地磁/天文自主导航算法

针对基于轨道动力学方程的天文导航方法的局限性问题,提出了一种利用天文/地磁信息进行飞行器自主导航的方法,建立了适用于一般飞行器的动力学方程,并推导了系统的观测方程。算法采用地磁/星光矢量间的夹角作为观测值,采用扩展卡尔曼滤波方法估计飞行器的位置和速度。应用奇异值分解的方法对系统的可观测性与可观测度进行了分析。仿真结果表明该算法的导航精度较高,滤波收敛性、稳定性较好,误差不随时间累积。可用于惯性导航的辅助导航或对导航精度要求一般的场合。     

基于鲁棒滤波的无人机着陆相对导航方法

针对无人机在移动平台上进行起降时的相对导航问题,提出了一种基于鲁棒高阶容积滤波的惯导/视觉相对导航方法。建立了相对导航系统模型,基于无人机与移动平台之间的相对运动给出了系统的相对惯导方程,并针对系统中传感器的量测特性给出了导航敏感器的测量方程。针对相对导航系统非线性较强且量测噪声不符合高斯分布等问题,在高阶容积滤波的基础上,结合Huber-based量测更新方程,设计了鲁棒高阶容积滤波相对导航滤波器,该方法具有较高的估计精度,且对混合高斯噪声有鲁棒性。相对姿态采用四元数表示,为保证四元数的归一化,在设计相对导航滤波器时采用修正的罗德里格斯参数表示姿态误差。仿真结果表明,该方法可以准确地给出无人机与移动平台之间的相对位置、速度和姿态信息,且估计精度高于扩展卡尔曼滤波、Huber-Based滤波以及高阶容积卡尔曼滤波。     

基于北斗导航卫星信号的低轨卫星自主定轨（英文）

利用北斗卫星导航信号对低轨卫星自主定轨进行了研究。首先对卫星轨道动力学方程进行了推导,建立一个考虑地球J2摄动下的卫星动力学模型,并利用4阶龙格-库塔数值积分法进行轨道传播。选用北斗卫星导航信号的伪距和伪距率作为定轨的测量方程。然后,对北斗卫星可见星的个数进行了分析。最后,采用SRUKF算法对低轨CHAMP卫星轨道状态进行估计,并通过STK8.1生成仿真数据对SRUKF、UKF和EKF算法的跟踪性能进行对比分析。仿真结果表明,在跟踪过程中最少能接收到18颗北斗卫星信号,能够满足定轨要求。在相同条件下,SRUKF算法的跟踪精度优于UKF、EKF算法,SRUKF算法能减少89%的位置误差和90%的速度误差。     

基于立体视觉的相对姿态确定算法可观性分析

针对基于立体视觉的相对姿态确定算法无法正确估计出陀螺误差这一问题,分析了该算法中各个状态的可观性.首先,根据相对姿态误差方程和立体视觉测量方程建立滤波器模型.其次通过选取不同变量作为误差方程的状态,确定了系统中的不可观子空间.进而对系统的结构分解揭示出,该相对姿态确定算法仅能估计出主从星之间的相对姿态和其陀螺误差的线性组合这一结论.从系统结构分解的分析中还可以看出,当立体视觉系统测得的特征点大于两个以上时,增加特征点个数对提高陀螺误差的可观测性是没有帮助的.最终的仿真结果证明了论述的正确性.     

基于记忆衰减滤波的X射线脉冲星自主导航

针对扩展Kalman滤波(Extend Kalman Filter, EKF)在处理X射线脉冲星的自主导航定轨问题上易发散的问题,本文提出了基于记忆衰减滤波的抑制发散自主导航算法。在研究了自主导航滤波中误差变化的特征的基础上,从原理上分析了预报误差随迭代次数增加而增大的原因。针对EKF存在的这一缺陷,本文应用记忆衰减滤波控制误差发散,推迟了误差发散的时间并减小了发散的幅值,使得滤波结果稳定于更精确的结果。本文的结论均通过数值计算的方法验证     

基于萤火虫群优化的空间非合作目标相对导航粒子滤波算法

研究了空间非合作目标相对导航算法,针对标准粒子滤波的重采样过程导致的粒子贫化现象及其造成的相对导航精度下降问题,分析了萤火虫优化算法的运行机制,提出一种基于萤火虫智能优化算法的改进粒子滤波算法。改进算法通过优化粒子滤波的重采样过程,使粒子群智能的向高似然区域移动,同时在低似然区域也合理保留了部分粒子,保证了粒子的多样性,提高了样本的整体质量。仿真结果表明,改进算法导航精度较标准算法提高了39.35%,达到稳定精度所需粒子数较少,有效抑制了粒子贫化问题。     

