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This paper proposes an improved adaptive filtering algorithm based on the Sage–Husa adaptive Kalman filtering algorithm to address the issue of measurement noise characteristics impacting the navigation accuracy in strapdown inertial navigation system (SINS)/Doppler Velocity Log (DVL) integrated navigation systems. Addressing the non-positive definite matrix problem prevalent in traditional adaptive filtering algorithms and aiming to enhance measurement noise estimation accuracy, this method incorporates upper and lower thresholds determined by a discrimination factor. In the presence of abnormal measurement data, these thresholds are utilized to adjust the covariance of the innovation, subsequently re-estimating the system's measurement noise through a decision factor based on the innovation. Simulation and experiment results demonstrate that the proposed improved adaptive filtering algorithm outperforms the classical Kalman filter (KF) in terms of navigation accuracy and stability. Furthermore, the filtering performance surpasses that of the Sage–Husa algorithm. The simulation results in this paper show that the relative position positioning error of the improved method is reduced by 49.44% compared with the Sage–Husa filtering method. [ABSTRACT FROM AUTHOR]

Mesozoic intrusive bodies play an important role in the temperature history and hydrocarbon maturation of the Jinyang Basin in northeastern China. The Beipiao Formation, which is the main source rock in Jinyang Basin, was intruded by numerous igneous bodies and dykes in many areas. The effects of igneous intrusive bodies on thermal evolution and hydrocarbon generation and migration in the Beipiao Formation were investigated. A series of samples from the outcrop near the intrusive body were analyzed for vitrinite reflectance (R0%) and other organic geochemical parameters to evaluate the lateral extension of the thermal aureole. The R0 values of the samples increase from a background value of ∼0.9% at a distance above 200 m from the intrusive body to more than 2.0% at the vicinity of the contact zone. The width of the altered zone is equal to the thickness of the intrusive body outcropped in the field. Organic geochemical proxies also indicate the intrusive body plays a positive and beneficial role in the formation of regional oil and gas resources. Due to the influence of the anomalous heat from the intrusive body, the hydrocarbon conversion rate of the source rocks of the Beipiao Formation was significantly improved. The accumulation properties and the storage capacity of the shales also greatly improved due to the intrusive body as indicated by the free hydrocarbon migration in the shales. This new understanding not only provides a reliable scientific basis for the accurate assessment of oil and gas genesis and resources in the Jinyang Basin but also provides guidance and reference for oil and gas exploration in the similar type of basin.