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microTCA规范

于 2020-06-05 发布
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PICMG microTCA.0 Specification RC1.0ContentsIntroduction and objectives1.1 Overview1.2 Introduction1.2.1S1.2.2 MicroTCa implementation options1画1-21.2.3 Design goals1-21.2.4 Elements of microtca1-312.5 Theory of operation……着1国面1面日正1-81.3 Micro TCA enclosure types191.3.1 Single Shelf implementation191.3.2 TWo Tier mⅸ ed Width Shelf implementation.…….….….….….….….…....1-101.3.3 Two-Tier fixed Single Width Shelf implementation ....................1-101.3.4 Back-to-Back Shelf implementation.1-101.3.5 Cube Shelf implementation..1-101.3.6 Pico Shelf implementations1111.3.7 Other implementation options1111.4 Application examples1-1114.1 Base station…1-111.42 Router1-121.4.3∨ olP node.….1-121.4.4 Other Telecom Network applicationsE画1-121.4.5 Enterprise applications1-131.4.6 Other applications.....1-131.4.7 Consumer applications1-131.5 Special word usage1-131.6 Conformance1-141.7 Dimensions1-141.8 Regulatory guidelines1-141.9 Reference specifications1.10 MicroTCA0 Specification contributor……1-151-161.11 Name and logo usage1-161.12 Intellectual property……1-171.12.1 Necessary claims1,,面,国国,,国面正∴1-181.12.2 Unnecessary claims11181.12. 3 Third party disclosures1-181.13 Glossary1-192Mechanical2-12.1 Mechanical overview∴………….2-12.1.1 Terminology…2-22.1.2 Typical arrangement examples2-22.2 Dimensions, tolerances, drawing symbols, and nomenclature2-62.3 Mechanical concept2-82.4 AdvancedMC Module orientation, location, and positioning2-1624.1 Module orientation.2-162.4.2 Module positioning, horizontal--mandatory2-172.4.3 Module positioning, vertical-mandatoryU.882-192. 4. 4 Module positioning, depth--mandatory,.42-21PICMG( Micro TCAO Specification Draft RC1. 0, May 26, 2006Do not specify or claim compliance with this Draft Specification2.5 Slot detail dimensions2-222.5.1S|ot..2-222.5.2 Slot configurations, subdividing Slots2-222.5.3 Card guide, Strut, and Card Guide Support Plate(CGSP)…………2232.5.4 Optional Subrack attachment plane2-322.5.5 AdvancedMC Module--optional locking………………………2-342.6 Backplane2-3627 Subrack dimensions2-412.7.1 Mandatory Subrack2-422.8 Shelf2-472.8. 1 Shelf types.2-482.8.2 Shelf width and height…...…2-492.8.3 Shelf depth2-492.8.4 Air filter provision2-502.8.5 ESD wrist strap interface2-502.8.6 Shelf alarm LEDs2-512.9 Cable management2-522. 10 Power entry /Power Module2-562.10.1 Power Module pcb dimensions2-582.10.2 Power Module component height1·面2-632.10.3 Power module face plate2-642.10. 4 Power Module handle/Latch mechanism.2672.10.5 Power module lEDs2-672. 