Consensus disturbance rejection control of directed multi-agent networks with extended state observer

This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed graphs. Based on disturbance observers, distributed consensus disturbance rejection protocols are constructed in leaderless and leader-follower consensus setups. Different from the previous related papers, the consensus protocols in this paper are developed in a fully distributed fashion, relying on only the state information of each agent and its neighbors. Sufficient conditions are provided to guarantee that the asymptotic stability of high-order multi-agent systems can be reached with matched disturbances.     

自由段弹道目标跟踪算法在工程中的应用

在对弹道目标跟踪预警的工程实践中,雷达系统对目标运动的信息处理速度尤为重要,因而,文章选取自适应跟踪模型与卡尔曼滤波相结合的方法解决自由段弹道目标的跟踪问题,并与扩展卡尔曼跟踪算法做了对比分析。仿真显示,2种滤波方式分别与自适应跟踪模型相结合后,卡尔曼滤波和扩展卡尔曼滤波跟踪性能相差不大,但其算法简单、运算时间短,可以较好满足自由段弹道目标跟踪的工程需求。     

Adaptive double chain quantum genetic algorithm for constrained optimization problems

Optimization problems are often highly constrained and evolutionary algorithms(EAs)are effective methods to tackle this kind of problems. To further improve search efficiency and convergence rate of EAs, this paper presents an adaptive double chain quantum genetic algorithm(ADCQGA) for solving constrained optimization problems. ADCQGA makes use of doubleindividuals to represent solutions that are classified as feasible and infeasible solutions. Fitness(or evaluation) functions are defined for both types of solutions. Based on the fitness function, three types of step evolution(SE) are defined and utilized for judging evolutionary individuals. An adaptive rotation is proposed and used to facilitate updating individuals in different solutions.To further improve the search capability and convergence rate, ADCQGA utilizes an adaptive evolution process(AEP), adaptive mutation and replacement techniques. ADCQGA was first tested on a widely used benchmark function to illustrate the relationship between initial parameter values and the convergence rate/search capability. Then the proposed ADCQGA is successfully applied to solve other twelve benchmark functions and five well-known constrained engineering design problems. Multi-aircraft cooperative target allocation problem is a typical constrained optimization problem and requires efficient methods to tackle. Finally, ADCQGA is successfully applied to solving the target allocation problem.     

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。     

白天大气层内星敏感器观星能力分析

利用星敏感器进行白天大气层内观星,首先要解决的问题是强天空背景的干扰。通过对白天天空背景和不同光谱恒星的特点进行分析,提出了光谱滤波和偏振成像加形态学滤波和多帧图像累加的技术路线,综合利用光学方法和图像处理方法提高观测对比度和信噪比。给出了白天观星的信噪比模型,并在不同天空背景偏振度条件下,得出了G、K、M光谱恒星的0至5等星的单帧图像信噪比和对应的使CCD(Charge Coupled Device,电荷耦合器件)接近饱和的极限曝光时间。结果表明:星等值越低,天空背景偏振度越大,则信噪比越高;同等条件下,信噪比由小到大依次为G、K、M光谱恒星;而对于低信噪比的图像,通过多帧累加后可满足观测的要求。     

四元数最小均方误差算法及其在波束形成中的应用

 作为多维信号处理的一个重要工具,四元数代数已在各个领域有所应用。对四元数最小均方误差(QMMSE)算法进行了研究,首先推导了四元数实数形式的最小均方误差(QRMMSE)算法,进一步推导了四元数复数形式的最小均方误差(QCMMSE)算法,并且分析了两种算法的区别和计算量。最后将QMMSE算法应用到机载简化矢量传感器阵列的波束形成中,与复数长矢量最小均方误差(LVMMSE)算法相比较,QCMMSE算法的性能有所提高,计算量有所减少。计算机仿真结果验证了所提算法的有效性。     

Maneuvering Target Tracking in Dense Clutter Based on Particle Filtering

An improved particle filtering(IPF) is presented to perform maneuvering target tracking in dense clutter.The proposed filter uses several efficient variance reduction methods to combat particle degeneracy,low mode prior probabilities and measure-ment-origin uncertainty.Within the framework of a hybrid state estimation,each particle samples a discrete mode from its poste-rior distribution and the continuous state variables are approximated by a multivariate Gaussian mixture that is updated by an unscented Ka...     

捷联惯导与里程计组合导航系统标定方法研究

捷联惯导/里程计组合导航系统中,里程计的刻度系数和相对惯组的安装误差角的标定是影响组合导航精度的关键因素.根据工程应用情况,提出经典标定方法和卡尔曼滤波标定方法,并对两种方法进行比较.在标定出刻度系数和安装误差角后,将该数据装订到惯组中进行车载试验验证,将里程计解算的速度和位置与GPS实测值进行比较.试验结果表明:跑车...     

GPS姿态测量中模糊度函数法的适应度函数研究

基于全球卫星定位系统（GPS）双差整周模糊度的统计特性,对模糊度函数法（AFM）中的适应度函数进行了改进。分析了传统余弦适应度函数的不足,论证了适应度函数在AFM算法中的重要性。提出了设计适应度函数应满足的五条标准,在此基础上给出了一类适应度函数公式,并对性能进行测试。结果表明：该适应度函数的性能明显优于传统的余弦函数,有效提高了GPS姿态解算的成功率。     

基于方位信息的组网雷达跟踪滤波研究

干扰对组网雷达目标跟踪系统模型的影响,决定了系统需要用非线性滤波技术进行纯方位跟踪.粒子滤波避免了传统非线性滤波方法的缺陷,但是存在粒子退化,于是用EKF和UKF在每一时刻更新粒子,用更新的粒子及其协方差构造重要性函数,然后重采样.仿真实验表明了这两种改进粒子滤波方法的有效性.