一种基于加速度计和天文的卫星自主导航新方法

直接敏感地平是一种典型自主天文导航方法,该方法简单可靠,易于实现,但是由于常用卫星轨道动力学J2模型精度有限,地球敏感器精度较低,因此导航精度不高。加速度计是测量运载体线加速度的常用惯性导航设备,当航天器在轨运行时,星载加速度计能够测量航天器所受发散力。结合上述两种方法的特点,提出一种将加速度计和天文相结合的自主天文导航新方法。在常用卫星轨道动力学模型基础上,引入大气阻力和太阳光压系数模型作为自主导航系统状态方程的一部分,并建立近地空间环境下星载加速度计的测量模型,将其与直接敏感地平均作为导航系统观测方程。设计基于信息融合的自主导航滤波方法,通过对多种导航模式进行数值仿真及结果分析,结果表明所设计方法提高了系统定位精度62.8%和速度精度63.9%,增强了系统可靠性。     

INS/GNSS/Vision组合近距空中加油相对导航算法

针对空中加油近距对接阶段GNSS信号易受遮挡丢失的问题,考虑引入Vision导航系统,提出一种INS/GNSS/Vision组合的高精度容错相对导航系统,为空中加油近距对接任务提供高精度的双机相对导航信息.该系统采用联邦滤波器结构融合导航传感器信息,利用滑动窗口构建时变量测噪声的容错滤波结构,并基于子滤波器协方差的奇异...     

一种天文/加速度计的HEO卫星自主导航新方法

直接敏感地平是一种典型自主天文导航方法,该方法简单可靠,易于实现,但是由于常用卫星轨道动力学J2模型精度有限,地球敏感器精度较低,因此导航精度不高。加速度计是测量运载体线加速度的常用惯性导航设备,当卫星在轨运行时,星载加速度计能够测量航天器所受发散力。结合这两种方法的特点,提出一种将加速度计和天文相结合的自主天文导航新方法。在常用卫星轨道J2模型基础上,引入大气阻力和太阳光压系数模型作为自主导航系统状态方程的一部分,并建立近地空间环境下星载加速度计的测量模型,将其与直接敏感地平均作为导航系统观测方程。设计基于信息融合的自主导航滤波方法,通过对多种导航模式进行数值仿真及结果分析,结果表明所设计方法提高了系统定位精度74.8%和速度精度86.2%,增强了系统可靠性。     

基于MARG传感器的自主姿态测量新算法

针对基于三轴陀螺、三轴加速度计以及三轴磁强计组成的传感器组合(MARG传感器)的姿态测量算法存在的不足和限制,以自主姿态测量为前提,提出了一种新的基于四元数的优化递推估计算法。这一算法能够在线估计补偿陀螺漂移误差,不再需要对系统方程进行线性化处理。与基于EKF的方法相比,在同等计算复杂度下,该算法具有更高的精度和更好的稳定性。算法本身内蕴了对四元数单位长度的限制,不再需要任何归一化处理。仿真结果显示出了该算法具有令人满意的效果,利用水上漂浮试验初步验证了该算法的稳定性。     

一种用于无人机姿态测量的红外地平仪算法改进

针对现有算法存在的飞行前必须进行环境参数标定,无法抑制飞行过程中环境参数漂移的缺陷,提出了一种无人机红外地平仪姿态解算的改进方法。该算法简化了传感器模型,使得姿态解算方程消去了环境参数,实现了无需在飞行前进行环境参数标定,简化了使用流程,并克服了飞行过程中环境参数漂移对姿态解算精度的影响,还避免了现有方法中需切换解算方程导致的误差跳跃。地面实验证实了改进方法相对现有方法的改进,验证了改进模型的准确性。机载飞行实验结果表明,在实际飞行中姿态角测量精度得到提高,误差连续平滑;滚转角度与俯仰角度的均方根误差由原有的4.4°和2.8°,降低至1.9°和1.8°。利用基于该算法的红外地平仪使固定翼无人机实现了自主飞行。     

Temperature maps measurements on 3D surfaces with infrared thermography

The use of the infrared camera as a temperature transducer in wind tunnel applications is convenient and widespread. Nevertheless, the infrared data are available in the form of 2D images while the observed surfaces are often not planar and the reconstruction of temperature maps over them is a critical task. In this work, after recalling the principles of IR thermography, a methodology to rebuild temperature maps on the surfaces of 3D object is proposed. In particular, an optical calibration is applied to the IR camera by means of a novel target plate with control points. The proposed procedure takes also into account the directional emissivity by estimating the viewing angle. All the needed steps are described and analyzed. The advantages given by the proposed method are shown with an experiment in a hypersonic wind tunnel.     

Truth: non-additive measures for the determination of relative density of sands using CPT measurements

In this Note, a fuzzy-integral based approach is developed for aggregating some of the available correlations that are commonly used for determining relative density $D_r$, from cone penetration test (CPT) data, in which non-additive measures are used as fuzzy measures to relate the actual compressibility measured by the friction ratio of sands to the base correlations. The results of the case studied show that fuzzy measures and the fuzzy integral can be utilized for a new approach in geo-technical engineering. To cite this article: C. Tran, C. R. Mecanique 333 (2005).     

