基于磁/惯性传感器旋转弹体定姿的Kalman滤波器设计

微惯性传感器精度较低,其漂移会引起很大的姿态误差,不能提供长时间稳定姿态;磁传感器组合的姿态角误差不随时间累积但姿态角更新速度慢。针对这一问题提出了利用磁/惯性传感器构建低成本姿态探测系统的方案,设计了Kalman滤波器融合二者信息——以磁传感器解算的姿态角和等效旋转矢量法解算的姿态角之差作为观测量,以惯性传感器的漂移和姿态误差角作为状态变量,整个解算过程无需使用地磁场强度。仿真结果表明了该算法的有效性,二者组合定姿可实现高精度的姿态测量。     

小卫星二次分离的动力学仿真

采用Adams软件对子星释放过程进行仿真. 在建立 分离方案的简化模型、选定合理设计参数的基础上,以1颗子星分离为例,基于Adams 平台对分离过程进行仿真,然后基于多体动力学理论对分离过程进行动力学计算,得到了 子星的分离速度和角速度. 仿真结果和动力学计算结果是一致的,验证了Adams 模型计算的正确性.     

姿态倾斜对时-空联合调制型干涉成像光谱仪成像质量的影响

时空联合调制型干涉成像光谱仪获取的像面干涉图是带有干涉条纹的二维空间图像,具有对姿态变化敏感的特点.根据该类仪器的成像过程,在竖直摄影时,相邻两帧像面干涉图之间的像移量为一列像元;偏离竖直摄影时,由于像面干涉图的几何变形或旋转,会引入非正常像移.利用共线方程导出了这一非正常像移量的表达式.利用仿真计算说明:这一非正常像移会在像面干涉图序列中不断积累,导致提取出的物体干涉信息失真.在竖直摄影而平台指向精度较低、倾斜摄影、探测器阵列的安装方向精度较低或者航空成像且存在偏流角时,必须对像面干涉图进行有效校正,才能保证最终反演出的物体光谱的真实性.     

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。     

GPS测姿技术在航天测量船的应用分析

简要介绍了航天测量船测姿系统的特点,概要分析了GPS测姿技术的原理,着重论述了GPS测姿技术在测量船上应用的可行性。     

飞机姿态测量误差对测量船校飞精度的影响

通过对校飞数据处理方法及实测数据的分析,阐述了飞机姿态测量误差对测量船校飞精度的影响,并针对校飞飞机的姿态测量提出了新的方法。     

Improving senior secondary school students’ attitude towards mathematics through self and cooperative-instructional strategies

This study investigated the effects of self and cooperative-instructional strategies on senior secondary school students’ attitude towards Mathematics. The moderating effects of locus of control and gender were also investigated. The study adopted pre-test and post-test, control group quasi-experimental design using a 3 ×?2 ×?2 factorial matrix with two experimental groups and one control group. Three hundred and fifty SSS II students from six purposively selected secondary schools in Ijebu-North Local Government Area of Ogun State were the subjects. Three instruments were developed, validated and used for data collection. Analysis of Covariance (ANCOVA) and Scheffé post hoc analysis were the statistics used for data analysis. Findings showed that the treatments had significant main effect on students’ attitude towards Mathematics. The participants exposed to self-instructional strategy had the highest post-test mean attitude score. The study found no significant main effects of locus of control and gender on the participants’ attitude towards Mathematics. It was concluded that Mathematics teachers should be trained to use self and cooperative learning packages in the classroom, since the strategies are more effective in improving students’ attitude towards Mathematics than the conventional method.     

Magnetic torque attitude control of a satellite using the state-dependent Riccati equation technique

A non-linear attitude control method for a satellite with magnetic torque rods using the state-dependent Riccati equation (SDRE) technique has been developed. The magnetic torque caused by the interaction with the Earth's magnetic field and the magnetic moment of torque rods plays a role of the control torque. The detailed equations of motion for this system are presented using angular velocity and quaternions. The SDRE controller is developed for the non-linear systems which can be formed in pseudo-linear representations using the state-dependent coefficient (SDC) method without linearization procedure. The aim of this control system is to achieve a stable attitude within 5°, and minimize the control effort. The stability regions for the SDRE controlled satellite system are estimated through the investigation of the stability conditions developed for pseudo-linear systems and the application of Lyapunov's theorem. For comparisons, the Linear Quadratic Regulator (LQR) method using the solution of the algebraic Riccati equation (ARE) is also applied to this non-linear system. The performance of the SDRE non-linear control system demonstrates more robustness and stability than the LQR control system when subjected to a wide range of initial conditions.     

模糊数排序的一种新方法

给出了模糊数排序的一种新方法,并且详细研究了它的一些性质.该方法不仅可以对隶属函数为三角形、梯形等较特殊形式的模糊数进行排序,而且还可以比较隶属函数为多个分段单调函数的模糊数,同时它也考虑了决策者的风险态度.最后进行了算例分析.