Using a dynamical system method,we study a Friedmann-Robertson-Walker(FRW)cosmological model within the context of f(Q,C)gravity,where Q is the non-metricity scalar and C represents the boundary term,considering both ...Using a dynamical system method,we study a Friedmann-Robertson-Walker(FRW)cosmological model within the context of f(Q,C)gravity,where Q is the non-metricity scalar and C represents the boundary term,considering both interacting and non-interacting models.A set of autonomous equations is derived,and solutions are calculated accordingly.We assess the critical points obtained from these equations,identify their characteristic values,and explore the physical interpretation of the phase space for this system.Two types of f(Q,C)are assumed:(i)f(Q,C)=Q+αQ+βClogC and(i)f(Q,C)=Q+αQ+β/C,where α and β are the parameters.In Model I,we obtain two stable critical points,whereas in Model Il,we identify three stable critical points for both interacting and non-interacting models.We examine the behavior of phase space trajectories at every critical point.We calculate the values of the physical parameters for both systems at each critical point,indicating the accelerated expansion of the Universe.展开更多
Aiming at the problems of lagging curriculum,weak practice,and single evaluation in the cultivation of HarmonyOS Development talents,this study constructs a“teacher-machine-student”ternary interactive teaching model...Aiming at the problems of lagging curriculum,weak practice,and single evaluation in the cultivation of HarmonyOS Development talents,this study constructs a“teacher-machine-student”ternary interactive teaching model based on the Congyou platform.Through the building block curriculum system,the HarmonyOS technology stack is decoupled into dynamic capability units,and a multi-disciplinary cross-case library is jointly built with Huawei,which significantly improves the synchronization of teaching content and industrial technology.This paper innovatively designs an AI collaborative teaching system,which employs knowledge graphs to plan learning paths,utilizes virtual equipment clusters to simulate development environments,and establishes a“diagnosis-feedback-enhancement”closed loop through AI-based review,thereby effectively improving students’development efficiency and code reuse rate.A three-dimensional evaluation model integrating task outcomes,process performance,and innovation is constructed,incorporating indicators such as code standardization and an innovation index to strengthen the cultivation of engineering thinking and innovative ability.Furthermore,a data-driven support platform is built to generate student competency profiles,open up the“credit-competency-certification”pathway,promote the transformation of course achievements into contributions to the Huawei ecosystem,and significantly shorten the job adaptation cycle for graduates.The research results provide a replicable paradigm for the cultivation of domestic operating system talents.展开更多
To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（...To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.展开更多
To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm i...To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.展开更多
In airborne tracking,the blind Doppler makes the target undetectable,resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types:targets' intent...In airborne tracking,the blind Doppler makes the target undetectable,resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types:targets' intentional tangential flying to radar and unintentional flying with large tangential speed. We proposed an interacting multiple model(IMM) particle filter which combines a constant velocity model and an acceleration model to handle maneuvering motions. We compared the IMM particle filter with a previous particle filter solution. Simulation results showed that the IMM particle filter outperforms the method in previous works in terms of tracking accuracy and continuity.展开更多
Combining interacting multiple model （IMM） and unscented particle filter （UPF）, a new multiple model filtering algorithm is presented. Multiple models can be adapted to targets＇ high maneu- vering. Particle filte...Combining interacting multiple model （IMM） and unscented particle filter （UPF）, a new multiple model filtering algorithm is presented. Multiple models can be adapted to targets＇ high maneu- vering. Particle filter can be used to deal with the nonlinear or non-Gaussian problems and the unscented Kalman filter （UKF） can improve the approximate accuracy. Compared with other interacting multiple model algorithms in the simulations, the results demonstrate the validity of the new filtering method.展开更多
An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） s...An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.展开更多
