面向地面无人平台的仿生偏振光定向算法

仿生偏振光定向为地面无人平台提供了一种新型的低成本、小型化定向方式。设计了一种基于微阵列式偏振光栅的仿生光罗盘,实现了一种加权平均的偏振光定向算法,分析了大气偏振模式误差、太阳位置误差、偏振光传感器误差和水平姿态角误差等因素对航向角估计精度的影响。实验结果表明,动态车载条件下定向误差小于0.5°。     

一种基于改进太阳子午线拟合方法的仿生偏振光定向系统

为设计一种自主性强、精度高、抗电磁干扰能力强的定向系统,以昆虫获取大气偏振模式的感知机理为基础,设计了一种新型的成像式仿生偏振光定向系统.该系统使用具有微偏振阵列结构的CMOS相机作为主要的偏振信息采集设备,使用DSP/ARM架构的NVIDIA JETSON TX2嵌入式处理器进行信息解算,具有体积小、运算能力强等优点.通过研究大气偏振模式中偏振度和偏振角图像的对称性,针对已有航向角解算方法在太阳子午线提取精度方面的不足,设计了一种对称轴粗提取之后通过连续旋转法精确提取太阳子午线的算法,最终实现定向精度0.3335°,在最小二乘对称轴粗提取法的基础上定向精度提升了19.05％.     

一种车窗定位算法的设计和实现

利用均值色度函数，结合提色块算法，对车窗定位的算法进行了研究，提出了一种均值色度函数和提色块方法相结合的车窗定位算法，并在车型识别系统中利用，取得了一定的实验效果。     

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。     

An Algorithm Providing All-Attitude Capability for Three-Gimballed Inertial Systems

This paper describes an algorithm which protects a three-gimballed inertial system against gimbal lock while preserving the inertial reference. One sample of the gimbal angles and gimbal angle rates for a torque-free dynamic vehicle provides the information needed to determine whether or not gimbal lock will occur at some later time. When gimbal lock is imminent, the inertial platform is commanded to a new "safe" orientation, and knowledge of the inertial reference is updated accordingly. By iterating this process gimbal lock protection is extended to a vehicle subjected to torques. The results of digital simulations using the Apollo Primary Guidance, Navigation and Control System as a model are presented for various dynamic situations.     

Satellite Tracking Simultaneous-Lobing Monopulse Receiving System with Polarization Diversity Capability

A 136-MHz to 10-GHz simultaneous-lobing monopulse receiving system, utilizing polarization diversity in both coherent (phase-lock) and noncoherent (nonphase-lock) operational modes, has been developed for the National Aeronautics and Space Administration (NASA) Space Tracking and Data Acquisition Network (STADAN). This sum-and-difference monopulse system, called APDAR (Advanced Polarization Diversity Autotrack Receiver), utilizes a maximalratio polarization diversity combining technique that matches the receiving antenna polarization to the incoming variable polarization from a spin-stabilized or tumbling satellite. Autotrack performance becomes independent of the incoming polarization orientation by continuous in-phase addition of the carrier-signal components from orthogonal antenna elements. This technique relies upon the principle that fading does not occur simultaneously on oppositely polarized receiving channels. APDAR results in improved autotrack performance by eliminating adverse effects of severe (over 30-dB) cross-polarization fading. The predetection diversity combining technique employed provides an average 3-dB signal-to-noise (SNR) improvement. This paper describes a series of 136-MHz satellite tracking tests and analyzes a maximal-ratio predetection diversity combiner, a three-loop phase-lock loop system, and a frequency-switched radiometer.     

车载里程仪参数的实时标定方法

针对里程仪输出的速度(或位置增量),其参数标定误差残差是影响定位定向系统性能的关键因素,传统里程仪参数标定方法需在行车过程中设置精确标志点,且有行驶路线受限的缺点,因此提出一种基于速度量测的定位定向系统误差实时估计和补偿方法.该方法将里程仪刻度系数误差、安装误差残差纳入状态变量进行实时估计并补偿,将惯性导航系统输出的速度与里程仪输出的速度进行对比,构建量测方程.设计跑车试验对该方法进行验证,结果表明该车载里程仪参数的实时标定方法,仅需要在里程仪安装在车辆上后,导航系统做一次正常罗经对准并转惯性/里程仪组合导航模式,在车辆正常行驶过程中,即可自动标定出里程仪参数误差,具有自主、灵活简便、精度高的特点,同时提高了惯性/里程仪组合导航系统定位精度.     

