传统时间序列方法建模相比,降低了模型预测误差,滤除MEMS陀螺仪随机漂移误差更为明显,模型对提高陀螺仪输出精度更为有效。     

Spatial filtering velocimeter using frequency shifting by the method of rotating kernel

A new approach of frequency shifting by rotating kernel is proposed to improve the performance of a spatial filtering velocimeter, used to provide accurate velocity information for a vehicle self-contained navigation system. A linear CMOS image sensor was employed both as a spatiotemporal differential spatial filter and as a photodetector. The filtering operation was fully performed in FPGA and is realized by applying a rotating kernel to the pixel values of the image. Theoretical analysis showed this method could double the maximum measurable velocity. The power spectrum of the output signal was obtained by fast Fourier transform (FFT), and was corrected by a frequency spectrum correction algorithm, named energy centrobaric correction. This velocimeter was used to measure the moving velocities of a conveyor belt. Experimental results verified the method’s ability of reducing the output signal frequency and standard uncertainty of velocity measurement. What is more, the undesired output introduced by frequency shifting to the power spectrum of the output signal was deeply investigated and a new method was proposed to eliminate the undesired component in output signals. This velocimeter aims at providing accurate velocity information for vehicle autonomous navigation system.     

A New Time-Aware Collaborative Filtering Intelligent Recommendation System

Aiming at the problem that the traditional collaborative filtering recommendation algorithm does not fully consider the influence of correlation between projects on recommendation accuracy, this paper introduces project attribute fuzzy matrix, measures the project relevance through fuzzy clustering method, and classifies all project attributes. Then, the weight of the project relevance is introduced in the user similarity calculation, so that the nearest neighbor search is more accurate. In the prediction scoring section, considering the change of user interest with time, it is proposed to use the time weighting function to improve the influence of the time effect of the evaluation, so that the newer evaluation information in the system has a relatively large weight. The experimental results show that the improved algorithm improves the recommendation accuracy and improves the recommendation quality.     

基于MF-R和AWS密钥管理机制的物联网健康监测大数据分析系统

带有传感器的可穿戴式医疗设备不断生成大量数据，由于数据的复杂性，难以通过处理和分析大数据来找到有价值的决策信息。为了解决这个问题，提出了一种新的物联网体系结构，用于存储和处理医疗应用的可扩展传感器数据（大数据）。所提出的架构主要由两个子架构组成：Meta Fog重定向（MF-R）架构和AWS密钥管理机制。MF-R架构使用Apache Pig和Apache HBase等大数据技术来收集和存储不同传感器设备生成的传感器数据，并利用卡尔曼滤波消除噪声。AWS密钥管理机制使用密钥管理方案，目的是保护云中的数据，防止未经授权的访问。当数据存储在云中时，所提出的系统能够使用随机梯度下降算法和逻辑回归来开发心脏病的预测模型。仿真实验表明，和其他几种算法相比，提出的算法具有更小的误差，且在吞吐量、准确度等方面具有一定的优越性。     

一种新的多渐消因子容积卡尔曼滤波

将强跟踪思想引入容积卡尔曼滤波（cubature Kalman filter，CKF），建立强跟踪CKF能有效克服CKF在模型不确定、状态突变等情况下，滤波性能下降的问题。通过分析现有多渐消因子计算方法，发现它们均只利用了协方差矩阵的对角线元素，并没有考虑各个状态之间的相关性，不能充分发挥多渐消因子的优势。为此，本文提出渐消因子矩阵，基于正交原理推导渐消因子矩阵的求解方法，提出多渐消因子强跟踪CKF算法。多渐消因子强跟踪CKF算法突破了传统多渐消因子为向量的限制，也不再要求渐消因子取值要大于1。仿真验证了算法具有更好的滤波精度何鲁棒性，能更好的满足工程应用的要求。     

An improved feedrate scheduling method for NURBS interpolation in five-axis machining

