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Robust cubature Kalman filter method for the nonlinear alignment of SINS

Shiluo Guo, Yingjie Sun, Limin Chang, Yang Li
2020 Defence Technology  
Nonlinear initial alignment is a significant research topic for strapdown inertial navigation system (SINS). Cubature Kalman filter (CKF) is a popular tool for nonlinear initial alignment. Standard CKF assumes that the statics of the observation noise are pre-given before the filtering process. Therefore, any unpredicted outliers in observation noise will decrease the stability of the filter. In view of this problem, improved CKF method with robustness is proposed. Multiple fading factors are
more » ... troduced to rescale the observation noise covariance. Then the update stage of the filter can be autonomously tuned, and if there are outliers exist in the observations, the update should be less weighted. Under the Gaussian assumption of KF, the Mahalanobis distance of the innovation vector is supposed to be Chi-square distributed. Therefore a judging index based on Chi-square test is designed to detect the noise outliers, determining whether the fading tune are required. The proposed method is applied in the nonlinear alignment of SINS, and vehicle experiment proves the effective of the proposed method. Robust cubature Kalman filter method for the nonlinear alignment of SINS Abstract-Nonlinear initial alignment is a significant research topic for strapdown inertial navigation system (SINS). Cubature Kalman filter (CKF) is a popular tool for nonlinear initial alignment. Standard CKF assumes that the statics of the observation noise are pre-given before the filtering process. Therefore, any unpredicted outliers in observation noise will decrease the stability of the filter. In view of this problem, improved CKF method with robustness is proposed. Multiple fading factors are introduced to rescale the observation noise covariance. Then the update stage of the filter can be autonomously tuned, and if there are outliers exist in the observations, the update should be less weighted. Under the Gaussian assumption of KF, the Mahalanobis distance of the innovation vector is supposed to be Chi-square distributed. Therefore a judging index based on Chi-square test is designed to detect the noise outliers, determining whether the fading tune are required. The proposed method is applied in the nonlinear alignment of SINS, and vehicle experiment proves the effective of the proposed method.
doi:10.1016/j.dt.2020.03.016 fatcat:ttuxssitwnfqjoerv2b4vvl6xy

Landslide Susceptibility Mapping Based on Weighted Gradient Boosting Decision Tree in Wanzhou Section of the Three Gorges Reservoir Area (China)

Yingxu Song, Ruiqing Niu, Shiluo Xu, Runqing Ye, Ling Peng, Tao Guo, Shiyao Li, Tao Chen
2018 ISPRS International Journal of Geo-Information  
The main goal of this study is to produce a landslide susceptibility map in the Wanzhou section of the Three Gorges reservoir area (China) with a weighted gradient boosting decision tree (weighted GBDT) model. According to the current research on landslide susceptibility mapping (LSM), the GBDT method is rarely used in LSM. Furthermore, previous studies have rarely considered the imbalance of landslide samples and simply regarded the LSM problem as a binary classification problem. In this
more » ... we considered LSM as an imbalanced learning problem and obtained a better predictive model using the weighted GBDT method. The innovations of the article mainly include the following two points: introducing the GBDT model into the evaluation of landslide susceptibility; using the weighted GBDT method to deal with the problem of landslide sample imbalance. The logistic regression (LR) model and gradient boosting decision tree (GBDT) model were also used in the study to compare with the weighted GBDT model. Five kinds of data from different data source were used in the study: geology, topography, hydrology, land cover, and triggered factors (rainfall, earthquake, land use, etc.). Twenty nine environmental parameters and 233 landslides were used as input data. The receiver operating characteristic (ROC) curve, the area under the ROC curve (AUC) value, and the recall value were used to estimate the quality of the weighted GBDT model, the GBDT model, and the LR model. The results showed that the GBDT model and the weighted GBDT model had a higher AUC value (0.977, 0.976) than the LR model (0.845); the weighted GBDT model had a little higher AUC value (0.977) than the GBDT model (0.976); and the weighted GBDT model had a higher recall value (0.823) than the GBDT model (0.426) and the LR model (0.004). The weighted GBDT method could be considered to have the best performance considering the AUC value and the recall value in landslide susceptibility mapping dealing with imbalanced landslide data.
doi:10.3390/ijgi8010004 fatcat:gvpineanyrhmfo7mtvj35embia

Semantic Enrichment of Linked Personal Authority Data: A Case Study of Elites in Late Imperial China

