UKF方法及其在方位跟踪问题中的应用

采用UKF(Unscented Kalman Filter)方法处理了平面内地面站对目标的方位跟踪的估计问题。目标的位置和速度由选定的高斯分布采样点来近似，在每个更新过程中，采样点随着状态方程传播并随着非线性测量方程变换，由此不但得到目标位置和速度的均值及较高的计算精度，而且避免了对非线性方程的线性化过程。仿真结果表明，UKF方法比传统的扩展卡尔曼滤波(EKF)算法有更高的估计精度，并能有效地克服非线性严重时，方位跟踪问题中很容易出现的滤波发散问题。     

应用逆系统方法设计空空导弹控制器

对非线性控制的逆系统方法原理进行了介绍，将该方法应用于空空导弹制导设计中，设计了导弹质心运动动力学系统的控制器，该控制器通过对弹道坐标系下导弹的纵向过载和法向过载实施控制，可使导弹在控制系统中的速度、偏航角和俯仰角输出信息渐近跟踪制导指令，以实现空空导弹对攻击目标的跟踪。     

卫星姿态跟踪系统的鲁棒控制器设计

研究了具有参数不确定性和外部干扰的卫星姿态跟踪控制问题。针对这一类多输入／多输出不确定非线性系统，提出了一个基于不确定项上界的鲁棒输出跟踪控制器设计方法。应用输入／输出反馈线性化法和李亚普诺夫方法，设计了一个控制律，它可确保系统输出按指数规律跟踪期望输出。该控制器计算简单，易于实现。仿真结果表明：即使系统存在不确定性，仍可在闭环系统中实现精确的姿态控制。     

一种新型数字高精度伪码快速捕获延迟锁定环的设计与实现

介绍了一种新型全并行快速捕获延迟锁定环的设计与FPGA实现,捕获时间小于等于一个伪码周期,抗干扰容限大于80 dB。此快速捕获延迟锁定环实现127路全并行捕获和高精度跟踪,仅需存储130个PN码表,相对于其他并行捕获延迟锁定环或串并结合的环路,存储量约小2/3,并具有较高捕获精度。     

可视化技术在分析新型蓄冷材料——笼型化合物（Clathrate）溶解过程中的应用（一）、（二）

混浊液内部的流动，由于微粒子之间的相互作用以及因浊度高不易进行内部观察，所以无论是分析还是可视化实验都相当困难，存在着许多未弄清的问题。通过采用折射率匹配（Refractive-IndexMatching）技术，使透明的微粒子与透明的溶媒的折射率近乎相同，做成一种透明的“混浊液”，从而使混入其中的示踪粒子的运动轨迹能被摄像机捕捉到，并以微粒子的沉降和温度的干涉所引起的流动现象为焦点，利用图像速度测量法来处理分析所拍摄到的可视化图像，成功地获得了定量的混浊液内部的速度场，为进一步揭示混浊液内部自然对流的流动机理提供了实验依据。     

平台摇摆对卡尔曼滤波跟踪精度的影响

通过建立目标相对运动坐标系和目标相对运动观测模型,研究了在平台摇摆影响下,跟踪系统观测到的目标运动状态的变化。在分析捷联垂直基准补偿原理的基础上建立了捷联垂直基准平台摇摆角补偿模型,建立的模型结合捷联垂直基准系统的测量能力对其补偿算法进行了理论推导,使模型适用于实际捷联垂直基准系统。通过建立模型以及仿真研究了平台摇摆作用下卡尔曼滤波跟踪精度的变化,指出了摆造成卡尔曼滤波跟踪精度降低甚至离散的主要原因在于模型误差增大。设计仿真实验验证了结论的正确性,为进一步改进跟踪手段提供了理论参考。     

Real-time object tracking via least squares transformation in spatial and Fourier domains for unmanned aerial vehicles

This paper addresses the problem of real-time object tracking for unmanned aerial vehicles. We consider the task of object tracking as a classification problem. Training a good classifier always needs a huge number of samples, which is always time-consuming and not suitable for realtime applications. In this paper, we transform the large-scale least-squares problem in the spatial domain to a series of small-scale least-squares problems with constraints in the Fourier domain using the correlation filter technique. Then, this problem is efficiently solved by two stages. In the first stage, a fast method based on recursive least squares is used to solve the correlation filter problem without constraints in the Fourier domain. In the second stage, a weight matrix is constructed to prune the solution attained in the first stage to approach the constraints in the spatial domain. Then, the pruned classifier is used for tracking. To evaluate proposed tracker's performance, comprehensive experiments are conducted on challenging aerial sequences in the UAV123 dataset. Experimental results demonstrate that proposed approach achieves a state-ofthe-art tracking performance in aerial sequences and operates at a mean speed of beyond 40 frames/s. For further analysis of proposed tracker's robustness, extensive experiments are also performed on recent benchmarks OTB50, OTB100, and VOT2016.     

A data-driven approach to modeling high-density terminal areas: A scenario analysis of the new Beijing,China airspace

Airports are being developed and expanded rapidly in China to accommodate and pro-mote a growing aviation market. The future Beijing Daxing International Airport (DAX) will serve as the central airport of the JingJinJi megaregion, knitting the Beijing, Tianjin, and Hebei regions together. DAX will be a busy airport from its inception, relieving congestion and accommodating growth from Beijing Capital International Airport (PEK), currently the second busiest airport in the world in passengers moved. We aim to model terminal airspace designs and possible conflicts in the future Beijing Multi-Airport System (MAS). We investigate standard arrival procedures and mathematically model current and future arrival trajectories into PEK and DAX by collecting large quantities of publicly available track data from historical arrivals operating within the Beijing terminal airspace. We find that (1) trajectory models constructed from real data capture aberrations and deviations from standard arrival procedures, validating the need to incorporate data on histor-ical trajectories with standard procedures when evaluating the airspace and (2) given all existing constraints, DAX may be restricted to using north and east arrival flows, constraining the capacity required to handle the increases in air traffic demand to Beijing. The results indicate that the termi-nal airspace above Beijing, and the future JingJinJi region, requires careful consideration if the full capacity benefits of the two major airports are to be realized.     

基于MSP430点光源跟踪系统设计

提出了一种基于MSP430的点光源跟踪的具体设计方案,并对设计方案的硬件组成、程序设计、调试进行了介绍,实验证明,所设计的光源自跟踪系统有较强的适应能力,反应迅速,灵活性大。     

飞机大部件自动对接同步调姿方法

提出了飞机大部件自动对接同步调姿方法,实现了大部件调姿基准点的连续自动跟踪测量和位姿连续调整.在此基础上开发了集测量场构建、大部件位姿解算和调整等功能于一体的大部件自动对接集成控制软件,并在ARJ21飞机翼身自动对接现场进行了应用试验,结果证明该方法能有效完成飞机翼身自动对接过程,提高测量和对接效率.