Cooperative Navigation for Autonomous Underwater Vehicles Based on Estimation of Motion Radius Vectors

A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method.

UPF based autonomous navigation scheme for deep space probe

The autonomous "celestial navigation scheme" for deep space probe departing from the earth and the autonomous "optical navigation scheme" for encountering object celestial body are presented. Then, aiming at the conditions that large initial estimation errors and non-Gaussian distribution of state or measurement errors may exist in orbit determination process of the two phases, UPF (unscented particle filter) is introduced into the navigation schemes. By tackling nonlinear and non-Gaussian problems, UPF overcomes the accuracy influence brought by the traditional EKF (extended Kalman filter), UKF (unscented Kalman filter), and PF (particle filter) schemes in approximate treatment to nonlinear and non-Gaussian state model and measurement model. The numerical simulations demonstrate the feasibility and higher accuracy of the UPF navigation scheme.

跨介质无人机的技术问题与解决方案分析

阐述跨介质无人机作为一种能够在不同介质(水体、空气)中自由切换的多功能飞行器,受到广泛关注。分析跨介质无人机所面临的机械结构、能源与动力系统、导航与控制系统方面的技术问题,提出相应解决方案。通过优化机械结构、改进能源系统和升级导航控制系统的措施,有效地解决跨介质无人机的技术挑战,推动其在各个应用领域的发展。

电子信息技术在无人机领域的应用

介绍了电子信息技术在无人机领域的应用情况,分析了导航与控制、通信与数据传输、传感器技术、机器视觉与图像处理技术、人工智能与机器学习、地理信息系统(GIS)等在无人机领域的具体应用,提出了电子信息技术在无人机领域的应用,提高了无人机的性能和功能。分析认为,电子信息技术为无人机在各个行业的应用提供了技术支持。

基于多源感知的智能巡检机器人系统设计

为了提高智能巡检机器人巡检效果,保障电力系统稳定运行,设计基于多源感知的智能巡检机器人系统。依据多源感知原理设计,系统的硬件单元包括传感器选型单元、控制器选型单元及其边缘设备通信单元;软件模块包括多传感器模型构建模块、多传感器获取特征融合模块与巡检机器人导航控制模块。通过设计与开发,实现了智能巡检机器人系统的运行。实验数据表明,应用所设计系统获得的巡检机器人响应时延更短,巡检机器人导航距离、角度偏差数据较小,充分证实了所设计系统提高了巡检机器人巡检效果,具有较好的应用性能,能够保障电力系统稳定运行。

发电厂巡检机器人导航控制算法研究

针对目前发电厂巡检机器人导航控制技术中定位不准确、灵活性差等问题,提出一种基于KEA128单片机的巡检机器人导航控制算法。利用多传感器融合采集信号,建立合理的反馈控制数学模型,分别设计平衡控制、速度控制、方向控制3个方面的反馈控制系统,根据Nyquist判据计算出稳定的反馈控制系统。最后,基于MATLAB/Simulink对该控制系统的PID控制算法进行仿真分析和参数整定,结果验证了算法的有效性。该导航控制算法可为电厂巡检机器人的安全稳定运行提供理论依据,具有实际的应用价值。

基于自主航行系统的无人船海上航迹多目标控制技术研究

航迹控制存在累积跟踪控制误差较高的问题,容易导致无人船发生安全事故,因此,应对基于自主航行系统的无人船海上航迹多目标控制技术加以研究。本文基于自主航行系统定位无人船,根据系统采集的海域环境信息规划无人船海上航迹,设计由动态神经网络结合扰动观测器的复合控制器,实现无人船海上航迹多目标跟踪控制。实验结果表明,研究技术可以实时跟踪控制无人船海上航迹,提高无人船航行的安全性,且在多目标跟踪控制误差上具有显著优势。

Design of Neural Network Variable Structure Reentry Control System for Reusable Launch Vehicle

A flight control system is designed for a reusable launch vehicle with aerodynamic control surfaces and reaction control system based on a variable-structure control and neural network theory.The control problems of coupling among the channels and the uncertainty of model parameters are solved by using the method.High precise and robust tracking of required attitude angles can be achieved in complicated air space.A mathematical model of reusable launch vehicle is presented first,and then a controller of flight system is presented.Base on the mathematical model,the controller is divided into two parts:variable-structure controller and neural network module which is used to modify the parameters of controller.This control system decouples the lateraldirectional tunnels well with a neural network sliding mode controller and provides a robust and de-coupled tracking for mission angle profiles.After this a control allocation algorithm is employed to allocate the torque moments to aerodynamic control surfaces and thrusters.The final simulation shows that the control system has a good accurate,robust and de-coupled tracking performance.The stable state error is less than 1°,and the overshoot is less than 5%.