10.6 Power Module EMc gasketing2-672.10.7 Power Module satety covers2-672.10 8 Power module labels2-682.10. 9 Power Module Backplane Connector2-682.11 MCH Module2-692.11.1 Module types2-692.11.2 MCH PCB dimensions.2-702.11.3 MCH Subrack slot details2-772.11. 4 Plug Connector.2-792.11.5 Sequencing and contact area2-812.11.6 MCH positioning2-812. 12 Air flow management面2-822.13 Auxiliary Connector(Zone 2 and zone 3)keying2-832.13.1 Component keep- in height2-842.13.2 Connector keep-in height2-842.133 Keying block…2-852.13.5 AMC0 electrically compatible keying block2.13. 4 Keying block with electrical connections2-86.2-872.14 MicroTCa cube2892.15 MicroTCA Pico2.16 Microtca filler pane的∵面1面面,面2-902-902.17 Cooling Units(CUs)2-912.18 Subrack/Shelf/Cube/Pico performance.2922. 18.1 Load carrying2-922.18.2 Insertion cycles2922.18.3ESD2-922.18.4EMC2-93PICMG MicroTCA. 0 Specification Draft RC1.O, May 26, 2006Do not specify or claim compliance with this Draft Specification2. 18.5 Safety2-932.18.6 Physical Slot and Tier numbering2932.19 Subrack/Shelf environmental2-962.19. 1 Subrack shock and vibration2-962.19.2 Earthquake.........2-962.19.3 Flammability2-962.19.4 Atmospheric2-962. 19.5 Thermal2-972.19.6 Acoustic∴…………………2972.19.7 Surface temperatures2-972.20 References2-973 Hardware platform management3-13.1 Overview3.1.1 Micro Tca Carrier model3-13.1.3 Relationship with IPMI, AdvancedMC, and AdvancedTCA.3.1.2 MicroTCA management architecture3-23-73.1.4 Key differences from PICMG 3.0 and AMC.0 specifications..........3-73.1.5 PICMG properties and FRU Device ID assignments3-93.2 Management-related interconnects3-113.2.1 AdvancedMc interconnects3-113.2.2 Power Module and Cooling Unit interconnects3.2.3 Guidelines for OEM Module interconnects and management3-133-143.2.4 Carrier FRU Information device requirements.3-153.25 Microtca carrier interconnects3-193.3 Carrier Manager.…….…..…...…3-203.3.1 MCH Face Plate indicators3-223.3.2 Payload Interface3-223.3.3 Carrier Manager IP address3-223.3.4 IPM event support∴3-243.3.5 Redundant MCH operation3-253.3.6 Addressing3-263.3.7 Carrier number3-293.3.8 Location information34 Shelf Manager…3-383. 4.1 Shelf Manager configuration options383.4.2 Differences from the AdvancedTca shelf Manager3-403.4.3 Shelf-Carrier Manager Interface翻套国画1面,国面,1面D国画面国3-423.4.4 Shelf Manager IP addre3-433.5 MCMC requirements3453.6 EMMC requirements3-463.7 Operational state management3-483.7.1 Carrier Manager start up……….….….….………..……3483.7.2 Shelf Manager actions on Carrier detection3-483.7.3 Normal Shelf operation1B面面国B3-483.7.4 Abnormal situation handling3-4938 Power management.