惯量椭圆法在单站光测目标三维姿态测量中的应用

对于从单站获得的目标图像进行轨迹及姿态的精确判读的问题,提出了一种新方法,即通过对图像中分割出来的目标图像,计算其惯量椭圆,并根据该惯量椭圆推算出目标的空间姿态角.这种方法充分利用了单站获得的二维目标图像的几何信息,并对目标图形的细节程度要求不高,适用于各种轴对称目标.在用vc++实现了该方法后对几组试验图片进行了判读,并对实验结果做了对比分析后表明：方法准确度较高,结果稳定.     

基于光学图像的目标姿态判读处理

 采用摄像测量方法获取目标的飞行姿态是目前靶场主要测量手段之一。目标姿态可以用目标轴线在空间的方位来描述,即姿态的判读处理就是要提取线的空间位置。在进行图像判读处理时除采用传统的基于点的判读处理手段外,还应根据不同的目标类型采用不同的判读处理方法,文中给出了基于首尾两点的判读处理、基于线的判读处理和基于模型的三种判读处理方法,有效解决了不同类型目标的判读处理问题。     

一种基于惯量椭圆位姿补偿的扩展目标精确定位方法

针对空间扩展目标成像纹理特征少,背景单一,以及目标旋转、平移、形变等运动特征所导致的目标定位跟踪困难的问题,研究了基于惯量椭圆位姿补偿的目标定位跟踪方法(TTBPC)。通过惯量椭圆测姿法获取目标准确俯仰角姿态,将目标位置、姿态补偿到统一的坐标系下,结合最近距离特征点匹配原则,最终实现对空间扩展目标的精确跟踪定位。通过仿真图像和实际图像对TTBPC方法的有效性进行了验证,平移目标定位误差小于0.26pixel,旋转目标定位误差小于0.28pixel,实际空间扩展目标定位误差小于0.3pixel,这表明该方法应用于空间扩展目标定位的有效性和准确性。     

光电经纬仪姿态测量精度室内检测方法

为实现光电经纬仪等靶场光测姿态测量设备测量精度的室内测试和评价,介绍了光电经纬仪对空间轴对称目标的姿态交会测量的原理。利用检测架、平行光管、目标轮廓靶及光源室内模拟不同姿态角的无穷远目标。建立了利用目标特征点的方位角、俯仰角计算目标姿态角的精确数学模型。用高精度经纬仪对目标上的多个特征点进行测量,用最小二乘法按该数学模型对目标姿态进行拟合,得到模拟目标的姿态,经验证该方法的标定精度可达0.05°。以该标定结果为模拟目标姿态的真值,光电经纬仪对同一模拟目标姿态进行动态测量,将测量结果与真值进行比较,可确定光电经纬仪的姿态测量精度。     

基于弱透视成像模型的目标三维姿态测量

为了准确获取空间目标跟踪、视觉导航等领域中目标的三维姿态,进行了目标三维姿态单目视觉测量方法研究.提取图像目标的典型特征点构造出直角三角形,并通过其边长比例先验信息以及弱透视成像模型推导出目标三维姿态的单目解算算法.与传统测姿方法相比,该算法在相机焦距等内参量未知条件下依然可解算姿态,增大了测姿应用范围;与传统迭代测姿方法相比,避免了循环迭代求解过程,无需设置迭代初值,提高了解算效率.数值仿真试验结果表明目标在离相机1~3km成像时姿态测量误差低于1.5°;实际图像序列测量结果表明目标俯仰角和偏航角测量结果拟合残差小于1°,翻滚角拟合残差小于2°.实验验证了算法的正确性和稳定性,表明该算法在内参量未知条件下能有效测量中远距离成像目标三维姿态.     

从单站光测图像确定空间目标三维姿态

基于在物距与焦距之比远大于 1时摄像系统成像模型可用平行投影近似的事实 ,充分利用空间目标的几何先验知识 ,提出了一种从单站经纬仪等光测设备获得的图像确定火箭等空间目标三维姿态的方法 ,避免了多站图像的立体匹配。仿真实验和实际应用结果表明 :方法精度高 ,结果稳定     

大尺度阻隔空间姿态组合测量方法研究北大核心CSCD

针对大尺度空间姿态测量中因空间阻隔导致目标特征点遮挡的问题,提出了一种基于多传感器组合的姿态测量方法。通过数字水准仪与姿态探针实现被测特征点的单坐标基准测量,由特征点的水平高差和已知几何约束关系解算得到目标初始姿态值。在此基础上标定高精度倾角传感器与被测目标之间的姿态旋转矩阵,基于坐标变换理论可由传感器输出实时解算目标姿态。实验结果表明:在10 m范围内,姿态测量相对精度优于0.0015°,重复性测量误差小于0.0004°,适用于大尺度阻隔空间姿态的精密实时测量。     

