为了将地形地貌带来的误差进行修正,提高闪电的探测效率和定位精度,基于二维时域有限差分法(finite difference time domain,FDTD),构建了真实地形下的雷电电磁波传播模型,研究了海南地区地形对雷电电磁波传播的影响,然后提出了一种修...为了将地形地貌带来的误差进行修正,提高闪电的探测效率和定位精度,基于二维时域有限差分法(finite difference time domain,FDTD),构建了真实地形下的雷电电磁波传播模型,研究了海南地区地形对雷电电磁波传播的影响,然后提出了一种修正闪电定位误差的方法即不同步长的地形包络和时间补偿法。模拟结果表明:山地地形会明显改变切向磁场的波形峰值大小和上升沿时间,与平坦地表情况相比,切向磁场波形峰值变化最大的减小了38%,上升沿时间增加范围在1~3μs,峰值到达时间也滞后于平地情况,而经过滤波处理,磁场峰值减小,波形变陡,上升沿时间变短;对于逐峰法,雷击点在真实地形路径下定位误差相比平地明显增大很多;而对于互相关算法,真实地形路径下定位误差比平地情况下大,但相差不大,相比逐峰法定位误差明显大很多;总体来说,使用5 km包络修订效果较好,定位误差都在百米量级内,相比较其他算法闪电定位精度有很大提高。展开更多
Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In t...Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.展开更多
利用二维球坐标时域有限差分算法FDTD (Finite Difference Time Domain),首先研究了内蒙古自治区真实地形和地球曲率对地闪回击电磁场传播的影响,然后结合真实地形和地球曲率情况下波形结果,进一步分析了测站数量和布局及脉冲到达时间...利用二维球坐标时域有限差分算法FDTD (Finite Difference Time Domain),首先研究了内蒙古自治区真实地形和地球曲率对地闪回击电磁场传播的影响,然后结合真实地形和地球曲率情况下波形结果,进一步分析了测站数量和布局及脉冲到达时间定义方法对定位精度的影响。结果显示:1)各站本身,相对不考虑曲率的光滑地面情况,真实地形和地球曲率都会引起波形峰值时间额外延迟,范围各自为2.91μs至4.50μs和0.08μs至0.92μs,且地球曲率的影响随电磁场传播距离增大而增大;2)由于地形的反射作用,各站本身考虑真实地形情况得到的磁场脉冲强度大于光滑地面情况,增大范围从24.95%至42.98%;3)使用11个站数据定位时,用10%峰值到达法定位时精度最好,误差仅42.1 m。在到达时间定义方法相同时,随着测站数量减少,实现合理定位精度越依靠定位时选取的测站布局。展开更多
文摘为了将地形地貌带来的误差进行修正,提高闪电的探测效率和定位精度,基于二维时域有限差分法(finite difference time domain,FDTD),构建了真实地形下的雷电电磁波传播模型,研究了海南地区地形对雷电电磁波传播的影响,然后提出了一种修正闪电定位误差的方法即不同步长的地形包络和时间补偿法。模拟结果表明:山地地形会明显改变切向磁场的波形峰值大小和上升沿时间,与平坦地表情况相比,切向磁场波形峰值变化最大的减小了38%,上升沿时间增加范围在1~3μs,峰值到达时间也滞后于平地情况,而经过滤波处理,磁场峰值减小,波形变陡,上升沿时间变短;对于逐峰法,雷击点在真实地形路径下定位误差相比平地明显增大很多;而对于互相关算法,真实地形路径下定位误差比平地情况下大,但相差不大,相比逐峰法定位误差明显大很多;总体来说,使用5 km包络修订效果较好,定位误差都在百米量级内,相比较其他算法闪电定位精度有很大提高。
基金the National Natural Science Foundation of China (Grant Nos. 60775056, 60705028)
文摘Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.
