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LOCAL ERROR ESTIMATES FOR METHODS OF CHARACTERISTICS INCORPORATING STREAMLINE DIFFUSION
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作者 岳兴业 《Acta Mathematica Scientia》 SCIE CSCD 2002年第4期564-576,共13页
Allen and Liu (1995) introduced a new method for a time-dependent convection dominated diffusion problem, which combines the modified method of characteristics and method of streamline diffusion. But they ignored the ... Allen and Liu (1995) introduced a new method for a time-dependent convection dominated diffusion problem, which combines the modified method of characteristics and method of streamline diffusion. But they ignored the fact that the accuracy of time discretization decays at half an order when the characteristic line goes out of the domain. In present paper, the author shows that, as a remedy, a simple lumped scheme yields a full accuracy approximation. Forthermore, some local error bounds independent of the small viscosity axe derived for this scheme outside the boundary layers. 展开更多
关键词 convection dominated method of characteristics streamline diffusion local error estimates
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Insights into Student Perceptions of Error Feedback and Improvement Preferences in Online Programming Education
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作者 Li Zhang Tianze Wang +1 位作者 Jing Jiang Yufei Zhou 《计算机教育》 2026年第3期176-189,共14页
Online programming platforms are popular in programming education.However,there has been no research investigating students’real opinions and expectations of the error feedback mechanisms,leaving educators without a ... Online programming platforms are popular in programming education.However,there has been no research investigating students’real opinions and expectations of the error feedback mechanisms,leaving educators without a solid data foundation when attempting to improve the error feedback mechanisms.This paper makes a survey of 834 students across various programming courses and investigates student perceptions of error feedback mechanisms on online programming platforms.It explores the effectiveness of existing feedback,student satisfaction,and preferences for potential improvements,focusing on automatic error localization and program repair mechanisms.Results reveal a significant portion of students are dissatisfied with current feedback due to its limited informativeness.Students also express a clear demand for stronger feedback mechanisms,such as error localization and repair hints.Nevertheless,they prefer feedback that subtly guides them toward solutions,rather than providing direct and explicit answers,valuing the opportunity to enhance their debugging skills.The findings suggest a need for balanced,educational-focused feedback mechanisms that aid learning while promoting independent problem-solving. 展开更多
关键词 error feedback Online programming education Program error localization Automated program repair
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OPTIMAL INTERIOR AND LOCAL ERROR ESTIMATES OF A RECOVERED GRADIENT OF LINEAR ELEMENTS ON NONUNIFORM TRIANGULATIONS
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作者 I. Hlavacek M. Krizek(Mathematical Institute, Zitna 25, CZ-11567, Prague 1, Czech Republic) 《Journal of Computational Mathematics》 SCIE CSCD 1996年第4期345-362,共18页
