Italian low cost GNSS/INS system suitable for mobile mapping

The first studies for the mobile mapping and creation of a vehicle for this kind of research was carried out by Canadian Researchers in the 1980s. Since then, these vehicles have been widely employed in several applications (road cadastre maps, terrestrial photogrammetry, road sign recognition, etc.) for both commercial and research purposes throughout the world. Many GNSS/INS vehicles which can be equipped in different ways with one or more GPS, inertial sensors, and one or several cameras, have been realized. A characteristic shared by most of these devices concerns the high costs of the sensors, of the realization, and of the maintenance. For this reason, a GNSS/INS system, that is suitable for any vehicle, made up of low-cost devices (two GPS receivers, an INS, and a camera rigidly placed on a metallic bar), have been designed and built by our research group. Two tests run at different velocities have been carried out to evaluate the reliability of the system. After a presentation of the system, the differences that were witnessed during the application of these calibration methods are explained herein.     

Road profile recognition for autonomous car navigation and Navstar GPS support

We discuss autonomous car navigation based on updating dead reckoning (DR) by road profile recognition (RPR). The navigation system requires sensors to detect changes in altitude and driving direction which are installed in modern cars for different purposes (e.g. ABS sensors). The layout of the navigation system is discussed and simulations are carried out over driving distances of approximately 150 km on the basis of realistic road data and ordinary sensor accuracies. Positioning errors of lower than 10 m (standard deviation) are observed. To achieve this accuracy the synchronization error between measured and mapped data must be continually estimated. The introduced navigation method is ideal to complete present commercial car navigation systems using Navstar GPS.     

On-ground vehicle navigation using satellite navigation equipment

The problems are considered of a modelling research of navigation features and improvement of the navigating filters algorithms used in the navigating devices of ground mobile vehicles (MV). It is supposed that the methods and approaches known as real time kinematic (RTK) are incorporated in a basis of researched navigating devices and algorithms. Thus, the measurements from satellite navigating systems such as GLONASS/GPS, and also the measurements from other traditional measuring means (tactile sensors, steering wheel angle and/or inertial measuring instruments) are used in the navigating device of the MV. In the present report we solve the problems and describe the methods of a modeling research of the features of functional units algorithms of the MV navigating processor with account of a satellite navigation set integration with other measuring instruments. The improvement of these devices interaction is made by means of the computer complex "AutoMobil," allowing us to simulate the certain conditions of these navigating tools operation. The imitation computer complex "AutoMobil" for researches of the MV navigation is developed within the frameworks of a programming environment "Delphi-7".     

Enhanced space integrated GPS/INS (SIGI)

Safe, reliable, and low cost space-based navigation is being provided with embedded INS/GPS systems such as the space integrated GPS/INS (SIGI). The SIGI is being used for various space vehicle applications such as launch vehicles, orbital vehicles, and re-entry vehicles. This paper describes current space vehicle navigation capabilities. The SIGI is being enhanced to provide additions to these existing capabilities with such items as higher processing and a commercial-off-the-shelf operating system. This will allow hosting of various software applications such as advanced navigation functions, flight control, guidance and vehicle management algorithms. The SIGI can host redundancy management functions by incorporating a cross channel data link card (CCDL) using a high speed firewire bus. The SIGI can then be used as a redundancy management platform which has application to current space vehicle avionics topologies incorporating distributed processing architectures     

利用GPS进行姿态估计的一种算法

首先建立了全球定位系统（ＧＰＳ）姿态确定的观测方程;然后给出了利用ＧＰＳ进行飞行器姿态估计的模型,并对该模型进行了线性处理;最后利用攻推广卡尔曼滤波技术,针对某飞行器进行了仿真计算。计算结果表明,对于不同的测量噪声和系统噪声,滤波器都有较好的估计,姿态估计的精度明显高于单纯ＧＰＳ姿态确定的精度,可以满足大多数飞行器对姿态确定的要求,证实了模型和算法可用性。     

GPS based IPS for ERP vehicles

GPS is an innovative technique for an electronic road pricing (ERP) system. By using GPS technology, ERP systems will be extremely efficient and cost-effective. This paper describes the next generation of ERP in Singapore and proposes a GPS based multisensor positioning system for ERP vehicles. Multisensor fusion algorithms are presented for the integration system. The integrated positioning system (IPS) developed in this paper makes it possible to realize GPS based ERP with a simple composition and low cost     

