UWB channel modeling for indoor line-of-sight environment

SV/IEEE 802.15.3a model has been the standard model for Ultra-wide bandwidth (UWB) indoor non-line-of-sight (NLOS) wireless propagation,but for line-of-sight (LOS) case,it is not well defined. In this paper,a new statistical distribution model exclusively used for LOS environment is proposed based on investigation of the experimental data. By reducing the number of the visible random arriving clusters,the model itself and the parameters estimating of the corresponding model are simplified in comparison with SV/IEEE 802.15.3a model. The simulation result indicates that the proposed model is more accurate in modeling small-scale LOS environment than SV/IEEE 802.15.3a model when considering cumulative distribution functions (CDFs) for the three key channel impulse response (CIR) statistics.

Disparity-Based Generation of Line-of-Sight DSM for Image-Elevation Co-Registration to Support Building Detection in Off-Nadir VHR Satellite Images

The integration of optical images and elevation data is of great importance for 3D-assisted mapping applications. Very high resolution (VHR) satellite images provide ideal geo-data for mapping building information. Since buildings are inherently elevated objects, these images need to be co-registered with their elevation data for reliable building detection results. However, accurate co-registration is extremely difficult for off-nadir VHR images acquired over dense urban areas. Therefore, this research proposes a Disparity-Based Elevation Co-Registration (DECR) method for generating a Line-of-Sight Digital Surface Model (LoS-DSM) to efficiently achieve image-elevation data co-registration with pixel-level accuracy. Relative to the traditional photogrammetric approach, the RMSE value of the derived elevations is found to be less than 2 pixels. The applicability of the DECR method is demonstrated through elevation-based building detection (EBD) in a challenging dense urban area. The quality of the detection result is found to be more than 90%. Additionally, the detected objects were geo-referenced successfully to their correct ground locations to allow direct integration with other maps. In comparison to the original LoS-DSM development algorithm, the DECR algorithm is more efficient by reducing the calculation steps, preserving the co-registration accuracy, and minimizing the need for elevation normalization in dense urban areas.

Application of the sun line-of-sight vector in the optimal attitude estimation of deep-space probe

This paper proposed an optimal algorithm using the sun line-of-sight vector to improve the probe attitude estimation accuracy in deep-space mission.Firstly,the elaborate analysis of the attitude estimation error from vector observations was done to demonstrate that the geometric relation between the reference vectors is an important factor which influences the accuracy of attitude estimation.Then,with introduction of the sun line-of-sight vector,the attitude quaternion obtained from the star-sensor was converted into a pair of mutually perpendicular reference vectors perpendicular to the sun vector.The normalized weights were calculated according to the accuracy of the sensors.Furthermore,the optimal attitude estimation in the least squares sense was achieved with the quaternion estimation method.Finally,the results of simulation demonstrated the validity of the proposed optimal algorithm based on the practical data of the Deep Impact mission.

Line-of-sight rates extraction of roll-pitch seeker under anti-infrared decoy state

In this paper,the method of extracting guidance information such as the line-of-sight(LOS)rates under the anti-infrared decoy state for the roll-pitch seeker is researched.Coordinate systems which are used to describe the angles transform are defined.The LOS angles reconstruction model of the roll-pitch seeker in inertial space is established.A Kalman filter model for extracting LOS rates of the roll-pitch seeker is proposed.In this model,the target performs constant acceleration(CA)model maneuvers.The error model of LOS rates extraction under infrared decoy state is established.Several existing methods of extracting LOS rates under anti-infrared decoy state are listed in this paper.Different from the existing methods,a novel method that uses extrapolated values of target accelerations as filter measurements is proposed to solve the guidance information extraction problem under the anti-infrared decoy state.Numerical simulations are conducted to verify the effectiveness of the proposed method under different target maneuvering models such as the CA model,the CA extended model and the singer model.The simulation results show that the proposed method of extracting guidance information such as LOS rates for the rollpitch seeker under the anti-infrared decoy state is effective.

Flight Time Minimization of UAV for Cooperative Data Collection in Probabilistic LoS Channel

This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabilistic line-of-sight(LoS) channel. Especially, access points(APs) are introduced to collect data from some sensors in the unlicensed band to improve data collection efficiency. We formulate a mixed-integer non-convex optimization problem to minimize the UAV flight time by jointly designing the UAV 3D trajectory and sensors’ scheduling, while ensuring the required amount of data can be collected under the limited UAV energy. To solve this nonconvex problem, we recast the objective problem into a tractable form. Then, the problem is further divided into several sub-problems to solve iteratively, and the successive convex approximation(SCA) scheme is applied to solve each non-convex subproblem. Finally,the bisection search is adopted to speed up the searching for the minimum UAV flight time. Simulation results verify that the UAV flight time can be shortened by the proposed method effectively.