……3-493.8.1 Power clapping国面3-503.8.2 Micro T CA Carrier Power Management records.3-513.8.3 Early power management356PICMG( Micro TCAO Specification Draft RC1. 0, May 26, 2006Do not specify or claim compliance with this Draft Specification3.8.4 Normal power management.3-573.8.5 Power management commands and sensors3-593.8.6 Abnormal power condition handling3-673.9 Cooling management3-693.9.1 Fan geography.…3-703.9.2 Cooling control…3-713.9.3 Normal cooling operation3-723.9.4 Abnormal cooling operation3-733.9.5 Fan tachometer sensors3-733.9.6 Temperature sensors翻画1国翻B1B…3-733.10 Electronic Keying3-743.10.1 Micro TCA Carrier point-to-point connectivity information3-753.10.2 Module point-to-point connectivity information.3-773.10.3 AMC Port state commands3-783.10.4 Clock b- Keying……3-783.11 Telco alarm management3-73. 12 System Event log…………3-863.13 Sensor management3-863.13.1 Guidelines and requirements for fru sensor events3-863.13.2 MCMC SDR requirements.3-873.13.3 EMMC SDR requirements3-883.13.4 Carrier Manager SDR requirements3-883.14 fru Information.3-913. 14.1 EMMC FRU Information3-913. 14.2 MCMC FRU Information3-913.143 Carrier FRu Information3-923. 14.4 Shelf fru information面国面国面3-923.15 PMI message bridging……….3-933.15.1 Message bridging process3-933.16 PMI functions and command3-943. 16.1 Required IPMI functions..3-953.16.2 Command assignments3-973.17 FRU records, sensors and entity Ids∴3-1084 Power…4-14.1 Overview4-14.2 Loads on the Power Subsystem4-24.2.1 Microtca carrier hub(MCH),………,………………………24-24.2.2 Cooling Units4-74.2.3 Advanced mezzanine cards4-104.3 Power architecture4-134.3.1 Basic functionality4-134.3.2 Partitioning of the Power Subsystem:.::a:.4-154.3.3 Power sources4-154.3. 4 Power Subsystem redundancy4-164.3.5 System Grounding considerations4-214.3.6 Power distribution and backplane considerations4-234.4 Control and monitoring of the Power Subsystem4-2444.1 PM-EMMCs4-244.4.2 Geographic Address4-24PICMG MicroTCA. 0 Specification Draft RC1.O, May 26, 2006Do not specify or claim compliance with this Draft Specification4.4.3|PMB-04-2444.4Ps1[S|o#4-254.4.5EN[Slof]#,…4-2544.6 PWRON_[Sot]…4-254.4.7PSPM#4-2644.8 PM-EMMC watchdog timer……4264.4.9 Power Module oK4-2744.10 Power module reset4-274.4.11 System power-up4-274.4.12 Input voltage sensors1国面面量面1国面4-294.4.13 Temperature sensors4-294414 Power module extraction switch4-304,415 Blue lED4-304.4.16LED14-314 4.17 Other leds4-314.5 Connectors4-314.5. 