An integrated GPS/MEMS-IMU navigation system for an autonomous helicopter

During the last years, there is an increasing demand for cheap and easy to operate platforms for surveillance and reconnaissance purposes. Therefore, the development of micro aerial vehicles is receiving an increasing attention. However, VTOL-MAVs often show an inherent instability that makes at least an automatic stabilization necessary, because otherwise the operator would not be able to keep these vehicles airborne. This requires the availability of navigation information, especially the vehicle's attitude has to be known.This paper addresses the development of an integrated navigation system based on MEMS inertial sensors and GPS for a VTOL-MAV. Special attention is paid to the handling of GPS outages. While usually periods without GPS aiding can be bridged using the unaided strapdown solution, the poor quality of the MEMS inertial sensors prohibits this approach here. Therefore, during GPS outages the accelerometer data is interpreted as approximate measurements of the local gravity vector. Additionally, the usage of a magnetometer providing measurements of the Earth's magnetic field is motivated and discussed. Finally, flight test results illustrate the performance of the resulting system, proving that the achieved attitude accuracy is sufficient for the automatic control of the MAV. This holds in situations with permanent GPS loss and dynamic maneuvering, too.     

惯导/北斗/里程计一体化紧组合导航方法研究

当前,主要通过采用惯导/卫星导航组合或者惯导/里程计组合的方式来实现 车辆的定位定向;卫星信号良好时,惯导系统与卫星导航组合实现车辆定位定向,当卫 星导航信号不好甚至没有信号无法正常工作时,惯导系统与里程计组合实现车辆定位定 向。提出一种惯导/卫星导航/里程计三者的一体化组合方案,针对惯导、北斗、里程计 这三项测量设备构成的组合系统建立了统一的误差状态模型、组合量测模型以及反馈修 正模型,并通过卡尔曼滤波器来实现三者的一体化紧组合,这种惯导/北斗/里程计一体 化的紧组合方式,能更好地实现三者信号之间的充分交流与融合。将这种一体化紧组合 方法与传统的惯导/北斗组合、惯导/里程计组合方法进行了仿真比较,结果表明：惯导/ 北斗/里程计一体化的紧组合方法能更加快速、准确得到传感器误差（ 包含惯组误差、 北斗误差、里程计误差）的在线估计,更能有效提高各传感器的测量精度。     

车载GPS复合定位系统仿真研究

研究了基于ＧＰＳ的复合定位车载系统仿真方法,建立了车辆移动轨迹发生器、移动轨迹测量和各种敏感器模型,通过计算机仿真,可以进行室内“模拟跑车”试验,从而为设计系统所关心的问题如总体定位精度等的研究提供了一个模拟试验平台。     

Sensor compensation for vehicle magnetic signatures

Most land vehicles whose positions need to be tracked are made primary of steel. The problem considered is that of finding locations within or on land vehicles where magnetic sensors can be mounted to measure heading accurately and of finding compensation methods that minimize the effect of the vehicle magnetic signature. Results obtained with various types of vehicles in several world locations are given. Advantages and disadvantages of pendulous mounting are considered, and vehicle magnetic changes caused by driving in areas of extremely strong magnetic fields such as those generated by DC-powered trains are discussed     

New low cost avionics with INS/GPS for a variety of vehicles

Development of a new vehicle avionics suite is described, including integration of a low-cost, tightly-coupled integrated Inertial Navigation System/Global Positioning System (INS/GPS) to support vehicle guidance, navigation, and control (GN&C). A wide variety of next-generation low-cost launch vehicles could potentially benefit from integrated INS/GPS technology for GN&C and/or range safety applications. Coleman Aerospace Company (CAC) has developed a new low-cost avionics suite, the generic Integrated Mission Guidance & Tracking System (IMGTS), an open architecture, modular system that supports the requirements for various guidance applications and range safety tracking. As part of this development, Boeing North American, Inc. is supplying its Modular Miniature Integrated GPS/INS Tactical System (M-MIGITS^TM) Military-Off-The-Shelf (MOTS) INS/GPS product to support CAC's IMGTS GN&C     

