IN-FLIGHT ALIGNMENT OF INERTIAL NAVIGATION SYSTEM BY CELESTIAL OBSERVATION TECHNIQUE

This paper presents an in-flight alignment technique for a strapdown inertial navigation system (SINS) and employs a star pattern recognition procedure for identifying stars sensed by a CCD electrooptical star sensor.Collinearity equations are used to estimate sensor frame star coordinates and the conventional least square differential correction method is used to estimate the unknown orientation angles. A comparison of this attitude with the attitude estimated by the SINS provides axis misalignment angles. Simulations using a Kalman filter are carried out for an SINS and the system employs a local level navigation frame. The space stabilized SINS is discussed in conjunction with the celestial aiding. Based on the observation of the Kalman filter, the estimating and compensating gyro errors, as well as the position and velocity errors caused by the SINS misalignments are calibrated by celestial attitute information.     

LEO AUTONOMOUS NAVIGATION BASED ON IMAGE MOTION

A method of LEO autonomous navigation is presented based on the nonlinear satellite velocity relative to the earth. The velocity is detected by a high-speed camera, with the attitude information detected by a star sensor. Compared with traditional autonomous navigation by landmark identification, the satellite velocity relarive to the earth is obtained by correlativity analysis of images. It does not need to recognize ground objects or views. Since it is not necessary to pre-store the database of ground marks, lots of memory space can be saved.The state and observation equations are constructed, and the filtering is processed by the Kalman filter. Simulation results show that the system has high autonomous navigation precision in LEO autonomous navigation.     

MULTI-FUNCTION VEHICLE NAVIGATION AND MONITORING SYSTEM IN URBAN AREAS

A vehicle navigation and monitoring system integrated by a high precision navigation system and a vehicle black box is studied to satisfy the demand for the intelligent transportation system (ITS). Firstly, the architecture of the system is proposed. Then the integration scheme of global positioning system/dead reckoning/bluetooth beacon/map matching (GPS/DR/BB/MM) with the hluetooth assistant positioning technology, and the algorithm of the Kalman filter for the integrated GPS/DR are investigated. Finally many field trials for principle prototypes are made. Experimental results show that the proposed integrated navigation algorithm is effective and feasible, and the function of the vehicle black-box is realized.     

UAV Velocity Measurement for Ground Moving Target

To satisfy the demand of measuring the velocity of ground moving target through unmanned aerial vehicle(UAV)electro-optical platform,two velocity measurement methods are proposed.Firstly,a velocity measurement method based on target localization is derived,using the position difference between two points with the advantages of easy deployment and realization.Then a mathematical model for measuring target velocity is built and described by 15 variables,i.e.UAV velocity,UAV attitude angular rate,camera direction angular rate and so on.Moreover,the causes of velocity measurement error are analyzed and a formula is derived for calculating the measurement error.Finally,the simulation results show that angular rate error has a strong influence on the velocity measurement accuracy,especially the UAV pitch angular rate error,roll angular rate error and the camera angular altitude rate error,thus indicating the direction for improving velocity measurement precision.     

Vehicle State and Parameter Estimation Based on Dual Unscented Particle Filter Algorithm

Acquisition of real-time and accurate vehicle state and parameter information is critical to the research of vehicle dynamic control system. By studying the defects of the former Kalman filter based estimation method, a new estimating method is proposed. First the nonlinear vehicle dynamics system, containing inaccurate model pa rameters and constant noise, is established. Then a dual unscented particle filter （DUPF） algorithm is proposed. In the algorithm two unscented particle filters run in parallel, states estimation and parameters estimation update each other. The results of simulation and vehicle ground testing indicate that the DUPF algorithm has higher state estimation accuracy than unscented Kalman filter （UKF） and dual extended Kalman filter （DEKF）, and it also has good capability to revise model parameters.     

