AUV组合导航系统信息匹配的可观测度

针对自主水下潜器（AUV）导航的特点和需求,设计了一种捷联惯导／多普勒／磁罗经／地形匹配组合导航系统（SINS／DVL／MCP／TAN）,同时对AUV组合导航的两种信息匹配方式进行了基于动态系统奇异值分解的可观测度研究以评估该组合导航的Kalman滤波的估计能力。可观测度研究结果说明该组合导航能显著提高AUV的航向角误差和位置误差的可观测度,从而可以提高AUV的航向和位置精度。Kalman滤波的仿真结果验证了该结论的正确性,表明了该细合导航系统的Kalman滤波的估计能力强,能够得到较高精度的位置、速度和姿态信息,可以满足AUV长时间远距离导航的需要。     

联邦滤波在飞机组合导航中的应用

研究了中等精度捷联惯导系统(SINS),大气数据系统(ADS)和塔康系统(TACAN)构成的机载组合导航系统.在分析SINS、ADS、TACAN各自特点的基础上,提出了SISN/ADS/TACAN组合导航系统的联邦滤波方案,并建立了相应的组合导航系统的数学模型.以一条典型的飞行轨迹进行了全航线的仿真研究,仿真结果为:基于联邦滤波的SINS/ADS/TACAN组合导航系统的位置精度约为70 m(CEP),速度精度约为0.75 m/s(1),航向精度为约为 (1)和姿态精度约为 (1),由此可见基于联邦滤波的SINS/ADS/TACAN组合导航系统可以充分利用各机载导航子系统信息,满足飞机导航定位的精度要求.     

基于水平阻尼的星光/惯性组合校准技术

根据星光/惯性组合导航系统舰载使用特点,考虑以SINS、CNS、LOG三者组合,设计组合校准方案。在SINS/CNS/LOG组合过程中,利用惯导系统的短期高精度特性,设计基于水平阻尼的卡尔曼滤波器对惯导舒勒周期进行补偿。星光/惯性组合校准技术建立在水平阻尼基础上,借助星光导航的航向和位置信息完成惯导位置误差、失准角和陀螺漂移的修正,从而实现组合系统长航时、远航程高精度导航。最后通过仿真对比试验验证星光/惯性组合导航系统校准方案的有效性。仿真结果表明:SINS/LOG组合后,惯导24 h位置误差CEP≤1.48 n mile,且位置误差会随时间积累;而SINS/CNS/LOG组合系统采用星光信息24 h一点校方案,第一次和第二次点校后,48 h和72 h惯导位置误差CEP≤0.5 n mile。由此可见,采用星光信息后,该组合方案能够显著提高惯导导航精度,达到延长惯导系统重调周期目的。     

考虑洋流影响的SINS/DVL组合导航算法

针对捷联惯性导航系统(SINS)/多普勒计程仪(DVL)组合导航系统工作于水跟踪模式条件下的高精度定位需求,提出一种考虑洋流影响的SINS/DVL组合导航算法。分析了DVL水跟踪模式下洋流速度对组合导航精度的影响,基于速度匹配组合导航的方式提出了SINS/DVL组合导航系统设计方案,当DVL切换到水跟踪模式后,利用Kalman滤波器对洋流速度进行实时估计,从而能够有效提高DVL仅对水输出时系统的组合导航定位精度。仿真和水上船载试验结果表明,本文提出的考虑洋流速度影响的SINS/DVL组合导航算法是有效的和可行的。     

一种SINS/GNSS级联闭环反馈式组合导航系统的设计与研究

对于目前的级联式SINS／GNSS组合导航系统来说，其卡尔曼滤波器的输出校正方式不能深入到捷联解算内部，无法抑制平台姿态误差的发散，也无法校正惯性器件误差，因而在该方式长时间运行不能控制滤波发散，导舷精度随时间下降。为此设计了一种SINS／GNSS级联闭环反馈式组合导航系统，该系统能对SINS的位置、速度误差、平台误差及惯性器件误差作出最优估计并实施反馈。通过仿真证明：该系统不仅能提高导航解的精度，还在校准的同时具有动机座对准能力，满足了长时间导航定位的稳定性。     

基于SINS/LBL紧组合的AUV水下导航定位技术

针对因水下环境的特殊性AUV难以实现精准导航的问题,设计了一种基于SINS/LBL紧组合的AUV水下导航定位系统。该系统具有定位精度高、鲁棒性好等优点,系统由SINS、LBL、DVL和MCP组成,根据LBL的TDOA定位原理建立了LBL斜距差模型,给出了SINS/LBL/DVL/MCP的状态方程和量测方程,利用集中kalman滤波器对组合导航系统进行最优估计。在相同的仿真条件下,对SINS/LBL松组合、紧组合进行了软件仿真,仿真结果表明:相对于松组合系统,基于SINS/LBL的紧组合系统导航精度更高,尤其是在由于AUV运动或受到外界干扰导致可用信号的水听器不足四个时,紧组合系统的可靠性和容错性更高。     