According to the requirements of real-time performance and reliability in underwater maneuvering target tracking as well as clarifying motion features of the underwater target, an interacting multiple model algorithm ...According to the requirements of real-time performance and reliability in underwater maneuvering target tracking as well as clarifying motion features of the underwater target, an interacting multiple model algorithm based on fuzzy logic inference （FIMM） is proposed. Maneuvering patterns of the target are represented by model sets, including the constant velocity model （CA）, the Singer mode~, and the nearly constant speed horizontal-turn model （HT） in FIMM technology. The simulation results show that compared to conventional IMM, the reliability and real-time performance of underwater target tracking can be improved by FIMM algorithm.展开更多
The purpose of this research is to improve the robustness of the autonomous system in order to improve the position and velocity estimation of an Unmanned Aerial Vehicle(UAV).Therefore, new integrated SINS/GPS navigat...The purpose of this research is to improve the robustness of the autonomous system in order to improve the position and velocity estimation of an Unmanned Aerial Vehicle(UAV).Therefore, new integrated SINS/GPS navigation scheme based on Interacting Multiple Nonlinear Fuzzy Adaptive H_∞ Models(IMM-NFAH_∞) filtering technique for UAV is presented. The proposed IMM-NFAH_∞ strategy switches between two different Nonlinear Fuzzy Adaptive H_∞(NFAH_∞) filters and each NFAH_∞ filter is based on different fuzzy logic inference systems. The newly proposed technique takes into consideration the high order Taylor series terms and adapts the nonlinear H_∞ filter based on different fuzzy inference systems via adaptive filter bounds(di),along with disturbance attenuation parameter c. Simulation analysis validates the performance of the proposed algorithm, and the comparison with nonlinear H_∞(NH_∞) filter and that with different NFAH_∞ filters demonstrate the effectiveness of UAV localization utilizing IMM-NFAH_∞ filter.展开更多
This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorre...This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorrelated sensor noises by using augmented fusion before model interacting. And eigenvalue decomposition is utilized to reduce calculation complexity and implement parallel computing. In simulation part, the feasibility of the algorithm was tested and verified, and the relationship between sensor number and the estimation precision was studied. Results show that simply increasing the number of sensor cannot always improve the performance of the estimation. Type and number of sensors should be optimized in practical applications.展开更多
This paper studies the algorithm of the adaptive grid and fuzzy interacting multiple model （AGFIMM） for maneuvering target tracking, while focusing on the problems of the fixed structure multiple model （FSMM） algo...This paper studies the algorithm of the adaptive grid and fuzzy interacting multiple model （AGFIMM） for maneuvering target tracking, while focusing on the problems of the fixed structure multiple model （FSMM） algorithm＇s cost-efficiency ratio being not high and the Markov transition probability of the interacting multiple model （IMM） algorithm being difficult to determine exactly. This algorithm realizes the adaptive model set by adaptive grid adjustment, and obtains each model matching degree in the model set by fuzzy logic inference. The simulation results show that the AGFIMM algorithm can effectively improve the accuracy and cost-efficiency ratio of the multiple model algorithm, and as a result is suitable for enineering apolications.展开更多
In this paper, a new version of the interacting model of new agegraphic dark energy （INADE） is proposed and analyzed in detail. The interaction between dark energy and dark matter is reconsidered. The interaction te...In this paper, a new version of the interacting model of new agegraphic dark energy （INADE） is proposed and analyzed in detail. The interaction between dark energy and dark matter is reconsidered. The interaction term Q = bh0ραdcρ1-α dm is adopted, which abandons the Hubble expansion rate H and involves both Pae and Pare. Moreover, the new initial condition for the agegraphie dark energy is used, which solves the problem of accommodating baryon matter and radiation in the model. The solution of the model can be given using an iterative algorithm. A concrete example for the calculation of the model is given. Furthermore, the model is constrained by using the combined Planck data （Planck＋BAO＋SNIa＋H0） and the combined WMAP-9 data （WMAP＋BAO＋SNIa＋H0）. Three typical cases are considered： （A） Q = bHoPde, （B） Q = bHo√ρdeρdm,and （C） Q = bHopdm, which correspond to α = 1, 1/2, and 0, respectively. The departures of the models from the ACDM model are measured by the ABIC and AAIC values. It is shown that the INADE model is better than the NADE model in the fit, and the 1NADE（A） model is the best in fitting data among the three cases.展开更多
