Geometrical entropy approach for variable structure multiple-model estimation

The variable structure multiple-model(VSMM) estimation approach, one of the multiple-model(MM) estimation approaches, is popular in handling state estimation problems with mode uncertainties.In the VSMM algorithms, the model sequence set adaptation(MSA) plays a key role.The MSA methods are challenged in both theory and practice for the target modes and the real observation error distributions are usually uncertain in practice.In this paper, a geometrical entropy(GE) measure is proposed so that the MSA is achieved on the minimum geometrical entropy(MGE) principle.Consequently, the minimum geometrical entropy multiple-model(MGEMM) framework is proposed, and two suboptimal algorithms, the particle filter k-means minimum geometrical entropy multiple-model algorithm(PF-KMGEMM) as well as the particle filter adaptive minimum geometrical entropy multiple-model algorithm(PF-AMGEMM), are established for practical applications.The proposed algorithms are tested in three groups of maneuvering target tracking scenarios with mode and observation error distribution uncertainties.Numerical simulations have demonstrated that compared to several existing algorithms, the MGE-based algorithms can achieve more robust and accurate estimation results when the real observation error is inconsistent with a priori.     

Three-dimensional cooperative guidance laws against stationary and maneuvering targets

This paper presents the cooperative strategies for salvo attack of multiple missiles based on the classical proportional navigation(PN) algorithm.The three-dimensional(3-D) guidance laws are developed in a quite simple formulation that consists of a PN component for target capture and a coordination component for simultaneous arrival.The centralized algorithms come into effect when the global information of time-to-go estimation is obtained, whereas the decentralized algorithms have better performance when each missile can only collect information from neighbors.Numerical simulations demonstrate that the proposed coordination algorithms are feasible to perform the cooperative engagement of multiple missiles against both stationary and maneuvering targets.The effectiveness of the 3-D guidance laws is also discussed.     

Multi-UAV coordination control by chaotic grey wolf optimization based distributed MPC with event-triggered strategy

The paper proposes a new swarm intelligence-based distributed Model Predictive Control (MPC) approach for coordination control of multiple Unmanned Aerial Vehicles (UAVs). First, a distributed MPC framework is designed and each member only shares the information with neighbors. The Chaotic Grey Wolf Optimization (CGWO) method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem (FHOCP). Then, the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint. Further, an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach, which considers the predicted state errors and the convergence of cost function. Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.     

基于多活性代理的多星测控调度方法

多星测控调度问题是一个具有多时间窗口、多资源约束的优化问题,其中多星测控任务调度的建模和求解算法是关键。在多活性代理理论的基础上,引入任务调度活性度概念及多活性代理活性保持的协调协商机制,建立基于活性度的多星测控调度模型,并给出一种多活性代理协调协商遗传算法。最后给出实验示例对所提出的算法进行仿真验证。仿真实验表明,所提出的基于多活性代理协商协调的模型及算法能够更好地解决多星测控任务调度问题。     

USME:统一SLAM度量与评测技术研究

同时定位与建图(SLAM)技术近年来得到迅速发展,但由于缺乏在统一框架下对算法的度量和比较,对SLAM的客观评估和应用造成障碍。提出了统一SLAM度量与评测(USME)框架,从指标体系、数据集及评测方法三个维度为各种SLAM方法的性能度量及比较研究提供基准。针对不同场景,建立了包括长时间运行漂移量,闭环检测能力,存在相机遮挡、光照变化和运动物体时SLAM方法的鲁棒性,以及多体协同性能等的综合性能指标体系。基于三维仿真平台,以指标体系为基准建立了合成数据序列及对应数据集,以对性能指标进行度量与评估。还建立了平均指标均值的数据处理与评测方法,以综合评价不同参数选择对方法性能的影响。通过典型SLAM方法验证了上述方法的可行性。     

多导弹齐射攻击协同制导(英文)

Cooperative guidance problems of multiple missiles are considered in this article. A cooperative guidance scheme, where coordination algorithms and local guidance laws are combined together, is proposed. This scheme actually builds up a hierarchical cooperative guidance architecture, which may provide a general solution to the multimissile cooperative guidance problems. In the case of salvo attacks which require missiles to hit the target simultaneously, both centralized and distributed coordination algorithms are derived based on the impact-time-control guidance （ITCG） law. Numerical simulations are performed to demonstrate the effectiveness of the proposed approaches.     

