滑模干扰观测器在低速光电跟踪系统中的应用

针对摩擦等非线性干扰因素对光电跟踪伺服系统低速性能的影响,系统设计分为两部分完成.将各种干扰信号等效成控制输入端的等效输入干扰(EID,Equivalent Input Disturbance),针对系统名义模型搭建滑模干扰观测器,利用系统的状态观测误差推导出系统的等效输入干扰,并采用Lyapunov函数推导出该观测器稳定收敛的条件,通过设计增益矩阵与反馈矩阵,调整观测器跟踪系统状态的收敛速度,最终实现抑制系统跟踪过程中的干扰信号;针对系统的动态部分设计了自适应加速度稳定控制器,进一步补偿了干扰估计的不足问题,保证了系统动态跟踪的精度与稳定性,增强了控制系统的鲁棒自适应能力.仿真和实验结果证明了该方法的有效性.     

基于Jerk输入估计的MCS模型及非线性跟踪算法

针对强机动目标跟踪问题,基于当前统计(CS,Current Statistical)模型、改进输入估计 (MIE,Modified Input Estimation)和无迹强跟踪滤波器,提出了一种新的自适应目标跟踪算法.该算法引入Jerk输入估计改进了当前统计模型的状态方程和机动加速度方差调整方法,利用改进的无迹强跟踪滤波器实现了状态协方差、状态噪声协方差和机动频率的联合自适应.在没有加速度先验知识的情况下,能够实时准确跟踪目标连续强机动、匀加速机动和匀速运动状态.仿真实验表明:相比CS模型无迹滤波算法、CS模型无迹强跟踪算法和交互多模型算法,该算法在对目标强机动的适应性、跟踪精度和对突变状态跟踪的收敛性方面都有更好的性能.     

美国发射首颗第三代“跟踪与数据中继卫星”

2013年1月30日,美国从肯尼迪航天中心用宇宙神-5火箭成功发射了首颗第三代"跟踪与数据中继卫星"(TDRS-K,升空后名为跟踪与数据中继卫星-11)。"跟踪与数据中继卫星"是一种跟踪地球低轨道人造航     

基于SAPSO优化的小波神经网络在焊缝跟踪随动系统中的应用

针对焊接动态过程中焊缝跟踪控制的非线性、强干扰、高维数、不确定性、难建模等难点问题,提出一种基于模拟退火粒子群算法（SAPSO）优化小波神经网络来进行焊缝跟踪的新方法。并将该小波神经网络成功地应用于焊缝跟踪。实验结果表明,该小波神经网络控制器的动态响应快、超调量小、稳态精度高、抗干扰能力强．能够满足焊缝跟踪的要求。     

空间机械臂视觉相机内参标定技术研究

针对空间机械臂视觉相机的任务需求与配置,内参标定技术是相机高精度获取合作目标位置、方向等运动信息的首要前提和重要保障。文章设计了一种基于二维平面靶的机械臂相机内参标定方法,用于解算焦距、主点坐标、畸变系数等。首先,利用相机拍摄多幅平面靶图像,求解平面靶与相机图像之间的映射矩阵;其次,构建相机内参约束方程;再次,利用特征值分解,解算焦距、主点坐标等参数值;最后,引入径向、切向畸变构建非线性模型,将解得的内参作为初值,利用Levenberg-Marquardt优化算法即可计算出相机内参最优解。试验结果表明,该方法完全适用于机械臂相机内参标定,标定结果均满足机械臂视觉相机获取合作目标三维位姿的测量精度要求。     

SINS/GPS紧耦合模式性能分析

首先介绍SINS/GPS 3种紧耦合模式(tightly coupled模式、ultra-tightly coupled模式及deeply coupled模式)工作机理,然后系统分析了各耦合模式的特点、动态适应性及抗干扰性能,最后通过设计的SINS/GPS紧耦合导航仿真验证平台,对3种紧耦合模式的工作性能进行了仿真验证,并给出了结论.     

飞机部件数字化装配技术发展综述

随着我国大飞机研制的立项,数字化装配敏捷、高效、高质量的技术优势已经被国内飞机制造企业所认识。当前,借助于大飞机本身的装配技术要求,数字化装配的应用将首先在飞机对接装配领域取得突破。在飞机部件装配过程中,各部件外廓尺寸和重量都比较大,移动调整比较困难,在整个装配过程中占用较长的周期。而且部件装配质量直接     

基于IUKF的单星对空间目标仅测角跟踪算法

针对普通UKF(无迹卡尔曼滤波)测量更新方法的非线性近似精度相对较低,导致目标跟踪滤波精度和稳定性较低的问题,在单星对空间目标的天基仅测角跟踪滤波过程中,提出一种基于迭代测量更新方法的IUKF(迭代UKF)算法。通过在测量更新过程中提高非线性系统状态估计的近似精度,进而提高目标跟踪滤波精度,并引入具有全局收敛性的阻尼Gauss-Newton(高斯-牛顿)法来改进IUKF的数值稳定性。理论分析与实验结果表明,该方法不仅避免了求解雅可比矩阵和Hessian矩阵,而且具有较高的滤波精度和数值稳定性。     

H∞ output tracking control for flight control systems with time-varying delay

For flight control systems with time-varying delay, an H∞ output tracking controller is proposed. The controller is designed for the discrete-time state-space model of general aircraft to reduce the effects of uncertainties of the mathematical model, external disturbances, and bounded time-varying delay. It is assumed that the feedback-control loop is closed by the communication network, and the network-based control architecture induces time-delays in the feedback information. Suppose that the time delay has both an upper bound and a lower bound. By using the Lyapu- nov-Krasovskii function and the linear matrix inequality （LMI）, the delay-dependent stability criterion is derived for the time-delay system. Based on the criterion, a state-feedback H∞ output tracking controller for systems with norm-bounded uncertainties and time-varying delay is presented. The control scheme is applied to the high incidence research model （HIRM）, which shows the effectiveness of the proposed approach.     

Multiple model particle flter track-before-detect for range ambiguous radar

The middle pulse repetition frequency（MPRF）and high pulse repetition frequency（HPRF）modes are widely adopted in airborne pulse Doppler（PD）radar systems,which results in the problem that the range measurement of targets is ambiguous.The existing data processing based range ambiguity resolving methods work well on the condition that the signal-to-noise ratio（SNR）is high enough.In this paper,a multiple model particle flter（MMPF）based track-beforedetect（TBD）method is proposed to address the problem of target detection and tracking with range ambiguous radar in low-SNR environment.By introducing a discrete variable that denotes whether a target is present or not and the discrete pulse interval number（PIN）as components of the target state vector,and modeling the incremental variable of the PIN as a three-state Markov chain,the proposed algorithm converts the problem of range ambiguity resolving into a hybrid state fltering problem.At last,the hybrid fltering problem is implemented by a MMPF-based TBD method in the Bayesian framework.Simulation results demonstrate that the proposed Bayesian approach can estimate target state as well as the PIN simultaneously,and succeeds in detecting and tracking weak targets with the range ambiguous radar.Simulation results also show that the performance of the proposed method is superior to that of the multiple hypothesis（MH）method in low-SNR environment.