IN-FLIGHT ALIGNMENT OF INERTIAL NAVIGATION SYSTEM BY CELESTIAL OBSERVATION TECHNIQUE

This paper presents an in-flight alignment technique for a strapdown inertial navigation system (SINS) and employs a star pattern recognition procedure for identifying stars sensed by a CCD electrooptical star sensor.Collinearity equations are used to estimate sensor frame star coordinates and the conventional least square differential correction method is used to estimate the unknown orientation angles. A comparison of this attitude with the attitude estimated by the SINS provides axis misalignment angles. Simulations using a Kalman filter are carried out for an SINS and the system employs a local level navigation frame. The space stabilized SINS is discussed in conjunction with the celestial aiding. Based on the observation of the Kalman filter, the estimating and compensating gyro errors, as well as the position and velocity errors caused by the SINS misalignments are calibrated by celestial attitute information.     

ADAPTIVE CONTROL APPROACH FOR PERIODIC RATE RIPPLES IN INERTIAL GUIDANCE TEST EQUIPMENT

The rate performance of inertial guidance test equipment (IGTE) affects the performance testing of inertia devices and navigation systems. Periodic rate ripples caused by periodic disturbances have a great effect on the rate performance of rotation test tables. The mechanism caused by the rate ripple in IGTE is analyzed. Based on the nonlinear self-adaptive control system approach, a control system scheme is proposed to eliminate the period disturbances for its uncertainty. Experimental results show that the periodic rate ripple can efficiently be controlled.     

Experiment on a Semi-Active In-Car Crib with Joint Application of Regular and Inverted Pendulum Mechanisms Using Scale Model

To reduce the collision shock and risk of injury to an infant in an in-car crib(or in a child safety bed)during a car crash,it is necessary to limit the force acting on the crib below a certain allowable value.To realize this objective,we propose a semi-active in-car crib system with the joint application of regular and inverted pendulum mechanisms.The crib is supported by arms similar to a pendulum,and the pendulum system itself is supported by arms similar to an inverted pendulum.In addition,the arm acting as a regular pendulum is joined with the arm acting as an inverted pendulum through a linking mechanism for simplicity,and the friction torque of the joint connecting the base and the latter arm is controlled using a brake mechanism,which enables the proposed in-car crib to gradually increase the deceleration of the crib and maintain it at around the target value.This system not only reduces the impulsive force but also transfers the force to the infant′s back using a spin control system,i.e.,the impulse force is made to act perpendicularly on the crib.The spin control system was developed in our previous work.The present work focuses on the acceleration control system.A semi-active control law with acceleration feedback is introduced using the sliding mode control theory.Especially,a feedback system of the crib acceleration relative to the vehicle is proposed for the high-vibrational environment.Further,a control experiment using scale model is conducted to confirm the effectiveness,and some results are reported.     

WIFI AIDED INTEGRITY IMPROVEMENT IN MEMS INS/GNSS INTEGRATION

The reliability of global navigation satellite system （GNSS） positioning degrades when satellite signals are interfered. Such degradation is hard to be deteced by a micro-electro mechanical system （MEMS） based inertial system（INS）/GNSS, integrating navigation system with a conventional Kalman filtering, which results in poten- tial integrity problem of the system. Hence, an algorithm combining wireless fidelity （WiFi） signal with a federa- ted Kalman filter （FKF） is proposed to identify the system integrity in dense urban navigation. The criterion of the system integrity detection is created followed by the derivation of the integrity coefficient. The field test shows that integrity changes can be captured by applying WiFi, and the maximum positioning error is reduced by 67~ without compensation of inertial sensors in integrity deterioration.     

MULTI-FUNCTION VEHICLE NAVIGATION AND MONITORING SYSTEM IN URBAN AREAS

A vehicle navigation and monitoring system integrated by a high precision navigation system and a vehicle black box is studied to satisfy the demand for the intelligent transportation system (ITS). Firstly, the architecture of the system is proposed. Then the integration scheme of global positioning system/dead reckoning/bluetooth beacon/map matching (GPS/DR/BB/MM) with the hluetooth assistant positioning technology, and the algorithm of the Kalman filter for the integrated GPS/DR are investigated. Finally many field trials for principle prototypes are made. Experimental results show that the proposed integrated navigation algorithm is effective and feasible, and the function of the vehicle black-box is realized.     

Release Method of Microobjects Based on Piezoelectric Vibration

A release method of microobjects is presented based on the piezoelectric vibration.To achieve an effective release,the piezoelectric vibration is added to overcome adhesion force happened in the microoperation.This technique employs inertia force to overcome adhesion force,thereby achieving 90%repeatability with a releasing accuracy of 4± 0.5μm,which was experimentally quantified through the manipulation of 20—80μm polystyrene spheres under an optical microscope.Experimental results confirmed that this adhesion control technique was independent of substrate.Theoretical analyses were conducted to understand the releasing mechanism.Therefore,the micromanipulation system proved to be effective for active releasing of micromanipulation.A novel gripper structure with triple finger is devised.In the design,three cantilevers are considered as the end effectors of the fingers,driven by piezoelectric ceramic transducer(PZT).Tungsten tipped probes are used to pick and place the micro objects.     