1 Power Module Output Connector4-324.5.2 Power Module Input Connectors81国面面4-324.6 Single-Width,Fu‖- Height Power Module…∴4-334.6.1 Inputs4-344.6.2 Outputs4-354.6.3 Bulk supply current limit4-384.6.4 Control and monitoring………………………4-384.6.5 Redundancy4-384.6.6 Mechanical4-4546.7 Thermals.8...8.88.84-45画·面4.6.8 Regulatory.4-4547 Other mechanical considerations…4-464.7.1 Double-Width form factor4-464.7.2 Form factors other than Full-Height4-464.8 Power source considerations.4-464.8.1 DC power feeds4-474.8.2 AC power feeds4-554.9 References4-605 Thermal5.1 Overview5-15.2 AMC. 0 Modules and microtCa国着画5-15.3 AMC.0 Carriers and microtca5.4 Subrack slot5-25.5 Airflow path5.6 AMC.0 Modules and power dissipation.5-35-35.7 MicroTCA system cooling configuration……….….….…....545. 8 Air distribution in a slot5-45.9 Air inlet and exhaust5-55. 10 Slot cooling capability5-55. 11 Module cooling requirements●5.12 Standard air.5-75.12.1 Derivatie5.122 Barometric changes due to weather....…...……….57PICMG( Micro TCAO Specification Draft RC1. 0, May 26, 2006Do not specify or claim compliance with this Draft Specification5.13 Slot impedance curve.5-85.14 Slot fan flow curve5.15 Cooling Unit failure5-85.16 Filters5.17 System sensors….…….….……5-95.18 Thermal and operating environment5-105.19 Thermal and cabling5-105.20 Simulation and impedance testing5-105.20.1 AdvancedMC/MCH reference Module..5-115.20.2 Power Unit reference module∴5-125.21 Simulation environment5.22 Thermal dynamic modeling5-135.23 Fluid networking modeling5.24 Acoustic noise5-135.25 Surface temperature5-145.26 Design recommendations5-155.27 Cooling limitations and examples..5-175.28 References1面5-226 Interconnect6-16.1 Introduction.…6-16.2 Fabric interface6.2.1 Backplane fabric interface support requirements6-26.2.2 MCH fabric interface support requirements6.3 MCH Specific Interfaces6-46.3.1 MCH update Channel interface6-46.3.2 MCH cross-over Channel interface.6-56. 3. 3 MCH PWR ON interface6-66.3.4 Inter-MCH IPMB-L interface6.4 Synchronization clock interface6.4.1 Signal descriptions6-86. 4.2 Clock architectures6-96.4.3 Non-Telecom and Telecom clocks6-136.5 JTAG interface.…6-136.5.1 JSM Overview6-146.5.2 JSM Signaling Overview6-166.5.3 JSM Interface to mch16.54 JSM Interface to mch2.……6-186.5.5 JSM Interface to Advancedmcs.6-196.5.6 JSM Interface to Power modules.6-226.5.7 JSM Master mode selection6-236.5.8 JSM Interface to External tester..6-246.5.9 MCH JTAG6-266.5. 10 Power module jtAG6-276.6 MicroTCA Interface topologies1画6-276.6. 1 Topology models6-286.6.2 Correlation to AdvancedMc fabric regions6-296.7 MCH Connector pin allocation6-306.7.1 Pin naming conventions6-316.7.2 Fabric interface naming conventions6-31PICMG MicroTCA. 0 Specification Draft RC1.o, May 26, 2006Do not specify or claim compliance with this Draft Specification6.7.3 Synchronization clock interface naming convention6-316.7.4 MCH Connector pin list……………6-326.8 System examples.6-386.8. 