基于全局稀疏地图的AGV视觉定位技术

为了实现自动导引车（AGV）在复杂工业环境下的高精度定位,克服环境变化给定位带来的影响,提出了基于全局稀疏地图的视觉定位方法。首先,设计了大容量二维编码点,作为人工路标铺设在工业环境的地面;然后,基于一种四边形识别算法,在复杂工业环境中准确分割和识别二维编码点;最后,利用二维编码点提供的编码信息,鲁棒匹配图像中的特征点,并以此为基础,使用一种分参数块优化的三维重建策略,实现了工业环境的大规模地图构建,为AGV视觉定位提供了一种稀疏电子地图。AGV视觉的定位通过匹配车载视觉传感器图像中的特征点和稀疏电子地图实现。停车重复定位精度小于0.5 mm,角度偏差小于0.5°,轨迹平均位移误差小于0.1%。实际应用结果表明,该方法能在复杂工业环境中实现AGV视觉的定位,定位的速度和精度方面都满足工业应用的要求,为AGV的视觉定位提供了新的思路。      

基于星体边缘和轨道投影的光学自主导航算法

针对光学导航中存在的通过星体（球体）图像部分边缘点拟合椭圆参数计算轨道参数产生中间误差的问题,提出利用边缘点映射轨道参数的直接投影模型,避免拟合椭圆参数的方法。在小孔成像模型基础上,建立了边缘点与轨道参数的直接投影数学模型,对其映射过程进行了理论推导,利用列文伯格-马夸尔特迭代算法进行求解轨道参数。用实际探测器以及镜头参数进行数值仿真验证,结果表明：该方法在相同边缘点的条件下,轨道精度可以达到5‰。与传统方法相比,这种方法避免了椭圆的拟合过程,减少了引入中间误差过程。     

A comparative study of ionospheric IRIEup and ISP assimilative models during some intense and severe geomagnetic storms

Three-dimensional (3-D) electron density matrices, computed in the Mediterranean area by the IRI climatological model and IRIEup and ISP nowcasting models, during some intense and severe geomagnetic-ionospheric storms, were ingested by the ray tracing software tool IONORT, to synthesize quasi-vertical ionograms. IRIEup model was run in different operational modes: (1) assimilating validated autoscaled electron density profiles only from a limited area which, in our case, is the Mediterranean sector (IRIEup_re(V) mode); (2) assimilating electron density profiles from a larger region including several stations spread across Europe: (a) without taking care of validating the autoscaled data in the assimilation process (IRIEup(NV)); (b) validating carefully the autoscaled electron density profiles before their assimilation (IRIEup(V)).The comparative analysis was carried out comparing IRI, IRIEup_re(V), ISP, IRIEup(NV), and IRIEup(V) foF2 synthesized values, with corresponding foF2 measurements autoscaled by ARTIST, and then validated, at the truth sites of Roquetes (40.80°N, 0.50°E, Spain), San Vito (40.60°N, 17.80°E, Italy), Athens (38.00°N, 23.50°E, Greece), and Nicosia, (35.03°N, 33.16°E, Cyprus). The outcomes demonstrate that: (1) IRIEup_re(V), performs better than ISP in the western Mediterranean (around Roquetes); (2) ISP performs slightly better than IRIEup_re(V) in the central part of Mediterranean (around Athens and San Vito); (3) ISP performance is better than the IRIEup_re(V) one in the eastern Mediterranean (around Nicosia); (4) IRIEup(NV) performance is worse than the IRIEup(V) one; (5) in the central Mediterranean area, IRIEup(V) performance is better than the IRIEup_re(V) one, and it is practically the same for the western and eastern sectors.Concerning the overall performance, nowcasting models proved to be considerably more reliable than the climatological IRI model to represent the ionosphere behaviour during geomagnetic-ionospheric storm conditions; ISP and IRIEup(V) provided the best performance, but neither of them has clearly prevailed over the other one.     

Association of optical tracklets from a geosynchronous belt survey via the direct Bayesian admissible region approach

The direct Bayesian admissible region approach is an a priori state free measurement association and initial orbit determination technique for optical tracks. In this paper, we test a hybrid approach that appends a least squares estimator to the direct Bayesian method on measurements taken at the Zimmerwald Observatory of the Astronomical Institute at the University of Bern. Over half of the association pairs agreed with conventional geometric track correlation and least squares techniques. The remaining pairs cast light on the fundamental limits of conducting tracklet association based solely on dynamical and geometrical information.     

关于计算机2000年问题的探讨

计算机２０００年问题已引起人们的普遍关注,必须在进入２０００年前予以妥善解决。对其可采用修改应用程序、更换系统软件、更换硬件设备等多种办法进行处理。在应用程序的修改中采用变形的日期移位法是对大多数办公系统容易实现且又行之有效的办法。     

航空嵌入式系统2000年问题分析及检测方法

通过对航空系统嵌入式计算机的应用分析,根据航空系统嵌入式计算机应用领域和重要性的不同,将航空系统分为机载电子系统,遥测与导航系统,设备开发、测试和综合系统,以及生产加工系统四个层次。并针对每个层次绝对时间的使用特征,从系统参数共享到底层电路构型,提出了各自相应的 Ｙ２ Ｋ 问题检查方法,以及相应的检查内容和责任单位。     

用两颗GPS卫星确定低轨卫星轨道的初值方法

研究了用两颗全球定位系统（ＧＰＳ）卫星粗略确定低轨卫星轨道的问题,并着重讨论了其中的初值问题,给出了一种有效的初值方法。实验结果证明：这种方法能给出一个确定的、实用的初值,大大减少了初轨计算的计算量,并使得算法收敛更加有保障。在工程实用方面比传统的猜测方法具有较大的优势。     

非线性两点边值问题的六阶三对角差分法

讨论了满足边界条件y(a)=A 和y(b)=B 的二阶非线性常微分方程y″=f(x,y)的六阶三对角差分法,并从理论和实际计算证明了该方法的六阶收敛性。     

Dirichlet边界条件低阶面无法的改进

对基于内部Ｄｉｒｉｃｈｌｅｔ边界条件的低阶面元法的速度分布提出一个改进算法。由极限过程结合高阶奇异积分的解析计算直接计算物面速度分布取代传统的偶强梯度法,以避免偶极强度边缘外推的困难。改进算法改善了ＶＳＡＥＲＯ分析中诱导阻力系数估值过低的问题。对后掠翼、前掠翼和翼身组合体等算例的计算表明,计算结果的准确度与高阶面元法相近。此外,直接积分法还可正确地计算外部流场速度分布。这是偶强梯度法不能完成的。     

机翼平面形状参数摄动面元法

在内部Ｄｉｒｉｃｈｉｅｔ边界条件的基础上,藉助于对奇异积分的解析微分,可用解析法计算偶强密度对机翼平面形状乡数的敏感性偏导致（建立一般敏感性方程所需）。机翼平面形状参数摄动后其偶强分布即可藉线性外推得出。从而,压力分布、升力和俯仰力矩系数即可快速确定。振动面元法与相应的低阶面无法计算结果表明,该方法有良好的准确度且使计算工作量大大减少（摄动外推所需ＣＰＵ时间比相应的低阶面元法少两个量级）。