Mixed Adjustment Research Articles

Bias Adjustment of Long‐Term (1961–2020) Daily Precipitation for China

AbstractThe observation errors in precipitation gauges contribute to diminished precision in precipitation data sets. To reduce the impact of these errors, the World Meteorological Organization Solid Precipitation Intercomparison Experiments recommended the Double Fence Intercomparison Reference as a reference standard for precipitation measurements. This study proposed a new rain, snow, and mixed precipitation adjustment method for national standard precipitation gauges, using DFIR‐measured precipitation as the standard values. This method was used to adjust for systematic errors, including wind‐induced errors, wetting loss, and trace precipitation, in precipitation data collected by 785 stations in China from 1961 to 2020. After bias adjustment, the annual precipitation increased by 6.1–177.9 mm (with an average of 52.7 mm), accounting for 3.3%–52.1% (8.9%) of the total precipitation. The average annual error‐adjustment amounts for wind‐induced error, wetting loss, and trace precipitation were 21.9 (3.6% of total precipitation), 26.6 (4.7%), and 4.2 mm (1.3%), respectively. The adjustment percentage in winter was higher than that in summer, with the high‐adjusted‐percentage regions predominantly located in areas with drought, high proportion of snowfall, and strong wind speeds. Additionally, the annual average error‐adjustment amounts for rain, snow, and mixed precipitation respectively accounted for 5.2%, 38.2%, and 17.1% of their corresponding total amounts, indicating the significance of bias adjustment, particularly for snow and mixed precipitation, in the northern and Qinghai‐Tibet Plateau regions. Therefore, bias adjustment is necessary to enhance the accuracy of the precipitation data set in China.

Gravimetric inversion based on model exploration with growing source bodies (Growth) in diverse earth science disciplines

<abstract> <p>Gravimetry is a discipline of geophysics that deals with observation and interpretation of the earth gravity field. The acquired gravity data serve the study of the earth interior, be it the deep or the near surface one, by means of the inferred subsurface structural density distribution. The subsurface density structure is resolved by solving the gravimetric inverse problem. Diverse methods and approaches exist for solving this non-unique and ill-posed inverse problem. Here, we focused on those methods that do not pre-constrain the number or geometries of the density sources. We reviewed the historical development and the basic principles of the Growth inversion methodology, which belong to the methods based on the growth of the model density structure throughout an iterative exploration process. The process was based on testing and filling the cells of a subsurface domain partition with density contrasts through an iterative mixed weighted adjustment procedure. The procedure iteratively minimized the data misfit residuals jointly with minimizing the total anomalous mass of the model, which facilitated obtaining compact meaningful source bodies of the solution. The applicability of the Growth inversion approach in structural geophysical studies, in geodynamic studies, and in near surface gravimetric studies was reviewed and illustrated. This work also presented the first application of the Growth inversion tool to near surface microgravimetric data with the goal of seeking very shallow cavities in archeological prospection and environmental geophysics.</p> </abstract>

Automatic extraction method of green tide based on mixed pixel decomposition feedback adjustment

Automatic extraction method of green tide based on mixed pixel decomposition feedback adjustment

Which adjustment methods are suitable for the wind-induced errors of Geonor T-200BM3 precipitation weighing gauges in a periglacial site?

Single Alter shielded T-200BM3 weighing precipitation gauges are widely used in the measurement of all precipitation types (rainfall, snow and mixed precipitation) in unattended boreal or alpine regions, but their original datasets must be adjusted for undercatch errors caused by wind in snowy, windy and harsh environments. Therefore, previous researchers have developed many adjustment methods for all precipitation types on different time scales. However, which adjustment method is suitable for T-200BM3 weighing gauge wind-induced error adjustment in harsh alpine regions is unclear. Therefore, precipitation measurement intercomparison experiments were conducted in the Qilian Mountains from July 2018 to July 2021, and eight adjustment methods; were evaluated for wind-induced errors for daily, individual precipitation event, hourly, and half-hourly time scales. Z2004 outperformed the other adjustment methods in regard to the daily measurements of snow and mixed precipitation. Regarding individual snowfall events, M2007 reduced the absolute value of RMSE (bias) from 1.44 to 1.32 mm (0.77–0.24 mm) and could be recommended for snowfall event adjustment. K2017-1 attained a better performance than K2017-2 in regard to half-hourly snowfall and mixed sample adjustment and was more suitable for half-hourly snowfall sample adjustment. K2017-1 reduced the absolute value of bias from 0.07 to 0.00 mm for snowfall. Finally, Z2004, M2007, and K2017-1 yielded better adjustment results for the daily accumulation precipitation amount (>2 mm d−1), individual snowfall events (>2 mm per event), and half-hourly accumulation snowfall or mixed samples (>1 mm 30 min−1), respectively. However, further intercomparison in different climate regions is needed for trace precipitation samples.