Effects of Deck Motion and Ship Airwake on Ski-Jump Takeoff Performance of Carrier-Based Aircraft

We first analyzed the force and motion of naval aircraft during launching process.Further,we investigated the ship deck with the form of a ramp and established deck motion model and ship airwake model.Finally,we conducted simulations at medium sea.Results showed that the effects of deck motion on takeoff varied with initial phases,and airwake could help reducing aircraft′s sinkage.We also found that the deck motion played a major role in the effects caused by the interaction of deck motion and ship airwake.     

LEO AUTONOMOUS NAVIGATION BASED ON IMAGE MOTION

A method of LEO autonomous navigation is presented based on the nonlinear satellite velocity relative to the earth. The velocity is detected by a high-speed camera, with the attitude information detected by a star sensor. Compared with traditional autonomous navigation by landmark identification, the satellite velocity relarive to the earth is obtained by correlativity analysis of images. It does not need to recognize ground objects or views. Since it is not necessary to pre-store the database of ground marks, lots of memory space can be saved.The state and observation equations are constructed, and the filtering is processed by the Kalman filter. Simulation results show that the system has high autonomous navigation precision in LEO autonomous navigation.     

OUTPUT MAXIMIZATION CONTROL FOR VSCF WIND ENERGY CONVERSION SYSTEM USING EXTREMUM CONTROL STRATEGY

The energy conversion optimization control strategy is presented for a family of horizontal-axis variablespeed fixed-pitch wind energy conversion systems,working in the partial load region.The system uses a variablespeed wind turbine(VSWT)driving a squirrel-cage induction generator(SCIG)connected to a grid.A new maximum power point tracking(MPPT)approach is proposed based on the extremum seeking control principles under the assumption that the wind turbine model and its parameters are poorly known.The aim is to drive the average position of the operation point close to optimality.Here the wind turbulence is used as search disturbance instead of inducing new sinusoidal search signals.The discrete Fourier transform(DFT)process of some available measures estimates the distance of operation point to optimality.The effectiveness of the proposed MPPT approach is validated under different operation conditions by numerical simulations in MATLAB/SIMULINK.The simulation results prove that the new approach can effectively suppress the vibration of system and enhance the dynamic performance of system.     

Modeling and Simulation for Refueling Boom and Receiver in Coupled Mode

In coupled mode,the major problem of boom refueling system is undesirable nozzle loads.An automated load alleviation system(ALAS)is needed to alleviate nozzle loads.In order to simulate dynamic of the system and to validate ALAS,dynamic model is developed.Two models are established,which are the static model and the moving model,named after the two relative states between the fixed boom and the extension boom.Kane method is employed as main method considering system′s multi-body characteristics.D′Alembert′s principle is used to calculate nozzle loads.Simulation is conducted to research the effects of position disturbance and velocity disturbance on nozzle loads.Results indicate that position disturbance plays a more significant role in inducing nozzle loads.A fuzzy control law based ALAS is validated using the formulated model.It is concluded that this model can simulate system dynamic and validate ALAS.     

GPS/IMU组合导航系统中杆臂效应分析(英文)

研究了组合导航系统中杆臂效应引起的干扰比力问题。文中给出了几种飞行状态下由杆臂效应引起的导航误差。分析表明 ,当飞机作机动飞行时 ,杆臂效应引起的干扰比力是主要的误差源之一 ,并且由干扰比力产生的导航误差随时间快速积累。因此 ,在组合导航系统中必需考虑在线的补偿方法 ,以便补偿由杆臂效应引起的导航误差。     

A FAST KALMAN FILTER FOR INTEGRATED GPS/INS BASED ON U D FACTORIZATION

研究了基于Ｕ－Ｄ分解的快速Ｋａｌｍａｎ滤波算法,并将它应用到一个２１状态的ＧＰＳ／ＩＮＳ组合导航系统工程实现中。常规的Ｋａｌｍａｎ滤波器已广泛应用于ＧＰＳ／ＩＮＳ组合系统,但由于系统建模误差和计算舍入误差,Ｋａｌｍａｎ滤波器在工程应用中会出现发散现象。为了解决这个问题,本文推导了一个基于Ｕ－Ｄ的扩展Ｋａｌｍａｎ滤波器。此外,由于高阶组合系统计算量大,导致基于Ｕ－Ｄ分解的滤波器在实时应用中有困难,为此,本文提出了一种快速的滤波算法来节省计算时间。文中设计了一条近于实际的飞机航迹来仿真。结果表明,本文所提的滤波算法能有效地克服组合系统滤波器发散问题,并减少计算时间近６９％。     

DISTRIBUTED OPTIC－FIBER FORCE SENSOR BASED ON MODE COUPLING EFFECTS IN HIGH－BIREFRINGENT FIBER

ＤＩＳＴＲＩＢＵＴＥＤＯＰＴＩＣ－ＦＩＢＥＲＦＯＲＣＥＳＥＮＳＯＲＢＡＳＥＤＯＮＭＯＤＥＣＯＵＰＬＩＮＧＥＦＦＥＣＴＳＩＮＨＩＧＨ－ＢＩＲＥＦＲＩＮＧＥＮＴＦＩＢＥＲＬｕｏＦｅｉ（ＤｅｐａｒｔｍｅｎｔｏｆＴｅｓｔｓＭｅａｓｕｒｅｍｅｎｔｓＥｎｇｉｎｅ...     

