基于多参量信息的水下地磁滤波导航算法

由于水下运载器使用地磁滤波导航方法时难收敛、易发散,根据水下运载 器的特点设计了一种基于多参量信息的水下地磁滤波导航算法。针对单纯使用地磁数据 进行位置匹配精度较差的问题,该算法在匹配及滤波过程中引入了地磁强度、航向、航 速等多参量信息,采用非线性滤波框架进行信息融合,采用粒子群算法根据多参量信息 进行位置搜索,并以之为系统滤波的观测值,通过提高位置观测精度改进滤波的收敛性 和鲁棒性。仿真结果表明,算法滤波精度高,稳定性好,能够较好地抑制各类传感器干 扰和误差对滤波估计的影响,适用于水下运载器的地磁导航定位。     

飞行器组网多维地磁匹配的相关度算法

地磁匹配导航技术是跨海飞行器的自主导航方式之一。海洋磁场强度平滑、区域变化较大的特点,使得飞行器一维地磁匹配方法难以应用于飞行器自主导航。在跨海飞行器组网条件下,讨论了多维地磁匹配相关度算法,并仿真计算了多维地磁匹配相关度的匹配时间、匹配概率,计算表明多维地磁匹配相关度算法优于单航迹匹配相关度;在相同概率下区域内370 m×370 m网格匹配时间短、匹配概率高。飞行器组网多维地磁匹配的相关度算法研究为海洋区域地磁匹配导航应用提供参考。     

巡航导弹组合导航中综合地形匹配算法研究

为了克服惯导误差随时间累积的不足,提高巡航导弹的目标命中精度,提出了基于惯导/地形匹配组合导航的巡航导弹中制导方案.其中,地形轮廓匹配技术采用MSD算法和COR算法相结合的综合地形匹配算法,通过粗配和精配两步完成地形匹配过程.组合导航仿真结果表明,采用综合地形匹配算法的地形匹配辅助导航方法可以明显提高惯导精度,因而基于惯导/地形匹配组合导航的巡航导弹中制导方案是可行的.     

简化概率数据关联算法

基于所有落入目标关联域内的点迹并不都与目标关联的事实,提出了一种新颖的工程概率数据实用算法--基于聚矩阵分解的概率数据关联算法。仿真结果表明该算法具有计算量小,关联性能好等优点。     

基于视觉注意机制的认知雷达数据关联算法

针对传统关联波门设计方法在应用于机动目标跟踪时容易引起失跟、以及概率数据关联算法不适于多交叉目标跟踪的问题,提出了一种基于人类视觉选择性注意机制和知觉客体的"特征整合"理论的认知雷达数据关联算法。算法以综合交互式多模型概率数据关联算法为基础,采取假设目标最大机动水平已知的"当前"统计模型和匀速运动模型作为模型集,通过实时交互使关联波门能够随目标机动动态调整,较好地兼顾了雷达计算耗时和跟踪成功率。在利用目标位置特征的基础上,进一步提取、整合目标运动特征,对关联波门交叉区域公共量测进行分类,使多交叉目标跟踪问题转化为多个单目标跟踪问题,优化了传统概率数据关联算法。仿真结果表明：与传统关联波门设计方法相比,算法跟踪失败率和计算耗时明显降低;而且在计算资源增加不大的情况下,杂波环境适应性也得到了显著增强。     

基于模板匹配的集中式多传感器群内目标精细跟踪算法

为解决多传感器探测下群内目标精细跟踪的难题,基于非机动情况下各探测周期内群内目标真实回波位置相对固定的特性,提出了一种基于模板匹配的集中式多传感器群内目标精细跟踪算法。该算法通过预关联成功的群状态集合与群量测集合分别建立模板形状矩阵和待匹配形状矩阵,利用匹配搜索模型和匹配矩阵确认规则选出代价最小的匹配矩阵,并基于模板和对应的匹配矩阵利用 kalman滤波完成群内各目标航迹的状态更新。仿真表明,与传统多传感器多目标跟踪算法中性能优越的基于数据压缩的集中式多传感器多假设算法相比,该算法在跟踪精度、实时性、有效跟踪率方面的性能明显优越,能很好的满足群内目标精细跟踪的实际工程需求。     

