激光陀螺单轴旋转式惯导系统的转动方案分析

目前国际上的激光陀螺单轴旋转式惯导系统中,普遍采用一种四位置转停的惯性测量组合转动方案.通过对这种四位置转停方案的误差分析,指出它并不能够完全抵消掉转轴垂直平面内的所有陀螺常值漂移误差,并且载体航向变化会降低误差抵消的程度,基于此,在这种四位置转停方案基础上,首先提出了一种改进的四位置转停方案,可以抵消掉转轴垂直平面内的所有陀螺常值漂移误差,然后进一步提出了一种动态调整停止时间的四位置转停方案,使转轴垂直平面内的常值漂移误差的抵消程度不受载体航向变化的影响.分析表明,文中提出的这些改进措施和方法能够提高系统精度,而不会降低系统的可靠性,并且使用简单易行,可以应用于实际的单轴旋转式惯导系统中.     

一种免装配微惯性测量单元的研制与开发

以柔性材料和高精度六面体作为惯性传感器的安装载体和基准,设计了一种免装配、安装误差小、体积小、功耗低且便于标定的微惯性测量单元。给出了安装误差小角度前提下的传感器的测量方程和标定方法;利用微控制器的并行工作机制,提出了一种快速有效的基于均值滤波和FIR滤波的组合滤波方案。实验结果表明:MIMU可以100 Hz的频率更新测量输出,加速度测量噪声小于2.5 mg、测量误差小于0.8 mg,旋转角速度测量噪声小于0.15 o/s、测量误差小于0.2 o/s,可满足微小型惯性导航系统的功耗、体积、测量精度和响应速度的应用需求。     

紧耦合INS/视觉相对位姿测量方法

研究了一种紧耦合INS/视觉相对位姿测量方法在无人机自主空中加油中的应用。该方法直接将特征点的图像坐标作为滤波器输入,避免了求解复杂的非线性位姿方程,尤其是特征点提取不全时,该方法具有较强的鲁棒性。引入相对惯导误差建立了增广状态模型,根据杆臂效应详细推导了紧、松两种耦合模式的量测方程。采用扩展卡尔曼滤波算法估计误差状态,并校正惯导输出获取精确的相对位姿信息。仿真结果表明,与松耦合模式相比,紧耦合在提高系统实时性的同时可获得更高的测量精度,位置误差小于0.1 m,姿态角误差小于3'。     

低成本车载导航仪的组合导航算法设计

针对GPS信号间歇性受阻而无法持续导航的问题,提出了一种由GPS、微惯性导航系统,以及电子罗盘构建车载组合导航系统的方案。以GPS位置信息是否有效为判断条件,设计了组合策略。当GPS信息有效时,采用以位置误差作为观测量的组合导航算法;当GPS信息无效时,引入速度约束辅助导航算法。试验表明,该组合策略能够在GPS有效时提供高精度的姿态、速度和位置信息,在GPS失效时,使位置误差得到有效抑制,从而保证了车载导航仪的导航精度和导航信息的持续性。     

Band-pass filtered velocity statistics in decaying turbulent box

For homogeneous isotropic turbulence study, the acquisition of band-pass filtered velocity increments (FVI) in a non-forced turbulent box is still a challenge both experimentally and numerically. Turbulence and associated physical processes, at a given instant, are permanently contaminated by a forcing process which can seldom be universal. The situation tends to be the origin of intermittency and the non-Gaussian probability density distribution for acceleration and velocity gradients. To reveal implied mechanism, grid turbulence is adapted to observe non-perturbed homogeneous isotropic turbulence. The velocity increments (VI) can be obtained following Comte-Bellot and Corrsin (GCBC) by means of two point-two time shifted velocity measurements. It is difficult to obtain decaying turbulence (DT) at large turbulent Reynolds number without pollution coming from walls. Nevertheless it is also significant to investigate DT in low Reynolds number regimes to determine non-polluted tendencies. The similarity of DT between particle image velocimetry (PIV) and hot wire anemometry measurements by GCBC are presented. Here we focus our tendency on VI and FVI probability density function (PDF) shapes in this letter. In conclusion, the tendency to Gaussian shape in inertial zone wavenumbers, demonstrates that there will be no intermittency if turbulent cascade is not perturbed.     

用序列二次规划法设计ICF 靶区光路

 运用序列二次规划法设计了靶区光路。由ICF 柱面靶间接驱动实验对多路激光束排布的要求, 建立靶区数学模型, 用本文设计结果构筑光路排布线框实体。该三维线框以特征线代表60路激光驱动光束实体, 以特征线段的转折点代表240面反射镜的空间位置。     

The physical role of gravitational and gauge degrees of freedom in general relativity — I: Dynamical synchronization and generalized inertial effects

This is the first of a couple of papers in which the peculiar capabilities of the Hamiltonian approach to general relativity are exploited to get both new results concerning specific technical issues, and new insights about old foundational problems of the theory. The first paper includes: (1) a critical analysis of the various concepts of symmetry related to the Einstein-Hilbert Lagrangian viewpoint on the one hand, and to the Hamiltonian viewpoint, on the other. This analysis leads, in particular, to a re-interpretation of active diffeomorphisms as passive and metric-dependent dynamical symmetries of Einstein's equations, a re-interpretation which enables to disclose the (not widely known)) connection of a subgroup of them to Hamiltonian gauge transformations on-shell; (2) a re-visitation of the canonical reduction of the ADM formulation of general relativity, with particular emphasis on the geometro-dynamical effects of the gauge-fixing procedure, which amounts to the definition of a global non-inertial, space-time laboratory. This analysis discloses the peculiar dynamical nature that the traditional definition of distant simultaneity and clock-synchronization assume in general relativity, as well as the gauge relatedness of the “conventions” which generalize the classical Einstein's convention. (3) a clarification of the physical role of Dirac and gauge variables, as their being related to tidal-like and generalized inertial effects, respectively. This clarification is mainly due to the fact that, unlike the standard formulations of the equivalence principle, the Hamiltonian formalism allows to define a generalized notion of “force” in general relativity in a natural way.     

化学测量仪器检定/校准有关问题的探讨

介绍了化学测量仪器的分类、特点、检定/校准的必要性及化学计量检定/校准的现状,分析了化学计量标准的特点,探讨了化学计量最高标准的划定和考核的有关问题。