Real-time ray-based channel generation and emulation for UAV communications

A real-time ray-based hardware emulator for Unmanned Aerial Vehicle (UAV) communication channels which suits for the Three-Dimensional (3D) dynamic scenarios and considers the movements of both terminals is developed in this paper. The time-variant channel parameters, i.e., ray delay, ray gain, and ray Doppler frequency are precalculated in the host by using the Ray Tracing (RT) method. Meanwhile, RT simulation dramatically increases the number of valid rays. To address the problem of resource limitation and huge computational burden in the implementation, an efficient ray coefficients generation method based on iteration is proposed and implemented. With the advantages of low cost and high flexibility, a Software Defined Radio (SDR) hardware platform is used to emulate the ray-based UAV channels by utilizing the compact architecture including the Time-Division (TD) scheme and Tapped-Delay Line (TDL) for channel convolution. Finally, hardware measurement results demonstrate that the properties of emulated channel, i.e., Power Delay Profile (PDP) and Doppler Power Spectrum Density (DPSD) consist with the simulated ones, which verifies the correctness of hardware implementation. The proposed channel emulator provides an efficient way for optimization, verification, and evaluation of UAV communication systems.     

Multi–physical-field characteristics modeling and structure optimization for kW-level ultra-high-speed PM motors with integrated support system

In the aerospace industry, the low-mass ultra-high-speed flywheel system play a critical role. In this paper, a kW-level Ultra-High Speed Permanent Magnet Synchronous Motor (UHSPMSM) as the core component of flywheel system is proposed and analyzed with consideration of multiple physical fields, including electromagnetic characteristics, mechanical strength and rotor dynamics. The integrated support structure is put forward to improve rotation accuracy and operation stability of the UHSPMSM. Further, influence of the integrated support structure on critical speed is explored, and the key parameters such as support position and support stiffness are designed. Moreover, the rotor strength is analyzed by analytical model developed of rotor stress that can deal with multiple boundary types. Material and thickness of the sleeve are optimized, and range of interference value is accurately limited based on four extreme operating conditions. The 3-D Finite Element Model (FEM) is used to validate the strength characteristics and stress distribution of rotor. A 1.5 kW-150000 r/min UHSPMSM with integrated support system is manufactured and tested. The feasibility of UHSPMSM proposed and the accuracy of analysis method are verified through electromagnetic, temperature rise and vibration characteristics test. The machine prototype realizes the load operation at rated speed and the multi-physical-field characteristics achieve the design specification.     

Fault tolerant attitude control of under-actuated spacecraft: Theory and experiment

This paper investigates fault tolerant attitude control theory and experiment for under-actuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias. A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions. It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance. Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform. Experimental results show the effectiveness of the proposed method in spacecraft practical engineering.     

平板表面射流摩擦力场液晶涂层法测量与显示

为了研究剪切敏感液晶（Shear Sensitive Liquid Crystal，SSLC）涂层在不同气流速度下用于测量和显示壁面摩擦力场的能力，应用SSLC涂层对不同速度下平板表面亚声速射流的摩擦力矢量场进行了测量，对带有激波单元的超声速射流摩擦力场及其动态特性进行了流动显示。研究结果表明:在定量测量方面，SSLC涂层能够在宽量程范围内快速、高分辨率地测量射流摩擦力矢量场，可用于射流摩擦力场随射流速度的变化特性研究；在流动显示方面，SSLC涂层可用于显示超声速射流的菱形激波单元等流场结构及其动态变化特性。     

基于空中交通运行水平的航季划分方法

为了优化航班时刻资源的配置，提高民航航班正常性，本文针对大范围空中交通运行水平下的航季划分方法进行了研究。利用动态时间规整算法分析空中交通运行效率指标的月度时间序列相似性，建立航季划分多目标优化模型，运用带精英策略的快速非支配排序遗传算法进行划分求解，并采用带熵值的TOPSIS法对帕累托解进行评价，给出了各划分角度下最优航季划分结果，并分析了不同空中交通运行水平下的航季划分结果及权值设定对结果的影响。结果表明，在综合考虑空中交通运行水平评价指标影响的情况下，随着权值的变动，各划分角度下最优航季划分结果稳定。本文所提出方法不仅适用于大范围空域环境的航季划分，同样适用于探索单个机场运行的航季模式，为民航局和机场科学制定航班计划提供依据。     

