机载北斗/GPS/SINS组合导航系统软硬件设计

针对单一导航导航系统在导航精度、稳定性、设备成本以及导航信息完备性等方面的局限性,设计了卫星导航/惯性导航组合导航系统。针对GPS导航系统受制于人及北斗导航系统发展尚不完善的特点,提出了基于北斗/GPS/SINS的军用机载组合导航系统软硬件设计。搭建了北斗/GPS/SINS组合导航系统硬件平台,采用基于不确定度的加权平均数据融合算法提高组合导航系统的导航可靠性和准确性。仿真结果表明,该组合导航系统稳定性好,可靠性高,定位准确。     

基于速度阻尼的天文／惯性组合导航技术研究

简要介绍了天文／惯性组合导航系统的基本原理,采用速度阻尼技术阻尼惯性导航系统的舒拉周期误差,为天文导航系统提供高精度的姿态信息,从而利用天文导航信息估计补偿惯性导航系统的陀螺漂移,同时,速度阻尼克服了天文导航不能估计补偿加速度计误差的缺点,使天文／惯性组合导航的各种误差得到补偿修正,解决了天文／惯性组合导航长航时导航条件下导航精度不高的问题;对研制的天文／惯性组合导航系统远洋航行的数据进行半物理仿真,仿真分析结果表明：基于速度阻尼的天文／惯性组合导航技术可以实现天文／惯性组合导航系统的长航时高精度组合导航。     

基于激光多普勒测速仪的车载组合导航

 针对车载纯捷联惯性导航系统(SINS)导航精度随时间增长而降低的不足,提出了基于激光多普勒测速仪（LDV）这一新型速度传感器的组合导航方案。通过建立SINS/LDV组合导航系统的状态方程和量测方程,设计了系统的卡尔曼滤波器,并对组合导航系统进行了仿真模拟。结果表明：SINS/LDV组合方案能够有效减小SINS导航参数随时间的累积误差,可以实现全自主、高精度导航;当LDV测速精度为0.1%时,组合导航系统的位置精度提高了2个数量级,速度精度提高了1个数量级。     

一种基于局部反馈校正的高精度联邦滤波器

提出了一种基于局部反馈校正的无重置联邦滤波器的设计方法,该联邦滤波器在保证组合导航系统的容错性能不变的同时可以提高系统的导航精度。该方法用于船用组合导航系统设计中,通过计算机仿真,并同Carlson提出的无重置联邦滤波器的仿真结果相比较,表明该方法精度高、容错性好,该方法现已成功应用于船用组合导航系统设计中。     

一种新型GNSS/MEMS紧组合导航系统设计

针对探空火箭在高动态与非线性环境下高精度导航问题,基于DSP6747+FPGA双核构架,设计了一种低成本的新型GNSS/MEMS一体化紧组合导航系统。同时,在直接法滤波的基础上采用了改进的自适应渐消扩展卡尔曼粒子滤波(PF-AFEKF)算法,解决了粒子退化问题并充分利用了当前观测信息以及自适应权重因子抑制了滤波发散,实现了高动态、非线性状态下的GNSS/MEMS深度信息融合。最后,进行了地面跑车试验,试验结果证明了所设计的低成本GNSS/MEMS紧组合导航系统具有较高的导航精度,容错能力强。     

一种偏振光/双目视觉仿生组合导航方法

针对复杂干扰环境下智能移动机器人自主导航问题,为了实现低成本、高精度、强鲁棒性、完全自主的导航,提出了一种偏振光/双目视觉仿生组合导航方法。首先,设计了图优化紧耦合的组合算法,推导优化函数并将偏振定向传感器/双目视觉传感器的数据融合,然后,搭建仿生偏振定向传感器/双目视觉传感器仿生组合导航实验平台,最后,通过室外汽车搭载实验对该仿生组合导航系统的性能进行了测试,并与传统视觉算法进行了比较。结果显示:航向角精度较传统视觉算法提高了38.9%,位置精度提高了8.9%。该组合导航系统可以减小传统视觉算法航向角误差、提高鲁棒性,而且使用仿生偏振定向传感器实时性好、抗干扰能力强,可以满足室外地面载体导航时的精度和可靠性要求,同时该组合导航系统使用两种仿生导航方式,更加接近生物导航机理。     