基于单站地基望远镜的空间目标姿态估计方法

为实现从单站光测图像中估计出已知3D模型的空间目标姿态,利用Vega Prime提出了一种采用仿真图像进行相关度局部最优搜索的姿态估计方法,该方法无需建立2D-3D特征投影关系和大量的模型匹配库。首先,对输入图像进行图像预处理,获得目标原始图像。然后,利用Vega Prime加载目标3D模型生成仿真匹配图像,并进行图像预处理获得目标匹配图像,计算两幅图像相关度。最后,更新3D目标模型姿态,直至仿真匹配图像与目标原始图像的相关度值取得局部最优,输出目标模型姿态。仿真实验结果表明,采用本文所提方法的观测仿真图像姿态平均估计误差为3.85°,仿真原图可实现姿态准确估计,表明该方法是一种空间目标姿态估计的有效方法。     

基于改进Phong模型的天基光学观测GEO目标姿态估计方法

针对于缺少基于天基光学观测的空间目标姿态估计的问题,提出将无味卡尔曼滤波应用于基于天基光学观测的地球同步轨道目标姿态估计中.以光学横截面积代替星等作为观测量,提高观测方程的线性化水平,实现观测方程的简化;同时建立基于改进Phong模型的光学横截面积观测模型,在提高观测方程描述能力的同时,以角度作为模型的输入,极大地简化了计算,增强了实时性.最后,以贴敷聚酰亚胺薄膜及朗伯体材质的长方体为例,对比分析了姿态估计情况,验证了所提方法的有效性;并进一步对正六棱柱、正八棱柱进行了姿态估计.     

一种基于特征点间线段倾角的姿态测量方法

基于目标特征点间线段倾角信息,提出了一种适合于目标远距离成像和相机内参未知条件下解算目标姿态的目标3维姿态测量方法.采用仿真图像对该方法的正确性进行了验证.实验结果:姿态测量误差绝对值均值小于0.6°,且目标成像尺寸为350pixel时,姿态测量误差绝对值小于0.5°.实验表明该算法具有较高解算准确度和较强的收敛性.     

基于人眼视觉非均匀特性的实时Mean Shift跟踪方法

由于在成像制导过程中需要实时处理大量的信息,为了在尽可能保留有效信息情况下降低计算量,采用了一种人眼视觉非均匀采样模型——对数极坐标模型,来压缩信息量以提高计算速度；另外,由于对数极坐标变换对目标形状具有旋转和缩放不变性,在跟踪非刚性变形目标时该模型能表现出很好的稳健性；考虑到在成像跟踪末段,质心、角点之类的跟踪方法会产生匹配点漂移,为了抑制匹配点漂移,采用基于目标强度特征的Mean Shift跟踪方法,并对采用Gauss核函数的Mean Shift方法进行了优化来加快计算速度；实验结果表明,该方法能够有效抑制匹配点漂移,是一个稳健的目标跟踪方法.     

Influence of the thickness of matching layers on narrow band transmitter ultrasonic airborne transducers with frequencies <100 kHz: Application of a genetic algorithm

The acoustic impedances of matching layers and their thicknesses are the most important and influential parameters in the performance of airborne ultrasonic transducers. In this paper, the optimum thicknesses of the matching layers of the narrow band transmitter ultrasonic transducer regarding transmission coefficient were determined by individual calculations using a genetic algorithm. The genetic algorithm was chosen because it is a powerful tool in the optimization domain. The results show that the permitted thickness variation is 0.0005% for one matching layer, and this value can be increased to 0.0031%, which corresponds to the permitted thickness variation for five matching layers. Approximately 55% enhancement in the transmission coefficient is theoretically possible, and 42% enhancement was observed experimentally when the genetic algorithm was applied to calculate the matching layer thicknesses in place of the quarter wavelength equation that is conventionally used for the determination of layer thickness. To verify our approach, the effect of the thickness variation on the transmission coefficient has been investigated experimentally for three, four and five matching layers. The experimental results displayed good agreement with the theoretical predictions.     

Vibration amplitude and induced temperature limitation of high power air-borne ultrasonic transducers

The acoustic impedances of matching layers, their internal loss and vibration amplitude are the most important and influential parameters in the performance of high power airborne ultrasonic transducers. In this paper, the optimum acoustic impedances of the transducer matching layers were determined by using a genetic algorithm, the powerful tool for optimizating domain. The analytical results showed that the vibration amplitude increases significantly for low acoustic impedance matching layers. This enhancement is maximum and approximately 200 times higher for the last matching layer where it has the same interface with the air than the vibration amplitude of the source, lead zirconate titanate-pizo electric while transferring the 1 kW is desirable. This large amplitude increases both mechanical failure and temperature of the matching layers due to the internal loss of the matching layers. It has analytically shown that the temperature in last matching layer with having the maximum vibration amplitude is high enough to melt or burn the matching layers. To verify suggested approach, the effect of the amplitude of vibration on the induced temperature has been investigated experimentally. The experimental results displayed good agreement with the theoretical predictions.     

