Navigation system design using time-varying complementary filters

A new methodology for the design of navigation systems for autonomous vehicles is introduced. Using simple kinematic relationships, the problem of estimating the velocity and position of an autonomous vehicle is solved by resorting to special bilinear time-varying filters. These are the natural generalization of linear time-invariant complementary filters that are commonly used to properly merge sensor information available at low frequency with that available in the complementary region. Complementary filters lend themselves to frequency domain interpretations that provide valuable insight into the filtering design process. This work extends these properties to the time-varying setting by resorting to the theory of linear differential inclusions and by converting the problem of weighted filter performance analysis into that of determining the feasibility of a related set of linear matrix inequalities (LMIs). Using this set-up, the stability of the resulting filters as well as their "frequency-like" performance can be assessed using efficient numerical analysis tools that borrow from convex optimization techniques. The mathematical background that is required for complementary time-varying filter analysis and design is introduced. Its application to the design of a navigation system that estimates position and velocity of an autonomous vehicle by complementing position information available from GPS with the velocity information provided by a Doppler sonar system is described.     

DOA and steering vector estimation using a partially calibratedarray

We consider the problem of estimating directions of arrival (DOAs) using an array of sensors, where some of the sensors are perfectly calibrated, while others are uncalibrated. We identify a cost function whose minimizer is a statistically consistent and efficient estimator of the unknown parameters-the DOAs and the gains and phases of the uncalibrated sensors. Next we present an iterative algorithm for finding the minimum of that cost function The proposed algorithm is guaranteed to converge. The performance of the estimation algorithm is compared with the Cramer Rao bound (CRB). The derivation of the bound is also included. It is shown that DOA accuracy can be improved by adding uncalibrated sensors to a precisely calibrated array. Moreover, the number of sources that can be resolved may be larger than the number that can be resolved by the calibrated portion of the array     

相控阵雷达长时跟踪波束调度与波形优化策略

针对相控阵雷达多目标跟踪波束调度和波形参数优化控制的问题,本文提出了一种基于马尔可夫决策过程（MDP）的相控阵雷达跟踪波束调度与波形参数优化策略,该方法以无迹卡尔曼滤波（UKF）算法为基础来估计目标的状态。首先将本文的序列决策问题建模为马尔可夫决策过程,定义了资源的效费比和长期回报率,然后与当前实际跟踪误差综合考虑作为MDP的回报函数,进而给出了调度的优化模型,最后将长时决策问题转化为动态规划算法结构进行求解,并且提出了一种并行混合遗传粒子群优化算法来求解各决策时刻的最优策略。仿真结果表明了长时策略的先进性以及寻优算法的优越性,与传统的短时策略相比,跟踪精度可提高11.17%。     

基于Kriging形函数的线性时变结构模态参数辨识

近年来,对航空航天飞行器随时间变化的动力学特性研究需求越来越迫切。仅输出参数化时域的时变时间序列模型以其结构简约、精度高且跟踪能力强而成为研究热点,尤其是泛函向量时变自回归(FS-VTAR)模型已经得到了广泛应用。然而传统的FS-VTAR模型在保证其辨识优势的同时却需要针对不同时变结构选择合适的基函数形式及较高的基函数阶数,该过程相当复杂且耗时。本文借鉴无网格法中移动最小二乘(MLS)法构造形函数的思想,提出一种基于Kriging形函数的线性时变结构模态参数辨识方法。该方法首先引入自适应于辨识信号的Kriging形函数;再把时变系数在形函数上线性展开,利用最小二乘(LS)法得到形函数的展开系数;最后把时变模型特征方程转换为广义特征值问题提取出模态参数。利用时变刚度系统非平稳振动信号验证该方法,结果表明:基于Kriging形函数的FS-VTAR模型相比于传统的FS-VTAR模型能有效地避免基函数形式的选择和较高的基函数阶数,且精度相当;相比于移动最小二乘法能有效地解决其数值条件问题且具有更高的模态参数辨识精度。     