星光折射辅助惯性/天文紧组合高精度导航方法

为了解决传统惯性/天文(SINS/CNS)组合导航无法在线精确估计加速度计零偏而导致SINS导航误差发散的难题,提出了一种动力学模型约束改进的捷联惯性星光折射组合导航方法。直接利用星敏感器观测的原始恒星像点坐标信息与约束改进的SINS导航动力学方程构建SINS/CNS紧组合模型,通过推导加速度计虚拟观测方程和适用于空天跨域飞行器导航的星光折射测量方程,采用扩展卡尔曼滤波方法,实现了对加速度计零偏和陀螺零偏在线估计。典型弹道仿真结果表明,在不增添额外传感器的条件下,相对于传统的基于姿态测量SINS/CNS组合,所提方法导航定位、定速和定姿精度分别提升了97.84%、98.61%和78.70%;相对于传统的基于星光折射SINS/CNS组合,定位、定速和定姿精度分别提升了28.09%、67.72%和79.10%。所提方法有效克服了传统方法精度恶化问题,显著提升了传统SINS/CNS组合导航精度。     

基于UKF的GPS/SINS伪距(伪距率)组合导航系统设计

采用位置、速度组合的GPS/SINS组合导航系统由于GPS各量测量之间的相关性,影响了组合导航的整体精度.为了提高组合导航的精度和可靠性,采用了直接利用GPS接收机原始测量信息伪距、伪距率的组合方式.UKF(Unscented Kalman Filter)是针对非线性模型的滤波方法,它避免了对非线性方程线性化的过程,具有较高的精度和较好的鲁棒性.将UKF滤波方法应用于伪距、伪距率的组合导航系统中,并将UKF与卡尔曼滤波和自适应滤波方法进行了仿真比较研究.实验结果表明,UKF位置、航向估计的精度都要优于卡尔曼滤波和自适应滤波,使整个导航系统具有更高的精度和可靠性.     

抗差自适应模型预测滤波及其在组合导航中的应用

为了提高捷联惯导(SINS)/天文导航(CNS)/合成孔径雷达(SAR)组合导航系统的定位精度,在吸收模型预测滤波和抗差自适应滤波算法优点的基础上,提出了一种新的抗差自适应模型预测滤波算法。该算法首先利用模型预测滤波估计出系统模型误差,并对其进行实时修正,以抑制系统模型误差对导航解算精度的影响;然后利用抗差自适应因子控制观测异常,抑制观测噪声对导航解算精度的影响。将提出的算法应用于SINS/CNS/SAR组合导航系统进行仿真验证,并与抗差自适应滤波进行比较,结果表明,提出的算法得到的姿态误差、速度误差和位置误差分别在[0.2,0.2]、[0.3m/s,0.3m/s]和[6 m,6 m]以内,滤波性能明显优于抗差自适应滤波算法,说明该算法能有效抑制系统模型误差及观测异常对导航解的影响,提高组合导航的解算精度。     

GPS/SINS组合导航系统在运载火箭中的应用

针对运载火箭特点,着重研究在发射惯性坐标系下,位置、速度组合模式的GPS/SINS组合导航算法,推导了该坐标系下的惯导一阶误差传播方程,建立了该坐标系下GPS/SINS组合导航系统的状态方程和观测方程,并进行了相关数学仿真验证。仿真结果表明,在该坐标系中,GPS/SINS组合导航算法能较准确地给出运载火箭的位置、速度和姿态信息,提高运载火箭制导精度。     

Group properties of utt=[F(u)ux]x

The group properties and the associated Lie algebra are developed for the subject quasilinear wave equation, for arbitrary f[fεC²(R), f > 0, f ≠ 0]. From the resulting information sets of explicit invariant solutions are constructed for wave propagation in gases and for the transonic equation.     

Exact solution of the non-linear differential equation RR̈ + 32R2 − AR−4 + B = 0

The non-linear equation $\text{R}\text{R}\text{?}\text{+}\text{3}\text{2}\text{R}{}^2\text{- AR}{}^{\mathrm{?4}}\text{+ B = 0}$ is shown to represent simply periodic motion with a minimum at R₁ and a maximum at R₁R₀ or a maximum at R₁ and a minimum at R₁R₀^?1. R₀ is a function of the ratio $\text{A}\text{B}$ and is greater than 1 for $\text{A}\text{B}$ > 1 and less than 1 for $\text{A}\text{B}$ > 1. The period of the motion satisfies the simple relation T(R₀^?1) = R₀^?1T(R₀). The exact solution to the above equation is represented in terms of elliptic integrals of the first and second kinds and a simple algebraic function.     

Explicit expressions of S(v), H(v) and L(v) for anisotropic elastic materials

The three matrices L(v), S(v) and H(v), appearing frequently in the investigations of the two-dimensional steady state motions of elastic solids, are expressed explicitly in terms of the elastic stiffness for general anisotropic materials. The special cases of monoclinic materials with a plane of symmetry at x₃ = 0, x₁ = 0, and x₂ = 0 are all deduced. Results for orthotropic materials appearing in the literature may be recovered from the present explicit expressions.     

