大失准角传递对准算法研究

经典Kalman滤波器不适用于大失准角情况下的传递对准,故只能采用非线性滤波器进行失准角的次优估计,其工程实现效果无法满足惯性姿态系统对姿态精度的要求。针对上述问题,提出了动态解析对准与传递对准相结合的大失准角传递对准算法,设计了"速度+角速度"匹配的传递对准滤波模型。该算法利用动态解析对准算法完成大失准角的初步补偿,解决传递对准非线性误差模型无法进行线性化的问题。基于Kalman滤波最优估计理论,设计FIR低通滤波器完成观测信息去噪滤波,实现姿态失准角的最优估计补偿,以达到惯性姿态系统大失准角条件下快速精确传递对准的目的。试验结果表明,在大失准角条件下,惯性姿态系统可在50s内完成方位精度为3′、水平姿态精度为1′的初始对准。     

四旋翼惯性导航姿态解算算法的改进与仿真

为了实现四旋翼飞行器的高精度导航,提出了互补滤波法和四元数算法对传感器获得的数据进行修正,最大限度的抑制干扰误差并提高姿态角解算的准确度。首先简单推导了捷联式惯性导航系统的算法基本原理并利用互补滤波算法进行改进,然后给出了惯性导航系统的力学编排模型分析旋翼飞行器的运动姿态。最后仿真验证数据选用惯性仪表MPU6050和HMC5883所得到实测数据采集并进行仿真分析,平台处理器选用STM32来仿真惯性仪表的测量速度,最终得到实验结果证明算法可行性。     

基于平面导航系的极区传递对准算法研究

针对极区经线快速收敛导致基于传统导航坐标系的传递对准模型和误差方程不适用的问题,提出了基于平面导航力学编排的极区传递对准算法,并设计了"速度+姿态"匹配的传递对准滤波模型。该算法基于Kalman滤波最优估计理论,利用舰艇主惯导高精度姿态、速度信息对局部基准姿态失准角进行估计补偿,以达到局部基准极区动基座条件下快速初始对准的目的。仿真结果表明,在中海况条件下,局部基准可在20s内完成方位精度为5′、水平姿态精度为3′的初始对准。     

高精度单轴旋转姿态测量系统研究

 采用90型二频机抖激光陀螺和石英挠性加速度计,利用单轴旋转惯性组件的方法,研制了高精度姿态测量系统。介绍了系统的硬件结构组成和无减震结构设计方案,给出了初始对准和姿态测量系统的算法。系统的初始对准采取粗对准和精对准两种方式, 姿态测量系统的误差传播特性由系统的误差模型来描述。对该系统进行了静态导航实验和长时间单轴旋转导航实验。实验结果表明：系统水平姿态24h保持精度优于30″,24h航向保持精度优于30″。     

激光陀螺捷联惯导的动基座标定

从实际工程应用和维护的角度出发,提出了一种针对舰船在系泊或锚泊条件下激光陀螺捷联惯导安装误差的在线标定方法.该方法依据捷联惯导系统误差方程的基本原理,将标度因数误差、安装误差角、陀螺加速度计常值漂移以及系统基本误差项作为状态变量,用外部提供的高精度经纬度作为观测量,运用Kalman滤波技术估计出激光陀螺和加速度计的常值...     

捷联惯导系统中卡尔曼滤波的应用研究

为提高捷联惯导系统初始对准精度,提出将卡尔曼滤波技术应用于系统初始精对准,用以估计系统的失准角和惯性误差。对卡尔曼滤波技术在捷联惯导系统中的应用进行分析,建立捷联惯导系统初始对准误差模型和卡尔曼滤波量测方程。分析不同条件下不同滤波方法的滤波原理和滤波精度。在此基础上,提出一种将预测扩展卡尔曼滤波应用于逆向导航技术的思路,并进行了理论分析和捷联惯导系统自对准流程设计,为后续进一步深入开展惯导系统初始对准奠定基础。     