多目标跟踪的核粒子概率假设密度滤波算法

提出一种新的多目标跟踪算法：核粒子概率假设密度滤波算法(KP-PHDF)。算法的创新点在概率假设密度滤波算法(PHDF)的目标状态提取步骤,以粒子概率假设密度滤波算法为框架,并运用结合了mean-shift算法的核密度估计(KDE)理论进行概率假设密度(PHD)分布的二次估计、提取PHD峰值位置作为目标状态估计值。分析与多目标跟踪(MTT)仿真的结果表明,与现有序列蒙特卡罗概率假设密度滤波算法（SMC-PHDF）相比,在相同仿真条件下新算法的估计精度提高30.5%。     

基于PSO算法的无人机地磁匹配航迹规划方法研究

结合地磁匹配的自身特征,设计了无人机地磁匹配航迹规划的总体方案;以PSO算法为解决工具,给出了地磁匹配航迹规划的实现方法,构造了PSO算法进行地磁匹配航迹规划的适应度函数,为下一步的算法实现奠定基础。     

一种基于最小二乘拟合的数据关联算法

针对点航关联在多目标跟踪中精度与实时性难兼顾的问题,提出了一种基于最小二乘拟合的点航关联算法。首先采用滑窗将历史航迹截断,采用最小二乘法在不同维度分别拟合、外推融合航迹历史信息条件下的航迹点,增加外推点的多样性及信息量。同时定义了5种全概率关联事件,提取传统滤波方法的预测点,将拟合外推点与滤波预测点融合,使归属判决更加准确。最后分别推导了不同事件发生时的状态更新方程与误差协方差更新方程,给出了其中参数的确定方法。经仿真数据验证,与经典的最近邻域法和联合概率数据互联算法相比,所提算法能够更好地兼顾精度与实时性,且计算复杂度较低,易于工程实现。     

有色噪声作用下的INS/地磁组合导航算法研究

为了克服基本扩展卡尔曼滤波对噪声统计特性的约束,针对地磁测量噪声为有色噪声的特性,基于扩维卡尔曼滤波算法实现了惯性/地磁组合导航算法。分析了分布式组合导航方案的基本原理,在子滤波器观测信息为实测地磁场总强度信息条件下,基于巡航导弹巡航段飞行过程采用基本扩展卡尔曼滤波和扩维卡尔曼滤波算法进行了仿真分析。仿真结果表明,扩维卡尔曼滤波具有较好的稳定性和收敛性,解决了扩展卡尔曼滤波算法的发散问题。     

Coordinate Conversion and Tracking for Very Long Range Radars

The problem of tracking with very long range radars is studied in this paper. First, the measurement conversion from a radar's r-u-v coordinate system to the Cartesian coordinate system is discussed. Although the nonlinearity of this coordinate transformation appears insignificant based on the evaluation of the bias of the converted measurements, it is shown that this nonlinearity can cause significant covariance inconsistency in the conventionally converted measurements (CM1). Since data association depends critically on filter consistency, this issue is very important. Following this, it is shown that a suitably corrected conversion (CM2) eliminates the inconsistency. Then, initialized with the converted measurements (using CM2), four Cartesian filters are evaluated. It is shown that, among these filters, the converted measurement Kalman filter with second order Taylor expansion (CM2KF) is the only one that is consistent for very long range tracking scenarios. Another two approaches, the range-direction-cosine extended Kalman filter (ruvEKF) and the unscented Kalman filter (UKF) are also evaluated and shown to suffer from consistency problems. However, the CM2KF has the disadvantage of reduced accuracy in the range direction. To fix this problem, a consistency-based modification for the standard extended Kalman filter (E1KF) is proposed. This leads to a new filtering approach, designated as measurement covariance adaptive extended Kalman filter (MCAEKF). For very long range tracking scenarios, the MCAEKF is shown to produce consistent filtering results and be able to avoid the loss of accuracy in the range direction. It is also shown that the MCAEKF meets the posterior Carmer-Rao lower bound for the scenarios considered.     