1 Redundant MicroTCA system6-386.8.2 Variant redundant microtca interconnect6-416.8.3 Non-redundant MicroTCA system6-45Connectors7-17.1 General information7-17.2 AdvancedMC Backplane Connectors7-17.2.1 AdvancedMC Backplane Connector pin list7-27.2.2 AdvancedMC Backplane Connector dimensions7-27.2.3 Advancedmc backplane connector pcb layout∴7-67. 2. 4 AdvancedMC Backplane Connector electrical characteristics7-107.2.5 AdvancedMC Backplane Connector high-speed characteristics7-147.2.6 AdvancedMC Backplane Connector mechanical characteristics7-187.3 Micro TCa Carrier hub connectors7-197.3.1 Micro TCA Carrier Hub Connector pin list7-197.3.2 Micro TCA Carrier Hub mating interface design7-207.3.3 Micro TCA Carrier Hub backplane connector7-227.3. 4 Micro TCA Carrier Hub Connector Backplane PCB layout7-237. 3.5 Micro tca Carrier Hub connector electrical characteristics7-247.3.6 Micro TCA Carrier Hub Connector high-speed characteristics7-2573.7 Micro tCa Carrier hub connector mechanical characteristics7-297.4 Power Module Output Connector7.4.1 Power Module Output Connector pin list and mating sequence7-317.4.2 Power Module Output Connector dimensions7-327. 4.3 Power Module Output Connector Backplane PCb layout7-347.4.4 Electrical characteristics for power Module output connector.7-367.4.5 Power Module Output Connector mechanical characteristics7-397.5 Power Module Input Connector7.5.1 Power Module Input Connector pin list and mating sequence7-417.5.2 Power Module Input Connector dimensions7-427.5.3 Electrical characteristics for Power Module Input Connector7-477.5.4 Power Module Input Connector mechanical characteristics7-517.6 AdvancedMC Auxiliary Connector7-537.7 Test schedule7-547.7.1 Specimen measurement arrangements7-547.7.2 Test schedule tables.7-647. 8 References.7-798 Regulatory requirements and industry standard guidelines8-18.1 Regulatory……8-18.1.1 Safety8-18.1.2 Electromagnetic compatibility..……………8-28.1.3 Ecology standards.8-28.2 Telecommunications industry standards requirements8-38. 2. 1 EMC/safety requirements for the telecommunications industry.......8-38.2.2 Environmental requirements for the telecommunications industry ..............8-48.3 Reliability/MTBF standards8-7PICMG( Micro TCAO Specification Draft RC1. 0, May 26, 2006Do not specify or claim compliance with this Draft Specification8.4 Cross reference list8.5 FRU test guidelines∴8-78.5. 1 FRU safety test8-88.5.2 FRU EMC testing.8-88.5.3 FRU environmental testing8-9a Module mis-insertion considerationsA-1A 1 MCH Module mis-insertion combinationsA-2A 2 AdvancedMc module mis-insertion combinationsA-5A3 Power management implicationsA-8A 4 System management implicationsA-8A.4.1 Optional MMC instance on MCH ModuleA-9A.4.2 Using an AdvancedMC in an MCH SlotA-13A.4.3 Using an mch in an AdvancedMc SlotA-15A.4.4 Detecting mis-insertionsA-16A.5 Hardware implicationsA-1A. 5. 