最新地磁导航原理与算法研究PPT课件PPT.ppt 99页

'地磁导航原理与算法研究PPT 课题研究内容本课题针对基于地磁场的导航方法与地磁信息获取等问题，研究地磁导航原理与导航算法以及地磁信息的获取方法和倾斜补偿式数字罗盘的设计方法及其误差补偿方法。课题包括以下六个子课题：地磁导航的原理与导航算法研究√倾斜补偿式数字罗盘的原理与设计方法调试外围电路设计硬件设计误差分析与补偿方法研究系统软件设计与调试 地磁导航原理与算法研究——主要研究内容地磁导航作为一种导航方式由于它本身的一些相对优势应用越来越广泛，越来越受到国内外学者的重视。本课题针对基于地磁场的导航方法与地磁信息获取等问题，研究地磁导航原理与导航算法。主要研究内容：地磁场理论地磁导航地磁场模型地磁匹配地磁滤波 三、关于地磁场模型1.地磁场模型的建立（1）国际地磁参考场（2）局部地磁场模型2.地磁模型的分析方法（1）球谐分析法（2）多项式拟合法（3）球冠谐分析方法(SCHA)（4）矩谐分析方法(RHA) 四、关于地磁匹配1.地磁匹配的原理2.地磁匹配的基本算法（1）强调差别程度平均绝对差算法(MAD)、均方差算法(MSD)（2）强调相似程度互相关算法(COR)和相关系数法(CC)（3）基于Hausdorff距离的相似算法 五、关于地磁滤波1.地磁滤波理论2.地磁滤波算法(1)卡尔曼滤波算法（KF）(2)扩展卡尔曼滤波算法（EKF)(3)无迹卡尔曼滤波算法（UKF)(4)自适应滤波算法3.卡尔曼滤波算法的Matlab仿真 图1实际位置与估计跟踪位置图 图2不同时刻实际位置与估计跟踪位置 图3不同时刻实际位置与估计跟踪位置差 图4不同时刻实际速率与估计跟踪速率 图5不同时刻实际速率与估计跟踪速率差 大型讲座之---写作巅峰策略兰州大学谭剑波Tangible 第一讲：转换思维--从思维层面解决障碍 1why?Limitation;naturalexpressionadultChinese—babyEnglish??滚滚红尘，风流倜傥，丘壑遍布 2how?1难词变易AdultChinese—babyEnglish--babyChinese中华文明很璀璨（2010考研文化火锅）Chinesecivilizationisresplendent.?Chinahasthelongesthistoryofmorethan5000years.他很挑食。Beparticularaboutfood.Helikestoeatwhathelikesandrefusestoeatwhathedislikes. 简单变难：是采取措施保护人类与自然界平衡的时候了（2011水污染）Itistimetotakestepstokeepthebalancebetweennatureandhumansociety.是什么的时候了:itishightimethat+did/should采取措施：stepupactionagainst/todo保持平衡：strikethebalance 总结：Itishightimethatwesteppedupactiontostrikethebalancebetweennatureandhumansociety.启示：动笔前先想一想（头脑泡泡+金字塔） 第二讲Aclearstructure 1.三点式，避免一堆式不低于三段不超过四段 2.观点次重要与篇幅大小。2009年四级考试真题作文题目：Freeadmissiontomuseums1、越来越多的博物馆免费对外开放的目的是什么？2、也会带来一些问题；3、你的看法？ 2008年12月英语六级作文真题HowtoImproveStudents’MentalHealth1.大学生心理健康很重要2.为此，学校可以••••••3.我们自己应该•••••• 2012年考研写作真题Writeanessayof160-200wordsbasedonthefollowingdrawing:1)describethedrawingbriefly2)explainitsintendedmeaningand3)giveyourcomments 总结：中间偏长首段次要 3.干净工整beclearandclean用横线或斜线表示删除，不可用括号；不能用汉语或其他语言批注解释或致歉。如：Iamsorry;oh,thisisamistake;不要，forgetittobecontinued见反面，不好意思更不要（good，Nice）供人选择 4.英语作文之审题，回忆记忆仓库，把相关句型或表达做上记号，保证亮点出现如： 第一：Inthefirstplace,Firstandforemost,Themostimportantfactorwehavetotakeintoconsiderationissth./that… 第二：Inthesecondplace,Whatismore,Furthermore;Itisalsoofgreatimportancetopaycloseattentionto…that/ 第三Inaddition，Additionally，Besideswhatismentionedabove,itisnecessarytothinkabout… 转折：but—(butt)however,nonetheless,nevertheless, 所以:sotherefore,Itnaturallyfollowsthat… 长句不要都用Firstandforemost；Furthermore；Besideswhatismentionedabove,itisnecessarytothinkabout… Themostimportantfactorwehavetotakeintoconsiderationissth./that…Inthesecondplace；Additionally 第三讲长句扩展秒杀策略--从实质上提高分数 1.