Many dark energy models fail to pass the cosmic age test because of the old quasar APM 08279+5255 at redshift z=3.91,the ΛCDMmodel and holographic dark energy models being no exception.Inthis paper,we focus onthe top...Many dark energy models fail to pass the cosmic age test because of the old quasar APM 08279+5255 at redshift z=3.91,the ΛCDMmodel and holographic dark energy models being no exception.Inthis paper,we focus onthe topic of the age problem inthe new agegraphic dark energy(NADE)model.We determine the age of the universe in the NADE model by fitting the observational data,including type Ia supernovae(SNIa),baryon acoustic oscillations(BAO)and the cosmic microwave background(CMB).We find that the NADE model also faces the challenge of the age problem caused by the old quasar APM 08279+5255.In order to overcome such a difficulty,we consider the possible interaction between dark energy and dark matter.We show that this quasar can be successfully accommodated in the interacting new agegraphic dark energy(INADE)model at the 2σlevel under the current observational constraints.展开更多
Surfactants are widely used in the fracturing fluid to enhance the imbibition and thus the oil recovery rate. However, current numerical models cannot capture the physics behind capillary imbibition during the wettabi...Surfactants are widely used in the fracturing fluid to enhance the imbibition and thus the oil recovery rate. However, current numerical models cannot capture the physics behind capillary imbibition during the wettability alteration by surfactants. Although the interacting capillary bundle(ICB) model shows potential in characterizing imbibition rates in different pores during wettability alteration, the existing ICB models neglect the influence of wettability and viscosity ratio on the imbibition behavior, making it difficult to accurately describe the oil-water imbibition behavior within the porous media. In this work,a new ICB mathematical model is established by introducing pressure balance without assuming the position of the leading front to comprehensively describe the imbibition behavior in a porous medium under different conditions, including gas-liquid spontaneous imbibition and oil-water imbibition.When the pore size distribution of a tight rock is known, this new model can predict the changes of water saturation during the displacement process in the tight rock, and also determine the imbibition rate in pores of different sizes. The water saturation profiles obtained from the new model are validated against the waterflooding simulation results from the CMG, while the imbibition rates calculated by the model are validated against the experimental observations of gas-liquid spontaneous imbibition. The good match above indicates the newly proposed model can show the water saturation profile at a macroscopic scale while capture the underlying physics of the multiphase flow in a porous medium at a microscopic scale. Simulation results obtained from this model indicate that both wettability and viscosity ratio can affect the sequence of fluid imbibition into pores of different sizes during the multiphase flow, where less-viscous wetting fluid is preferentially imbibed into larger pores while more-viscous wetting fluid tends to be imbibed into smaller pores. Furthermore, this model provides an avenue to calculate the imbibition rate in pores of different sizes during wettability alteration and capture the non-Darcy effect in micro-and nano-scale pores.展开更多
Interacting Boson Model-2(IBM-2)is used to determine the Hamiltonian for Er nuclei.Fit values of parameters are used to construct the Hamiltonian,energy levels and electromagnetic transitions(B(E2),B(M1))multipole mix...Interacting Boson Model-2(IBM-2)is used to determine the Hamiltonian for Er nuclei.Fit values of parameters are used to construct the Hamiltonian,energy levels and electromagnetic transitions(B(E2),B(M1))multipole mixing ratios(δ(E2/M1))for some even-even Er nuclei and monopole transition probability are estimated.New ideas are used for counting bosons number at N=64 and results are compared with previous works.展开更多
We study the energy level statistics of the SO(5) limit of super-symmetry U(6/4) in odd-A nucleus using the interacting boson-fermion model. The nearest neighbor spacing distribution (NSD) and the spectral rigidity (...We study the energy level statistics of the SO(5) limit of super-symmetry U(6/4) in odd-A nucleus using the interacting boson-fermion model. The nearest neighbor spacing distribution (NSD) and the spectral rigidity (△3)are investigated, and the factors that affect the properties of level statistics are also discussed. The results show that the boson number N is a dominant factor. If N is small, both the interaction strengths of subgroups SOB(5) and SOBF(5)and the spin play important roles in the energy level statistics, however, along with the increase of N, the statistics distribution would tend to be in Poisson form.展开更多
