Design of a high sensitivity and wide range angular rate sensor based on exceptional surface

It is found that when the parity–time symmetry phenomenon is introduced into the resonant optical gyro system and it works near the exceptional point,the sensitivity can in theory be significantly amplified at low angular rate.However,in fact,the exceptional point is easily disturbed by external environmental variables,which means that it depends on harsh experimental environment and strong control ability,so it is difficult to move towards practical application.Here,we propose a new angular rate sensor structure based on exceptional surface,which has the advantages of high sensitivity and high robustness.The system consists of two fiber-optic ring resonators and two optical loop mirrors,and one of the resonators contains a variable ratio coupler and a variable optical attenuator.We theoretically analyze the system response,and the effects of phase and coupling ratio on the system response.Finally,compared with the conventional resonant gyro,the sensitivity of this exceptional surface angular rate sensor can be improved by about 300 times at low speed.In addition,by changing the loss coefficient in the ring resonator,we can achieve a wide range of 600 rad/s.This scheme provides a new approach for the development of ultra-high sensitivity and wide range angular rate sensors in the future.

Roll angular rate extraction based on modified spline-kernelled chirplet transform

The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Nevertheless,the radial magnetometer signal is modulated by the high-speed rotation,thus the roll angular rate can be achieved by extracting the instantaneous frequency of the radial magnetometer signal.The objective of this study is to find out a precise instantaneous frequency extraction method to obtain an accurate roll angular rate.To reach this goal,a modified spline-kernelled chirplet transform(MSCT)algorithm is proposed in this paper.Due to the nonlinear frequency modulation characteristics of the radial magnetometer signal,the existing time-frequency analysis methods in literature cannot obtain an excellent energy concentration in the time-frequency plane,thereby leading to a terrible instantaneous frequency extraction accuracy.However,the MSCT can overcome the problem of bad energy concentration by replacing the short-time Fourier transform operator with the Chirp Z-transform operator based on the original spline-kernelled chirplet transform.The introduction of Chirp Z-transform can improve the construction accuracy of the transform kernel.Since the construction accuracy of the transform kernel determines the concentration of time-frequency distribution,the MSCT can obtain a more precise instantaneous frequency.The performance of the MSCT was evaluated by a series of numerical simulations,high-speed turntable experiments,and real flight tests.The evaluation results show that the MSCT has an excellent ability to process the nonlinear frequency modulation signal,and can accurately extract the roll angular rate for the high spinning projectiles.

Research on coning compensation algorithms for SINS of angular rate input

To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.

A new compensation method for angular rate estimation of non-gyro inertial measurement unit

A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.

Temperature compensation method for low cost three-axis MEMS digital angular rate gyroscopes

In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these kinds of gyroscopes have poor performances in initial zero-bias,temperature drift,In-Run bias stability,bias repeatability,etc.,their output errors need to be compensated before being used.Based on a lot of experiments,the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data.Due to the poor repeatability of temperature drift,the temperature compensation coefficients need to be recalculated every time before using.In order to recalculate parameters of the temperature compensation model quickly,a 1st-order polynomial model of temperature is established,then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time.Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.

Drive Signal Frequency-Lock Method Based on 90° Phase Shift for Quartz Angular-Rate Sensor

A drive signal frequency-lock method for quartz angular-rate sensor is presented. The calculation result obtained by the equivalent volume force analytic method indicated that when taking the inherent frequency of the drive tines as the drive signal frequency the phase of the reference vibration is 90° behind that of the drive signal, and the square of amplitude is less than that of the maximal amplitude by 1/(4Q~2_d) merely. The curves derived from the finite element analytic method proved that near the inherent frequency the phase shift of the feedback voltage is identical to that of the reference vibration, and the amplitude is proportional to that of the reference vibration, and the phase shift is linear approximatively with the frequency shift. The frequency shift could be calculated according to the phase shift obtained by quadrature correlation detection, so the drive signal frequency could be locked at the inherent frequency of the drive tines by means of iteration.