Multiple target angle tracking using sensor array outputs

The use of the output of an array of sensors to track multiple independently moving targets is reported. The output of each sensor in the array is the sum of signals received from each of the targets. The results of direction-of-arrival estimation by eigenvalue analysis are extended to derive a recursive procedure based on a matrix quadratic equation. The solution of this matrix quadratic equation is used to provide updated target positions. A linear approximation method for estimating the solution of the matrix equation is presented. The algorithm is demonstrated by the simulated tracking of two targets. The main advantage of the algorithm is that a closed-form solution for updating the target angle estimates has been obtained. Also, its application is straightforward, and the data association problem due to uncertainty in the origin of the measurements is avoided. However, it requires the inversion of an N×N as well as other linear operations, so that the computational burden becomes substantial as N becomes very large     

Azimuth/elevation direction finding using regular array geometries

The authors consider the problem of extending the estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm for multiple source, cochannel direction finding to the two-dimensional case (e.g., azimuth and elevation angle estimation). Two algorithms are presented, one based on the optimal (minimal variance) subspace fitting formulation of ESPRIT, and the other based on an approximation to it. The algorithms are applicable to antenna arrays composed of identical subarrays displaced in two dimensions, such as uniform rectangular phased arrays. Simulation results illustrating the relative performance of the algorithms are also presented     

A Velocity Estimation Algorithm of Moving Targets using Single Antenna SAR

A new algorithm is proposed for velocity estimation of moving targets in single antenna synthetic aperture radar (SAR). Based on the fact that different velocity vectors cause different geometrical figures of the two-dimensional (2-D) signature in the range-Doppler (RD) domain, this algorithm estimates the azimuth and range velocities by a 2-D search such that the range cell migration correction (RCMC) and the second range compression (SRC) are correctly performed. It is shown that, using the proposed algorithm, the Doppler ambiguity problem can be avoided and satisfactory accurate velocity estimation can be obtained in high signal-to-clutter ratio (SCR) scenarios.     

Analysis of thin-walled stiffened rods using the beam theory

The stress-strain state of thin-walled aircraft structures such as a wing or fuselage made of composite materials is determined based on the beam theory. The laminated skin is orthotropic. The solution was obtained without using the centroidal principal section axes and subdividing the problem in shear and torsion. A calculation variant with skin discretization along the section contour was studied.     

Cancellation of specular and diffuse jammer multipath using ahybrid adaptive array

It has been demonstrated that specular or diffuse jammer multipath can be canceled to a desired level by using an adaptive array that combines bandwidth partitioning with tapped delay lines. Such hybrid systems are studied. In particular, the author studies an ideal two-element array that uses bandwidth partitioning in both the main and auxiliary channels, with an Mth-order adaptive finite impulse response filter in each subband of the auxiliary. The ability of this system to cancel specular moderately diffuse and diffuse multipath is studied. The combinations of bandwidth partitioning and filter order that can achieve a specified jammer cancellation level are discussed     

Flight path estimation using frequency measurements from a wideaperture acoustic array

A narrowband technique based on the acoustical Doppler effect is proposed for estimating the trajectory of a turbo-prop aircraft in level flight with constant velocity as it transits over a ground-based passive acoustic sensor array. The basic principle is to measure the temporal variation of the instantaneous frequency (IF) of the acoustic signal received by each sensor and then to minimize the sum of the squared deviations of the IF estimates from their predicted values over a sufficiently long period of time for all sensors. The technique provides estimates of the propeller blade rate and the five source motion parameters that describe the aircraft trajectory. The six dimensional minimization problem is reduced to a five dimensional maximization problem, which is solved numerically using the quasi-Newton method. A simple method is described that provides the initial parameter estimates required for the numerical maximization. The effectiveness of the motion parameter estimation technique is verified using real acoustic data recorded from a wide aperture microphone array during various transits of a turbo-prop aircraft     

Studies of polar current systems using the IMS Scandinavian magnetometer array

As a contribution to the International Magnetospheric Study (IMS, 1976–1979) a two-dimensional array of 42 temporary magnetometer stations was run in Scandinavia, supplementary to the permanent observatories and concentrated in the northern part of the region. This effort aimed at the time-dependent (periods above about 100 s) determination of the two-dimensional structure of substorm-related magnetic fields at the Earth's surface with highest reasonable spatial resolution (about 100 km, corresponding to the height of the ionosphere) near the footpoints of field-aligned electric currents that couple the disturbed magnetosphere to the ionosphere at auroral latitudes. It has been of particular advantage for cooperative studies that not only simultaneous data were available from all-sky cameras, riometers, balloons, rockets, and satellites, but also from the STARE radar facility yielding colocated two-dimensional ionospheric electric field distributions. In many cases it therefore was possible to infer the three-dimensional regional structure of substorm-related ionospheric current systems. The first part of this review outlines the basic relationships and methods that have been used or have been developed for such studies. The second short part presents typical equivalent current patterns observed by the magnetometer array in the course of substorms. Finally we review main results of studies that have been based on the magnetometer array observations and on additional data, omitting studies on geomagnetic pulsations. These studies contributed to a clarification of the nature of auroral electrojets including the Harang discontinuity and of ionospheric current systems related to auroral features such as the break-up at midnight, the westward traveling surge, eastward drifting omega bands, and spirals.     