Attitude Control Algorithm for Reusable Launch Vehicle in Reentry Flight Phase

An attitude control algorithm for reusable launch vehicle(RLV) in reentry phase is proposed based on sliding mode variable structure control technique.The aerodynamic characteristics of RLV vary rapidly,and the serious uncertainties and nonlinearities exist in the reentry flight phase.As an example,American X-34 technology demonstrator is investigated.The chattering brought by the variable structure control technique is eliminated efficiently by choosing a suitable reaching law and a sign function.A control mode of reaction control system is presented based on the RCS scheme of X-34 vehicle.As two different attitude control effectors,aerosurfaces and RCS,are employed in the reentry flight phase,a composite control strategy based on the dynamic pressure variety is presented.Also,an actuator model and a RCS thruster model are built.Analysis and nonlinear simulation results show that the sliding mode variable structure controller achieves better performance,the overshoot and steady-state error are only 0.7% and 0.04° respectively.

Research on Robust Control of Nonlinear Fuzzy VSS for Spacecraft

The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory.The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.

Research on Airborne Electro-Optical Tracking and Sighting System Based on Fuzzy PID and H_∞ Control

Airborne electro-optical tracking and sighting system is a three-degree-of-freedom angular position servo system which is influenced by multi-disturbance,and its control system consists of stabilizing and tracking components.Stabilizing control is applied to track angular velocity order and control multi-disturbance under airborne condition,and its robustness should be very good;tracking control is applied to compensate tracking error of angular position.A mathematical model is established by taking the control of yaw loop as example.H∞ stabilizing controller is designed by taking the advantage of H∞ control robustness and combining with Kalman filter.A fuzzy control is introduced in general PID control to design a decoupled fuzzy Smith estimating PID controller for tracking control.Simulation research shows that the control effect of airborne electro-optical tracking and sighting system based on fuzzy PID and H∞ control is good,especially when the model parameters change and the multi-disturbance exists,the system capability has little fall,but this system still can effectively track a target.

A Study on Missile Reentry Control Based on the Method of Feedback Linearization

In the process of missile large attack angle reentry,there exist nonlinear,strong coupling uncertainty and multi-input-multi-output(MIMO)in the movement equations,so the traditional small disturbance faces difficulties.For such situations,the method of feedback linearization is adopted to control the complex system,and the control method based on the fuzzy adaptive nonlinear dynamic inversion decoupling control of missile is proposed in the paper.According to the principle of time-scale separation,the system is separated into fast loop and slow loop,the method of dynamic inversion is applied to them,and the method of adaptive fuzzy approach is adopted to compensate for the uncertainty of the fast loop.The simulation results denote the control method in the paper has a better tracing characteristic and robustness.

国内外露天矿山无人驾驶研究现状分析与发展前景

随着智慧矿山建设的提出和无人驾驶技术的日趋成熟,传统露天采矿迎来了“矿用卡车无人驾驶”的应用热潮。对比分析国内外露天矿山无人驾驶技术的发展与现状,梳理其应用的基础条件及优势,并分析其在未来的发展前景。梳理发现,环境感知、定位导航、路径规划、运动控制等技术是露天矿卡车实现自动驾驶的核心技术,各项核心技术及其主要算法各有优缺点。预测多传感器融合环境感知、组合导航定位、基于深度学习的路径规划以及基于神经网络模型的运动控制等技术的应用是未来露天矿无人驾驶技术发展的必然趋势。

