Variational Bayesian Kalman filter using natural gradient

We propose a technique based on the natural gradient method for variational lower bound maximization for a variational Bayesian Kalman filter. The natural gradient approach is applied to the Kullback-Leibler divergence between the parameterized variational distribution and the posterior density of interest. Using a Gaussian assumption for the parametrized variational distribution, we obtain a closed-form iterative procedure for the Kullback-Leibler divergence minimization, producing estimates of...     

地磁定位方法综述

地磁导航具有可用区域广泛、无累积误差、无源和隐蔽性强等优势,是未来定位导航与授时（PNT）体系中潜在的重要导航定位手段之一。地磁导航技术包括磁场信息的测量、地磁基准图的建立和地磁定位方法的设计3个重要内容。本文主要围绕地磁定位方法,调研总结了当前主流的地磁滤波、地磁匹配和磁场同时定位与构图(SLAM)三类方法的原理及技术发展路线,重点分析了不同方法的优缺点、适用场景、时效性、对磁图和传感器的需求,并对地磁定位方法的发展方向进行了展望。     

基于卷积神经网络技术的直升机旋翼谱识别方法

针对直升机雷达回波在时频二维分布图上的分布特性,提出一种基于卷积神经网络技术的直升机旋翼谱识别方法,实现了直升机旋翼谱与其他类型目标的区分,从而有效识别直升机。当雷达工作在低重复频率(LPRF)时,直升机旋翼回波在时频分布图上呈现明显的扩展特征。通过仿真与实测数据分析,表明该特征与其他目标回波在频率维分布特性存在较大差异。利用卷积神经网络中的卷积核技术,将实测数据与卷积核矩阵进行二维卷积运算,依据输出矩阵实现了直升机旋翼谱的识别。利用实际采集的直升机回波数据进行验证,证明该方法是有效的,可应用于各种采用脉冲多普勒工作体制的雷达系统。     

Comparative analysis of architectures for the control loop of launch vehicles during atmospheric flight

Most of architectures used for the control loop of launch vehicles are based on attitude angle, attitude rate and lateral acceleration feedbacks. Related controllers are usually chosen to be stable. The main purpose of this paper is to give a comparison between a few architectures, pointing out the benefits of an unstable attitude angle feedback design for the control of an aerodynamically unstable launch vehicle. Such a design indeed is appropriate to reduce significantly the aerodynamic load during atmospheric flight. This is an issue of practical interest as it has become a design driver for mechanical sizing of modern launchers.The paper recalls the various goals the control loop is trying to reach all along the atmospheric flight (stability, set point tracking, aerodynamic load minimization …). For each phase of the flight, priorities are discussed. The paper then focuses on two critical phases of the atmospheric flight, i.e. high dynamic pressure period and atmospheric stages separation.     

Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment

In recent years, formation control of multi-agent has been a significant research subject in the field of cooperative control. However, previous works have mainly concentrated on formation control for simple point-mass model and linear model. In contrast, this paper presents a novel cooperative algorithm for multiple air vehicles formation control, which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment. The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination. Moreover, the Partial Integrated Formation and Control (PIFC) is adopted to design the control law for Guidance-Route based Formation Control (GRFC). Additionally, the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments. Theoretical analysis reveals that the proposed control protocol for guidance command can ensure the overall stability and tracking accuracy of the system. Numerical simulations are performed to illustrate the theoretical results, and verify that the proposed approach can achieve coordinated formation control precisely in a complex task environment.     

