Walking an unknown street with bounded detour

A polygon with two distinguished vertices, s and g, is called a street if the two boundary chains from s to g are mutually weakly visible. For a mobile robot with on-board vision system we describe a strategy for finding a short path from s to g in a street not known in advance, and prove that the length of the path created does not exceed 1 + π times the length of the shortest path from s to g. Experiments suggest that our strategy is much better than this, as no ratio bigger than 1.8 has yet been observed. This is complemented by a lower bound of 1.41 for the relative detour each strategy can be forced to generate.     

基于Geant 4的介质深层充电电场计算

基于Geant4模拟了电子在Teflon介质中的电荷输运过程,获得了其内部的电流密度、剂量率和电荷沉积量沿深度的分布曲线,进而利用电荷连续性方程、泊松方程和深层俘获方程求解出Teflon中高能量、小束流电子辐照下的电场分布. 将介质平板充电过程简化为屏蔽铝板与分层介质组成的Geant4模型,电子源为1.0MeV,0.1pA/cm²的平面源. 通过记录经过各层介质的电子电量和各层介质内沉积能量和电子数目,用统计平均的方法获得了介质内电流密度、剂量率和电荷沉积量沿深度的分布规律. 介质内 关键词： 卫星 介质深层充电 Geant4 电场     

Entanglement complexity of lattice ribbons

We consider a discrete ribbon model for double-stranded polymers where the ribbon is constrained to lie in a three-dimensional lattice. The ribbon can be open or closed, and closed ribbons can be orientable or nonorientable. We prove some results about the asymptotic behavior of the numbers of ribbons withn plaquettes, and a theorem about the frequency of occurrence of certain patterns in these ribbons. We use this to derive results about the frequency of knots in closed ribbons, the linking of the boundary curves of orientable closed ribbons, and the twist and writhe of ribbons. We show that the centerline and boundary of a closed ribbon are both almost surely knotted in the infinite-n limit. For an orientable ribbon, the expectation of the absolute value of the linking number of the two boundary curves increases at least as fast as n, and similar results hold for the twist and writhe.     

Physical random access signal design for 5G mobile satellite communication systems

In view of the distinctive characteristics of satellite communication, the physical random access signals used in the terrestrial mobile communication system have to be modified or redesigned for the satellite communication system. In this paper, we boost the random access signal energy by repeating the short Zadoff–Chu (ZC) sequence based preamble signal used in the terrestrial system. Different long ZC sequences are used to scramble this cascaded sequence to distinguish different random access signals for multiple random access user equipments. For correlation performance optimization, properties of the roots for both the short and long ZC sequences are mathematically analyzed and derived. Finally, we illustrate how to construct a root set for these different long ZC sequences based on the obtained propositions in a practical way. This analytical framework provides a useful insight into ZC sequence-based random access signal design and performance analysis in mobile satellite communication systems.     

Velocity measurement for moving surfaces using spatial filtering method based on area image sensor

The idea of using spatial filtering method to measure velocity of vehicles for an inertial navigation system is put forward. Corresponding optical system, including a 532 nm solid-state laser as active illumination, is established. A 17.92 mm × 14.34 mm area charge coupled device (CCD) is employed both as detector and as spatial filter. The spatial filtering characteristics are theoretically analyzed using a power spectral density function. The spatial filtering operation of CCD is performed fully by software. Therefore, the parameters of the spatial filter, such as the size and the number of spatial period, are changeable. In addition, the CCD is arranged as two differential spatial filters without any other additional elements. Experiments are carried out to examine the feasibility of CCD as two differential spatial filters and the influence of the number of spatial period on the signal frequency. The results indicate that the more number of spatial period the more accurate measurements can be obtained, and show that the relation between signal frequency and velocity has good linearity. So this velocimeter is suitable to provide velocity information for a vehicle self-contained inertial navigation system.     