Psychopathological profile before and after bariatric surgery

Presurgical psychopathological assessment usually focuses on detecting severe mental disorders. However, mild intensity psychopathology and eating behaviour pattern may also influence postsurgical outcomes. The aim was to identify psychopathology and eating behaviour pattern in candidates prepared for bariatric surgery compared to a normative population before and after surgery. A cohort of 32 patients seeking bariatric surgery in a university hospital between March 2016 and March 2017 were evaluated with Personality Assessment Inventory (PAI), 36‐item EDE‐Q and BES before and after surgery. Thirty-two patients before and 26 one year after surgery were included. The PAI presurgical psychometric profile suggested a mild mixed adjustment disorder focused on somatic complaints. After surgery, patients improved in somatic complaints (p < 0.001), and depression (p = 0.04). Related eating disorders were more common than those of the normative group and improved significantly after surgery in scores for compulsive intake (BES p < 0.001) and overall key behaviours of eating disorders and related cognitive symptoms (EDE-Q/G p < 0.001). In our cohort ready for bariatric surgery a mild psychopathological profile is still present and becomes closer to that of the normative group after surgery. Further studies are needed to evaluate the effects of mild psychopathology on outcomes after bariatric surgery.

ON THE RELIABILITY OF MIXED LS ADJUSTMENT MODELS

This paper examines the internal and external reliability criteria of the mixed LS adjustment model. We use the reliability concept to quantify the potential for detecting gross errors and to estimate their impact on the adjusted parameters. After a short introduction to the mixed adjustment model, the hat matrix and Baarda’s data snooping we describe the theoretical tools developed to define the internal and external reliability in the mixed adjustment model. The paper presents the results of an example of LS adjustment of transformation parameters between two coordinate systems, indicating that the reliability can be used effectively for this model.

Development of Fertility, Social Status, and Social Trust of Farmers.

Fertility, social status, and social trust are main social choice behaviors of Chinese farmers. This paper adopts the childbearing–value logic to establish a theoretical model of farmers’ childbearing–social status–social trust choices to examine the influence of farmers’ childbearing and social status on farmers’ social trust. The theoretical model showed that farmers will rationally choose the number of children to bear, emotional value, social value, economic value, social status, and social trust. The fertility of farmers’ children is actually a trade-off between quantity and value, and the fertility behavior affects social status through the direct mechanism of the number of children and the value of the adjustment mechanism, and together with the social status, through the direct mechanism, the adjustment mechanism of the number of children, the intermediate mechanism of social status, and the mixed adjustment mechanism. Asymmetry affects social trust equilibrium. Empirical research based on the CFPS (China Family Panel Studies) data in 2018 showed that farmers’ children quantity primarily inhibits, through the adjustment mechanism of children’s value–social status, social status and social trust; it exerts no direct impact or mediating effect on the social status. The economic value of children does not affect the social status, but it affects social trust through a positive child quantity adjustment mechanism, a negative social status mediation mechanism, and a negative mixed mediation mechanism. The social value of children affects social trust by the positive direct mechanism and the negative children quantity adjustment mechanism, as well as social trust by the negative direct mechanism, children quantity adjustment mechanism, children quantity–social status mixed adjustment mediating mechanism, and the positive social status–mediated mechanism. The emotional value of children affects the social status through the positive direct mechanism, as well as social trust through the positive direct mechanism, social status–mediated mechanism, and negative child quantity adjustment mechanism, and negative mixed mediation mechanism. Furthermore, social status positively impacts social trust rather than a symmetric transmission of the mediating effect of children’s value and the quantity adjustment effect of children’s value. However, no mediating effect of social trust was observed on children quantity. Social development leads to structural changes in the fertility value of farmers’ children, which makes farmers prefer their children’s social and economic value, exerting a complex impact on their own social status and social trust.