无人艇自适应路径跟踪控制器的设计与验证

针对航行环境和船速变化下的无人艇路径跟踪控制问题,本文提出了一种基于变增益内模控制方法的无人艇自适应路径跟踪控制器。结合状态空间型船舶线性数学模型、差分GPS和电子罗经的数据实现对无人艇操纵响应模型的在线参数估计;建立基于变增益内模控制方法的无人艇艏向控制器,并根据计算出的无人艇操纵性指数在线调节控制器的参数;利用Line-of-Sight(LOS)制导算法设计并实现无人艇的自适应路径跟踪控制器。实船实验结果表明:在实际的航行环境中,该自适应路径跟踪控制器具有良好的控制性能。

Serpentine Inlet Performance Enhancement Using Vortex Generator Based Flow Control

In order to provide the line-of-sight blockage of the engine face for an advanced Uninhabited Combat Air Vehicle（UCAV）, a highly curved serpentine inlet is proposed and experimentally studied. Based on the static pressure distribution measurement along the wall, the flow separation is found at the top wall of the second S duct for the baseline inlet design, which yields a high flow distortion at the exit plane. To improve the flow uniformity, a single array of vortex generators （VGs） is employed within the inlet. In this experimental study, the effects of mass flow ratio, free stream Mach number, angle of attack and yaw on the performance of a serpentine inlet instrumented with VGs are obtained. Results indicate： （1） Compared with the baseline serpentine design without flow control, the application of the VGs promotes the mixing of core flow and the low momentum flow in the boundary layer and thus prevents the flow separation. Under the design condition, the exit flow distortion （-↑△σ0） decreases from 11.7% to 2.3% by using the VGs. （2） With the descent of the free stream Mach number the total pressure loss decreases. However, the circular total pressure distortion increases. When the angle of attack rises from - 4° to 8°, the total pressure recovery and the circular total pressure distortion both go down. In addition, with the increase of yaw the total pressure recovery is fairly constant, while the circular total pressure distortion ascends gradually. （3） When Mao = 0.6-0.8, a = -4°-8° and β = 0°-6°, the total pressure recovery varies between 0.936 and 0. 961, the circular total pressure distortion coefficient varies between 1.4 % and 5.4 % and the synthesis distortion coefficient has a ranges from 3.8 % to 7.0 %. The experimental results confirm the excellent performance of the newly designed serpentine inlet incorporating VGs.

Simultaneous reconstruction of temperature distribution and radiative properties in participating media using a hybrid LSQR-PSO algorithm

A hybrid least-square QR decomposition （LSQR）-particle swarm optimization （LSQR-PSO） algorithm was devel- oped to estimate the three-dimensional （3D） temperature distributions and absorption coefficients simultaneously. The outgoing radiative intensities at the boundary surface of the absorbing media were simulated by the line-of-sight （LOS） method, which served as the input for the inverse analysis. The retrieval results showed that the 3D temperature distribu- tions of the participating media with known radiative properties could be retrieved accurately using the LSQR algorithm, even with noisy data. For the participating media with unknown radiative properties, the 3D temperature distributions and absorption coefficients could be retrieved accurately using the LSQR-PSO algorithm even with measurement errors. It was also found that the temperature field could be estimated more accurately than the absorption coefficients. In order to gain insight into the effects on the accuracy of temperature distribution reconstruction, the selection of the detection direction and the angle between two detection directions was also analyzed.

Inverse Optimal Control for Speed-varying Path Following of Marine Vessels with Actuator Dynamics

A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.

Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.

Sliding-mode control of path following for underactuated ships based on high gain observer

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.

Improved lazy theta algorithm based on octree map for path planning of UAV

This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.

洋流干扰下无人船限制水域直线跟踪安全视距制导

The collision-free straight-line following of an unmanned surface vehicle(USV)moving in a constrained water region subject to stationary and moving obstacles is addressed in this paper.USV systems are normally subjected to surge velocity constraints,yaw rate constraints,and unknown ocean currents.Herein,a safety-certificated line-of-sight(LOS)guidance method is proposed to achieve a constrained straight-line following task.First,an antidisturbance LOS guidance law is designed based on the LOS guidance scheme and an extended state observer.Furthermore,collision avoidance with waterway boundaries and stationary/moving obstacles is encoded in control barrier functions,utilizing which the safety constraints are transformed into input constraints.Finally,safety-certificated guidance signals are obtained by solving a quadratic programming problem subject to input constraints.Using the proposed safety-certified LOS guidance method,the USV can accomplish a straight-line following task with guaranteed input-to-state safety.Simulation results substantiate the efficacy of the proposed safety-certificated LOS guidance method for the straight-line following of USVs moving in a constrained water region subject to unknown ocean currents.

Underwater Optical Wireless Communications （UOWC） Based on Visible Light

In this paper, we investigate the effect of water attenuation on an underwater optical wireless communication based on LOS model. We take into account parameters including the chlorophyll concentration and also discuss the choice of suitable wavelength for underwater optical wireless communication. Using analytical expressions and calculating the Jerlov water type attenuation, the received signal power is studied. The characteristics of bit error rate for four kinds of optical modulation techniques （OOK, 2FSK, 2DPSK, and L-PPM） are analyzed. The results show that the performance of OOK and 2DPSK are more suitable for underwater optical wireless communication. On the other hand, the wavelength 450 nm is better compared with the wavelength 600 nm.