1 GNd pins at same locations........A-20A.5.2 PSO# and PS1# pins at same locationsA-23A.5.3 PWR and MP pins at same locationsA27A.5. 4 PWR ON pinA-29A.5.5 Ga[2: 0] pins at same locations道1面4…A-31A.5.6 ENABLE# pin at same locationA-35A.5.7 SDA L and SCL L pinsA-37A 5.8 JTAG pinsA-38A 5.9 Cross-over pinsA-39A.5. 10 TMREQ#, 12C SDA, and I2C SCL pins…A-39B Requirement list….B-1PICMG MicroTCA. 0 Specification Draft RC1.O, May 26, 2006Do not specify or claim compliance with this Draft Specification

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  • 贝叶斯估计与跟踪实用指南
    贝叶斯估计与跟踪实用指南pdfBayesianEstimationand Tracking园冒国后固目Bayesian Estimation and TrackingA practical Guide内容简介非高斯系统估计的文献一般都存在缺少实用方法的缺点,而高斯方法又缺乏严密、有组织的推导《贝叶斯估计与跟踪实用指南》一书设法解决这个领域中的不足,为读者提供全面的高斯噪声与非高斯噪声驱动的线性与非线性动态系统估计方法的介绍。本书特点在于提供了贝叶斯估计与跟踪的统一方法,重点强调了在贝叶斯框架下所有跟踪算法的推导过程,还给出了用于计算加权密度积分的高效的数值方法,包括加权高斯积分的线性与非线性卡尔曼滤波器,以及非高斯情况下的粒子滤波器。作者首先给出每种估计方法基本原理的详细推导过程,然后分步骤对每一种方法进行详细说明,使得跟踪滤波器的编码更简单易懂。本书利用了案例分析来展示所研究内容的应用。此外,该书还为每个算法提供了框图,让读者可以自己开发 MATLAB估计方法软件工具箱。《贝叶斯估计与跟踪实用指南》是一本优秀的估计与跟踪方法课程的研究生教材。本书还适用于估计与跟踪领域的科学研究人员、数学研究人员和工程技术人员,对他们具有重要的实际应用价值。对广大科技工作者来说,也是一本非常有价值的参考书。作者简介安东,J霍格,博土,美国约翰霍普金斯大学应用物理实验室科研人员,他为防空和导弹防御系(AMDD)提出了先进的目标跟踪方法。霍格博士的研究领域包括目标跟踪,信号和阵列处理与处理设计,主动、被动雷达和声纳设计,数字通信和编码理论以及时间频率分析。责任编辑:牛旭东xinwu@ndip.cn责任校对:苏向颖上架建议:计算机视觉封面设计:蒋秀芹httpt//www.ndip.enISBN978-7-118-09321-6WILEYWILEY eEsCopies of this book sold withouta Wiley sticker on the cover are9W78z118m0932161>unauthorized and illegal定价:79.00元装备科技译著出版基金贝叶斯估计与跟踪实用指南Bayesian Estimation and Tracking: A Practical Guide[美] Anton J.Haug著王欣于晓译图F荤版社北京著作权合同登记图字:军-2013-200号图书在版编目(CIP)数据贝叶斯估计与跟踪实用指南/(美)豪格(Hang,A.J)著;王欣,于晓译.一北京:国防工业出版社,2014.5(高新科技译丛)书名原文 Bayesian estimation and tracking:apractical guideISBN978-7-118-09321-6I.①贝…Ⅱ.①豪…②王…③于…Ⅲ.①贝叶斯估计-指南②贝叶斯估计一应用一目标跟踪一指南Ⅳ①0211.67-62②TN953-62中国版本图书馆CIP数据核字(2014)第068301号Authorized translation from the English language edition, entitled Bayesian Estimation andTracking, ISBN 978-0-470-62170-7, by Anton J. Haug, published by John Wiley SonsCopyright C 2012 by John Wiley Sons, Inc.All rights reserved. This translation published under license. No part of this book may be repro-duced in any form without the written permission of the original copyrights holderCopies of this book sold without a Wiley sticker on the cover are unauthorized and illegal本书简体中文版由 John Wiley&sons,lno.授权国防工业出版社独家出版。版权所有,侵权必究。阍前有:原社出版发行(北京市海淀区紫竹院南路23号邮政编码100048)北京嘉恒彩色印刷有限责任公司新华书店经售开本710×10001/16印张19%字数370千字2014年5月第1版第1次印刷印数1—2000册定价79.00元本书如有印装错误,我社负责调换)国防书店:(010)88540777发行邮购:(010)88540776发行传真:(010)88540755行业务:(010)88540717前言本书以基本原理为出发点,阐述了贝叶斯估计滤波器的完整的发展历程。