The position system has used to give first place to with gps navigates , dead reckoning system and map - matching system are the subdominant ones . the location is calculated by dead reckoning algorithm when the gps system invalidated which can affact well in short time 定位系统采用了与gps为主、航位推算系统为辅的组合导航系统，利用航位推算对gps定位出现失效时，进行辅助定位，在短时间内能获得良好的效果。
Using dead reckoning would lead to frequent state correction updates , increasing both network traffic and visible jolts ( because a quick position jump is sometimes needed when the blended replicated path differs to much from the original path ) 使用导航预测算法可能会导致非常频繁地发送状态校正更新包，网络流量和视觉上的震动都会大大增加(因为当混合后的复制体路径与原始路径相差较大时，有时候不得不做一些迅速的位置跳转) 。
It analyses disadvantages existing in previous simulation protocols , then gives data filtering technologies in general distributed simulation systems including dead reckoning , data bundling and data compression . in this paper it also explains the conceptions of interest management , illustrates concerned applications and points out developing trends of modern interest management system 论文分析了早期分布式仿真协议中存在的缺点，介绍了一般分布式仿真系统中的数据过滤技术，包括dr技术，数据打包技术和数据压缩技术；然后讲述了兴趣管理的相关概念与当前兴趣管理在具体系统中的应用，同时给出了现代兴趣管理系统的发展趋势。
Most car navigation systems estimate the car position from the dead reckoning and the global positioning system ( gps ) . however , in combining the gps and dead reckoning , the kalman filter can be used . the estimated position by the kalman filter is proved to be optimal if the system is linear and the noise is white gaussian 车载自主导航系统主要是利用gps / dr (全球定位系统/航位推算)导航定位器来提供位置和速度信息。虽然用gps / dr组合导航系统进行车载导航,能够有效的减少由gps导航所造成的误差。
Dead reckoning navigation needs little space , but has high precision . the paper solves the navigation system of " tset - 1 " auv based on the sensors available , and a compact soft has been developed . some experience has gotten during the song hua lake " s test 本文针对“试验- 1号”小型机器人导航系统要求和传感器的配备情况，从工程实用性出发，完成了导航软件的开发，并进行了松花湖试验，这为今后水下机器人导航系统的研究与应用提供了有益的借鉴，积累了一定的经验。
The work for this thesis is as follows : firstly , based on previous studies , this thesis puts forward the information synchronization theory of collaborative system in dvr , gives a synchronous control scheme , including information transmission delay , entity states dead reckoning , advanced information - getting schema and system clock synchronization . secondly , this thesis brings forward the measures to solve the information consistency and the real time for the response of sharing operation . thirdly , this thesis designs a parallel rendering model , realizing its task scheduling in the agent and the communication between client and server 本文的主要工作是：一、在基于以前大量的研究基础上，给出了分布式虚拟现实环境下的协作系统的同步控制策略，包括信息的传输延迟、实体状态估算、信息预取策略及系统全局时钟同步；二、提出了解决信息一致性问题及共享操作响应的实时性问题的措施；三、在协同设计系统的信息同步理论的基础上，给出了并行绘制模型的设计，实现其在agent下的任务调度及client与server之间的信息通讯；四、最后给出了一个客户端几何形体的显示及空间操作的实例。
La dead reckoning algorithm has been developed based on the doppler velocity log ( dvl ) and fiber optic gyrocompass . 2 . since the basic kalman filter will become lapsed , strong tracking filter theory has been inducted , and a new strong adaptive kalman filter algorithm has been developed . further more an adjust gene has been imported , and gets a new arithmetic 针对传统的卡尔曼滤波算法中由于噪声统计特性未知而容易引起的滤波发散的缺点，引入强跟踪滤波理论，提出了带次优渐消因子的扩展卡尔曼滤波算法，并进一步对该算法进行改善，加入了调整因子，使滤波算法得到较好的改善。
We analyzed and compared the application flow and network capability of mobile virtual environments , then represented a new dead reckoning algorithm . this algorithm computes the dead reckoning threshold according to network latency and packet lost rate . the experiments showed that this dead reckoning algorithm matched the network capability and fulfilled the user demand 在充分分析移动场景图形应用流量与通信容量基础上,我们提出一种新颖的dr前瞻算法,此算法依据网络延迟、分组丢失比率与使用者体验来动态确定dr算法更新频度,实验结果也验证此算法确实良好匹配网络变化情况,同时也满足不同使用者体验要求。
A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed , accordingly , the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived . utilizing the muir and newman convention , the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced . according to posture estimation , a more accurate method , dead reckoning algorithm , is developed for a specified configuration characterized by differential speed motorization , and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path 本文对两轮差速驱动移动机器人的运动学及其本体缓冲设计进行了探讨，在对平面运动物体运动分析的基础上结合四种常用车轮的数学模型，推导出了一个通用的移动机器人堆积方程，在此基础上分析了移动机器人的移动能力、并针对两轮差速构型推导了速度正解与逆解；使用muir和newman的运动学建模方法，推导了移动机器人上点及连杆坐标系位姿、速度变换关系矩阵及求解方法；在移动机器人位姿识别方法中结合差速驱动构型对航位推算法进行了分析：推导了一种理论精度较高的航位推算算法，并使用matlab对其与传统的推算算法在跟踪圆弧轨迹情况下进行了仿真；最后针对本文所研究的机器人给出了一种比较系统、可靠的缓冲结构设计思路，较好地解决了移动机器人作业过程中外界因素及本身设计中引入的各种不确定误差问题；本论文研究成果已在本实验室所开发的样机上得到实现，经过应用与考核证明其中的分析与设计是切实可行的。