The Influence of LOS Components on the Statistical Properties of the Capacity of Amplify-and-Forward Channels

Amplify-and-forward channels in cooperative networks provide a promising improvement in the network coverage and system throughput. Under line-of-sight (LOS) propagation conditions in such cooperative networks, the overall fading channel can be modeled by a double Rice process. In this article, we have stud-ied the statistical properties of the capacity of double Rice fading channels. We have derived the analytical expressions for the probability density function (PDF), cumulative distribution function (CDF), level- crossing rate (LCR), and average duration of fades (ADF) of the channel capacity. The obtained results are studied for different values of the amplitudes of the LOS components in the two links of double Rice fading channels. It has been observed that the statistics of the capacity of double Rice fading channels are quite dif-ferent from those of double Rayleigh and classical Rice fading channels. Moreover, the presence of an LOS component in any of the two links increases the mean channel capacity and the LCR of the channel capacity. The validity of the theoretical results is confirmed by simulations. The results presented in this article can be very useful for communication system designers to optimize the performance of cooperative networks in wireless communication systems.

Development of A Three-Dimensional Guidance System for Long-Range Maneuvering of A Miniature Autonomous Underwater Vehicle

The present paper introduces a three-dimensional guidance system developed for a miniature Autonomous Underwater Vehicle（AUV）. The guidance system determines the best trajectory for the vehicle based on target behavior and vehicle capabilities. The dynamic model of this novel AUV is derived based on its special characteristics such as the horizontal posture and the independent diving mechanism. To design the guidance strategy, the main idea is to select the desired depth, presumed proportional to the horizontal distance of the AUV and the target. By connecting the two with a straight line, this strategy helps the AUV move in a trajectory sufficiently close to this line. The adjacency of the trajectory to the line leads to reasonably short travelling distances and avoids unsafe areas. Autopilots are designed using sliding mode controller. Two different engagement geometries are considered to evaluate the strategy＇s performance： stationary target and moving target. The simulation results show that the strategy can provide sufficiently fast and smooth trajectories in both target situations.

Extraction of line-of-sight ionospheric observables from GPS data using precise point positioning

Here we propose a method for extracting line-of-sight ionospheric observables from GPS data using precise point positioning(PPP).The PPP-derived ionospheric observables(PIOs) have identical form with their counterparts obtained from leveling the geometry-free GPS carrier-phase to code(leveling ionospheric observables,LIOs),and are affected by the satellite and receiver inter-frequency biases(IFBs).Based on the co-location experiments,the effects of extracting error arising from the observational noise and multipath on the PIOs and the LIOs are comparatively assessed,and the considerably reduced effects ranging from 70% to 75% on the PIOs with respect to the LIOs can be verified in our case.In addition,based on 26 consecutive days' GPS observations from two international GNSS service(IGS) sites(COCO,DAEJ) during disturbed ionosphere period,the extracted PIOs and LIOs are respectively used as the input of single-layer ionospheric model to retrieve daily satellite IFBs station-by-station.The minor extracting errors underlying the PIOs in contrast to the LIOs can also be proven by reducing day-to-day scatter and improving between-receiver consistency in the retrieved satellite IFBs values.

Sliding-Mode-Control Based Robust Guidance Algorithm Using Only Line-of-Sight Rate Measurement

Robust guidance algorithm using only line-of-sight rate measurement is proposed for the interceptor with passive seeker.The initial relative distance,initial closing velocity and their error boundaries are employed to obtain their estimations according to the interceptor-target relative kinematics.A robust guidance law based on sliding mode control is formulated,in which the boundary of target maneuver is needed and the chattering phenomenon inevitably exists.In order to address the defects above,an estimation to the boundary of the target acceleration is proposed to improve the robust guidance law and the Lyapunov stability analysis is included.The main feature of the robust guidance algorithm is that it reduces the influence of the relative distance,the closing velocity and the target maneuver on the interception and enhances the effect of line-of-sight rate.With two worst conditions of initial measured distance and initial measured closing velocity,performances of the proposed guidance laws are verified via numerical simulations against different target maneuvers.

Line-of-Sight MIMO for High Capacity Millimeter Wave Backhaul in FDD Systems

Wireless backhaul is considered to be the key part of the future wireless network with dense small cell traffic and high capacity demand.In this paper,we focus on the design of a high spectral efficiency line-of-sight(LoS)multiple-input multiple-output(MIMO)system for millimeter wave backhaul using dual-polarized frequency division duplex(FDD).High spectral efficiency is very challenging to achieve for the system due to various physical impairments such as phase noise(PHN),timing offset(TO)as well as the poor condition number of the LoS MIMO.In this paper,we propose a holistic solution containing TO compensation,PHN estimation,precoder/decorrelator optimization of the LoS MIMO for wireless backhaul,and the interleaving of each part.We show that the proposed solution has a robust performance with end-to-end spectral efficiency of 60 bit/s/Hz for 88 MIMO.