Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented     

基于双目视觉和惯性器件的微小型无人机运动状态估计方法

针对微小型无人机(UAV)自主运动状态估计问题,提出了一种基于双目视觉和惯性器件的微小型无人机运动状态估计方法,运动状态估计系统由微惯性测量单元(MIMU)和2个摄像机组成.根据微惯性测量单元的输出更新无人机运动状态,同时由摄像机获得周围环境的图像序列,从序列图像中提取特征点,并对这些特征点进行匹配、跟踪,测量序列图像...     

基于五阶容积-二阶平滑变结构滤波算法的捷联惯导系统初始对准技术

为了改进捷联惯导系统大方位失准角初始对准情况下的方位失准角对准精度和稳定性问题,提出了一种组合对准方法。该方法将Kalman滤波对准模型与罗经对准模型相结合构建了一种组合对准机制,并在此模型基础上提出了基于非线性滤波和鲁棒滤波的五阶容积-二阶平滑变结构滤波算法,将五阶容积-二阶平滑变结构滤波算法与组合对准机制相结合,从而实现大方位失准角的初始对准。仿真结果表明,五阶容积-二阶平滑变结构滤波对准方法得到的方位失准角对准精度明显优于常见的几种对准方法,且其对准结果的重现性更高。因此,提出的五阶容积-二阶平滑变结构滤波算法能够很好地适用于大方位失准角的初始对准。     

基于平面模板自由拍摄的双目立体测量系统的现场标定

 摄像机标定是基于光学摄像的立体测量技术中的一个十分重要的步骤，标定精度直接影响系统测量的精度和稳定性。本文提出并实现了一种简便易行的双目立体测量系统现场标定方法：利用一块特殊设计的具有不同大小圆形特征点的平面标定板，在无需控制任何运动参数的情况下，双目测量系统只需对标定板在不同角度自由拍摄一组图像即可方便地实现系统标定。该方法在已有单摄像机标定算法的基础上，加入对双摄像机相对位置和姿态的优化，同时考虑了镜头的非线性畸变，达到了较好的标定结果。另外，提出的图像点与其空间点的对应算法具有良好的稳定性，即使由于环境或摄像机摆放位置等因素的影响，一些标定板上的特征点不能被摄像机拍摄到，或者不能被正确识别时，仍然能进行标定工作。标定实验和系统标定后的三维重建结果验证了该方法的有效性。     

三支点柔性转子系统支承不同心激励特征及振动响应分析

针对航空发动机三支点柔性转子系统的支承不同心问题,充分考虑转子结构特征和载荷特征,首次将当量刚度引入多支点柔性转子不同心问题的动力学分析,定量描述转子系统各支承间不同心度带来的转子轴段刚度非线性,并提出了多跨度柔性转子系统支承不同心激励的数学描述,建立了不同心激励下多跨度柔性转子系统的力学模型。基于Lagrange能量法,给出了转子系统动力学方程的求解方法,研究得到了支承不同心转子系统的动力响应特征。结果表明:支承不同心不仅引起转子过渡轴的刚度非线性,产生2倍频激励,还会给转子系统带来附加不平衡激励;对于三支点柔性转子系统而言,2倍频分量同样是支承不同心下转子系统振动响应的典型特征之一。转子系统2倍频分量随不同心量的增加而迅速增加,而1倍频分量基本保持不变。同时转子振动响应呈现"缓增速降"趋势,且随非线性刚度、不平衡量的增大愈加明显。     

Enhanced target detection using stereoscopic imaging radar

An earlier correspondence reported experiments which suggested that the visibility of a target in clutter could be improved through stereoscopic viewing of high resolution radar images. Here we provide a more thorough discussion on the application of stereo for improving radar detection and recognition. Experiments are reported which confirm and extend the earlier reported results. An example of the use of stereo in a practical system is provided which demonstrates the potential for acquisition of high quality radar stereograms     

考虑执行机构误差的编队卫星姿态分布式时延滑模自适应协同控制

针对编队卫星姿态协同控制问题,在考虑到执行机构误差的前提下,提出一种将时延控制与滑模自适应控制相结合的鲁棒控制方法.该方法通过引入自适应更新律实现对执行机构小角度安装误差的在线估计,同时通过滑模控制完成对外界干扰和执行机构随机幅值误差等随机扰动的抑制.由于引入了时延环节,只需对上一时刻控制力矩进行单位时延,达到大大简化...     