We examine a simple averaging formula for the gradieni of linear finite elemelitsin Rd whose interpolation order in the Lq-norm is O(h2) for d < 2q and nonuniformtriangulations. For elliptic problems in R2 we deriv... We examine a simple averaging formula for the gradieni of linear finite elemelitsin Rd whose interpolation order in the Lq-norm is O(h2) for d < 2q and nonuniformtriangulations. For elliptic problems in R2 we derive an interior superconvergencefor the averaged gradient over quasiuniform triangulations. Local error estimatesup to a regular part of the boundary and the effect of numerical integration arealso investigated. 展开更多
关键词 Math Pro OPTIMAL INTERIOR AND local error ESTIMATES OF A RECOVERED GRADIENT OF LINEAR ELEMENTS ON NONUNIFORM TRIANGULATIONS
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Cooperative guidance of seeker-less missile considering localization error 被引量:5
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作者 Jianbo ZHAO Shuxing YANG Fenfen XIONG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2019年第8期1933-1945,共13页
To perform an accurate fire-and-forget attack of seeker-less missile with the consideration of the localization error, a new cooperative guidance strategy of multi-missiles is proposed in this work. Firstly, an estima... To perform an accurate fire-and-forget attack of seeker-less missile with the consideration of the localization error, a new cooperative guidance strategy of multi-missiles is proposed in this work. Firstly, an estimated position of the seeker-less missile is carefully selected, based on which the slant angle of the line between the estimated and real positions of the seeker-less missile is approximately derived inspired by the localization theory of GPS(Global Position System).Then, respectively based on the guidance law considering the impact angle and time constraints, the consensus theory and the finite-time convergence approach, three cooperative guidance laws employing the previously obtained slant angle are derived for intensive attack to address either a stationary or maneuvering target. Simulation results well demonstrate the effectiveness and advantages of the proposed cooperative guidance strategy. 展开更多
关键词 Cooperative GUIDANCE Fire-and-forget INTENSIVE attack localization error MISSILE GUIDANCE Seeker-less
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An Inexact Affine Scaling Levenberg-Marquardt Method Under Local Error Bound Conditions 被引量:2
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作者 Zhu-jun WANG Li CAI +1 位作者 Yi-fan SU Zhen PENG 《Acta Mathematicae Applicatae Sinica》 SCIE CSCD 2019年第4期830-844,共15页
We propose an inexact affine scaling Levenberg-Marquardt method for solving bound-constrained semismooth equations under the local error bound assumption which is much weaker than the standard nonsingularity condition... We propose an inexact affine scaling Levenberg-Marquardt method for solving bound-constrained semismooth equations under the local error bound assumption which is much weaker than the standard nonsingularity condition. The affine scaling Levenberg-Marquardt equation is based on a minimization of the squared Euclidean norm of linearized model adding a quadratic affine scaling matrix to find a solution which belongs to the bounded constraints on variable. The global convergence and the superlinear convergence rate are proved.Numerical results show that the new algorithm is efficient. 展开更多
关键词 SEMISMOOTH equation LEVENBERG-MARQUARDT METHOD INEXACT METHOD AFFINE scaling local error BOUNDS
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Sound-based remote sensing of terrestrial animals: localization and error analysis 被引量:2
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作者 SHENShaoqing GoNGPeng +1 位作者 CHENGXiao YINGQing 《遥感学报》 EI CSCD 北大核心 2011年第6期1255-1275,共21页
