惯性导航/双星组合导航的可行性研究

根据国外惯性导航／卫星组合的研究、发展和应用情况，分析了惯性导航／双星组合的必要性和可实现性；提出了惯性导航／双星组合中存在的主要问题和可能的对策。研究结果表明，惯性导航系统(INS)和双星定位系统的组合是完全必要和可行的；惯性导航／双星组合系统的性能比纯惯性导航有明显提高。     

基于绝对速度测量计的自主导航探讨

对用激光原理进行绝对速度测量和由它实现自主导航的概念进行了探讨。利用3个陀螺仪和3个激光测速计按直角坐标方式配置,即可组成基于绝对速度测量计的捷联式惯性测量组合。这种方法的优点是简化计算和有利于提高精度。     

非线性PD型比例导引鲁棒性研究

为研究存在视线角速度测量噪声时非线性比例微分(PD)型比例制导方案的鲁棒性,以近距大离轴角发射和目标大机动为拦截条件,对四种视线角速度测量噪声方差进行蒙特卡罗仿真模拟。结果表明,非线性PD型比例制导方案抗视线角速度测量噪声的鲁棒性强,对机动目标拦截制导精度高,是一种具工程应用价值的高精度末制导方案。     

基于RBF网络的惯导系统初始对准

建立了惯导系统（ＩＮＳ）初始对准的线性和非线性误差模型。分析了径向基函数（ＲＢＦ）网络的结构和工作原理。研究了ＲＢＦ网代替初始对准中的卡尔曼滤波器的实现方法。通过仿真表明，用神经网络进行初始对准，既可获得与卡尔曼滤波相同的对准精度，又提高了系统的实时性。     

Representing a stable environment by egocentric updating and invariant representations

To represent a stable environment despite the experience of changes during self movements, one can either develop an invariant allocentric representation, or update the egocentric representations as one moves. Using a disorientation paradigm, three sets of studies investigated these mechanisms in human navigation and scene recognition. Accuracy in the configuration of multiple object localization is impaired by disorientation, an effect not due to artifacts such as memory deterioration over time, intervening physical activities, uncertainty in self position and orientation, etc., suggesting one can locate objects primarily by updating their egocentric positions as she or he moves. Disorientation also impaired the judgment of changes to a scene after viewer movements, suggesting a similar egocentric updating process. On the contrary, representation of the shape of the surroundings is invariant and persists through disorientation. The coexistence of multiple mechanisms may increase the flexibility and robustness of the system.     

Geometric reasoning under uncertainty for map-based localization

Map-based navigation in outdoor terrain lacking man-made structures or other highly distinctive landmarks can produce severe localization problems. This paper presents an approach to navigation which implements high level geometric reasoning and matching strategies based on those used by skilled human navigators. This approach, which is demonstrated on a real example involving imagery of mountainous terrain obtained with a video camera and USGS map data, is designed to avoid many of the pitfalls occurring when an attempt is made to navigate by modeling the environment mathematically. It exploits feature attributes which cannot be easily expressed quantitatively but are central to the successful human navigation process.     

奥米伽导航的动态模拟及其应用

为进行奥米伽导航系统地面仿真试飞实验，设计了奥米伽导航系统的信号模拟器，它可模拟静态和动态的奥米伽信号，介绍了其工作原理及组成；分析了模拟器误差；给出了实测误差。最后进行了仿真试飞实验，并经空中试飞验证了该仿真方案。     

INS／GPS组合导航系统的容错研究

本文研究了INS/GPS组合导航系统的容错问题,并提出了一个两级故障检测及分离方案。通过采用该方案,INS/GPS组合导航系统将具有较高的容错能力,并能为用户提供连续、精确的导航信息。     

捷联惯导系统计算机硬件检测原理与实现

介绍一种实用捷联惯导系统计算机结构。主模块与美国SESCO/TITAN公司的SECS86/20模块兼容,检测软件可以检测板上大中规模集成芯片,具有检测全面、准确的特点,从方法与原理上都具有通用性,可以方便地移植到其它类似的机器上。该软件已用于实际系统。     

基于CORBA实现专业领域软件在网络环境下的集成

如何有效地将已有系统集成或移植到新系统中 ,是集成系统开发中提出的一个重要问题。本文基于CORBA技术探讨如何实现遗留系统集成的方法 ,并通过实例重点阐述如何将已有的系统封装成CORBA对象的步骤。