There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope c...There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope carriers,interacting multiple model （IMM） is employed here to solve the problem.The Kalman filter-based IMM （IMMKF） algorithm is explained in detail and its application in gyro signal processing is introduced.And with the help of the Singer model,the system model set of gyro outputs is constructed.In order to demonstrate the effectiveness of the proposed approach,static experiment and dynamic experiment are carried out respectively.Simulation analysis results indicate that the IMMKF algorithm is excellent in eliminating gyro drift errors,which could adapt to the change of carrier maneuvering process well.展开更多
Multi-messenger gravitational wave(GW)observation for binary neutron star merger events could provide a rather useful tool to explore the evolution of the Universe.In particular,for the third-generation GW detectors,i...Multi-messenger gravitational wave(GW)observation for binary neutron star merger events could provide a rather useful tool to explore the evolution of the Universe.In particular,for the third-generation GW detectors,i.e.the Einstein Telescope(ET)and the Cosmic Explorer(CE),proposed to be built in Europe and the U.S.,respectively,lots of GW standard sirens with known redshifts could be obtained,which would exert great impacts on the cosmological parameter estimation.The total neutrino mass could be measured by cosmological observations,but such a measurement is model-dependent and currently only gives an upper limit.In this work,we wish to investigate whether the GW standard sirens observed by ET and CE could help improve the constraint on the neutrino mass,in particular in the interacting dark energy(IDE)models.We find that the GW standard siren observations from ET and CE can only slightly improve the constraint on the neutrino mass in the IDE models,compared to the current limit.The improvements in the IDE models are weaker than those in the standard cosmological model.Although the limit on neutrino mass can only be slightly updated,the constraints on other cosmological parameters can be significantly improved by using the GW observations.展开更多
To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） ,...To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.展开更多
A nonlinear multi-scale interaction(NMI)model was proposed and developed by the first author for nearly 30 years to represent the evolution of atmospheric blocking.In this review paper,we first review the creation and...A nonlinear multi-scale interaction(NMI)model was proposed and developed by the first author for nearly 30 years to represent the evolution of atmospheric blocking.In this review paper,we first review the creation and development of the NMI model and then emphasize that the NMI model represents a new tool for identifying the basic physics of how climate change influences mid-to-high latitude weather extremes.The building of the NMI model took place over three main periods.In the 1990s,a nonlinear Schr?dinger(NLS)equation model was presented to describe atmospheric blocking as a wave packet;however,it could not depict the lifetime(10-20 days)of atmospheric blocking.In the 2000s,we proposed an NMI model of atmospheric blocking in a uniform basic flow by making a scale-separation assumption and deriving an eddyforced NLS equation.This model succeeded in describing the life cycle of atmospheric blocking.In the 2020s,the NMI model was extended to include the impact of a changing climate mainly by altering the basic zonal winds and the magnitude of the meridional background potential vorticity gradient(PVy).Model results show that when PVy is smaller,blocking has a weaker dispersion and a stronger nonlinearity,so blocking can be more persistent and have a larger zonal scale and weaker eastward movement,thus favoring stronger weather extremes.However,when PVy is much smaller and below a critical threshold under much stronger winter Arctic warming of global warming,atmospheric blocking becomes locally less persistent and shows a much stronger westward movement,which acts to inhibit local cold extremes.Such a case does not happen in summer under global warming because PVy fails to fall below the critical threshold.Thus,our theory indicates that global warming can render summer-blocking anticyclones and mid-to-high latitude heatwaves more persistent,intense,and widespread.展开更多
文摘Using a dynamical system method,we study a Friedmann-Robertson-Walker(FRW)cosmological model within the context of f(Q,C)gravity,where Q is the non-metricity scalar and C represents the boundary term,considering both interacting and non-interacting models.A set of autonomous equations is derived,and solutions are calculated accordingly.We assess the critical points obtained from these equations,identify their characteristic values,and explore the physical interpretation of the phase space for this system.Two types of f(Q,C)are assumed:(i)f(Q,C)=Q+αQ+βClogC and(i)f(Q,C)=Q+αQ+β/C,where α and β are the parameters.In Model I,we obtain two stable critical points,whereas in Model Il,we identify three stable critical points for both interacting and non-interacting models.We examine the behavior of phase space trajectories at every critical point.We calculate the values of the physical parameters for both systems at each critical point,indicating the accelerated expansion of the Universe.
