Least squares range difference location

An array of n sensors at known locations receives the signal from an emitter whose location is desired. By measuring the time differences of arrival (TDOAs) between pairs of sensors, the range differences (RDs) are available and it becomes possible to compute the emitter location. Traditionally geometric solutions have been based on intersections of hyperbolic lines of position (LOPs). Each measured TDOA provides one hyperbolic LOP. In the absence of measurement noise, the RDs taken around any closed circuit of sensors add to zero. A bivector is introduced from exterior algebra such that when noise is present, the measured bivector of RDs is generally infeasible in that there does not correspond any actual emitter position exhibiting them. A circuital sum trivector is also introduced to represent the infeasibility; a null trivector implies a feasible RD bivector. A 2-step RD Emitter Location algorithm is proposed which exploits this implicit structure. Given the observed noisy RD bivector Δ, (1) calculate the nearest feasible RD bivector Δˆ, and (2) calculate the nearest point to the ( ₃ⁿ) planes of position, one for each of the triads of elements of Δˆ. Both algorithmic steps are least squares (LS) and finite. Numerical comparisons in simulation show a substantial improvement in location error variances     

Omega Lane Ambiguity Resolution Using Methods of Statistical Decision Theory

Lane ambiguity is an inherent problem of navigation systems using phase measurements. A lane ambiguity resolution technique combining methods of hyperbolic and range-range modes of navigation has been developed. The basis of this approach is that the ensemble of received phases at any location forms a unique set and therefore the lane resolution problem reduces to finding a position such that the expected set of phases (or the phase predicted for the position of the navigator) matches the received set. This method of lane resolution is not constrained by lane widths and using the phase data of 10.2, 13.6, and 11? kHz; lane resolution has been accomplished for distances of up to 120 nmi. This method of lane resolution requires phase data from at least four stations at any frequency and is very sensitive to uncompensated propagation phase shifts.     

Omega

Omega is a navigation radio aid having worldwide coverage with good accuracy. By choosing among the phase-difference lines of position?much as with celestial navigation?high and uniform accuracy can be maintained. Developed and tested by USNEL and USNRL, Omega is introduced by a discussion of qualities not shared by Gee. Decca, or Loran.     

Direct-Ranging Loran Model Identification and Performance Predictions

With the availability of modern data processing techniques and lowcost stable time references, the use of Loran in a direct-ranging mode offers certain potential advantages. In order to generate reliable direct-ranging Loran (DRL) performance projections and system designs, however, accurate system error models are required. This paper first describes the processing of airborne flight data from a DRL receiver to identify models for significant DRL system errors. These models are then used in a Kalman filter covariance simulation to generate performance predictions for an optimally integrated DRL system. Comparisons with conventional hyperbolic Loran are also given. DRL is shown to be capable of substantially improved position accuracy over that of conventional hyperbolic Loran, especially in regions of poor geometry. A stationary ground-align technique for improving DRL performance is also discussed.     

基于滑模观测器位置检测的水下推进器直接转矩控制研究

水下推进器是水下航行器的重要组成部分,为提高其转矩响应性能,提出了一种基于滑模观测器位置检测的水下推进器直接转矩控制方法。该方法将一种双曲正切函数引入线反电动势(EMF)滑模观测器,并将该滑模观测器应用于水下推进器直接转矩控制系统中,使得驱动控制系统通过水下推进器线反电动势观测值进行扇区判别与转矩估计,从而获得6个离散的换相信号,实现无位置检测的水下推进器直接转矩控制。仿真试验表明:所提控制方法能够很好地观测线反电动势,提高转矩动态响应,减小系统抖振幅度。     

A Hybrid Navigation Concept Using a Spinning Satellite?Borne Interferometer and Self?Contained Equipment

This paper analyzes a hybrid navigation concept that uses signals from a radio interferometer mounted on a spinning geostationary satellite, preliminary position estimates from self-contained equipment, and stored a priori information on the past performance of this equipment. The craft-borne processor, optimum in the maximum a posteriori (MAP) sense, is designed to estimate position coordinates using only the incoming radio signals, although improved estimates result if the other two items are available. An error analysis starts with the derivation of an estimation error covariance matrix, whose elements depend on additive receiver noise and the physical parameters of the system. A minimum 1? estimation error in position is obtained by trading off these parameters. The effects of other major error sources, such as tropospheric phase fluctuations, multipath, and craft altitude uncertainty, are added to the estimation error to give a total 1? position error on the order of 3.7 to 5.6 km.     

