一种低数据传输的多机器人实时视觉SLAM

针对多机器人视觉SLAM在实际应用中带宽受限的问题,设计了一种低数据传输的多机器人实时视觉SLAM系统.系统中引入了NetVLAD神经网络模型,通过改进NetVLAD降低了多机器人回环检测的计算资源占用,提高了回环检测的实时性.提出了一种针对描述子缺失情况下的特征匹配算法,提高了回环检测与相对量测的鲁棒性,并提出了一种增量式多机器人位姿图共享和优化方法.最后,通过在KITTI数据集进行测试,验证了该SLAM系统能有效减少多机器人通信过程中的数据传输,具有与单机器人SLAM相当的定位精度和实时性.     

Multi-scale simulation model of air system based on cross-dimensional data transmission method

The Secondary Air System (SAS) plays an important role in the safe operation and performance of aeroengines. The traditional 1D-3D coupling method loses information when used for secondary air systems, which affects the calculation accuracy. In this paper, a Cross-dimensional Data Transmission method (CDT) from 3D to 1D is proposed by introducing flow field uniformity into the data transmission. First, a uniformity index was established to quantify the flow field parameter distribution characteristics, and a uniformity index prediction model based on the locally weighted regression method (Lowess) was established to quickly obtain the flow field information. Then, an information selection criterion in 3D to 1D data transmission was established based on the Spearman rank correlation coefficient between the uniformity index and the accuracy of coupling calculation, and the calculation method was automatically determined according to the established criterion. Finally, a modified function was obtained by fitting the ratio of the 3D mass-average parameters to the analytical solution, which are then used to modify the selected parameters at the 1D-3D interface. Taking a typical disk cavity air system as an example, the results show that the calculation accuracy of the CDT method is greatly improved by a relative 53.88% compared with the traditional 1D-3D coupling method. Furthermore, the CDT method achieves a speedup of 2 to 3 orders of magnitude compared to the 3D calculation.     

无人机协同测控中SC-FDMA技术设计

针对无人机协同任务测控传输的多机接入问题,提出基于分布式任务分配模型的高动态SC-FDMA技术.通过将贪婪原则、信道动态分配机制和多用户接入技术结合,利用集中映射方式设计子信道数目可调的映射规则,配置各无人机节点所占用子载波数目.仿真结果表明,与传统FDMA、CDMA、TDMA、OFDMA等相比,基于SC-FDMA设计...     

遥感卫星多路数据传输系统同频共用方法

为节省频率资源，遥感卫星通常采用扩频体制实现多路数据的同频共用传输，针对通道间容易引起相互干扰的问题进行了研究，通过改进码分多址干扰估算模型，对采用平衡Gold码序列扩频系统抗干扰容限上界进行预测。在满足国际电信联盟（ITU）对卫星辐射功率通量密度约束条件下，提出了一种基于直接序列扩频体制的两路业务数据同频共用传输方法。仿真结果表明：当载波频率2GHz左右，两路辐射源的EIRP之差不大于8～15dBw时可以实现同频共用传输；如对信号扩频带宽进行差异化处理，则其相互兼容性还可进一步提高。     

主动全向声纳浮标性能预测

主动声纳浮标适合探测安静型潜艇,预测主动声纳浮标的性能已成为航空反潜战的重要内容。文章首先简要分析了水声传播模型、海底和海面损失模型以及混响模型等声纳模型的优劣并进行合理选择；在此基础上,提出了一种主动全向声纳浮标性能预测系统的总体方案,并设计了相应软件；最后,针对不同的海洋环境进行仿真实验。该系统能预测主动声纳浮标在各传播方向、水平距离和深度的传播损失及检测概率,可以用于分析浮标性能的时空变化特性,为优化使用声纳浮标提供参考。     

Contributions to data transmission at critical moments on unmanned aerial vehicles

As for unmanned aircraft, the knowledge of the aircraft performance is directly related with the navigation, guidance, and control system programming. Therefore, the measured data in each phase of the flight must be sufficiently precise to obtain a good characterization of aircraft. This article proposes new methods of sending information to ground, which make it possible to know the aircraft behavior accurately, and for this purpose, four contributions have been made for ALO (Avión Ligero de Observación, Spanish acronym for Light Observation Aircraft). Currently, the characterization is based on data obtained at ten samples per second, insufficient to acquire detailed knowledge of what happened during the whole flight of an aircraft. As a result of these contributions, many more samples per second of accelerations and angular velocities are obtained at the most critical moments of the flight, such as takeoff or landing. Among the improvements included are data compression techniques, providing references to locate the measured data in time and identifying labels of each parameter.     

复合材料整流罩声学等效建模与低频隔声性能研究

运载火箭发射过程中的恶劣噪声环境会导致整流罩内部电子设备失效。开展整流罩的内声场环境预测以及隔声分析,对其降噪研究和优化设计具有重要意义。复合材料整流罩舱壁大量使用蜂窝夹芯板,基于蜂窝夹芯结构精细化模型开展整流罩内声场环境预示计算量大,无法适用。本文建立了复合材料蜂窝夹芯板的力/声学等效模型,并利用精细化模型验证等效模型的精度;进一步基于有限元-边界元方法对某整流罩结构进行低频声振分析;同时,对整流罩的隔声量进行了评价。结果表明:整流罩内声场在频率为160 Hz附近声学环境较为恶劣,整流罩的降噪研究应针对该频段进行。     

航空发动机0Cr18Ni9 不锈钢导管数控弯曲回弹规律

为了有效地解决航空发动机导管弯曲成形时的回弹问题，开展了0Cr18Ni9不锈钢管数控弯曲工艺试验，采用单一变量 法研究了管径、壁厚、相对弯曲半径、弯曲角对回弹的影响规律，并通过数值仿真和正交试验法分析了弯曲速度、弯模间隙等工艺 参数，以及弹性模量、屈服强度、硬化指数对弯曲回弹角的影响。结果表明：回弹角与弯曲角呈显著的线性关系，当弯曲角在180° 以内时，回弹角为1.6°~6.0°；建立了回弹角预测线性方程，预测误差在[-0.425°，0.502°]内的概率为99.74%，并基于此方程开展了全 尺寸导管的回弹角预测和补偿工艺试验；在各工艺参数中弯曲速度和弯模间隙对回弹角的影响较大，可引起大于0.5°的偏差，而 因材料参数变化导致的回弹角变化不超过0.05°。