文摘Aiming at the problems of lagging curriculum,weak practice,and single evaluation in the cultivation of HarmonyOS Development talents,this study constructs a“teacher-machine-student”ternary interactive teaching model based on the Congyou platform.Through the building block curriculum system,the HarmonyOS technology stack is decoupled into dynamic capability units,and a multi-disciplinary cross-case library is jointly built with Huawei,which significantly improves the synchronization of teaching content and industrial technology.This paper innovatively designs an AI collaborative teaching system,which employs knowledge graphs to plan learning paths,utilizes virtual equipment clusters to simulate development environments,and establishes a“diagnosis-feedback-enhancement”closed loop through AI-based review,thereby effectively improving students’development efficiency and code reuse rate.A three-dimensional evaluation model integrating task outcomes,process performance,and innovation is constructed,incorporating indicators such as code standardization and an innovation index to strengthen the cultivation of engineering thinking and innovative ability.Furthermore,a data-driven support platform is built to generate student competency profiles,open up the“credit-competency-certification”pathway,promote the transformation of course achievements into contributions to the Huawei ecosystem,and significantly shorten the job adaptation cycle for graduates.The research results provide a replicable paradigm for the cultivation of domestic operating system talents.
基金The National Natural Science Foundation of China(No.61273236)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1637),China Scholarship Council
文摘To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.
文摘To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.
基金Project supported by China Postdoctoral Science Foundation (No.20060400313)partly by Zhejiang Postdoctoral Science Founda-tion of China (No. 2006-bsh-25)
文摘In airborne tracking,the blind Doppler makes the target undetectable,resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types:targets' intentional tangential flying to radar and unintentional flying with large tangential speed. We proposed an interacting multiple model(IMM) particle filter which combines a constant velocity model and an acceleration model to handle maneuvering motions. We compared the IMM particle filter with a previous particle filter solution. Simulation results showed that the IMM particle filter outperforms the method in previous works in terms of tracking accuracy and continuity.
文摘Combining interacting multiple model （IMM） and unscented particle filter （UPF）, a new multiple model filtering algorithm is presented. Multiple models can be adapted to targets＇ high maneu- vering. Particle filter can be used to deal with the nonlinear or non-Gaussian problems and the unscented Kalman filter （UKF） can improve the approximate accuracy. Compared with other interacting multiple model algorithms in the simulations, the results demonstrate the validity of the new filtering method.
基金co-supported by the National Key Research and Development Program of China(No.2016YFC0803103)Beijing Advanced Innovation Center for Future Urban Design(No.UDC2016050100)Beijing Postdoctoral Research Foundation
文摘An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.
基金Supported by the National Natural Science Foundation of China （No.40067116）, the Research Development Foundation of Dalian Naval Academy （No.K200821）.
文摘According to the requirements of real-time performance and reliability in underwater maneuvering target tracking as well as clarifying motion features of the underwater target, an interacting multiple model algorithm based on fuzzy logic inference （FIMM） is proposed. Maneuvering patterns of the target are represented by model sets, including the constant velocity model （CA）, the Singer mode~, and the nearly constant speed horizontal-turn model （HT） in FIMM technology. The simulation results show that compared to conventional IMM, the reliability and real-time performance of underwater target tracking can be improved by FIMM algorithm.
