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针对全球定位系统在信号失锁条件下与航位推算组合导航的系统误差快速累积问题,提出一种基于压缩扩展卡尔曼滤波的同时定位与制图的辅助的全球定位系统/航位推算组合导航方法。该方法利用同时定位与辅助实现运动平台在全球定位系统信号无效时连续稳定导航,抑制航位推算定位误差的累积,并利用全球定位系统定位结果校正同时定位与辅助制图误差,减小地图的不确定性。设计基于压缩扩展卡尔曼滤波的同时定位与辅助/全球定位系统组合滤波器,实现大尺度环境下同时定位与辅助/全球定位系统的实时解算。真实实验数据计算结果分析表明,相对于同时定位与辅助定位结果,同时定位与辅助的全球定位系统/航位推算组合导航可有效提高系统定位性能,使得制图精度提高10m。 相似文献
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GAVIN CAWTHRA 《African Security Review》2013,22(3):95-105
In the ten years since the establishment of South Africa's first inclusive democratic government, an ambitious, extensive and systematic process of reform has been carried out in the governance of security. The process is widely regarded as having been successful and a model for other processes of ‘security sector reform’ in the context of transitions from authoritarian forms of governance to democratic ones. That this been achieved with hardly a shot fired in anger is a remarkable achievement and a credit to visionary political leadership as well as organisational capacity, in other words to effective security governance. At the same time, progress has been uneven and sometimes fragmentary, policy intentions and commitments have not always been translated into practice, the end results have not been to everyone's liking, and transformation has engendered its own pathologies. Thus several challenges remain in improving security governance. This article provides a broad overview of the roles played by the various actors in the governance of the security sector, including the executive, parliament and civil society. It examines the main policy frameworks and touches on organisational transformation, because it is impossible to deal with governance in isolation from these issues. Policy processes and the frameworks they give rise to—in particular—are critical for effective governance. This article deals with the defence, safety and security and intelligence fields. A comprehensive overview would need to include the governance of criminal justice and foreign policy. The article does not seek to make an overall evaluation of governance, but to identify achievements, shortfalls and challenges. 相似文献
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为了充分利用分离式台声源声纳定位系统的冗余测量信息,提高系统的定位精度,提出了基于线性数据融合的双椭圆定位模型优化算法。并通过数值仿真,对不同条件下的定位误差几何分布曲线图(GDOP)进行了研究。仿真结果表明,大部分探测范围内,两个声源之间距离的变化和时间测量误差对定位性能影响较小,而角度测量误差对该算法的定位精度影响较大。与仅利用距离信息进行定位的方法相比较,采用数据融合的优化手段,可以充分利用定位系统的冗余信息,有效地降低了系统的定位误差,探测盲区的定位性能也得到明显改善。仿真结果和性能分析为解决远距离探潜定位优化问题提供了理论依据。 相似文献
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介绍了智能无人集群作战的相关概念,为反映智能无人仿真实体的自主能力和适应能力,提出将学习过程显性化的观察-判断-决策-行动-学习(Observe, Orient, Decide, Act and Learning, OODA-L)模式,并进一步扩展为适用于集群协同的Co-OODA-L模式。在智能无人仿真实体的总体描述上,采用马尔可夫决策过程进行数学抽象处理,提出智能无人Agent的三域分层结构。为体现智能无人集群作战的自主协同、分布式等特点,提出了利用人工神经网络将可变数量的智能无人Agent融合为同构或异构集群进行协同作战建模的体系结构。 相似文献
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目标分配是UAV自主控制的重要问题。提出了基于满意决策的多UAV协同的目标分配技术,为解决多UAV协同的目标分配问题和多机场起飞的UAV编队配置问题提供了一种新颖而有效的方法。重点对其中的满意集计算、联合满意度、拒绝度和选择度的建立和计算等关键问题进行了讨论。以压制敌防空火力任务为背景对该方法进行了仿真,并将本文提出的方法和其他方法做了比较,仿真结果表明基于满意决策的多UAV协同的目标分配方法在效率上有明显优势。 相似文献
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门群 《中国人民武装警察部队学院学报》2006,22(4):67-68
边防专业英语自身的特点和目前专业英语教学中面临的实际问题值得关注,改革边防专业英语教学,重视专业特色语言的教学,应采用任务式和讨论式教学来平衡学生的输入与输出,采用合作学习方式,注重学生的个性发展,培养复合型人才。 相似文献