Multi-Object Tracking with Micro Aerial Vehicle

A simple yet efficient tracking framework is proposed for real-time multi-object tracking with micro aerial vehicles(MAVs). It's basic missions for MAVs to detect specific targets and then track them automatically. In our method, candidate regions are generated using the salient detection in each frame and then classified by an eural network. A kernelized correlation filter(KCF) is employed to track each target until it disappears or the peak-sidelobe ratio is lower than a threshold. Besides, we define the birth and death of each tracker for the targets. The tracker is recycled if its target disappears and can be assigned to a new target. The algorithm is evaluated on the PAFISS and UAV123 datasets. The results show a good performance on both the tracking accuracy and speed.

Implementation of VxWorks in autopilot for micro aerial vehicle based on PXA255 and FPGA

The overall hardware construction of autopilot within micro aerial vehicle is presented. The boot process of VxWorks real time operating system as well as the conception and function of board support package （BSP） is described. And the transplantation process of the VxWroks operat ing system into the hardware platform mentioned above is highlighted. It is shown from the final re sults that VxWorks has high stability and real time performance, ensuring accurate flight control and a smooth flight of the micro aerial vehicle.

A leveling mechanism for the platform based on booms-constraint control of aerial vehicle

In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms( MAV) in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint,where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model,elevating constraint model and lowering constraint model,which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling,a virtual prototype model is set up based on the auto-leveling mechanism,and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions,meanwhile a leveling deviation appears at the constrained point,but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms' freedom elevating to a certain extent,but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational,which provides an effective technology approach for development of the platform leveling of MAV.

MAV/UAV task coalition phased-formation method

The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clustering phase, the geographical position of tasks is taken into consideration and a cluster method is proposed. For the UAV allocation phase, the UAV requirement for both constrained and unconstrained resources is introduced, and a multi-objective optimal algorithm is proposed to solve the allocation problem. For the MAV allocation phase, the optimal model is firstly constructed and it is decomposed according to the ideal of greed to reduce the time complexity of the algorithm. Based on the above phases, the MAV/UAV task coalition formation method is proposed and the effectiveness and practicability are demonstrated by simulation examples.

Intervention decision-making in MAV/UAV cooperative engagement based on human factors engineering

Aiming at the intervention decision-making problem in manned/unmanned aerial vehicle（MAV/UAV） cooperative engagement, this paper carries out a research on allocation strategy of emergency discretion based on human factors engineering（HFE）.Firstly, based on the brief review of research status of HFE, it gives structural description to emergency in the process of cooperative engagement and analyzes intervention of commanders. After that,constraint conditions of intervention decision-making of commanders based on HFE（IDMCBHFE） are given, and the mathematical model, which takes the overall efficiency value of handling emergencies as the objective function, is established. Then, through combining K-best and variable neighborhood search（VNS） algorithm, a K-best optimization variable neighborhood search mixed algorithm（KBOVNSMA） is designed to solve the model. Finally,through three groups of simulation experiments, effectiveness and superiority of the proposed algorithm are verified.

A novel MAV with treadmill motion of wing

The Magnus effect is well known phenomena for producing high lift values from spinning symmetrical geometries such as cylinders, spheres, or disks. But, the Magnus force may also be produced by treadmill motion of aerodynamic bodies. To accomplish this, the skin of aerodynamic bodies may circulate with a constant circumferential speed. Here, a novel wing with treadmill motion of skin is introduced which may generate lift at zero air speeds. The new wing may lead to micro aerial vehicle configurations for vertical take-off or landing. To prove the concept, the NACA0015 aerofoil section with circulating skin is computationally investigated. Two cases of stationary air and moving air are studied. It is observed that lift can be generated in stationary air although drag force is also high. For moving air, the lift and drag forces may be adopted between the incidence angles 20° to 25° where lift can posses high values and drag can remain moderate.

Flexible micro flow sensor for micro aerial vehicles

This article summarizes our studies on micro flow sensors fabricated on a flexible polyimide circuit board by a low-cost hybrid process of thin-film deposition and circuit printing. The micro flow sensor has merits of flexibility, structural simplicity, easy integrability with circuits, and good sensing performance. The sensor, which adheres to an object surface, can detect the surface flow around the object. In our study, we install the fabricated micro flow sensors on micro aerial vehicles （MAVs） to detect the surface flow variation around the aircraft wing and deduce the aerodynamic parameters of the MAVs in flight. Wind tunnel experiments using the sensors integrated with the MAVs are also conducted.

