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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cpci express的标准
目前能找到的cpci express总线的标准ContentsIntroduction1.1 Statement of Compliance131.2 Terminology131.3 Applicable Documents181.4 Objectives…191.5 Name and Logo Usage....翻1E,B面201.5.1 Logo Use201.5.2 Trademark polic201.6 Intellectual Property211.7 Special Word Usage221.8 Connectors1.8.1 Legacy CompactPCI Connectors221.8.2 High -Speed Advanced differential Fabric Connectors1.83 UPM Power Connectors∴…251.8.3.1 System Slot/Board and Type 1 Peripheral Slot/Board.251.8.3.2 Switch Slot/ Board261.8.4 eHM C271.8.5 CompactPCI Pluggable Power Supply Connector271.9 Slot and board descriptions281.9.1 Connector Reference Designators...............311.9.2 System Slot and Board1.9.3 Type 1 Peripheral Slot and Board321.9.4 Type 2 Peripheral Slot and Board331.9.5 Hybrid Peripheral slot351.9.6 Legacy Slot1.9.7 Switch Slot and board.36197.13uSwitchSlotandboard.wwwwwww.361.9.7.2 6U Switch Slot and board371.10 EXample Configurations402 Mechanical Requirements452.1 Mechanical Overview452.2 DrayStandard452.3 Units452.4 Keepout Zones452.5 Connector Requirements.452.5.1 ADF Connectors452.5.1.1 Board connectors452.5.1.3 Backplane Connectors with Hot-Plug Suppor o2.5.1.2 Backplane Connectors without Hot-Plug Support46462.5.2 eHM Connectors462.5.2.1 Board Connector Type Designation.462.5.2.2 Backplane Connectors without Hot-Plug Support .........462.5.2.3 Backplane Connectors with Hot-Plug Support..... 462.5.3 UPM Connectors462.5.3.1 Backplane Connectors…………462.5.3.2 Board Connectors without Hot-Plug Support47PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification2.5.3.3 Board Connectors with Hot-Plug Support2.5.4 HM Connectors472.5.5 47-Position Pluggable Power Supply Connector472.6 Chassis Subrack Requirements472.7 Backplane Requirements472.7.1 3U Backplane Dimensions and Connector Locations....... 472.7.2 6U Backplane Dimensions and Connector Locations2.8 Slot Numbering and Glyphs512.9 Board Requirements2.9.1 3U System/Type 1/Type 2 Board Dimensions and ConnectorLocations512.9.2 6U System/Type 1/Type 2 Board Dimensions and ConnectorLocations2.9.3 3U Switch board dimensions and connector locations wwm. 5429.4 6U Switch board dimensions and connector locations.552.9.5 Board pcb thickness562.9.6 ESD Discharge Strip562.9.7 ESD Clip562.9.8 Front Panels562.9.9 CompactPcI Express logo572.9.10 PMC/XMC Support….5729.11 Cross sectional vi582.9.12 Component Outline and Warpage582.9.13 Solder Side Cover(Optional)582. 9.14 Component Heights2.9. 15 System Slot Identification592.10 Rear-Panel 1/0 Board Requirements592.10.1 3U Rear-Panel l/o board dimensions592.10.2 6U Rear-Panel l/o board dimensions3 Electrical Requirements623. 1 Signal Definitions623.1.1 PCI Express Signals.623.1.1.1 PCI EXpress Transmit SigInaIs3.1.1.2 PCI Express Receive Signals623.1.1.3 Interconnect Definition633.1.1.3.1 Link definit633.1.1.3.2 Link Grouping.633.1.1.4 Electrical B643. 