声音遥感技术可以极大地提高人们对动物的监测、研究和保护能力。本研究设计了一套廉价的陆生动物声音定位系统。该系统集成了市场上现成的录音笔和无线控制设备,价格明显低于许多动物定位系统。使用自主研发的声音定位软件,在X、Y方向... 声音遥感技术可以极大地提高人们对动物的监测、研究和保护能力。本研究设计了一套廉价的陆生动物声音定位系统。该系统集成了市场上现成的录音笔和无线控制设备,价格明显低于许多动物定位系统。使用自主研发的声音定位软件,在X、Y方向上的绝对定位误差最大为1.69m,可满足大部分动物定位需求;Z方向的定位误差偏大,结果尚不理想。为了揭示影响声音定位系统精度的各种因素及其影响,采用蒙特卡罗方法进行分析,发现录音站点的位置测量误差、到达时间差的估计误差和声速的估计误差均会影响最终的声音定位精度。此外,该方法还可用于在声音定位系统布设阶段确定系统参数的合理数值,包括录音节点总个数和空间尺度。 展开更多
关键词 遥感技术 应用 理论 图像处理
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SEMIPARAMETRIC REGRESSION MODELS WITH LOCALLY GENERALIZED GAUSSIAN ERROR'S STRUCTURE
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作者 胡舒合 《Acta Mathematica Scientia》 SCIE CSCD 1998年第S1期68-77,共10页
This paper proposes parametric component and nonparametric component estimators in a semiparametric regression models based on least squares and weight function's method, their strong consistency and rib mean cons... This paper proposes parametric component and nonparametric component estimators in a semiparametric regression models based on least squares and weight function's method, their strong consistency and rib mean consistency are obtained under a locally generallied Gaussinan error's structure. Finally, the author showes that the usual weight functions based on nearest neighbor method satisfy the deigned assumptions imposed. 展开更多
关键词 Semiparametric regression locally generalized Garussian error Strong consistency Rib mean consistency
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Variation analysis ofprecision mechanical assembly consideringform errors and local deformation
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作者 张婷玉 金鑫 +1 位作者 张之敬 叶鑫 《Journal of Beijing Institute of Technology》 EI CAS 2014年第3期325-331,共7页
A method to analyze the effect of form errors and local deformation on the assembly accu- racy and its stability in a non-rigid assembly system is proposed. The contact finite element method was used to obtain local d... A method to analyze the effect of form errors and local deformation on the assembly accu- racy and its stability in a non-rigid assembly system is proposed. The contact finite element method was used to obtain local deformation of mating surfaces, which was superposed onto form errors to obtain real mating surface data of assemblies. Then mating variation was obtained by establishing vir- tual contact planes. Finally, an experiment of the assembly of two cylindrical components was car- ried out to verify the validity of the proposed method. By comparing the calculation accuracies of 3D assembly with and without taking into account local deformation, the results showed that the effects of local deformation of mating surfaces on calculation accuracy of mating variation was not neglect- able compared with form errors. 展开更多
关键词 form errors finite element method local deformation precision mechanical system
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Using self-location to calibrate the errors of observer positions for source localization 被引量:2
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作者 Wanchun Li Wanyi Zhang Liping Li 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2014年第2期194-202,共9页
The uncertainty of observers' positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in ... The uncertainty of observers' positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in source localization to reduce the errors of the observer positions and improve the accuracy of the source localization. The relative distance measurements of the two coordinative observers are used for the linear minimum mean square error (LMMSE) estimator. The results of computer si-mulations prove the feasibility and effectiveness of the proposed method. With the general estimation errors of observers' positions, the MSE of the source localization with self-location calibration, which is significantly lower than that without self-location calibra-tion, is approximating to the Cramer-Rao lower bound (CRLB). 展开更多
