Dear Editor,Pose graph optimization(PGO)is a popular optimization approach that plays a crucial role in the simultaneous localization and mapping(SLAM)back-end.However,when incorrect loop closure constraints(referred ...Dear Editor,Pose graph optimization(PGO)is a popular optimization approach that plays a crucial role in the simultaneous localization and mapping(SLAM)back-end.However,when incorrect loop closure constraints(referred to as outliers)are present in the SLAM front-end,the standard PGO algorithm fails catastrophically and can not return an accurate map.To address this issue,this letter proposes a novel algorithm that leverages classical optimization methods to effectively handle outliers.The proposed algorithm introduces a new formulation that incorporates a credibility factor model,which improves the robustness of the optimization process.Additionally,an innovative consistency classification algorithm is developed to detect outliers.Extensive experiments are conducted on multiple benchmark datasets to evaluate the consistency and accuracy of the proposed algorithm.展开更多
The formation water sample in oil and gas fields may be polluted in processes of testing, trial production, collection, storage, transportation and analysis, making the properties of formation water not be reflected t...The formation water sample in oil and gas fields may be polluted in processes of testing, trial production, collection, storage, transportation and analysis, making the properties of formation water not be reflected truly. This paper discusses identification methods and the data credibility evaluation method for formation water in oil and gas fields of petroliferous basins within China. The results of the study show that: (1) the identification methods of formation water include the basic methods of single factors such as physical characteristics, water composition characteristics, water type characteristics, and characteristic coefficients, as well as the comprehensive evaluation method of data credibility proposed on this basis, which mainly relies on the correlation analysis sodium chloride coefficient and desulfurization coefficient and combines geological background evaluation;(2) The basic identifying methods for formation water enable the preliminary identification of hydrochemical data and the preliminary screening of data on site, the proposed comprehensive method realizes the evaluation by classifying the CaCl2-type water into types A-I to A-VI and the NaHCO3-type water into types B-I to B-IV, so that researchers can make in-depth evaluation on the credibility of hydrochemical data and analysis of influencing factors;(3) When the basic methods are used to identify the formation water, the formation water containing anions such as CO_(3)^(2-), OH- and NO_(3)^(-), or the formation water with the sodium chloride coefficient and desulphurization coefficient not matching the geological setting, are all invaded with surface water or polluted by working fluid;(4) When the comprehensive method is used, the data credibility of A-I, A-II, B-I and B-II formation water can be evaluated effectively and accurately only if the geological setting analysis in respect of the factors such as formation environment, sampling conditions, condensate water, acid fluid, leaching of ancient weathering crust, and ancient atmospheric fresh water, is combined, although such formation water is believed with high credibility.展开更多
The paper develops a design of optimal Bonus-Malus System （BMS） based on exact equitable credibility,in which the relative error function is taken as loss function. In BMS,both the frequency and the severity compone...The paper develops a design of optimal Bonus-Malus System （BMS） based on exact equitable credibility,in which the relative error function is taken as loss function. In BMS,both the frequency and the severity components are considered. This design is compared with traditional BMS derived from classical squared-error loss function.展开更多
It is quite often that the theoretic model used in the Kalman filtering may not be sufficiently accurate for practical applications,due to the fact that the covariances of noises are not exactly known.Our previous wor...It is quite often that the theoretic model used in the Kalman filtering may not be sufficiently accurate for practical applications,due to the fact that the covariances of noises are not exactly known.Our previous work reveals that in such scenario the filter calculated mean square errors(FMSE)and the true mean square errors(TMSE)become inconsistent,while FMSE and TMSE are consistent in the Kalman filter with accurate models.This can lead to low credibility of state estimation regardless of using Kalman filters or adaptive Kalman filters.Obviously,it is important to study the inconsistency issue since it is vital to understand the quantitative influence induced by the inaccurate models.Aiming at this,the concept of credibility is adopted to discuss the inconsistency problem in this paper.In order to formulate the degree of the credibility,a trust factor is constructed based on the FMSE and the TMSE.However,the trust factor can not be directly computed since the TMSE cannot be found for practical applications.Based on the definition of trust factor,the estimation of the trust factor is successfully modified to online estimation of the TMSE.More importantly,a necessary and sufficient condition is found,which turns out to be the basis for better design of Kalman filters with high performance.Accordingly,beyond trust factor estimation with Sage-Husa technique(TFE-SHT),three novel trust factor estimation methods,which are directly numerical solving method(TFE-DNS),the particle swarm optimization method(PSO)and expectation maximization-particle swarm optimization method(EM-PSO)are proposed.The analysis and simulation results both show that the proposed TFE-DNS is better than the TFE-SHT for the case of single unknown noise covariance.Meanwhile,the proposed EMPSO performs completely better than the EM and PSO on the estimation of the credibility degree and state when both noise covariances should be estimated online.展开更多
LINEX(linear and exponential) loss function is a useful asymmetric loss function. The purpose of using a LINEX loss function in credibility models is to solve the problem of very high premium by suing a symmetric quad...LINEX(linear and exponential) loss function is a useful asymmetric loss function. The purpose of using a LINEX loss function in credibility models is to solve the problem of very high premium by suing a symmetric quadratic loss function in most of classical credibility models. The Bayes premium and the credibility premium are derived under LINEX loss function. The consistency of Bayes premium and credibility premium were also checked. Finally, the simulation was introduced to show the differences between the credibility estimator we derived and the classical one.展开更多
To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-bas...To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise correlation.This method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility theory.Further,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is provided.Finally,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental data.The simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.展开更多
基金supported in part by the National Nature Science Foundation of China(62273239,62103283).