The Tracking Index: A Generalized Parameter for ? ? ? and ? ? ? ? Target Trackers

A generalized, optimal filtering solution is presented for the target tracking problem. Applying optimal filtering theory to the target tracking problem, the tracking index, a generalized parameter proportional to the ratio of the position uncertainty due to the target maneuverability to that due to the sensor measurement, is found to have a fundamental role not only in the optimal steady-state solution of the stochastic regulation tracking problem, but also in the track initiation process. Depending on the order of the tracking model, the tracking index solution yields a closed form, consistent set of generalized tracking gains, relationships, and performances. Using the tracking index parameter, an initializing and tracking procedure in recursive form, realizes the accuracy of the Kalman filter with an algorithm as simple as the well-known ? ? ? filter or ? ? ? ? ? filter depending on the tracking order.     

The Effect of Integrator Pole Position on the Performance of an Adaptive Array

The LMS adaptive array requires an integrator in each weight feedback control loop. In practice the integrator is often replaced by a low-pass filter, i.e., by a filter with a single pole at s = - ? (where s is complex frequency). The effect of this pole position on array performance is examined. It is shown that to obtain optimal performance from the array, ? must be less than k?2, where k is the loop gain and ?2 is the thermal noise power per element. When at exceeds k?2, the output signal-to-inter ference-plus-noise ratio from the array is degraded for intermediate values of interference power.     

基于谱方法的管路充填过程仿真

基于一维瞬变流理论,建立了推进剂供应系统管路充填过程数学模型.提出采用Fourier谱方法求解充填管道中液体瞬变流控制方程的新方法.利用坐标变换方法,很好地处理了解算管内气液移动边界时,非线性迭代收敛速度较慢这一难题.对由贮箱、隔离阀、管道组成的系统充填过程进行了仿真计算,并将计算结果与已发表的采用特征线方法获得的结果进行对比分析,表明该方法和仿真结果可信.进一步研究了预存气体压力、贮箱压力、多变指数等影响因素对最大充填压力峰的影响规律.      

基于改进型滑模观测器的永磁同步电机分数阶微积分滑模控制

为了提高永磁同步电机调速系统的控制性能,结合滑模控制与分数阶微积分理论,设计了分数阶积分滑模转速控制器和改进型滑模观测器。针对转速控制器,采用基于反双曲正弦函数的新型趋近律削弱系统抖振,同时分数阶控制为系统提供了更多的控制余度,可以增强系统鲁棒性并进一步减小系统抖振。针对观测器,设计了采用新型趋近律fal函数的滑模观测器来获取反电动势估计值,利用分数阶锁相环技术提取反电动势中的转速和位置信息,有效提高了转子速度和位置的估计精度。通过仿真验证了所提出方法的可行性与有效性。     

不锈钢表面氧化对RP一3航空煤油热氧化结焦的影响

利用有限元方法对航空发动机外部管路模态进行了计算,得到了管路的固有频率及模态振型;通过计算,分析了安装不同数量、位置的卡箍对管路固有频率的影响,以此为依据进行了管路调频,避免了管路共振的发生。     

An introduction to Loran

The history of the Loran hyperbolic navigation program as an example of the efficient mass production of research and development under the National Defense Research Committee is described. The fundamental concepts of hyperbolic navigation are addressed, and some details regarding the kinds of equipment employed for transmission, reception, and interpretation of pulse signals for this service are given. The potential usefulness of hyperbolic navigation is discussed, and some devices that will simplify the navigation of the future and enhance its reliability are suggested. The immediate organizational problems facing the program are indicated     

Tracking Accuracies with Position and Rate Measurements

Tracking accuracies for the radial component of motion are computed for a track-while-scan radar system which obtains position and rate data during the dwell time on a target These results will be of interest to persons developing trackers for pulse Doppler surveillance radars. The normalized accuracies, computed for a two state Kalman tracking filter with white noise maneuver capability, are shown to depend upon two parameters, r = 4?0/?aT2 and s = ?dT/?0. The symbols ?0 and ?d are the position and rate measurement accuracies, respectively, ?a is the standard deviation of the white noise maneuver process and T is the antenna scan time. The scalar tracking filter equations are derived and numerical results are presented. Lower steady state tracking errors plus the earlier attainment of steady state accuracies are the direct consequence of incorporating the rate measurements into the tracking filter.     

