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基于SE(3)的鲁棒自适应算法及其在SINS/DVL中的应用 被引量:1
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作者 钱镭源 覃方君 +1 位作者 李开龙 朱天高 《上海交通大学学报》 EI CAS CSCD 北大核心 2024年第4期498-510,共13页
针对复杂环境下SINS/DVL组合导航易受干扰的问题,提出了基于SE(3)的鲁棒自适应算法.通过将李群/李代数理论和鲁棒自适应策略引入正交变换容积卡尔曼滤波(TCKF),使TCKF的估计状态纳入特殊欧氏群,改善了状态空间不一致问题.并利用卡方检验... 针对复杂环境下SINS/DVL组合导航易受干扰的问题,提出了基于SE(3)的鲁棒自适应算法.通过将李群/李代数理论和鲁棒自适应策略引入正交变换容积卡尔曼滤波(TCKF),使TCKF的估计状态纳入特殊欧氏群,改善了状态空间不一致问题.并利用卡方检验和Huber方法,在量测更新时根据新息向量自适应地重构异常量测.SINS/DVL实验结果表明,所提方法具有比传统方法更优的空间一致性和鲁棒性. 展开更多
关键词 组合导航 李群/李代数 Huber方法 正交变换容积卡尔曼滤波
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On the A-extended Lie Rinehart Algebras 被引量:1
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作者 陈酌 祁玉海 《Chinese Quarterly Journal of Mathematics》 CSCD 北大核心 2007年第3期317-327,共11页
The purpose of this paper is to give a brief introduction to the category of Lie Rinehart algebras and introduces the concept of smooth manifolds associated with a unitary, commutative, associative algebra A. It espec... The purpose of this paper is to give a brief introduction to the category of Lie Rinehart algebras and introduces the concept of smooth manifolds associated with a unitary, commutative, associative algebra A. It especially shows that the A-extended algebra as well as the action algebra can be realized as the space of A-left invariant vector fields on a Lie group, analogous to the well known relationship of Lie algebras and Lie groups. 展开更多
关键词 Lie Rinehart algebra A-extended algebra action algebra Lie group Lie algebra
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Boundeness of a Class of Maximal Operators on H^p Spaces on Compact Lie Groups
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作者 江寅生 《Chinese Quarterly Journal of Mathematics》 CSCD 1993年第4期1-9,共9页
In this paper we discuss the weak type(IP,I)boundedness of a class of maximal operators T and themaximal strong,mean boundedness of a family of the operators {T on the atomic IP spaces on compaet Lie groups.Also,we ob... In this paper we discuss the weak type(IP,I)boundedness of a class of maximal operators T and themaximal strong,mean boundedness of a family of the operators {T on the atomic IP spaces on compaet Lie groups.Also,we obtain the correspoding convergent rosults. 展开更多
关键词 compact Lie group IP spaces boundedness of a class of maximal operators
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