Modeling and Simulation for Refueling Boom and Receiver in Coupled Mode

In coupled mode,the major problem of boom refueling system is undesirable nozzle loads.An automated load alleviation system(ALAS)is needed to alleviate nozzle loads.In order to simulate dynamic of the system and to validate ALAS,dynamic model is developed.Two models are established,which are the static model and the moving model,named after the two relative states between the fixed boom and the extension boom.Kane method is employed as main method considering system′s multi-body characteristics.D′Alembert′s principle is used to calculate nozzle loads.Simulation is conducted to research the effects of position disturbance and velocity disturbance on nozzle loads.Results indicate that position disturbance plays a more significant role in inducing nozzle loads.A fuzzy control law based ALAS is validated using the formulated model.It is concluded that this model can simulate system dynamic and validate ALAS.     

An Algorithm for Determination of Projectile Attitude Angles in Projectile Trajectory Prediction

A fast and accurate algorithm is established in this paper to increase the precision of ballistic trajectory prediction.The algorithm is based on the six-degree-of-freedom(6 DOF)trajectory equations,to estimate the projectile attitude angles in every measuring time.Hereby,the algorithm utilizes the Davidon-Fletcher-Powell(DFP)method to solve nonlinear equations and Doppler radar trajectory test information containing only position coordinates of the projectile to reconstruct the angular information.The″position coordinates by the test″and″angular displacements by reconstruction″at the end phase of the radar measurement are used as an initial value for the trajectory computation to extrapolate the trajectory impact point.The numerical simulations validate the proposed method and demonstrate that the estimated impact point agrees very well with the real one.Morover,other artillery trajectory can be predicted by the algorithm,and other trajectory models,such as 4 DOF and 5 DOF models,can also be incorporated into the proposed algorithm.     

An Empirical Method for Prediction of Hypersonic Rarefied Flow-Field Structure

Numerical simulations are presented about the effects of gas rarefaction on hypersonic flow field.Due to the extremely difficult experiment,limited wind-tunnel conditions and high cost,most problems in rarefied flow regime are investigated through numerical methods,in which the direct simulation Monte-Carlo(DSMC)method is widely adopted.And the unstructured DSMC method is employed here.Flows around a vertical plate at a given velocity 7 500 m/s are simulated.For gas rarefaction is judged by the free-stream Knudsen number(Kn),two vital factors are considered:molecular number density and the plate′s length.Cases in which Kn varies from 0.035 to13.36 are simulated.Flow characters in the whole rarefied regime are described,and flow-field structure affected by Knis analyzed.Then,the dimensionless position D*of a certain velocity in the stagnation line is chosen as the marker of flow field to measure its variation.Through flow-field tracing and least-square numerical method analyzing,it is proved that hypersonic rarefied flow field expands outward linearly with the increase of 1/2Kn.An empirical method is proposed,which can be used for the prediction of the hypersonic flow-field structure at a given inflow velocity,especially the shock wave position.     

WIFI AIDED INTEGRITY IMPROVEMENT IN MEMS INS/GNSS INTEGRATION

The reliability of global navigation satellite system （GNSS） positioning degrades when satellite signals are interfered. Such degradation is hard to be deteced by a micro-electro mechanical system （MEMS） based inertial system（INS）/GNSS, integrating navigation system with a conventional Kalman filtering, which results in poten- tial integrity problem of the system. Hence, an algorithm combining wireless fidelity （WiFi） signal with a federa- ted Kalman filter （FKF） is proposed to identify the system integrity in dense urban navigation. The criterion of the system integrity detection is created followed by the derivation of the integrity coefficient. The field test shows that integrity changes can be captured by applying WiFi, and the maximum positioning error is reduced by 67~ without compensation of inertial sensors in integrity deterioration.     