空天飞行器星敏感器安装误差在线标定方法

空天飞行器高动态、长航时的运动特性可能导致一体化安装的惯性/天文组合导航系统中星敏感器与惯导间产生安装误差角。设计了一种星敏感器安装误差角动态辨识方法,建立了星敏感器安装误差角模型,设计了基于天文角度观测的星敏感器安装误差角动态辨识方案,分析了不同机动飞行方式下星敏感器安装误差角的可观测度。仿真结果表明,所设计的基于卡尔曼滤波的动态辨识方法能够在飞行器机动过程中快速地对星敏感器安装误差角进行在线标定,对安装误差角的标定值可以达到实际误差值的85%以上,有效地提高了组合导航系统的精度。     

基于双目视觉的类脑三维认知地图构建方法

基于大脑导航神经细胞机理的类脑认知地图构建方法,为发展智能同步定位与地图构建(SLAM)技术提供了新思路.针对现有类脑认知地图构建精度不高的问题,提出了一种基于双目视觉的类脑三维认知地图构建方法.首先阐述了类脑三维认知地图系统的工作原理,然后论述了不同视觉里程计对认知地图精度的影响,研究了基于双目视觉里程计的类脑三维认知地图精度优化方法,最终完成了基于视觉数据集的类脑三维认知地图构建试验.试验结果表明,所提方法构建的视觉里程计地图的三维位置误差为总行程的2.14％,认知地图的三维位置误差为1.56％;认知地图精度与里程计精度呈正相关;系统通过模板匹配进行回环检测与校正,提高了认知地图的精度.     

基于虚拟地标的行人惯性SLAM算法

针对当前仅使用低成本惯性传感器的行人导航系统航向角存在较大累积误差的问题,研究了一种只使用惯性传感器信息的虚拟地标构建方法,并通过匹配虚拟地标点对位置和航向进行误差补偿.在此基础上,结合同时定位与建图(SLAM)方法的思想,实现了仅基于惯性传感器的SLAM,提高了行人导航的精度和可靠导航时间.试验结果表明,该方法能够有效消除纯惯性行人定位系统的累积误差,在2027m2的单层建筑物中空间位置误差小于10m.     

基于机器学习的机翼气动载荷重构及传感器优化布置

风洞实验通过在机翼表面布置传感器来测量相应位置的气动载荷，由于传感器布置数量有限，难以直接得到整个机翼全息气动载荷分布。本文采用机器学习方法通过有限传感器数据重构机翼表面全息气动载荷，并提出了利用仿真数据对传感器进行优化布置的方法。从计算流体力学（Computational fluid dynamics,CFD）计算所得的机翼全息气动数据中选取有限位置数据模拟传感器实验数据，对比深度学习模型、高斯过程回归（Gaussian process regression, GPR）、支持向量回归（Support vector regression, SVR）与BP神经网络（Neural network, NN）对气动载荷的重构精度。通过评估由传感器数据重构的全息载荷精度对传感器布置方式进行优化设计。以M6机翼为例在给定的两个工况条件下验证本文所提出的方法。实验结果表明，GPR模型获得了最高气动载荷重构精度；给出了M6机翼在不同传感器总数下最优的截面数和单个截面布点数，最低传感器布置数下的最优布置方式，以及流场变化相对剧烈的前缘区域与展向截面的传感器布置方式。     

航空用不锈钢磨粒流光整加工表面完整性研究

为研究磨粒流光整加工不锈钢闭式整体叶环的表面完整性，通过对电火花制备的不锈钢试样进行加工时间、加工压强及磨料目数的单因素试验，研究3个因素对加工后表面完整性的影响。结果表明：表面粗糙度Ra随着加工时间的增加而降低，从初始时的1.459μm降至60 min时的0.193μm，降低速率越来越慢，最后趋于稳定。磨粒流加工有效去除了加工表面再铸层。显微硬度在加工后明显降低，由450～950 HV降至270～350 HV且分布均匀性得到改善。显微硬度随着加工时间的增加整体上呈降低趋势，并出现了一定的加工硬化现象。在使用不同目数的磨料进行磨粒流加工后，残余应力由拉应力变为压应力。随着加工时间和加工压强的增加，试样表面越平整，抛光效果越好。