Simulation of angular velocity sensor measurements using telemetry data on the motion of an object

An algorithm for the formation of smooth trajectories corresponding to telemetry data on the coordinates and orientation angles of a flying object with a strapdown inertial navigation system is proposed. Another algorithm of forming the angular velocity sensor measurements corresponding to this trajectory is developed. These algorithms allow one to analyze the accuracy of various numerical methods of determining the orientation of such system using the information on motions close to the real motions with known telemetry data.     

Dynamic strain measurements of a circular cylinder in a cross flow using a fibre Bragg grating sensor

 A fibre Bragg grating (FBG) sensor was proposed as an alternative to strain gauges to measure the strain ɛ of a vibrating cylinder in a uniform cross flow. In order to validate the measurements of the FBG sensor, the transverse fluctuating bending displacement Y of the cylinder was also measured using a laser vibrometer. The two measurements were found to be consistent in terms of the natural frequency of the fluid–structure system and the vortex shedding frequency. The spectral coherence between ɛ and Y at the same point of the cylinder attains 1 at these frequencies, thus indicating a near perfect correlation between the two quantities. When the transverse bending displacement is small, the measured ɛ and Y are linearly related. Therefore, the results indicate that the FBG sensor can be used with confidence to measure the fluctuating strain arising from the vortex-induced forces on a structure in a uniform cross flow. As such, it can be used in conjunction with a laser Doppler anemometer to study fluid–structure interactions in flow-induced vibration problems. Furthermore, it is expected that the FBG sensor, because of its physical uniqueness, will have an important role to play in the study of fluid–structure interaction problems with multiple structures arranged in an array. Received: 17 August 1998 / Accepted 27 January 1999     

Global finite-time set stabilization of spacecraft attitude with disturbances using second-order sliding mode control

Nonlinear Dynamics - The performance of attitude stabilization control algorithms for rigid spacecraft can be limited by disturbances. In this paper, the global finite-time attitude stabilization...     

Precise flow rate measurements of natural gas under high pressure with a laser Doppler velocity profile sensor

This paper reports about the first application of a laser Doppler velocity profile sensor for precise flow rate measurements of natural gas under high pressure. The profile sensor overcomes the limitations of conventional laser Doppler anemometry (LDA) namely the effect of spatial averaging and the effect of fringe spacing variation (virtual turbulence). It uses two superposed, fan-like interference fringe systems to determine the axial position of a tracer particle inside the LDA’s measurement volume. Consequently, a spatial resolution of about 1 μm can be achieved and the effect of virtual turbulence is nearly eliminated. These features predestine the profile sensor for flow rate measurements with high precision. Velocity profile measurements were performed at the German national standard for natural gas, one of the world′s leading test facilities for precision flow rate measurements. As a result, the velocity profile of the nozzle flow could be resolved more precisely than with a conventional LDA. Moreover, the measured turbulence intensity of the core flow was of 0.14% mean value and 0.07% minimum value, which is significantly lower than reference measurements with a conventional LDA. The paper describes the performed measurements, gives a discussion and shows possibilities for improvements. As the main result, the goal of 0.1% flow rate uncertainty seems possible by an application of the profile sensor.     

Heat transfer measurements in fully turbulent flows: basic investigations with an advanced thin foil triple sensor

In a former article in this journal a double layer hot film with two 10 μm nickel foils, separated by a 25 μm polyimide foil was introduced as a multi-purpose sensor. Each foil can be operated as a (calibrated) temperature sensor in its passive mode by imposing an electric current small enough to avoid heating by dissipation of electrical energy. Alternatively, however, each foil can also serve as a heater in an active mode with electric currents high enough to cause Joule heating. This double foil sensor can be used as a conventional heat flux sensor in its passive mode when mounted on an externally heated surface. In fully turbulent flows it alternatively can be operated in an active mode on a cold, i.e. not externally heated surface. Then, by heating the upper foil, a local heat transfer is initiated from which the local heat transfer coefficient h can be determined, once the lower foil is heated to the same temperature as the upper one, thus acting as a counter-heater. For further investigations with respect to the underlying sensor concept a triple sensor has been built which consists of three double layer film sensors very close to each other. Various aspects of heat transfer measurements in active modes can be addressed by this sensor.     

Near-wall measurements of turbulence statistics in a fully developed channel flow with a novel laser Doppler velocity profile sensor

This paper reports on the measurements of the near-wall turbulence statistics in a fully developed channel flow. The flow measurements were carried out with a novel laser Doppler velocity profile sensor with a high spatial resolution. The sensor provides both the information of velocity and position of individual tracer particles inside the measurement volume. Hence, it yields the velocity profile inside the measurement volume, in principle, without the sensor being mechanically traversed. Two sensor systems were realized with different techniques. Typically the sensor has a relative accuracy of velocity measurement of 10⁻³ and the spatial resolution of a few micrometers inside the measurement volume of about 500 μm long. The streamwise velocity was measured with two independent sensor systems at three different Reynolds number conditions. The resulting turbulence statistics show a good agreement with available data of direct numerical simulations up to fourth order moment. This demonstrates the velocity profile sensor to be one of the promising techniques for turbulent flow research with the advantage of a spatial resolution more than one magnitude higher than a conventional laser Doppler technique.