陆用AHRS/GPS紧耦合系统的迭代EKF算法

在AHRS/GPS导航定位中,系统包含有非线性观测量,需要建立实时的EKF(推广卡尔曼滤波器),以通过当前状态Taylor展开来近似非线性。以低成本陆用AHRS(航姿参考系统)/GPS紧耦合导航系统为研究对象,构建了基于伪距、伪距率、航向角组合观测数学模型。作为滤波算法的改进,文中采用了迭代EKF,逼近导航参数的非线性函数,从而得到了自适应的载体参数线性模型。仿真结果表明,该算法模型可使姿态角、速度、位置误差均方差分别控制在120~(?)、0.01m/s和4m以内,导航参数的精度有显著提高。     

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。     

基于运动学非完整约束的里程计参数在线辨识

针对里程计标度因数误差以及安装误差对捷联惯导/里程计组合导航精度存在较大影响的问题,提出一种基于运动学非完整约束的里程计参数在线辨识方法。通过建立航位推算误差模型,利用里程计输出,计算车辆的向心加速度,并与捷联惯导的加速度计输出计算的向心加速度做差作为量测之一;将里程计与捷联惯导输出的速度做差作为量测之二;通过卡尔曼滤波实现里程计标度因数误差以及安装误差的在线辨识。仿真结果表明,该方法组合导航相比速度组合导航,当车辆行驶960s,其东向定位精度提高19.6 m,北向定位精度提高14.2 m。仿真和车载试验结果均表明该方法能实现里程计参数的有效辨识以及航向安装偏差角的估计,有助于提高组合导航精度。     

抗扰动的捷联惯导系统回溯参数辨识对准法

针对捷联惯导系统参数辨识对准法航向角估计时间长且收敛速度受到计算初值影响大的问题,提出了将对准用的陀螺和加速度计采样数据存储后按时间进行正向和逆向排列,形成正向序列和逆向序列。由正向导航的解算公式推导出逆向导航的解算公式,利用公式的一致性提出了回溯误差参数辨识对准法。利用抗扰动的惯性系对准算法为回溯参数辨识法提供对准初值,应用回溯参数辨识法对误差参数反复进行逆向和正向辨识后对对准结果进行修正,能够有效提高对准精度。实验结果表明,利用相同时间的采样数据,该算法航向角的对准误差仅为改进前算法的25%。     

一种改良Kalman滤波参数辨识粗对准方法

针对传统基于g信息的粗对准的捷联惯导系统中,受传感器噪声的影响,存在效视运动无法提取和双向量共线的缺点,提出了一种基于改良Kalman滤波的参数辨识粗对准方法。该方法通过构建视在重力在初始载体系中的映射模型,利用改良Kalman滤波进行模型参数辨识,然后通过识别参数重新构建视在重力在初始载体系中的映射,解决了由于传感器噪声导致有效视运动无法正常提取的缺点。利用识别参数具有随估计次数增多得到优化的特点,构造初始时刻和最终时刻向量,避免双向量共线问题。利用改良Kalman滤波算法的自适应特点,优化参数识别精度与速度。转台实验表明,采用改良Kalman滤波方法航向对准精度为-0.0414°,标准差为0.041°,而传统RLS方法得到的航向精度为-0.0738°,标准差为0.128°。由此可知,本文提出的方法性能更优。     

航向信息辅助的MIMU/GPS高精度组合导航方法

为了在卫星颗数少于四颗时实现高精度低成本导航,提出了一种基于航向信息辅助的MIMU/GPS高精度组合导航方法。采用MIMU与GPS构成MIMU/GPS组合导航系统;针对GPS卫星颗数少于四颗而无法定位的问题,利用MIMU导航解算获得的位置信息与GPS星历数据信息构造等效伪距,将其与GPS输出的伪距对应相减作为组合导航量测之一;针对组合后航向精度较低甚至发散的问题,利用GPS输出的水平速度计算获得伪航向角,将MIMU导航解算获得的航向角与该伪航向角相减作为量测之二;采用卡尔曼滤波设计组合导航滤波算法。跑车实验结果表明,在多次出现卫星颗数少于四颗时,该组合导航方法的位置精度达到±10.3 m(3σ),水平姿态精度达到±20.1′(3σ),航向精度达到±19.5′(3σ)。因此,该方法有效解决了卫星颗数少于四颗时的高精度导航问题,而且显著提高了航向精度,特别是在失准角较大的情况下也能够实现滤波快速收敛。     