基金supported by a grant from the National Natural Science Foundation of China(No.61375082)
文摘The purpose of this research is to improve the robustness of the autonomous system in order to improve the position and velocity estimation of an Unmanned Aerial Vehicle(UAV).Therefore, new integrated SINS/GPS navigation scheme based on Interacting Multiple Nonlinear Fuzzy Adaptive H_∞ Models(IMM-NFAH_∞) filtering technique for UAV is presented. The proposed IMM-NFAH_∞ strategy switches between two different Nonlinear Fuzzy Adaptive H_∞(NFAH_∞) filters and each NFAH_∞ filter is based on different fuzzy logic inference systems. The newly proposed technique takes into consideration the high order Taylor series terms and adapts the nonlinear H_∞ filter based on different fuzzy inference systems via adaptive filter bounds(di),along with disturbance attenuation parameter c. Simulation analysis validates the performance of the proposed algorithm, and the comparison with nonlinear H_∞(NH_∞) filter and that with different NFAH_∞ filters demonstrate the effectiveness of UAV localization utilizing IMM-NFAH_∞ filter.
基金the National Natural Science Foundation of China(No.61374160)the Shanghai Aerospace Science and Technology Innovation Fund(No.SAST201237)
文摘This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorrelated sensor noises by using augmented fusion before model interacting. And eigenvalue decomposition is utilized to reduce calculation complexity and implement parallel computing. In simulation part, the feasibility of the algorithm was tested and verified, and the relationship between sensor number and the estimation precision was studied. Results show that simply increasing the number of sensor cannot always improve the performance of the estimation. Type and number of sensors should be optimized in practical applications.
基金Foundation item： Supported by the National Nature Science Foundation of China （No. 61074053, 61374114） and the Applied Basic Research Program of Ministry of Transport of China （No. 2011-329-225 -390）.
文摘This paper studies the algorithm of the adaptive grid and fuzzy interacting multiple model （AGFIMM） for maneuvering target tracking, while focusing on the problems of the fixed structure multiple model （FSMM） algorithm＇s cost-efficiency ratio being not high and the Markov transition probability of the interacting multiple model （IMM） algorithm being difficult to determine exactly. This algorithm realizes the adaptive model set by adaptive grid adjustment, and obtains each model matching degree in the model set by fuzzy logic inference. The simulation results show that the AGFIMM algorithm can effectively improve the accuracy and cost-efficiency ratio of the multiple model algorithm, and as a result is suitable for enineering apolications.
基金supported by the National Natural Science Foundation of China(Grant Nos.10975032 and 11175042)the National Ministry of Education of China(Grants Nos.NCET-09-0276,N110405011 and N120505003)the Provincial Department of Education of Liaoning(Grant No.L2012087)
文摘In this paper, a new version of the interacting model of new agegraphic dark energy （INADE） is proposed and analyzed in detail. The interaction between dark energy and dark matter is reconsidered. The interaction term Q = bh0ραdcρ1-α dm is adopted, which abandons the Hubble expansion rate H and involves both Pae and Pare. Moreover, the new initial condition for the agegraphie dark energy is used, which solves the problem of accommodating baryon matter and radiation in the model. The solution of the model can be given using an iterative algorithm. A concrete example for the calculation of the model is given. Furthermore, the model is constrained by using the combined Planck data （Planck＋BAO＋SNIa＋H0） and the combined WMAP-9 data （WMAP＋BAO＋SNIa＋H0）. Three typical cases are considered： （A） Q = bHoPde, （B） Q = bHo√ρdeρdm,and （C） Q = bHopdm, which correspond to α = 1, 1/2, and 0, respectively. The departures of the models from the ACDM model are measured by the ABIC and AAIC values. It is shown that the INADE model is better than the NADE model in the fit, and the 1NADE（A） model is the best in fitting data among the three cases.