An improved ASU distillation process and DIM-LPB method for variable product ratio demand

• A variable product ratio adjustment method was proposed. • The distillation process was improved for recovering extra cold energy. • Latent heat recovery process of release oxygen was proposed. • Rational exergy efficiency of ASU increased by 0.6%. • The power consumption was reduced by 2.1%. The rapid development of metallurgy and chemical industries has greatly increased the demand for air separation unit (ASU) products. The conventional equal product ratio adjustment method of ASU cannot meet the variable ratio demand of users. In this study, a low-pressure cold energy recovery process was designed, and a mixed adjustment method was proposed to enhance the variable product ratio adjustment capability of ASU and reduce the power consumption of product release scenes. When the requirement of only one product rapidly decreased, the method balanced the cold energy of ASU, recovered the additional energy in the heat exchange process of different pressures of the released product, and reduced the power consumption loss by adjusting the distillation column and nitrogen expansion system. An ASU model with argon distillation system was established using Aspen Plus software. The method reduced the power consumption by 1351 kW, which is equivalent to 2.1% of ASU power consumption. The rational specific power consumption was decreased by 0.02 kW/kg, and the rational exergy efficiency of ASU was increased by 0.6%. This method will provide a novel idea for the variable ratio adjustment mode of ASU.

Research on Variable-Universe Fuzzy Control Technology of an Electro-Hydraulic Hitch System

To improve the quality and control accuracy of the farming tractor electro-hydraulic hitch system, a variable-universe fuzzy control algorithm is introduced herein based on force–position mixed adjustment. (1) Background: This research sought to improve the operation quality and control precision of the tractor electro-hydraulic suspension operation system by solving the slow response and low precision problems in the target value control of the system. (2) Methods: According to the characteristics of the operating system, the working principle is discussed. The variable-universe fuzzy controller and the control module were designed based on MC9S12XS128. At the same time, we used Matlab/Simulink to study the step response, and field tests were carried out based on the existing test conditions. (3) Results: In the response stage, the variable-universe fuzzy control only needs 5.85 s, and there is no overshoot problem; in the normal tillage stage, the maximum tillage depth difference is only 1.6 cm, and the traction force is 428 N, which is closer to the expected value. (4) Conclusions: The farming quality and efficiency of the operating system were improved. Additionally, the operating system can also provide technical support for intelligent agricultural machinery and the field management mode in the future.

Effects of Ocean Slow Response under Low Warming Targets

AbstractThe 2015 Paris Agreement proposed targets to limit global-mean surface temperature (GMST) rise well below 2°C relative to preindustrial level by 2100, requiring a cease in the radiative forcing (RF) increase in the near future. In response to changing RF, the deep ocean responds slowly (ocean slow response), in contrast to the fast ocean mixed layer adjustment. The role of the ocean slow response under low warming targets is investigated using representative concentration pathway (RCP) 2.6 simulations from phase 5 of the Coupled Model Intercomparison Project. In RCP2.6, the deep ocean continues to warm while RF decreases after reaching a peak. The deep ocean warming helps to shape the trajectories of GMST and fuels persistent thermosteric sea level rise. A diagnostic method is used to decompose further changes after the RF peak into a slow warming component under constant peak RF and a cooling component due to the decreasing RF. Specifically, the slow warming component amounts to 0.2°C (0.6°C) by 2100 (2300), raising the hurdle for achieving the low warming targets. When RF declines, the deep ocean warming takes place in all basins but is the most pronounced in the Southern Ocean and Atlantic Ocean where surface heat uptake is the largest. The climatology and change of meridional overturning circulation are both important for the deep ocean warming. To keep the GMST rise at a low level, substantial decrease in RF is required to offset the warming effect from the ocean slow response.

Mean and median bias reduction in generalized linear models

This paper presents an integrated framework for estimation and inference from generalized linear models using adjusted score equations that result in mean and median bias reduction. The framework unifies theoretical and methodological aspects of past research on mean bias reduction and accommodates, in a natural way, new advances on median bias reduction. General expressions for the adjusted score functions are derived in terms of quantities that are readily available in standard software for fitting generalized linear models. The resulting estimating equations are solved using a unifying quasi-Fisher scoring algorithm that is shown to be equivalent to iteratively reweighted least squares with appropriately adjusted working variates. Formal links between the iterations for mean and median bias reduction are established. Core model invariance properties are used to develop a novel mixed adjustment strategy when the estimation of a dispersion parameter is necessary. It is also shown how median bias reduction in multinomial logistic regression can be done using the equivalent Poisson log-linear model. The estimates coming out from mean and median bias reduction are found to overcome practical issues related to infinite estimates that can occur with positive probability in generalized linear models with multinomial or discrete responses, and can result in valid inferences even in the presence of a high-dimensional nuisance parameter.