条带模式合成孔径雷达回波数据的聚束成像算法处理

对条带模式SAR和聚束模式SAR的关系进行了研究,给出了一种如何利用聚束成像算法来处理条带模式SAR的原始回波数据的方法,这种方法基于两种模式成像处理器输入数据的不同特点和Dechirp解调原理,同时使用了频谱扩展的方法。在没有聚束模式SAR原始回波数据的情况下,可使用本文的方法利用条带SAR数据来模拟聚束SAR数据,以便研究聚束成像算法。此外在条带 SAR成像过程中,利用文中给出的算法,可以对某一小的目标区域进行精细成像。也可将此方法用于条带SAR的快视成像中。     

Algorithmic, architectural, and beam pattern issues of sidelobecancellation

Various important issues concerning the sidelobe cancellation (SLC) approach for suppressing sidelobe interference signals in radar are investigated. The concepts are presented in a tutorial manner and include: formulating the calculation of the complex weights for the auxiliary channels as an exact least-squares (LS) problem; computing the LS weights using orthogonal transformation for improved numerical accuracy; and mapping orthogonalization-based algorithms onto systolic arrays. The problem of excessive degrees of freedom (EDOF) associated with utilizing too many auxiliary elements when a relatively small number of jammers are present, is also considered. A divisionless orthogonalization-based algorithm is presented for the computation of the auxiliary weights. Many of these issues have previously been either implicitly stated or only individually addressed in various sources by a number of researchers. Besides showing simulation results and the divisionless procedure for obtaining the final auxiliary weights, a major consideration was to present all of the aforementioned concepts in a coherent and unified framework     

Software approach to access UWB interference on GPS receivers

Ever since the FCC approved the use of UWB devices in commercial and federal bands, various agencies whose operations and/or products rely on the integrity of signals within certain "restricted" radio frequency bands have voiced concerns over the potential impact of the UWB interference. GPS signals are among these "restricted" bands. Several groups in the GPS community have conducted experimental studies concerning the impact of UWB interference on the performance of various grades of commercial and aviation GPS receivers. In this paper, we present a software approach to simulate and evaluate UWB interference on GPS receivers. The software approach provides greater flexibility in the design of testing scenarios, such as the inclusion of a large number of aggregated UWB devices, the generation of new UWB signals and modulation schemes, and the possibility of extending the study to new GPS signals. The paper discusses a general framework for developing algorithms to evaluate UWB and GPS interference under a wide variety of hardware and software conditions. This framework consists of three classes of components: input, processing, and analysis. The input components are responsible for the generation of UWB signal waveforms and modulation schemes, and GPS signals. The processing components include a simulated model of GPS RF front end and software implementation of GPS processing blocks, such as acquisition, tracking, and post-processing. The analysis components focus on the study of specific receiver processing component outputs. Both real and simulated UWB signals can be used in the study. The real UWB signals are primarily used to validate the simulation procedure, whereas the simulated UWB signals are used to allow the immediate incorporation of new UWB waveforms and modulations in the evaluations. This paper presents details of the software components developed and the preliminary results achieved     

可扩展的燃气轮机仿真对象模型

应用面向对象的分析与设计方法进行可扩展的燃气轮机仿真建模研究。将燃气轮机仿真的各种计算任务概括为部件计算、流路计算和系统状态计算三个层次,并在此基础上提出节点-连接器-部件模型,构造了一个部件模型、工质流程及仿真算法均可扩展的仿真类属框架,并通过一个三轴燃气轮机的容积效应法仿真验证了该模型的有效性和可扩展能力。      