一种基于图论的机场空域无人机流量控制方法

城市物流无人机机场需具有同时起降多架无人机的能力，针对中小型垂直起降无人机设计了一种单入口单出口、航路交叉、多停机坪的机场模型，提出了一种基于图论的飞行安全优先的流量控制方法。根据机场内无人机飞行状态，控制无人机进离场时间，规划出机场内飞行航路，保证无人机飞行安全。仿真结果表明:该流量控制方法可以确保无人机在机场空域内安全有序飞行；分别测试了面积不同的机场进场与进离场运行容量，在单个停机坪面积一定时，停机坪数量越多进场容量越大，但进离场容量反而越小；因此在设计机场时，在给定的机场面积情况下，需要合理规划停机坪数量。      

面向多电飞机的脉冲波形下局部放电规律

为满足多电飞机（MEA）的大功率用电需求，系统工作电压需要进一步提高，而较高电压会增加相关部件的绝缘失效风险。面向多电飞机特定工作场景和参数，搭建了模拟飞机电作动器中的绕组间绝缘故障测试平台，开展了1 kHz范围内的局部放电（PD）大量重复实验，研究了特定电压幅值、正弦波和方波脉冲波形下局部放电幅值、放电重复率和放电相位等统计特征，并计算评估了不同频率值下多电飞机中的局部放电行为。实验结果表明：在设定频域范围内，方波脉冲下的起始放电电压（PDIV）都低于正弦，方波脉冲波形对绝缘影响更大；随着频率升高，放电幅值逐渐降低，但放电重复率几乎呈线性增长；放电时刻集中于上升沿/下降沿末端。以50 Hz作为对比基准频率，1 kHz时的放电幅值降低80%，而放电重复率增加11.92倍，较高频率下多次累积的小幅值击穿成为威胁绝缘失效的主要原因。计算分析认为高频下空间电荷场强变化导致的放电延迟时间减少和周期数目增加分别导致局部放电脉冲幅值降低和放电重复率增加。本实验结果有助于针对多电飞机电气系统和相关装备开展针对性绝缘测试和评估，并有望为多电飞机向大功率高电压方向的设计提供参考和借鉴。     

动脉内皮血流动力学微环境建模分析和体外模拟方法与技术研究进展

动脉内皮微环境中的血压、壁面剪应力和牵张应力等血流动力学参量在维持内皮的正常生理功能中扮演着至关重要的角色。在体（in vivo）动脉内皮血流动力学微环境的建模分析与体外（in vitro）模拟研究不仅为心脑血管疾病早期诊断与预防、治疗与康复提供重要的生理指标，而且是深入理解心脑血管疾病发生发展机制不可或缺的基础，具有重要的科学意义和临床应用价值。本文综述了在体动脉内皮微环境的血流动力学建模分析、体外评估动脉内皮微环境血流动力学特性的模拟循环系统（Mock Circulatory System，MCS）以及用于细胞力学生物学研究的体外内皮细胞培养模型（Endothelial Cell Culture Model，ECCM）三方面的研究进展。通过对该领域的主要文献进行归纳和系统分析，指出了亟待解决的方法与技术问题，为进一步开展相关研究提供参考。     

分子液环式角加速度测量演示系统研制

利用界面双电层和流动电流基本原理,设计并制作了一种新型的分子液环式角加速度计,可对角加速度进行直接测量.为了对该种新型的角加速度计进行功能演示,研制了其测量演示系统,可为角加速度计提供基准的角加速度输入,并实时处理和显示测量数据.实验结果表明:该种分子液环式角加速度计测量范围可达20000(°)/s2,测量精度≤1(°)/s2,带宽可达0.1Hz～120Hz,可应用于高精度、高动态的角加速度直接测量.其测量演示平台可以提供频率和幅值可控的角加速度输入,实现该种新型角加速度计功能演示.     

Coordinated adaptive beamformer over distributed antenna network

The spatial diversity of distributed network demands the individual filter to accommodate the topology of interference environment. In this paper, a type of distributed adaptive beamformer is proposed to mitigate interference over coordinated antenna arrays network. The proposed approach is formulated as generalized sidelobe canceller (GSC) structure to facilitate the convex combination of neighboring nodes’ weights, and then it is solved by unconstrained least mean square (LMS) algorithm due to simplicity. Numerical results show that the robustness and convergence rate of antenna arrays network can be significantly improved in strong interference scenario. And they also clearly illustrate that mixing vector is optimized adaptively and adjusted according to the spatial diversity of the distributed nodes which are placed in different power of received signals to interference ratio (SIR) environments.