基于路标观测角的星际着陆器自主位姿确定技术

针对利用导航路标进行六自由度状态估计这一非线性、模糊性问题,对星际着陆器自主位姿确定技术进行了研究。为了减小算法的复杂性,提高求解精度,基于欧式变换下角度不变性,提出以导航路标观测视线之间所形成的夹角作为观测量,对像素观测方程中位置、姿态状态进行解耦求解。通过对观测矩阵的讨论,分析了导航路标空间分布对位姿确定精度的影响,给出了导航路标选取的最优观测方案。最后利用蒙特卡罗仿真对所提导航算法进行了验证,并对影响导航精度的各相关因素进行了分析。     

Optimum Steady-State Position and Velocity Estimation Using Noisy Sampled Position Data

The Kalman filtering technique is used to obtain analytical expressions for the optimum position and velocity accuracy that can be achieved in a navigation system that measures position at uniform sampling intervals of T seconds through random noise with an rms value of ?x. A one-dimensional dynamic model, with piecewise-constant acceleration assumed, is used in the analysis, in which analytic expressions for position and velocity accuracy (mean square), before and after observations, are obtained. The errors are maximum immediately before position measurements are made. The maximum position error, however, can be bounded by the inherent sensor error by use of a sufficiently high sampling rate, which depends on the sensor accuracy and acceleration level. The steady-state Kalman filter for realizing the optimum estimates consists of a double integrator, the initial conditions of which are reset at each observation.     

Real Time Satellite Position Determination for TDMA Systems

A real time satellite position determination method using a single reference station is presented. The satellite position is determined from these three parameters: the distance between the reference station and the satellite that can be obtained by a single-hop measurement, the elevation angle, and the azimuth angle obtained from the antenna encoder. The error of the transmit frame delay is determined from the position equations, together with other possible errors. The accuracy is about ± 42 symbols for a 90 Mbit/s timedivision multiple access (TDMA) system using an encoder with a ± 0.001 ? resolution.     

一个基于通量分裂的高精度MmB差分格式

本文研究双曲型守恒律的高精度差分方法.在新的算法中,首先将计算区间划分为互不相交的小区间,再根据精度要求等分小区间;其次,根据流动方向进行通量分裂,重构小区间交界面上的正、负数值通量,并进行校正;然后,采用高阶Runge-Kutta TVD方法进行时间离散,构造了一维非线性双曲型守恒律方程的一个高精度、高分辨率的守恒型差分格式.推广到二维双曲型守恒律方程,证明了格式的MmB特性.进而推广到二维守恒型方程组情形.最后对二维Burgers方程及Euler方程进行了数值试验,数值结果令人满意.     

VLF Multirange Navigation Errors

The fix error, for long-distance XIF navigation systems in which the distances to two or three ground-based stations are determined, is a function of the "angles of cut" of the lines of position, the standard deviation of the errors in determination of the distances (ranges) to the stations, and the degree of correlation of these distance determinations. An analysis is made of the errors which occur in a range determination. n. Estimates, applicable when comparing constant-error contours (isograms), are given. The equations for the constant-error contours are derived (based on a spherical earth) as a function of baseline length (and orientation where three stations are used) and the angles of cut of the lines of position. n. Various error isograms were computed and plotted through the use of a digital computer. A number of examples are presented. A method for determining the area covered acceptably by two stations is given and three-station coverage characteristics are discussed.     

模拟细长翼分离涡的多涡线法改进

 针对多涡线模型计算细长翼前缘分离涡时的不足,提出了改进措施。计算中使散乱的自由涡线合并成涡核,自由涡线、输送涡线和涡核满足不受力条件;物面上满足不穿透条件及边缘Kutta条件。选择初值迭代求解自由涡线、涡核的强度和位置。计算结果表明,本文方法收敛性好,计算时间短,能较准确地算出细长翼气动力和表面压力分布,对平面形状复杂的细长翼也能给出满意的结果。     

Position Location from Sensors with Position Uncertainty

A statistical analysis of a mixed-mode position-location system with sensors position uncertainty is described. Expressions for the maximum likelihood estimator and its error statistics, under ?small errors? assumption, are derived.