MEMS-Based Low-Cost Flight Control System for Small UAVs

Small unmanned air vehicles （UAVs） can be used for various kinds of surveillance and data collection missions. The UAV flight control system is the key to a successful mission. This paper describes a low-cost micro-electro mechanical system-based flight control system for small UAVs. The integrated hardware flight control system weighs only 24 g. The system includes a highly-integrated wireless transmission link, which is lighter than traditional links. The flight control provides altitude hold control and global positioning system navigation based on gain scheduling proportional-integral-derivative control. Flight tests to survey the grass quality of a large lawn show that the small UAV can fly autonomously according to a series of pre-arranged waypoints with a controlled altitude while the wireless video system transmits images of the surveillance target to a ground control station.     

基于空地协同采样的植被覆盖度随机森林估算方法

基于无人机高光谱影像,建立地形复杂地区植被覆盖度的非参数随机森林回归估算模型。为获得构建随机森林模型所需的足够数量的训练样本,利用低空无人机搭载的光学相机,在从地面难以到达的山地、水域和植被茂密区,通过垂直拍摄获得厘米分辨率的航拍影像,作为对地面样方采样的补充。首先计算地面数码相机照片和无人机可见光影像的红绿蓝植被指数(red-green-bluevegetationindex,RGBVI),然后使用大津分割法提取样方的植被覆盖信息,得到构建模型所需的训练样本。在此基础上,基于2018年8月16—18日在内蒙古自治区察右中旗油娄沟矿区获取的GaiaSky-mini2无人机高光谱影像数据,利用递归特征消除算法优选参与随机森林回归的特征变量集,利用空地协同获取的训练样本构建植被覆盖度的随机森林回归估算模型。该模型在测试集上的确定系数R2为0.923,均方根误差为0.087,优于常用的像元二分模型,可用于矿区植被动态信息的精细化监测。     

基于改进灰色关联投影法的无人机避让优先运行策略

针对未来混合空域中多种航空器共同执行任务而可能出现飞行避让安全问题,提出了一种基于组合赋权改进灰色关联投影法的无人机避让优先运行策略。首先,从空域管理、航空法规、风险评估等角度分析影响避让过程的因素,构建无人机避让评价指标体系;其次,利用层次分析法和粗糙熵法进行主客观赋权,由合作博弈方法构建离差和最小目标优化函数将主客观权重融合确定最终权重,克服主观赋权随意性和客观赋权过分依赖数据的弊端;随后,利用优劣解距离法(TOPSIS)与灰色关联投影法的融合算法对无人机避让对象进行综合评价,从而获取无人机优先避让运行策略;最后,将融合算法与TOPSIS算法进行对比。结果表明,较于TOPSIS法,所提融合算法获取策略与空域运行实践相符且灵敏度提高了17.08%。因此,新算法避免了单一算法的数据丢失现象,提高了获取策略的准确性,可为混合空域的无人机运行策略获取提供新思路。     

Game theory-based radio resource allocation in NOMA vehicular communication networks supported by UAV

Vehicular communication networks are emerging as a promising technology to provide high-quality internet service such as entertainment for road users via infrastructure-to-vehicle (I2V) communication, and to guarantee road users’ safety via vehicle-to-vehicle (V2V) communication. Some technical issues that impact the performance of these networks are the lack of or poor communication paths between vehicles, and the limitation of radio resources. Unmanned aerial vehicles (UAVs) as promising solutions for supporting vehicular networks could provide communication coverage in hazardous environments and areas with no capacities for installation or maintenance of ground base stations (BSs). Also, non-orthogonal multiple access (NOMA) methods can improve spectral and energy efficiency and thereby allow more users to be connected to the desired network. In this paper, exploring the NOMA, we develop a scheme for optimum resource allocation in presence of a UAV that supports vehicular communications. Resource allocation for this scenario is formulated as a mixed-integer non-linear programming (MINLP) problem. Due to the high complexity of such problems, we propose two low-complexity near-optimal methods. First, we apply difference-of-concave-functions (DC) approximations to solve the problem in an iterative process. Next, we use Stackelberg game-based method for efficient solving, and then, closed-form expressions of optimal power allocations using KKT-conditions are derived. Simulations illustrate the effectiveness of the proposed scheme along with the Stackelberg game-based method.     

400W行波热声发电系统的实验研究

本文阐述了为太阳能发电系统设计的400 W行波热声发电系统(TWTAEG)的实验研究过程.实验系统由行波热声发动机和直线发电机组成,系统采用平均压力为3.5 MPa的氦-氩混合气体为工质,其中氩气分压比为1.4%,系统运行频率为74Hz.实验中最大输出电功为446 W,此时的热电效率为13%;在输出电功为416 W时热...     

基于无人机遥感的绿化园林三维绿量估算与分析——以福州大学校区为例

三维绿量能够从立体空间上描述城市绿地的空间分布和定量评价城市绿化的环境效益。本文以福州大学为研究区，探讨了利用可见光无人机影像估算绿化树木三维绿量的方法，并对校园生态效益进行定量分析。首先获取高于10cm分辨率的无人机可见光遥感影像；其次结合可见光波段的光谱特征与无人机数据点云的高程特征获得研究区的冠层高度模型；然后通过局部最大值算法与标记控制分水岭算法提取单木树高、株数以及冠径参数，通过野外实测数据构建“树高-冠高”关系模型得到冠高；最后结合树种分布情况，按照不同的树冠形状构建三维绿量估算模型，并基于三维绿量估算校园不同树种的生态效益。结果表明：研究区内三维绿量总量达到了804405m3，其中休闲区的三维绿量总量为428566m3，占总绿量的53.3%，而科技园区的三维绿量总量为26568m3，仅占总绿量的3.3%；而常见树种中，三维绿量贡献最大的为榕树，达到404405m3，占三维绿量总量的50.3%，而丹桂贡献的三维绿量仅为509m3，占总绿量的0.063%。研究认为：基于无人机遥感数据，能够较好的估算出研究区内绿化树木的三维绿量。     

无人机航摄大比例尺测图的关键技术分析

为满足大比例尺测图对无人机航空摄影测量的要求,采用理论分析和实例研究相结合的方法生成正射影像图(digital orthoimage map,DOM),探讨了DOM生成过程中的影像畸变纠正、控制点布控、影像镶嵌以及海量数据处理等关键技术.以天津师范大学主校区为试验样区,对技术路线进行验证,结果表明:提出的方法具有可行性,可以满足1∶2 000比例尺测图精度的需要.     

侦察/打击一体化无人机对地攻击控制系统设计

自动攻击系统是侦察/打击一体化无人机控制体系的一个关键技术。基于空地导弹模式,设计了无人机自动攻击系统的结构配置,和传统的耦合器结构形式不同,该配置结构直接将火控系统和飞控系统联系起来,简化了综合控制系统的结构。仿真结果表明,用该系统实行无人机对地自动攻击可获得良好的性能。     

螺旋桨式小型无人机可用功率计算研究

简要分析总结了螺旋桨式活塞发动机功率特性的相关理论及经验公式,以此为基础,研究了滑移现象和机身对螺旋桨效率的影响问题,提出了一种新的计算螺旋桨式无人机可用功率的方法。结果表明：螺旋桨式无人机若飞行高度保持一定,可用功率、螺旋桨效率与巡航速度成正比;若巡航速度保持一定,可用功率、螺旋桨效率与飞行高度成反比。