Complementary Kalman Filter as a Baseline Vector Estimator for GPS-Based Attitude Determination

The Global Positioning System (GPS) offers the interferometer for attitude determination by processing the carrier phase observables. By using carrier phase observables, the relative positioning is obtained in centimeter level. GPS interferometry has been firstly used in precise static relative positioning, and thereafter in kinematic positioning. The carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector, defined as the vector between the antenna designated master and one of the slave antennas, connected to a rigid body. Determining the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude determination. The conventional solution of the baseline vectors based on least-squares approach is inherently noisy, which results in the noisy attitude solutions. In this article, the complementary Kalman filter (CKF) is employed for solving the baseline vector in the attitude determination mechanism to improve the performance, where the receiversatellite double differenced observable was utilized as the measurement. By using the carrier phase observables, the relative positioning is obtained in centimeter level. Employing the CKF provides several advantages, such as accuracy improvement, reliability enhancement, and real-time assurance. Simulation results based on the conventional method where the least-squares approach is involved, and the proposed method where the CKF is involved are compared and discussed.     

温度对生物净化滤柱中氨氮、铁、锰去除效果的影响

温度是生物净化滤柱运行的一个重要参数，采用生物净化滤柱处理模拟含氨氮、铁、锰地下水，考察水温从约25℃降到约6℃过程中氨氮、铁、锰的去除效果。结果表明，出水氨氮、总铁、锰的浓度分别低于0.15mg/L、0.1mg/L、0.05mg/L，均低于国家标准。出水总铁、锰均未受到水温下降的影响，但是出水氨氮浓度逐渐从约0.02mg/L升高到约0.12mg/L。进一步分析发现，铁主要在滤层的0~0.4m段去除，去除效果没有受到水温变化的影响。氨氮、锰主要在滤层的0~0.8m段去除，其沿程浓度均随水温降低而明显升高。氨氮、锰的生物去除符合一级动力学反应，水温为24.6℃、15.3℃、6.7℃时，两者的动力学常数k分别为0.154min^-1、0.186min^-1，0.143min^-1、0.175min^-1，0.103min^-1、0.163min^-1；半反应时间t_1/2分别为4.51min、3.72min，4.83min、3.96min，6.72min、4.24min。随着试验水温的降低，氨氮、锰的去除效果明显受到影响。     

烟气多污染物协同处理催化陶瓷过滤管的研究进展

燃烧烟气中各污染物的排放是大气污染的最主要来源，针对烟气多污染物的治理意义重大。本文综述了国内外目前关于烟气多污染物脱除的两种技术，即传统串联脱除技术和一体化协同脱除技术。相比于传统串联脱除工艺，多污染物一体化协同脱除技术具有占地面积小、运行费用低、应用领域广的优点，是烟气多污染物治理的发展趋势。而陶瓷过滤管催化剂技术以其独有的非对称、孔径梯度变化的结构特性，成为一种极具应用前景的一体化协同脱除新技术。国内外关于陶瓷过滤管催化剂的研究主要从过滤管元件的选材和负载脱硝催化剂的工艺方法这两方面，围绕过滤管催化剂的催化活性、过滤压降及性能稳定性的进行研究，取得了一定的成果。结合当前陶瓷过滤管催化剂的研究现状，对今后烟气多污染物陶瓷过滤管催化剂技术的发展提出了建议。     

Kernel-based fourth-order diffusion for image noise removal

The fourth-order partial differential equations have good performance on noise smoothing and edge preservation without creating blocky effects on smooth regions. However, for low signal-to-noise ratio images, the discrimination between edges and noise is a challenging problem. A novel kernel-based fourth-order diffusion is proposed in this paper. It introduces a kernelized gradient operator in the fourth-order diffusion process, which leads to more effective noise removal capability. Experiment results show that this method outperforms several previous anisotropic diffusion methods for noise removal and edge preservation.     

Affine hull based target representation for visual tracking

Handling appearance variations is a challenging issue in visual tracking. Existing appearance models are usually built upon a linear combination of templates. With such kind of representation, accurate visual tracking is not desirable when heavy appearance variations are in presence. Under the framework of particle filtering, we propose a novel target representation for tracking. Namely, the target candidates are represented by affine combinations of a template set, which leads to better capability in describing unseen target appearances. Additionally, in order to adapt this representation to dynamic contexts across a video sequence, a novel template update scheme is presented. Different from conventional approaches, the scheme considers both the importance of one template to a target candidate in the current frame and the recentness of the template that is kept in the template set. Comprehensive experiments show that the proposed algorithm achieves superior performances in comparison with state-of-the-art works.     

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.     

Random-valued impulse noise removal using adaptive dual threshold median filter

Noise detection and its removal is very important in the image processing. Detection of noise is very crucial and significant in random valued impulse noise because it does not hamper the image pixels uniformly. This paper presents a novel and unique concept of adaptive dual threshold for the detection of random valued impulse noise along with simple median filter at noise removal stage. Simulation results shows that an efficient noise detection leads to a superior quality of de-noised image as compared to existing adaptive threshold based image de-noising techniques. Proposed threshold computation is based on averaging of pixel values of window which enhances the PSNR of our system as compared to existing median filter based image de-noising methods.     

Physics‐based spectral sharpening through filter‐chart calibration

The spectral overlap of color‐sampling filters increases errors when using a diagonal matrix transform, for color correction and reduces color distinction. Spectral sharpening is a transformation of colors that was introduced to reduce color‐constancy errors when the colors are collected through spectrally overlapping filters. The earlier color‐constancy methods improved color precision when the illuminant color is changed, but they overlooked the color distinction. In this article, we introduce a new spectral sharpening technique that has a good compromise of color precision and distinction, based on real physical constraints. The spectral overlap is measured through observing a gray reference chart with a set of real and spectrally disjoint filters selected by the user. The new sharpening method enables to sharpen colors obtained by a sensor without knowing the camera response functions. Experiments with real images showed that the colors sharpened by the new method have good levels of color precision and distinction as well. The color‐constancy performance is compared with the data‐based sharpening method in terms of both precision and distinction. © 2014 Wiley Periodicals, Inc. Col Res Appl, 40, 564–576, 2015     

电磁搅拌对大圆坯结晶器冶金行为影响的探讨

 为了探究结晶器电磁搅拌(M EMS)对大圆坯结晶器内综合冶金行为的影响。以大断面圆坯连铸结晶器冶金行为为研究对象，基于电磁热流体与凝固传输理论建立三维耦合数值模型。揭示大圆坯连铸常用五孔水口浇注条件下结晶器内电磁场、流场、传热与凝固等综合冶金行为，提出电磁搅拌对结晶器冶金性能影响的多参量评价方法。以中碳铬钼齿轮钢650 mm大圆坯连铸为例，指出结晶器电磁搅拌存在最佳搅拌电流，可获得相对较好的综合冶金效果。具体表现为弯月面保持一定的切向速度和过热度，有利于保护渣的熔化和夹杂物的上浮去除；液面波动幅度在控制范围内，可避免卷渣、改善表面质量；结晶器内钢液过热得到有效耗散，有利于等轴晶形核改善铸坯内部质量；侧孔出流钢液速度得到有效控制，可抑制注流对初凝坯壳的冲刷，提高了初生坯壳生长的均匀性。此外，电磁搅拌产生的水平旋流强度也可得到有效控制，有利于避免常见的皮下白亮带现象。