Five-axis machining plays an important role in manufacturing by dint of its high efficiency and accuracy. While two rotation axes benefit the flexibility of machining, it also brings limitations and challenges. In order to further balance machining precision and efficiency, an improved feedrate scheduling method is presented considering geometric error and kinematic constraints for the Non Uniform Rational B-Spline (NURBS) interpolation in five-axis machining. A simplification method is proposed to calculate the geometric error which describes the deviation between the ideal tool path and the real tool path induced by the non-linear movement. A linear relation between geometric error and feedrate is built to limit the feedrate. The constraints determined by single axis kinematic performance and tangential kinematic performance are also considered. Under these constraints, a constrained feedrate profile is determined. Aiming to get more constant feedrate in the difficult-to-machine areas, this work proposes a scheduling method which combines morphological filtering and S-shape acceleration/deceleration (acc/dec) mode. Simulations and experiments are performed to compare the proposed feedrate scheduling method with two previous feedrate scheduling method and the results prove that the proposed feedrate scheduling method is reliable and effective.     

A signal adaptive diffusion filter for video coding: Mathematical framework and complexity reductions

In this paper we combine video compression and modern image processing methods. We construct novel iterative filter methods for prediction signals based on Partial Differential Equation (PDE) based methods. The mathematical framework of the employed diffusion filter class is given and some desirable properties are stated. In particular, two types of diffusion filters are constructed: a uniform diffusion filter using a fixed filter mask and a signal adaptive diffusion filter that incorporates the structures of the underlying prediction signal. The latter has the advantage of not attenuating existing edges while the uniform filter is less complex. The filters are embedded into a software based on HEVC with additional QTBT (Quadtree plus Binary Tree) and MTT (Multi-Type-Tree) block structure. In this setting, several measures to reduce the coding complexity of the tool are introduced, discussed and tested thoroughly. The coding complexity is reduced by up to 70% while maintaining over 80% of the gain. Overall, the diffusion filter method achieves average bitrate savings of 2.27% for Random Access having an average encoder runtime complexity of 119% and 117% decoder runtime complexity. For individual test sequences, results of 7.36% for Random Access are accomplished.     

生物氧化预处理中进气量实时预测数学模型研究

精准预测生物氧化预处理中的进气量对提高黄金提取率和节能降耗具有重要意义。以气体管流连续性方程和运动方程为控制方程，采用Preissmann隐格式法作为差分方法。同时，根据集合卡尔曼滤波(Ensemble Kalman filter，EnKF)算法原理，构造进气量、压强的状态空间模型。结果表明，基于气体管流控制方程建立的进气量模型预测结果与实际进气量观测值具有较好的一致性；与传统静态预测方法相比，EnKF同化方法引入实时观测值和模型参数的更新，有效提高了进气量的预测精度，其平均绝对误差、平均相对误差和均方根误差有明显的降低。可见，基于气体管流控制方程建立的预测模型结合EnKF同化方法是提高生物氧化槽进气量预测精度的有效手段。     

Content adaptive video denoising based on human visual perception

In this paper, we propose content adaptive denoising in highly corrupted videos based on human visual perception. We introduce the human visual perception in video denoising to achieve good performance. In general, smooth regions corrupted by noise are much more annoying to human observers than complex regions. Moreover, human eyes are more interested in complex regions with image details and more sensitive to luminance than chrominance. Based on the human visual perception, we perform perceptual video denoising to effectively preserve image details and remove annoying noise. To successfully remove noise and recover the image details, we extend nonlocal mean filtering to the spatiotemporal domain. With the guidance of content adaptive segmentation and motion detection, we conduct content adaptive filtering in the YUV color space to consider context in images and obtain perceptually pleasant results. Extensive experiments on various video sequences demonstrate that the proposed method reconstructs natural-looking results even in highly corrupted images and achieves good performance in terms of both visual quality and quantitative measures.