加引导词：让句子高端强烈推荐四大引导：事实上是…Itisafactthat…令人惊奇的是…Itisasurprisethat…毫无疑问…Thereisnodoubt/denyingthat… 2.写插入语强烈推荐三大插入语：asamatteroffact,directlyorindirectly,inonewayoranother,插入语可以放在各段首末句，或各段第二句，一旦被发现可以严重加分。 插入语的位置：在很大程度上生态平衡对人类社会的长远福利非常重要。（2012-2013话题）Ecologicalbalanceis,toalargedegree,essentialtothelong-termwelfareofhumansociety.(be后)阅读古典名著直接间接的提高了我们对历史社会以及人性的理解。（2012-2013话题）Readingclassics,directlyorindirectly,improvesourunderstandingofhistory,society,andhumannature.(行前) 沉溺于电脑游戏可能会以种种方式对我们的身心健康造成重大影响Becomingaddictedtocomputergamesmay,inonewayoranother,haveagreateffectonbothourmentalandphysicalhealth.(助行间)口诀：be后行前助行间 3.写原因状语从句原因状语从句引导词duetothefactthatowingtothefactthatprimarilyowingtothatpartlyduetothat 利用三种高端方法提炼高端长句 建造和谐社会很重要。（2012-2013话题预测）Buildingaharmonioussocietyisimportant.1.引导词：随着工业化和商业化的发展毫无疑问“Withtherapidadvancesincommercializationandindustrialization”2.插入语：事实上3.从句：因为当今社会充满竞争，和谐社会在社会发展中扮演着不可缺少的作用。playanessentialroleindispensable Withtherapidadvancesincommercializationandindustrialization,thereisnodoubtthatbuildingaharmonioussocietyis,asamatteroffact,veryimportantduetothefactthatoursocietyisbecomingincreasinglycompetitiveandaharmoniousenvironmentcanplayanindispensableroleinthesocialdevelopment. Withtherapidadvancesincommercializationandindustrialization,thereisnodoubtthatbuildingaharmonioussocietyis,asamatteroffact,veryimportantduetothefactthatoursocietyisbecomingincreasinglycompetitiveandaharmoniousenvironmentcan,directlyorindirectly,playanindispensableroleinthesocialdevelopment.不要写太长。不要炫耀。 第四讲四六级写作改革之应对--靠近考研作文从“图画，故事，名言”中找到切题点写作文。1.只有第一段需要应对2.没有提纲要列出三个提纲在心里列出，自觉遵守提纲必须紧扣题目意图 名言：well-knownsaying警句：aphorism一段话：anillustration/astory（如名言所示，（某物在干某事）：有一个深刻含义显示某某的重要性）Asisillustratedinthewell-knownsaying,thereisadeepermeaningshowingtheimportanceof/suggestingthesignificanceof(determination)inourpursuitofsuccess. 写作学习策略：了解策略+必备句型+必备词汇+操练+高人修改新概念三—六级，考研的最佳功底教材新概念二---四六级考研的基础教材 Thankyou! 四六级听力技巧总结和启示谭剑波 20081226.A.Tointroducethechiefofthecity’spoliceforceB.TocommentonatalkbyadistinguishedguestC.ToaddresstheissueofcommunitysecurityD.Toexplainthefunctionsofthecitycouncil27.A.HehasdistinguishedhimselfincitymanagementB.HeisheadoftheInternationalPoliceForceC.HecompletedhishighereducationabroadD.Heholdsamaster’sdegreeincriminology28.A.TocoordinateworkamongpolicedepartmentsB.TogetpoliceofficersclosertothelocalpeopleC.TohelptheresidentsintimesofemergencyD.Toenablethepolicetotakepromptaction29.A.PopularB.DiscoveringC.EffectiveD.Controversial 20081226.A.Tointroducethechiefofthecity’spoliceforceB.TocommentonatalkbyadistinguishedguestC.ToaddresstheissueofcommunitysecurityD.Toexplainthefunctionsofthecitycouncil短文内容是？