基于罗德里格参数的线性最优估计自对准

针对车载捷联惯导系统怠速条件下的初始对准问题,提出了一种基于罗德里格参数的线性最优估计自对准算法。利用姿态阵分解和凯莱变换,将任意姿态下的无初值初始对准问题简化为罗德里格参数的无约束线性最优估计问题。讨论了算法的有效性,推导了算法的对准误差公式,并设计了一种简洁的工程实现方案。利用车载捷联惯导系统进行了四位置对准试验,每个位置对准六次,结果表明,在发动机振动及外界随机扰动下,新算法可以在5 min内完成对准,统计方位均方差(1σ)不超过3′。     

异质传感器数据的最优线性融合

研究了异质传感器对参数矢量进行的测量，测量数据基于线性均方估计的最优融合算法。提出和证明了异质传感器数据的最优线性融合定理，并得出“精度再差的传感器参与数据融合后都有利于提高系统的测量精度”这一结论。     

基于北斗信号辐射源的无源雷达定位技术

外辐射源无源跟踪对提高区域防御系统的生存能力和反击能力具有重要的军事意义和实用价值。近年来,基于星载辐射源的无源雷达探测系统受到广泛关注。在选取北斗卫星信号为研究对象的基础上,首先从模糊函数和雷达探测距离方面重点分析了北斗信号作为无源雷达辐射源的实用性。然后研究了一种基于时差测量的多发单收型无源雷达定位系统,并给出了解算目标位置的总体最小二乘算法。最后对该系统下的定位算法和定位精度进行分析,仿真结果表明在相同条件下,总体最小二乘算法能减小近50%的定位误差,且误差波动范围明显减小。     

基于HLNS方法对高超声速边界层中非模态扰动演化的研究

高超声速边界层转捩是航天飞行器设计中的基础难题,发生在线性失稳区上游的亚临界转捩是常规风洞实验中常见的现象.亚临界转捩一般是由非模态扰动的演化及二次失稳触发的,为了揭示局部突变对高超声速边界层亚临界转捩的影响机理,发展了基于谐波型线性化Navier-Stokes (HLNS)方程及其伴随系统的描述非模态扰动演化的求解框架.该框架的优点是不改变原始系统的椭圆型特性,因而可以处理非模态扰动(条带)在局部突变附近的快速畸变.针对马赫数为5.96、攻角为-4?的高超声速钝平板边界层,研究了不同深度凹槽对条带幅值的影响.数值结果表明凹槽对条带有促进作用,这与实验中发现的规律定性相符,且存在使促进作用最大的最优凹槽深度.     

用动光弹方法研究隧道岩爆的爆破扰动机理

利用动态光弹性方法,以Lamb模型为依据,研究了不同荷载形式下,模型内应力波的传播、相互作用规律以及刻槽的拦截效应。实验结果与弹性动力学解答基本一致:(1)倾斜冲击荷载作用下,模型内传播的有P波、S波和Rayleigh波,其中P波和Rayleigh波对岩爆有突出贡献;(2)等差条纹图的分布规律,可以合理解释岩爆高发区段与开挖面的位置关系;(3)模型表面的刻槽,可以实现对Rayleigh波的大量拦截,说明隧道表面切槽的岩爆控制方法理论上是可行的。     

基于Kalman滤波原理对惯导中重力扰动的估计及补偿方法

重力扰动(空间同一点实际重力与正常重力之差,包括垂线偏差和重力异常两部分)一直是惯性导航系统的重要误差源之一。随着惯性器件精度的逐步提高,重力扰动所引起的导航误差已成为高精度长航时惯导系统的主要误差之一,不能被忽略,必须对其进行补偿。针对重力扰动误差精确补偿问题,只考虑重力异常的情况,推导并建立了考虑重力异常的惯导误差方程。对误差传播进行了分析,利用Kalman滤波原理设计了带有重力异常状态量的状态方程,并利用GPS和惯导的速度误差作为观测量对重力异常进行滤波并对滤波后得到的重力异常值对惯导重力异常项补偿。进行了2 h的仿真,结果表明:Kalman滤波后可得到当地的重力异常值,重力异常补偿后,速度误差精度可以提高约0.3m/s,姿态精度提高约0.3′,位置精度提高约150 m。     

