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基于变结构ESKF的航姿参考系统噪声处理方法

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电子测量与仪器学报 2024年第3期38卷 112-121页

作者：赵广营黄卫华章政梅宇恒武汉科技大学机器人与智能系统研究院武汉430000 武汉科技大学信息科学与工程学院武汉430000

针对航姿参考系统(AHRS)易受到环境与传感器自身噪声干扰,导致姿态估计精度下降的问题,提出了一种基于变结构误差状态卡尔曼滤波(VS-ESKF)的噪声数据处理方法。首先,通过分析AHRS传感器观测数据与新息序列统计特征,设计了基于加速度范... 详细信息

针对航姿参考系统(AHRS)易受到环境与传感器自身噪声干扰,导致姿态估计精度下降的问题,提出了一种基于变结构误差状态卡尔曼滤波(VS-ESKF)的噪声数据处理方法。首先,通过分析AHRS传感器观测数据与新息序列统计特征,设计了基于加速度范数与遗忘序贯概率比检验(F-SPRT)的方法,分别检测加速度计与陀螺仪的噪声数据。其次,基于噪声检测结果,将平滑变结构滤波(SVSF)策略引入到误差状态卡尔曼滤波(ESKF),以提高ESKF对噪声模型不确定性的处理能力。然后,结合磁场强度与磁倾角参数特征,利用马氏距离法评估磁干扰并实时调整磁力计补偿权重,获取准确的AHRS修正数据。最后,基于自主搭建独轮机器人平台进行实验验证,结果表明所设计的VS-ESKF算法可以及时、准确地检测AHRS噪声数据,并有效地抑制噪声干扰,相比于ESKF算法,对横滚角、俯仰角和偏航角的估计精度分别提升了31.05%、32.32%和40.07%,提高了姿态估计的准确性和稳定性。

关键词：航姿参考系统噪声检测误差状态卡尔曼滤波平滑变结构滤波

Effects of elevated CO_2 concentration and nitrogen supply on biomass and active carbon of freshwater marsh after two growing seasons in Sanjiang Plain, Northeast China

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Journal of Environmental Sciences 2009年第10期21卷 1393-1399页

作者： zhao guangying LIU Jingshuang WANG Yang DOU Jingxin DONG Xiaoyong Northeast Institute of Geography and Agroecology Chinese Academy of Sciences Changchun 130012 China. School of Geographical Science Harbin Normal University Harbin 150080 China Graduate School of Chinese Academy of Sciences Beijing 100039 China Heilongjiang Academy of Forestry Science Harbin 150040 China

An experiments were carried out with treatments differing in nitrogen supply （0, 5 and 15 g N/m^2） and CO2 levels （350 and 700 μmol/mol） using OTC （open top chamber） equipment to investigate the biomass of Calamagrostis angustifolia and soil active carbon contents after two years. The results showed that elevated CO2 concentration increased the biomass of C. angustifolia and the magnitude of response varied with each growth period. Elevated CO2 concentration has increased aboveground biomass by 16.7% and 17.6% during the jointing and heading periods and only 3.5% and 9.4% during dough and maturity periods. The increases in belowground biomass due to CO2 elevation was 26.5%, 34.0% and 28.7% during the heading, dough and maturity periods, respectively. The responses of biomass to enhanced CO2 concentrations are differed in N levels. Both the increase of aboveground biomass and belowground biomass were greater under high level of N supply （15 g N/m^2）. Elevated CO2 concentration also increased the allocation of biomass and carbon in root. Under elevated CO2 concentration, the average values of active carbon tended to increase. The increases of soil active soil contents followed the sequence of microbial biomass carbon （10.6%）〉 dissolved organic carbon （7.5%）〉 labile oxidable carbon （6.6%）〉 carbohydrate carbon （4.1%）. Stepwise regressions indicated there were significant correlations between the soil active carbon contents and plant biomass. Particularly, microbial biomass carbon, labile oxidable carbon and carbohydrate carbon were found to be correlated with belowground biomass, while dissolved organic carbon has correlation with aboveground biomass. Therefore, increased biomass was regarded as the main driving force for the increase in soil active organic carbon under elevated CO2 concentration.

关键词： elevated CO2 concentration freshwater marsh biomass soil active carbon

Ecological Footprint and Major Driving Forces in West Jilin Province, Northeast China

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Chinese Geographical Science 2010年第5期20卷 434-441页

作者： WANG Mingquan LIU Jingshuang WANG Jinda zhao guangying Northeast lnstitute of Geography and Agroecology Chinese Academy of Sciences Changchun 130012 China College of Geographical Sciences Harbin Normal University Harbin 150025 China