27.A.HehasdistinguishedhimselfincitymanagementB.HeisheadoftheInternationalPoliceForceC.HecompletedhishighereducationabroadD.Heholdsamaster’sdegreeincriminology他的优势能力28.A.TocoordinateworkamongpolicedepartmentsB.TogetpoliceofficersclosertothelocalpeopleC.TohelptheresidentsintimesofemergencyD.Toenablethepolicetotakepromptaction目的是？29.A.PopularB.DiscoveringC.EffectiveD.Controversial效果态度 26.Whatisthepurposeofthespeaker"sremarks?27.WhatdoesthespeakersayaboutMr.RobertWashington?28.WhatistheideabehindtheCommunityPolicingProgram?29.HowhastheCommunityPolicingProgramturnedouttobe? 几点建议：1.多听才是王道，语感很重要听什么材料？难？易？2.发音很重要，自己发错了，对的也变错3.淡定很重要，抓紧一切时间预读4.听得懂的东西可能就帮你做对80%;听不懂的反而不影响；听不懂可能是好事；当然不能都听不懂。 听力原文必备词汇预测常以正确答案形式出现听力总原则：--不是要听懂，而是做对。完全听懂可以对90%基本听懂可以对85%听懂一点点可以对70%简直听不懂可以对70%--关键在于预读 预读和审题是关键之关键1.快速阅读加快速度，节约三分钟左右，一定要舍得。（根据各校具体情况）--通读所有选项，排除异己，列出听写之外选项的问题。2.所有directions大约共五分钟左右。--进行第二次预读。加深第二次印象。3.每个小题之间的间隔，拿出8秒来预读第三次。总结：三次预读可以让你印象非常深刻。做题难度大大降低。 2007.12.-17.(5,10-6)A)Thewomanwonderedwhythemandidn’treturnthebook.B)Thewomandoesn’tseemtoknowwhatthebookisabout.C)Thewomandoesn’tfindthebookusefulanymore.D)Thewomanforgotlendingthebooktotheman. 17.M:I’vebroughtbackyourOxfordCompaniontoEnglishLiterature.Ithoughtyoumightuseitforyourpaper.Sorrynottohavereturneditearlier.W:Iwaswonderingwherethatbookwas.Q:Whatcanweinferfromtheconversation?问：大家最能听清楚的是那几个词？wherethatbookwas.启示：根本不用都听懂；明显的东西听懂就好了。 2007.12.-15.(4-4,50)A)Heistakingcareofhistwinbrother.B)Hehasbeenfeelingillallweek.C)HeisworriedaboutRod’shealth.D)Hehasbeeninperfectcondition. 2007.12.-15.(4-4,50)A)Heistakingcareofhistwinbrother.B)Hehasbeenfeelingillallweek.C)HeisworriedaboutRod’shealth.D)Hehasbeeninperfectcondition. 15.W:Hello,John.Howareyoufeelingnow?Ihearyou’vebeenill.M:TheymusthaveconfusedmewithmytwinbrotherRods.He’sbeensickallweek,butI’veneverfeltbetterinmylife.Q:Whatdowelearnabouttheman?考点：I’veneverfeltbetterinmylife.从没感觉这么好过--itcannotbebetteritistoogoodtobetrue.itcannotbeworse. 听不懂段落，听句子，听不懂句子听词汇，听不懂词汇，听语气。重复即所得reservereservation所听即所得(所听指的是语义片段，不只是单词）最后即所得(往往每个片段最后出现重点内容） 11.(1,15-2)A)Sheusedtobeinpoorhealth.B)Shewaspopularamongboys.C)Shewassomewhatoverweight.D)Shedidn’tdowellathighschool. A)Sheusedtobeinpoorhealth.B)Shewaspopularamongboys.C)Shewassomewhatoverweight.D)Shedidn’tdowellathighschool. 11.W:IranintoSallytheotherday.Icouldhardlyrecognizeher.Doyourememberherfromhighschool?M:Yeah,shewasalittleoutofshapebackthen.Well,hasshelostalotofweight?Q:WhatdoesthemanrememberofSally?