视觉惯性导航系统初始化方法综述

视觉惯性导航系统通过初始化,对尺度信息、重力向量、速度、惯性传感器偏差等一系列状态估计所需参数进行快速求解,以提升系统后续导航定位与环境感知的准确性。根据传感信息耦合方式,视觉惯性导航系统初始化方法可以分为三类:联合初始化、非联合初始化和半联合初始化。基于现有研究工作,从基础理论、发展与分类、现有方法、性能评估四个方面展开,对目前主流的初始化方法进行综述,并总结视觉惯性导航系统初始化领域未来的发展趋势,有利于对视觉惯性导航系统初始化方法形成总体性了解并把握其发展方向。     

Inventory financing under Risk-Adjusted-Return-On-Capital criterion

Risk-Adjusted-Return-On-Capital (RAROC) is a loan-pricing criterion under which a bank sets the loan term such that a certain rate of return is achieved on the regulatory capital required by the Basel regulation. Some banks calculate the amount of regulatory capital for each loan under the standardized approach (“standardized banks,” the regulatory capital is proportional to the loan amount), and others under the internal rating-based (IRB) approach (“IRB banks,” the regulatory capital is related to the Value-at-Risk of the loan). This article examines the impact of the RAROC criterion on the bank's loan-pricing decision and the retailer's inventory decision. We find that among the loan terms that satisfy the bank's RAROC criterion, the one that benefits the retailer the most requires the bank to specify an inventory advance rate in addition to the interest rate. Under this loan term, the retailer's inventory level is more sensitive to his asset level when facing an IRB bank compared to a standardized bank. An IRB (standardized) loan leads to higher profit and inventory level for retailers with high (low) asset. For retailers with medium asset, an IRB loan results in a higher retailer profit but a lower consumer welfare. Calibrated numerical study reveals that the benefit of choosing standardized banks (relative to IRB banks) can be as high as 30% for industries with severe capital constraints, volatile demands, and low profit margins, highlighting the importance for retailers to carefully choose the type of banks to borrow from. When the interest rate is capped by regulation, retailers borrowing from a standardized bank are more likely to be influenced by the interest rate cap than those borrowing from an IRB bank. Under strong empire-building incentives (the bank will offer loan terms to maximize the size of the loan), retailers with medium initial asset level shift their preference from IRB banks to standardized banks.     

具有时变通信时延的多智能体系统的一致性

首先,给出一种适用于可连续通信并具有时变通信延迟的有向多智能体系统关于参考状态的一致性算法,基于此算法,各智能体协同变量关于参考状态的一致性问题被转化为一个误差系统的稳定性问题.然后,利用Lyapunov稳定性理论,推导出多智能体系统在该算法作用下达到一致性的充分性判据,并由矩阵不等式的形式描述.结果表明:当时延函数有...     

基于全维PI观测器的混沌系统鲁棒故障检测设计

研究了在干扰存在情况下基于全维PI观测器的混沌系统鲁棒故障检测设计问题。基于一类Sylvester矩阵方程的参数化解,给出了干扰和残差信号解耦的充要条件,并建立了具有鲁棒故障检测功能的全维PI观测器设计的参数化方法。Lorenz混沌系统的数值算例及其计算结果表明：在干扰存在的情况下,基于全维PI观测器的混沌系统鲁棒故障检测设计方法简单有效。     

军事虚拟仓库应急保障仿真分析

在分析应急物流研究成果基础上,探索应用虚拟仓库理论和仿真技术研究应急物流中的协同库存问题.为此,构建了军事虚拟仓库系统及其协同控制系统动力学仿真模型,并针对军民、军军仓库间的应急物流协同保障策略进行仿真分析,结果表明这种方法可以在应急状态下合理调度和管理各类仓库资源,改进应急物流条件下仓库保障能力.     

探火管灭火装置在电气设备火灾防控中的应用

针对电气设备火灾防控难度大的问题,分析了传统气体灭火系统在电气设备火灾防控中存在的缺陷,介绍了探火管灭火装置的基本构成,分析了在特定的电气设备火灾防控中,采用探火管灭火装置替代传统气体灭火系统的优势,并给出探火管灭火装置实际应用案例,探讨了探火管灭火装置的应用前景。     

围绕集约共享搭建炮兵部队基于信息系统的训练平台

破敌防御中机动作战行动,必须坚持贯彻信息先导、火力主战、兵力主控的作战原则,灵活采取打击敌机动＂源头＂、遮蔽敌机动视野、切断防御流动和抢夺机动通道的手段,削弱敌整体防御能力。     

建立装备成体系建设模式，为加快海洋强国建设提供强大力量支撑

建设海洋强国战略目标、建设强大海上军事力量需要探索中国特色的装备体系建设新模式。针对未来信息化战争体系对抗的特点,在研究中外武器装备体系建设经验基础上,提出了海上军事力量装备成体系建设的新模式,并讨论了海上军事力量装备成体系建设的有关问题。     

试论基于信息系统的海军装备体系及优化思路

从研究海军装备体系的演化出发,分析了基于信息系统的海军装备体系的主要特征,阐述了构建新型装备体系应树立的观念。在此基础上,就如何实现海军装备体系的优化,全面提高海军综合作战能力进行了探讨。     

基于三阶段过程模型的军交运输体系建模

信息化条件下军交运输体系复杂性问题日益凸显,军交运输体系建设已经进入能力“涌现”的新阶段。本文在分析军交运输体系概念内涵和体系特征的基础上,运用体系层次划分模型和三阶段过程模型,分别从定义阶段、抽象阶段和实施阶段对军交运输体系建模方法进行了研究,搭建了体系建模总体框架,建立了军交运输体系概念抽象模型,并对军交运输体系问题建模仿真方法进行了分析,为全新规划军交运输体系建设提供了新的途径。