Aircraft flight parameter estimation using acoustic multipath delays

The signal emitted by an airborne acoustic source arrives at a stationary sensor located above a flat ground via a direct path and a ground-reflected path. The difference in the times of arrival of the direct path and ground-reflected path signal components, referred to as the multipath delay, provides an instantaneous estimate of the elevation angle of the source. A model is developed to predict the variation with time of the multipath delay for a jet aircraft or other broadband acoustic source in level flight with constant velocity over a hard ground. Based on this model, two methods are formulated to estimate the speed and altitude of the aircraft Both methods require the estimation of the multipath delay as a function of time. The methods differ only in the way the multipath delay is estimated; the first method uses the autocorrelation function, and the second uses the cepstrum, of the sensor output over a short time interval. The performances of both methods are evaluated and compared using real acoustic data. The second method provides the most precise aircraft speed and altitude estimates as compared with the first and two other existing methods.     

Broadband passive acoustic technique for target motion parameterestimation

A nonlinear least-squares method is formulated to estimate the motion parameters of a target whose broadband acoustic energy emissions are received by a ground-based array of sensors. This passive technique is applied to real acoustic sensor data recorded during the passage of a variety of ground vehicles past a planar cross array and its effectiveness verified by comparing the results with the actual values of the target motion parameters. The technique cam also be applied to airborne targets     

Bearings-only target motion analysis with acoustic propagation models of uncertain fidelity

The augmented bearings-only target motion analysis (TMA) problem arises when the bearing measurements of the classical bearings-only TMA problem are augmented with received signal-to-noise ratio (SNR) measurements. A combined acoustic propagation and sensor (CAPS) performance prediction model specifying the conditional density of the SNR measurements is assumed given; however, mismatch may exist between the CAPS model and the real world. We present a novel "missing data" formulation of the augmented bearings-only TMA problem using an empirical maximum a posteriori (EMAP) method for target parameter estimation, and show that it provides a natural and straightforward technique for mitigating CAPS model mismatch. The EMAP approach leads to an iteratively reweighted, linear least-squares algorithm for solving both the augmented bearings-only TMA problem and the classical (nonaugmented) bearings-only TMA problem. Examples are provided.     

Robust optimization of control command for aerospace vehicles with aerodynamic uncertainty

To reduce the design burden of Aerospace Vehicles(ASVs) control systems, this paper proposes a multi-constrained robust trajectory optimization method, which provides a good front-end input for the control system. Differ from the conventional aircraft, some control performance of ASVs is not only related to the model parameters, but also affected by the flight status.Therefore, the robust optimization method combines this characteristic of ASVs, sets the control performance as one of the optimiz...     

A homogenization-planning-tracking method to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems

Taxiing aircraft and towed aircraft with drawbar are two typical dispatch modes on the flight deck of aircraft carriers. In this paper, a novel hierarchical solution strategy, named as the Homogenization-Planning-Tracking (HPT) method, to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems is developed. In the homogenization layer, any towed aircraft system involved in the sortie task is abstracted into a virtual taxiing aircraft. This layer transforms the heterogeneous systems into a homogeneous configuration. Then in the planning layer, a centralized optimal control problem is formulated for the homogeneous system. Compared with conducting the path planning directly with the original heterogeneous system, the homogenization layer contributes to reduce the dimension and nonlinearity of the formulated optimal control problem in the planning layer and consequently improves the robustness and efficiency of the solution process. Finally, in the tracking layer, a receding horizon controller is developed to track the reference trajectory obtained in the planning layer. To improve the tracking performance, multi-objective optimization techniques are implemented offline in advance to determine optimal weight parameters used in the tracking layer. Simulations demonstrate that smooth and collision-free cooperative trajectory can be generated efficiently in the planning phase. And robust trajectory tracking can be realized in the presence of external disturbances in the tracking phase. The developed HPT method provides a promising solution to the autonomous deck dispatch for unmanned carrier aircraft in the future.     

微型飞行器过失速降落轨迹跟踪控制设计

采用基于张量积的T-S模糊建模与控制方法,对微型飞行器过失速降落纵向运动的轨迹跟踪控制问题进行了研究。首先,建立了过失速降落中飞行器纵向运动的线性变参数动力学模型;然后,通过张量积模型转化方法,将线性变参数模型转化为张量积胞体模型,基于该模型设计了并行分布补偿控制器,用Lyapunov稳定性理论证明了闭环系统的稳定性,并推导了区域极点配置条件以获得更好的暂态响应性能;最后,对飞行器的过失速降落过程进行了仿真,验证了所设计的跟踪控制器的有效性。     

螺旋桨滑流对增升装置气动特性影响研究

采用准定常N—S方法,通过单独螺旋桨模型计算结果与非定常、试验结果的对比,验证了计算螺旋桨滑流的可行性。重点对带两台螺旋桨发动机的增升装置流场特性进行了计算分析,研究了螺旋桨滑流对飞机流场和气动性能的影响。研究结果表明：螺旋桨滑流明显改变了机翼表面的压力分布,使飞机升、阻力系数增大。为螺旋桨飞机设计提供了一种快速、有效的数值模拟手段,在工程领域具有一定的应用前景。     

