Underactuated spacecraft angular velocity stabilization and three-axis attitude stabilization using two single gimbal control moment gyros

Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros （SGCMGs） as actuators is investigated. First of all, the dynamic model of the underactuated spacecraft is established and the singularity of different configurations with the two SGCMGs is analyzed. Under the assumption that the gimbal axes of the two SGCMGs are installed in any direction, and that the total system angular momentum is not zero, a state feedback control law via Lyapunov method is designed to globally asymptotically stabilize the angular velocity of spacecraft. Under the assumption that the gimbal axes of the two SGCMGs are coaxially installed along anyone of the three principal axes of spacecraft inertia, and that the total system angular momentum is zero, a discontinuous state feedback control law is designed to stabilize three-axis attitude of spacecraft with respect to the inertial frame. Furthermore, the singularity escape of SGCMGs for the above two control problems is also studied. Simulation results demonstrate the validity of the control laws.

Estimator-Based GPS Attitude and Angular Velocity Determination

In this paper,the estimator-based Global Positioning System(GPS)attitude and angular velocity determination is presented.Outputs of the attitude estimator include the attitude angles and attitude rates or body angular velocities,depending on the design of estimator.Traditionally as a position,velocity and time sensor,the GPS also offers a free attitude-determination interferometer.GPS research and applications to the field of attitude determination using carrier phase or Doppler measurement has been extensively conducted.The rawattitude solution using the interferometry technique based on the least-squares approach is inherently noisy.The estimator such as the Kalman filter(KF)or extended Kalman filter(EKF)can be incorporated into the GPS interferometer,potentially providing several advantages,such as accuracy improvement,reliability enhancement,and real-time characteristics.Three estimator-based approaches are investigated for performance comparison,including(1)KF with measurement involving attitude angles only;(2)EKF with measurements based on attitude angles only;(3)EKF with measurements involving both attitude angles and body angular rates.The assistance from body mounted gyroscopes,if available,can be utilized as the measurements for further performance improvement,especially useful for the case of signal-challenged environment,such as the GPS outages.Modeling of the dynamic process involving the body angular rates and derivation of the related algorithm will be presented.Simulation results for various estimator-based approaches are conducted;performance comparison is presented for the case of GPS outages.

Attitude Controller Design on Variable Rolling Velocity Aerocraft Based on ATmega16

Owing to the effect of crosswind, initial disturbance and the deviation of engine parameters.etc in the initial aviation, vari- able rolling velocity aerocraft will produce attitude angle deviation in the ideal orientations. This paper adopts AVR microcontroller atmega16 and relevant signal process circuit to design the attitude controller and take the method of frequency discrimination and am- plitude discrimination to process attitude angle deviation of aerocraft. Accordingly, it amends attitude angle deviation of aerocraft ef- fect and implements the self- adapting attitude control of aerocraft’s rolling velocity.

Use of the Method of Guidance by a Required Velocity in Control of Spacecraft Attitude

We apply the method of guidance by a required velocity for solving the optimal control problem over spacecraft’s reorientation from known initial attitude into a required final attitude.We suppose that attitude control is carried out by impulse jet engines.For optimization of fuel consumption,the controlling moments are calculated and formed according to the method of free trajectories together with principle of iterative control using the quaternions for generating commands to actuators.Optimal solution corresponds to the principle“acceleration-free rotation-separate corrections-free rotation-braking”.Rotation along a hitting trajectory is supported by insignificant correction of the uncontrolled motion at discrete instants between segments of acceleration and braking.Various strategies of forming the correction impulses during stage of free motion are suggested.Improving accuracy of achievement of spacecraft's final position is reached by terminal control using information about current attitude and angular velocity measurements for determining an instant of beginning of braking(condition for start of braking based on actual motion parameters is formulated in analytical form).The described method is universal and invariant relative to moments of inertia.Developed laws of attitude control concern the algorithms with prognostic model,the synthesized control modes are invariant with respect to both external perturbations and parametric errors.Results of mathematical modeling are presented that demonstrate practical feasibility and high efficiency of designed algorithms.