Numerical optimization and multi-particle dynamics simulation of the radial matching section of the RFQ

The ABC code is an optimization program for the development of matching channels and dynamical matchers in radio frequency quadrupole (RFQ) structures, and a new approach to this code to define the geometry of the radial matching section of the RFQ has been developed. This approach is based on the application of the numerical optimization step by step. This optimization is intended to search for the initial matching condition of a beam, the optimization of parameters of a cell of the channel on given characteristic parameters and traces of a beam in linear channels in both forward and backward directions. To further verify the results of the optimization, multi-particle beam dynamics simulations have been carried out using the BEAMPATH and TRACK codes. The result of the beam dynamics simulation shows that the optimization result of the ABC code is reasonable and this approach provides an opportunity to redesign the structure of the radial matching section of the RFQ.     

Analysis of velocity-matched Ti:LiNbO3 optical intensity modulators with an extended point-matching method

The point-matching method has been extended to analyse a travelling-wave electrode structure for shielded velocity-matched Ti:LiNbO₃ Mach-Zehnder optical modulators. This method provides a simple and fast approach to analysing the coplanar waveguide with buffer layer, cover shield, and electrodes of finite thickness. The calculated characteristic impedances and microwave effective indices agree well with those obtained using the spectral domain technique and the finite-element method. It is found that in the coplanar waveguide without cover shield it is difficult to achieve velocity matching. The coplanar waveguide with cover shield can be used to achieve velocity matching, but the corresponding characteristic impedance is lower than 50. Both velocity matching and impedance matching can be obtained using a narrow centre electrode. The calculated electric field has been used to estimate the modulation efficiency of the device. Velocity matching can be achieved by adjusting the height of the cover shield, but a compromise must be made between high interaction efficiency and low microwave reflection when choosing the buffer layer thickness and the electrode thickness.     

A coherence-based approach for the pattern recognition of time series

A pattern recognition approach based on the frequency domain measure of squared coherence is a useful approach to identify linearly related groupings of time series over different periods of time. It is considered in an application to identify similar patterns of the yearly rates of change in the Gross Domestic Product (GDP) of twenty two highly developed countries in an econophysics context. The approach is also tested in simulation studies using linearly related time series, and it is shown to have a very good success rate of correct pattern matching.     

基于灰度投影的数字近景摄影立体影像匹配

根据数字近景摄影测量的特点，针对建筑物三维建模的需要，提出了基于灰度投影的影像匹配算法。该算法将影像行、列两个方向上的一维灰度投影，拓展为行、列、主对角线和次对角线四个方向上的一维灰度投影，计算左右影像的四个一维投影向量间的相似性测度的加权平均值作为最后的匹配测度。利用相对定向线性变换（RLT）算法来确定同名核线，以改进的动态定界法来控制待匹配点序列中后续点沿核线匹配的搜索范围，以减少匹配的搜索空间并提高匹配的准确度。利用该算法对建筑物数字近景摄影影像进行了实验，结果表明该算法具有较高的匹配速度和匹配准确率。     

自适应混沌蚁群径向分析算法求解重力辅助导航匹配问题

针对现有重力导航匹配算法的匹配精度、匹配率受惯导初始位置误差影响较大以及实时性较差等不足,提出了一种基于自适应混沌蚁群径向分析的实时重力辅助导航匹配算法,新算法引入改进的连续域蚁群算法进行优化模型求解,通过进行连续域蚁群算法的信息素的自适应调整,同时对蚁群算法的搜索策略、计算参数、局部信息素进行混沌自适应处理,最终达到提高算法搜索效率、匹配率、抗噪性能的效果,实验结果表明,新算法对惯导初始误差不敏感,匹配率高,实时性强。     

Modelling of a novel high-impedance matching layer for high frequency (>30 MHz) ultrasonic transducers

This work describes a new approach to impedance matching for ultrasonic transducers. A single matching layer with high acoustic impedance of 16 MRayls is demonstrated to show a bandwidth of around 70%, compared with conventional single matching layer designs of around 50%. Although as a consequence of this improvement in bandwidth, there is a loss in sensitivity, this is found to be similar to an equivalent double matching layer design. Designs are calculated by using the KLM model and are then verified by FEA simulation, with very good agreement Considering the fabrication difficulties encountered in creating a high-frequency double matched design due to the requirement for materials with specific acoustic impedances, the need to accurately control the thickness of layers, and the relatively narrow bandwidths available for conventional single matched designs, the new approach shows advantages in that alternative (and perhaps more practical) materials become available, and offers a bandwidth close to that of a double layer design with the simplicity of a single layer design. The disadvantage is a trade-off in sensitivity. A typical example of a piezoceramic transducer matched to water can give a 70% fractional bandwidth (comparable to an ideal double matched design of 72%) with a 3 dB penalty in insertion loss.