低成本GPS/IMU组合导航中的速度匹配对准研究

由于低成本IMU的输出具有较大的偏差和噪声，地球的自转速率完全被淹没在其中，无法实现自对准。因此在低成本IMU／GPS组合导航系统的设计中，初始对准使用GPS提供的速度信息进行纠偏，从而较好的估计了航向误差和IMU参数误差。仿真和实际应用都得到了较好的效果。     

简化超球体SRUKF的GPS/MIMU组合姿态估计

针对加速度计、磁强计易受机动加速度和周围环境影响的问题,提出了一种单基线GPS/MIMU组合姿态估计方法。该方法利用单基线GPS天线代替磁强计提供航向信息,并利用GPS的速度信息对加速度计输出的机动加速度分量进行补偿,构成单基线GPS/MIMU组合姿态确定单元。同时考虑实时性要求,在SRUKF的基础上,引入加性非扩展形式和超球体单形采样,提出了简化超球体平方根UKF算法,通过减少状态维数和采样点的数量,降低算法计算量。建立加性噪声下的单基线GPS/MIMU姿态模型,并采用简化超球体平方根UKF算法进行姿态估计。实验结果表明,单基线GPS的速度信息可以有效提高加速度计对水平倾角的确定精度,姿态估计算法收敛后的最大误差小于0.8°,估计精度与UKF相当,且执行时间仅是UKF的42%。     

遗传算法优化的神经网络在SINS/GPS中的应用

在不增加辅助系统的情况下,针对捷联惯性导航/全球定位组合导航系统(SINS/GPS)在GPS信号不可用时,其定位精度产生较大退化的问题,提出了遗传算法优化的径向基函数神经网络辅助组合导航系统定位的方法。当GPS信号可用时,采用遗传算法对径向基函数神经网络进行优化训练;当GPS信号不可用时,利用遗传算法优化后的径向基函数神经网络预测卡尔曼滤波器量测输入中的速度误差信息,使得卡尔曼滤波器能够继续工作并提供速度校正量。跑车实验表明,通过对速度进行误差补偿能够有效地修正位置误差,以GPS信号断开180 s的结果作分析,纯SINS模式的东向和北向位置误差分别为35.1 m和38.8 m,而本文所提方法的误差分别为10.5 m和7.2 m,其定位精度提高较为显著。     

高精度海洋重力测量中厄特弗斯改正误差分析

为有效减小厄特弗斯改正的误差,提高重力异常测量值的精度,在分析厄特弗斯改正计算模型的基础上,就载体的速度误差、航向误差及纬度误差对厄特弗斯改正误差的影响进行了仿真分析.在误差分析时,首先对厄特弗斯改正模型求取各变量的偏导,从而得到各变量与厄特弗斯修正误差之间的关系,并以此为基础采用三维视图和数字计算相结合的方法给出了具体的分析结果.仿真结果表明,速度误差是厄特弗斯改正误差的最大影响因素.在某一确定测量误差要求下,速度误差的精度要求随载体所处纬度和航向角的变化而变化;在φ:0°,A=90.时,要保证厄特弗斯改正误差小于0.1 mGal,载体速度测量误差需小于0.013m/s.     

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.     

智能车辆SINS/DGPS/视觉/数字地图组合导航技术

为适应自主驾驶车辆的高精度、高频率与高可靠性的导航要求,提出了一种机器视觉/数字地图/CP-DGPS共同辅助SINS的智能车辆组合导航方法,建立了组合导航系统的滤波模型。该滤波模型的量测信息不仅包括GPS与SINS形成的位置与姿态观测信息,还包括机器视觉/数字地图/SINS形成的横向偏差观测信息。通过对SINS的多重冗余辅助,使得导航系统具备容错能力。仿真结果表明,该组合导航系统能为智能车辆提供其空间位置、速度、加速度与姿态角等众多导航信息,并具有100Hz的高频输出、厘米级的导航精度和容错性能,当GPS较长时间中断时,通过SINS/视觉/数字地图的组合仍能为智能车辆提供可靠的导航数据。