A calculation method for low dynamic vehicle velocity based on fusion of optical flow and feature point matching

Aming at the problem of the low accuracy of low dynamic vehicle velocity under the environment of uneven distribution of light intensity,an improved adaptive Kalman filter method for the velocity error estimate by the fusion of optical flow tracking and scale mvaiant feature transform(SIFT)is proposed.The algorithm introduces anonlinear fuzzy membership function and the filter residual for the noise covariance matrix in the adaptive adjustment process.In the process of calculating the velocity of the vehicle,the tracking and matching of the inter-frame displacement a d the vehicle velocity calculation a e carried out by using the optical fow tracing and the SIF'T methods,respectively.Meanwhile,the velocity difference between theoutputs of thesetwo methods is used as the observation of the improved adaptive Kalman filter.Finally,the velocity calculated by the optical fow method is corrected by using the velocity error estimate of the output of the modified adaptive Kalman filter.The results of semi-physical experiments show that the maximum velocityeror of the fusion algorithm is decreased by29%than that of the optical fow method,and the computation time is reduced by80%compared with the SIFT method.

FeatureMatching Combining Variable Velocity Model with Reverse Optical Flow

The ORB-SLAM2 based on the constant velocity model is difficult to determine the search window of the reprojection of map points when the objects are in variable velocity motion,which leads to a false matching,with an inaccurate pose estimation or failed tracking.To address the challenge above,a new method of feature point matching is proposed in this paper,which combines the variable velocity model with the reverse optical flow method.First,the constant velocity model is extended to a new variable velocity model,and the expanded variable velocity model is used to provide the initial pixel shifting for the reverse optical flow method.Then the search range of feature points is accurately determined according to the results of the reverse optical flow method,thereby improving the accuracy and reliability of feature matching,with strengthened interframe tracking effects.Finally,we tested on TUM data set based on the RGB-D camera.Experimental results show that this method can reduce the probability of tracking failure and improve localization accuracy on SLAM(Simultaneous Localization and Mapping)systems.Compared with the traditional ORB-SLAM2,the test error of this method on each sequence in the TUM data set is significantly reduced,and the root mean square error is only 63.8%of the original system under the optimal condition.

Reliability analysis of the velocity matching of coal cutting and caving in fully mechanized top-coal caving face

The matching relationship between coal cutting and caving in fully mechanized top-coal caving face is analyzed in detail from the angle of reliability. The coupling equation of reliability is established correspondingly, and the mathematical equation of the coefficient of velocity matching of coal cutting and caving is obtained, which meets a certain reliability demand for making the working procedure of coal caving not influence coal cutting of coal-cutter. The results show that the relationship between the coefficient of the velocity matching and the reliability of coal cutting and caving system is linear on the whole when R <0.9. It is pointed out that different numerical value should be selected for different coal face according to different demand for reliability.

Design and Simulation of Controller for Hyper Velocity Kinetic Energy Missile

The controller design and digital simulation for the hyper velocity kinetic energy missile is investigated. A mathematical model of the trajectory deviation from the line of sight was established, the guidance closed loop was compensated with a phase advance lag corrective network, a selecting algorithm of the attitude control motors used to steer the missile's attitude was presented. In the presence of a wide variety of disturbances the results of digital simulation are satisfactory to circular error probability(CEP) being less than 0 5?m. The steering scheme utilizing attitude control motors as actuators to control the attitude of the missile is feasible.

Using a linear array to estimate the velocity of underwater moving targets

A new method uses a linear array that takes advantage of underwater physical sound fields to estimate the velocity of an underwater moving target. The mathematical model was established by considering the geometric relationship between the moving target installed with only two transducers to radiate sound of different frequencies and the linear array. In addition, deterministic maximum likelihood and signal phase matching algorithms were introduced to effectively find the directions of arrival （DOAs） of the sound sources of the two transducers installed on the target. Factors causing velocity measurement errors were considered. To track the target, a linear array with a compass, a pressure transducer, a signal conditioner and a digital recorder was configured. Relevant requirements for the array parameters were derived. The simulation showed that a 16-element array with an aperture of less than lm can measure velocity with relative error of no more＇, than 4% when including typical system errors. Anechoic pool and reservoir experiments confirmed these results.

Adaptive Sliding Mode Control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design

Combining sliding mode control method with radial basis function neural network (RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle (NSHV) in the presence of parameter variations and external disturbances. In the attitude angle loop, a robust adaptive virtual control law is designed by using the adaptive method to estimate the unknown upper bound of the compound uncertainties. In the angular velocity loop, an adaptive sliding mode control law is designed to suppress the effect of parameter variations and external disturbances. The main benefit of the sliding mode control is robustness to parameter variations and external disturbances. To further improve the control performance, RBFNNs are introduced to approximate the compound uncertainties in the attitude angle loop and angular velocity loop, respectively. Based on Lyapunov stability theory, the tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control system attains a satisfied control performance and is robust against parameter variations and external disturbances. © 2014 Chinese Association of Automation.

