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241.
针对无人机捷联式惯性导航系统(Strap-down inertial navigation system,SINS)定位精度低、全球卫星定位系统(Global position system,GPS)定位的非自主性,建立了一种无人机SINS/GPS定位信息融合系统。采用渐消Kalman滤波技术,有效防止了SINS/GPS组合导航系统的滤波发散。采用自适应运算法则,从理论上证明了渐消卡尔曼滤波器的稳定性,得到了滤波器稳定要求的新的条件,与以往研究比较,条件更为宽泛。分别进行了SINS/GPS常规卡尔曼滤波仿真和渐消卡尔曼滤波仿真,结果表明:采用渐消卡尔曼滤波技术在工程实践上可以有效提高无人机的导航定位精度,并且易于工程实现。 相似文献
242.
立方氮化硼(Cubic Boron Nitride,cBN)是仅次于金刚石的超硬材料,比金刚石具有更高的化学稳定性,可以胜任铁系金属的加工。本文在YG6硬质合金上基于微纳米金刚石过渡层开展cBN涂层的制备研究。本文在热丝化学气相沉积系统中制备微纳米金刚石过渡层(Micro/nanocrystalline diamond,M/NCD),在射频磁控溅射系统中制备cBN涂层,并对M/NCD与cBN涂层进行了成分、微观形貌与结合性能的研究。研究结果发现,在硬质合金基体上,M/NCD过渡层的结合性能明显优于NCD过渡层。磁控溅射制备cBN涂层过程中,存在适合cBN沉积的衬底偏压阈值,过高或过低的衬底偏压均不利于cBN含量的提高。 相似文献
243.
244.
陀螺稳定平台漂移误差参数的辨识方法研究 总被引:3,自引:0,他引:3
给出了一种平台工作在惯性稳定状态下的静态多位置测漂方案 ,建立了包含陀螺漂移、地球自转因素在内的平台漂移数学模型和系统状态方程 ,解决了三轴开路状态下的耦合问题。取框架角传感器的输出作为观测量 ,利用广义Kalman滤波器对含有噪声的测量数据进行处理 ,将参数辨识问题转化为状态估计 ,仿真结果表明 ,此方法可以获得较好的辨识效果 相似文献
245.
本文应用超声波探伤的基本原理和实际探伤经验对钢结构桁架相贯线焊缝的超声波检测进行了研究。运用缺陷反射回波的包络线法,分析了相贯线焊缝缺陷的性质,总结归纳了一些典型缺陷反射回波的规律,对其它类型焊缝缺陷的定性也有参考作用。 相似文献
246.
嵌入式系统开发与传统软件开发有着很大不同.嵌入式系统具有内核小、专用性强、高时效性、高可靠性、目标平台复杂等特点,这就对系统设计者提出更高的要求.面对目前嵌入式系统开发过程中的这些问题,尤其针对开发过程复杂,程序自动化程度不高等问题,提出一种基于Esterel代码自动生成的方法.该方法主要利用Esterel语言来对目标系统进行建模,实现将同一个Esterel模型编译为多个目标平台的代码.通过操作系统(OS)抽象层的设计,使系统开发人员不用关心目标平台相关的实现细节,更加容易进行多目标平台程序设计,从而实现嵌入式系统的程序设计自动化.通过实验表明,Esterel模型可以正确、高效地编译为多目标平台的代码,实现目标平台代码的自动生成. 相似文献
247.
本文研究了线性离散随机系统的模型降阶和最优输出反馈矩阵的设计问题。本文提出的设计方法不需要对原系统进行Anderson-Moore的迭代计算,直接利用求得的降阶模型解出近似的最优输出反馈阵。文中举例说明了设计方法的应用并进行了计算机仿真,仿真结果是令人满意的。 相似文献
248.