关键词 self-location errors of the observer positions linearminimum mean square error (LMMSE) estimator accuracy of thesource localization Cramer-Rao lower bound (CRLB).
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基于sBTTC临界阈值自适应修正的暂态功角稳定智能增强判别
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作者 刘嘉诚 刘俊 +4 位作者 王光耀 徐式蕴 李宗翰 林凯威 默天啸 《中国电机工程学报》 北大核心 2026年第5期1765-1779,I0004,共16页
暂态稳定性判别(transient stability discrimination,TSD)是故障后电力系统状态恢复与安全稳定运行的基础。现有研究中的机理性判据通常存在适用性与时效性问题,而人工智能主导的判别缺乏可解释性以及实时可靠性的有效评估。对此,该文... 暂态稳定性判别(transient stability discrimination,TSD)是故障后电力系统状态恢复与安全稳定运行的基础。现有研究中的机理性判据通常存在适用性与时效性问题,而人工智能主导的判别缺乏可解释性以及实时可靠性的有效评估。对此,该文提出一种基于机理判据智能增强的电力系统暂态功角稳定性判别方法。首先,针对简化暂态输电能力指数(simplified branch transient transmission capacity,sBTTC)的最低值预测,提出基于改进邻域泛化误差估计(improved localized generalization error estimation,ILGEE)的偏差方差上界估计方法,实时衡量人工智能模型预测结果的期望偏差分布情况;然后,结合sBTTC最低值概率分布函数与暂态稳定概率,提出兼顾时效性与准确性的判别风险惩罚函数并证明其极值条件;最后,通过牛顿法求解最优临界判别阈值,与故障后系统支路sBTTC的实时量测计算值比对即可判别系统稳定性。CSEE-RAS与实际大规模系统算例验证了智能增强后机理判据的时效性、可解释性与判别精度。 展开更多
关键词 暂态稳定性判别 响应驱动 简化支路暂态输电能力指数 智能增强 改进局部泛化误差估计
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基于FKNN-GAIN的缺失值填补算法
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作者 陈耀 张烈平 +2 位作者 高小淋 郑新鹏 张翠 《计算机工程与设计》 北大核心 2026年第2期336-343,共8页
针对室内定位中指纹数据缺失导致的定位误差累积问题,提出一种改进的K近邻算法和生成对抗填补网络融合的缺失值填补算法(FKNN-GAIN)。采用卡尔曼滤波对指纹数据进行预处理,在初次填补阶段,使用高斯隶属函数为KNN的邻居样本赋予权重,并... 针对室内定位中指纹数据缺失导致的定位误差累积问题,提出一种改进的K近邻算法和生成对抗填补网络融合的缺失值填补算法(FKNN-GAIN)。采用卡尔曼滤波对指纹数据进行预处理,在初次填补阶段,使用高斯隶属函数为KNN的邻居样本赋予权重,并计算加权平均值估算缺失值。在二次填补阶段,利用GAIN对初次填补结果进行对抗训练,以提高填补精度和数据可靠性。实验结果表明,FKNN-GAIN算法填补后指纹库平均定位误差仅为1.80 m。验证了本文算法在填补缺失数据和提升定位精度方面具有显著优势。 展开更多
关键词 室内定位 指纹数据 卡尔曼滤波 K近邻算法 生成对抗填补网络 缺失值填补 定位误差
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Error Model of Curves in GIS and Digitization Experiment
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作者 GUO Tongde WANG Jiayao WANG Guangxia 《Geo-Spatial Information Science》 2006年第4期306-310,共5页
A stochastic error process of curves is proposed as the error model to describe the errors of curves in GIS. In terms of the stochastic process, four characteristics concerning the local error of curves, namely, mean ... A stochastic error process of curves is proposed as the error model to describe the errors of curves in GIS. In terms of the stochastic process, four characteristics concerning the local error of curves, namely, mean error function, standard error function, absolute error function, and the correlation function of errors , are put forward. The total error of a curve is expressed by a mean square integral of the stochastic error process. The probabilistic meanings and geometric meanings of the characteristics mentioned above are also discussed. A scan digitization experiment is designed to check the efficiency of the model. In the experiment, a piece of contour line is digitized for more than 100 times and lots of sample functions are derived from the experiment. Finally, all the error characteristics are estimated on the basis of sample functions. The experiment results show that the systematic error in digitized map data is not negligible, and the errors of points on curves are chiefly dependent on the curvature and the concavity of the curves. 展开更多
关键词 error model of curves stochastic process local error total error digitization experiment
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基于半定规划的WSN节点协同定位算法