Adaptive Angular Velocity Tracking Control of Spacecraft with Dynamic Uncertainties

The tracking of orientation and angular velocity is a primary attitude control task for an on-orbit spacecraft.The problem for a rigid spacecraft tracking a desired angular velocity profile is addressed using an adaptive feedback control.An angular velocity feedback tracking algorithm is firstly developed based on the precisely known attitude dynamics of the spacecraft,and the global tracking of the control algorithm is proved based on the Lyapunov analysis.An adaptation mechanism is then designed to deal with the dynamic uncertainties of the spacecraft.Such an adaptation mechanism enables the controller to track any desired angular velocity trajectories even in the presence of uncertain inertia parameters,although it does not guarantee the inertia tensor being precisely identified.To verify the effectiveness of the proposed adaptive control policy,computer simulations on dynamic equations of a spacecraft are conducted and their results are discussed.

Investigation of Domain Wall Velocity to External Fields for High-Quality Waveguide-Type Periodically Poled LiNbO_(3) Fabrication

The Ti-doped waveguide-type periodically poled LiNbO_(3)(PPLN)were fabricated and the dependence of domain wall velocity on an external field applied for domain inversion was investigated.The whole polarization reversal process was computer-controlled to regulate domain wall expansion at a feedback time shorter than 5μs.The coercive voltage and several values of excess voltage were applied on 500μm-thick wafers serially connected to a 1-MOhm external resistor which had an effect of the poling current reduction,i.e.the deceleration of domain wall expansion.The domain wall velocity is sensitive to the poling voltage,precisely speaking,to the excess voltage.The domain wall velocities were 28.70,16.02 and 5.75μm·s^(-1)under poling field of 23.5,22.0 and 21.0 kV·mm^(-1),respectively.Moreover,average duty cycle of PPLN is about 49.93%.

Spacecraft Attitude Control with Saturation and Attitude Forbidden Constraints via Second⁃Order Cone Programming

This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programming(SOCP)technology is developed to solve the strong nonlinear and non-convex control problem in real time.Specifically,the nonlinear attitude kinematic and dynamic are transformed and relaxed to a standard affine system,and linearization and L1 penalty technique are adopted to convexify non-convex inequality constraints.With the proposed quadratic performance index of angular velocity,the optimal control solution is obtained with high accuracy using the successive SOCP algorithm.Finally,the effectiveness of the algorithm is validated by numerical simulation.

60例不典型肝血管瘤患者声速匹配技术及剪切波弹性成像表现及其与肝细胞癌的鉴别

目的分析肝血管瘤患者声速匹配技术及剪切波弹性成像表现及其与肝细胞癌的鉴别。方法2019年7月—2020年7月唐山市第三医院收治的经CT确诊的60例肝血管瘤患者,另外选择经病理穿刺确诊的肝细胞癌患者40例,将其作为肝血管瘤组(n=60)和肝癌组(n=40)。比较两组声速匹配技术及剪切波弹性成像表现,采用受试者工作特征曲线(ROC)分析声速匹配技术及剪切波弹性成像鉴别肝血管瘤与肝细胞癌的价值。结果肝血管瘤组声速匹配值、弹性模量值、剪切波速度最大值、剪切波速度平均值分别为(22.4±3.5)m/s、(16.1±2.5)kPa、(2.7±0.3)m/s、(2.3±0.2)m/s,均低于肝癌组[(40.6±4.5)m/s、(33.5±2.5)kPa、(3.8±0.6)m/s、(3.4±0.4)m/s,P<0.05];ROC曲线分析结果显示,声速匹配值、弹性模量值、剪切波速度最大值、剪切波速度平均值在鉴别肝血管瘤与肝细胞癌中具有极高的价值。结论声速匹配值、弹性模量值、剪切波速度最大值、剪切波速度平均值在鉴别肝血管瘤与肝细胞癌中具有极高的价值,声速匹配技术及剪切波弹性成像可用于鉴别肝血管瘤与肝细胞癌。

惯性角速度匹配测量方程的耦合误差分析

针对惯性角速度匹配测量方程得不到理论精确解的问题,根据角速度匹配测量方程建立了形变角估计误差与船体角运动和动态形变角的相关函数模型,从理论上证明了船体角运动与动态形变角之间的交叉耦合将产生形变角估计误差。在动态形变角和船摇角幅度分别为20″和2°的仿真条件下,当船体运动角速度与动态形变角速度不相关时,形变角估计误差均值分别为-1.8"、3.7"、3.8";当船体运动角速度与动态形变角速度完全相关时,形变角估计产生约50"的偏置误差。仿真和实验结果表明,误差的大小与二者之间的相关系数呈正相关。研究结果可为舰船形变测量和传递对准相关的理论研究和工程应用提供参考。