1.1.4.1 AC Coupling653.1.1.4.2 Insertion loss653.1.1.4.3 Crosstab‖k3.1.1.4,4 Lane-to-Lane skew3.1.1. 4.5 Equalization673.1.1.4.6 Skew within the Differential Pair(Intra-PairSkew)3.1.1.5 Jitter Budget Allocation683.1.1.5.1 Random Jitter(Rj)683.1.1.5.2 System Level Jitter Distribution693.1.1.5.3 Interconnect Jitter Budget693.1.1.5.4 Eye Patterns703. 1.1.5.5 Type 2 Peripheral Transmitter Eye4PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification3.1.1.5.6 Controller Transmitter Eye3.1.1.5.7 Type 2 Peripheral Receiver Eye3.1.1.5. 8 Controller Receiver eye743.1.1.5. 9 Backplane Compliance Testing3.1.1.5. 10 Alternative Controller tX measurement.wm.773.1.1.6 Reference Clock783.1.1.6.1Hot-Pug…...….783.1.1.6.2 Clock Fan-Out..793. 1.1.6.3 Clocking dependencies3. 1.1.6.4 AC-Coupling and Biasing793.1.1.6.5 Routing length803. 1.1.6.6 Reference Clock Specification813.1.1.6.7 REFCLK Phase Jitter Specification3.1.2ESD853.1.35VauX.853.1.4 SMBI3.1.4.1 SMBus " Back Powering Considerations883.1.4.2 Backplane Identification and Capability Using SMBus. 883.1.5 PWRBTN# Signal943.1.6 PS ON# Signal.943.1.7 PWR OK Signal.......953.1.8 WAKE# Signal3.1.8. 1 Implementation Note983.1. 9 PERST# Signal993.1.9.1 nitial Power-Up(G3toL0)……………………1003.1.9.2 Power Management States(so to S3/S4 to so)1013.1.9.3 Power down1023.1.10 SYSEN# Signal…1033.1.11 Geographical Addressing1033. 1. 12 LINKCAP Signal1043.1.13/OPin1043.1.14 Reserved pins1043.2 Hot-Plug Support.1043.2.1 Hot-Plug sub-System Architecture1043.2.2 Power enable1073.2.3 Wake#1083.2.4 Module Power good1083.2.5 Present detection1083.2.6 System Management Bus1083.2.7 System Management Bus alert1083.2.8 Attention LED1093.2.9 Attention Switch1093.2.10 DC Specifications1093.3 Backplane Connector Pin Assignments1093.3.1 System SI3.3.1.1 4-Link Configuration1103.3.1.2 2-Link Combination Configuration3.3.2 Peripheral Slot I ype 11133.3. 3 Peripheral Slot Type 2.1153.3.4 Hybrid Peripheral slot.1153.3.5 Legacy slot117PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3.3.6 Switch Slot1173.3.6.1 3U Switch Slot3.3.6.2 6U Switch Slot x4 Link width1183.3.6.3 6U Switch Slot--X8 Link Width.1213.4 Power Supply Requirements…1233.4.1 Current Available1233.4.2 Regulation and Ripple and noise1243.4.3 Backplane Power Decoupling1243. 4.4 Power Supply Timing1243.4.5 Additional Power Requirements for Boards SupportingHot-Ppluc1254 Keying Requirements4Legacy Slots and Legacy boards12642 eHM Ke126A CompactPCI Express Advanced Differential Fabric Connector......129A 1 General data129A 1.1 Objective of this document.129A.1.2Scope129A.1.3 Intended Method of mounting129A 1. 4 Ratings and characteristics130A.1.5 Normative references130A.1.6 Markings……131A 1.7 Type Designation国131A.1.8 Ordering Information132A 1. 9 Special Connector LoadingsA2 Technical InformationA.2.1 Contacts and terminations133A 3 Dimensional Information134A.3.1 Isometric view and common features.134A 3.2 Engagement Information134A.3. 