有人机控制无人机群空战多目标分配

针对集中式体系结构下的有人机-无人机群协同空战多目标分配问题,把目标威胁分为固有属性和动态属性两部分,分别建立了目标威胁系数层次结构模型和优势函数模型;根据空战态势的不同,提出了3种效率指标,建立了相应的代价函数;针对3种代价函数,运用离散粒子群算法进行了数值仿真研究,仿真结果表明所用的算法具有良好的收敛性,适合解算文中所建立的有人机-无人机群协同空战多目标分配模型。

基于修正EKF的微小型飞行器姿态估计

分析了常用飞行姿态估计方法在微小型飞行器上应用的局限性，针对基于微机电系统（MEMS）惯性器件的姿态测量方案，构建了以MEMS陀螺仪姿态矩阵解算为状态更新、以MEMS加速度计重力矢量解算为观测更新的扩展卡尔曼滤波器（EKF），推导了相应的卡尔曼滤波方程。为了提高该滤波器抵抗机动加速度干扰的能力，设计了基于M估计的新息修正方法，该方法能有效地抑制载体阶跃加（减）速对姿态估计的影响。最后通过仿真和样机试验对上述算法进行了验证。

四旋翼微型飞行器的区间二型模糊神经网络自适应控制

针对四旋翼微型飞行器控制系统中存在不确定性、外界干扰等影响控制精度的问题,提出了基于区间二型模糊神经网络(IT_IIFNN)的四旋翼微型飞行器自适应控制方案。首先,根据四旋翼微型飞行器的动力学模型,设计了基于IT_IIFNN的四旋翼微型飞行器自适应控制器,该控制器由两部分构成,其中IT_IIFNN用来在线逼近系统不确定性;鲁棒补偿器用来实时补偿IT_IIFNN的逼近误差以及外界干扰。其次,利用Lyapunov稳定理论证明此飞行器控制系统闭环稳定性。最后,通过四旋翼微型飞行器样机来验证IT_IIFNN自适应控制器的优越性。验证结果显示,在加入风速为1.5m/s的外界干扰条件下,跟踪误差可近似达到10-2。结果表明,IT_IIFNN自适应控制器具有良好的跟踪精度、稳定性及鲁棒性。

基于Xscale与FPGA的微小型飞行器控制系统的硬件设计

以微小型飞行器为控制对象,设计了一种基于Xscale+FPGA的双芯片微小型数字控制系统.该系统用基于Xscale架构的微处理器处理导航算法和控制算法,用FPGA处理外部信号核心.选择嵌入式Linux作为软件平台,完成了Bootloader设计、嵌入式Linux的裁减和主要器件FPGA的驱动设计.针对FPGA所需处理的信号,设计了用于A/D采样的硬件电路,采用硬件描述语言对电路模块进行了软件设计.实验测试结果表明,该系统具有较高的集成度和较好的实时性.

有人/无人机协同作战指挥控制系统技术

对有人/无人机协同作战指挥控制(Command and Control,C2)系统技术问题开展研究.总结了有人/无人机协同作战验证项目试验情况并分析了协同作战体系组成、C2结构和复杂性.结合作战特点和任务需求,提出了包括计算通信层、协同控制层和规划决策层的递阶式C2系统结构.根据决策粒度差异,划分了编组、编队和单机三层决策层次,分析了决策模块中的决策模式优选与跃迁、辅助决策和人机协同等关键技术,并对未来研究方向进行了展望.

新型弹载压电舵机驱动器方案设计及力学分析

为了同时增大压电双晶片驱动器的输出位移和输出力矩,并提高弹药内部的空间利用率,提出一种新型弹载后屈曲预压缩压电双晶片(Post-buckling pre-compression,PBP)舵机驱动器方案。该驱动器通过压电双晶片的层叠来增大驱动器设计空间,再利用一组角位移连杆放大机构来调整其设计空间,进而达到同时增大输出位移和力矩的目的。对驱动器建立了测量输出力矩的静力学数值模型以及端部带有舵面的刚柔耦合拉格朗日动力学方程及其有限元模型。通过静力学分析、强度校核以及瞬态动力学分析,得到数值结果和有限元结果,两者总体符合程度较好。静力学结果表明,新型PBP驱动器较原PBP驱动器同时增大了输出转角和力矩,设计空间增大了80%以上,并且在最大输出力矩情况下,各部件满足强度要求;动力学结果给出了驱动器机构内部的能量传输及分配特性,以转动惯量为1×10-2 kg·mm2舵面作为驱动对象时,控制带宽可达到300Hz,明显优于普通微型伺服舵机。因此所设计的方案可以为以内部空间狭小、高控制带宽为特征的各类微小飞行器(Micro aerial vehicle,MAV)舵机驱动器的研制提供参考。

