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空间稳定系统壳体翻滚失准角误差精确补偿 被引量:2
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作者 何虔恩 高钟毓 吴秋平 《中国惯性技术学报》 EI CSCD 北大核心 2014年第5期572-575,共4页
壳体翻滚是提高空间稳定系统长时间工作精度的技术手段之一,但其失准角误差将引起速度和姿态扰动。对该误差进行建模、标定与补偿是解决此问题的有效措施。在误差补偿时,由冗余角变化导致的交叉耦合影响对长航时高精度惯导系统是不能... 壳体翻滚是提高空间稳定系统长时间工作精度的技术手段之一,但其失准角误差将引起速度和姿态扰动。对该误差进行建模、标定与补偿是解决此问题的有效措施。在误差补偿时,由冗余角变化导致的交叉耦合影响对长航时高精度惯导系统是不能忽视的。根据壳体翻滚失准角误差矢量的几何投影关系,建立物理平台坐标系(P系)与陀螺三面体坐标系(G 系)之间的坐标转换关系,分析冗余角变化引入的交叉耦合影响,并进行计算机仿真和实际试验。结果表明:冗余角使P系相对G系沿z向的角运动附加极轴壳体翻滚周期分量,其幅值为失准角与冗余角正切函数的乘积;误差补偿考虑这一项,东速、横摇和航向精度十天可提高30%~50%。 展开更多
关键词 空间稳定系统 壳体翻滚失准角 误差补偿 冗余角 交叉耦合
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基于位置和速度观测的空间稳定系统快速对准 被引量:1
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作者 何虔恩 吴秋平 《中国惯性技术学报》 EI CSCD 北大核心 2015年第3期287-292,共6页
空间稳定系统是高精度长航时导航技术的关键,快速对准是其工程应用的重要功能之一。研究了基于位置和速度观测的系统快速对准方法。基于Wahba定姿原理设计平台姿态角的粗估计算法,研究了系统水平通道误差模型的短时可观测性,并据此设计... 空间稳定系统是高精度长航时导航技术的关键,快速对准是其工程应用的重要功能之一。研究了基于位置和速度观测的系统快速对准方法。基于Wahba定姿原理设计平台姿态角的粗估计算法,研究了系统水平通道误差模型的短时可观测性,并据此设计一个可实时估计平台失准角初值、水平位置和速度误差的7维精对准Kalman滤波器。计算机仿真和动态试验结果表明,所述快速对准方法可估计较大的平台失准角(3°量级),同时适用于系泊和海上应急启动情况;在动态条件下精对准2 h,精度即满足指标要求,具有较强的工程应用价值。 展开更多
关键词 空间稳定系统 快速对准 位置和速度观测 KALMAN滤波
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空间稳定系统加速度计在线标校
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作者 何虔恩 高钟毓 吴秋平 《中国惯性技术学报》 EI CSCD 北大核心 2012年第4期491-495,500,共6页
三轴加速度计是惯性导航系统的核心元件之一,其误差对导航精度具有重要影响。提出一种适用于空间稳定系统的加速度计在线标校方法。在三轴加速度计十二系数误差模型基础上,推导比力的模误差与加速度计误差系数之间的关系式。设计一个五... 三轴加速度计是惯性导航系统的核心元件之一,其误差对导航精度具有重要影响。提出一种适用于空间稳定系统的加速度计在线标校方法。在三轴加速度计十二系数误差模型基础上,推导比力的模误差与加速度计误差系数之间的关系式。设计一个五维静态Kalman滤波器进行加速度计组合误差系数的在线标定,并讨论了加速度计组合误差的补偿方法。计算机仿真和多组试验结果表明:采用所提方法,空间稳定系统加速度计误差的标校精度达到1×10-5g量级,所用加速度计的长期稳定性优于1.5×10-5g,对实现高精度导航具有实用价值。 展开更多
关键词 空间稳定系统 三轴加速度计 在线标校 静态Kalman滤波器
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空间稳定型捷联惯导系统静态误差分析 被引量:1
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作者 孙枫 王根 《北京航空航天大学学报》 EI CAS CSCD 北大核心 2012年第9期1144-1148,共5页
定量分析空间稳定型捷联惯导系统的误差传播特性,以便实现惯导系统对战术技术指标及元部件对自身精度指标的设定要求.首先设计了一种用于地球表面导航的船用空间稳定型捷联惯导系统方案,然后通过求解静基座状态下的该种捷联惯导系统误... 定量分析空间稳定型捷联惯导系统的误差传播特性,以便实现惯导系统对战术技术指标及元部件对自身精度指标的设定要求.首先设计了一种用于地球表面导航的船用空间稳定型捷联惯导系统方案,然后通过求解静基座状态下的该种捷联惯导系统误差方程,分析了陀螺常值漂移以及加速度计零偏对空间稳定型捷联惯导系统的影响.理论分析以及实物试验表明陀螺常值漂移会造成经度误差随时间线性增长,其它导航信息按舒勒频率和地球频率等幅振荡传播. 展开更多
关键词 空间稳定型惯导系统 误差分析 周期性 实物试验
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船用空间稳定型惯导系统静基座误差分析 被引量:1
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作者 孙枫 王根 高伟 《应用科技》 CAS 2012年第1期61-64,共4页
推导了用于地球表面导航的船用空间稳定型惯导系统误差方程,通过求解静基座状态下的系统误差方程,分析了各类误差源对空间稳定型惯导系统的影响.理论分析及系统仿真实验表明各误差源中只有陀螺常值漂移会引起随时间而发散的误差,其他误... 推导了用于地球表面导航的船用空间稳定型惯导系统误差方程,通过求解静基座状态下的系统误差方程,分析了各类误差源对空间稳定型惯导系统的影响.理论分析及系统仿真实验表明各误差源中只有陀螺常值漂移会引起随时间而发散的误差,其他误差源只引起周期性振荡误差和常值误差,并且空间稳定型惯导系统的位置误差和速度误差以舒勒频率和地球频率进行传播. 展开更多
关键词 空间稳定型惯导系统 误差分析 舒勒周期 地球周期 静基座
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极区横向地理系空间稳定型惯导算法研究 被引量:2
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作者 程建华 管行 +1 位作者 李鹏程 葛靖宇 《导航定位与授时》 CSCD 2022年第1期68-75,共8页