2.1 Electrical Engagement Length134A.3.2.2 First Contact point135A 3.2.3 Perpendicular to Engagement direction135A.3.2.4 Inclination135A 3.3 Backplane Connectors136A 3.3.1 Dimensions1136A.3.3.2 Contacts136A.3.3.3 Contact Tip Geometry…………137A.3.3,4 Terminations137A. 3. 4 Front board connectors wwwwwwwwwww138A,3. 4. Dimensions.138A 3.4.2 Terminations138A 3.5 Mounting Information for Backplane Connectors138A. 3.5. 1 Hole Pattern on Backplanes139A 3.5.2 Backplane Contact Positional Requirements139A.3.5.3 True position of male contacts.139A.3.6 Mounting Information for Front Board Connectors.140A 3.6.1 Hole Pattern on Printed boards140A 4 Characteristics1416PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specificationA.4.1 Climatic Category141A 4.1.1 Climatic Category Test batch P: Initial EXamination .....141A 4.1.2 Climatic Category Test Batch A: Mechanical Tests.. 141A 4.1.3 Climatic Category Test Batch B: Harsh Environments. 144A.4.1.4 Climatic Category Test Batch C: Damp Heat146A 4.1.5 Climatic Category Test Batch D: ExtendedEnvironmental Tests147A 4.1.6 Climatic Categary Test Batch E: ExtendedEnvironmental Tests148A.4.2 Electrical characteristics148A.4.2.1 Impedance148A 4.2.2 Crosstalk149A.4.2.3 Propagation Delay149A42.4 Differential skew..149A 4.25 Insertion Loss149BEnriched hard-Metric ConnectorB. 1 General data国面国B150B. 1. 1 Objective of this document150B.1.2 Description of the Connector,s Approach150B.1.3 Descriptive Partitions Found Further This document150B 1.4 Normative References15B 1.4.1 Primary references describing the generic Part ofthe co151B.1.42Additionalreferenceswwwwwww.15B.1.5 Intended Method of Mounting151B 1.6 Markings.152B.1.7 Type Designation(General)152B2 Technical Information∴152B 2.1 Definitions152B 2.2 Contacts152B 2.3 Contact Performance Level154B 2.4 Keying154B.2.4.1 Mating rules155B.2.4.2 Examples for mating and nonmating configurations . 156B.2.5 Type Designation156B 2.6 Applicational Information157B 2.6.1 Alignment and Gathering157B26.2 Polarization翻面面∴158B3 Dimensional InformationQB.3.1 General158B.3.2 View and common features158B3.3 Remarks on Mating Properties of eHM Connector…………159B 3. 4 Fixed Board connector160B 3.4.1 Dimensions160B 3.4.2 TerminationsB.3.4.3 Mounting Information for Fixed Board Connectors..161B 3. 4.4 Hole pattern on fixed board161B.3.4 5 Position of connectors on fixed board∴161B 3.5 Free board connectors162B 3.5.1 Dimensions162B 3.5.2 Termination163PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not Design TO/Do Not Claim Compliance To/Do Not Distribute This specificationB.3.5.3 Mounting Information for Free Board Connectors. .......163B 3.5.4 Hole pattern on free board163B 3.5.5 Position of connectors on front board163B4 Characteristics81.163B.4.1 Climatic Category∴163B 4.2 Electrical Characteristics163B.4.2. 1 Creepage and clearance Distances163B 4.2.2 Voltage Proof164B.4.2. 3 Current-Carrying Capacity.164B.4.2.4 Contact resistance.