单目视觉融合激光投射的无人机障碍探测方法

针对微小型无人机在飞行作业任务中的主动避障需求,提出一种用于微小型无人机避障的、基于单目视觉与主动激光点阵投射的障碍探测方法。使用单目相机采集投射的激光点阵图案,经过图像分割、聚类、质心提取等处理过程,通过像面激光线方程约束快速排除特征一致激光点的歧义,使用激光点探测出无人机前方空间中障碍的方位信息。实验验证装置在基线距离为65 mm,工作距离为7 m的条件下,障碍探测的相对误差在1.5%以内。该方法精度高、时间复杂度低,可满足低算力的微小型无人机对障碍探测方法的需求,为进一步避障策略的生成提供数据支撑。

微型飞行器气动布局及关键技术研究

在低雷诺数条件下，小尺度微型飞行器的有效飞行问题仍面临许多挑战。介绍了微型飞行器的主要特征和典型布局形式，分析了微型飞行器发展所需的关键技术和面临的技术挑战，提出了开展我国微型飞行器研究的建议及可借鉴的国外经验。

有人/无人机协同作战系统C2结构和行动计划适应性设计方法

针对有人/无人机协同作战系统指挥控制(C2)结构和行动计划设计问题,基于粒度计算思想,提出分层适应性设计方法。将C2结构和行动计划适应性设计问题分解为平台编组方案生成、任务调度方案生成、平台编组方案调整和任务调度方案调整4个子问题,从而有效降低问题求解规模。首先,建立适应性设计框架;其次,对关键元素属性进行形式化描述;然后,详细分析子问题耦合关系;最后,给出了4个子问题的适应性设计方法。

合成射流用于提高微型飞行器翼型气动特性的研究

合成射流激励器可微型化,能够在流场局部实施细致的流动控制.提出将合成射流技术用于NACA0012翼型绕流的主动流动控制,在SIAMM400低速低湍流风洞中对该翼型绕流流场进行烟线显示实验、PIV测量实验及翼型表面压力测量实验,并与数值模拟结果相比较.结果表明：（1）在来流雷诺数为18 000,翼型攻角小于15°时,合成射流能有效减小翼型表面附近的分离区大小 （2）在翼型攻角0°-15°范围内,不同攻角下需要调节最佳射流激励频率.如攻角为2.5°时,合适的激励器频率为1 300 Hz 攻角5°时,400 Hz和1 300 Hz比较适合 而攻角大于等于7.5°时,共振频率960 Hz更为合适 （3）在来流雷诺数为140 000,攻角小于等于15°时,合成射流减小了翼型上表面射流出口附近的压力值,从而使上下表面压力差增大约5%,提高了升力.

计算机控制小型三轴飞行模拟转台

本文设计开发了一种用于微型飞行器半实物仿真实验的多功能飞行模拟转台。转台既可作为低速转动的三轴摇摆台 ,也可以作为高速旋转的一维旋转台使用。转台通过三个独立的轴系来实现所需要模拟的三个转角 ,通过计算机控制系统控制整个转台的转动。主要设计性能指标 :有效载荷空间 :15 0 mm;角位移分辨率 0 .0 1°;转速调节范围 0～ 30 rpm;作为一维旋转台时转速可达到30 0 rpm。

有人/无人机协同作战问题

网络中心战背景下,有人/无人机协同作战将成为未来空中作战的重要样式。在分析有人/无人机协同作战综合优势基础上,归纳总结了有人/无人机协同作战发展现状,从系统构成、功能划分及指挥、控制和通信(C^3)结构3方面研究了有人/无人机协同作战体系结构,并探讨了协同作战过程中的关键技术。

微型飞行器电磁导引头定位方法分析及验证

对微型飞行器电磁导引头的定位方法进行研究,设计了适合于在微型飞行器平台上使用的电磁导引头原理样机。详细介绍了电磁导引头的定位原理;根据信号的自由空间传播模型,建立了定位测量方程,推导了定位方法;利用仿真的方法分析了测站数、测量误差等对定位结果的影响;介绍了开发的原理样机结构并给出了标定和实验结果。