基于超短基线声传感器阵的高速目标轨迹估计

针对低空高速飞行目标跟踪问题,首先研究了某典型目标噪声信号的时频特性,发现其信号呈现宽带低频特征,难以从频域对目标轨迹进行估计。在此基础上,从各路接收信号的到达时延量入手,考虑到声基阵只能布设于有限空间内的制约,提出了一种基于超短基线阵时延估计的目标跟踪方法。该方法利用各个超短基线阵接收声强极值点分别估计目标运动轨迹垂线方向,计算多个垂线的叉乘向量实现对目标运动方向的估计,再利用多面交汇的方式获估计得到目标运动轨迹。分别对目标俯仰角、方位角及运动轨迹估计的理论误差进行了推导,根据理论估计误差,为能够实现对目标运动轨迹的估计,各个超短基线阵应尽量保证与目标运动轨迹不在同一平面上。根据仿真结果,在采用4个传感器基阵时,角度估计平均误差在4°以内,位置估计相对误差在5%左右。仿真结果验证了该方法的有效性。     

基于满意博弈论的复杂低空飞行冲突解脱方法

复杂低空空域环境下多飞行器冲突解脱方法可以有效地提供冲突解脱策略,实时规划飞行器四维航迹,避免飞行器之间发生危险接近事故或者碰撞,从而保障空域运行安全。然而,随着飞行器数目的不断增长,冲突解脱面临"维数灾难",导致问题具有高维度、强耦合等难点。因此,传统的优化方案难以得到令人满意的方案。为了提高冲突解脱效率,保障运行安全,基于满意博弈论方法,考虑低空飞行器运动特点,构建冲突解脱模型,设计冲突解脱方法。飞行器主要采用改变航向角的策略。通过基于条件概率的方法来建立"社会关系",即当前飞机所做的决策对其他飞机产生的影响。每个飞行器在决策时,都会受到优先级比自己高的决策者的影响。基于满意博弈论的冲突解脱方法不仅可以有效地解决当前飞行器的冲突问题,而且兼顾探测范围内的其他飞行器,避免当前解脱策略导致与其他飞行器冲突,实现整体最优化。最后,通过在极端典型飞行冲突场景中实验验证表明,基于满意博弈论的冲突解脱方法可以实时高效实现大规模飞行器的冲突解脱,保障飞行安全且控制经济成本。     

捕获轨迹法在××无人机投放试验中的应用

介绍一种投放外挂物脱离母机状态的风洞测力试验和飞行轨迹分析融于一体的“捕获轨迹”方法。该方法能较精确地获得外挂物在复杂干扰流场中所受的空气动力和力矩，实时地提供离机后的轨迹和姿态，预测了无人机和母机之间飞行是否相容的问题。全尺寸的飞机投放试验表明，“捕获轨迹”技术是一种精确预测外挂物分离特性的方法，解决了大展弦比无人机安全离机的关键问题。     

基于模型预测静态规划的自适应轨迹跟踪算法

轨迹跟踪是飞机自主运动控制的关键问题之一。跟踪模型预测静态规划（T-MPSP）是一种新近发展的基于非线性模型的轨迹跟踪算法,但对于飞行器受损等情况下,模型参数相较于标称模型具有较大的偏差时,则可能导致轨迹跟踪效果不理想。提出了基于参数估计的自适应轨迹跟踪算法,在模型预测静态规划（MPSP）的框架下得出解析解,实现了对参数的实时估计,据此更新跟踪模型预测静态规划算法中所使用的模型后,可以有效扩大对参数偏离的适应性,并保留模型预测静态规划计算效率高的特点。通过仿真对比得出,相较于已有的跟踪模型预测静态规划,改进后的算法对模型参数偏离的容忍性明显提高,且算法迭代效率高,适于在线应用。     

飞机噪声的工程预测

 本文将飞机在飞行过程中发出声辐射的动态问题,按准稳态方法分解为航迹,观察点与声源的几何关系,声源特性、大气衰减与地面效应等单元过程。并以涡扇飞机和螺旋桨飞机等计算实例,阐明飞机噪声的组成,时间历程、频谱,指向性及地面等值线等同公共噪声和声疲劳有密切关系的问题。     

Novel minimum time trajectory planning in terrain following flights

A new methodology has been proposed to enhance inverse dynamics applications in the process of trajectory planning and optimization in terrain following flights (TFFs). The new approach uses a least square scheme to solve a general two-dimensional (2-D) TFF in a vertical plane. In the mathematical process, Chebyshev polynomials are used to model the geographical data of the terrain in a given route in a manner suitable for the aircraft at hand. The aircraft then follows the modeled terrain with sufficient clearance. In this approach the terrain following (TF) problem is effectively converted to an optimal tracking problem. Results show that this method provides a flexible approach to solve the TFF problem especially in conditions where the existing terrain to be flown over is not mathematically well behaved     

