Integration of GPS and low cost INS for pedestrian navigation aided by building layout

In outdoor environments, GPS is often used for pedestrian navigation by utilizing its signals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pedestrian navigation for these environments should be realized by the integration of GPS and inertial navigation system （INS）. However, the lowcost INS could induce errors that may result in a large position drift. The problem can be minimized by mounting the sensors on the pedestrian＇s foot, using zero velocity update （ZUPT） method with the standard navigation algorithm to restrict the error growth. However, heading drift still remains despite using ZUPT measurements since the heading error is unobservable. Also, tbot mounted INS suffers from the initialization ambiguity of position and heading from GPS. In this paper, a novel algorithm is developed to mitigate the heading drift problem when using ZUPT. The method uses building lay- out to aid the heading measurement in Kalman filter, and it could also be combined for the initial- ization. The algorithm has been investigated with real field trials using the low cost Microstrain 3DM-GX3-25 inertial sensor, a Leica GS10 GPS receiver and a uBlox EVK-6T GPS receiver. It could be concluded that the proposed method offers a significant improvement in position accuracy for the long period, allowing pedestrian navigation for nearly40 min with mean position error less than 2.8 m. This method also has a considerable effect on the accuracy of the initialization.     

基于足部安装MIMU的行人导航系统设计

针对无卫星环境中行人导航定位需求,设计了一种基于足部安装MIMU的行人导航系统,重点研究了行人导航鞋传感器选型及样机设计流程;并在此基础上设计了基于零速修正和航向修正的行人导航算法,研究了零速区间内最优航向角的提取方法,实现了对瞬时磁干扰产生的磁航向角的有效判断。最后,利用设计的行人导航系统开展了三维空间航迹测试实验,实验结果表明,在不增加高度约束的条件下,该行人导航系统定位精度为0.33%,能够满足坡路环境中行人的定位需求。     

基于有限时间广义H_2范数的直接侧向力启控时间分析

采用直接侧向力与气动力复合控制技术可以显著改善导弹末制导系统性能,而确定直接侧向力启控时间是复合控制技术的关键问题。首先给出了复合控制导弹末制导系统的数学描述,然后基于有限时间广义H2范数,分析了直接侧向力启控时间与零效脱靶量、目标机动、导引头量测噪声的内在关系,最后根据零效脱靶量随启控剩余时间的变化情况,指出存在一个启控剩余时间临界值,可以为直接侧向力启控时间的确定提供重要依据。     

中国上空平流层准零风层的特征分析

利用ECMWF提供的ERA-40再分析风场资料首次分析了中国上空平流层准零风层的特点及其随季节和地理位置的变化特征.结果表明,准零风层一般处于18～25 km高度范围内,零风线所在的高度随时间和地理位置的不同稍有变化.根据准零风层随纬度的变化特征,中国上空可以分成三个区域:低纬地区(5°N～20°N)、中低纬过渡区域(20°N～32.5°N)和中高纬地区(32.5°N～55°N).低纬地区一般在冬季和初春有准零风层结构存在;中高纬地区一般在春末和夏季存在准零风层结构;而中低纬过渡区域是否有准零风层结构存在还与准两年震荡(QBO)有关,在QBO东风相位时,过渡区域呈现的特性偏向于中纬特性,在QBO西风相位时,过渡区域呈现的特性偏向于低纬特性.准零风层随经度变化非常小,零风线所在高度随经度的变化幅度一般不超过2 km,过渡区域的变化幅度相对大些.      

圆柱贮箱类耦合系统的平动响应分析

本文以一种新方法建立了水平激励下圆柱贮箱类液固耦合系统的动力学方程。利用两类完全不同的Ｌａｇｒａｎｇｅ函数来描述液体子系统和结构子系统的运动，联立可得耦合系统的动力学方程。通过数值仿真发现，在一定的激励幅值和频率下，该耦合系统会出现零位漂移、分叉等非线性动力学现象。     

三轴平台快速自标定与自对准方法探讨

为了提高地地导弹的作战效能,探讨了适应机动发射导弹快速发射要求的三轴平台快速自标定与自对准技术。误差标定及补偿是提高惯性系统使用精度的重要手段,但标定的完善性与快速性之间存在矛盾。误差标定及方位对准采用导弹水平状态七位置一体化方案,在约13.6分钟内能自主对准并标定出平台二十一项系数。导弹水平状态标定与对准可以基本消除阵风干扰的影响,且陀螺仪标度因数与漂移的估计采用有参考力矩的零力矩法,保证了标定、对准的快速性与准确性。经仿真验证,测量时间为1分钟时,漂移率估计误差在0.003°/h以内,测量时间为2分钟时估计误差在0.001°/h以内。     

Lightweight hybrid visual-inertial odometry with closed-form zero velocity update

Visual-Inertial Odometry (VIO) fuses measurements from camera and Inertial Measurement Unit (IMU) to achieve accumulative performance that is better than using individual sensors. Hybrid VIO is an extended Kalman filter-based solution which augments features with long tracking length into the state vector of Multi-State Constraint Kalman Filter (MSCKF). In this paper, a novel hybrid VIO is proposed, which focuses on utilizing low-cost sensors while also considering both the computational efficiency and positioning precision. The proposed algorithm introduces several novel contributions. Firstly, by deducing an analytical error transition equation, one-dimensional inverse depth parametrization is utilized to parametrize the augmented feature state. This modification is shown to significantly improve the computational efficiency and numerical robustness, as a result achieving higher precision. Secondly, for better handling of the static scene, a novel closed-form Zero velocity UPdaTe (ZUPT) method is proposed. ZUPT is modeled as a measurement update for the filter rather than forbidding propagation roughly, which has the advantage of correcting the overall state through correlation in the filter covariance matrix. Furthermore, online spatial and temporal calibration is also incorporated. Experiments are conducted on both public dataset and real data. The results demonstrate the effectiveness of the proposed solution by showing that its performance is better than the baseline and the state-of-the-art algorithms in terms of both efficiency and precision. A related software is open-sourced to benefit the community.^①     

航天器末端拦截自适应博弈策略

针对航天器末端拦截博弈问题，基于微分对策理论研究了各星的博弈策略。根据拦截空间是否具有防御器将博弈态势分为双星博弈和三星博弈。首先考虑拦截器与目标的双星博弈态势，以终端脱靶量为指标设计了相对博弈策略，并提出时间分析方程以提高策略对不同拦截态势的自适应性。然后，考虑具有防御器的三星博弈态势，提出了博弈切换策略将其化为分段双星博弈，并将双边时间方程扩展到三星博弈中，使拦截器在不被防御器反拦截的情况下，实现对目标的快速拦截。最后仿真分析了博弈策略与时间分析方程对航天器拦截博弈问题的有效性。     

基于相位差的转轴扭矩测量中的零位识别与处理

提出了一种基于相位差原理的转轴扭矩测量中的零位识别与处理方法。采用两路反射式模拟输出激光光强传感器和对应的反射色带，形成两路标准的正弦信号，通过同步采样和幅度归一化处理，得到两路信号的瞬时相位差，并依此实现对转轴扭矩载荷的测试，克服了以往基于脉冲信号测量中无法在静态条件下进行零位校正的困难。对该系统实现的关键技术和参数进行了分析，通过模拟信号输入和标准扭转试验台验证了本文所提出的方法的应用效果。理论和实验结果表明，该方法不需要转轴转动，就可以准确识别其零位，从而大大降低了该技术在现场使用中的调校要求。