……164B 4.2.5 Insulation Resistance.164B 4.3 Mechanica164B.4.3.1 Mechanical Operation.164B.4.3.2 Engaging and Separating Forces164B 4.3.3 Contact retesert164B 4.3.4 Static Load. Transverse.164B 4.3.5 Gauge Retention Force.164B 4.3.6 Vibration(Sinusoidal.164B 4.3.7 Shock164B 4.3.8 Polarization method165B.4.3.9 Robustness and effectiveness of coding device .........165B.4.3.9.1 Conditions According to IEC60512-7,Test 13e....B165B 5 Test schedule165B.6 Quality Assessment Procedures…………….…..….…......…...165c Universal Power Connector(UPM)166C 1 General data.I....8.4.4面面面..166C.1.1 Objective of this document166C2 Dimensions167C 3 Perpendicular to Engagement Direction169C4 Inclination169C 5 Mounting Information169C 6 Climatic Category.171Figuresg1-1 HM Connectors231-2 Advanced Differential Fabric(ADF) Connector241-3 UPM Power Connector for System and Type 1 Peripheral Slots/Boards..251-4PowerConnectorforswitchslots/boardswwwwww.26-5 eHM Connector1-647- Position CompactS| Pluggable Power Supply Connector……….281-7 CompactPCI Express 3U Slot Examples29-8 Compact PCI Express 6u Slot Examples301-9 System Board311-10 System Slot321-11 Type 1 Peripheral Board321-12 Type 1 Peripheral Slot.331-13 Type 2 Peripheral Board-14 Type 2 Peripheral Slot34PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification1-15 Hybrid Peripheral slot351-16 Boards Supported By Hybrid Peripheral Slots361-17 3 Switch Board371-18 3 Switch Slot371-19 6U Switch board38-20 6U Switch Slot391-21 Backplane with Hybrid Peripheral Slots and Legacy Slots401-22 Backplane with all Hybrid Peripheral Slots411-23 Backplane with Type 2 and Hybrid Peripheral Slots421-24 3U Backplane with Switch, System, Type 1, and Type 2 Slots1-256 U Backplane with Switch, System,Type1, and type2S∴………43442-1 Backplane Overall Dimensions482-2 30 Backplane connector Locations492-3 6U Backplane Connector Locations502-4 board compatibility glyphs2-5 Glyph for Boards that Operate in Either System or Peripheral Slots512-6 Slot Compatibility Glyphs……512-7 3U System, Type 1, and Type 2 Board Dimensions and ConnectorLocations522-8 6U System/Type 1/Type 2 Board Dimensions and Connector Locations...532-9 3 Switch board Dimensions and connector locations542-106uswItchboarddimensionsandconnectorlocations..w.wwwwww.552-11 Modification to PCB to Support Thicker Boards562-12 CompactPCI Express Logo572-13 Alternate CompactPC| Express Logo....….….…572-14 Approximate Clearance Between the PMC/XMC PCB and the aDFConnector………………..572-15 Board cross-Sectional view82-16 3U Rear-Panel l/o board dimensions,602-17 6U Rear-Panel l/o Board Dimensions613-1 2-Link and Loss definition643-2 Backplane Connector Footprint683-3 Interconnect jitter allocation703-4 Peripheral TX Eye Mask723-5 Controller TX eye Mask733-6 Peripheral RX Eye Mask743-7 Controller RX Eye Mask753-8 Backplane TX Compliance signal763-9 Backplane RX Eye…763-10 Alternative Controller measurement783-11 Biasing for HCSL Clock Input3-12 Biasing Simulation Results.803-13 Single-Ended Measurement for swing.833-14 Single-Ended Measurement Points for delta cross point833-15 Single-Ended Measurement Points for Rise and