Recent developments of electric vehicles and their propulsionsystems

Major recent electric vehicle (EV) programs in North America, Europe, and Japan are reviewed. The developments discussed include electric vehicles for fleet operation and electric passenger cars for urban transit. All major auto makers have had their own concept electric vehicle programs, targeted at commercial production in the late 1990s. It Is noted that, with different objectives for various electric vehicles, considerations such as cost, reliability, efficiency, maintenance, durability, weight, size, and noise level should be compromised for the propulsion system design. Consequently, DC motor drives, induction motor drives, and permanent magnet brushless DC motor drives will continually be used for EV propulsion systems in the future, with DC drives being gradually replaced by AC drives. The rapid advances in power semiconductor devices and microprocessors have made it possible to build reliable and cost-effective AC drive systems     

基于超燃冲压发动机的HIFiRE项目飞行试验研究进展

飞行器在临近空间内的气动特性及发动机性能一直是各国高超声速项目研究的重点,为探索边界层转捩、激波边界层相互作用以及气动加热效应,美澳牵头于2006年联合启动了HIFiRE项目,采用探空火箭发射进行重点技术验证的模式开展了系列创新性研究。项目重点关注20~38km空域,4~8速域飞行马赫数,试验方案通过单项验证、系统集成的思路逐步深入,将一体化设计的乘波体从无动力滑翔推进到有动力巡航,最终完成带超燃冲压发动机高升阻比飞行器的总体性能测试。研究结果表明:①试验飞行器的边界层转捩高度在35~25km;②乘波体飞行器在飞行马赫数为7时最大升阻比为5.6;③超燃冲压发动机的飞行试验中,在86.2kPa的恒定动压下,飞行马赫数从5.5加速到8.5,试验中发动机实现了从亚燃到超燃的模态转换。      

垂直起降飞行器的发展动态和趋势分析

垂直起降飞行器因对起降地点要求低而得到了广泛的应用。按照动力方式对垂直起降飞行器进行分类,剖析了不同类型的飞行器,归纳了相关的关键技术问题,并重点介绍了近年来垂直起降飞行器的发展动态,尤其强调了一些创新设计的思路。然后,展望了垂直起降飞行器的发展趋势,以期为垂直起降飞行器设计人员面对不同的任务要求和特点提供一定的参考价值。     

故障注入技术在飞行器非电系统中的应用进展

故障注入是一种基于试验的测评方法，是飞行器综合健康管理的重要组成部分，在提高飞行器的安全性方面具有重要作用。本文介绍了故障注入技术的基本原理，详细阐述了故障注入的各种实现方法在飞行器中的应用现状，重点分析了故障注入技术在飞行器结构、防热、液压、机械等非电系统应用中的关键技术以及存在的技术难点，并展望了该领域的发展。     

Nanotechnology's impact on aircraft design and maintenance

Unique research efforts relating to the development of nanoscale devices to replace standard integrated circuits, and eventually entire electronic systems. Standard integrated circuits (IC) have limitations or restrictions in size, speed, reliability, complexity and finding suitable replacements for discontinued items. Nanoscale device development and understanding has dramatically grown. One of the key properties of quantum physics that quantum computers rely on is the ability of certain atoms or nuclei to work together as quantum bits. These computing devices are a fraction of the size of typical ICs (nanoscale). Nanoscale devices developed using quantum physics principles have unlimited potential to revolutionize the methods and design of fabricated printed circuit cards and complete systems. They can replace an entire PC board or the set of PC boards that comprise a Line Replaceable Unit (LRU). This would be a good and practical jumping-off point to going directly to the complete device, system, or function level. This might include a nanoscale computer (general purpose or flight control), transmitter, GPS receiver, position and/or attitude sensors in either a stand-alone configuration, or combined within conventional devices (e.g., a nanoscale communications suite (xmtr/rcvr, etc.)) encapsulated within the Plexiglas canopy or the control yoke of an F16 rather than behind the instrument panel or maybe the whole comm suite into the pilot's helmet.     

