基于PDR和磁场匹配的智能手机室内定位

目前，基于磁场的室内定位方法存在指纹采集无法快速建库的问题，导致匹配特征较少、无法快速进行匹配操作和航向角估计精度低。基于磁场梯度的快速近似，使用高斯牛顿迭代方法结合通过PDR测量的轨迹进行磁场轮廓匹配定位，提高了单点磁场指纹的可分辨性。基于步态模型的更新用作测量信息以改善C-INS的导航性能，提出了一种基于捷联惯性导航系统的行人航位推算算法。基于MFS参考位置，使用扩展Kalman滤波器控制PDR惯性导航的位置漂移误差，进一步提高了轨迹轮廓的精度。测试结果表明，该算法可以获得更好的位置估计和航向估计结果。     

车载捷联惯导双里程计组合导航方法研究

针对当前车载捷联惯导与里程计组合导航时，将里程计安装在车底盘左侧或右侧位置而造成的导航误差，以及里程计信息未能真实反映车体中心的实际运行状态，研究了一种车载捷联惯导/双里程计组合导航方法。该方法分别在车底盘左侧和右侧位置各安装了一个里程计，将双里程计信息作为量测量，设计了组合导航融合算法进行Kalman滤波组合导航。在导航过程中对双里程计信息进行χ２检测，以避免车体作大转弯运行或有外部干扰时引起的里程计信息异常。跑车试验结果表明，该融合算法能使定位结果得到最优融合，定位误差整体减小到20m以内，最大处减小6m，离线分析进一步证明了该融合算法的有效性。     

纯惯导中制导误差分析

针对洲际弹道导弹,在分析加速度计测量误差和陀螺漂移误差对导弹视加速度影响的基础上,给出了中制导段惯性系统对速度和位置的误差传递模型,对给定的惯组误差系数偏差进行了纯惯性导航制导误差计算。仿真结果表明,纯惯导中制导对洲际导弹落点精度影响比较大。该算法可用于纯惯性中制导方案设计。     

新型实用"微型电动无人侦察机"的研制与技术发展

介绍洪都集团公司研制的新型实用"微型电动GPS导航全自主飞行视频传输、可链路控制的微型无人侦察机"(简称微型电动无人侦察机WDWC-1")的研制概况及发展思路.     

采用自适应滤波技术的机载雷达跟踪系统

 一、引言 机载雷达跟踪系统的基本功能是提供我机与目标间相对距离矢量有关变量的估值,并保持系统跟踪能力的最佳化。机载大控系统则利用这些估值来形成武器的制导指令,进而完成对目标的截击任务。 过去,机载雷达跟踪系统的设计采用经典伺服机构理论。为了提高系统的跟踪精度,     

Autonomous Navigation for the Deep Impact Mission Encounter with Comet Tempel 1

The engineering goal of the Deep Impact mission is to impact comet Tempel 1 on July 4, 2005, with a 370 kg active Impactor spacecraft (s/c). The impact velocity will be just over 10 km/s and is expected to excavate a crater approximately 20 m deep and 100 m wide. The Impactor s/c will be delivered to the vicinity of Tempel 1 by the Flyby s/c, which is also the key observing platform for the event. Following Impactor release, the Flyby will change course to pass the nucleus at an altitude of 500 km and at the same time slow down in order to allow approximately 800 s of observation of the impact event, ejecta plume expansion, and crater formation. Deep Impact will use the autonomous optical navigation (AutoNav) software system to guide the Impactor s/c to intercept the nucleus of Tempel 1 at a location that is illuminated and viewable from the Flyby. The Flyby s/c uses identical software to determine its comet-relative trajectory and provide the attitude determination and control system (ADCS) with the relative position information necessary to point the High Resolution Imager (HRI) and Medium Resolution Imager (MRI) instruments at the impact site during the encounter. This paper describes the Impactor s/c autonomous targeting design and the Flyby s/c autonomous tracking design, including image processing and navigation (trajectory estimation and maneuver computation). We also discuss the analysis that led to the current design, the expected system performance as compared to the key mission requirements and the sensitivity to various s/c subsystems and Tempel 1 environmental factors.     

