摘要：惯性/卫星/视觉组合导航在城市复杂环境下可以获得较高精度的连续定位信息,因此应用越来越广泛。但外界环境变化引起的传感器误差会导致组合导航精度下降,甚至造成组合导航结果发散。针对低成本惯性/卫星/视觉组合导航过程中因环境因素产生的传感器误差问题,提出基于改进图优化算法的惯性/卫星/视觉组合导航算法。在传统图优化算法的基础上,在代价函数中引入鲁棒核函数对环境引起的传感器误差进行过滤,并且在惯性测量单元(inertial measurement unit,IMU)预积分中加入地球自转加速度补偿来提高预积分精度,进而提高组合导航精度。最后基于kaist城市行驶数据集设计了对比实验,验证结果表明,提出的改进图优化方法可以有效过滤因外界环境因素产生的传感器误差,相比于传统的图优化方法导航精度提升了7%。

摘要：This paper presents a method of designing a 65 nm DFM standard cell *** reducing the amount of the library largely,the process of optical proximity correction（OPC） becomes more efficient and the need for large storage is *** library is more manufacture-friendly as each cell has been optimized according to the DFM rule and optical *** area penalty is minor compared with traditional library,and the timing,as well as power has a good ***,this library has passed the test from the Technology Design Department of *** result shows this DFM standard cell library has advantages that improve the yield.

摘要：介绍了用微机控制的自动配料系统，该系统软件功能强、操作方便。同时对配料的精度进行了分析。