Enhanced multipath mitigation method based on multi-resolution CNR model and adaptive statistical test strategy for real-time kinematic PPP

This study proposes an enhanced multipath mitigation method based on multi-resolution carrier-to-noise-ratio (CNR) model and adaptive statistical test strategy for real-time kinematic precise point positioning (PPP) applications. The multi-resolution CNR model is established with GPS observation data collected from DOY 152 to 181 of 2019 by 230 globally distributed IGS stations, which used to analyze the relevant factors affecting CNR. Statistical results indicate that the CNR is not only related to the satellite elevation, but also closely related to the receiver types and specific satellite. The maximum difference between different receivers can reach 20 dB for the same satellite at the same elevation. In addition, the performance of the CNR is also obviously different between each satellite, and the maximum difference between different satellites is about 10 dB for the same receiver at the same elevation. Hence, in terms of the method which is based on CNR information for multipath detection and mitigation, the independence of receiver types, satellite and frequency must be considered. With the above analysis, this study developed a multi-resolution CNR model based on different receiver types, different satellites and different elevation firstly. Then, combined with the adaptive statistical test strategy which is based on the difference of CNR between inter-frequency and the difference of CNR between adjacent epochs, the multipath can be detected effectively. For the epoch which affected by multipath, the down-weighted strategy based on CNR is adopted to mitigate the influence of multipath on positioning. Real-time kinematic PPP data are collected to assess the proposed method, and the results demonstrate that the proposed method can detect the multipath effectively, and the detection rate can reach 90.28%. Moreover, after adopting the mitigation strategy, the RMS bias of the east, north and up components are improved about 19.95%, 17.89% and 23.07% compared to the original results, respectively. It is worth noting that this proposed method is also suitable for other GNSS, such as GLONASS and BDS, but the corresponding CNR model must be established simultaneously.     

Postcapture stabilization of space robots considering actuator failures with bounded torques

Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper presents a novel control strategy for stabilization of a space robot in postcapture considering actuator failures and bounded torques. In the control strategy, the motion of the manipulator is not regarded as a disturbance to the base; in contrast, it is utilized to compensate for the limitation of the control torques by means of an inverse dynamical model of the system. Different scenarios where actuators are external mechanisms or momentum exchange devices have been carried out, and for actuator failures, both single- and two-actuator failures have been considered. Regarding to the performance of actuators, control torques are bounded. In cases that either single or two actuators have failed, the base can be stabilized kinematically when actuators are external mechanisms, but can only be stabilized dynamically when only momentum exchange devices are used. Finally, a space robot with a seven-degree-of-freedom manipulator in postcapture is studied to verify the validity and feasibility of the proposed control scheme. Simulation results show that the whole system can be stabilized rapidly.     

西门子数控系统在机床改造中的应用

阐述了用西门子数控系统对老设备进行改造时所采取的步骤及选型；分析了几种类型数控系统改造的特点。     

大迎角耦合运动非定常空气动力特性

采用某飞机大迎角大振幅运动风洞实验结果，分析了大迎角非定常空气动力的一些特性。结果表明，飞机机动飞行时多自由度运动的气动特性比单自由度运动复杂，耦合运动时的气动特性和两个单自由度运动的气动特性的叠加结果相比有一定差别。此外，旋转天平实验结果同本实验的结果相比差别较大。     

非定常风洞洞壁干扰研究

在1m口径圆形截面低速风洞中用一组大小不同外形相似的前缘后掠角为70°的三角翼模型,测量了模型作俯仰运动时的上表面的动态压力分布,研究了洞壁对模型表面动态压力分布的影响.在3m×2.5m矩形截面低速风洞中,用另一组外形相似的前缘后掠角为70°的三角翼模型进行非定常测力试验,并测定了洞壁上有限测压点的动态压力,研究了模型大小对非定常壁压的影响和洞壁对模型非定常法向力系数的影响,并用混合法对大模型的非定常法向力进行了洞壁干扰修正,大模型的法向力系数修正结果与小模型的法向力系数基本一致.     

分散信息滤波及其在组合导航中的应用

 本文提出一种分级式分敞信息滤波算法,并通过具体实例研究了它在组合导航系统中的应用。这种算法的特点是主滤波器的计算量小,量测修正只涉及到加(减)法运算。尤其适合于数据采样频率较高、反馈校正间隔较长的组合导航系统。     

边条翼作俯仰运动时翼面吹气的作用

在３ｍ低速风洞中通过测力与微丝显示方法，研究了在边条翼的边条和主翼上吹气对机翼作大攻角快速俯仰运动时空气动力特性的影响，同时还研究了在不同迎角下开始吹气的作用。结果表明，翼面吹气能有效提高机翼的非定常气动特性和缩小机翼的非定常气动特性迟滞回环，特别是在小迎角下开始吹气效果较好。     

聚合物淬火介质CH-202M在钢铁零件淬火上的基础研究

 聚合物淬火介质冷却金属时于金属表面形成一层聚合物隔离膜,45钢和40Cr钢在不同浓度介质中淬火,可得到比水淬、油淬更大的淬透深度和更小的淬火变形,并可防止淬火开裂。淬火后的组织正常,机械性能符合要求。故表明,此种介质用于钢铁零件淬火非常有效。本文还对使用中的一些管理问题进行了阐明。     

Use of the radial velocity measurement in target tracking

A new sequential filtering algorithm that incorporates the radial velocity measurement into a Kalman filter, in the presence of correlated range and radial velocity measurement errors, is presented. An analysis is given concerning its asymptotic behavior on the basis of analysis of its stochastic controllability and observability. The simulation results verify the analysis and show that the new algorithm is superior to the conventional extended Kalman filter (EKF) and close to an ideal filter.