一种基于多无人机的中继节点布置问题建模与优化方法

针对战场环境下急需在无法通信的节点间构建有效通信链路的情形,使用多无人机作为中继节点,建立了中继节点布置(RNP)问题模型。模型以中继链路有效和无人机安全为约束,以中继布置点位置及相应的无人机为输出,不但考虑了使用的中继无人机数量,还考虑了构建中继链路花费的时间。考虑到该问题是难以求解的混合整数多目标优化问题,同时在紧急应用情形下,要求求解算法快速有效,建立了一种多项式时间中继节点布置算法(PTRPA)。仿真实验验证了所提模型确实能够在更短的时间内完成有效中继链路构建;通过Monte-Carlo方法对比和分析不同因素对PTRPA算法、随机抽样算法、遗传算法求解该问题的结果性能和时间性能的影响,验证了PTRPA算法不但能够给出接近最优的解,且快速有效,满足战场决策需求。     

基于GA-OCPA学习系统的无人机路径规划方法

为解决未知空域中无人机路径规划方法实时性和适用性不足的问题,以生物应激条件反射理论为基础,将无人机实时路径规划类比为在外界条件刺激下的一种自学习行为。首先,将概率自动机与遗传算法相结合,设计了基于Skinner操作条件反射理论框架(GA-OCPA)的学习系统;然后,将无人机规避机动的飞行速度、滚转加速度和拉升加速度作为系统学习的行为,并计算每次学习尝试之后的选择概率和个体适应度,通过遗传算法搜索最优行为进而得到最优路径;最后,运用增量多层判别回归树(IHDR)对学习得到的最优行为建立知识库,形成威胁状态与路径规划的匹配映射。实验结果表明GA-OCPA学习系统对于无人机路径规划具备有效性和适用性。     

Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

In this paper, the flight formation control problem of a group of quadrotor unmanned aerial vehicles (UAVs) with parametric uncertainties and external disturbances is studied. Unit-quaternions are used to represent the attitudes of the quadrotor UAVs. Separating the model into a translational subsystem and a rotational subsystem, an intermediary control input is introduced to track a desired velocity and extract desired orientations. Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs, the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping, by which the bounded control thrust and the desired orientation can be extracted. Thereafter, an adaptive con-trol torque input is designed for the rotational subsystem to track the desired orientation. With the proposed control scheme, the desired velocity is tracked and a desired formation shape is built up. Global stability of the closed-loop system is proven via Lyapunov-based stability analysis. Numer-ical simulation results are presented to illustrate the effectiveness of the proposed control scheme.     

基于虚拟仪器的无人机故障诊断系统设计

介绍了一种基于虚拟仪器的无人机故障诊断系统,给出了系统的硬件及软件组成,并就故障诊断的原理及软件实现方法做了介绍。该系统可方便实现对无人机现场故障的检测和诊断,具有良好的使用性能和价值。     

Distributed coordinated control scheme of UAV swarm based on heterogeneous roles

This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV) swarm to achieve formation control. First, the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC). Then, the effect of heterogeneous roles including leader, coordinator and follower is discussed, and the role-based cost functions are developed to improve the performance of coordinated control for...     

The Theory of Anomalous Cosmic Rays

Anomalous cosmic rays are a heliospheric phenomenon in which interstellar neutral atoms stream into the heliosphere, are ionized by either solar radiation or the solar wind, and are subsequently accelerated to very high energies, greater than 1 GeV. Current thinking has the bulk of the acceleration to very-high energies taking place, by the mechanism of diffusive shock acceleration, at the termination shock of the solar wind. Detailed two-dimensional numerical simulations and models based on this picture show broad agreement with a number of the observed properties of anomalous cosmic rays. Recent improvements to this picture include the observation of multiply charged cosmic rays and the suggestion that some "preacceleration" of the initially ionized particles occurs in the inner heliosphere.     

The Transition Between Fast and Slow Solar Wind from Composition Data

The transition between coronal hole associated fast solar wind and slow solar wind is studied using data from the high resolution mass spectrometer SWICS on ACE. We discuss the data in the framework of a recent theory about the global heliospheric magnetic field and conclude that the data are consistent with magnetic connections between field-lines in the fast and in the slow wind. This revised version was published online in June 2006 with corrections to the Cover Date.     

On the Lyman α and O VI Line Profiles in Streamers and Coronal Holes

The profiles of the Lyα line at 1215.6 Å and of the O VI doublet at 1031.9 Å and 1037.6 Å in the extended solar corona have been analyzed vs. latitude and radial direction, performing observations with the Ultraviolet Coronagraph Spectrometer (UVCS) on board the ESA-NASA solar satellite SOHO (Solar and Heliospheric Observatory). The results show that these lines behave differently with latitude: the H I Ly α line has larger full width at half maximum (FWHM) values in the streamer region and narrower values towards the pole, while the FWHM of O VI lines has a minimum at the center of the streamer and slightly increases towards the polar regions. We briefly discuss the impact of the results on coronal heating theories.     

Solar Energetic Particle Events: Phenomenology and Prediction

Space Science Reviews - Solar energetic particle events can cause major disruptions to the operation of spacecraft in earth orbit and outside the earth's magnetosphere and have to be considered...     

无人机低空域安全飞行管理概述

无人机具备的飞行时间长和灵活性高等特点是许多有人机无法比拟的优势。随着自动化和传感器技术的不断进步,无人机在成本方面的巨大优势使其在军事和民用领域的应用日益增多。如何在今后的空域环境中对无人机进行有效的空中交通管理成为首要考虑的问题。本文针对今后无人机空中交通管理提出了一些设想,建议采取基于网络的空中交通控制模式,通过自动路径优化和协作以避免发生冲突,并从战略和战术层面对任务进行管理和分配,实现对网络的无缝化监管,确保空域内无人机的安全飞行。