基于自适应频率估计的舰船瞬时线运动测量方法

针对传统舰船瞬时线运动信息测量过程中,IIR数字高通滤波器的输出会存在相位超前,从而使输出信号相对于实际信号存在时间上超前的问题。分析了超前相位对瞬时线运动信息测量的影响,提出了一种基于自适应频率估计的舰船瞬时线运动测量方法。针对IIR数字高通滤波器超前相位的大小随输入信号频率变化的问题,引入了WFLC频率估计算法来实时估计输入信号的频率,提出了自适应延时校正算法来校正由数字高通滤波器带来的输出信息在时间上的超前量。仿真结果表明:提出的改进舰船捷联瞬时线运动测量方法能够很好地解决传统信息测量方法中输出信息在时间上存在超前的问题,实现了实时舰船瞬时线运动信息精确测量,测量精度由0.13 m提高到了0.02 m。     

舰载弹用捷联系统初始对准时陀螺误差的估计

本文针对舰载弹用惯性系统的特点,利用舰上已有的惯性基准,在进行快速初始对准的同时,对惯性系统的陀螺误差进行估计和补偿,以提高陀螺的精度,克服逐次启动误差,满足导弹导航的精度要求。通过对系统的分析和仿真,论证了方案的可行性及有效性。     

基于D-最优的惯性平台自标定方案设计

惯性平台自标定的标定方案设计目前多是依靠经验人为设计,而没有比较系统的标定方案设计方法,为解决此问题,提出了一种基于D-最优理论的惯性平台自标定方案设计方法。首先分析给出了包含36个待估计参数的平台系统误差模型;然后以陀螺仪和加速度计的输出模型为回归模型,将惯性平台自标定看作一个广义的多元回归问题,以D-最优理论为优化准则,提出了并行设计和串行设计两种标定方案设计思路。将得到的优化方案与传统的十六位置标定方案进行了仿真对比分析,仿真结果表明:优化方案的陀螺仪误差系数、加速度计误差系数和加速度计安装误差系数标定相对误差都在1%以下,与传统十六位置标定方案的标定精度相当;但优化方案的陀螺仪安装误差标定相对误差在5%左右,远远优于传统十六位置标定方案25%的相对误差;而且优化方案的标定位置更少,能够减少标定时间,验证了标定方案设计思路的正确性。     

周期性扰动引起的物体单向运动

物体的运动与一些阀值有关, 因而周期性扰动可能引起单向运动. 对几个简单的事例说明了 相关力学原理.     

Optimal control of nonholonomic motion planning for a flee-falling cat

The nonholonomic motion phnning of a free-falling cat is investigated.Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws.When the total angular momentum is zero,the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum.The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat.Based on Ritz approximation theory,the Gauss-Newton method for motion planning by a falling cat is proposed.The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.     

Optimal control of nonholonomic motion planning for a free-falling cat

The nonholonomic motion planning of a free-falling cat is investigated. Non-holonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.     

一种改进的基于SINS/GNSS的水平重力扰动测量方法

针对水平重力扰动的动态测量问题,提出了一种改进的基于SINS/GNSS的水平重力扰动测量方法。首先,基于SINS/GNSS重力矢量直接求差模型,考虑Kalman滤波增益引起的传递函数零极点的改变,建立了包含系统时间延迟的直接求差模型,得到水平重力扰动求解值与真实值间的函数关系;然后给出简化重力扰动模型下修正后的水平重力扰动测量表达式;最后,用EGM2008模拟的一段水平重力扰动数据对改进模型进行仿真验证。仿真结果表明改进的直接求差模型测量的水平重力扰动相对于EGM2008模型误差不超过7mGal。     