Evasion guidance algorithms for air-breathing hypersonic vehicles in three-player pursuit-evasion games

In practical combat scenario, the cooperative intercept strategies are often carefully designed, and it is challenging for the hypersonic vehicles to achieve successful evasion. Based on the analysis, it can be found that if several Successive Pursuers come from the Same Direction (SPSD) and flight with a proper spacing, the evasion difficulty may increase greatly. To address this problem, we focus on the evasion guidance strategy design for the Air-breathing Hypersonic Vehicles (AHVs) under the SPSD combat scenario. In order to avoid the induced influence on the scramjet, altitude and speed of the vehicle, the lateral maneuver and evasion are employed. To guarantee the remnant maneuver ability, the concept of specified miss distance is introduced and utilized to generate the guidance command for the AHV. In the framework of constrained optimal control, the analytical expression of the evasion command is derived, and the constraints of the overload can be ensured to be never violated. In fact, by analyzing the spacing of the pursers, it can be classified whether the cooperative pursuit is formed. For the coordination-unformed multiple pursers, the evasion can be achieved lightly by the proposed strategy. If the coordination is formed, the proposed method will generate a large reverse direction maneuver, and the successful evasion can be maintained as a result. The performance of the proposed algorithms is tested in numerical simulations.     

降落伞系统动力学的面向对象仿真框架

针对当前降落伞系统动力学仿真中存在的问题,引入面向对象分析方法建立了开放性的仿真框架。框架由模型库、算法库和系统库三部分组成。实现了基元模型接口的规范化和模型库的层次化,提高了框架可扩充性和适应性。框架提供了通过基元模型组合来建立系统模型的机制,可支持针对不同系统、不同应用的仿真工作。利用该仿真框架,完成了某型飞船降落伞系统建模仿真,验证了框架的有效性。     

Adaptive data fusion framework for modeling of non-uniform aerodynamic data

Multi-fidelity Data Fusion(MDF) frameworks have emerged as a prominent approach to producing economical but accurate surrogate models for aerodynamic data modeling by integrating data with different fidelity levels. However, most existing MDF frameworks assume a uniform data structure between sampling data sources; thus, producing an accurate solution at the required level, for cases of non-uniform data structures is challenging. To address this challenge, an Adaptive Multi-fidelity Data Fusion(...     

Radar Image Processing with Clusters of Computers

Some radar image processing algorithms such as shape-from-shading are particularly compute-intensive and time-consuming. If, in addition, a data set to be processed is large, then it may make sense to perform the processing of images on multiple workstations or parallel processing systems. We have implemented shape-from-shading, stereo matching, resampling, gridding, and visualization of terrain models in such a manner that they execute either on parallel machines or on clusters of workstations. We were motivated by the large image data set from NASA's Magellan mission to planet Venus, but received additional inspiration from the European Union's Center for Earth Observation program (CEO) and Austria's MISSION initiative for distributed processing of remote sensing images on remote workstations, using publicly-accessible algorithms. We developed a multi-processor approach that we denote as CDIP for Concurrent and Distributed Image Processing. The speedup for image processing tasks increases nearly linearly with the number of processors, be they on a parallel machine or arranged in a cluster of distributed workstations. Our approach adds benefits for users of complex image processing algorithms: the efforts for code porting and code maintenance are reduced and the necessity for specialized parallel processing hardware is eliminated.     

Radar Target Detection and Map-Matching Algorithm Studies

Results of a study of adaptive threshold target detection and map-matching algorithms are presented. Log threshold processing is shown to be preferred over linear threshold processing when the clutter data surrounding the target cell is contaminated by other targets, decoy corner reflectors, or bright clutter cells. Whereas previous studies have resorted to extensive Monte-Carlo simulations of log threshold algorithms, the results were obtained using a novel analytical approach based upon Parseval's theorem.     