基于简化模型与自适应滤波的车载SINS静基座快速对准

为了实现捷联惯性导航系统(Strap-down Inertial Navigation System,SINS)快速初始对准,根据已有可观测性分析结果,通过理论分析和计算得到了扩展观测量时初始对准系统最优可观测状态量组合,在此基础上简化了对准模型,建立了新的系统方程。针对载车发动机启动或其他情况导致系统噪声无法精确统计,提出了运用基于强跟踪滤波原理的自适应卡尔曼滤波(Kalman Filter,KF)算法抑制滤波发散,加快收敛速度。仿真结果表明运用简化模型和自适应滤波在系统噪声不匹配时具有更快的收敛速度和更高的对准精度,车载实验结果也表明运用简化模型和自适应滤波可以实现快速对准。     

基于回路对准的大失准角传递对准技术研究

提出了一种大失准角情况下的传递对准方法,该方法基于回路对准使子惯导的姿态振荡误差衰减到小角度后进行滤波传递对准,设计了速度加姿态匹配的传递对准滤波模型。与传统传递对准方法相比,该方法无需建立子惯导非线性误差模型,应用经典Kalman滤波即可快速地完成对准。仿真试验表明,在大失准角情况下,子惯导失准角用外部速度可以调平到30′以内,传递对准姿态误差最大为0.5′,方位误差为2′。     

线加速度计辅助高精度稳定跟踪

 介绍了在运动基座条件下捕获、跟踪和瞄准系统的复合轴惯性视轴稳定方案及实验室演示验证实验。使用动力调谐速率陀螺测量惯性角速率稳定转台，实现大动态范围的粗稳定，使用线加速度计测量惯性姿态角稳定视轴基准，实现小动态范围的精稳定。使用视轴基准稳定误差与视轴基准平台相对其基座的转角合成粗稳定位置误差的方式，实现粗稳定和精稳定的级联。实验结果表明，复合轴稳定方案可以实现(″)级稳定精度。     

鲁棒惯性地形辅助导航算法研究

传统的地形轮廓匹配(terrain contour matching, TERCOM)算法在速度误差和航向误差较大时可靠性下降,基于扩展Kalman滤波的北航惯性地形辅助惯性导航(BUAA inertial terrain aided navigation, BITAN) 算法在初始位置误差或高度表测量噪声较大时,系统无法准确定位,导致系统的鲁棒性降低. 为解决上述问题,对BITAN算法进行改进,发展了鲁棒北航惯性地形辅助导航(robust BUAA inertial terrain aided navigation, RBITAN)算法. RBITAN算法根据平均绝对差、均方差和交叉相关算法的统计决策信息设计了搜索模式算法,以基于扩展Kalman滤波原理的BITAN算法作为跟踪算法, 综合了TERCOM算法和BITAN算法的优点,提高了算法的鲁棒性.利用真实的数字高程模型和试飞数据进行仿真验证, 并和BITAN算法进行比较.仿真结果验证了RBITAN算法可以在较大初始位置误差和较大高度表测量噪声时准确定位, 提高了算法的鲁棒性.     

Generalised ABCD matrix treatment for laser resonators and beam propagation

A generalised ABCD matrix treatment for laser resonators and beam propagation is developed for computer programming. In this treatment, imaginary parts are introduced into the matrixes for all optical elements, and the beam quality factor M² and the index of the medium are also taken into account. When the imaginary parts of the complex matrix are zero and the beam quality factor M² and medium index are unity, the stated method is transformed back into the more classic ABCD matrix format in which the fundamental-mode Gaussian beam transmits through real elements in the vacuum. Based on this method, laser resonator software is realised by the VB programme language. The software can be used to analyse and design stable/unstable standing/travelling cavities, phase-conjugate cavities and beam transformations.     

Evaporation of a thin film coated on a substrate induced by a pulsed laser

The two-dimensional Laplace integral transform technique has been applied to get the spatial and temporal temperature distributions in both the molten layer thickness of a thin film coated on a substrate, the still solid part of the thin film of the target and the temperature distribution in the substrate. Also a formula for the time dependence of the evaporated part of the thin film of the target as well as the molten layer thickness of the thin film were obtained. Calculations of the obtained relations were carried out during the irradiation with a pulsed laser. The derivation has taken into account the temperature-dependent absorption coefficient of the irradiated surface and the chemical reaction in the vapor of the thin film. As an illustrative example, computations were carried out on an aluminum thin film coated on a glass substrate.     

