移动卫星天线指向矢量辅助组合导航系统方法

为弥补SINS/GPS组合导航系统姿态角误差可观测性差的缺陷,根据移动载体卫星天线捕获通信卫星后通过自搜索实现精确对准卫星的原理,提出增加天线指向矢量信息(SAPV)的方位角和俯仰角信息为系统观测量,用于辅助SINS/GPS组合导航系统.根据SINS/GPS组合导航系统数学模型对姿态角误差的可观测性进行了分析,并对SAPV与组合导航误差之间的关系进行了详细数学推导,证明了SAPV辅助组合导航系统的可行性,建立了SAPV辅助组合导航系统的数学模型,采用联邦滤波器进行数据融合.仿真结果表明,SINS/GPS组合导航系统通过SAPV辅助,方位角误差估计精度提高了1个数量级,小于10′,水平姿态角误差估计精度略有提高,小于2 ′.该方法充分利用了天线通过自搜索完成精确对准卫星后的高精度指向信息,无须添加任何硬件系统,通过简单可靠的信息融合算法即可达到提高载体姿态测量精度的目的.     

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。     

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。     

一种小型无人倾转旋翼机全包线飞行的参数估计方法(英文)

小型无人倾转旋翼机的核心是飞行控制系统与捷联惯性导航系统(SINS)。针对小型无人倾转旋翼机的不同飞行模式设计了一套线性、计算效率高的捷联导航算法,为控制系统提供真实可靠的反馈参数。在直升机悬停与小速度飞行模式,利用加速度计与磁强计的输出计算测量姿态角并根据角度与角速率的关系设计低阶线性姿态估计算法,递推解算出MEMS陀螺的漂移特性,并实时补偿测量的角速率。在倾转与飞机飞行模式飞行器具有持续加速与高速的飞行特性,利用磁强计解算当前航向并引入GPS的速度与位置参数,设计了基于误差的线性Kalman滤波器,提高持续加速飞行状态的姿态估计精度。数值仿真表明在全包线飞行过程中设计的捷联导航算法具有良好的测量精度,并利用小型无人倾转旋翼机的飞行试验,验证了算法的估计性能与可靠性。     

个人导航融合建筑平面信息的粒子滤波方法

针对低成本IMU自主个人导航系统方位漂移的问题,提出了一种融合鞋式IMU、楼层平面图的个人导航解决方案,为实现精度较高的室内相对定位设计了一种新的辅助粒子滤波算法。引入卡尔曼滤波+粒子滤波的级联框架,底层卡尔曼滤波器在捷联解算的基础上,利用零速修正技术估计IMU的位置和姿态;上层粒子滤波器提取步行中每一步的步长和方位变化作为量测,建立相应的步行运动模型融入非线性地图匹配技术。考虑室内应用情境,通过对传递粒子的多步推演预测和选择性剔除,推导了一种新的粒子滤波算法。采集低精度IMU的室内行走数据验证了算法的有效性:约300 m行程的室内导航最终位置误差不超过0.3 m。表明提出的级联滤波算法框架能有效解决建筑平面信息辅助情形下的个人导航问题,新设计的粒子滤波算法有助于提高个人导航系统连续位置测定的精度和可靠性。     

车载捷联惯导系统定位测姿算法研究

GPS／INS组合精确测定平台的位置和姿态是移动测图系统中的重要模块。对陀螺仪和加速度计所测角速度和比力进行两次积分得载体姿态、速度和位置即SINS力学机械编排。目前该过程大多在地理坐标系进行。这里详细推导了地球坐标系中完整的解算过程，以四元数姿态矩阵更新及重力计算为核心，由IMU原始观测值解算出了载体位置、速度和姿态等参数，可快速高效与CPS输出的位置速度信息进行组合滤波处理，可据此编程进行工程应用数据处理。     

机载SAR用的GPS/SINS组合导航系统研究

提出了进行SINS姿态校正的四元补偿算法。采用闭环KF（卡尔曼滤波）技术实时校正惯性仪表误差，补偿四元数误差，修正位置，速度误差，GPS／SINS组合导航系统样机的试验结果表明：采用该提出的算法后，组合导航精度较高，在组合导航过程中若去掉GPS信息，短时间内纯SINS的导航精度很高，能够满足SAR对运动补偿精度的要求，待恢复GPS信息后，组合导航系统继续正常工作。     

基于四元数的SINS/SAR组合导航系统

传统的SINS误差模型是基于小姿态误差角假设下的线性化误差模型,由于忽略了高阶项,因而不能精确描述系统的非线性特征,易造成较大的导航估计误差甚至滤波器发散。为了克服SINS线性化误差模型的缺点,建立了基于四元数的SINS/SAR组合导航系统非线性模型,并将自适应UPF滤波算法应用于该组合系统。仿真结果表明,建立的基于四元数的组合导航系统模型,不但能有效减小导航误差,提高导航定位精度,而且具有良好的实时性。     

