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。     

导航卫星中断频次的分析方法

面向导航卫星中断频次的定量分析需求,该文分析导航卫星中断产生的主要原因,给出中断频次分析的流程,并针对分析过程中的三个关键问题,研究提出具体实施方法,包括通过相关性分析快速定位底层中断事件,通过中断树建立指标分析模型,并融合在轨数据、地面试验数据快速预估得到底层功能异常率等。最后通过示例进一步说明中断频次分析过程。该文方法已应用于北斗导航卫星工程。     

Orbit-attitude-vibration coupled dynamics of tethered solar power satellite

A new orbit-attitude-vibration coupled dynamic model of the tethered solar power satellite (Tethered SPS) is established based on absolute nodal coordinate formulation. The Hamilton’s equation of the system is derived by introducing generalized momentum through Legendre transformation. The correctness of the proposed model is verified by an example. The dynamic characteristics of the Tethered SPS are studied using the symplectic Runge-Kutta method. Simulation results show that the orbital radius and the total energy of the system are well preserved. The attitude of the system is unstable when the mass of the bus system is small. However, the attitude stability is dependent on some other parameters of the system, which requires further studies. It is also found that the average tether force/deformation can be roughly estimated by simplifying the solar panel as a particle. The proposed model can be used to study the orbit-attitude-vibration coupled dynamics and control problems.     

联邦学习安全与隐私保护综述

联邦学习是一种新型的分布式学习框架，它允许在多个参与者之间共享训练数据而不会泄露其数据隐私。但是这种新颖的学习机制仍然可能受到来自各种攻击者的前所未有的安全和隐私威胁。本文主要探讨联邦学习在安全和隐私方面面临的挑战。首先，本文介绍了联邦学习的基本概念和威胁模型，有助于理解其面临的攻击。其次，本文总结了由内部恶意实体发起的3种攻击类型，同时分析了联邦学习体系结构的安全漏洞和隐私漏洞。然后从差分隐私、同态密码系统和安全多方聚合等方面研究了目前最先进的防御方案。最后通过对这些解决方案的总结和比较，进一步讨论了该领域未来的发展方向。     

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.     

A survey of safety separation management and collision avoidance approaches of civil UAS operating in integration national airspace system

Recent years have witnessed a booming of the industry of civil Unmanned Aircraft System (UAS). As an emerging industry, the UAS industry has been attracting great attention from governments of all countries and the aviation industry. UAS are highly digitalized, informationized, and intelligent; therefore, their integration into the national airspace system has become an important trend in the development of civil aviation. However, the complexity of UAS operation poses great challenges to the traditional aviation regulatory system and technical means. How to prevent collisions between UASs and between UAS and manned aircraft to achieve safe and efficient operation in the integrated operating airspace has become a common challenge for industry and academia around the world. In recent years, the international community has carried out a great amount of work and experiments in the air traffic management of UAS and some of the key technologies. This paper attempts to make a review of the UAS separation management and key technologies in collision avoidance in the integrated airspace, mainly focusing on the current situation of UAS Traffic Management (UTM), safety separation standards, detection system, collision risk prediction, collision avoidance, safety risk assessment, etc., as well as an analysis of the bottlenecks that the current researches encountered and their development trends, so as to provide some insights and references for further research in this regard. Finally, this paper makes a further summary of some of the research highlights and challenges.     

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.     

Fault mode probability factor based fault-tolerant control for dissimilar redundant actuation system

This paper presents a Fault Mode Probability Factor (FMPF) based Fault-Tolerant Control (FTC) strategy for multiple faults of Dissimilar Redundant Actuation System (DRAS) composed of Hydraulic Actuator (HA) and Electro-Hydrostatic Actuator (EHA). The long-term service and severe working conditions can result in multiple gradual faults which can ultimately degrade the system performance, resulting in the system model drift into the fault state characterized with parameter uncertainty. The paper proposes to address this problem by using the historical statistics of the multiple gradual faults and the proposed FMPF to amend the system model with parameter uncertainty. To balance the system model precision and computation time, a Moving Window (MW) method is used to determine the applied historical statistics. The FMPF based FTC strategy is developed for the amended system model where the system estimation and Linear Quadratic Regulator (LQR) are updated at the end of system sampling period. The simulations of DRAS system subjected to multiple faults have been performed and the results indicate the effectiveness of the proposed approach.     

Implementation of tactical maneuvers with maneuver libraries

This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers. First, the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields. The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs. To track the desired trajectory, we design the Attitude Command Attitude Hold (ACAH) system and the Rate Command Rate Hold (RCRH) system using Model Following Controller (MFC). Moreover, the Line-of-Sight (LOS) guidance law is designed. In particular, the CONDUIT® is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities (HQ) criteria. Finally, flight simulations are performed for the longitudinal loop, immelmann-turn, and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries. This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.