基于直接配点法的滑翔轨迹快速优化设计

介绍了基于五次Gauss-Lobatto多项式的直接配点法在再入飞行器三维轨迹最优化问题中的应用。首先给出了再入飞行器轨迹优化问题模型,其中运动方程为三自由度模型,性能指标选为到达指定地点飞行时间最短,控制变量则为无量纲升力系数和倾侧角。再入飞行过程中受到加热率、过载和动压约束,终端状态受到目标位置约束。然后,应用直接配点法将最优控制问题离散化为非线性规划问题,将动态优化问题转化为静态参数最优化问题。选取各节点和配点上的状态量和控制量作为优化参数。最后应用SNOPT软件包对参数最优化问题进行求解。仿真结果表明直接配点法对于再入飞行器轨迹初始参数取值不敏感,且求解过程具有一定的实时性。     

Earth-moon Trajectory Optimization Using Solar Electric Propulsion

The optimization of the Earth-moon trajectory using solar electric propulsion is presented. A feasible method is proposed to optimize the transfer trajectory starting from a low Earth circular orbit (500 km altitude) to a low lunar circular orbit (200 km altitude). Due to the use of low-thrust solar electric propulsion, the entire transfer trajectory consists of hundreds or even thousands of orbital revolutions around the Earth and the moon. The Earth-orbit ascending (from low Earth orbit to high Earth orbit) and lunar descending (from high lunar orbit to low lunar orbit) trajectories in the presence of J2 perturbations and shadowing effect are computed by an analytic orbital averaging technique. A direct/indirect method is used to optimize the control steering for the trans-lunar trajectory segment, a segment from a high Earth orbit to a high lunar orbit, with a fixed thrust-coast-thrust engine sequence. For the trans-lunar trajectory segment, the equations of motion are expressed in the inertial coordinates about the Earth and the moon using a set of nonsingular equinoctial elements inclusive of the gravitational forces of the sun, the Earth, and the moon. By way of the analytic orbital averaging technique and the direct/indirect method, the Earth-moon transfer problem is converted to a parameter optimization problem, and the entire transfer trajectory is formulated and optimized in the form of a single nonlinear optimization problem with a small number of variables and constraints. Finally, an example of an Earth-moon transfer trajectory using solar electric propulsion is demonstrated.     

飞机的模型参考容错控制

 本文针对飞机内部元件或控制元件的故障,用检测滤波器理论设计了相应的故障检测器和故障参数估计器,并用Lyapunov稳定性理论设计了模型参考自适应容错控制律,从而保证了在内部故障情况下飞行控制系统的稳定性。     

Accurate solution of proportional navigation for maneuveringtargets

An accurate solution is presented of the nonlinear differential equations describing motion under proportional navigation when the target is laterally maneuvering. A quasilinearization (QL) approach is used, followed by a perturbation technique to obtain closed-form solutions for trajectory parameters. An explicit expression for the pursuer lateral acceleration is derived and shown to contain contributions due to initial heading error and target maneuver, with a coupling between the two effects. The solution is shown to be a substantial and consistent generalization or an earlier accurate solution for nonmaneuvering targets and also of classical linear solutions for maneuvering targets. The generalized QL solution presented provides very accurate estimates of pursuer lateral acceleration over a much broader range of engagement geometries and target maneuvers than presently available closed-form solutions     

Acoustic node calibration using a moving source

Acoustic nodes, each containing an array of microphones, can track targets in x-y space from their received acoustic signals, if the node positions and orientations are known exactly. However, it is not always possible to deploy the nodes precisely, so a calibration phase is needed to estimate the position and the orientation of each node before doing any tracking or localization. An acoustic node can be calibrated from sources of opportunity such as beacons or a moving source. We derive and compare several calibration methods for the case where the node can hear a moving source whose position can be reported back to the node. Since calibration from a moving source is, in effect, the dual of a tracking problem; methods derived for acoustic target trackers are used to obtain robust and high resolution acoustic calibration processes. For example, two direction-of-arrival-based calibration methods can be formulated based on combining angle estimates, geometry, and the motion dynamics of the moving source. In addition, a maximum likelihood (ML) solution is presented using a narrowband acoustic observation model, along with a Newton-based search algorithm that speeds up the calculation the likelihood surface. The Cramer-Rao lower bound (CRLB) on the node position estimates is also derived to show that the effect of position errors for the moving source on the estimated node position is much less severe than the variance in angle estimates from the microphone array. The performance of the calibration algorithms is demonstrated on synthetic and field data.     

Identifying the number of aircraft in formation flight using ISAR technique

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飞机表面爬行机器人轨迹跟踪控制方法研究

针对飞机蒙皮铆钉缺陷无损检测移动机器人进行了运动学和动力学建模,并且基于该移动机器人的模型,设计了双闭环轨迹线性化控制器(trajectory linearization control,TLC)。同时设计了逻辑控制算法保证机器人运动轴在达到完整约束临界点时进行状态切换。该方法解决了在飞机特殊表面环境下,对基于X-Y平台的新型爬行机器人如何完成轨迹跟踪控制的问题。实验结果表明,该控制器具有较好的动态性能,能够在满足系统实时性要求的前提下实现爬行机器人距离精确性和速度稳定性控制。