DESIGN AND REALIZATION OF REAL TIME KINEMATIC GPS OVER INTERNET FOR “SMART BRIDGE”

The concept and the design of an open Internet based real time kinematic (RTK) global positioning systern (GPS) for a prototype structural monitoring system are introduced. The proposed system consists of four basic segments, i.e. , reference station, monitoring, control and user segments. To validate the feasibility of this prototype system, a platform is used to simulate the bridge movement. Experimental results show that 3 Dpositioning precision of millimetre level at a sampling rate is up to 10 Hz and a negligible transmission delay of RTK corrections is achievable。     

NONLINEAR FILTER METHOD OF GPS DYNAMIC POSITIONING BASED ON BANCROFT ALGORITHM

Because of the ignored items after linearization, the extended Kalman filter (EKF) becomes a form of suboptimal gradient descent algorithm. The emanative tendency exists in GPS solution when the filter equations are ill-posed. The deviation in the estimation cannot be avoided. Furthermore, the true solution may be lost in pseudorange positioning because the linearized pseudorange equations are partial solutions. To solve the above problems in GPS dynamic positioning by using EKF, a closed-form Kalman filter method called the two-stage algorithm is presented for the nonlinear algebraic solution of GPS dynamic positioning based on the global nonlinear least squares closed algorithm--Bancroft numerical algorithm of American. The method separates the spatial parts from temporal parts during processing the GPS filter problems, and solves the nonlinear GPS dynamic positioning, thus getting stable and reliable dynamic positioning solutions.     

OPEN-LOOP FOG SIGNAL TESTING AND WAVELET ELIMINATING NOISE

An open-loop fiber optic gyro (FOG) testing system is designed. The noise characteristic of open-loop fiber optic gyro signals is analyzed. The wavelet eliminating noise method is discussed and compared with other methods, such as smoothing and low-pass filter methods. Results indicate that the wavelet eliminating noise method can satisfy the measuring demand of the FOG weak output signal with noise disturbing. The wavelet analysis method can efficiently eliminate the noise and reserve the information of the signal. The eliminating noise effect of using different wavelet base functions is compared. The effectiveness of multiresolution wavelet analyses of eliminating noise is proved by experimental results.     

Application of Ultrasonic Motor to Control of Moment Gyroscope Gimbal Servo System

Attitude control system is one of the most important subsystems in a spacecraft.As a key actuator,the control moment gyroscope(CMG)mainly determines the performance of attitude control system.Whereas,the control accuracy and output torque smoothness of the CMG depends more on its gimbal servo system.Considering the constraints of size,mass and power consumption for a small satellite,here,a mini-CMG is designed,in which the gimbal servo system is driven by an ultrasonic motor.The good performances of the CMG are obtained by both the ultrasonic motor and the rotary inductosyn.The direct drive of gimbal improves its dynamic performance,with the output bandwidth above 20 Hz.The angular and speed closed-loop control obtains the 0.02°/s gimbal rate,and the output torque resolution better than 2×10~(-3) N·m.The ultrasonic motor provides 1.0N·m self-lock torque during power-off,with 12arc-second position accuracy.     

Attitude Analysis in Process Conflict for C919 Aircraft Manufacturing

Based on the option prioritization in graph model for conflict resolution of two decision makers(DMs),new logical and matrix representations of four stability concepts for DMs′attitude are proposed.The logical representation of attitude is defined,and converted to the matrix form in order to develop a decision support system(DSS)efficiently.Compared with existing definitions of DMs′attitude based on states,the proposed definitions of attitude based on options are convenient and more effective to generate preferences since that of states can be significantly larger than that of options in a large conflict.In addition,it is easier to obtain the information of the prioritization of option statements than to obtain preference of states for users.The proposed representations are applied to the process conflict during aircraft manufacturing to demonstrate the efficiency of the new approach.     

Flow Characteristics of Double-Cruciform Parachute at Inflating and Inflated Conditions

The fluid-structure interaction (FSI) between the canopy and flow field on the inflating and inflated conditions is investigated based on the arbitrary Lagrange-Euler (ALE) method,in both a single-and double-cruciform parachute systems.The projection area of canopy is calculated in the inflation process.The flow field characteristics and the interaction between canopies are analyzed.Results showed that,with free stream velocity of 50m/s,overinflation phenomenon would not occur during the inflation process of the double-cruciform-parachute system,because the collision and extrusion of the two canopies during inflation obstructed the oscillation of the inner gores.Concurrently,compared with the single-cruciform parachute,the vortex motion in the wake of double-cruciform-parachute is more intense.Thus the double-cruciform parachute system oscillated at a velocity of 50 m/s with an angle of less than 6.8°.By comparison,the oscillation angle of the single-cruciform parachute was within 3.5° at the velocity of 50m/s.The results are consistent with those of the wind tunnel test.     