Quality of life, self-stigma, and coping strategies in patients with neurotic spectrum disorders: a cross-sectional study.

BackgroundModern psychiatry focuses on self-stigma, coping strategies, and quality of life (QoL). This study looked at relationships among severity of symptoms, self-stigma, demographics, coping strategies, and QoL in patients with neurotic spectrum disorders.MethodsA total of 153 clinically stable participants who met criteria for generalized anxiety disorder, social phobia, panic disorder, agoraphobia, mixed anxiety–depressive disorder, adjustment disorders, somatoform disorders, or obsessive–compulsive disorder were included in a cross-sectional study. Psychiatrists examined patients during regular psychiatric checkups. Patients completed the Quality of Life Satisfaction and Enjoyment Questionnaire (Q-LES-Q), Internalized Stigma of Mental Illness Scale (ISMI), a sociodemographic questionnaire, the Stress Coping Style Questionnaire (Strategie Zvládání Stresu [SVF] 78), and the Clinical Global Impression (CGI) scale.ResultsThe diagnostic subgroups differed significantly in age and use of negative coping strategies, but not in other measured clinical or psychological variables. The findings showed that neither sex nor partnership played a role in perceived QoL. All Q-LES-Q domains correlated negatively with all ISMI domains, except school/study. Unemployed and employed groups of patients differed in QoL. Each of the coping strategies, except the need for social support, was related to self-stigma. The findings showed that sex, partnership, education, and employment played no role in self-stigma. No differences between sexes in positive coping strategies, severity of disorder, self-stigma, or QoL were found. QoL correlated significantly with all coping strategies, except for guilt denial. Multiple regression showed the most important factors to be positive coping, employment, and overall self-stigma rating, explaining 32.9% of QoL. Mediation analysis showed self-stigma level and negative coping strategies to be the most influential. The most substantial factors associated with self-stigma, as indicated by regression analysis, were Q-LES-Q total, subjective CGI, and positive coping strategies, which clarified 44.5% of the ISMI.ConclusionThe study confirmed associations among self-stigma, quality of life, disorder severity, and coping strategies of outpatients with neurotic spectrum disorders.

Ultra-high risk psychosis. A case report

IntroductionThere is much debate on whether patients who are at high risk of developing a psychotic disorder in the near future (such as patients suffering of attenuated psychotic symptoms, brief limited intermittent psychotic symptoms or personality trait vulnerability) should be treated with antipsychotic drugs to prevent possible psychotic breaks from happening.AimTo review articles from the existing medical literature about treatment of patients in ultra-high risk of developing psychosis.MethodsWe describe the case of a 19-year-old male who was hospitalized after a suicide attempt in April 2015. He had been diagnosed of different psychiatric disorders such as mixed anxiety-depressive disorder, adjustment disorder and probable borderline personality disorder. During his stay at the hospital, we observed that he had schizoid personality traits. In the initial anamnesis, he denied ever having psychotic symptoms, but a few days later he admitted that the previous year he suffered throw a period of brief self-limiting psychotic symptoms.ResultsProphylactic treatment was started with oral aripiprazole 15 mg/day, which was well tolerated by the patient. He has been free of psychotic symptoms for the last 17 months (from April 2015 to September 2016). No relevant side effects were detected.ConclusionsOral aripiprazole 15 mg/day can be a good therapeutic option in patients at ultra-high risk of developing a psychotic episode.Disclosure of interestThe authors have not supplied their declaration of competing interest.

Scheduling of production and logistics operations of steam production systems in food industries: a case study of the tomato processing industry

This study presents an optimization approach by mathematical modelling to support some of the main operational decisions in steam production systems with multiple industrial boilers. Decisions are related to boiler operations scheduling (start-up, warm-up and shutdown time), fuel replenishment (transportation and inventory management) and fuel composition consumed by each piece of equipment. These decisions are often taken based on practical experience of people involved, instead of any decision support tool using optimization techniques; as a consequence, unnecessary costs are likely to be incurred. The optimization approach is based on mixed integer programming and parameters experimental adjustment procedures. A case study of a large tomato processing plant in Brazil was carried out along 1 year using a 3-year database. Owing to the reasonably good outcomes achieved (annually potential savings around 10%), we consider the proposed approach as a suitable tool to support some of the key decisions in boiler scheduling and fuel logistics in steam production systems for tomato processing and other similar industries.