基金supported by the National Natural Science Foundation of China(Grant Nos.10705041 and 10975032)the National Ministry of Education of China under the innovation program for undergraduate students
文摘Many dark energy models fail to pass the cosmic age test because of the old quasar APM 08279+5255 at redshift z=3.91,the ΛCDMmodel and holographic dark energy models being no exception.Inthis paper,we focus onthe topic of the age problem inthe new agegraphic dark energy(NADE)model.We determine the age of the universe in the NADE model by fitting the observational data,including type Ia supernovae(SNIa),baryon acoustic oscillations(BAO)and the cosmic microwave background(CMB).We find that the NADE model also faces the challenge of the age problem caused by the old quasar APM 08279+5255.In order to overcome such a difficulty,we consider the possible interaction between dark energy and dark matter.We show that this quasar can be successfully accommodated in the interacting new agegraphic dark energy(INADE)model at the 2σlevel under the current observational constraints.
基金financially supported by the General Program Grant from the National Natural Science Foundation of China(52274051 and 52174045)the Strategic Cooperation Technology Projects of CNPC and CUPB(ZLZX2020-01)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(51521063)。
文摘Surfactants are widely used in the fracturing fluid to enhance the imbibition and thus the oil recovery rate. However, current numerical models cannot capture the physics behind capillary imbibition during the wettability alteration by surfactants. Although the interacting capillary bundle(ICB) model shows potential in characterizing imbibition rates in different pores during wettability alteration, the existing ICB models neglect the influence of wettability and viscosity ratio on the imbibition behavior, making it difficult to accurately describe the oil-water imbibition behavior within the porous media. In this work,a new ICB mathematical model is established by introducing pressure balance without assuming the position of the leading front to comprehensively describe the imbibition behavior in a porous medium under different conditions, including gas-liquid spontaneous imbibition and oil-water imbibition.When the pore size distribution of a tight rock is known, this new model can predict the changes of water saturation during the displacement process in the tight rock, and also determine the imbibition rate in pores of different sizes. The water saturation profiles obtained from the new model are validated against the waterflooding simulation results from the CMG, while the imbibition rates calculated by the model are validated against the experimental observations of gas-liquid spontaneous imbibition. The good match above indicates the newly proposed model can show the water saturation profile at a macroscopic scale while capture the underlying physics of the multiphase flow in a porous medium at a microscopic scale. Simulation results obtained from this model indicate that both wettability and viscosity ratio can affect the sequence of fluid imbibition into pores of different sizes during the multiphase flow, where less-viscous wetting fluid is preferentially imbibed into larger pores while more-viscous wetting fluid tends to be imbibed into smaller pores. Furthermore, this model provides an avenue to calculate the imbibition rate in pores of different sizes during wettability alteration and capture the non-Darcy effect in micro-and nano-scale pores.
文摘Interacting Boson Model-2(IBM-2)is used to determine the Hamiltonian for Er nuclei.Fit values of parameters are used to construct the Hamiltonian,energy levels and electromagnetic transitions(B(E2),B(M1))multipole mixing ratios(δ(E2/M1))for some even-even Er nuclei and monopole transition probability are estimated.New ideas are used for counting bosons number at N=64 and results are compared with previous works.
文摘We study the energy level statistics of the SO(5) limit of super-symmetry U(6/4) in odd-A nucleus using the interacting boson-fermion model. The nearest neighbor spacing distribution (NSD) and the spectral rigidity (△3)are investigated, and the factors that affect the properties of level statistics are also discussed. The results show that the boson number N is a dominant factor. If N is small, both the interaction strengths of subgroups SOB(5) and SOBF(5)and the spin play important roles in the energy level statistics, however, along with the increase of N, the statistics distribution would tend to be in Poisson form.