临近空间飞行器推进系统预冷器关键技术

临近空间由于其在现代战争中的重要战略意义已成为各国航空航天领域的研究重点,高超声速飞行器更是国家临近空间军事实力的一个重要标志。由于吸气式高超声速飞行器具有较高的飞行高度与马赫数,预冷技术已成为高超声速飞行器推进系统中的一项关键技术,而高性能预冷器设计是预冷技术的一个重要研究方向,预冷器的可靠性与流动传热特性是预冷系统的重要影响参数,对于紧凑、高效、高可靠性先进预冷器的研究具有十分重要的意义。基于目前公开的临近空间高超声速飞行器的主要动力形式及其对预冷技术的刚性需求,对预冷器设计中的关键技术与发展方向做了详细的阐述。     

CARDC 激波风洞 TSP 技术研究进展

从基本原理、关键技术和验证应用三个方面总结了近两年在中国空气动力研究与发展中心激波风洞中开展的温敏涂层(TSP)技术相关研究工作。通过解决快速响应温敏发光材料研制、模型研制、数据处理等一系列关键技术,完成图像采集系统、光学系统及标定系统的配套和系统集成,建立了一套适于激波风洞试验的高速 TSP 测量及标定系统。该技术可在激波风洞试验中获取模型被测面温敏涂层的发光图像,基于该图像可以直接观察模型表面热流分布和捕捉峰值热流的准确位置。结合温敏发光材料的物性参数标定数据,能够实现对模型表面热流的定量测量。不同于传统的传感器点热流测量技术只能得到模型表面有限数量的离散点的热流值,TSP 技术能够以高空间分辨率得到较大面积区域的详细热流分布信息,可更加全面的测量模型外表面的热环境,并且可以据此进一步分析和辨别边界层流态以及确定边界层转捩位置。试验对比表明,TSP 技术的测量结果与点热流传感器的测量结果具有良好的一致性。目前该技术已趋于成熟,在Φ2 m 和Φ0.6 m 激波风洞上成功应用于边界层转捩研究、局部干扰区热环境研究和复杂外形飞行器热环境研究等领域,已成为激波风洞除点测热技术之外又一重要测热技术。     

气动力/热与结构多场耦合试验模型方案初步设计

以多渠道、多机制交叉耦合为热防护结构特点的新一代高超声速飞行器必须采用气动力/热与结构多场耦合计算方法进行研究。目前,国外已建立较完善的耦合分析系统并用于飞行器研制,国内的中国空气动力研究与发展中心(CARDC)也已自主研发了热环境/热响应耦合计算平台(FL-CAPTER)。为验证多场耦合计算平台所用方法的有效性和计算结果的准确性,设计并开展气动力/热与结构耦合的地面试验具有十分重要的意义。本文结合气动力/热与结构多场耦合试验设计需求,以现有材料和设备能力为依托,开展了试验风洞选取、模型尺寸估算、模型材料选择、模型气动设计与模型结构设计工作。初步研究表明,模型支撑结构附近迎风面局部高温热膨胀将有利于模型前体结构产生可观的整体变形量。本文以此设计了带压缩拐角的二级压缩面结构模型,通过短时间不锈钢模型验证试验和计算对比分析初步验证了模型设计的可行性,并以此为基础预测了高温合金模型的试验结果。为下一步开展高温合金长时间风洞试验奠定了技术基础。     

风环境下行驶于大跨度桥梁上的车辆安全评价及影响因素研究

建立了风环境下行驶于振荡桥梁上的车辆受到侧向突发阵风时的车辆安全性分析方法.定义了包括侧翻、侧滑和偏转在内的三种风致车辆事故.在综合考虑路面粗糙度、车辆悬挂系统以及车轮相对于桥面侧向相对滑动的基础上,提出了能够考虑桥梁的静风响应、抖振响应、汽车一桥梁耦合振动、系统的时变特性以及结构几何非线性和气动荷载非线性影响的风一汽车一桥梁系统空间耦合分析模型,编制了相应的分析程序.以杭州湾跨海大桥为工程实例,运用所编制的程序研究了路面粗糙度、风速以及干、湿、雪、冰路面状况对行驶于桥梁上的车辆安全性的影响,给出了典型车辆在桥梁上发生事故的临界风速,并与车辆行驶于路面上的相应值进行了对比;对比表明:振荡的桥梁会降低车辆发生事故的临界风速.