A system for obstacle detection during rotorcraft low altitudeflight

An airborne vehicle such as a rotorcraft must avoid obstacles like antennas, towers, poles, fences, tree branches, and wires strung across the flight path. Automatic detection of the obstacles and generation of appropriate guidance and control actions for the vehicle to avoid these obstacles would facilitate autonomous navigation. The requirements of an obstacle detection system for rotorcraft in low-altitude Nap-of-the-Earth (NOE) flight based on various rotorcraft motion constraints is analyzed here in detail. It is argued that an automated obstacle detection system for the rotorcraft scenario should include both passive and active sensors to be effective. Consequently, it introduces a maximally passive system which involves the use of passive sensors (TV, FLIR) as well as the selective use of an active (laser) sensor. The passive component is concerned with estimating range using optical flow-based motion analysis and binocular stereo. The optical flow-based motion analysis that is combined with on-board inertial navigation system (INS) to compute ranges to visible scene points is described. Experimental results obtained using land vehicle data illustrate the particular approach to motion analysis     

An Optimally Integrated Track Recovery System for Aerial Bathymetry

An airborne system has been developed for charting shallow coastal and inland waters. The primary components of this system are an aerial survey camera, a profiling laser radar, an analytical stereo plotter, and a multisensor track recovery system (TRS). The TRS comprises a gimbaled inertial navigation system and a number of auxiliary sensors which acquire redundant position and attitude information. The sensor data are combined postmission using a U-D factorized Kalman filter and modified Bryson-Frazier smoother to compute accurate estimates of the orientation parameters of the survey camera at the times of film exposure. These parameters are used to position each overlapping pair of photographs on the analytical plotter to form a stereo image and corresonding analytical stereomodel from which water depth measurements are made. Flight trial results demonstrate that the TRS can achieve radial position and attitude accuracies which exceed 1 m and 2 arcmin root mean square (rms), respectively, and that this level of performance is sufficient to enable water depth measurements to be made to an accuracy of better than 0.65 m (rms).     

Gyro Misalignment and Encoder Quantization Effects During Multi-Axis Evaluation of Strapdown Gyros

This paper presents a quantitative discussion of two error sources which affect the accuracy of data comparison between instrument outputs and reference angle computations during multi-axis evaluation of strapdown gyros. The error due to misalignment of gyro input axes is formulated in terms of closed-form solutions for typical relationships between the three table gimbal rotation histories. If the angular positions of the table gimbal axes are measured by shaft encoders, then any measurement has an uncertainty in the range from plus to minus one-half of the quantization level. It is shown that the effect of encoder quantization error on the computer transformed angles in the bodyfixed coordinate system can be divided into two parts: the initial uncertainty of the zero positions of the gimbals before table motion is begun, and all subsequent error contributions during table test. Typical data for gyro misalignment and encoder quantization error effects are presented.     

Model-based orientation-independent 3-D machine vision techniques

Orientation-dependent techniques for the identification of a three-dimensional (3-D) object by a machine vision system are represented in parts. In the first part, the data consist of intensity images of polyhedral objects obtained by a single camera, while in the second part, the data consist of range images of curved objects obtained by a laser scanner. In both cases, the attributed graph representation of the 3-D object surface is used to drive the respective algorithm. In this representation, a graph node represents a surface path and a link, the adjacency between two patches. The attributes assigned to nodes are moment invariants of the corresponding face for polyhedral objects. For range images, the Gaussian curvature is used as a segmentation criterion for providing symbolic shape attributes. Identification is achieved by an efficient graph-matching algorithm used to match the graph obtained from the data to a subgraph of one of the model graphs stored in the computer memory     

转子支承不对中故障建模与机理分析

针对工程实际所出现的不对中现象,建立了一个转子支承不对中故障的通用模型。将任意形式的联轴器在径向刚度和角向刚度等效的前提下简化为1个等效模型,该模型与实际的总体径向刚度和角向刚度等效,依据实际联轴器刚度计算得到等效模型参数;根据等效联轴器模型推导出转子系统由于连接对角向位置的不均匀、连接刚度的差异性和非线性等不确定性因素所产生的不对中激励力,基于此建立含转子支承不对中故障的转子-支承耦合动力学模型。通过故障仿真分析得到转子支承不对中故障激励下的振动特征,通过数值仿真验证了平行不对中和角度不对中故障的2倍频和4倍频现象,以及由于角度不对中产生的1倍频轴向振动现象。利用含套齿联轴器的3支点转子故障模拟试验器进行了特征转速下多种不对中工况的振动响应试验,通过比较仿真结果的精度达到85%以上,表明所提出的转子支承不对中故障通用模型的正确有效性。     

惯性/双目视觉里程计深组合导航方法

针对现有视觉里程计测量噪声大、匹配精度低、实时性差的问题,研究一种基于Kalman滤波器的惯性/双目视觉里程计组合导航方法.在视觉里程计中引入惯性导航信息,辅助完成实时图截取、搜索区预测、输出速度校正等功能,提高视觉里程计的测量精度与计算速度.利用Kalman滤波器,实现视觉里程计对惯导累计误差的修正,提升组合导航系统的导航精度.车载试验结果表明,惯性/双目视觉里程计深组合导航的实时定位精度优于0.5％D (CEP),具备工程应用条件.     