一种地图匹配算法的设计与实现

设计一种面向定位定向导航系统的地图匹配算法,首先通过网格划分和建立路段连通性拓扑关系表对电子地图数据进行预处理;然后根据车辆的行驶状态采取不同的候选路段确定方法,计算各候选路段的匹配度,取值最大的作匹配路段;最后采用垂直投影法求取匹配点。通过跑车数据进行仿真试验,验证了该算法具有良好的准确性和实时性。     

Wollaston棱镜方位对激光干涉测量精度的影响

在双频激光干涉测量系统中,Ｗｏｌｌａｓｔｏｎ棱镜是不可缺少的重要光学元件,它可将双频激光按偏振方向分为测量光和参考光,从而实现高精度测量;但是,如果Ｗｏｌｌａｓｔｏｎ棱镜的安装方位相对入射光线方向以及与聚集透镜距离不同时,测量结果将会不同。本文结合表面粗糙度激光测量系统,从理论上定量分析了Ｗｏｌｌａｓｔｏｎ棱镜的安装方位对测量精度的影响。     

恶劣天气下的仿生偏振定向方法

针对偏振光导航在恶劣天气下精度显著下降的问题,提出了一种可以在恶劣天气下基于大气偏振模式的定向算法。与现有方法相比,首次将三维块匹配与canny边缘检测结合的思想应用于修复被不同天气破坏的偏振角度图像中。具体而言,将偏振角度图像的修复分为噪声粗处理和边缘提取处理去噪两部分。在噪声粗处理阶段采用三维块匹配算法,在边缘提取处理去噪部分,利用canny边缘检测算法对偏振角度图像进行二次去噪。实验结果表明,该方法不仅能够提高晴朗天空下的定向精度,而且能够显著提升在阴天、沙尘、雾霾等恶劣天气条件下的导航定向精度,即使在偏振角图像对称∞模式被破坏的情况下,航向角精度仍可由9.4470°提高到1.6859°。     

A multiscale transform denoising method of the bionic polarized light compass for improving the unmanned aerial vehicle navigation accuracy

In recent years, the bionic polarized light compass has been widely studied for the unmanned aerial vehicle navigation. However, it is found from the obtained investigation results that a polarized light compass with a sensitive and high dynamic range polarimeter still provides inferior output precision of the heading angle due to the presence of the noise generating from the compass.The noise is existed not only in the angle of the polarization image acquired by polarimeters but also in the out...     

Solar-tracking methodology based on refraction-polarization in Snell's window for underwater navigation

Underwater navigation system is an indispensable part for autonomous underwater vehicles. Due to the indiscernibility of satellite signal, however, the underwater navigation problem is quite challenging, and a satellite-free navigation scheme should be looked for. Polarization navigation, inspired by insects’ capability of autonomous homing and foraging, is an alternative solution to satellite navigation with great application potential. Underwater polarization provides an indirect sun compass t...     

跨声速风洞全模颤振试验技术

介绍了跨声速全模颤振试验的发展现状和存在的问题。探讨了全模颤振试验对风洞和支撑系统等试验设备的要求。对于风洞,主要从风洞洞体和流场等方面分析了进行颤振试验所需要具备的性能,并以中国空气动力研究与发展中心的2.4m跨声速风洞为例,介绍了进行颤振试验必须要采取的控制措施。对于支撑系统,则从模型运动自由度、支撑系统稳定性和支撑系统频率等方面的要求,阐述了设计支撑系统的困难,并简要分析了目前国内外发展的多种全模颤振支撑系统的结构原理及其优缺点。然后介绍了系统安全的保证措施,包括支撑系统稳定性分析、风洞紧急停车控制系统和模型保护装置等。最后根据飞行器发展的需求,探讨了今后需要完善和发展的几个主要问题。     