明显易懂：lostalotofweight 2007.12.-13.(2,30—3,20)A)Teachinghersonbyherself.B)Havingconfidenceinherson.C)Askingtheteacherforextrahelp.D)Tellinghersonnottoworry. 2007.12.-13.(2,30—3,20)A)Teachinghersonbyherself.B)Havingconfidenceinherson.C)Askingtheteacherforextrahelp.D)Tellinghersonnottoworry. 13.W:Whatwouldyoudoifyouwereinmyplace?M:IfPaulweremyson,I’djustnotworry.Nowthathisteacherisgivinghimextrahelpandhe"sworkinghardhimself,he’ssuretodowellinthenextexam.Q:What’stheman’ssuggestiontothewoman?明显部分：he’ssuretodo 2007.12.-18.(5,50—6,20)A)Mostoftheman’sfriendsareathletes.B)Fewpeoplesharethewoman’sopinion.C)Themandoesn’tlooklikeasportsman.D)Thewomandoubtstheman’sathleticability. 18.W:Totellthetruth,Tony,itneveroccurstomethatyouareanathlete.M:Oh,really?Mostpeoplewhomeetme,includingsomefriendsofmine,don’tthinksoeither.Q:Whatdowelearnfromtheconversation?关键词：either（并不是怀疑能力，目前局限于表象） 2007.12.-16.(4,30-5)A)Shesoldallherfurniturebeforeshemovedhouse.B)Shestillkeepssomeoldfurnitureinhernewhouse.C)Sheplanstoputallheroldfurnitureinthebasement.D)SheboughtanewsetoffurniturefromItalylastmonth. 选项中的绝对词与相对词绝对词：mustneveralwaysonlyallwhenever,whatever,whoever…总结：绝对词出现的选项一般都是错误的。相对词：probably,possiblybelikelytopartly,some 16.M:Didyoureallygiveawayallyourfurniturewhenyoumovedintothenewhouselastmonth?W:Justtheuselesspieces,asI’mplanningtopurchaseanewsetfromItalyforthesittingroomonly.Q:Whatdoesthewomanmean?关键词：just 情感题06年6月11（1，20—2）11.A)Thegirlsgotonwellwitheachother.B)It’sunderstandablethatgirlsdon’tgetalong.C)Shewasangrywiththeotheryoungstars.D)Thegirlslackedthecouragetofight. M:Whatwasitlikeworkingwiththoseyoungstars?W:Itwasagreatgroup.Ialwaysgotmadwhenpeoplesaidthatwedidn’tgetalong,justbecausewe’regirls.Therewasneverafight.Wehadagreattime.Q:Whatdoesthewomanmean?关键词：wehadagreattime! 长对话策略可以通过研究选项的关键词，找到题目是什么，进一步推出全文主旨是什么，进一步做题。 2008,619.A.AnoticebytheelectricityboardB.AdspromotingelectricappliancesC.ThedescriptionofathiefindisguiseD.Anewpolicyonpensioners’welfare--内容content20.A.SpeakingwithaproperaccentB.WearinganofficialuniformC.MakingfriendswiththemD.ShowingthemhisID--干什么whatisgoing/doing 21.A.TobeonthealertwhenbeingfollowedB.NottoleaveseniorcitizensaloneathomeC.NottoletanyoneinwithoutanappointmentD.Towatchoutforthosefromtheelectricityboard--应该干什么whattodo22.A.ShewasrobbedneartheparkinglotB.AllhermoneyinthebankdisappearedC.ThepensionshehadjustdrawnwasstolenD.Shewasknockeddowninthepostoffice--Whatiswrongwithher? 