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作者 郭小宝 贾方秀 +1 位作者 肖梓雄 伍昕怡 《兵器装备工程学报》 北大核心 2026年第1期192-197,共6页
在大规模无线传感器网络(WSN)定位问题中,针对传统最大似然估计器(MLE)目标函数的高度非凸性及其优化过程中易陷入局部最优解、进而降低定位精度的问题,本文中提出了一种结合残差与最小二乘相对误差准则的RLSRE-SDP定位算法,该算法目标... 在大规模无线传感器网络(WSN)定位问题中,针对传统最大似然估计器(MLE)目标函数的高度非凸性及其优化过程中易陷入局部最优解、进而降低定位精度的问题,本文中提出了一种结合残差与最小二乘相对误差准则的RLSRE-SDP定位算法,该算法目标函数中不包含对数项,避免了传统ML估计器在计算中易陷入局部最优解的情况,提高了定位精度。首先通过指数变换,将接收信号强度(RSS)的对数正态阴影模型转换为乘法模型。然后利用该模型构造出残差与最小二乘相对误差准则相结合的非凸估计器。最后利用半定松弛(SDR)技术将约束优化问题转化为半定规划(SDP)问题进行求解。仿真结果表明,提出的RLSRE-SDP算法相较于ML-SDP算法精度平均提高了8.4%,相较于加权最小二乘半定规划(WLS-SDP)算法定位精度平均提高20.7%,相较于非线性最小二乘半定规划(NLS-SDP)算法定位精度平均提高32.8%。RLSRE-SDP算法在不同噪声水平下均能保持较高的定位精度和稳定性,整体性能优于现有算法。 展开更多
关键词 无线传感器网络 相对误差准则 半定规划 协同定位 残差准则
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基于自适应声速调节的TDOA定位算法
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作者 姜生 杨飞燕 柴群 《科学技术创新》 2026年第4期97-100,共4页
针对传统TDOA定位技术仅考虑恒定声速带来的水下定位误差问题,论文提出一种基于自适应声速调节的TDOA定位方法。通过将声速分别建模成基于盐度、温度和压力的函数来自适应调节声速,以适应水下复杂环境对TDOA定位技术的影响。与现有的SFD... 针对传统TDOA定位技术仅考虑恒定声速带来的水下定位误差问题,论文提出一种基于自适应声速调节的TDOA定位方法。通过将声速分别建模成基于盐度、温度和压力的函数来自适应调节声速,以适应水下复杂环境对TDOA定位技术的影响。与现有的SFDM、JTSL和STFDs定位方法进行仿真实验对比,在距离基站300 m的水下环境中,论文提出的方法在X轴方向上的EPE精度达到0.91 m,分别优于上述三种方法8.61m、1.59 m和0.4 m,在Y轴方向上的EPE精度达到0.94 m,分别优于上述方法9.8 m、1 m和0.03 m。实验结果表明,论文提出的方法显著提升了水下定位精度和鲁棒性,有效解决了水下物联网系统定位中的核心挑战。 展开更多
关键词 TDOA定位技术 自适应声速调节 定位误差 水下物联网系统
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基于非差改正数的BDS区域增强定位研究
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作者 韩澎涛 施佳慧 +1 位作者 李雪杉 李军 《测绘与空间地理信息》 2026年第2期39-42,共4页
为了满足高精度实时动态定位的需求,提高BDS区域增强定位中整周模糊度的收敛速度,本文针对非差误差改正数的北斗区域增强定位算法进行研究。利用参考站网BDS多频伪距和载波相位观测值,通过附加大气延迟参数的方式解算基准站间的多频载... 为了满足高精度实时动态定位的需求,提高BDS区域增强定位中整周模糊度的收敛速度,本文针对非差误差改正数的北斗区域增强定位算法进行研究。利用参考站网BDS多频伪距和载波相位观测值,通过附加大气延迟参数的方式解算基准站间的多频载波相位整周模糊度,通过附加大气延迟参数的历元间随机游走约束加快了载波相位整周模糊度的收敛速度。用户站在接收参考站高精度的非差误差改正数后,恢复了载波相位模糊度的整数特性,实验结果表明本文的基于非差误差改正数的北斗区域增强定位算法可实现用户站的厘米级定位。 展开更多
关键词 BDS 区域增强定位 模糊度固定 非差误差改正数
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站址误差下多基外辐射源雷达BR/DR定位CTLS算法
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作者 林庆宝 左燕 彭冬亮 《现代雷达》 北大核心 2026年第1期55-61,共7页
针对发射站和接收站同时存在传感器位置误差的多基外辐射源定位场景,提出了一种联合双基距(BR)和直达波距离(DR)的约束总体最小二乘定位算法。该算法引入辅助变量将非线性BR的观测方程进行线性化处理,利用伪线性化后BR定位方程的代数特... 针对发射站和接收站同时存在传感器位置误差的多基外辐射源定位场景,提出了一种联合双基距(BR)和直达波距离(DR)的约束总体最小二乘定位算法。该算法引入辅助变量将非线性BR的观测方程进行线性化处理,利用伪线性化后BR定位方程的代数特点引入DR量测,并将定位问题描述为约束总体最小二乘(CTLS)模型,并采用牛顿迭代法求解。最后,推导了克拉美罗下界(CRLB)和算法理论误差。仿真实验表明,在适中的误差噪声水平下,所提算法的定位性能能够达到CRLB,且高水平噪声下所提算法的性能明显优于两步加权最小二乘法,具有更好的噪声适应水平。 展开更多
关键词 多基外辐射源定位 双基距 直达波距离 约束总体最小二乘 位置误差
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AModified Search and Rescue Optimization Based Node Localization Technique inWSN 被引量:1
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作者 Suma Sira Jacob K.Muthumayil +4 位作者 M.Kavitha Lijo Jacob Varghese M.Ilayaraja Irina V.Pustokhina Denis A.Pustokhin 《Computers, Materials & Continua》 SCIE EI 2022年第1期1229-1245,共17页
Wireless sensor network(WSN)is an emerging technology which find useful in several application areas such as healthcare,environmentalmonitoring,border surveillance,etc.Several issues that exist in the designing of WSN... Wireless sensor network(WSN)is an emerging technology which find useful in several application areas such as healthcare,environmentalmonitoring,border surveillance,etc.Several issues that exist in the designing of WSN are node localization,coverage,energy efficiency,security,and so on.In spite of the issues,node localization is considered an important issue,which intends to calculate the coordinate points of unknown nodes with the assistance of anchors.The efficiency of the WSN can be considerably influenced by the