Theoretical prediction of energy dependence for D+BrO→DBr+O reaction:The rate constant and product rotational polarization

A quasi-classical trajectory（QCT） calculation is used to investigate the vector and scalar properties of the D ＋ Br O → DBr ＋ O reaction based on an ab initio potential energy surface（X1A state） with collision energy ranging from 0.1 kcal/mol to 6 kcal/mol. The reaction probability, the cross section, and the rate constant are studied. The probability and the cross section show decreasing behaviors as the collision energy increases. The distribution of the rate constant indicates that the reaction favorably occurs in a relatively low-temperature region（T 〈 100 K）. Meanwhile, three product angular distributions P（θr）, P（φr）, and P（θr, φr） are presented, which reflect the positive effect on the rotational angular momentum j＇ polarization of the DBr product molecule. In addition, two of the polarization-dependent generalized differential cross sections（PDDCSs）, PDDCS00 and PDDCS20, are computed as well. Our results demonstrate that both vector and scalar properties have strong energy dependence.

Rotational Inertial Physics in Non-Classical Thermoviscous Fluent Continua Incorporating Internal Rotation Rates

In this paper, we derive non-classical continuum theory for physics of compressible and incompressible thermoviscous non-classical fluent continua using the conservation and balance laws (CBL) by incorporating additional physics of internal rotation rates arising from the velocity gradient tensor as well as their time varying rates and the rotational inertial effects. In this non-classical continuum theory time dependent deformation of fluent continua results in time varying rotation rates i.e., angular velocities and angular accelerations at material points. Resistance offered to these by deforming fluent continua results in additional moments, angular momenta and inertial effects due to rotation rates i.e., angular velocities and angular accelerations at the material points. Currently, this physics due to internal rotation rates and inertial effects is neither considered in classical continuum mechanics (CCM) nor in non-classical continuum mechanics (NCCM). In this paper, we present a derivation of conservation and balance laws in Eulerian description: conservation of mass (CM), balance of linear momenta (BLM), balance of angular momenta (BAM), balance of moment of moments (BMM), first and second laws of thermodynamics (FLT, SLT) that include: (i) Physics of internal rotation rates resulting from the velocity gradient tensor;(ii) New physics resulting due to angular velocities and angular accelerations due to spatially varying and time dependent rotation rates. The balance laws derived here are compared with those that only consider the rotational rates but neglect rotational inertial effects and angular accelerations to demonstrate the influence of the new physics. Constitutive variables and their argument tensors are established using conjugate pairs in the entropy inequality, additional desired physics and principle of equipresence when appropriate. Constitutive theories are derived using Helmholtz free energy density as well as representation theorem and integrity (complete basis). It is shown that the mathematical model consisting of the conservation and balance laws and constitutive theories presented in this paper has closure. Influence of new physics in the conservation and balance laws on compressible and incompressible thermoviscous fluent continua is demonstrated due to presence of angular velocities and angular accelerations arising from time varying rotation rates when the deforming fluent continua offer rotational inertial resistance. The fluent continua are considered homogeneous and isotropic. Model problem studies are considered in a follow-up paper.

涡旋光场在光通信中的应用研究

涡旋光场可以携带任意大小的光子轨道角动量,理论上能够形成无限维的希尔伯特空间。这些轨道角动量模式之间相互正交,可以作为一个新的自由度,成为信息传输的独立通道。通过多个轨道角动量之间的模分复用技术可以提高光通信系统中的通信容量和频谱利用率,因此携带轨道角动量的涡旋光场在大容量自由空间光通信及水下光通信中具有广泛的应用。本文回顾了涡旋光场在自由空间及水下通信中的应用研究,介绍了湍流相位屏模型和自适应光学技术,并对使用自适应光学技术的相位补偿降低自由空间及水下通信中随机介质扰动的研究进行了阐述。

5H-2谷物烘干机干燥箱多孔角状盒的设计与试验

为改善5H-2谷物烘干机的干燥性能,将原有角状盒改造为多孔角状盒。通过Fluent对多孔角状盒的干燥段气流场进行仿真分析,对比空载条件下干燥箱内部温度场变化情况,结果表明,装有多孔角状盒的干燥箱内部温度场较原有角状盒的分布更趋均匀。选择早稻‘中早35’稻谷,在5H-2谷物烘干机上安装多孔角状盒开展烘干试验,设置热风干燥温度为65℃,风速为8 m/s,干燥缓苏比为1∶2,结果装有多孔角状盒的烘干机干燥速率为0.798%/h~1.002%/h,烘干后爆腰增率为7.4%~10.2%,相比原有角状盒谷物烘干机,其干燥速率提高了12.1%~21.2%,爆腰增率降低了1.9%~5.1%。