基于天文观测技术的惯性导航系统的空中对准

提出了一种基于CCD星敏感器的捷联惯性导航系统的空中对准方法.应用双线性方程求解被观测星在星敏感器坐标系中的坐标值及传统最小二乘微分校正法求解捷联惯性导航的姿态,该姿态值与捷联惯性导航解算姿态的差值就是惯性导航系统的失准角.作为Kalman滤波器的观测量,计算机仿真结果表明,天文姿态信息有效地校正了陀螺漂移和初始失准角引起的位置和速度误差.     

试飞数据库管理系统实现研究

试飞数据库管理系统(FTDBMS)是支持军机、民机、直升机等各类试飞数据处理需要的工程数据库管理系统。文中分析了试飞数据库管理系统的特点,重点分析了历程和非历程数据的特征,给出了试飞工程数据管理的实现方法,提出了松耦合和紧耦合两种数据访问接口,描述了试飞数据标识体系及其工作原理,该系统的研制将我国试飞数据处理软件提高到集成化、广适应、标准化、可重用的新阶段     

发射系下SINS/GPS/CNS组合导航系统联邦粒子滤波算法

传统的扩展卡尔曼滤波(Extended Kalman filter, EKF)算法应用于未来高超、空天飞行器的组合导航系统时,因其模型线性化展开会导致模型不准确,从而引起导航精度下降;采用蒙特卡洛方法来实现递推贝叶斯估计问题的粒子滤波(Particle filter,PF)算法能有效避免引入线性化误差,具有一定的优势。据此,针对高超、空天飞行器在发射过程中通常需要直接获得发射惯性系下的高精度导航参数的需求,提高发射惯性系下弹载组合导航系统滤波算法的精确性就尤为重要,PF滤波算法无需对非线性系统进行线性化展开即可直接实现对非线性系统的状态误差估计。为此,本文将PF滤波算法引入空天飞行器SINS/GPS/CNS多信息融合组合导航系统,设计了发射系下基于联邦滤波器的PF滤波算法,实现了对组合导航系统状态参数的直接建模估计。算法仿真结果表明,相较于发射系下SINS/GPS/CNS组合导航系统联邦EKF滤波算法,PF滤波算法有效提高了组合导航系统滤波精度。     

某型无人机自动着陆系统研究

论述了用ＤＧＰＳ／ＳＩＮＳ／ＲＡ组合导航系统引导的某无人机自动着陆系统的总体方案，利用该无人机的小扰动线性化方程，对其轨迹控制系统进行了分析设计。在不采用速度控制系统的情况下，利用该无人机的全量微分方程，对其在各种起始状态及各种干扰下的自动着陆过程进行了仿真。仿真结果表明，着陆性能符合要求。     

Guidance and Control Techniques of Carrier-Based Aircraft for Automatic Carrier Landing

We summarize the guidance and control techniques of automatic carrier landing for carrier-based aircraft.First,we analyze the carrier landing operations of the manned fixed-wing aircraft,unmanned fixed-wing aircraft and helicopters.Second,we look into the navigation and guidance system and the flight control methods for current different aircraft.Finally,we draw several conclusions of the development prospects for aircraft carrier landing,including the precision landing control techniques,precision approach and landing guidance techniques,and adaptive,reconfigurable and intelligent flight control techniques.     

惯性速度辅助下GPS／捷联惯导组合系统性能研究

ＧＰＳ／惯性导航组合系统目前正得到越来越广泛的应用，但ＧＰＳ接收机载波环失锁时，码环的速率辅助信息来自惯导系统，由于惯性速度的不精确性及伪距测量误差和它之间的相关性，将可能导致组合系统工作的不稳定，本文根据码环的工作特性，在组合卡尔曼滤波器中考虑了码环的跟踪误差，利用ＧＰＳ／捷联惯导组合系统的导航性能，结果表明，ＧＰＳ／捷联惯导组合系统中，若消除了伪距测量误差与惯性速度误差之间的相关性，将可较显著     

无人机六自由度简化模型和风扰动处理

在不具备数模混合仿真实验的条件下,本文提出了在模拟计算机上,无人驾驶飞机六自由度非线性全量方程的飞行控制系统动态物理模拟仿真和对阵风扰动处理的方法。飞行控制系统动态物理模拟仿真是在几种特定的状态下进行的,考虑到模拟机上实现的可能,在每个状态计算飞机气动力和气动力矩系数时,冻结高度、速度、质量,使这些系数简化为常数或单变量函数,预先在数字计算机上算好,或者计算好一部分使模拟机上实施简单,少用非线性部件,减少了误差。但在计算阻力时,不冻结速度,考虑速度负反馈。从而实现了对大机动无人机KJ-9C和超低空无人机KJ-9E飞行控制系统的动态物理模拟仿真。