针对地心惯性系和当地地理系的空间稳定型惯导系统导航算法在极区导航失效的问题,提出了适用于空间稳定型惯导系统的极区导航算法。该算法通过伪经纬网构建了横坐标系参考框架,建立了横向地理系空间稳定型惯导系统力学编排,并在此基础... 针对地心惯性系和当地地理系的空间稳定型惯导系统导航算法在极区导航失效的问题,提出了适用于空间稳定型惯导系统的极区导航算法。该算法通过伪经纬网构建了横坐标系参考框架,建立了横向地理系空间稳定型惯导系统力学编排,并在此基础上重新推导了通用的误差模型。最后,通过极点附近区域与穿越极点区域仿真分析了算法的极区有效性。仿真结果表明该算法在极点附近区域解算的伪航向角误差小于3′,伪经度误差小于4′;在穿越极点区域解算的伪纵摇角、伪横摇角误差小于0.3′,伪航向角误差小于3′,伪东向、伪北向速度误差小于1m/s,伪经度、伪纬度误差小于4.2′。该算法克服了极区导航计算溢出、误差放大等问题,提高了系统的极区导航精度,能够满足极区导航要求。 展开更多
关键词 空间稳定型惯导系统 极区导航 横向地理系 力学编排 误差模型
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轻型钢结构在工程实践中的应用
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作者 樊俐 任艳 《林业科技情报》 2003年第1期10-11,共2页
用于哈尔滨光宇蓄电池有限公司的轻钢结构厂房,它是适合我国设计发展状况的新型结构——轻钢结构;是一次轻钢厂房设计的有益尝试。本文通过对厂房建筑、结构设计分析及经济效益的论述,在结构体系和设计特点等方面作了深入细致的探讨,并... 用于哈尔滨光宇蓄电池有限公司的轻钢结构厂房,它是适合我国设计发展状况的新型结构——轻钢结构;是一次轻钢厂房设计的有益尝试。本文通过对厂房建筑、结构设计分析及经济效益的论述,在结构体系和设计特点等方面作了深入细致的探讨,并提出了建设性意见。 展开更多
关键词 轻钢结构 复合保温压型钢板 门式刚架 空间稳定系统
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重力误差对机载SSINS的影响与补偿方法
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作者 孙枫 王根 《弹箭与制导学报》 CSCD 北大核心 2012年第1期189-191,198,共4页
重力误差对空间稳定型机载惯导系统(space stabilized inertial navigation system,SSINS)的3个通道都存在影响,特征根分析表明重力误差会造成SSINS的导航参数呈指数发散。为克服由重力误差引起的系统发散,采用飞行器上测高设备测量的... 重力误差对空间稳定型机载惯导系统(space stabilized inertial navigation system,SSINS)的3个通道都存在影响,特征根分析表明重力误差会造成SSINS的导航参数呈指数发散。为克服由重力误差引起的系统发散,采用飞行器上测高设备测量的高度值进行重力计算补偿,并从原理上证明了该种重力计算补偿方法的可行性和正确性。最后对理论分析进行了仿真验证,结果表明引入外测高度信息计算重力可以有效的抑制重力误差造成的系统发散,并且该补偿方法不破坏SSINS的舒勒调整条件。 展开更多
关键词 空间稳定型惯导系统 重力误差 外测高度信息 重力补偿
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Spatial and seasonal variations in the trophic spectrum of demersal fish assemblages in Jiaozhou Bay, China 被引量:1
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作者 韩东燕 薛莹 +1 位作者 任一平 麻秋云 《Chinese Journal of Oceanology and Limnology》 SCIE CAS CSCD 2015年第4期934-944,共11页
Trophic structure of fish communities is fundamental for ecosystem-based fisheries management, and trophic spectrum classifies fishes by their positions in food web, which provides a simple summary on the trophic stru... Trophic structure of fish communities is fundamental for ecosystem-based fisheries management, and trophic spectrum classifies fishes by their positions in food web, which provides a simple summary on the trophic structure and ecosystem function. In this study, both fish biomass and abundance trophic spectra were constructed to study the spatial and seasonal variations in the trophic structure of demersal fish assemblages in Jiaozhou Bay, China. Data were collected from four seasonal bottom trawl surveys in Jiaozhou Bay from February to November in 2011. Trophic levels(TLs) of fishes were determined by nitrogen stable isotope analysis. This study indicated that most of these trophic spectra had a single peak at trophic level(TL) of 3.4–3.7, suggesting that demersal fish assemblages of Jiaozhou Bay were dominated by secondary consumers(eg. Pholis fangi and Amblychaeturichthys hexanema). The spatial and seasonal variations of trophic spectra of Jiaozhou Bay reflected the influence of fish reproduction, fishing pressure and migration of fishes. Two-way analysis of variance(ANOVA) showed that seasonal variations in trophic spectra in Jiaozhou Bay were significant(P <0.05), but variations among different areas were not significant( P >0.05). The trophic spectrum has been proved to be a useful tool to monitor the trophic structure of fish assemblages. This study highlighted the comprehensive application of fish biomass and abundance trophic spectra in the study on trophic structure of fish assemblages. 展开更多
