Some notes on parameter estimation in a class of linear models with an error vector having multivariate t distribution 分布的一類線性模型下參數(shù)估計的若干注記
This method constructs covariance matrix by utilizing data vectors in different range lines and projects phase error vector into noise sub - space which is formed by eigendecomposing the covariance matrix 該方法利用不同距離單元的觀測矢量構(gòu)造協(xié)方差矩陣,然后通過對協(xié)方差矩陣特征分解得到噪聲子空間,最后將相位誤差矢量向噪聲子空間投影來估計多普勒調(diào)頻率。
The kalman filter theory is introduced and the dynamic error vector equation of the initial alignment is derived at the first . using velocity error as exterior value of observation , maneuverable characteristic that is influenced with system ' s observability and its degree is studied at length by do amount of simulations and experiences . choosing output error of accelerometers and angle error of attitude as observation respectively and system observation model is derived , which is based on analyzing kalman filter theory 首先介紹了卡爾曼濾波理論及相關(guān)技術(shù),建立了系統(tǒng)卡爾曼濾波的狀態(tài)方程和觀測方程;首先采用速度誤差作為觀測值,詳盡的研究了系統(tǒng)機(jī)動特性對可觀測性和可觀測度的影響,并做了大量仿真實驗:通過對濾波原理的分析研究了影響的原因;分別選用加速度計輸出誤差和轉(zhuǎn)臺輸出姿態(tài)角誤差作為外部觀測值,推導(dǎo)建立它們的觀測模型,并通過仿真證明了分析結(jié)論的正確性。
According to the inverse solutions of 3 - tpt translational parallel robot mechanisms , in which both the base and the mobile platform are triangle and similar to each other , for the error of the mobile platform center denoted by modulus of error vector , the accuracy model of parallel robot mechanisms is established by the differentiation of the kinematic 摘要針對具有相似平臺的3 - tpt型三維移動并聯(lián)機(jī)器人進(jìn)行了研究,根據(jù)其位置反解方程,采用機(jī)器人微分理論,以誤差向量的范數(shù)表示動平臺中心點(diǎn)的誤差,建立了該機(jī)器人精度分析的數(shù)學(xué)模型。