从21,22推论出本对话中心主题，可以搞定第19题。通过19题的确定，搞定22题。20题一定讲行窃的手段。设身处地为“贼”想。 Dictation Directions:Inthissection,youwillhearapassagethreetimes.Whenthepassageisreadforthefirsttime,youshouldlistencarefullyforitsgeneralidea.Whenthepassageisreadforthesecondtime,youarerequiredtofillintheblanksnumberedfrom36to43withtheexactwordsyouhavejustheard.Forblanksnumberedfrom44to46youarerequiredtofillinthemissinginformation.Fortheseblanks,youcaneitherusetheexactwordsyouhavejustheardorwritedownthemainpointsinyourownwords.Finally,whenthepassageisreadforthethirdtime,youshouldcheckwhatyouhavewritten. Directions:Inthissection,youwillhearapassagethreetimes.Whenthepassageisreadforthefirsttime,youshouldlistencarefullyforitsgeneralidea.Whenthepassageisreadforthesecondtime,youarerequiredtofillintheblanksnumberedfrom36to43withtheexactwordsyouhavejustheard.Forblanksnumberedfrom44to46youarerequiredtofillinthemissinginformation.Fortheseblanks,youcaneitherusetheexactwordsyouhavejustheardorwritedownthemainpointsinyourownwords.Finally,whenthepassageisreadforthethirdtime,youshouldcheckwhatyouhavewritten. Firsttime—generalideaSecondtime—fillin36-43withtheexactwords44-46:exactormainpointsThirdtime—checkit ???不能这样！1.大意可以自己读出来，第一遍就要做题，做那些题？多少题？36-43中的一半左右，4个。太多做不完，影响理解。1）怎么读大意？文章首尾，首两句，尾两句，中间只读空格前后内容--可以了解文章主旨大意。2）第一遍做题可以不写全，写出几个字母，待补充。 2.第二遍做36-43中剩下的题目，补充单词，使其完整。44-46会有停顿，写其中的部分内容，草稿哪怕是零碎的单词，也必须写拼凑，归纳出大意。44-46绝不能放弃，哪怕写几个单词，也得半分。不抛弃，不放弃。3.第三遍检查，核对，补充。第三遍不能放弃听，期待顿悟。 4.36-43尽量原封不动的写出来少一个s,拼写错误一个字母，一般不扣分。尽量不写错。乱写不得分。近义词同义词都不得分。36-43通过空格前后，本句，推测词性，推测意思weare(36)________toprovidenursingcarev-ed；v-ing；legalormoral(37)________toanyphysician.名词Weprovidehealthteaching,(38)________physicalaswellasemotionalproblems,(39)________patient-relatedservices,andmakedecisions.provide,(),(),andmake.38，39---动词原形。 If,inany(40)________名词aphysician’sorderis(41)________orunsafe,形容词，而且和unsafe可能相关，近义，相反havealegal(42)________toquestionthatorder名词法律（），权利？义务？a(43)________reasonfor形容词重要的？主要的？次要的？ 44.Itissometimesrequiredthatweworkovertime,andthatwechangeshiftsfourorfivetimesamonth.---44.sometimesweworkovertime,wechangefourorfivetimesamonth45.Mosthospitalsarenowstaffedbynewgraduates,asexperiencednursesfinallygiveuptryingtochangethesystem.---45.Mosthospitalshavenewgraduates,andexperiencednursesfinallygiveuptryingtochangethesystem. 46.theywillfindthatmostcriticalhospitalcareswillbeprovidedbynew,inexperienced,andsometimesinadequatelytrainednurses---46.theywillfindthatmosthospitalwillbeprovidedbynew,inexperiencednurses.写出大意就够了。尽量听写，再拼凑，组织，但尽量保证语法没有大的错误。 '