The environmental impact caused by local people （ecological footprint of consumption, EFc） and the actual environmental impact that the ecosystem burdens （ecological footprint of production, EFp） in West Jilin Province, Northeast China from 1986 to 2006 were evaluated by using ecological footprint （EF） method. And the major driving forces of EFc and EFp were analyzed by STIRPAT model. Both EFc and EFp showed increasing trends in 1986-2006, accompanied by decreasing ecological deficits but expanding ecological overshoots. Population （P）, GDP per capita （A1）, quadratic term of GDP per capita （A2）, urbanization （Tα1）, and quadratic term of urbanization （Ta2） were important influencing factors of EFc, among which Tα2 and Tα1 were the most dominate driving forces of EFc. A1, A2 and Tα2 were important influencing factors of EFp, among which A2 and A1 were the most dominate driving forces of EFp. In 1986-2006, the classical Environmental Kuznets Curve hypothesis did not exist between A2 and EF （both EFc and EFp）, but did between Tα2 and EF. The results indicate that enhancing the urbanization process and diversifying economic sources is one of the most effective ways to reduce the environmental impact of West Jilin Province. Moreover, importance should be attached to improve the eco-efficiency of resource exploitation and consumption.

关键词： ecological footprint STIRPAT model ecological deficit ecological overshoot West Jilin Province

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深圳市多中心空间结构的协同性测度研究

城乡规划 2024年第1期 77-86页

作者：赵广英宋聚生朱继任哈尔滨工业大学(深圳) 哈尔滨工业大学(深圳)建筑学院哈尔滨工业大学(深圳)建筑学院城市规划系

文章基于中心度、功能联系性和集聚水平指标,建构多中心城市空间结构的协同性测度框架,并以深圳市为例进行实证研究。文章认为,深圳市多中心空间结构呈现出网络化发展趋势,主要城市中心的集聚能力得到持续强化,外围组团的独立性呈现增... 详细信息

文章基于中心度、功能联系性和集聚水平指标,建构多中心城市空间结构的协同性测度框架,并以深圳市为例进行实证研究。文章认为,深圳市多中心空间结构呈现出网络化发展趋势,主要城市中心的集聚能力得到持续强化,外围组团的独立性呈现增强趋势,枢纽型节点的重要性逐渐凸显。通过功能联系性、集聚水平指标,测度各中心之间的联系程度、要素流动关系,评价各中心的集聚能力,进而测度多中心城市空间结构的协同性,是一种全面体现功能联系性和空间集聚度特征的综合测度方法,对测度超大、特大城市内部多中心空间结构的协同性,具有较好的理论和实践指导意义。

关键词：多中心协同性测度模型

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区域内生态脆弱性分析

安徽农学通报 2024年第15期30卷 78-81页

作者：李佳赵光影闫梦云张璐璐哈尔滨师范大学地理科学学院黑龙江哈尔滨150025

生态脆弱性是生态系统在特定时空尺度相对于外界干扰所具有的敏感反应和自我恢复能力,是生态系统的固有属性。对现有生态脆弱性的研究区域、研究方法(包括模型模拟法、综合指数评价法、地理信息系统和空间分析技术)及研究内容等进行归... 详细信息

生态脆弱性是生态系统在特定时空尺度相对于外界干扰所具有的敏感反应和自我恢复能力,是生态系统的固有属性。对现有生态脆弱性的研究区域、研究方法(包括模型模拟法、综合指数评价法、地理信息系统和空间分析技术)及研究内容等进行归纳总结,为厘清典型区域内生态脆弱性动态演变的研究现状、研究趋势提供参考。在当前生态脆弱性的研究中,暂存在理论基础、评价指标和研究方法待进一步完善,研究区域有待进一步扩展等情况。加强对生态脆弱性研究的探讨,进一步拓展研究方向和内容,提高研究质量和水平,对于保护生态环境,实现可持续发展具有重要意义。

关键词：生态脆弱性人地关系生态脆弱区可持续发展

1991-2021年哈尔滨市热岛效应时空特征及影响因素分析

同方期刊数据库博看期刊评论

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黑龙江科学 2024年第14期15卷 63-66页

作者：高俊雅赵光影朱明轩张璐璐哈尔滨师范大学哈尔滨150500

城市热岛效应对气候、居民身体健康及经济发展产生了深远影响。以哈尔滨市1991—2021年的温度数据为基础,运用Mann-Kendall突变、Sen+Mann-Kendall趋势分析、主成分分析等方法进行研究。结果表明,哈尔滨市热岛效应(UHI)31年来以0.05℃/1... 详细信息

城市热岛效应对气候、居民身体健康及经济发展产生了深远影响。以哈尔滨市1991—2021年的温度数据为基础,运用Mann-Kendall突变、Sen+Mann-Kendall趋势分析、主成分分析等方法进行研究。结果表明,哈尔滨市热岛效应(UHI)31年来以0.05℃/10 a的速度呈波浪型增长,UHI的高值区以城区为主,年均UHI趋势系数呈-0.41~0.19/10 a,阿城区、宾县和哈尔滨站的UHI下降趋势显著。人口密度、年均人口和PM 2.5对UHI有正向影响,而风速对UHI的影响则是负向的。此研究结果对哈尔滨市的城市发展具有重要的指导意义。