基金Supported by the National High Technology Research and Development Program of China(No.2012AA061101)the Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information(Nanjing University of Science and Technology),Ministry of Education(No.3092013012205)
文摘There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope carriers,interacting multiple model （IMM） is employed here to solve the problem.The Kalman filter-based IMM （IMMKF） algorithm is explained in detail and its application in gyro signal processing is introduced.And with the help of the Singer model,the system model set of gyro outputs is constructed.In order to demonstrate the effectiveness of the proposed approach,static experiment and dynamic experiment are carried out respectively.Simulation analysis results indicate that the IMMKF algorithm is excellent in eliminating gyro drift errors,which could adapt to the change of carrier maneuvering process well.
基金This work was supported by the National Natural Science Foundation of China(Grants Nos.11975072,11835009,11875102,and 11690021)the Liaoning Revitalization Talents Program(Grant No.XLYC1905011)+2 种基金the Fundamental Research Funds for the Central Universities(Grant No.N2005030)the National 111 Project of China(Grant No.B16009)the Science Research Grants from the China Manned Space Project(Grant No.CMS-CSST-2021-B01).
文摘Multi-messenger gravitational wave(GW)observation for binary neutron star merger events could provide a rather useful tool to explore the evolution of the Universe.In particular,for the third-generation GW detectors,i.e.the Einstein Telescope(ET)and the Cosmic Explorer(CE),proposed to be built in Europe and the U.S.,respectively,lots of GW standard sirens with known redshifts could be obtained,which would exert great impacts on the cosmological parameter estimation.The total neutrino mass could be measured by cosmological observations,but such a measurement is model-dependent and currently only gives an upper limit.In this work,we wish to investigate whether the GW standard sirens observed by ET and CE could help improve the constraint on the neutrino mass,in particular in the interacting dark energy(IDE)models.We find that the GW standard siren observations from ET and CE can only slightly improve the constraint on the neutrino mass in the IDE models,compared to the current limit.The improvements in the IDE models are weaker than those in the standard cosmological model.Although the limit on neutrino mass can only be slightly updated,the constraints on other cosmological parameters can be significantly improved by using the GW observations.
基金National Natural Science Foundation of China(No.61663020)Project of Education Department of Gansu Province(No.2016B-036)
文摘To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.
基金supported by the National Natural Science Foundation of China(Grant Nos.42150204 and 2288101)supported by the China National Postdoctoral Program for Innovative Talents(BX20230045)the China Postdoctoral Science Foundation(2023M730279)。
文摘A nonlinear multi-scale interaction(NMI)model was proposed and developed by the first author for nearly 30 years to represent the evolution of atmospheric blocking.In this review paper,we first review the creation and development of the NMI model and then emphasize that the NMI model represents a new tool for identifying the basic physics of how climate change influences mid-to-high latitude weather extremes.The building of the NMI model took place over three main periods.In the 1990s,a nonlinear Schr?dinger(NLS)equation model was presented to describe atmospheric blocking as a wave packet;however,it could not depict the lifetime(10-20 days)of atmospheric blocking.In the 2000s,we proposed an NMI model of atmospheric blocking in a uniform basic flow by making a scale-separation assumption and deriving an eddyforced NLS equation.This model succeeded in describing the life cycle of atmospheric blocking.In the 2020s,the NMI model was extended to include the impact of a changing climate mainly by altering the basic zonal winds and the magnitude of the meridional background potential vorticity gradient(PVy).Model results show that when PVy is smaller,blocking has a weaker dispersion and a stronger nonlinearity,so blocking can be more persistent and have a larger zonal scale and weaker eastward movement,thus favoring stronger weather extremes.However,when PVy is much smaller and below a critical threshold under much stronger winter Arctic warming of global warming,atmospheric blocking becomes locally less persistent and shows a much stronger westward movement,which acts to inhibit local cold extremes.Such a case does not happen in summer under global warming because PVy fails to fall below the critical threshold.Thus,our theory indicates that global warming can render summer-blocking anticyclones and mid-to-high latitude heatwaves more persistent,intense,and widespread.