Conceptual design of a bioregenerative life support system containing crops and silkworms 总被引:1,自引:0,他引:1
Enzhu Hu Sergey I. Bartsev Hong Liu 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2010
This article summarizes a conceptual design of a bioregenerative life support system for permanent lunar base or planetary exploration. The system consists of seven compartments – higher plants cultivation, animal rearing, human habitation, water recovery, waste treatment, atmosphere management, and storages. Fifteen kinds of crops, such as wheat, rice, soybean, lettuce, and mulberry, were selected as main life support contributors to provide the crew with air, water, and vegetable food. Silkworms fed by crop leaves were designated to produce partial animal nutrition for the crew. Various physical-chemical and biological methods were combined to reclaim wastewater and solid waste. Condensate collected from atmosphere was recycled into potable water through granular activated carbon adsorption, iodine sterilization, and trace element supplementation. All grey water was also purified though multifiltration and ultraviolet sterilization. Plant residue, human excrement, silkworm feces, etc. were decomposed into inorganic substances which were finally absorbed by higher plants. Some meat, ingredients, as well as nitrogen fertilizer were prestored and resupplied periodically. Meanwhile, the same amount and chemical composition of organic waste was dumped to maintain the steady state of the system. A nutritional balanced diet was developed by means of the linear programming method. It could provide 2721 kcal of energy, 375.5 g of carbohydrate, 99.47 g of protein, and 91.19 g of fat per capita per day. Silkworm powder covered 12.54% of total animal protein intakes. The balance of material flows between compartments was described by the system of stoichiometric equations. Basic life support requirements for crews including oxygen, food, potable and hygiene water summed up to 29.68 kg per capita per day. The coefficient of system material closure reached 99.40%. 相似文献
249.
Qile Zhao Jing Guo Zhigang Hu Chuang Shi Jingnan Liu Hua Cai Xianglin Liu 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2011
The GRACE (Gravity Recovery And Climate Experiment) monthly gravity models have been independently produced and published by several research institutions, such as Center for Space Research (CSR), GeoForschungsZentrum (GFZ), Jet Propulsion Laboratory (JPL), Centre National d’Etudes Spatiales (CNES) and Delft Institute of Earth Observation and Space Systems (DEOS). According to their processing standards, above institutions use the traditional variational approach except that the DEOS exploits the acceleration approach. The background force models employed are rather similar. The produced gravity field models generally agree with one another in the spatial pattern. However, there are some discrepancies in the gravity signal amplitude between solutions produced by different institutions. In particular, 10%–30% signal amplitude differences in some river basins can be observed. In this paper, we implemented a variant of the traditional variational approach and computed two sets of monthly gravity field solutions using the data from January 2005 to December 2006. The input data are K-band range-rates (KBRR) and kinematic orbits of GRACE satellites. The main difference in the production of our two types of models is how to deal with nuisance parameters. This type of parameters is necessary to absorb low-frequency errors in the data, which are mainly the aliasing and instrument errors. One way is to remove the nuisance parameters before estimating the geopotential coefficients, called NPARB approach in the paper. The other way is to estimate the nuisance parameters and geopotential coefficients simultaneously, called NPESS approach. These two types of solutions mainly differ in geopotential coefficients from degree 2 to 5. This can be explained by the fact that the nuisance parameters and the gravity field coefficients are highly correlated, particularly at low degrees. We compare these solutions with the official and published ones by means of spectral analysis. It is found that our solutions are, in general, consistent with others in the spatial pattern. The water storage variations of the Amazon, Chari and Ganges river basins have also been computed. The variations computed with the NPARB approach are closer to those produced by JPL and DEOS solutions, while the variations produced with the NPESS approach are in good agreement with those produced by the CSR and GFZ solutions. A simulation study is implemented with considering realistic noise and low-frequency error. The two approaches are used to recover the true model. The NPESS solution appears closer to the true one. Therefore we are inclined to estimate the nuisance parameters simultaneously with the geopential coefficients. 相似文献
250.