Nonlinear problems of physics of the geomagnetic pulsations

The current state of research involving manifestations of nonlinearity in geomagnetic pulsations is reviewed. Traditionally, the attention of researchers was focused on the effects of resonant interaction of geomagnetic pulsations with small groups of energetic particles, which actually means the study of the quasi-linear relaxation of radiation belt ions, the modulation of auroral electron fluxes, etc. The present review concentrates on the problem of the nonlinear effect influence of pulsations on the backgroud (cold) plasma and on the geomagnetic field. This kind of interaction results in a significant modification of the plasma distribution in the magnetosphere. Self-consistent wave structures—solitons and vortices may occur as well. Such nonlinear effects contribute to physics of geomagnetic pulsations and are also of fundamental importance for general physics. Another set of more narrow problems considered in the review, is related to phenomenological modeling of fluctuational and critical phenomena in the magnetosphere. The essence of our approach is to present the magnetosphere as a black box, whose properties should be determined by the statistical characteristics of its output signals. This approach to phenomenology can be a useful supplement to the methods of microscopic modeling aimed at detecting nonlinear manifestations of geomagnetic pulsations.     

基于CMMI的配置管理系统设计与实现

在研究软件配置管理方法的基础上,结合CMMI配置管理要求以及航天测控软件配置管理实际需求,建立配置管理实施框架,实现了一个一体化的配置管理系统。该系统能够辅助开发人员和配置管理人员便捷地制定配置管理计划,进行配置标识、建立和发布基线、跟踪和控制更改、执行配置审核和报告的自动生成,实现了CMMI对软件配置管理的要求,提高了配置管理的自动化管理水平和易用性。     

基于航向匹配的磁力计外场无依托标定算法CSCD

三轴磁力计的测量精度会受到自身和环境的影响,因此在使用前必须要进行标定。传统标定方法需要特定的精密仪器和标定环境,或是对计算量和采集数据的方式有较高的要求,针对这些问题,提出了基于航向匹配的磁力计外场无依托标定算法。该算法无需特定精密仪器、对数据采集和计算量的要求也较低,且可以在现场实现有效动态标定。该算法基于航向角是磁航向角与磁偏角代数和的原理,通过等价数学变换构建了磁力计零偏关于姿态角与磁力计测量值的线性模型,最终采用最小二乘法对磁力计的零偏进行估计。该算法可以估计三轴磁力计的零偏,对磁力计的测量结果有较好的补偿作用。实验结果表明,该算法可有效标定三轴磁力计,减小其测量误差。经标定的磁力计可以应用于地磁匹配导航,辅助惯性导航修正其位置误差,尤其是在长直路段内,磁力计标定过程中识别出的磁异常数据可以为地磁匹配导航提供基础信息。     

Polar ionospheric disturbance effects on NNSS satellite positioning

From the analysis of the United States Navy navigation satellite system (NNSS) positioning data of about 10000 passes, it is clearly found that polar ionospheric disturbance affects the positioning. The positioning error increases with increasing geomagnetic disturbance level (local K-index), and the pass number of position fixes decreases by one or two per day when the K-index is large. These effects may arise from the spatial gradients of electron density and/or the radio wave scattering due to well-developed ionospheric irregularities inherent to the disturbed auroral ionosphere     

Geomagnetic Core Field Secular Variation Models

We analyse models describing time changes of the Earth’s core magnetic field (secular variation) covering the historical period (several centuries) and the more recent satellite era (previous decade), and we illustrate how both the information contained in the data and the a priori information (regularisation) affect the result of the ill-posed geomagnetic inverse problem. We show how data quality, frequency and selection procedures govern part of the temporal changes in the secular variation norms and spectra, which are sometimes difficult to dissociate from true changes of the core state. We highlight the difficulty of resolving the time variability of the high degree secular variation coefficients (i.e. the secular acceleration), arising for instance from the challenge to properly separate sources of internal and of external origin. In addition, the regularisation process may also result in artificial changes in the model norms and spectra. Model users should keep in mind that such features can be mis-interpreted as the signature of physical mechanisms (e.g. diffusion). Finally, we present perspectives concerning core field modelling: imposing dynamical constraints (e.g. by means of data assimilation) reduces the non-uniqueness of the geomagnetic inverse problem.     

一种关于目标与安全管道相对位置估算方法

针对靶场试验安全控制中目标与安全管道位置估算的实际需求,结合靶场实时数据处理要求,提出了利用滑动窗口技术,动态载人理论弹道数据,并采用折半查找和KNN查询相结合的思想实现了目标与理论弹道最近邻点查询,完成了飞行目标与理论规划航迹间的位置等参数偏差查询。利用区间估计原理,给出了目标与安全管道相对位置估算方法,解决了传统试验中无法对目标与管道边界的接近程度进行量化的问题。     

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.