Detección de exageración de síntomas mediante el SIMS y el MMPI-2-RF en pacientes diagnosticados de trastorno mixto ansioso-depresivo y adaptativo en el contexto medicolegal: un estudio preliminar

The aim of this preliminary study is to find a symptom exaggeration pattern in patients diagnosed of mixed anxiety-depressive disorder and adjustment disorder in the medico-legal context. Overall sample (n=26) was divided in two groups: bona fide patients (n=12) and suspected of malingering patients (n=14). The Spanish adaptations of the Structured Inventory of Malingered Symptomatology (SIMS) and the Minnesota Multiphasic Personality Inventory-2-Restructured Form (MMPI-2-RF) were administered to all participants. Regarding the SIMS scores, the best discriminant scales found between groups were Total scale, Neurological Impairment (NI), Amnesic Disorders (AM), and Affective Disorders (AF) scales. Regarding the MMPI-2-RF scores, the best discriminant validity scales were, in order, Fs, Fp-r, F-r and FBS-r, and the best discriminant substantive scales were those regarding somatic complaints (RC1, HPC, NUC, and COG), thought disorders (THD, RC8, and PSYC-r), and mood disorders (Rcd and ACT). Results support the use of both SIMS and MMPI-2-RF as a convergent source of information for the detection of symptom exaggeration in mixed anxiety-depressive disorder and adjustment disorder in the medico-legal context.

Effects of transient changes in silage dry matter concentration on lactating dairy cows

Transient changes in the dry matter (DM) concentration of silages often occur, which will cause transient changes in the ration. To determine the effects of a transient change in silage DM, 24 Holstein cows (116 d in milk) were used in an 8 replicated 3×3 Latin square design with 21-d periods. Treatments were (1) control, (2) unbalanced (UNBAL), and (3) balanced (BAL). The control diet was designed to have a consistent day-to-day forage:concentrate ratio of 55:45 on a DM basis. The UNBAL and BAL diets were the same as the control diet for most of the period except during two 3-d bouts when water was added to the silage (simulating a rain event) to cause a 10-percentage unit decrease in silage DM concentration. During the bouts, the UNBAL diet was the same as that of the control on an as-fed basis, but on a DM basis, the forage:concentrate ratio decreased to 49:51, which reduced dietary concentrations of DM (63.9 vs. 66.2%) and forage NDF (21.0 vs. 23.6%), and increased starch (30.4 vs. 28.4%). The BAL treatment corrected for the change in silage DM by an increase in the inclusion of wet silage and had the same composition as the control diet on a DM basis, except for ration DM (66.2 vs. 63.9%). Over the 21-d period, treatment did not affect DM intake (DMI; 24.0kg/d); however, DMI of cows on the UNBAL and BAL treatments tended to decrease during the wet bouts, especially during the second bout. The day following both bouts, DMI of cows fed BAL and UNBAL diets were greater than that of cows fed the control diet, which contributed to the lack of a treatment effect on DMI over the entire period. Milk production was greater for the UNBAL than control cows (39.8 vs. 39.3kg/d) over the 21-d period. That difference was largely caused by increased milk yield during the first bout by cows on the UNBAL diet. Over the 21-d period, milk yield did not differ between control and BAL cows. Some small differences in milk fat and protein concentrations (≤0.1 percentage units) were observed between treatments. Total-tract digestibility of most nutrients was not affected by treatment. Overall, a 10-percentage unit decrease in silage DM over short-term bouts (with or without total mixed ration adjustment) had only minor effects on DMI, milk yield, and composition.