Shu-Jiun Chen
2019 Knowledge organization  
Shiluo; clicking one of the names as Zeng Guochuan (曾國荃) and linking to the equivalent resource in the DNB).  ...  For instance, in the agent entity of Tseng Guo-fan (曾國藩, 1811-1872), a famous literati and high minister of the late Qing period, the AAT (Art & Architecture Thesaurus) concept of "calligraphy" is directly  ... 
doi:10.5771/0943-7444-2019-8-607 fatcat:bzo6ayjgzfcgpb43etqxpy4hyu

Modern China's Idols: Heroes, Role Models, Stars and Celebrities

Elaine M Jeffreys
2012 PORTAL: Journal of Multidisciplinary International Studies  
Through this example, Idol downplays the standard categorization of the youth of the Cultural Revolution as the 'lost generation' (shiluo de yidai).  ...  The 1970s webpage has two introductory notes that underscore the shift away from Guo Lusheng or 'Shizhi' is an underground poet known as 'China's Dante' (Zhang 2002 ).  ... 
doi:10.5130/portal.v9i1.2187 fatcat:z7zjxtew7zhmjla5djbsrg4cie

Notes [chapter]

2022 Huizhou: Local Identity and Mercantile Lineage Culture in Ming China  
XNPGC, shixi, 16a, shiluo, 38a, 46a. Cheng Minzheng's forebears appear to have belonged to a military household.  ...  Guo, Ritual Opera and Mercantile Lineage. 20.  ...  guo" (Great Qing kingdom) in the Qing version. 2.  ... 
doi:10.1515/9780520385221-012 fatcat:hw5kpb5hf5fzxgri2xlf2dhn6q

Nakhi Tiger Myth in its Context

Bai Gengsheng
2001 Oral Tradition  
ancestor as being born to the tiger, called Yebeyela (jÈ 11 pM 55 jÈ 11 la 33 ) (Guo and He 1996).  ...  rich man makes while drinking soup, the bleating of goats, the sound of goats splashing in water, and so on. 17 Laobutuogou (1a 33 bv 33 t'o 33 kÈ 55 ): an ancestor eight generations above the dingba shiluo  ... 
doaj:2dab4aeb31c247afbceba990074db777 fatcat:jjqm7unhhncllc5mlsdcwhmjye

Bibliography [chapter]

2017 Re-producing Chineseness in Southeast Asia  
Wong and Wang, "Guo Zhengyu Jiaoshou Fangwengao." 36. See note 33 above. 37. See note 23 above. )." In Zǒnghuìsānnián (總會三年), edited by Mùlín Kē (柯木林編), 85-87.  ...  "Gēn de shīluò yǔz huīxún:hǎixiáhuárén yǔ mǔzúwénhuà (根的失落與 追尋:海峽華人與母族文化, Loss and search for the root: The Straits Chinese and culture of motherland Lee, Guan Kin, and Zhàochéng Zhōu (李元瑾、周兆呈).  ... 
doi:10.4324/9781315670812-9 fatcat:vthbhkljmzattpjogseeskwuli

"Female Practice of the Internal Alchemy" in the Seven Poems of Sun Bu-er

I. Belaya
2019 Voprosy filosofii  
[ Comm. by Guo Xiang 郭象 (252?  ...  Zhang Guo 張果; comm. by Wang Jie 王玠 (?-ca. 1380); ed. by Gao Shiming 高時明 (fl. 1622) Prefaces: (1) Attr.  ...  "Ruyi baozhu erjuan" 如意寶珠二卷, composed of the following five parts: (a) "Wenchang kaixin xinzhou zhushi" 文昌開心咒註釋 (上.1a-5b), preface by Zhang Shiluo 張世犖 (also in WDSQ 19) (b) "Shouzheng yuanji shenguang  ... 
doi:10.31857/s004287440004803-8 fatcat:b4bu3gsqa5arpl5abhuskmi7ay

El resurgimiento de la controversia en torno a la religiosidad confuciana en China

Yong Chen, María Capetillo Lozano
2010 Estudios de Asia y África  
its Modern Fate, Berkeley-Los Angeles, University of California Press, 1968, p. ix. 58 Zhang Qing, "Chuantong: you 'Zhishi Ziyuan' dao 'Xueshu Ziyuan'-jianxi ershi shiji zhongguo wenhua chuantong de shiluo  ...  También en Ren Jiyu (ed.), Rujiao Wenti Zhenglun Ji. 35 Ibid. 36 Li Zehou, "Zai Tan Shiyong Zhuyi", Yuandao (Busca el camino), núm. 1, Chinese Academy of Social Sciences Press, 1994. 37 guo Qiyong,  ... 
doaj:fa3b411384ab4a45b8a70056397ac176 fatcat:f4cwgs2i5bdyjgkusuq4kdwsye

