Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

Research on navigation of satellite constellation based on an asynchronous observation model using X-ray pulsar

Pulsar navigation is a promising navigation method for high-altitude orbit space tasks or deep space exploration. At present, an important reason for restricting the development of pulsar navigation is that navigation accuracy is not high due to the slow update of the measurements. In order to improve the accuracy of pulsar navigation, an asynchronous observation model which can improve the update rate of the measurements is proposed on the basis of satellite constellation which has a broad space for development because of its visibility and reliability. The simulation results show that the asynchronous observation model improves the positioning accuracy by 31.48% and velocity accuracy by 24.75% than that of the synchronous observation model. With the new Doppler effects compensation method in the asynchronous observation model proposed in this paper, the positioning accuracy is improved by 32.27%, and the velocity accuracy is improved by 34.07% than that of the traditional method. The simulation results show that without considering the clock error will result in a filtering divergence.     

一种卫星间跟瞄方向的控制策略与实现

进行自由空间的光通信或空间对抗，需要在卫星间实现精确的跟踪与瞄准。因为地面测控站的设置非常有限，指令与数据注入的范围受到很多限制，所以要求这种跟瞄在很多时候是无主控制状态下完成的。提出了一种利用在地面测控站的范围内向星上数管中心注入目标卫星、本体卫星的轨道参数，其它时间依靠自主导航飞行和GPS修正的方法，结合本体星的姿态测量、振动测量实现卫星瞄准指向的方位角与俯仰角的精确控制的方法，提高了在地面站无法注入指令与数据时卫星的捕获概率。通过仿真，将计算结果与卫星仿真工具软件STK的数据进行比较，结果一致。最后在嵌入式DSP平台上实现了这一策略。     

INITIALIZATION METHODS FOR GROUP TRACKING

ＩＮＩＴＩＡＬＩＺＡＴＩＯＮＭＥＴＨＯＤＳＦＯＲＧＲＯＵＰＴＲＡＣＫＩＮＧＹａｎｇＣｈｅｕｇｙａｎｇ；ＱｕＪｉａｎｍｉｎｇ；ＭａｏＳｈｉｙｉ（ＢｅｉｊｉｎｇＵｎｉｖｅｒｓｉｔｙｏｆＡｅｒｏｎａｕｔｉｃｓａｎｄＡｓｔｒｏｎａｕｔｉｃｓ，Ｂｅｉｊｎｇ，Ｃ...     

平直地面对一类圆极化波的等效反射系数

本文研究了入射波电场为任意线极化时,平直地面反射波中左旋圆极化分量和右旋圆极化分量的数学描述,引入了地面对这类波的等效反射系数的概念,并给予了物理解释,讨论了应用的有关问题。     

二维通道内湍流边界层分离的实验研究

用激光多普勒技术测量了二维扩压器中不可压湍流边界层分离流动，得到了时均速度和雷诺剪应力分布。实验结果分析表明：以Ｃｏｌｅｓ速度律发展的Ｂａｒｄｉｎａ速度分布可以描述瞬时间歇分离点以前和瞬时间歇再附点以后的时均速度分布，但无法描述分离区的边界层速度型。Ｃｒｏｓｓ速度分布可描述分离区的边界层速度分布。Ｃｅｂｅｃｉ＆Ｓｍｉｔｈ涡粘性代数模型难以正确地描述分离边界层的雷诺剪应力。     

星载合成孔径雷达回波多普勒频率的计算

从星载合成孔径雷达（ＳＡＲ）与目标的相对运动关系出发，以ＳＡＲ发射信号的波长、卫星的轨道参数和目标的位置（地心经纬度）为已知条件，导出了计算目标回小以的多普勒频率的解析公式，这对于星载ＳＡＲ系统的性能 初步设计具有重要作用。     

Efficacy of Doppler ultrasound [correction of utrasound] for screening symptoms of decompression sickness during simulated extravehicular activities

Doppler ultrasound is frequently used for monitoring circulating microbubbles during decompression to assess the symptoms of Decompression Sickness (DCS). This analysis was carried out to evaluate its effectiveness for screening symptoms of DCS during simulated extravehicular activities (EVA). The information from various hypobaric chamber studies carried out at the NASA Johnson Space Center, Houston, TX was used in this analysis (n = 516). The circulating microbubbles were detected in the precordial area in 42% (218/516), and symptoms were reported in 16% (81/516) of these exposures. The accuracy of Doppler-detectable bubbles (Spencer grades) on all symptoms of DCS was examined by calculating measures of sensitivity and specificity. The efficacy of Doppler as a screening device was examined by calculating their positive predictive value (PPV) and negative predictive value (NPV). The results of these analyses indicated that the sensitivity of Doppler decreased, and the PPV increased with higher Spencer grades. However, the likelihood of detecting true negative cases (NPV) was consistently higher with all bubble grades. Due to the high false-positive rate and low prior probabilities of the risk of DCS, Doppler was found to be more useful to identify those who did not develop DCS, than to detect positive cases of DCS in the simulated EVA exposures.     

多传感器数据融合与弹道落点的预报

为了更精确地对弹道落点进行预报，对多传感器数据融合技术进行了,分批人出了雷达、红外系统和光测系统与传感器融合子系统连用的实例，并得出结论：单传感器的精度是难以满足现代战争需要的，寻求一种较好的融合方法来提高落点预报精度虽是一个难题，但仍是可行的。     

机载脉冲多普勒跟踪雷达仿真系统

介绍了机载脉冲多普勒雷达仿真系统实现的基本技术思路,并从数据流处理的角度,阐述了仿真系统中部分仿真模型的实现方法,最后结合实例给出了仿真系统的测试结果数据,结果表明该系统为雷达干扰及抗干扰技术的研究提供了一个良好的数字仿真试验平台.