Referencing regional geoid-based vertical datums to national tide gauge networks

AbstractThe objective of this study is to investigate the best means for referencing a regional geoid-based vertical datum to a network of tide gauges. In this study, a network of 27 tide gauge stations scattered along the coasts of Canada are used in order to assess the replacement of the conventionally derived Canadian Geodetic Vertical Datum of 1928 with a geoid-based datum. This is in-line with the future implementation plan of Canada’s geoid-based vertical height system. A mixed least-squares adjustment was performed for various scenarios, including satellite-only global geoid models, combined global geoid models and regional geoid models. In addition, various sea surface topography and vertical ground motion models were tested for estimating orthometric heights. The resulting approximation of a local equipotential surface is compared to previously published values and considerations for referencing a geoid-based vertical datum to tide gauge networks are emphasized.

Trajectories of Behavioral Adjustment Following Early Placement in Foster Care

To identify trajectories of behavioral adjustment from age 6 through 14 years for youth placed in early foster care, and to examine links between trajectories and early cognitive ability and social competence, caregiver stability, and frequency, timing, and type of maltreatment. Participants were 279 youth from the Southwest site of the Consortium for Longitudinal Studies of Child Abuse and Neglect (LONGSCAN). All youth had spent at least 5 months in out-of-home care before age 4 years because of substantiated reports of maltreatment. Behavioral adjustment was assessed using caregiver reports on the Child Behavior Checklist at ages 6, 8, 10, 12, and 14. Cognitive ability and social competence were assessed at age 6. Caregiver stability was recorded every 2 years from age 6 through 14 years and summed. Child protective services (CPS) maltreatment reports were coded for type and frequency. Growth mixture modeling identified three internalizing trajectories: stable adjustment (66.7%), mixed/decreasing adjustment (25.4%), and increasing adjustment (7.9%). Four externalizing trajectories were identified: stable adjustment (46.6%), mixed adjustment (28.7%), increasing adjustment (8.2%), and stable maladjustment (16.5%). Trajectories of stable or increasing adjustment were predicted by social competence, cognitive ability, placement stability, and low frequency of physical abuse from ages 6 through 14. Many youth who have spent time in early out-of-home care evidence stable, long-term positive behavioral adjustment. Trajectories reflecting more positive adjustment are associated with early child cognitive ability and social competence, long-term caregiver stability, and low frequency of physical abuse in middle childhood and adolescence.

Trajectories of Behavioral Adjustment Following Early Placement in Foster Care: Predicting Stability and Change Over 8 Years

<h3>Objective</h3> To identify trajectories of behavioral adjustment from age 6 through 14 years for youth placed in early foster care, and to examine links between trajectories and early cognitive ability and social competence, caregiver stability, and frequency, timing, and type of maltreatment. <h3>Method</h3> Participants were 279 youth from the Southwest site of the Consortium for Longitudinal Studies of Child Abuse and Neglect (LONGSCAN). All youth had spent at least 5 months in out-of-home care before age 4 years because of substantiated reports of maltreatment. Behavioral adjustment was assessed using caregiver reports on the Child Behavior Checklist at ages 6, 8, 10, 12, and 14. Cognitive ability and social competence were assessed at age 6. Caregiver stability was recorded every 2 years from age 6 through 14 years and summed. Child protective services (CPS) maltreatment reports were coded for type and frequency. <h3>Results</h3> Growth mixture modeling identified three internalizing trajectories: stable adjustment (66.7%), mixed/decreasing adjustment (25.4%), and increasing adjustment (7.9%). Four externalizing trajectories were identified: stable adjustment (46.6%), mixed adjustment (28.7%), increasing adjustment (8.2%), and stable maladjustment (16.5%). Trajectories of stable or increasing adjustment were predicted by social competence, cognitive ability, placement stability, and low frequency of physical abuse from ages 6 through 14. <h3>Conclusions</h3> Many youth who have spent time in early out-of-home care evidence stable, long-term positive behavioral adjustment. Trajectories reflecting more positive adjustment are associated with early child cognitive ability and social competence, long-term caregiver stability, and low frequency of physical abuse in middle childhood and adolescence.

Global alignment of sensor positions with noisy motion measurements

We investigate the global alignment of some 3-D spatial points, knowing the motion between pairwise nearby positions. A common application is to determine the trajectory of a mobile vision-based system from the scene images acquired along its track. Exploiting redundant measurements and the rigid body motion constraint as the observation model, we apply the mixed adjustment model paradigm to develop recursive estimation algorithms under various scenarios. Results of experiments are given to demonstrate the performance for different noise levels in the observations and the improvements in the position estimation. We also present the results of an experiment with underwater images in the construction of the camera platform trajectory.