node localization accuracy.Therefore,this paper presents a modified search and rescue optimization based node localization technique(MSRONLT)forWSN.The major aim of theMSRO-NLT technique is to determine the positioning of the unknown nodes in theWSN.Since the traditional search and rescue optimization(SRO)algorithm suffers from the local optima problemwith an increase in number of iterations,MSRO algorithm is developed by the incorporation of chaotic maps to improvise the diversity of the technique.The application of the concept of chaotic map to the characteristics of the traditional SRO algorithm helps to achieve better exploration ability of the MSRO algorithm.In order to validate the effective node localization performance of the MSRO-NLT algorithm,a set of simulations were performed to highlight the supremacy of the presented model.A detailed comparative results analysis showcased the betterment of the MSRO-NLT technique over the other compared methods in terms of different measures. 展开更多
关键词 Node localization WSN chaotic map search and rescue optimization algorithm localization error
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方志中的诗歌“袭误”现象——兼补宋诗十三首
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作者 李龙杰 朱富林 《山东图书馆学刊》 2026年第1期110-116,共7页
方志所载的错误内容更为普遍的来源是因袭于其他方志。在方志编纂过程中,区域相关的通志、府志、州志、县志等之间是互动的传抄关系,这种关系不限于方志层级的高低而唯在于成书的早晚。方志不同于其他文本,其成书有非常强的因循传承性,... 方志所载的错误内容更为普遍的来源是因袭于其他方志。在方志编纂过程中,区域相关的通志、府志、州志、县志等之间是互动的传抄关系,这种关系不限于方志层级的高低而唯在于成书的早晚。方志不同于其他文本,其成书有非常强的因循传承性,通过对七首诗歌的考证以说明方志收录诗文时对于他志的讹误往往不加考辨,一并沿袭。方志中这种普遍存在的后志承袭前志而误的现象,我们可以称之为方志的“袭误”现象。对于方志内容我们应谨慎对待,重新审视方志的编纂、利用以及整理等方面的问题。 展开更多
关键词 方志 诗歌 艺文志 袭误现象
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基于抗差自适应卡尔曼滤波的移动机器人UWB测距非视距误差抑制方法
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作者 王骏飞 武星 +2 位作者 王晨涛 孟昭旭 沙金龙 《工业控制计算机》 2026年第1期19-21,共3页
超宽带(Ultra-Wideband,UWB)测距精度是其定位精度的基础,这为移动机器人室内定位提供了新的技术途径。然而,由于室内环境下UWB信号传输存在非视距(Non-Line-of-Sight,NLOS)误差与多径干扰,UWB测距精度明显下降。针对UWB测距NLOS误差,... 超宽带(Ultra-Wideband,UWB)测距精度是其定位精度的基础,这为移动机器人室内定位提供了新的技术途径。然而,由于室内环境下UWB信号传输存在非视距(Non-Line-of-Sight,NLOS)误差与多径干扰,UWB测距精度明显下降。针对UWB测距NLOS误差,提出一种抗差自适应卡尔曼滤波算法。基于UWB测距模型构建NLOS误差检验因子,判定UWB测距数据是否存在NLOS误差。利用Huber函数构建观测噪声的抗差协方差矩阵,通过改进Sage-Husa滤波算法对系统噪声的协方差矩阵进行实时估计。实验结果表明,所提方法可有效抑制NLOS误差,提高UWB测距精度和鲁棒性。 展开更多
关键词 机器人定位 超宽带测距 非视距误差 误差抑制 卡尔曼滤波
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Research on Acoustic Localization Algorithm Based on Dual Four-Element Arrays 被引量:1
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作者 王亚斌 贾晶晶 刘明杰 《Journal of Beijing Institute of Technology》 EI CAS 2009年第1期51-55,共5页
The passive acoustic locating technology is widely used in military fields. The traditional locating method with single array has low precision of distance estimation, but comparatively high precision of angle estimat... The passive acoustic locating technology is widely used in military fields. The traditional locating method with single array has low precision of distance estimation, but comparatively high precision of angle estimation. According to the characteristic, the algorithm for acoustic passive localization based on the azimuth angle and geometry position of the two arrays is derived to estimate the target distance, and the simulation for the factors that affect the localization precision also proceeds. The result of the simulation shows the precision of localization estimation with dual arrays is superior to that of single array, and the passive localization algorithm based on dual array can meet the practical demands. 展开更多
关键词 acoustic detection acoustic passive localization ARRAY error
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