文摘Dear Editor,Pose graph optimization(PGO)is a popular optimization approach that plays a crucial role in the simultaneous localization and mapping(SLAM)back-end.However,when incorrect loop closure constraints(referred to as outliers)are present in the SLAM front-end,the standard PGO algorithm fails catastrophically and can not return an accurate map.To address this issue,this letter proposes a novel algorithm that leverages classical optimization methods to effectively handle outliers.The proposed algorithm introduces a new formulation that incorporates a credibility factor model,which improves the robustness of the optimization process.Additionally,an innovative consistency classification algorithm is developed to detect outliers.Extensive experiments are conducted on multiple benchmark datasets to evaluate the consistency and accuracy of the proposed algorithm.
基金Supported by the PetroChina Science and Technology Project(2023ZZ0202)。
文摘The formation water sample in oil and gas fields may be polluted in processes of testing, trial production, collection, storage, transportation and analysis, making the properties of formation water not be reflected truly. This paper discusses identification methods and the data credibility evaluation method for formation water in oil and gas fields of petroliferous basins within China. The results of the study show that: (1) the identification methods of formation water include the basic methods of single factors such as physical characteristics, water composition characteristics, water type characteristics, and characteristic coefficients, as well as the comprehensive evaluation method of data credibility proposed on this basis, which mainly relies on the correlation analysis sodium chloride coefficient and desulfurization coefficient and combines geological background evaluation;(2) The basic identifying methods for formation water enable the preliminary identification of hydrochemical data and the preliminary screening of data on site, the proposed comprehensive method realizes the evaluation by classifying the CaCl2-type water into types A-I to A-VI and the NaHCO3-type water into types B-I to B-IV, so that researchers can make in-depth evaluation on the credibility of hydrochemical data and analysis of influencing factors;(3) When the basic methods are used to identify the formation water, the formation water containing anions such as CO_(3)^(2-), OH- and NO_(3)^(-), or the formation water with the sodium chloride coefficient and desulphurization coefficient not matching the geological setting, are all invaded with surface water or polluted by working fluid;(4) When the comprehensive method is used, the data credibility of A-I, A-II, B-I and B-II formation water can be evaluated effectively and accurately only if the geological setting analysis in respect of the factors such as formation environment, sampling conditions, condensate water, acid fluid, leaching of ancient weathering crust, and ancient atmospheric fresh water, is combined, although such formation water is believed with high credibility.
基金Supported by the National Natural Science Foundation of China（70271019）.
文摘The paper develops a design of optimal Bonus-Malus System （BMS） based on exact equitable credibility,in which the relative error function is taken as loss function. In BMS,both the frequency and the severity components are considered. This design is compared with traditional BMS derived from classical squared-error loss function.
基金supported by the National Natural Science Foundation of China(62033010)Aeronautical Science Foundation of China(2019460T5001)。
文摘It is quite often that the theoretic model used in the Kalman filtering may not be sufficiently accurate for practical applications,due to the fact that the covariances of noises are not exactly known.Our previous work reveals that in such scenario the filter calculated mean square errors(FMSE)and the true mean square errors(TMSE)become inconsistent,while FMSE and TMSE are consistent in the Kalman filter with accurate models.This can lead to low credibility of state estimation regardless of using Kalman filters or adaptive Kalman filters.Obviously,it is important to study the inconsistency issue since it is vital to understand the quantitative influence induced by the inaccurate models.Aiming at this,the concept of credibility is adopted to discuss the inconsistency problem in this paper.In order to formulate the degree of the credibility,a trust factor is constructed based on the FMSE and the TMSE.However,the trust factor can not be directly computed since the TMSE cannot be found for practical applications.Based on the definition of trust factor,the estimation of the trust factor is successfully modified to online estimation of the TMSE.More importantly,a necessary and sufficient condition is found,which turns out to be the basis for better design of Kalman filters with high performance.Accordingly,beyond trust factor estimation with Sage-Husa technique(TFE-SHT),three novel trust factor estimation methods,which are directly numerical solving method(TFE-DNS),the particle swarm optimization method(PSO)and expectation maximization-particle swarm optimization method(EM-PSO)are proposed.The analysis and simulation results both show that the proposed TFE-DNS is better than the TFE-SHT for the case of single unknown noise covariance.Meanwhile,the proposed EMPSO performs completely better than the EM and PSO on the estimation of the credibility degree and state when both noise covariances should be estimated online.
基金Supported by the NNSF of China(71001046)Supported by the NSF of Jiangxi Province(20114BAB211004)
文摘LINEX(linear and exponential) loss function is a useful asymmetric loss function. The purpose of using a LINEX loss function in credibility models is to solve the problem of very high premium by suing a symmetric quadratic loss function in most of classical credibility models. The Bayes premium and the credibility premium are derived under LINEX loss function. The consistency of Bayes premium and credibility premium were also checked. Finally, the simulation was introduced to show the differences between the credibility estimator we derived and the classical one.
基金supported by the National Natural Science Foundation of China(No.62033010)the Qing Lan Project of Jiangsu Province,China(No.R2023Q07)the Aeronautical Science Foundation of China(No.2019460T5001).
文摘To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise correlation.This method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility theory.Further,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is provided.Finally,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental data.The simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.