腰绑式行人导航系统基于缓存区的启发式航向补偿算法研究

腰绑式行人导航系统通过航位推算方法实现行人定位导航，对于实行灾难救援和单兵作战等任务十分便利。行人行进步长和航向的准确估计是实现航位推算的前提。根据腰绑式惯性传感器信号的特征，采用基于三轴合成加速度的峰值检测进行单步划分；利用步频和加速度方差信息构建线性步长模型。针对人员执行任务过程中由于运动方向不确定性导致传统启发式航向漂移消除算法过度修正甚至失效的问题，提出了一种基于缓存区的启发式航向补偿算法。根据运动方式选定N个复步作为一个缓存区，计算缓存区内相邻复步航向差值的方差，依据方差动态调整航向补偿算法的修正强度，避免过度修正。利用所提算法进行了矩形实验和操场实验，终点定位误差小于1%，表明了所提方法的有效性。     

测绘导航高精度定位关键技术及应用

人工智能(AI)、卫星导航及室内定位三大技术的快速发展持续推动测绘科技向智能化、学科交叉、信息融合的方向发展。指出了装备虚拟化与数据处理多样化将成为测绘导航的基本形态，拓展了测绘学科的内涵与外延。智能滤波是未来测绘导航定位理论发展的重要方向，AI芯片将成为测绘导航装备的关键部件，从而提高滤波效率与产品的实用性。给出了车载导航模组研制的技术流程，提出了模组原始信息同步采集与延时补偿、自适应定位算法及嵌入式固件时间分片优化等关键技术，研制了覆盖分米、厘米及毫米级定位精度的无缝组网定位、车载导航及变形监测模组，并研发了相应的终端系统，针对相应的应用领域，给出了各自应用的解决方案，以及具体的应用案例。     

Human navigation ability: Tests of the encoding-error model of path integration

This paper tests the generality and implications of an encoding-error model (Fujita et al. 1993) of humans' ability to keep track of their position in space in the absence of visual cues (i.e., by nonvisual path integration). The model proposes that when people undergo nonvisually guided travel, they encode the distances and turns that they experience, and their errors reflect systematic inaccuracies in the encoding process. Thus when people try to return to the origin of travel, they base their response on mis-encoded values of the outbound distances and turns. The two experiments reported here addressed three issues related to the model: (i) whether path integration is context-dependent and if so, how rapidly it adapts to recently experienced distances and turns; (ii) whether effects of experience can be specifically attributed to changes in the encoding process, and if so, what changes; and (iii) whether the encoding process represents distances and turns in the individual paths without considering their spatial relationship to one another (i.e., an object-centered representation). Testing these issues allows us to evaluate and develop the model.Subjects who were blindfolded or had restricted vision were led through two legs of a triangle and the turn between, then tried to return to the origin. Paths varied in whether experienced legs and turns were small or large (Experiment 1) and in variability of return and outbound course (Experiment 2). Response turn, distance and course were determined. The assumption of immutable encoding functions was not supported; encoding processes were context dependent, although they did not adapt within a block of trials. Although effects of experience could be accounted for by the model, the affected parameters were not always as predicted, and in some cases additional parameters were necessary. Results of manipulating variability in return course were consistent with the model's assumption of object-centered representation.     

一种攻击大机动目标的组合导引律

在分析经典导引律和现代导引律内在联系的基础上,利用有限可获的制导信息,提出了一种新的组合导引律,由比例项和前置角项组成,力图综合经典导引律和现代导引律的优点,结构简单,易于工程实现,并在基于目标大机动规避的假设下给出了机理解释;通过仿真验证,此方法具有末段弹道平直的优点。