Fall Time Matching ..........833-16 Differential Measurement Points for Duty Cycle and Period833-17 Differential measurement points for rise and fall time843-18 Differential Measurement Points for Ringback843-19 Eight-Slot Backplane Example913-20 Power Supply Timing95PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3-21 WAKE Rise and fall time measurement points983-22 WAKE# Circuit Example93-23 Power Up…1013-24 Power Management states1023-25 Power down1033-26 Typical Hot-Plug Interface Implementation1063-27 4-Link Configuration Backplane Example1103-28 2-Link Combination Configuration backplane example112A-1 Sample Part Number with Explanation132A-2 Special Connector Loading 01001面着国面国B面面国33A-3 View of connectors with common features134A-4 Connector Mating Sequence35A-5 Dimensional Drawing of Backplane Connector.136A-6 Contact Geometry for Zone 2 Backplane Connector137A-7 Dimensional Drawing of Front Board Connectors138A-8 Hole Requirements for backplane Connector139A-9 Backplane Pin Contact Positional Tolerance ................................................140A-10 Hole Requirements for the Front Board Connector140B-1 View of Fixed and Free Board Keying Design(Left Perspective, RightDetailed).……155B-2 View of a Mating and a Non-Mating Keying Combination156B-3 View of fixed and free Board connectors..158B-4 View of Fixed Board connector Including polarization Feature.......159B-5 Dimensional drawing of Fixed board eHM connector160B-6 Hole Requirements for eHM on Fixed Board161B-7 Dimensional drawing of eHM Free Board connector…162B-8 Hole Requirements for eHM Free Board Connector............163C-1 UPM-F-7 Female 7-Position power connector dimensional information 167C-2 UPM-F-5 Female 5-Position Power Connector Dimensional Information ....168C-3 Male 7-Position power connector dimensional information168C-4 UPM-M-5 Male 5-Position Power connector dimensional Information169C-5 Hole pattern for 7-Row male uPm Power connector169C-6 Hole pattern for 5-Row male UPM Power connector170C-7 Hole pattern for female 7-Row uPm Power connector..170C-8Holepatternforfemale5-rowuPmpowerconnectorwwww.171Tables3-1 Interconnect Loss Budget Type 1 Peripheral3-2 Interconnect Loss Budget Type 2 Peripheral653-3 Allowable Interconnect Lane-to-Lane skew673-5 Interconnect Jitter buaget on3-4 Total System Jitter Distribution......69703-6 Type 2 Peripheral Transmitter Eye............713-7 Controller TX Compliance Eye Requirements723-8 Type 2 Peripheral RX Compliance Eye Requirements..733-9 Controller RX compliance Eye Requirements743-10 Backplane TX Compliance Signal (Signal Generator)753-11 Backplane RX compliance eye7610PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification
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北航矩阵论学习笔记