频域反射法阻抗匹配技术及其在电缆衰减补偿与相速度计算中的应用

频域反射法(frequency domain reflectometry,FDR)是诊断电缆绝缘状态的有效方法。针对现场FDR测试中存在的首端阻抗不匹配问题,该文提出了一种有效的FDR首端阻抗匹配技术。该文通过引入可变串联阻抗模型,结合估计得到的电缆特性阻抗,有效解决了FDR现场测试中分叉引线对测试结果的影响。首先,通过搭建电缆模型,结合行波的多次折反射原理推导了电缆首端的反射系数,阐述了信号在电缆内部的传输过程。然后,给出了电缆首端存在分叉引线时的首端阻抗匹配技术。最后,在同轴电缆及10 kV电力电缆上开展了电缆首端阻抗匹配试验,验证了该方法的有效性和准确性。结果表明:该方法可有效解决现场测试中存在的电缆首端阻抗不匹配问题,并且利用首端阻抗匹配处理后得到的数据,亦可实现电缆衰减的有效补偿及电缆相速度的准确计算。

基于三相Biot速度应力波动方程的水合物储层波场数值模拟

天然气水合物储层可以看作由骨架、水合物和孔隙水构成的三相孔隙介质。以三相Biot一阶速度应力波动方程作为声波在水合物储层传播的控制方程,用有限差分法(FDTD)进行数值模拟。波场快照可以清楚展现3个纵波和两个横波,与Biot理论相符。根据实测速度优化控制方程参数,使数值速度与实测速度相符。结果表明:孔隙度对水合物剪应力分量影响最显著,对水合物、孔隙水和骨架速度分量的影响次之,所以储层中孔隙度最适合用水合物剪应力分量来分析。骨架速度分量和应力分量受饱和度的影响较小,水合物剪应力分量受饱和度的影响最大,所以分析储层中水合物饱和度的最佳选择是水合物剪应力分量。

GNSS辅助的视觉动态定位方法研究

针对在城市环境中全球导航卫星系统间歇失锁时运动平台无法连续定位的问题,研究一种GNSS辅助的视觉动态定位方法。该方法利用相机对街景拍摄3幅影像且记录相应位置的GNSS坐标,以GNSS坐标系为世界坐标系。首先分别提取这3幅影像中的SIFT特征点进行三维重建,得到这些特征点在第1幅影像所对应相机坐标系中的坐标以及相机在这3个位置之间的位姿变换,接着利用这3幅影像所对应的GNSS坐标求得相机坐标系与GNSS坐标系之间的位姿变换。然后通过对此街景任意拍摄1幅影像,即可利用P3P+RANSAC对当前影像所对应的相机位姿进行解算得到相机平台此时的GNSS坐标。最后对某场景的影像数据进行实验,实验结果验证了此方法的可行性,且其定位精度一般不超出6 m。

基于导引头图像连续匹配的航向测量与组合算法

提出了一种基于连续匹配的航向解算与组合导航算法,实现了利用小视场角制导相机解算航向,为无人机提供了一种低成本的航向量测与组合导航方案。首先基于连续匹配得到的本质矩阵计算出姿态增量,然后通过首帧姿态矩阵与联合标定矩阵计算出当前帧的航向角,在此基础上基于惯性导航姿滤波设计了MEMS导航解算与视觉连续匹配的融合算法。最后为验证所提算法的精度与计算效率,搭建了惯性/视觉组合装置及挂飞试验系统。飞行试验结果表明,针对像元数为1920×1080的相机在80~200 m相对高度飞行过程中,匹配成功率达到99.6%,0.5 h航行中航向计算精度优于0.21°,更新频率优于20 Hz,与传统方法相比具备较高的匹配成功率、航向计算精度,并具有更低的时间耗费。

配置姿控推力器的卫星大角速率协同阻尼策略

针对卫星大角速率阻尼问题,研究使用姿控推力器的速率阻尼策略,兼顾姿控推力器开机次数少且开机时长短的设计原则。提出了综合三轴同时阻尼方法和单轴依次阻尼方法的协同阻尼策略,当卫星任意两轴角速率大于设定角速率阈值时,采用施密特触发器进行三轴同时阻尼以实现卫星大角速率有效阻尼;反之,采用按照角速率大小的顺序进行单轴依次阻尼以减少推力器开关机次数。数值仿真结果表明,协同阻尼策略能够有效实现卫星大角速率阻尼,并且有效降低推力器的开机次数和开机时长。