关键词：哈尔滨市热岛效应时空分布特征

松花江流域植被净初级生产力时空演变及其与气候因子的响应

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黑龙江科学 2024年第14期15卷 60-62,66页

作者：朱明轩赵光影高俊雅张璐璐张宇哈尔滨师范大学地理科学学院哈尔滨150025

基于MOD17A3数据集,结合气候和土地覆被数据,采用趋势分析、稳定性分析、偏相关分析等方法对松花江流域植被NPP进行分析。结果表明,在空间格局上,松花江流域植被NPP均值呈中间低、四周高的分布特征;在时间尺度上,20年间植被NPP呈波动性... 详细信息

基于MOD17A3数据集,结合气候和土地覆被数据,采用趋势分析、稳定性分析、偏相关分析等方法对松花江流域植被NPP进行分析。结果表明,在空间格局上,松花江流域植被NPP均值呈中间低、四周高的分布特征;在时间尺度上,20年间植被NPP呈波动性缓慢上升趋势,平均值峰值出现在2014年,最大值峰值出现在2019年;在变化趋势上,呈增加趋势的地区占总面积的91.28%,降低的区域多出现在城市附近。植被覆盖类型按NPP均值从大到小排列依次为:森林、湿地、农田、草地;从稳定性上看,流域植被变异程度低,整体稳定;选取的气候因子中,气温对植被NPP的影响更为显著。

关键词：松花江流域植被净初级生产力气候因子时空演变

A Study on the Legislation of Territorial and Spatial Planning in Relation to Public Health Emergencies

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China City Planning Review 2021年第2期30卷 14-23页

作者： zhao Yongge zhao guangying Li Chen Liu Jinxin(Translated) Liu Jian(Proofread) Registered Urban and Rural Planner Planning Bureau of the Ministry of Natural ResourcesBeijingP.R.China Urban Planning&Design Institute of Shenzhen Harbin Institute of Technology(Shenzhen)ShenzhenP.R.China Urban Planning&Design Institute of Shenzhen ShenzhenP.R.China 不详

The government's attention to and intervention in public health emergencies is one of the causes for the legislation on modern urban *** is now a critical period in the legislative formulation of China's territorial and spatial planning,which coincides with the unexpected onslaught of *** study examines the relationship between public health emergencies and the legislations of territorial and spatial *** argues that the problems of spatial planning in response to public health emergencies primarily lie in the gaps between planning regulations and public health,emergency management,the overdue institutionalization of planning techniques,the lack of focus of planning legislations,*** legislation of territorial and spatial planning should be based on the governance of urban safety,health,and emergency service facilities,which aims to improve the emergency service facility system,the innovation of planning formulation technical system,and strengthen the responsiveness of planning to public health emergencies,so as to create high-quality,high-class,and resilient urban and rural spaces.

关键词： legal and regulatory system governance emergency service facilities planning formulation

A Molecular-Sieving Interphase Towards Low-Concentrated Aqueous Sodium-Ion Batteries

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Nano-Micro Letters 2024年第8期16卷 51-63页

作者： Tingting Liu Han Wu Hao Wang Yiran Jiao Xiaofan Du Jinzhi Wang guangying Fu Yaojian Zhang Jingwen zhao Guanglei Cui Qingdao Industrial Energy Storage Research Institute Qingdao Institute of Bioenergy and Bioprocess TechnologyChinese Academy of SciencesQingdao 266101People’s Republic of China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049People’s Republic of China School of Chemical Engineering and Advanced Materials The University of AdelaideAdelaideSA 5005Australia Shandong Energy Institute Qingdao 266101People’s Republic of China Qingdao New Energy Shandong Laboratory Qingdao 266101People’s Republic of China

Aqueous sodium-ion batteries are known for poor rechargeability because of the competitive water decomposition reactions and the high electrode *** have been reported by saltconcentrated and organic-hybridized electrolyte designs,however,at the expense of cost and ***,we report the prolonged cycling of ASIBs in routine dilute electrolytes by employing artificial electrode coatings consisting of NaX zeolite and NaOH-neutralized perfluorinated sulfonic *** as-formed composite interphase exhibits a molecularsieving effect jointly played by zeolite channels and size-shrunken ionic domains in the polymer matrix,which enables high rejection of hydrated Na^(+)ions while allowing fast dehydrated Na^(+)*** this coating to electrode surfaces expands the electrochemical window of a practically feasible 2 mol kg^(-1) sodium trifluoromethanesulfonate aqueous electrolyte to 2.70 V and affords Na_(2)MnFe(CN)_(6)//NaTi_(2)(PO_(4))_(3) full cells with an unprecedented cycling stability of 94.9%capacity retention after 200 cycles at 1 *** with emerging electrolyte modifications,this molecular-sieving interphase brings amplified benefits in long-term operation of ASIBs.

关键词： Molecular sieving effect Electrode coatings Aqueous sodium ion batteries Dilute aqueous electrolytes