Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation bet...Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.展开更多
Solid-state electrolytes(SSEs)can address the safety issue of organic electrolyte in rechargeable lithium batteries.Unfortunately,neither polymer nor ceramic SSEs used alone can meet the demand although great progress...Solid-state electrolytes(SSEs)can address the safety issue of organic electrolyte in rechargeable lithium batteries.Unfortunately,neither polymer nor ceramic SSEs used alone can meet the demand although great progress has been made in the past few years.Composite solid electrolytes(CSEs)composed of flexible polymers and brittle but more conducting ceramics can take advantage of the individual system for solid-state lithium metal batteries(SSLMBs).CSEs can be largely divided into two categories by the mass fraction of the components:“polymer rich”(PR)and“ceramic rich”(CR)systems with different internal structures and electrochemical properties.This review provides a comprehensive and in-depth understanding of recent advances and limitations of both PR and CR electrolytes,with a special focus on the ion conduction path based on polymer-ceramic interaction mechanisms and structural designs of ceramic fillers/frameworks.In addition,it highlights the PR and CR which bring the leverage between the electrochemical property and the mechanical property.Moreover,it further prospects the possible route for future development of CSEs according to their rational design,which is expected to accelerate the practical application of SSLMBs.展开更多
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.NP2019105)the Funds from the Post⁃graduate Creative Base in Nanjing University of Aeronautics and Astronautics(Grant No.kfjj20190716).
文摘Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.
基金supported by the National Key R&D Program of China(Grant No.2021YFB2500100)the National Natural Science Foundation of China(Grant Nos.51872196 and 22109114).
文摘Solid-state electrolytes(SSEs)can address the safety issue of organic electrolyte in rechargeable lithium batteries.Unfortunately,neither polymer nor ceramic SSEs used alone can meet the demand although great progress has been made in the past few years.Composite solid electrolytes(CSEs)composed of flexible polymers and brittle but more conducting ceramics can take advantage of the individual system for solid-state lithium metal batteries(SSLMBs).CSEs can be largely divided into two categories by the mass fraction of the components:“polymer rich”(PR)and“ceramic rich”(CR)systems with different internal structures and electrochemical properties.This review provides a comprehensive and in-depth understanding of recent advances and limitations of both PR and CR electrolytes,with a special focus on the ion conduction path based on polymer-ceramic interaction mechanisms and structural designs of ceramic fillers/frameworks.In addition,it highlights the PR and CR which bring the leverage between the electrochemical property and the mechanical property.Moreover,it further prospects the possible route for future development of CSEs according to their rational design,which is expected to accelerate the practical application of SSLMBs.
