一种地理围栏内无人机航迹跟踪方法

针对UTM体制中无人机在地理围栏内的飞行监视问题,提出一种约束状态相关模态转换混合估计算法(CSDTHE)。采用随机线性混杂系统模型对无人机运动状态进行建模,利用CV、CT和CA三种模态描述无人机的飞行状态,以构建地理围栏内无人机运行的通用模态转换模型框架。利用飞行模态改变点(FMCP)定义相关模态转换参数,设计模态转换条件,生成模态转换概率矩阵,从而建立与状态相关的模态转换模型。运用约束卡尔曼滤波(CKF)方法对直线阶段和转弯阶段的无人机运动速度分别施加等式约束,并通过仿真实验验证了CSDTHE算法对无人机跟踪的有效性。     

基于双滤波器的高精度目标跟踪估计方法

针对连续推力的合作航天器，采用双重无迹卡尔曼滤波(DUKF)算法估计其状态和加速度。通过状态滤波器和参数滤波器的配合，提升滤波精度，完成运动状态和参数的估计，从而实现合作目标的运动轨迹跟踪。与合作航天器相比，非合作航天器存在大小未知、发生时刻未知的机动，无法获得加速度，且信息获取和运动状态的估计难度大。针对非合作航天器，基于简化的相对运动方程，结合天基平台获得目标的观测信息，采用两个扩展卡尔曼滤波(EKF)及基于半正焦弦的机动检测策略实现多未知脉冲机动的运动状态的估计。仿真结果表明：相比于无迹卡尔曼滤波（UKF），DUKF在对合作航天器的状态和加速度估计方面具有更快的收敛速度和更高的滤波精度；对于存在未知机动的非合作航天器，通过对比验证机动检测策略与滤波器切换策略相结合的方法的有效性，该方法能够检测到多次机动并且减少误判。     

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

In the presence of unknown disturbances and model parameter uncertainties, this paper develop a nonlinear backstepping sliding-mode controller (BSMC) for trajectory tracking control of a stratospheric airship using a disturbance-observer (DO). Compared with the conventional sliding mode surface (SMS) constructed by a linear combination of the errors, the new SMS manifold is selected as the last back-step error to improve independence of the adjustment of the controller gains. Furthermore, a nonlinear disturbance-observer is designed to process unknown disturbance inputs and improve the BSMC performances. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and SMC design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission, even in the presence of unknown disturbances, and aerodynamic coefficient uncertainties.     

电铸镍Wolter I型光学系统制造技术发展综述

摘要： 为满足未来脉冲星导航和空间天文观测任务对X射线望远镜的载荷需求，Wolter I光学系统的研制正逐渐成为新的研究热点，电铸镍方案是当前国内外X射线光学系统镜筒制造的主要技术方案.文章对电铸镍X射线光学系统制造工艺、国内外研制现状、未来应用需求进行了介绍和整理，梳理了电铸镍X射线光学系统研制遇到的关键技术和难点，提出了后续研究发展建议，以促进中国在 X射线脉冲星自主导航、空间探测领域的快速发展.     

直线模拟加载系统的研究进展与发展趋势

直线模拟加载系统是一种用于在实验室条件下模拟承载对象工作时所受直线负载力的半实物仿真系统，可用于模拟各类飞行器关键部件在工作过程中所受的气体阻力载荷。针对目前常用的机械式、电液式和电动式直线模拟加载系统，分析其基本加载原理和研究进展，结合自行研制的电动式直线模拟加载系统进行了深入探讨。针对多余力抑制方法的关键问题，详细论述了直线负载模拟器的结构补偿方法和控制策略。最后，展望了直线模拟加载系统的发展趋势，归纳了电动式直线模拟加载系统的高精度、大载荷发展方向。     

Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

液体火箭发动机健康监控技术研究现状

液体火箭发动机健康监控技术是改进和提高运载火箭、航天器可靠性与安全性的核心技术之一,对其进行研究具有重要的学术价值和工程应用价值。液体火箭发动机健康监控技术的研究主要包括液体火箭发动机故障检测与诊断理论方法、液体火箭发动机健康监控系统两方面。该文介绍了基于模型驱动的方法、基于数据驱动的方法和基于人工智能的方法,阐明了液体火箭发动机故障检测与诊断理论方法的研究现状,通过对美国液体火箭发动机典型健康监控系统的介绍,阐明了液体火箭发动机健康监控系统研究的若干进展及现状,并对液体火箭推进系统健康监控技术的演变趋势作了简要评述。     

Estimating inter-system biases for tightly combined Galileo/BDS/GPS RTK

The overlapping carrier frequencies L1/E1, L5/E5a and B2/E5b from GPS/Galileo/BDS allow inter-system double-differencing of observations, which shows a clear advantage over differencing of the observations of each constellation independently. However, the inter-system biases destroy the integer nature of the inter-system double-differencing ambiguities. Two methods of direct rounding and parameter estimation are used to determine the ISB value. By analyzing data collected from Curtin University from 2015 to 2018, the phase and code inter-system bias (ISB) are related to the receiver type, firmware version and the selected overlapping frequency. Upgrade of receiver firmware version results in changes of ISB values. For example, the upgrade of Javad firmware in Dec, 15, 2017 causes the difference of 0.5 cycles ISB between BDS GEO and non-GEO satellites. By comparing the three dynamic models which include white noise process, random walk process, and random constant in the parameter estimation method, the ISB determined by the random constant model is consistent with the value obtained by the direct rounding method. After the calibration of ISBs, the performances of tightly combined positioning are assessed. The success rate of ambiguity resolution and accuracy of positioning for the tight combination (TC) are significantly improved in comparison with that for the loose combination (LC) over short baselines. For L5/E5a, on which only few satellites can be observed, the maximum increase in success rates of ambiguity resolution can reach 31.7%, i.e., from 54.9% of LC to larger than 86.6% of TC, and the positioning accuracies can even be increased by 0.13 m, i.e., from 0.208 of LC to 0.074 m of TC in East direction for the mix-receiver TRIMBLE NETR9-SEPT POLARX4 in 2018.     

基于量子化、芯片化的先进计量测试技术发展动态

计量是国家质量基础的重要组成部分，产品质量的提升离不开科学、精准的计量。工业发达国家极为重视计量测试技术的发展。通过搜集、整理量子效应计量、芯片级计量等国内外大量文献资料，归纳分析了近年来国外先进计量测试技术发展动态与趋势。以量子技术和基本物理常数为基础建立量子计量基标准，将大幅提高测量准确度和稳定性，结合量子效应的微加工技术实现芯片尺度的测量等，微纳尺度计量技术也在科学研究、精密测量、智能制造等领域得到广泛应用。本文可为我国计量技术发展提供借鉴。     

对于动态目标的航天器鲁棒PD+快速跟踪控制方法

摘要：针对卫星对于空间动态目标快速、稳定地跟踪、控制目标，同时考虑平台模型的不确定性、外部随机干扰、系统控制力矩与角速度约束等因素，设计PD+控制器实现对于动态目标的快速、稳定跟踪；在经典PD控制器的基础上设计控制添加项使得系统能够按照既定轨迹运动；采用变结构的手段实现系统收敛速度的提升；合理设计Lyapunov函数的结构，引出角速度、四元数的耦合项对V函数进行改良，简化系统稳定性证明与分析的过程；讨论系统最极端情形，通过对V函数上下界的讨论分析系统该情形下的稳定性；最后通过数值仿真验证所提出算法的有效性与优越性.