水下通信导航试验系统框架设计

针对综合定位导航授时体系建设需求,本文提出了水下通信导航试验系统框架设计。介绍了水下通信导航试验系统体系架构,主要包括观测系统、运控系统以及用户系统,以及三者之间的关系;探讨了水下通信导航运控系统的总体设计及其核心——信息处理系统的组成;面向未来水下定位导航授时发展需求,以构建“协同、可靠、安全、稳健、优化”的运控系统为目标,给出了运控系统发展中需要攻克的空天地海一体化通信技术、基于云平台的大规模数据处理技术、基于人工智能的复杂系统任务调度技术、基于区块链的数据安全共享技术以及弹性化服务等关键技术。

北斗+低轨通导一体位置服务网络与低空经济应用

国家对于低空经济发展的政策扶植逐步加强,使得低空经济近年来呈加速发展之势,但是目前的通信、导航和监控基础设施,无法满足未来无人机城市物流、巡检等新的低空应用的泛在精准可信的位置服务和高容量低延时通信需求。文章分析低空经济发展对于通信导航监视基础设施的需求,研究北斗+低轨通导一体化服务网络的关键技术,提出导航信息增强服务、快速精密定位服务和通导一体化服务三种类型的北斗+低轨通导一体化服务手段,构建北斗+低轨通导一体化位置服务网络的基本架构,并对未来北斗+低轨通导一体位置服务网络在低空经济中的应用进行了设想。

无人操纵挖掘机自动控制技术研究

运用无人操纵挖掘机替代传统的液压挖掘机,不但可以提高挖掘机作业的质量和效率、降低操作员的作业强度和节约人力成本、提高能源利用率、延长挖掘机的使用年限,而且使得挖掘机能够满足在某些特殊环境下作业的要求。在此背景下,无人操纵挖掘机集智能化、信息化、机电液于一体,实现了挖掘机的无人化作业和远程控制。结合国内外发展现状以及现有的功能化模块应用,简述了无人操纵挖掘机的关键技术特点和未来发展趋势。

全垫升气垫船安全航行控制技术研究综述

全垫升气垫船是一种具有两栖性的高性能船舶,因其独特的两栖性和高速性被广泛应用于民用和军事领域。由于其特殊的气垫围裙结构,船体可以脱离于航行表面,航行阻力极小,因此会导致其操纵性和安全性比普通水面船差。尤其在垫态高速航行时,气垫船缺少足够的向心力和横向力,会涉及失速、低头埋艏、侧漂翻船、高速甩尾等问题。因此针对全垫升气垫船安全航行控制问题,开展其安全航行控制理论与方法研究有着重要的军事意义和民用价值。本文介绍了全垫升气垫船的主要性能和国内外发展概况和全垫升气垫船运动数学模型建立及研究发展;最后归纳总结国内外关于全垫升气垫船安全航行控制技术的研究,分类介绍控制策略发展现状,并讨论全垫升气垫船安全航行技术未来发展方向和趋势。指出未来气垫船安全航行控制将以实现气垫船多功能、智能化、无人化等为目标,在保证气垫船航行安全的前提下实现气垫船自动控制和管理。

嵌入式跑道中线灯安装精度控制技术

机场助航灯光是为飞行器在夜间或低能见度的情况下起飞、着陆、滑行提供目视引导而设于机场内规定地段的灯光标志的总称。在机场改扩建工程中,助航灯光系统改造的重要性不容忽视,其中嵌入式跑道中线灯的安装更是助航灯光改造工程中的重中之重。嵌入式跑道中线灯的安装精度是否准确将直接影响飞行器在夜间或低能见度情况下起飞、着陆的安全。因此,施工过程中如何控制嵌入式跑道中线灯的安装精度成为助航灯光改造工程中的重难点。阐述了所采用的安装精度控制技术。

全自主机器人视觉信息采集与导航控制方法

全自主机器人的导航控制未对目标对象定位,无法获取有效目标路径,导致控制方法精度低且效率差,提出全自主机器人视觉信息采集与导航控制方法。该方法采集机器人信息数据,根据相关数据以及粗定位和精定位的方法精确目标物的位置,在Q算法的帮助下得到最优控制策略,结合基于Boltzmann探索方案生成机器人的下一步运动角度,根据奖惩值避开障碍物,通过不断训练机器人不断得到最优导航动作,实现全自主机器人的导航控制。实验结果表明,所提方法控制的轮转角和航向角均与理想角一致,横向位移偏差达到了0m,跟踪目标在Y轴最高偏差值为0.5m,因此,该方法导航控制效果好和目标对象跟踪精度高。