基于早期股直肌超声纹理特征的首次有创机械通气患者30天死亡风险预测模型的构建与验证

目的基于早期股直肌超声纹理特征,构建首次有创机械通气患者30天死亡风险预测模型及验证。方法采用便利抽样法选择2022年1月至2023年12月入住河南省人民医院呼吸重症患者为研究对象,按8∶2随机分为训练集(n=304)和测试集(n=76)。两组均在插管后第1天、第3天、第5天和第7天使用床旁超声收集纹理特征参数。训练集依据第30天是否死亡为终点事件分为死亡组(n=80)和幸存组(n=224)。采用广义估计模型筛选患者30天死亡的影响因素并建立模型,绘制受试者工作特征(receiver operating characteristic,ROC)曲线下面积(area under receiver operating characteristic curve,AUC)评价模型的区分度,通过校准图和Hosmer-Lemeshow评价模型的校准度。结果年龄、氧合指数(P/F)、患肾脏疾病、使用类固醇激素、股直肌厚度变化率、均值和角二阶距是首次机械通气患者30天死亡的影响因素(P<0.05)。训练集和测试集的AUC分别为0.832(95%CI 0.767~0.898)和0.819(95%CI 0.722~0.916),提示模型的区分度良好。训练集和测试集的Hosmer-Lemeshow分别为5.969(P=0.651)和4.336(P=0.826),校准曲线与对角线重合度较高,说明预测模型的校准度较好。结论本研究基于早期股直肌超声纹理特征建立的预测模型可有效地预测首次机械通气患者30天死亡风险。

Structure design and simulation of MEMS vibrating ring gyroscope

MEMS gyroscope is a new inertial navigation sensor,which can measure the input angular rate of sensitive axis using Coriolis effect.Compared to the conventional gyroscope,it owns many unique advantages.A novel structure of vibrating ring gyroscope is proposed and the finite element model of the oscillator is established based on MEMS technology.Through the modal analysis,the natural frequency and mode shapes of the oscillator are obtained.By analyzing the effects of the structural parameters on the mode shapes and frequency of the harmonic oscillator,the optimal design parameters are got.The frequency difference between the operating mode and the other modes is greater than 1kHz after optimization,which can avoid the frequency coupling of the operating mode and other vibrating modes of the oscillator.The simulation results show that the performance parameters of the ring structure meet the design requirements and have obvious advantages.

双支撑转轴、倾转角速度控制恒流量连续浇注技术的应用

有色金属连续铸造对熔体出口位置、流量和炉体的稳定性有较高的要求,因此针对小截面杆坯连续铸造,设计了双支撑转轴结构的炉体,提出了控制炉体倾转角速度恒流量浇注的技术方案,建立了恒流量铸造的数学模型。据此设计了相应的 PLC控制程序,提高了有色金属连续铸造小截面坯杆截面高度尺寸一致性和炉体的稳定性。

G-force眩晕诊疗系统角速度对良性阵发性位置性眩晕患者诊断的影响

目的:观察眩晕诊疗系统旋转角速度对良性阵发性位置性眩晕(BPPV)患者诊断的影响。方法:选取2022年11月-2023年4月在南阳市中心医院眩晕中心就诊的203例BPPV患者,随机分为A、B、C、D 4组,分别以初始角速度为30°/s、55°/s、80°/s、105°/s对患者进行位置试验,通过对比4组患者眼震阳性率差异评价角速度对BPPV患者诊断的影响。结果:在203例患者中,共有175例在首次位置试验检出眼震,总体阳性率为86.21%,其中,A组(30°/s)阳性率为76.92%,B组(55°/s)阳性率为96.00%,C组(80°/s)阳性率为82.00%,D组(105°/s)阳性率为90.00%,B、C、D三组首次位置试验眼震阳性率相较于A组更高,其中以B组最为明显(P<0.05),D组、C组次之(P>0.05)。结论:一定的角速度是成功诱发BPPV患者眼震的关键,以55°/s的角速度进行位置试验可明显提高患者位置试验眼震阳性率,建议优先以55°/s的角速度对患者进行位置试验。