惯导／GNSS／罗兰C／航姿系统组合导航方案

为保证飞行器的导航精度及可靠性,采用了惯导/GNSS/罗兰C/航姿系统的组合导航。该组合导航采用开环组合方式,将多系统导航信息在计算机中进行综合,提高导航信息精度。仿真试验结果说明,所设计的组合导航系统是可行的,能满足任务要求。     

Phase portraits and bifurcations of the non-linear oscillator: ẍ + (α + γx2 + βx + δx3 = 0

The non-linear oscillator ? + αx + γx²x + βx + δx³ = 0 is studied using the methods of differentiable dynamics to obtain qualitative behaviour. The case x, β<0; γ, δ> 0 is considered in some detail; it has physical relevance as a simple model in certain now-induced structural vibration problems in which the structural non-linearities act to maintain overall stability. The presence of local and global bifurcations is detected and their physical significance discussed.     

Rheology/morphology/flow conditions relationships for polymethylmethacrylate/rubber blend

Viscoelastic behavior, phase morphology and flow conditions relationships in polymer/rubber blends have been investigated. The importance of such correlations is illustrated on polymethylmethacrylate (PMMA)/rubber blends subjected to different flow conditions both under small and large deformations. In small-amplitude oscillatory shear (the morphology does not change during the flow) the elastic modulus G of the concentrated blends shows a secondary plateau, G _p , in the low frequency region. This solid-like behavior appears for rubber particle contents beyond the percolation threshold concentration (15%). Morphological observations revealed that for concentrations higher than 15%, the particles are dispersed in a three-dimensional network-type structure.In capillary flow it was found that the network-type structure was destroyed and replaced by an alignment of particles in the flow direction. This morphological modification resulted in a decrease in both viscosity and post-extrusion swell of the blends. Morphological observations revealed that the ordered structure in the flow direction was concentrated only in the skin region of the extrudate, where the shear stress is higher than the secondary plateau, G _p . A simple kinetic mechanism is proposed to explain the observed morphology.Similarly, steady shear measurements performed in the cone-and-plate geometry revealed alignment of particles in the flow direction for shear stress values higher than G_p.Presented in part at the Symposium Recent Developments in Structured Continua Montréal (Canada) 26–28 May 1993 and at the 45th Canadian Chemical Engineering Conference, Quebec, October 15–18 (1995)     

溅射沉积WSx/Ni/a-C/Ni多层膜的微结构及大气环境摩擦学性能

采用磁控溅射技术在硅基体上交替沉积WS₂、Ni及非晶碳(a-C)层制备出不同Ni层厚度的WS_x/Ni/a-C/Ni多层膜. 利用扫描电子显微镜、X射线衍射仪、拉曼光谱仪、X射线光电子能谱仪等研究了多层膜的成分及微观结构；通过纳米压痕仪、划痕仪和球盘式摩擦磨损试验机等评价了薄膜的力学及大气环境中的摩擦学性能. 结果表明:随着Ni层厚度的增加，WS_x/Ni/a-C/Ni多层膜的致密度下降，n_s/n_w值(S与W原子百分数之比)由0.84降至0.73，WS_x层以微晶或非晶的形式存在. 多层膜的硬度和磨损率均随Ni层厚度的增加先降低后升高，但摩擦系数由0.22升至0.38，结合力先增大后减小. Ni层厚度为6 nm的多层膜的硬度可达13.4 GPa，抗氧化性能和耐磨性最优，磨损率仅为9.47×10–14 m3/(Nm).      

机翼-机身-挂架-短舱复杂流场数值模拟

本文采用分区搭接网格技术,对机翼/机身/挂架/短舱复杂组合体进行网格分布,通过分析计算网格对结果的影响,探讨了网格的划分.基于Roe的近似黎曼解的方法,采用S-A湍流模型,通过求解N-S方程,对该组合体外流场/发动机短舱内流场进行一体化数值模拟,与相应风洞实验数据进行了比较与分析,取得了与实验数据较为吻合的结果.与无发动机短舱的组合体的气动特性进行比较,分析了短舱对翼身组合体的气动干扰.     

On free energy-based formulations for kinematic hardening and the decomposition F = fpfe

Within the framework of linear plasticity, based on additive decomposition of the linear strain tensor, kinematical hardening can be described by means of extended potentials. The method is elegant and avoids the need for evolution equations. The extension of small strain formulations to the finite strain case, which is based on the multiplicative decomposition of the deformation gradient into elastic and inelastic parts, proved not straight forward. Specifically, the symmetry of the resulting back stress remained elusive. In this paper, a free energy-based formulation incorporating the effect of kinematic hardening is proposed. The formulation is able to reproduce symmetric expressions for the back stress while incorporating the multiplicative decomposition of the deformation gradient. Kinematic hardening is combined with isotropic hardening where an associative flow rule and von Mises yield criterion are applied. It is shown that the symmetry of the back stress is strongly related to its treatment as a truly spatial tensor, where contraction operations are to be conducted using the current metric. The latter depends naturally on the deformation gradient itself. Various numerical examples are presented.