北京航空航天大学矩阵理论学习笔记，总结版，学霸总结，可以放心下载使用北京航空航天大学张京蕊工程系统工程系月录§0补充公式§1 Jordan(约当)标准形(简介)§2线性变换与矩阵.24§3欧式空间与QR分解.48§4常用矩阵分解●鲁D●●·,,,,,74§5范数与级数.81§6广义逆A..97§7直积拉直及应用105矩阵理论A笔记北京航空航天大学张京蕊工程系统工程系§0补充公式令A=(a)mxn∈C",风x)=4o+a1x0定义f(4)=a0+a1A+…+amAm,其中I=l若g(x)=bo+b1x+…+bkx,(x)g(x)=g(x)(x),则f(4)“g(A)=g(A)f(A)分块公式A10令A,A1,A2为方阵00 A(2)f(A),fx)为多项式令A=,A1,4为方阵AO(2)f(4)相似关系:A∽B,(PAP=B)则:(1)(P1AP)=P!AP,(k=0,1,2,(2)f(PAP)=PfA)P,f(x)为多项式许尔公式( schur):每个复方阼,A-(a)nxm都相似丁上三角形。共113页矩阵理论A笔记第1页北京航空航天大学张京蕊工程系统工程系即:P-1AP=其中41,,的次序可以任意指定Pf:用归纳法n=1时成立可以设为(n=1阶方阵成立对于n阶方阵A=(an)2×n设特征值为A,…,n取为对应的特征向量,记为a1≠0,A1=1ax1把a1扩展为可逆方阵Q=(a1,02,xn)22e又:g(a,a,…,.)=(Qa,Qba2,,Qan)其中Qe1,aQ0Q4=QA(a1a2,…an)2-I(Aa,,AAQ=(Qa,、+)…,(*)其中A1为(n-1所阶0人:0 A为由假设,对于A1必有(n-1)阶P,可推出PAPEg知n阶方阵A,适合A=0,则A+|=1共113页矩阵理论A笔记第2页北京航空航天大学张京蕊工程系统工程系Pf:A=0→任意特征值A=0→>=0即全体特征值为00,,00由需要P1AP=→PAP+7=1pAP+PP|=P(4+1)P=14+1→A+1=-1注(1)若AB(相似),则AB有相同特征值A,可引入记号:谱集(4)={2,2,…,λ}(全体特征值,含重复)A∽B→o()=o(B)(2)A∽B→1-A=1-B-(2-4元一2)…(-n),特征多项式PAP=B=A-A=p(1-A)P=A-B引理:若A0A2,则M-A|-|M1-4|-1-A1|2-A2→ar(4)=o(A)∪a(42k+1,Ak-2,…n1f(x2)设B,f(x)为多项式,则f(B)=o f(,)引理:若n阶方阵A的谱集(4)=1,42,…},则)的全体特社值为)2,…,),x)为多项式Pf:由许尔定理,A∽B→f(4)∽f(B)f(x)的全体特征值为(A1)(42),,()},fx)为多项式例如:4为A的特征值→x为4的特征值。(x)=x)共113页矩阵理论A笔记第3页北京航空航天大学张京蕊工程系统工程系引理:令B,f(x)=x-B|=(x-41)(x-12)….(x-n)则fB)=(B-1D(B-21)…(B-A1D=0Pf:当n=2时,B=0x2f(x)=(x-1)(x-2)000→f(B)-(B-41)(B-21)(2-元)0(00∴得证★ Cayley公式:设n阶方阵A的特征多项式为f(x)=|x-A|=a+a1x+…,+x则f4)=anl+a14+…,+4=0Pf:由许尔PAP=B=→P(4)P=fp3P)=f(B)=0(引理)定义若多项式x)使(4)=0,则称(x)为A的个零化式结论方阵A的特征多项式)=1x1-4为A的一个零化式g特征多项式fx)=x2可知:f(A)=A2+1=+I=00-1Hx)=|xI-A|=(x-)(x+i,(i=√-1,t2=-1)f(A)=(A-i)(4+i1=0也可取P=则PPAP=,对角形共113页矩阵理论A笔记第4页北京航空航天大学张京蕊工程系统工程系g:知A则A"=0Onxn由 Cayley特征多项式:f(x)=x"→f(4)=4"=0Ex 1. A=求P使得PP为对角阵,并验证 Cayley定理2.A=cd/,求fx)=x1-4验证f4)-0补充知识( schur公式、 Cayley公式)应用由A"=-(a0I+a1A+1A·AanA+a142+…+a.,A把①代入②→Am1=(-)+(+)4+…+(+)41可知:任何和(m≥n)都可写成,4,,A的线性组合任何多项式g(A),可写成lA,…,4的组合。Fg:若A|≠0,fx)=xI-A|=a0+a1x+…+x",ao=|-A|≠则A可用A的多项式表示∵a1A+a242+…+an21A-+A"--a072A(a1+a24+…+an-142+A)Aa1+…+an1A"2+A-1零化式定义:若g(x)=b+b1x+…+bnx,使得g(4)=bn+b14+…+bn4m=0,称g(x)为方阵A的零化式注:方阵A的零化式有无穷多个∴取特征多项式x)则4)=0任取式M(x),f(A(4)=0→f(x)(x)也是零化式极小式定义:在方阵A的零化式集合中,去次数最小的且首项系数为1的零化式m(x),称它为A的极小式共113页矩阵理论A笔记第5页北京航空航天大学张京蕊工程系统工程系注:极小式唯一性质:①极小式m(x)必为特征多项式fx)=|xI-A的因式。②特征多项式fx)=|x1-A的每个单因子(x-4)也是极小式的因子)f(x)=|x1-4=(x-x)(x-2)则极小式m(x)=(x-x)(x-2)y…(x-,),且1≤l1≤m1,1≤l2≤m2,…,1≤l≤n,41,A2…,n互不相同210EgA=020,B=020,求极小式mA(),m()解:(1)|xI-A|=(x-2)(x-1)极小式为:(x-2)(x-1)或(x-2)(x-1)计算:(4-2/)4-1)=000010k≠000000∴极小式为m4(x)=(x-2)2(x-1)(2)|-B|-=(x-2)2(x-1)00000计算:(B-2)B-1)=000010=000-1八000∴极小式为m(x)=(x-2)(x-1)Eg求下列极小式m(x)4604-60(1)A=-3-50,(2)B=2-303-6100210(3)C,(4)D=000010002000解:(1)特征多项式|x7-A|-(x-1)(x+2)极小式为:(x-1)(x+2)或(x-1)(x+2)共113页矩阵理论A笔记第6页北京航空航天大学张京蕊工程系统工程系验证:(4-D(A+2D=0∴极小式为m(x)-(x-1)(x+2)(3)解法如下引理:A1,A2的极小式为m1(x),m2(x)A10的极小式m(x)等丁m1(x),m2(x)的最小公倍式0A2(此引力可推广到A1,42,43)0100极小式为(x-1)2,0010极小式为(x-1)0取最小公倍式(x-1)2为C的极小式。460(5)F-/40,A1=020|,A00 A0123-6101O引理;设D=,则D的极小式m(x)O验证:先证D的性质(右推公式)设A-(an)xn=(a1,2,…,n)则有AD=(0,01,a2,,.m1)AD2=(0,0,∞1,,x12)AD=(0,….0.,a1,,axn)单位向量技巧:∵AI=A(en,e2…,en)=(el,leAen)=A=(a1, a2,. a,)∴Ae1=01,Ae2=(2,.,A→AD=A(0,e1,e2,…,en-1)=(0,a1,a2…,an-)同理AD2=(AD)D=(0,.01,.12)可知:D-1-(D)Dy2-(0.,0,,e1)≠0D"=(D)D1=0,而特征多项式(x)=|x1-D|=x,极小式为某个x共113页矩阵理论A笔记第7页
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