Fusion, emprunt…dislocation, ou comment la rencontre de l'art occidental s'inscrit dans les écrits des critiques chinois

Anny Lazarus
2019 Open Library of Humanities  
Wei Yuan préconise cette stratégie dans son célèbre Hai Guo Tu Zhi 海国图志 ou Mémoire illustré sur les pays de la mer, publié en 1842. Il proposait de recourir aux techniques étrangères et d'opposer les  ...  Gao le juge sévèrement en le considérant comme un art déficient shiluo 失落 (égaré), duoluo 堕落 (dégénéré), queshao 缺少 (déficient) (2007 : 32).  ... 
doi:10.16995/olh.351 fatcat:teud746wcfb5bixhn7at3i4nw4

Histoire et cultures de la Chine (Xe-XIVe siècles)

Pierre Marsone
2014 École pratique des hautes études Section des sciences historiques et philologiques Livret-Annuaire  
Le général Song (shoujiang) de Jibizhai 雞壁砦, Guo Rong 郭榮, vint se rendre avec ses troupes. L'empereur ordonna de le cantonner à la capitale du Sud. L'empereur s'arrêta à Changchengkou.  ...  Xiao Daoning fut nommé commissaire impérial de Zhaodejun 昭德軍 (Shenzhou) ; le commissaire impérial de Wudingjun 武定軍, directeur de travaux et membre de la direction des affaires politiques Guo Xi 郭襲, fut  ...  Le secrétaire (shumishi) [Yelü] Xiezhen, le dignitaire (linya) [Xiao] Qinde, [Yelü] Moulugu, le commissaire impérial [Xiao] Talan, le chef d'armée (dutong) Shiluo 室羅, le serviteur du palais (shizhong)  ... 
doi:10.4000/ashp.1642 fatcat:jhbkxbwfnrdnpkvtezk22miaoa

The current status of old traditional medicine introduced from Persia to China

Jinmin Shi, Yifan Yang, Xinxin Zhou, Lijun Zhao, Xiaohua Li, Abdullah Yusuf, Mohaddeseh S. M. Z. Hosseini, Fatemeh Sefidkon, Xuebo Hu
2022 Frontiers in Pharmacology  
Studies showed that its main chemical components are iridoids, cucurbitol, phenylethanol glycosides, and phenol glycosides (Guo et al., 2020) .  ...  /Shiluo, "莳萝" Dill is mainly used in clinical treatment of digestive system diseases, such as stomach pain, indigestion, halitosis, and flatulence.  ... 
doi:10.3389/fphar.2022.953352 fatcat:szytmbf24fdrpdt4kpeaddhuje

From nameless Marxist to public sociologist : the intellectual trajectory of Shen Yuan in contemporary China

François Lachapelle
2014
mostly described in negative terms: alienated generation (miwang [迷惘] de yidai), lost generation (shiluo [失落] de yidai), wasted generation (danwule [耽误了] de yidai) (Bonnin 428-29).  ...  2012) and by requesting original research papers from them (e.g., Guo 2012, Dirlik, Li and Yen 2012) .  ... 
doi:10.14288/1.0167617 fatcat:zkedlf62xngzxkwdyatfqg2hou

Study of The Sound and Meaning of The Flower Ornament Sutra in the Korean Version

Zhichun Luo, Imre Hamar
2018
[Shiluozhuang zhe, ying yun shiluo, ci yun meiyu.Ruo yan shiluo, ci yun qingjing, er yi ju tong.The jade Dhanari column should be called 試羅, which means precious jade.It refers to being quiet if it is  ...  Comments: "郭 (Guo Pu)" is incorrect and should, therefore, be corrected as "郭 璞 (Guo Pu)".  ... 
doi:10.15476/elte.2018.149 fatcat:gouemuds2nejtcae2gxpdiheze

China and the Political Upheavals in Russia, the Ottoman Empire, and Persia: Non-Western Influences on Constitutional Thinking in Late Imperial China, 1893-1911

Egas Moniz Bandeira
2017
[122] Qi Yuhe 齊雨和 and Gu Xiangjiu 古翔九, eds., Shiqi guo xianfa zhengwen huibian 十七國憲法正文匯編 (n.p.: Jingshen shuzhuang, Guangxu 32 [1906]).  ...  Constitutional implementation” in the Chinese language: An examination in conceptual history), Zhongguo faxue 中国法学 2 (2016): 109; Ma Xiaohong 马小红, “Shilun ‘chuantong’ Zhongguo xianzheng fazhan zhong de shiluo  ... 
doi:10.17885/heiup.ts.2017.2.23701 fatcat:6rmzlbda2fefjl6vwdlngli53y
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