By introducing the rotating angular rate from the body frame to the navigation frame instead of the pose matrix, the rotating axis could be pointed to the entire three dimensional spaces in the navigation frame. The rule of SINS error states had been gained for the body frame rotating arbitrary orientation.
通过引入弹体坐标系与导航坐标系之间的旋转角速率代替姿态矩阵，使导航坐标系中的转动坐标轴可以指向三维空间的任意方位，得到了弹体绕任意轴旋转两位置对准时系统状态变量误差的变化规律。
By means of trial-and-error method of starting value in low order matrix, assignment regularity of starting value is found; Through calculation by means of programming, the track of switching angle changing with fundamental amplitude and value of switching angle under some fundamental amplitude are obtained.
根据低阶问题的初值的试探与总结，找到了给初值的规律；通过编程计算，得到了开关角随基波幅值变化的轨迹及开关角在某一基波幅值下的具体数值。
The present invention relates to a quick scanning method for a residual error matrix in video coding process, which belongs to the field of video coding in signal processing.
本发明涉及一种视频编码中对残差矩阵的快速扫描方法，属于信号处理中的视频编码领域。
In computational coefficient matrix yuan bizarre when 2 heavy integral, use analytic method, this algorithmic error limitation is on the disperse of border and attrib border function, raised precision.
在计算系数矩阵元的奇异二重积分时，采用解析的方法，将该算法的误差限制在边界及边界函数的离散上，提高了精度。
Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot`s structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot`s kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space. We analyse the work range of the robot by resorting to graphic means.
首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。
Though the coding ratio is less than 1, it is even more easy to construct from the traditional space-time coding; Grouping the subcarriers in the Orthogonal frequency division multiplexing through the block matrix method, and generalized complex orthogonal designed on each block subcarriers, space-frequency-Doppler coded OFDM for the general MIMO system is constructed, in which the coherent decoding error only lies on the channel frequency impulse response differences between the consecutive adjacent subcarriers in each block subchannels and thus significantly alleviates the influences of the time-varying Doppler fading on the coding transmission. Furthermore, without increasing any transmit redundancy, it achieves the system full diversity gains with high bandwidth efficiency.
其中第一种编码方式利用现有的线性空时码直接进行全分集级联空频循环编码，可有效对抗信道Doppler衰落，虽编码效率低于1，但实现起来相当简单；第二种编码方式利用矩阵分块方法对正交频分复用子载频分块，并按块进行空频复正交编码设计，实现了一般性MIMO系统中的空频多普勒OFDM编码，其相干解码误差只取决于子信道或信道块内相邻子载频间频率响应误差的大小，大大减少了时变Doppler衰落的影响，且在不增加系统传输冗余度的前提下有效地实现了系统全分集增益，有更高的频带利用率。
The computation formula for the filtering error crosscovariance matrix between any two subsystems is derived.
推得了任两个传感器子系统之间的滤波误差互协方差阵的计算公式。
In this new algorithm, the weight matrix of the output layer and the output vector of the previous layer are treated as two variable sets. An optimal solution pairis found to minimize the sum square error of the patterns.
在该算法中，输出层的连接权矩阵和前一层的输出矢量被作为 2个变量集合，通过最小化该层样本的总平方误差函数可求得一组它们的优化解；并将 B*p 作为前一层的期望输出，用类似的方法同样可以求出隐层的连接权矩阵和输出矢量。
For the error analysis, the paper used the confusion matrix to ensure the objectivity and science of the result analysis.
在对监测结果精度的分析中，应用了基于样本混淆矩阵来分析监测精度的方法，使其对监测结果的分析更客观、更全面、更科学。
We use the error covariance matrix predicted from Kalman filter to expand the search window for getting a new search area. We use the current frame`s eye location predicted from Kalman filter as the search area`s center. Calculate the centroid of the search area as to be the current frame for Mean Shift starting position.
首先，以Kalman滤波预测的误差协方差矩阵扩大搜索窗口得到自适应大小的新的搜索区域，以Kalman预测当前帧眼睛位置作为此搜索区域的中心，计算此搜索区域的质心，作为当前帧Mean Shift算法的起始位置。
In Chapter 5, a linear regression model for the trade datas is set up. When the multilinearity exist in the design matrix X, the ridge estimation and the Balanced LS Estimation is respectively used to improve OLS estimation. Under this circumstances the error squares of Balanced LS Estimation is less than that of the ridge estimation.
第5章针对一组外贸数据建立线性回归模型，在其设计阵存在复共线性的情况下，分别运用岭估计和平衡LS估计来改进OLS估计，结果表明平衡LS估计的残差平方和比岭估计的小。
Get the general steps to obtain the optimal measuring point on spindle component through the test method; At last, based on the analysis of existing thermal error compensation modeling methods, real-time surplus temperature as independent variables, use multivariate linear regression modeling, which improves modeling accuracy and robustness; proposed to use multivariate linear regression modeling obtain thermal error compensation coefficients matrix, genetic algorithm optimize the compensation model coefficients, the maximum residual error minimum as objective function, get the balanced thermal error compensation model, increased the compensation modeling results.