四轴飞行器视觉组合导航系统设计与实现

为实现四轴飞行器的自主飞行,设计了该视觉导航系统;采用基于ARM处理器的飞行控制器和导航控制器的双CPU结构,提高了系统的运行速度;飞行控制部分采用四元数解算姿态,运用经典的PID控制设计了X、Y、Z三个轴的PID控制器进行整个系统的飞行控制;导航部分采用不敏卡尔曼滤波(UKF)融合惯导位置和视觉位置,从而给出载体最优位置,提高导航精度;实验结果表明,基于图像和惯性导航的视觉组合导航方式可使导航精度保持在0.5 m内,同时整个系统具有较好的快速性和稳定性。     

基于可观测性分析的SINS/CNS降维设计

针对长航时无人机的长航时和组合导航系统固有的非线性特性,建立了SINS/CNS组合导航系统的非线性模型,该模型能够更加趋近于真实模型。模型建立之后对其进行可观测性分析,并根据可观测性分析的结果进行降维设计,只对可观测性好的状态进行状态反馈。并选择了精度更高的SCKF算法进行滤波,仿真结果表明,选择的滤波算法精度更高,降维设计之后组合导航系统即能够保证导航精度又能够大大提高实时性。     

基于联邦滤波的航迹推算方法研究

由于传统的基于IMU/里程仪组合的航迹推算系统受地形起伏及其打滑影响较大,影响了探测车导航系统的精度和稳健性,为了提高探测车导航系统的定位精度和稳健性,提出了一种基于联邦滤波的IMU/里程仪组合导航方法,该方法充分利用IMU提供的信息,在原航迹推算的方法上增加一个滤波器,将IMU的比力输出作为观测量进行滤波,并建立联邦组合导航系统的数学模型实现最优融合;从而提高了探测车导航系统的定位精度;最后地下矿道实验证明该方法能有效提高移动平台导航定位结果的精度和稳健性。     

机载惯性/天文组合导航技术综述

分析了惯性／天文组合导航的基本原理。针对航空机载应用平台,介绍了国内外天文导航设备和惯性／天文组合导航系统的研究现状,分析了我国在该领域的技术差距,探讨了未来机载惯性／天文组合导航技术的发展方向。     

Self-organization of five species in a cyclic competition game

Cyclic competition game models, particularly the “rock–paper–scissors” model, play important roles in exploring the problem of multi-species coexistence in spatially ecological systems. We propose an extended “rock–paper–scissors” game to model cyclic interactions among five species, and find that two of the five can coexistent when biodiversity disappears, which is different from the “rock–paper–scissors” game. As the number of fingers is five, we named the new model the “fingers” game, where the thumb, forefinger, middle finger, ring finger, and little finger cyclically dominate their subsequent species and are dominated by their former species. We investigate the “fingers” model in two ways: direct simulations and nonlinear partial differential equations. An important finding is that the number of species in a cyclic competition game has an influence on the emergence of biodiversity. To be specific, the “rock–paper–scissors” model is in favor of maintaining biodiversity in comparison with the “fingers” model when the variables (population size, reproduction rate, selection rate, and migration rate) are the same. It is also shown that the mobility and reproduction rate can promote or jeopardize biodiversity.     

Contrastive analysis on tone between Putonghua and Taiwan Mandarin

The differences of the pitch and duration of Chinese syllables between Putonghua （PTH） and Taiwan Mandarin （TM） were studied. The speech materials to be used are not only isolated syllables, but also sentences. The results reveal that： For the isolated syllables, T1 and T2 in TM are influenced by Minnan dialect, therefore their pitch are lower than those in PTH. T3 is fall-rise in PTH, while it is fall in TM. Moreover, the syllable duration sequence for different tone is T3〉T2〉T1〉T4 in PTH, while it is T1〉T2〉T3〉T4 in TM. For the syllables in sentences, T2 is mid-rise in PTH, while it is mid-level in TM. And the T3 is longer than T4 but shorter than T1 or T2 in PTH, while it is the shortest in TM. Furthermore the effects of prosodic phrase boundary on duration for different tones are almost the same in PTH, but the lengthening part of T1 or T2 is longer than that of T3 or T4 in TM.     