The temperature profile in the molten layer of a semi-infinite target induced by irradiation using a pulsed laser

The two-dimensional Laplace integral transform technique has been used to compute the temperature profile of the molten layer on the surface of a semi-infinite target when irradiated by a pulsed laser. Mathematical expressions for the temperature distribution in the molten layer thickness and the solid part of the target, taking cooling and the temperature-dependent absorption coefficient of the irradiated surface into account, were obtained. As an illustrative example computations were carried out on a semi-infinite aluminum (Al) target.     

Laser Spectra and Efficiencies of Pyrazolo Derivatives of Coumarins

Abstract

Of the new laser dyes of coumarin series reported earlier, pyrazolo derivatives have been further studied. The paper reports their laser spectra and efficiencies in various solvents compared to a standard coumarin laser dye C₅₁₅. One of the derivatives shows comparable output under optimum concentration conditions as compared to the standard.     

不同脉冲激光波形在打孔实验上的比较与分析

为了获得高质量小孔,克服单脉冲激光打孔的不足,设计了一种能够产生多脉冲激光波形的激光器电源.并在1mm厚的薄钢片上得到直径小于1mm的小孔.多脉冲打孔理论分析表明,多脉冲激光打孔不但减少了熔融物和等离子体的产生,而且降低了激光打孔对高能量的要求,获得的小孔质量优于单脉冲激光打孔.另外脉冲宽度和脉冲间距的选择对激光小孔加工质量起决定性作用,在加工高质量孔的时候,应该选用较短的激光脉冲宽度.实验表明,利用三脉冲激光输出波形打孔所获得的小孔质量要优于单脉冲激光打孔效果,有效脉冲平均能量为350mJ,宽度为100μs,脉冲间距为100μs.     

激光科学和生命科学

激光科学与生命科学相互渗透,正在形成一门新兴边缘学科──“激光生命科学”.本文就激光生命科学下述几个重要领域的研究进展进行概述：1)激光生物学与激光诱变育种;2)激光遗传工程及激光微束在遗传操作中的应用;3)激光在分子生物学中的应用;4)用于生命科学研究的激光光谱技术;5)激光医学;6)激光生物物理技术。     

Axial superposition of Gaussian spherical beams

A novel model of beam formed by coherent superposition of two correlated Gaussian spherical beams with different centers is presented. This kind of beam has a transverse spreading smaller than a fundamental Gaussian beam. The beam quality factor is smaller than one.     

A new approach to eye-safety analysis for airborne laser systems flight test and training operations

A new method for evaluating the hazards associated with the use of airborne laser systems operating in the visible and near infra-red portions of the electromagnetic spectrum is presented in this paper. Particularly, safety issues of state-of-the-art Nd:YAG laser target designators are thoroughly investigated, in order to identify operational procedures and limitations for employment of such equipment at the test ranges during execution of both trials and training missions. Innovative procedures and algorithms are presented that allow a complete verification of laser-safety for airborne systems whilst operating at the test ranges. Finally, a PC based simulation program is described, together with some simulation results.Most of the results presented here have been developed for airborne laser target designators, but they also apply to most airborne laser systems including range finders and beam riders operating in the visible and near-infrared portions of the electromagnetic spectrum.     

角锥棱镜激光谐振腔的基本特性

 分析了角锥棱镜对光束的相位变换作用，带二面角误差的角锥棱镜可等效于6块光楔的组合，其楔角的大小和方向由二面角误差决定。对在腔内往返传输的光线在镜面上的位置进行了分析，结果表明：3个二面角误差相同且不为零的角锥棱镜构成的谐振腔为约束非稳腔。用Fox-Li迭代法数值模拟得到了不同棱镜二面角误差情况下的谐振模式。模拟结果表明：圆形镜腔情况下基本振荡模式接近于TEM₀₃模的拉盖尔高斯光束；当3个二面角误差不相同时，模式中各个区域的强度分布不对称。采用3个二面角误差基本接近且绝对值较小的棱镜可以提高光束质量。     

强激光对星载光电探测系统的干扰与破坏研究

建立了激光辐照星载光电探测器的数学模型,对激光干扰和破坏星载光电系统的机理进行了研究,分析了激光光束与探测器光轴的偏角对干扰和破坏的影响.以CO2激光辐照HgCdTe探测器的实例,研究了强激光对探测单元的破坏,得到其损伤阈值曲线,并从理论上证明了强激光对星载光电探测系统干扰和破坏的可行性.