Performance complexity study of several approaches to automatictarget recognition from SAR images

A framework which allows for the direct comparison of alternate approaches to automatic target recognition (ATR) from synthetic aperture radar (SAR) images is described and applied to variants of several ATR algorithms. This framework allows comparisons to be made on an even footing while minimizing the impact of implementation details and accounts for variation in image sizes, in angular resolution, and in the sizes of orientation windows used for training. Alternate approaches to ATR are characterized in terms of the best achievable performance as a function of the complexity of the model parameter database. Several approaches to ATR from SAR images are described and the performance achievable by each for a range of database complexities is studied and compared. These approaches are based on a likelihood test under a conditionally Gaussian model, log-magnitude least squared error, and quarter power least squared error. All approaches are evaluated for a wide range of parameterizations and the dependence on these parameters of both the resulting performance and the resulting database complexity is explored. Databases for all of the approaches are trained using identical sets of images and their performance is assessed under identical testing scenarios in terms of probability of correct classification, confusion matrices, and orientation estimation error. The results indicate that the conditionally Gaussian approach outperforms the other two approaches on average for both target recognition and orientation estimation, that accounting for radar power fluctuation improves performance for all three methods, and that the conditionally Gaussian approach normalized for power delivers average performance that is equal or superior to all other considered approaches     

Reachable set modeling and engagement analysis of exoatmospheric interceptor

A novel reachable set(RS) model is developed within a framework of exoatmospheric interceptor engagement analysis. The boost phase steering scheme and trajectory distortion mechanism of the interceptor are firstly explored. A mathematical model of the distorted RS is then formulated through a dimension–reduction analysis. By treating the outer boundary of the RS on sphere surface as a spherical convex hull, two relevant theorems are proposed and the RS envelope is depicted by the computational geometry theory. Based on RS model, the algorithms of intercept window analysis and launch parameters determination are proposed, and numerical simulations are carried out for interceptors with different energy or launch points. Results show that the proposed method can avoid intensive on-line computation and provide an accurate and effective approach for interceptor engagement analysis. The suggested RS model also serves as a ready reference to other related problems such as interceptor effectiveness evaluation and platform disposition.     

遗传模拟退火算法在机动逃逸策略中的应用

针对垂直平面内的机动逃逸策略问题,提出将遗传算法与模拟退火算法相结合的方法———遗传模拟退火算法,能够实现逃逸者的机动逃逸策略,解决了在大状态空间中的全局最优搜索和评价问题,为处理复杂的决策过程提供了一套有效的途径。通过仿真结果表明,基于遗传模拟退火算法的机动策略能够有效地实现逃逸者的机动逃逸。     

Analysis of multiframe target detection using pixel statistics

Current track-before-detect (TBD) algorithms are developed and analyzed using a path statistic for each potential object trajectory. However this path statistic does not characterize overall performance gain. We propose a pixel-based statistic. This allows the TBD approach to be characterized as an image enhancement algorithm with detection gains compared with single frame detections. It is shown that for the TBD approach to have superior detection over single frame detection the target signal-to-noise ratio (SNR) must be greater than a threshold SNR in order to overcome the uncertainty in the target path. Tradeoffs are made for a class of velocity constrained target paths in terms of the detection gain with respect to the maximum target velocity and number of frames integrated     

Multitarget tracking in clutter: fast algorithms for dataassociation

Three fast algorithms have been developed to solve the problem of data association in multitarget tracking in clutter. In the first algorithm, the problem of data association is identified as an exhaustive search problem in general. Subsequently, a mathematical model is proposed for the problem of data association in the joint probabilistic data association filter (JPDAF). Based on the model, a depth-first search (DFS) approach is developed for the fast generation of data association hypotheses and the computation of the conditional probabilities of the hypotheses in the JPDAF. When the density of targets is moderate, a second algorithm is developed to directly compute a posteriori probabilities in the JPDAF without generating the data association hypotheses. In the third algorithm, the effect of interference due to closely spaced targets is simplified. An approach to approximately compute the a posteriori probabilities in the JPDAF is developed. The computational complexity of the algorithms is analyzed in the worst case, as well as in the average case