Experimental study on downstep in Chinese intonation

Downstep in pitch contour of Chinese Putonghua is examined using subtly designed sentences by controlling tone combinations. The results show both automatic and nonautomatic downstep phenomena exist in Chinese. In non-automatic downstep, low tones compress downwards the pitch range of the following syllables. and the main influence of downstep is on topline. Low tone not only lower the topline behind it, but also raise the high tones before it, the effects are compatible with each other. In automatic downstep, the topline of pitch contour in intonational phrase is presented as a linear downtrend, but it differs among speakers due to the effect of personal stress practice. In comparison with downstep phenomenon in other tone or non-tone languages, the downstep ratio in Chinese is not constant, and the domain of downstep is not limited within the adjacent tones.     

Abelian-Higgs phase of SU(2) QCD and glueball energy

It is shown that SU(2) QCD admits an dual Abelian-Higgs phase, with a Higgs vacuum of a type-Ⅱ superconductor. This is done by using a connection decomposition for the gluon field and the random-direction approximation. Using a bag picture with soft wall, we presented a calculational procedure for the glueball energy based on the recent proof for wall-vortices [Nucl. Phys. B 741(2006)1].     

Theoretical analysis and simulation of conjugate heights for dual-conjugate AO system in lidar

A multi-conjugate adaptive optics （MCAO） can offer a possibility of widening field of view （FOV） characterized by the isoplanatic angle, and the choose of conjugate height becomes a basic problem for MCAO, which influences the size of iosplanatic angle. Considering the application of lidar, the isoplanatic angle＇s expressions of two deformable mirrors （DMs） MCAO for uplink and downlink are deduced. The effects of conjugate heights for dual-conjugate AO are thoughtfully discussed, and the isoplanatic angles are further analyzed. The results show that the isopanatic angle varies with the conjugate height and reaches the maximum as the conjugate height is at the optimal altitude. Moreover, the optimal conjugate height changes with the propagation distance.     

Quick single-photon detector with many avalanche photo diodes working on the time division

Due to the limit of response speed of the present single-photon detector, the code rate is still too low to come into practical use for the present quantum key distribution (QKD) system.A new idea is put up to design a quick single-photon detector.This quick single-photon detector is composed of a multi-port optic-fiber splitter and many avalanche photo diodes (APDs).Au of the ports with APDs work on the time division and cooperate with a logic discriminating and deciding unit driven by the clock signal.The operation frequency lies on the number N of ports, and can reach N times of the conventional single-photon detector.The single-photon prompt detection can come true for high repetition-rate pulses.The applying of this detector will largely raise the code rate of the QKD, and boost the commercial use.     

Signal generation in an isotropic medium in scanning electron acoustic microscope

Based on the research in Ref. [5][Materials Science and Engineering, 1989; A122： 57 63], an improved model of heat source is set up, the different modes of Lamb wave in an isotropic sample generated by a chopped electron beam at frequency f are obtained with integral transform and normal function expansion method, and the output signal of PZT coupled at the back surface of the sample is found out. The generation mechanism of SEAM （Scanning Electron Acoustic Microscopy） signal is discussed. It shows that the SEAM is a near field imaging technique with high spatial resolution and its best lateral spatial resolution is about 2√2α （α is the radius of the focused electron beam）. Some of experimental results of SEAM images are presented in the paper and it shows that the spatial resolution of SEAM is better than 0.5 μm and smaller than the thermal diffusion length of the sample. Therefore the character of near field imaging in SEAM is also proved experimentally.     

High efficiency filtering using two-dimensional photonic crystal coupled cavity structures

Transmission spectra of coupled cavity structures (CCSs) in two-dimensional (2D) photonic crystals (PCs) are investigated using a coupled mode theory, and an optical filter based on CCS is proposed. The performance of the filter is investigated using finite-difference time-domain (FDTD) method, and the results show that within a very short coupling distance of about 3λ, where λ is the wavelength of signal in vacuum, the incident signals with different frequencies are separated into different channels with a contrast ratio of 20 dB. The advantages of this kind of filter are small size and easily tunable operation frequencies.