SINS/GPS/CNS 组合导航联邦滤波算法

针对飞行器在长航时高速巡航过程中,捷联惯性导航系统存在误差漂移,GPS 导航可能会丢星、信号失锁,天文导航系统易受环境干扰,组合系统模型线性化误差易导致滤波发散等问题,分析了三种导航系统的优缺点,提出了 SINS/GPS/CNS 组合导航联邦滤波算法,该算法可以取长补短,巧妙地将 GPS 定位和天文导航定姿精度高的优势辅助于捷联惯导系统,利用卡尔曼联邦滤波器对捷联惯导系统进行误差估计,并对联邦滤波算法进行了有效的改进.计算机仿真显示,该滤波器收敛速度快,具有一定的容错功能,其滤波精度较 SINS/GPS 组合导航系统在位置误差和速度误差上均有约5%左右的小幅提升,在平台角误差上更是提高了一个数量级.仿真结果验证了该组合导航方案的可行性和算法的有效性,有重要的工程应用价值.     

一种新的自适应UKF算法及其在组合导航中的应用

为了提高组合导航系统的滤波精度,提出一种带噪声统计估计器的自适应UKF滤波算法。该算法根据协方差匹配原理,利用UKF滤波算法的残差序列与新息序列,在线估计、调整系统过程噪声和量测噪声的统计特性,提高UKF的自适应能力,克服了标准UKF在系统噪声统计未知或不准确情况下滤波精度下降甚至发散的问题。将提出的算法应用于SINS/BDS组合导航系统进行仿真验证,并与标准UKF和抗差UKF进行比较,结果表明,提出的自适应UKF得到的水平位置误差和天向误差分别在[?6.2 m,?6.4 m]与[?9.8 m,?8.6 m]以内,滤波性能明显优于标准UKF与抗差UKF,提高了组合导航系统的解算精度。     

Nonlinear study of the dynamic behavior of a string-beam coupled system under combined excitations

In this paper,the nonlinear dynamic behavior of a string-beam coupled system subjected to external,parametric and tuned excitations is presented.The governing equations of motion are obtained for the nonlinear transverse vibrations of the string-beam coupled system which are described by a set of ordinary differential equations with two degrees of freedom.The case of 1:1 internal resonance between the modes of the beam and string,and the primary and combined resonance for the beam is considered.The method of multiple scales is utilized to analyze the nonlinear responses of the string-beam coupled system and obtain approximate solutions up to and including the second-order approximations.All resonance cases are extracted and investigated.Stability of the system is studied using frequency response equations and the phase-plane method.Numerical solutions are carried out and the results are presented graphically and discussed.The effects of the different parameters on both response and stability of the system are investigated.The reported results are compared to the available published work.     

Cells as strain-cued automata

We argue in favor of representing living cells as automata and review demonstrations that autonomous cells can form patterns by responding to local variations in the strain fields that arise from their individual or collective motions. An autonomous cell's response to strain stimuli is assumed to be effected by internally-generated, internally-powered forces, which generally move the cell in directions other than those implied by external energy gradients. Evidence of cells acting as strain-cued automata have been inferred from patterns observed in nature and from experiments conducted in vitro. Simulations that mimic particular cases of pattern forming share the idealization that cells are assumed to pass information among themselves solely via mechanical boundary conditions, i.e., the tractions and displacements present at their membranes. This assumption opens three mechanisms for pattern formation in large cell populations: wavelike behavior, kinematic feedback in cell motility that can lead to sliding and rotational patterns, and directed migration during invasions. Wavelike behavior among ameloblast cells during amelogenesis (the formation of dental enamel) has been inferred from enamel microstructure, while strain waves in populations of epithelial cells have been observed in vitro. One hypothesized kinematic feedback mechanism, “enhanced shear motility”, accounts successfully for the spontaneous formation of layered patterns during amelogenesis in the mouse incisor. Directed migration is exemplified by a theory of invader cells that sense and respond to the strains they themselves create in the host population as they invade it: analysis shows that the strain fields contain positional information that could aid the formation of cell network structures, stabilizing the slender geometry of branches and helping govern the frequency of branch bifurcation and branch coalescence (the formation of closed networks). In simulations of pattern formation in homogeneous populations and network formation by invaders, morphological outcomes are governed by the ratio of the rates of two competing time dependent processes, one a migration velocity and the other a relaxation velocity related to the propagation of strain information. Relaxation velocities are approximately constant for different species and organs, whereas cell migration rates vary by three orders of magnitude. We conjecture that developmental processes use rapid cell migration to achieve certain outcomes, and slow migration to achieve others. We infer from analysis of host relaxation during network formation that a transition exists in the mechanical response of a host cell from animate to inanimate behavior when its strain changes at a rate that exceeds 10⁻⁴–10⁻³ s⁻¹. The transition has previously been observed in experiments conducted in vitro.     