量测噪声有限记忆在线估计简化算法

量测噪声有限记忆在线估计方法通过对新息序列的实时统计计算,更新系统量测噪声阵 R,增强了滤波器的自适应能力。但量测噪声有限记忆在线估计方法需要在每个滤波周期内对量测噪声阵 R 进行估计并更新统计周期内的量测新息,存在着信息统计与数据更新计算量大的不足。针对此问题,提出了一种基于协方差匹配技术的自适应滤波算法,将协方差匹配技术与量测噪声有限记忆在线估计方法相结合,根据协方差匹配结果,选择性统计量测噪声阵 R。仿真结果表明,简化算法可以在保证滤波精度相当的前提下,减小计算量,提高实时性。     

Fluid experimental flow estimation based on an optical-flow scheme

We present in this paper a novel approach dedicated to the measurement of velocity in fluid experimental flows through image sequences. Unlike most of the methods based on particle image velocimetry (PIV) approaches used in that context, the proposed technique is an extension of “optical-flow” schemes used in the computer vision community, which includes a specific enhancement for fluid mechanics applications. The method we propose enables to provide accurate dense motion fields. It includes an image based integrated version of the continuity equation. This model is associated to a regularization functional, which preserve divergence and vorticity blobs of the motion field. The method was applied on synthetic images and on real experiments carried out to allow a thorough comparison with a state-of-the-art PIV method in conditions of strong local free shear.     

An improved sample-and-hold reconstruction procedure for estimation of power spectra from LDA data

Techniques for deriving the auto or power spectrum (PSD) of turbulence from laser Doppler anemometry (LDA) measurements are reviewed briefly. The low pass filter and step noise errors associated with the sample-and-hold process are considered and a discrete version of the low pass filter for the resampled signal is derived. This is then used to develop a procedure by which the PSD estimates obtained from sample and hold measurements can be corrected. The application of the procedures is examined using simulated data and the results show that the frequency range of the analysis can be extended beyond the Nyquist frequency based on the mean sample rate. The results are shown to be comparable to those obtained using the method of Nobach et al. (1998) but the new procedures are more straightforward to implement. The technique is then used to determine the PSD of real LDA data and the results are compared with those from a hot wire anemometer.     

基于Gauss伪谱法的3D刚体摆姿态最优控制

研究Gauss伪谱法求解3D刚体摆姿态最优控制问题．针对其最优姿态控制问题,既要满足由任意位置运动到平衡位置姿态运动规划问题,又要满足系统含有动力学约束的力学模型问题,提出基于四元数来描述3D刚体摆的数学模型,建立3D刚体摆姿态的动力学和运动学方程,为了解决3D刚体摆在平衡位置处的姿态最优控制问题,设计基于Gauss伪谱算法的最优姿态开环控制器,得到了3D刚体摆的姿态最优控制轨迹,得到满足的可行解,通过仿真实验验证了其开环解在平衡位置的控制姿态最优性．     

Optimal estimation of eddy viscosity for a quasi-three-dimensional numerical tidal and storm surge model

It is shown that the eddy viscosity profile in a quasi-three-dimensional numerical tidal and storm surge model can be estimated by assimilation of velocity data from one or more current meters located on the same vertical line. The computational model used is a simplified version of the so-called vertical/horizontal splitting algorithm proposed by Lardner and Cekirge. We have estimated eddy viscosity both as a constant and as a variable parameter. The numerical scheme consists of a two-level leapfrog method to solve the depth-averaged equations and a generalized Crank-Nicolson scheme to compute the vertical profile of the velocity field. The cost functional in the adjoint scheme consists of two terms. The first term is a certain norm of the difference between computed and observed velocity data and the second term measures the total variation in the eddy viscosity function. The latter term is not needed when the data are exact for the model but is necessary to smooth out the instabilities associated with ‘noisy’ data. It is shown that a satisfactory minimization can be accomplished using either the Broyden-Fletcher-Goldfarb-Shanno (BFGS) quasi-Newton algorithm or Nash's truncated Newton algorithm. Very effective estimation of eddy viscosity profiles is shown to be achieved even when the amount of data is quite small.