无人机自动着陆中的机器视觉辅助技术

设计了一套辅助无人机自动着陆的机器视觉系统。该系统由机载硬件设备和用户开发软件共同组成,用以完成数字图像处理任务和无人机运动参数估计任务。系统传感器包括一个单目摄像机和机载惯性陀螺;数字图像处理使用的主要算法有图像的轮廓提取、角点检测和模版匹配。基于角点处各个方向上灰度差变化较大的特征,依据最小核值相似(SUSAN)算法和角点几何结构分析,提出一种改进的角点特征提取算法;根据任务开发的位置参数估计算法依据摄像机透视投影理论,运用摄像机成像标定方法导出了一种高精度的位置测量模型。通过计算机仿真表明,所提出的计算机视觉位置参数估计算法可以达到无人机着陆过程的精度要求。     

Unmanned aircraft navigation for shipboard landing using infrared vision

This paper addresses the problem of determining the relative position and orientation of an unmanned air vehicle with respect to a ship using three visible points of known separation. The, images of the points are obtained from an onboard infrared camera. The paper develops a numerical solution to this problem. Both simulation and flight test results are presented.     

Radar target identification of aircraft using polarization-diversefeatures

The characteristics and target identification potential of a representation of the information from two polarization-diverse measurements of the radar backscatter of an unknown target are considered. The locus of these two polarization-diverse waveforms, termed the transient polarization response (TPR), has been shown to be closely related to the geometry of the scattering centers of the target. The polarization-related components of features derived from the TPR concur well with the shape and orientation of the major scattering centers distributed in the downrange profile of the object. This illustrates the intuitively appealing result that the polarization of the backscatter, as represented by the TPR and mapped onto the modified polarization chart, is determined by target geometry. It is shown that both polarization-related and amplitude-related features derived from the TPR are useful for target identification. By using distance measures that depend on various components, the elliptical parametrization information alone is sufficient to allow satisfactory target identification at SNRs of 0 dB and above. The significance of this result is that the absolute amplitudes of the received horizontally polarized and vertically polarized channels need not be known. However, if amplitude information is known, target identification percentages improve     

基于像素化偏振芯片的仿生偏振光罗盘技术

仿生光罗盘是一种通过借鉴动物视觉器官感知太阳偏振光信息(包括月光)的机理来获得载体航向信息的航向传感器。首先介绍了面向多光谱的像素化的偏振芯片结构参数化设计准则,给出了一种易于集成和小型化的仿生光罗盘总体设计方案,并对仿生光罗盘的主要误差源进行了分析;随后,提出了一种基于天空偏振图像解算载体航向的新方法,并对其环境适应性进行了初步分析;最后,对仿生光罗盘样机进行了静态实验和车载实验,在晴朗天空背景下仿生光罗盘的定向精度优于0.5°。     

考虑J_2摄动影响的零射程线计算方法研究

考虑到地球扁率J_2摄动的影响,在非正交分解法的基础上,利用自由段弹道地心距迭代解析解,给出了一种弹道飞行器零射程线的计算方法。数值仿真结果表明,该方法具有很高的精度,且计算速度较快,在闭路制导能量耗散和多弹头进攻弹道设计中具有较高的应用价值。     

陆用定位定向系统自主导航技术

由于车载自主导航精度受作战半径影响,长航时使用需要一定的保障条件,难于实现无依托发射的问题,提出了一种定向精度不受导航时间影响、定位精度不受作战半径影响的自主导航方案。通过分析惯性旋转调制导航、惯性/里程计组合原理及误差特性,采用罗经效应原理实现了高精度长航时自主定向;通过旋转调制导航抵消惯性器件误差的影响,利用航位推算隔离载体加速度和速度对罗经效应的影响,使航向误差完全可观,提升实时估计与修正精度。在此基础上引入了地图匹配技术进行自主定位,解决陆用定位精度与行驶里程相关的问题。仿真和试验结果表明,该技术采用地图信息辅助定位定向系统进行自主导航,在较低保障要求下,能够解决定向、定位误差积累问题,具有较强的理论意义和工程实用价值。     

基于神经网络的类乘波体飞行器FADS算法研究

大气数据是飞行器飞行的重要参数,大气数据系统是必备的机载航电系统。嵌入式大气数据系统（FADS）是新一代大气数据系统,可用于类乘波体飞行器。飞行器外形特殊,大飞行包线内FADS压力场模型复杂,解算算法尚不完备。针对飞行器的特点,利用三维几何建模和计算流体动力学（CFD）计算的方法,分析FADS压力场模型特性,设计并验证了基于神经网络的类乘波体飞行器FADS算法,结果表明,算法对马赫数、攻角和侧滑角大气参数的解算可行有效。