Preface: Current research progress on mechanics of high speed rail

The construction and operation of high-speed rail（HSR）grid within the past two decades in China,in terms of the scale,may be possibly comparable to any national-wide construction in the history of China,even the Great Wall.By counting railways with commercial train service at the speed of200 km/h,China has the world’s longest HSR network with over 19 369.8 km of track in service today and this number     

ACTA MECHANICA SINICA 2014 ANNUAL SUBJECT INDEX

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Preface

This special issue of PARTICUOLOGY is devoted to the first UK-China Particle Technology Forum taking place in Leeds, UK, on 1-3 April 2007. The forum was initiated by a number of UK and Chinese leading academics and organised by the University of Leeds in collaboration with Chinese Society of Particuology, Particle Technology Subject Group （PTSG） of the Institution of Chemical Engineers （IChemE）, Particle Characterisation Interest Group （PCIG） of the Royal Society of Chemistry （RSC） and International Fine Particle Research Institute （IFPRI）. The forum was supported financially by the Engineering and Physics Sciences Research Council （EPSRC） of United Kingdom,     

Mixing is an aggregation processLe mélange est un processus d'agrégation

With the aid of several demonstration experiments, it is shown how a stirred scalar mixture relaxes towards uniformity through an aggregation process. The elementary bricks are stretched sheets whose rates of diffusive smoothing and coalescence build up the overall mixture concentration distribution. The cases studied, in particular, include mixtures in two and three dimensions, with different stirring protocols, which all lead to a family of concentration distributions stable by self-convolution. To cite this article: E. Villermaux, J. Duplat, C. R. Mecanique 331 (2003).     

基于箭形累积损伤的裂纹尖端力学:奇异性分级和多尺度分段

在适度的空间和时间尺度组合下,裂纹既可在几个月中蠕变几个纳米,也能在几秒钟内扩展10km.虽然裂纹的尖端没有实际的质量,但是它能通过激活周围的物质而处于高能量状态.依赖于材料的损伤方向,激活质量的减少和增加可发生在尺度转变之前或之后.每个尺度区的分段阈值被假定为与裂纹尖端速度的平方a~2和激活质量密度M的乘积有关:W=M_(↓↑)a_(↑↓)~2和D=M~(↓↑)a_(↑↓)~2.W和D分别被称为直接吸收和自耗散能量密度.正如下标/上标符号所示,激活的质量密度M_(↓↑)和M~(↓↑)与裂纹尖端速度a变化趋势相反,既可增加也可减少.a~2和M的互补效应隐含着常用于宇宙物理学建模的膨胀和/或收缩的物理过程.在用于尺度敏感的裂纹尖端的行为时,激活的质量密度有相同的解释.分段时的多尺度可以由…皮观、纳观、微观和宏观…组成.因此,形象地说,材料损伤过程可以通过裂纹扩展过程中非均匀的总体和局部能量的传递来模拟.疲劳裂纹扩展引起的材料损伤被用来阐释由大到小和由慢到快的尺度/时间序,热力学中的冷→热和有序→无序转换.这一过程正巧与宇宙演化的箭形方向相反,宇宙演化遵循小→大和快→慢,而热力学相反,遵循热→冷和无序→有序.为了表示由损伤萌生所造成的类裂缝型缺陷的不均匀性,提出了一个被称为裂纹尖端力学(crack tip mechanics,CTM)的新模式.涉及的范围是模拟原子列之间的界面裂纹或连续体中分叉的切口.假如需要的话,尺寸和时间的范围可以复盖从皮观到宏观甚至更大.虽然采用疲劳裂纹来说明CTM的基本原理,在宇宙物理学背景中与直接吸收和自耗散相关的膨胀和收缩的情况可以描述裂纹周围激活质量的行为,它们可看为能量的汇或源.奇异性被用来捕获能量的源或汇的特性,物理上,两者作为界面的一部分,从数学上看则是不连续的线的一部分.能量从一种形式变为另一种形式取决于能量吸收或耗散的箭形损伤时间,这之中牵涉到尺度分段和奇异性强度的联合应用.材料组分随时间的劣化是根据指定的设计寿命导出的,从而使材料的响应与加载率的时间历史匹配.2024-T3铝板的皮观/纳观/微观/宏观开裂模型用来说明什么地方可以增加结构的寿命部分.皮观/纳观/微观/宏观/结构系统的性能随时间劣化可以用9个尺度转变物理参数来描述:纳观/微观区有3个(μ_(na/mi)~*,σ_(na/mi)~*,d_(na/mi)~*),微观/宏观区有3个(μ_(mi/ma)~*,σ_(mi/ma)~*,d_(mi/ma)~*),皮观/纳观区有3个(μ_(pi/na)~*,σ_(pi/na)~*,d_(pi/na)~*).下标pi,na,mi,ma和struc分别表示皮观、纳观、微观、宏观和结构.只要知道两个相连的尺度敏感参数,在较低尺度的时间相关的局部物理参数就完成了分析连续体的形式论,虽然它们并不需要用实验来知道.更具体地说,根据皮观→纳观→微观→宏观分别有1.25/1.00/0.75/0.50的λ奇异性强度,皮观裂纹、纳观裂纹、微观裂纹和宏观裂纹的转变特征是从时间箭形的指定的寿命预期来确定的.附加的0.25强度的奇异性可用于结构元件.回想起来,λ=0.5相应于断裂力学中的应力分量与r~(0.5)成反比,r是与宏观裂纹尖端的距离.微观裂纹、纳观裂纹和皮观裂纹分别赋予r~(-0.75),r~(-1.0),r~(-1.25)的奇异性.箭形时间(以年为单位)取决于问题的定义.设备的关键部件可用1.5~±/2.5~±/3.5~±/5.5~±寿命分布和总寿命为13~±年(a)的皮观/纳观/微观/宏观尺度来设计运行.上标±表示多于或少于实际运行的时间.累进损伤被假定为发生在皮观→纳观→微观→宏观方向.同样的方案用于20年总寿命的2024-T3铝板的疲劳损伤,按照1.5~±/2.5~±/3.5~±/5.5~±/7.0~±的方式将它的寿命分布在皮观、纳观、微观、宏观和结构的尺度上,这样的指定只是满足在每个尺度范围内损伤内部材料结构所用的能量匹配,因此可以强制执行在总寿命的跨度内精确的时间相关的材料性能劣化过程.     

