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1.
谢洪乐  陈卫东  范亚娴  王景川 《航空学报》2021,42(1):524169-524169
月球车在执行科学探测任务过程中,其自身的高精度定位是一项亟需解决的关键问题。针对在特征稀疏的月面环境下的定位问题,提出一种视觉惯性融合的SLAM方法,将视觉测量与惯性传感器的信息利用位姿图优化方法融合,实现高精度的联合定位。针对特征稀疏环境下的前端视觉数据关联误差较大的问题,提出了一种基于四元树的光流跟踪算法,能够有效地跟踪鲁棒的特征点,提升了关键帧之间相对位姿估计的准确性。并且针对月面环境特有的恒星无穷远点干扰问题,提出一种高效的恒星点剔除算法,能够有效改善无穷远点导致的定位精度下降的问题。搭建了一套模拟月面环境的计算机仿真系统,并构建了多个月面环境视觉惯性SLAM仿真数据集,在不同的模拟月面场景下进行定位性能仿真验证,仿真测试结果表明本文算法的鲁棒性更强,具有更高的定位准确度。  相似文献   
2.
壁虎脚的粘着机理对航天机器人脚掌的研制和开发具有重要启发意义.通过单根刚毛与光滑表面黏着力模型与计算、卫星粗糙表面分布模型与接触概率与计算、刚毛阵列与卫星粗糙表面黏着力模型与计算等,分析仿壁虎刚毛阵列对卫星表面的吸附能力,发现在一定条件下仿壁虎刚毛阵能够在太空失重环境中黏着在卫星表面,对航天舱内爬行机器人、管道机器人的研制和开发具有重要的启示意义.  相似文献   
3.
In recent years, land surface temperature (LST) has become critical in environmental studies and earth science. Remote sensing technology enables spatiotemporal monitoring of this parameter on large scales. This parameter can be estimated by satellite images with at least one thermal band. Sentinel-3 SLSTR data provide LST products with a spatial resolution of 1 km. In this research, direct and indirect validation procedures were employed to evaluate the Sentinel-3 SLSTR LST products over the study area in different seasons from 2018 to 2019. The validation method was based on the absolute (direct) evaluation of this product with field data and comparison (indirect) evaluation with the MODIS LST product and the estimated LST using the non-linear split-window (NSW) algorithm. Also, two emissivity estimation methods, (1) NDVI thresholding method (NDVI-THM) and (2) classification-based emissivity method (CBEM), were used to estimate the LST using the NSW method according to the two thermal bands of Sentinel-3 images. Then, the accuracy of these methods in estimating LST was evaluated using field data and temporal changes of vegetation, which the NDVI-THM method generated better results. For indirect evaluation between the Sentinel-3 LST product, MODIS LST product, and LST estimated using NSW, four filters based on spatial and temporal separates between pairs of pixels and pixel quality were used to ensure the accuracy and consistency of the compared pairs of a pixel. In general, the accuracy results of the LST products of MODIS and Sentinel-3, and LST estimated using NSW showed a similar trend for LST changes during the seasons. With respect to the two absolute and comparative validations for the Sentinel-3 LST products, summer with the highest values of bias (?1.24 K), standard deviation (StDv = 2.66 K), and RMSE (2.43 K), and winter with the lowest ones (bias of 0.14 K, StDv of 1.13 K, and RMSE of 1.12 K) provided the worst and best results for the seasons in the period of 2018–2019, respectively. According to both absolute and comparative evaluation results, the Sentinel-3 SLSTR LST products provided reliable results for all seasons on a large temporal and spatial scale over our studied area.  相似文献   
4.
高峰  荆武兴  高长生  李志刚  钟伟 《宇航学报》2021,42(10):1246-1256
针对未来经济型月球探测器精确定点软着陆问题,考虑发动机特性及终端状态约束,对主减速段制导算法进行了研究。首先考虑到未来月球通信网络的建立和资源的利用,提出了一种探测器在环月极轨道运行时的月面着陆点全覆盖环月调相策略。然后在北东地坐标系下建立软着陆主减速段的质心动力学模型,依据动力学模型将探测器的运动分为纵向平面运动和横向运动并分别设计在线闭环制导律。纵向平面运动采用改进显式制导算法,并基于有限推力思想和主减速段误差传播特性设计了满足终端航向位置约束的点火角修正策略;对于横向运动控制,首先基于ZEM/ZEV最优反馈制导律给出横向制导指令,然后采用PWPF将连续形式的制导指令调制为脉冲形式。仿真结果表明了该制导律能够满足所有终端状态约束,具有燃耗次优性、自主性、实时性和一定的鲁棒性,同时易于工程实现。  相似文献   
5.
本文第一部分综合了国外近几十年根据不同需求形成的多种水下导航技术,论述了面上导航信息利用水声技术向水下转化的多种形式以及利用不同地球物理参数与地理位置相关性导航的各自特点与问题,论述了在测绘海底地形、重力与其它地球物理特性及其变化时在传感器层面和任务层面融而为一所形成的独具水下特色的同步定位与建图(Simultaneous Localization and Mapping,SLAM)导航技术,论述了NavLab作为一个通用工具软件在水下导航系统研发、精度分析以及作业前导航功能规划和导航信息事后处理方面的独特作用。本文第二部分以极具代表性的挪威HUGIN AUV系列产品军民两用为实例,根据任务和导航功能需求,从其“导航工具箱”(ToolBox)选择适用手段,给出典型任务对应的导航方式和传感器。文章结束部分给出了基于先进人工智能技术的未来展望。  相似文献   
6.
