Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matri...Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.展开更多
为解决现有大场景三维地理信息系统(geographic information system,GIS)平台中道路建筑信息模型(building information modeling,BIM)模型与倾斜实景模型融合展示中存在的坐标基准不统一问题,提出一种道路BIM模型与倾斜实景地理坐标高...为解决现有大场景三维地理信息系统(geographic information system,GIS)平台中道路建筑信息模型(building information modeling,BIM)模型与倾斜实景模型融合展示中存在的坐标基准不统一问题,提出一种道路BIM模型与倾斜实景地理坐标高精度匹配方法。针对道路带状分布特征及道路养护需求,首先对模型进行分段处理;然后根据道路路面及资产设施模型的特征点分布设计构建一种空间距离加权的最小二乘坐标匹配参数拟合方法,重点解决各分段路面的精准接边难题。选取真实道路数据展开实验,验证该坐标匹配方法,通过所提方法可以有效解决道路模型与倾斜实景模型匹配产生偏差的问题,匹配后二者之间的精度达到毫米级,满足道路交通设施数字化管养和动态更新的需要。展开更多
针对实际点云数据中存在的噪点与缺陷对拟合平面时带来的影响,提出一种基于最小平方中值算法(least median of squares,LMedS)与距离加权总体最小二乘法(weighted total least squares based on distance,WTLSD)相结合的平面拟合算法。...针对实际点云数据中存在的噪点与缺陷对拟合平面时带来的影响,提出一种基于最小平方中值算法(least median of squares,LMedS)与距离加权总体最小二乘法(weighted total least squares based on distance,WTLSD)相结合的平面拟合算法。通过最小平方中值算法初步去除点云中的噪点,并基于距离构建初始权重矩阵,利用距离加权总体最小二乘法对点云进行平面拟合,减少平面中凸起与凹陷等缺陷对平面拟合的影响,该算法与传统平面拟合算法相比具备消除异常点与平面缺陷的优点,具备更高的拟合精度;与随机采样一致性算法(random sample consensus,RANSAC)相比具有更高的拟合效率与相近的拟合精度。展开更多
电力系统作为实时信息与能源高度融合的电力信息物理融合系统(cyber-physical power system,CPPS),虚假数据注入攻击(false data injection attacks,FDIAs)的准确辨识将有效保证CPPS安全稳定运行。为准确、高效地完成日前负荷预测,首先...电力系统作为实时信息与能源高度融合的电力信息物理融合系统(cyber-physical power system,CPPS),虚假数据注入攻击(false data injection attacks,FDIAs)的准确辨识将有效保证CPPS安全稳定运行。为准确、高效地完成日前负荷预测,首先使用肯德尔相关系数(Kendall's tau-b)量化日期类型的取值,引入加权灰色关联分析选取相似日,再建立基于最小二乘支持向量机(least squares support vector machine,LSSVM)的日前负荷预测模型。将预测负荷通过潮流计算求解的系统节点状态量与无迹卡尔曼滤波(unscented Kalman filter,UKF)动态状态估计得到的状态量进行自适应加权混合,最后基于混合预测值和静态估计值间的偏差变量提出了攻击检测指数(attack detection index,ADI),根据ADI的分布检测FDIAs。若检测到FDIAs,使用混合预测状态量对该时刻的量测量进行修正。使用IEEE-14和IEEE-39节点系统进行仿真,结果验证了所提方法的有效性与可行性。展开更多
基金This work is supported by Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX18_0467)Jiangsu Province,China.During the revision of this paper,the author is supported by China Scholarship Council(No.201906840021)China to continue some research related to data processing.
文摘Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.
文摘为解决现有大场景三维地理信息系统(geographic information system,GIS)平台中道路建筑信息模型(building information modeling,BIM)模型与倾斜实景模型融合展示中存在的坐标基准不统一问题,提出一种道路BIM模型与倾斜实景地理坐标高精度匹配方法。针对道路带状分布特征及道路养护需求,首先对模型进行分段处理;然后根据道路路面及资产设施模型的特征点分布设计构建一种空间距离加权的最小二乘坐标匹配参数拟合方法,重点解决各分段路面的精准接边难题。选取真实道路数据展开实验,验证该坐标匹配方法,通过所提方法可以有效解决道路模型与倾斜实景模型匹配产生偏差的问题,匹配后二者之间的精度达到毫米级,满足道路交通设施数字化管养和动态更新的需要。
文摘针对实际点云数据中存在的噪点与缺陷对拟合平面时带来的影响,提出一种基于最小平方中值算法(least median of squares,LMedS)与距离加权总体最小二乘法(weighted total least squares based on distance,WTLSD)相结合的平面拟合算法。通过最小平方中值算法初步去除点云中的噪点,并基于距离构建初始权重矩阵,利用距离加权总体最小二乘法对点云进行平面拟合,减少平面中凸起与凹陷等缺陷对平面拟合的影响,该算法与传统平面拟合算法相比具备消除异常点与平面缺陷的优点,具备更高的拟合精度;与随机采样一致性算法(random sample consensus,RANSAC)相比具有更高的拟合效率与相近的拟合精度。
文摘电力系统作为实时信息与能源高度融合的电力信息物理融合系统(cyber-physical power system,CPPS),虚假数据注入攻击(false data injection attacks,FDIAs)的准确辨识将有效保证CPPS安全稳定运行。为准确、高效地完成日前负荷预测,首先使用肯德尔相关系数(Kendall's tau-b)量化日期类型的取值,引入加权灰色关联分析选取相似日,再建立基于最小二乘支持向量机(least squares support vector machine,LSSVM)的日前负荷预测模型。将预测负荷通过潮流计算求解的系统节点状态量与无迹卡尔曼滤波(unscented Kalman filter,UKF)动态状态估计得到的状态量进行自适应加权混合,最后基于混合预测值和静态估计值间的偏差变量提出了攻击检测指数(attack detection index,ADI),根据ADI的分布检测FDIAs。若检测到FDIAs,使用混合预测状态量对该时刻的量测量进行修正。使用IEEE-14和IEEE-39节点系统进行仿真,结果验证了所提方法的有效性与可行性。