西安地区活动断裂活动性的Fuzzy Grey模式评价

应用计算流体动力学方法对人体在循环呼吸模式下口喉模型内的气流运动特性进行数值模 拟，分析了循环呼吸模式下口喉模型内的气流组织形式以及气流运动对呼吸道壁面以及气溶 胶运动沉积的影响. 吸气阶段，在咽部外壁和声门下游气管上部外壁气流发生分离，形成分 离区. 呼气阶段，分别在咽部外壁和喉部外壁形成高速区. 循环呼吸模式下，咽部、喉部与 气管内的高轴向速度区和二次涡流运动均是在呼吸过程中间歇性的产生，形成的高剪应力区 也是间歇性的. 壁面受到的剪应力周期性地改变方向，引起壁面劳损和组织损伤的可能性增 大，同时在这些部位容易造成气溶胶的沉积.     

Experimental investigations of the stability limit of the helical flow of pseudoplastic liquids

The stability of the laminar helical flow of pseudoplastic liquids has been investigated with an indirect method consisting in the measurement of the rate of mass transfer at the surface of the inner rotating cylinder. The experiments have been carried out for different values of the geometric parameter = R ₁/R ₂ (the radius ratio) in the range of small values of the Reynolds number,Re < 200. Water solutions of CMC and MC have been used as pseudoplastic liquids obeying the power law model. The results have been correlated with the Taylor and Reynolds numbers defined with the aid of the mean viscosity value. The stability limit of the Couette flow is described by a functional dependence of the modified critical Taylor number (including geometric factor) on the flow indexn. This dependence, general for pseudoplastic liquids obeying the power law model, is close to the previous theoretical predictions and displays destabilizing influence of pseudoplasticity on the rotational motion. Beyond the initial range of the Reynolds numbers values (Re>20), the stability of the helical flow is not affected considerably by the pseudoplastic properties of liquids. In the range of the monotonic stabilization of the helical flow the stability limit is described by a general dependence of the modified Taylor number on the Reynolds number. The dependence is general for pseudoplastic as well as Newtonian liquids.Nomenclature C _i concentration of reaction ions, kmol/m³ - d = R ₂ –R ₁ gap width, m - F _M () Meksyn's geometric factor (Eq. (1)) - F ₀ Faraday constant, C/kmol - i _l density of limit current, A/m³ - k _c mass transfer coefficient, m/s - n flow index - R ₁,R ₂ inner, outer radius of the gap, m - Re = V _m ·2d·/µ _m Reynolds number - Ta _c = _c ·d^3/2·R ₁ ^1/2 ·/µ _m Taylor number - Z _i number of electrons involved in electrochemical reaction - = R ₁/R ₂ radius ratio - µ apparent viscosity (local), Ns/m² - µ _m mean apparent viscosity value (Eq. (3)), Ns/m² - µ _i apparent viscosity value at a surface of the inner cylinder, Ns/m² - density, kg/m³ - _c angular velocity of the inner cylinder (critical value), 1/s