针对地月转移轨道中途修正问题,提出了一种求解修正速度增量的制导算法。该算法由初值设计和精确解求解两部分组成。首先,利用伪状态理论,通过简单迭代设计中途修正的初值,并通过Vinti预报方法修正了地球扁率的影响。然后,在求解精确解时,提出了一种基于伪状态理论的状态转移矩阵解析算法。该算法通过设计高精度的初值,降低了求解地月转移轨道中途修正问题的难度,而且避免了传统数值方法计算状态转移矩阵的复杂性。数值仿真结果表明,该算法可有效求解中途修正问题。  相似文献   
7.
为研究高精度的液压缸位置跟踪控制问题,设计了高速开关阀和换向阀组合控制液压缸的结构方案,并通过实验分析了高速开关阀的静态流量特性。建立了液压缸的连续可微摩擦模型,利用粒子群优化算法对其参数进行辨识。建立了系统的非线性数学模型,基于非连续参数映射和反步法设计了直接自适应鲁棒控制器,通过参数在线自适应调节来更新估计值和鲁棒反馈项支配参数不确定性,实验结果表明:在跟踪幅值为5mm,频率为0.4Hz的正弦信号时,最后一个周期的最大跟踪误差、平均跟踪误差及其标准差分别为0.638、0.25mm和0.405mm,与传统PID控制器相比,控制精度显著提升,旨在为实现高精度的数字阀控位置伺服技术提供有价值的参考。   相似文献   
8.
采用热处理+溶剂浸洗+超临界CO2技术对空心/实心石英混编纤维表面进行预处理,同时利用超临界流体的携带与渗透作用,将KH-560偶联剂引入纤维表面进行改性。采用接触角测试、表/界面张力测试、树脂吸附量测试、力学性能测试、扫描电镜等分别测试纤维表面能、胶液表面张力与接触角、胶液与纤维浸润性,观察纤维表面形貌结构,分析复合材料的力学与介电性能。结果表明:采用热处理+溶剂浸洗+超临界CO2技术可有效去除空心/实心石英混编纤维表面浸润剂,提高纤维表面能,促进胶液与纤维的完全浸润,最终改善复合材料力学与介电性能。  相似文献   
9.
Lightweight design is important for the Thermal Protection System(TPS) of hypersonic vehicles in that it protects the inner structure from severe heating environment. However, due to the existence of uncertainties in material properties and geometry, it is imperative to incorporate uncertainty analysis into the design optimization to obtain reliable results. In this paper, a six sigma robust design optimization based on Successive Response Surface Method(SRSM) is established for the TPS to improve the reliability and robustness with considering the uncertainties. The uncertain parameters related to material properties and thicknesses of insulation layers are considered and characterized by random variables following normal distributions. By employing SRSM, the values of objective function and constraints are approximated by the response surfaces to reduce computational cost. The optimization is an iterative process with response surfaces updating to find the true optimal solution. The optimization of the nose cone of hypersonic vehicle cabin is provided as an example to illustrate the feasibility and effectiveness of the proposed method.  相似文献   
10.
Lake water height is a key variable in water cycle and climate change studies, which is achievable using satellite altimetry constellation. A method based on data processing of altimetry from several satellites has been developed to interpolate mean lake surface (MLS) over a set of 22 big lakes distributed on the Earth. It has been applied on nadir radar altimeters in Low Resolution Mode (LRM: Jason-3, Saral/AltiKa, CryoSat-2) in Synthetic Aperture Radar (SAR) mode (Sentinel-3A), and in SAR interferometric (SARin) mode (CryoSat-2), and on laser altimetry (ICESat). Validation of the method has been performed using a set of kinematic GPS height profiles from 18 field campaigns over the lake Issykkul, by comparison of altimetry’s height at crossover points for the other lakes and using the laser altimetry on ICESat-2 mission. The precision reached ranges from 3 to 7 cm RMS (Root Mean Square) depending on the lakes. Currently, lake water level inferred from satellite altimetry is provided with respect to an ellipsoid. Ellipsoidal heights are converted into orthométric heights using geoid models interpolated along the satellite tracks. These global geoid models were inferred from geodetic satellite missions coupled with absolute and regional anomaly gravity data sets spread over the Earth. However, the spatial resolution of the current geoid models does not allow capturing short wavelength undulations that may reach decimeters in mountaineering regions or for rift lakes (Baikal, Issykkul, Malawi, Tanganika). We interpolate in this work the geoid height anomalies with three recent geoid models, the EGM2008, XGM2016 and EIGEN-6C4d, and compare them with the Mean Surface of 22 lakes calculated using satellite altimetry. Assuming that MLS mimics the local undulations of the geoid, our study shows that over a large set of lakes (in East Africa, Andean mountain and Central Asia), short wavelength undulations of the geoid in poorly sampled areas can be derived using satellite altimetry. The models used in this study present very similar geographical patterns when compared to MLS. The precision of the models largely depends on the location of the lakes and is about 18 cm, in average over the Earth. MLS can serve as a validation dataset for any future geoid model. It will also be useful for validation of the future mission SWOT (Surface Water and Ocean Topography) which will measure and map water heights over the lakes with a high horizontal resolution of 250 by 250 m.  相似文献   
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