基于视觉的模型烧蚀形貌实时测量方法

针对电弧风洞试验时模型烧蚀形貌实时的变化问题,使用数字散斑相关结合双目视觉的方法直接测量得到了模型烧蚀过程的形貌变化历程。利用散斑相关来进行图像数据的处理,同时综合了亚象素相关算法。通过测量获得了模型烧蚀过程的形貌实时变化情况。标定结果表明标定精度达到了0.02 mm;试验结果表明,测量方法可以为分析平板模型随烧蚀时间变化而变化的特性提供有效的试验数据。     

航空发动机双转子系统不对中研究进展

转子不对中是旋转机械最常见的故障之一。不对中常引起整机振动加剧、轴承磨损、转静子碰摩等故障,严重时将造成灾难性事故。航空发动机转子系统由于结构复杂、工作温差大、多支点弹性支承,更容易造成滚动轴承支承不对中、联轴器不对中、动态不对中等不对中故障。虽然航空发动机不对中问题严重,但这方面的研究却相对缺乏。本文针对航空发动机转子系统的结构特点,首先论述了滚动轴承不对中、联轴器不对中、航空发动机转子不对中3种不对中故障的研究现状;其次,讨论了不对中转子系统非线性动力学特性及不对中故障定量分析方面的研究成果。最后,对航空发动机双转子系统不对中研究的发展趋势进行了展望。     

转子倾斜对交错式迷宫密封动静特性的影响

建立了交错式迷宫密封数值分析模型,并通过基于微元理论的密封动力特性系数理论识别方法研究了转子倾斜对密封动静特性的影响。结果表明：转子倾斜可降低交错式迷宫密封泄漏量,倾斜角为0.6°时泄漏量降低约2.5%,且进出口压比越大,效果越显著;转子倾斜带来的交错式密封腔室几何形状与齿径向间隙变化使得腔室在周向存在压力分布不均,且随倾斜角增加而增大;密封各腔室对系统稳定性影响规律不同,与交错式迷宫密封腔室的几何特性有关,密封腔室进口靠近转子、出口远离转子的腔室局部出现逆转动方向的速度场,能提高密封系统稳定性,而密封腔室进口远离转子、出口靠近转子的腔室则降低系统稳定性;整个密封段的有效阻尼随倾斜角增大而增大,转子在密封段中心倾斜不会降低交错式迷宫系统的稳定性。     

不对中齿轮联轴器-轴承-转子系统动力特性

为适应液体火箭发动机高速涡轮泵模拟运转需求,内啮合齿轮联轴器被设计作为涡轮快速起动过程运动传递的核心零部件;实际中联轴器前后两轴的不对中程度对试验转子动态性能产生了极大影响.构建了此类特定工程应用的内啮合齿轮联轴器刚度阻尼计算模型、多种不对中工况的表征方法及其附加力与力矩的求解模型、考虑不对中因素的联轴器-滚动轴承-双...     

传递对准中载舰挠曲变形和杆臂效应一体化建模与仿真

 针对舰载机惯导系统大方位失准角传递对准的非线性问题,根据舰载机在载舰上的实际停放情况,引入舰载机标称坐标系,并综合考虑载舰挠曲变形和杆臂效应的影响,建立挠曲变形和杆臂效应加速度一体化模型,完善舰载机惯导系统大方位失准角传递对准线性化模型。采用“速度+角速度”组合匹配算法的滤波模型,对固定安装失准角和挠曲变形角进行了估计。结果表明,该模型在舰载机大方位失准角传递对准时可以满足对准精度和时间的要求。     

Fast alignment and calibration algorithms for inertial navigation system

Algorithms for fast estimating the azimuth misalignment angle and calibrating gyro drift rates are approached from the point of view of control theory. By introducing the Lyapunov transformation, the equivalence of Strapdown Inertial Navigation System (SINS) and Gimbaled Inertial Navigation System (GINS) is discussed, and it shows that the analysis results of GINS can be applied to SINS directly by using such kind of equivalence. A similar transformation that based on physical essence is introduced, so that the true states can be replaced by the so-called pseudo-states, and then the observable states of INS can be dynamically decoupled with the unobservable states. Consequently, the best completely observable subsystem model of INS can be obtained. Based on the simplified subsystem model of INS, the algorithms for fast estimating the azimuth misalignment angle and calibrating gyro drift rates are proposed. The proposed algorithms show that the azimuth misalignment angle and gyro drift rates can be estimated from the rates of leveling misalignment angles without using the gyro output signals.