Track Association for System Based Dynamic Target Tracking on AP Algorithm

Track association of multi-target has been recognized as one of the key technologies in distributed multiple-sensor data fusion system, and its accuracy directly impacts on the performance of the whole tracking system. A multi-sensor data association is proposed based on aftinity propagation （AP） algorithm. The proposed method needs an initial similarity, a distance between any two points, as a parameter, therefore, the similarity matrix is calculated by track position, velocity and azimuth of track data. The approach can automatically obtain the optimal classification of uncertain target based on clustering validity index. Furthermore, the same kind of data are fused based on the variance of measured data and the fusion result can be taken as a new measured data of the target. Finally, the measured data are classified to a certain target based on the nearest neighbor ideas and its characteristics, then filtering and target tracking are conducted. The experimental results show that the proposed method can ef- fectively achieve multi-sensor and multi-target track association.     

ADAPTIVE FLIGHT CONTROL SYSTEM OF ARMED HELICOPTER USING WAVELET NEURAL NETWORK METHOD

A discussion is devoted to the design of an adaptive flight control system of the armed helicopter using wavelet neural network method. Firstly, the control loop of the attitude angle is designed with a dynamic inversion scheme in a quick loop and a slow loop. respectively. Then, in order to compensate the error caused by dynamic inversion, the adaptive flight control system of the armed helicopter using wavelet neural network method is put forward, so the BP wavelet neural network and the Lyapunov stable wavelet neural network are used to design the helicopter flight control system. Finally, the typical maneuver flight is simulated to demonstrate its validity and effectiveness. Result proves that the wavelet neural network has an engineering practical value and the effect of WNN is good.     

BEACON SYNCHRONIZATION TECHNOLOGY FOR “BEIDOU” TERRESTRIAL IMPROVEMENT SYSTEM

Synchronization is an essential technology in the radio navigation system. The technique for improving the “Beidou” positioning ability is presented through constituting the terrestrial improvement system, and the beacon synchronization of the improvement system with the “Beidou” one-way time transfer model is realized.The direct digital synthesis (DDS) is adopted to generate the pseudo-random code clock having high precision and stability. Meanwhile, the CPLD device is used to design the synchronization pulse picking-up module, the spread spectrum PN code generator and the spread spectrum modulator. Measurement results indicate that the beacon synchronization has the high precision and the stability.     

Adaptive Angular Velocity Tracking Control of Spacecraft with Dynamic Uncertainties

The tracking of orientation and angular velocity is a primary attitude control task for an on-orbit space- craft. The problem for a rigid spacecraft tracking a desired angular velocity profile is addressed using an adaptive feedback control. An angular velocity feedback tracking algorithm is firstly developed based on the precisely known attitude dynamics of the spacecraft, and the global tracking of the control algorithm is proved based on the Lya- punov analysis. An adaptation mechanism is then designed to deal with the dynamic uncertainties of the spacecraft. Such an adaptation mechanism enables the controller to track any desired angular velocity trajectories even in the presence of uncertain inertia parameters, although it does not guarantee the inertia tensor being precisely identified. To verify the effectiveness of the proposed adaptive control policy, computer simulations on dynamic equations of a spacecraft are conducted and their results are discussed.     

SAR IMAGE ENHANCEMENT BASED ON BEAM SHARPENING TECHNIQUE

A major problem encountered in enhancing SAR image is the total loss of phase information and the unknown parameters of imaging system. The beam sharpening technique, combined with synthetic aperture radiation pattern estimation provides an approach to process this kind of data to achieve higher apparent resolution. Based on the criterion of minimizing the expected quadratic estimation error, an optimum FIR filter with a symmetrical structure is designed whose coefficients depend on the azimuth response of local isolated prominent points because this response can be approximately regarded as the synthetic aperture radiation pattern of the imaging system. The point target simulation shows that the angular resolution is improved by a ratio of almost two to one. The processing results of a live SAR image demonstrate the validity of the method.