书中硏究了由高斯噪声和非髙斯噪声驱动的线性、非线性动态系统。这里假设动态系统是连续的,因为只有在研究离散滤波器的时候,才会在离散时间对系统进行观测。本书的主要目标是给读者提供过去60年来所提出的大部分贝叶斯估计方法的一致性的全面描述,以表明每种以贝叶斯范式为基础的基本思想是如何与条件密度相关的。学习本书内容需要的预备知识包括线性代数、贝叶斯概率理论以及有限差分和插值的数值方法。书中第2章介绍了所有这些主题以及掌握书中其它内容所需的基础知识书中涵盖的部分内容来自于马里兰大学帕克分校数学系的一门研究生课程。该门课程的主要目的是让学生自己开发目标跟踪算法的 MATLAB工具箱。课后给学生们提出一些特定的跟踪问题,要求编写一个或多个 MATLAB子程序来实现某些跟踪方法。一般来说,学生开发的子程序是独立的,并且可以应用于多种难度不大的跟踪问题(例如,纯方位跟踪)。本书不包含任何习题集,使用本书的读者可以根据需要来调整跟踪问题的作业。此外,本书包含4个相当复杂的实用案例,使用本书的老师可以选择其中之一作为编码作业的框架。第一个案例贯穿本书的第Ⅱ和第Ⅲ部分;其余的3个案例则被分成了单独的章节,构成了本书的第Ⅳ部分。本书有两个鲜明特点:①运用大量的表格和图形,给出每种估计方法基本原理的详细推导过程;②每种方法都有非常详细的分步指导,使得跟踪滤波器的编码简单且易于理解。递推贝叶斯估计可以求解转移函数或变换函数的加权条件密度积分。转移函数反映动态状态向量随时间变化的路径,变换函数将状态向量变换成观测向量。有多种求解积分的数值方法,每种都有不同的估计方法。本书第Ⅱ部分和第Ⅲ部分的每个章节都涵盖求解这些积分的一个或多个数值逼近方法,第Ⅱ部分是高斯加权积分的卡尔曼滤波器方法,第Ⅲ部分是未知密度的加权密度积分的粒子滤波器方法。本书是作者在此领域多年研究的成果,希望能为贝叶斯估计和跟踪研究做出贡献。同时,也希望在研究改进这些方法并将其应用到新领域、解决新问题的基础上,本书能够开拓贝叶斯估计和跟踪研究的新方向。Anton J. haug目录刊言Ⅲ第Ⅰ部分预备知识第1章简介…………………………………………31.1贝叶斯推理…1.2贝叶斯层次估计法1.3本书研究范畴1.3.I目标1.3.2章节概述…1.4用 MATLAB⑧进行建模和仿真参考文献…第2章数学基础2.1矩阵线性代数简介9992.1.1矢量与矩阵的约定与记法…2.1.2和与乘积……………………………………………………102.1.3矩阵的逆…2.1.4分块矩阵的逆112.1.5矩阵的平方根…………………………………2.2矢量点发生器…………122.3多参数多维非线性函数估计………………………………152.3.1标量非线性函数估计152.3.2多维非线性函数估计182.4多变量统计概述……232.4.1一般定义32.4.2高斯密度………………………………………25参考文献………………………………………………………31第3章贝叶斯估计的基本概念……333.1贝叶斯估计3.2点估计式343.3基于概率密度函数的递推贝叶斯滤波器…363.4基于状态均值和协方差的递推贝叶斯估计,,,着.383.4.1状态矢量预测……393.4.2状态矢量更新…403.5一般估计方法讨论………………………………42参考文献43第4章实用案例:初步探讨4.1仿真、估计与评价过程,,,,,,,.,,,.非,,..,,鲁非·4.2利用DFAR浮标场进行匀速运动目标跟踪的场景仿真………454.2.1船舶动态模型………………………454.2.2多浮标观测模型464.2.3场景属性………………………………464.3 DIFAR浮标信号处理4.4DFAR似然函数……………………………………………53参考文献55第Ⅱ部分高斯假设:卡尔曼滤波估计器第5章高斯噪声:高斯加权分布的多维积分595.1第3章中重要结论总结5.2回顾卡尔曼滤波器校正(更新)方程的推导…………615.3贝叶斯点预测积分求解高斯密度5.3.1利用仿射变换来简化流程…645.3.2求解高斯加权积分的一般方法66参考文献…………………………68第6章线性卡尔曼滤波器706.1线性动态模型……………………………………………706.2线性观测模型…716.3线性卡尔曼滤波器…6.4IKF在 DIFAR浮标方位估计中的应用,,·,,,·.,,,..,.1.,·Ⅵ参考文献74第7章线性化卡尔曼滤波器:扩展卡尔曼滤波器…767.1一维情况………………767.1.1-维状态预测767.1.2一维状态估计误差方差预测777.1.3一维观测预测方程7.1.4一维预测方程的变换……787.1.5一维线性化EKF过程7.2多维情况………………………807.2.1状态预测方程817.2.2状态协方差预测方程………………………817.2.3观测预测方程……837.2.4多维预测方程的变换837.2.5线性化多维扩展卡尔曼滤波器过程………857.2.6二阶扩展卡尔曼滤波器…867.3多维协方差预测方程的另一种推导……7.4EKF在DFAR船舶跟踪的应用案例分析887.4.1船舶运动动态模型…………………………887.4.2 DIFAR浮标观测模型…………887.4.3初始化卡尔曼滤波器族中所有滤波器907.4.4选定加速度噪声参数………………………917.4.5EKF跟踪滤波器结果参考文献……93第8章 Sigma点类别:有限差分卡尔曼滤波器……948.1一维有限差分卡尔曼滤波器………………………………948.1.1一维有限差分状态预测…948.1.2一维有限差分状态预测……………………………968.1.3一维有限差分观测预测方程…968.1.4一维有限差分卡尔曼滤波器过程………………………968.1.5简化的一维有限差分预测方程978.2多维有限差分卡尔曼滤波器……………………………988.2.1多维有限差分状态预测…988.2.2多维有限差分状态协方差预测1008.2.3多维有限差分观测预测方程101Ⅶ
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