利用旋转载体自身角速度驱动的硅微机械陀螺

提出了一种利用旋转载体自身角速度驱动的硅微机械陀螺的结构原理,建立了这种陀螺的数学模型并分析计算了该陀螺的结构动力学参数。理论研究和计算机模拟表明,利用旋转载体自身角速度驱动的硅微机械陀螺结构原理正确。

四旋翼飞行器姿态航向参考系统设计与实现

姿态航向参考系统(AHRS)是飞行器的关键载荷,决定了飞行器的飞行安全性与稳定性。为了给四旋翼飞行器控制提供可靠的姿态和航向反馈,设计并实现了基于多传感器数据融合的航向姿态参考系统。系统采用NXP公司的LPC1768嵌入式处理器作为导航计算机通过数字接口接收各个导航传感器(加速度计,角速率陀螺,电子罗盘)的数据并通过卡尔曼滤波完成数据融合和姿态解算,然后输出姿态和航向信息。最后,分析对比四旋翼飞行器搭载该姿态航向参考系统进行飞行验证记录的卡尔曼滤波处理的姿态数据和未经处理的姿态数据,结果表明所设计的姿态航向参考系统能够给四旋翼飞行器的姿态和航向控制提供可靠的姿态和航向反馈,提高四旋翼飞行器的姿态和航向控制精度,提高和改善四旋翼飞行器的姿态和航向稳定性。

舰载角速度匹配传递对准方法研究

为了提高舰载局部捷联惯导系统的导航精度,希望能够在传递对准过程中,对船体甲板变形进行估计,对惯性器件的某些误差进行标定,并进行补偿。作为参数匹配传递对准方法之一的角速度匹配法为此提供了可能。文中对角速度匹配法中的三种不同海况下的系统状态可观测性进行了详细的分析,并对船体甲板变形和陀螺漂移进行了Kalman滤波估计及精度分析。研究结果表明,这一方法具有较好的对准精度和快速性,但具体情况随船体的运动情况而不同。

磁流体动力学角速度传感器低频误差分析及校正方法研究

为了改善磁流体动力学(MHD)角速度传感器的低频性能,建立了传感器理论误差模型并设计了一种自适应卡尔曼算法。该方法根据被测角速度频率变化自动调整滤波器过程噪声和量测噪声参数,实现对传感器低频误差的动态补偿。对校正前后的传感器性能进行了对比实验,实验结果表明校正后传感器在低频区(<1 Hz)的误差较之前降低了约90%。

捷联式光学导引头视线角速率解耦与估计

为准确估计捷联导引头视线角速率,建立了全捷联导引头数学模型,根据弹目运动相对关系进行视线角速率解耦与估计算法研究。首先,建立了全捷联导引头数学模型,并利用Taylor级数对其进行线性化;接着,根据弹目运动几何学与坐标系相对关系推导视线角速率解耦算法;然后,针对捷联导引头无法直接测量体视线角速率的问题,提出微分+稳态Kalman滤波方法估计体视线角速率;最后,建立视线角速率解耦与估计算法验证系统并进行仿真实验,结果表明:解耦算法绝对误差小于5×10-5rad/s,相对误差小于0.3%,验证了解耦算法的正确性;在包含导引头数学模型的条件下,采用角频率为19.2rad/s的稳态Kalman滤波器,视线角速率估计误差小于4×10-3rad/s,较直接微分方法的估计误差提高近一个量级。视线角速率解耦与估计算法同时能满足制导系统对精度与动态性能的要求。

一种基于磁传感器的MEMS陀螺标定方法

根据微型航姿测量系统各传感器的特点,研究出了一种基于磁传感器输出的MEMS陀螺标定方法,并根据MEMS陀螺误差参数模型设计相应的补偿算法,分别对MEMS陀螺的零偏和标度因数误差进行了补偿。与传统标定方法相比,该方法实现简单,适用于现场标定。实验结果表明,该标定方法能够有效地提高MEMS陀螺测量精度,补偿后陀螺在静态条件下2min内,俯仰角漂移小于0.035°,倾斜角漂移小于0.15°,航向角的漂移小于0.2°。当陀螺三轴均有角速率输入时,在角速度小于25°/s情况下误差都能保持在±2°以内。