基于电子束电离的磁流体力学进气道流动控制数值模拟

采用基于电子束电离的磁流体力学(MHD)控制系统,对高超声速流场附面层,以及非设计状态下的高超声速进气道流场的磁流体控制进行了深入研究.控制方程为低磁雷诺数Navier-Stokes方程,采用等离子体动力学模型与电子束模型模拟空气电离过程.研究结果表明:①电子束电离能有效提高流场的电导率,增强磁场对流场的控制效率;②基于电子束诱导电离的MHD控制系统能有效地控制高超声速流场的附面层,但其控制效率跟电子束能量大小相关;③基于电子束诱导电离的MHD控制系统能有效地改变非设计状态下高超声速飞行器的斜激波结构,使进气道重新满足Shock-on-lip(SOL)条件,但进气道的总压恢复系数以及流量将会降低.      

Source localization using a non-cocentered orthogonal loop and dipole （NCOLD） array

A uniform array of scalar-sensors with intersensor spacings over a large aperture size generally offers enhanced resolution and source localization accuracy,but it may also lead to cyclic ambiguity.By exploiting the polarization information of impinging waves,an electromagnetic vector-sensor array outperforms the unpolarized scalar-sensor array in resolving this cyclic ambiguity.However,the electromagnetic vector-sensor array usually consists of cocentered orthogonal loops and dipoles（COLD）,which is easily subjected to mutual coupling across these cocentered dipoles/loops.As a result,the source localization performance of the COLD array may substantially degrade rather than being improved.This paper proposes a new source localization method with a non-cocentered orthogonal loop and dipole（NCOLD）array.The NCOLD array contains only one dipole or loop on each array grid,and the intersensor spacings are larger than a half-wavelength.Therefore,unlike the COLD array,these well separated dipoles/loops minimize the mutual coupling effects and extend the spatial aperture as well.With the NCOLD array,the proposed method can effciently exploit the polarization information to offer high localization precision.     

Solution of the five-layer beam bending problem using the calculus of variation

The paper deals with the problem of lateral bending for the five-layer panel with the lightweight filler that is reduced to the bending problem of a beam fixed at the end sections. To solve the differential equations describing the beam bending, the Euler-Lagrange variational principle is used.     

阵列表面电弧激励控制激波附面层干扰机理

为了获得阵列表面电弧控制激波/附面层干扰不稳定性机理,开展了高频激励和低频激励的实验研究。综合运用高速纹影、动态压力等先进测试手段和分析方法,揭示阵列电弧等离子体激励的热效应和涡效应特性。结合流动显示和壁面动态压力脉动,深度揭示了控制过程。更为关键的,因为高频激励模式下的激励器处于低功耗状态,这样可以提供稳定的控制效果。基于动态压力频谱分析,发现高频激励下低频不稳定性能量的占比降低12.2%。结合纹影显示,获得高频激励下的涡效应主导机制。     

Direct position determination using single moving rotating linear array: Noncoherent and coherent processing

To improve the resolution and accuracy of Direct Position Determination (DPD), this paper investigates the problem of positioning multiple emitters directly with a single moving Rotating Linear Array (RLA). Firstly, the geometry of the RLA is formulated and analysed. According to its geometry, the intercepted noncoherent signals in multiple interception intervals are modeled. Correspondingly, the MUltiple SIgnal Classification (MUSIC) based noncoherent DPD approach is proposed. Secondly, the synchronous coherent pulse signals are individually considered and formulated. And the coherent DPD approach which aims for localizing this special type of signal is presented by stacking all array responses at different interception intervals. Besides, we also derive the constrained Cramér-Rao Lower Bound (CRLB) expression for both noncoherent and coherent DPD with RLA under the constraint that the altitudes of the emitters are known. At last, computer simulations are included to examine the performance of the proposed approach. The results demonstrate that the localization accuracy and resolution of DPD with single moving linear array can be significantly improved by the array rotation. In addition, coherent DPD with RLA further improves the resolution and increases the maximum emitter number that can be localized compared with the noncoherent DPD with RLA.     

Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control

The acceleration autopilot design for skid-to-turn (STT) missile faces a great challenge owing to coupling effect among planes, variation of missile velocity and its parameters, inexistence of a complete state vector, and nonlinear aerodynamics. Moreover, the autopilot should be designed for the entire flight envelope where fast variations exist. In this paper, a design of inte-grated roll-pitch-yaw autopilot based on global fast terminal sliding mode control (GFTSMC) with a partial state nonlinear observer (PSNLO) for STT nonlinear time-varying missile model, is employed to address these issues. GFTSMC with a novel sliding surface is proposed to nullify the integral error and the singularity problem without application of the sign function. The pro-posed autopilot consisting of two-loop structure, controls STT maneuver and stabilizes the rolling with a PSNLO in order to estimate the immeasurable states as an output while its inputs are missile measurable states and control signals. The missile model considers the velocity variation, gravity effect and parameters’ variation. Furthermore, the environmental conditions’ dynamics are mod-eled. PSNLO stability and the closed loop system stability are studied. Finally, numerical simula-tion is established to evaluate the proposed autopilot performance and to compare it with existing approaches in the literature.     

Imaging the interphase of carbon fiber composites using transmission electron microscopy:Preparations by focused ion beam,ion beam etching,and ultramicrotomy

Three sample preparation techniques, focused ion beam(FIB), ion beam(IB) etching,and ultramicrotomy(UM) were used in comparison to analyze the interphase of carbon fiber/epoxy composites using transmission electron microscopy. An intact interphase with a relatively uniform thickness was obtained by FIB, and detailed chemical analysis of the interphase was investigated by electron energy loss spectroscopy. It shows that the interphase region is 200 nm wide with an increasing oxygen-to-carbon ratio from 10% to 19% and an almost constant nitrogen-to-carbon ratio of about 3%. However, gallium implantation of FIB tends to hinder fine structure analysis of the interphase. For IB etching, the interphase region is observed with transition morphology from amorphous resin to nano-crystalline carbon fiber, but the uneven sample thickness brings difficulty for quantitative chemical analysis. Moreover, UM tends to cause damage and/or deformation on the interphase. These results are meaningful for in-depth understanding on the interphase characteristic of carbon fiber composites.     

高度修正实现刚度等效的梁结构有限元建模方法

民用飞机中对于梁结构的有限元建模,一般采用刚度等效方法将梁建成杆单元与剪切板单元的组合形式,这种有限元简化方法仅能保证截面刚度与真实截面刚度近似等效,但有限元中的截面面积与实际面积却相差较大,致使有限元分析的结果不能准确反映结构严重部位的应力情况。针对传统刚度等效有限元建模方法的不足,提出一种采用高度修正的刚度等效有限元建模方法;将该方法的计算结果与传统建模方法的计算结果、理论计算结果、试验测量结果进行对比。结果表明：本文提出的高度修正的有限元建模方法比传统杆板系建模方法更准确,与试验结果更接近。将该方法用于民用飞机结构有限元建模,能够对真实结构进行更准确地模拟,分析结果也更精确,对民用飞机结构的强度分析和安全保障具有重要的意义。     

液晶瞬态技术测量带侧向流扰流柱通道端壁换热

采用热色液晶瞬态测量技术测量带侧向流扰流柱通道端壁全表面换热系数的分布,研究了侧流比及雷诺数对换热的影响,其中,侧流比为0.25~1.0,雷诺数为3×104~9×104。结果表明:(1)侧流比对扰流柱通道的流动形态及端壁换热有重要影响;(2)存在一个临界侧流比,在临界侧流比以下,流动形态沿主流方向呈错排流状态;在临界侧流比以上,流动形态沿侧流方向呈错排流状态;在临界侧流比附近,流动为顺排流动状态,方向在主流和侧流方向之间;(3)侧流比较小或较大时,扰流柱通道端壁换热较强;在临界侧流比附近,换热相对较弱。