Research on speckle noise of laser Doppler velocimeter for the vehicle self-contained navigation

A novel multipoint layer-type laser Doppler velocimeter (MLLDV) is designed to measure the velocity of a vehicle for the self-contained navigation system. In order to investigate the speckle's influence on the Doppler spectrum, formulas of time-lagged covariance and speckle broadening were derived for our MLLDV. Simulations and experiments are made for detailed analysis. The results show that the time-lagged covariance of photocurrent is directly proportional to the incident angle, and is inversely proportional to the elevation fluctuation of the ground together with the velocity of the vehicle. Speckle broadening is a function of the vehicle's velocity, the 1/e² Gaussian spot radius and the phase correlation length of the ground. For our MLLDV, Doppler frequency and Doppler broadening are both directly proportional to the velocity of the vehicle. Besides, the ratio between Doppler broadening and the corresponding Doppler frequency is about 0.72% when the speed of the vehicle varies from 0 to 9.6 m/s.     

一种新的卫星钟差Kalman滤波噪声协方差估计方法

采用Kalman滤波方法进行钟差参数计算和预报时, 需确定Kalman滤波噪声协方差矩阵. 针对这一问题, 提出了一种新的卫星钟差Kalman滤波噪声协方差估计方法, 通过建立新息的相关函数序列与未知的噪声参数间的线性函数模型, 采用最小二乘法进行噪声参数估计. 采用精密钟差数据进行钟差参数估计和预报分析, 结果表明, 该方法具有较好的收敛性, 并与顾及随机噪声模型的开窗分类因子自适应抗差估计方法进行对比分析, 验证了新方法的正确性和有效性.     

基于3G-ASCX的小型飞行器异常导航信号检测系统设计

传统方法在异常导航信号信噪比较低时对小型飞行器异常导航信号的检测效果不理想。设计并实现了一种基于3G-ASCX的小型飞行器异常导航信号检测系统,硬件设计时着重于ASCX传感器模块、异常导航信号检测模块、主控基站模块、3G/GPRS传输模块的研究,3G/GPRS传输模块的硬件设计中,通过功耗低体积小的CC1100完成异常导航信号的收发,传输过程中通过芯片STC12C5410AD完成电容的平衡转换,选取了MC3486进行电压的转换,最终实现异常信号数据的安全快速传输;软件设计中,系统软件流程设计及异常导航信号检测模块软件设计,最后进行仿真实验,实验结果证明,相比传统系统,所设计系统检测到的小型飞行器异常导航信号同实际测量的异常导航信号具有较高的匹配度,与实际值相比,误差小于1dB,适合推广使用。     

基于标志点识别的自主车视觉导航

提出了一种基于室内标志点识别的单目视觉导航的方法。在地面上有规律地旋转一些标志点,采用辅助先验知识对标志点进行识别和分割,利用透视投影变换得到标志点与摄像机之间的相对距离,达到通过单目摄像机获得景物深度信息的目的。整个算法结构简单,易于实现,对由照明不均匀和地面反光所引起的各种干扰有较好地抑制作用。     

Study on autonomous navigation based on pulsar timing model

The basic principle of pulsar timing model was introduced, and the general relativistic corrections were analyzed when pulse time of arrival (TOA) was transferred to coordinate TOA at the Solar System Barycentre. Based on the shifting, an iterative method of autonomous position determination for spacecraft was developed. Accordingly, the linear form of the position offset equation was evolved. Using the initial estimated value of spacecraft’s position as the input of pulsar timing equation, through calculation of the offset between measured or transferred and predicted TOA, the position offset can be solved by Least Squares. At last, the main error sources including modeling error and parameters error were discussed. Supported by the National Defence Laboratory Foundation of China (Grant No. 9140C3601010901) and Science Foundation of Shaanxi Province (Grant No. 2007F12) and the Technology Specialism Foundation of Shaanxi Education Department of Shaanxi Province (Grant No. 07JK332), and the Innovative Research Plan of Xi’an University of Technology (Grant No. 105-210714)