得到了通过试验法获得主轴部件最优测点的一般步骤；最后，在分析现有热误差补偿建模方法基础上，提出了使用实时过余温度作为自变量，应用多元线性回归建模，提高了建模的精确性和鲁棒性；提出了使用多元线性回归方法得出热误差补偿模型系数矩阵，遗传算法对补偿模型系数优化，以最大残差最小为目标函数，均衡确定热误差补偿模型的方法建模，提高了补偿建模效果。
In order to improve the performance of the gyroless predictive attitude estimator, the predictive Kalman filter which combines advantages of the predictive filter and the Kalman filter is developed in the paper. The improvement of filtering performance is shown as follows: the state estimate converges faster when the initial attitude estimation error is significant, and the state estimation accuracy is improved in the case of heavy measurement noise with model error weighting matrix not satisfying the covariance constraint.
为改善无陀螺预测滤波姿态估计器的不足之处，结合矢量观测的特点，本文提出了兼具预测滤波器与卡尔曼滤波器两者优点的预测卡尔曼滤波姿态估计器，滤波性能的改善主要体现在：在初始姿态估计误差比较大的情况下，加快了状态估计值与模型误差校正量估值的收敛速度；在矢量观测噪声比较大且模型误差加权矩阵的取值不满足协方差约束条件的情况下，提高状态估计精度。
And we have given Hadamard matrix in detail in block design, coding and the specific application in communication., Hadamard code as a nonlinear combinatorial code has catered to the need of development of computer technology, stock systematic data and high speed for realizing and reliable access, request the error control code has not only little redundancy, but also can parallel encoding and decoding with high speed.
Hadamard码作为一种非线性组合码，迎合了计算机技术的发展对实现存储系统数据高速且可靠地存取，要求所采用的差错控制码不但冗余度小，还应当能高速并行编码和译码的需要。
Firstly, the residual error of each time step is calculated, and then the adaptation matrix is generated in accordance with the residual error.
首先，每一个时间点的残余误差将被算出，而适应性矩阵根据残余误差产生，最后透过推荐的误差指数使得系统参数可以即时的被识别。
In order to effectively combine the two schemes, uses quadric error matrix to trans- form related information between the two steps in the whole process.
为了将两者有效结合，将二次误差矩阵应用在整个简化过程中，简洁地传递了两个过程中的相关信息。
After convolutional encoding, the data is reordered by the interleaver. At the receiver, the data pass through deinterleaver for the purpose of dividing possible consecutive error bursts into inconsecutive code, so it can be corrected by convolutional decoding. Matrix interleaver with CPLD is designed, because it is convenient to program. Considering various matrix interleaver, an all - purpose matrix interleaver is designed. You can ap2 ply it to your own project only altering initial parameters.
交织编码在3G系统中已经大量使用，数据通过卷积编码后进行分组交织，在接收端完成反交织，将连续误码分散成非连续误码，从而使得误码在纠错允许的范围内得到纠正； CPLD 具有方便的在线编程功能，可以用来实现交织编码；考虑到矩阵交织器的多样性而设计的通用矩阵交织器，只须通过修改一些参数值即可实现不同的交织器，大大节省了设计时间。
IMPCA is a rapid feature extract method from matrix itself, no needing regard an image as a vector. This paper presents the basic theory of IMPCA from the view of minimizing the mean reconstruction error and shows two different modules of feature extract based on IMPCA. It analyzes the feature generated from two modules and finds they respectively enhance row characters and column characters. It fuses the recognition results with two features to achieve better accuracy rate.
IMPCA是一种快速有效的直接通过图像抽取特征的方法，从图像重构的角度分析了实现IMPCA的两种模式，两种模式分别增强了图像的行特征和列特征，将它们的识别结果进行决策融合可以获得更好的识别效果。
This paper analysed generating mechanism of the dynamic error induced by the model truncation error and presented a method of varying shift matrix to reduce the effect of the model truncation error on system performance.
文中分析了产生动态偏差的机理，提出了一种根据截断误差大小选取不同位移矩阵来校正截断误差的方法，减小了截断误差对系统性能的影响。
First, we introduce the principle of feeder protective apparatus and select adequate protective equipments in accordance with different types of distribution system, using the least square error method to simulate the time/current curve and applicate simulation formula to digital the curve data, Secondary, using augmented incidence matrix method to find the exact pairs of primary/backup protection relay and find the relay tripping sequence of distribution lines.
首先介绍线路之过电流保护设备动作原理，依不同之配电系统型态来选用适当之保护设备种类，并使用最小平方误差法模拟保护电驿之时间－电流特性曲线，应用模拟方程式将曲线之资料数位化，且藉由图形理论中之增广关联矩阵法求取正确之主保护与后卫保护电驿对，以找出系统中各配电线路保护电驿间之跳脱顺序关系。