关键词 demersal fish assemblage trophic spectrum trophic structure stable isotope analysis Jiaozhou Bay
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Combined Gradient Representations for Generalized Birkhoffian Systems in Event Space and Its Stability Analysis
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作者 WANG Jiahang BAO Siyuan 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2021年第6期967-974,共8页
The combined gradient representations for generalized Birkhoffian systems in event space are studied.Firstly,the definitions of six kinds of combined gradient systems and corresponding differential equations are given... The combined gradient representations for generalized Birkhoffian systems in event space are studied.Firstly,the definitions of six kinds of combined gradient systems and corresponding differential equations are given.Secondly,the conditions under which generalized Birkhoffian systems become combined gradient systems are obtained. Finally,the characteristics of combined gradient systems are used to study the stability of generalized Birkhoffian systems in event space. Seven examples are given to illustrate the results. 展开更多
关键词 generalized Birkhoffian system event space combined gradient systems stability
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Estimation of the electromechanical characteristics of power systems based on a revised stochastic subspace method and the stabilization diagram 被引量:12
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作者 NI JingMin SHEN Chen LIU Feng 《Science China(Technological Sciences)》 SCIE EI CAS 2012年第6期1677-1687,共11页
Estimating low-frequency oscillation modes and the corresponding mode shapes based on ambient data from WAMS measurements has a promising prospect in power system analysis and control.Based on the stochastic subspace ... Estimating low-frequency oscillation modes and the corresponding mode shapes based on ambient data from WAMS measurements has a promising prospect in power system analysis and control.Based on the stochastic subspace method,this paper proposes a revised stochastic subspace method by introducing reference channels,which can estimate the modes and the mode shapes simultaneously with great computational efficiency.Meanwhile,the accuracy of the estimated results is not degraded.To discriminate the real modes from the spurious ones,the stabilization diagram is introduced.A novel algorithm is designed to deal with the stabilization diagram which can detect the real modes automatically.Tests conducted on the IEEE-118 system indicate that the proposed method has good performance in terms of both computational efficiency and accuracy,and has the potential of being used on-line. 展开更多
关键词 electromechanical oscillation ambient data stochastic subspace method reference channels stabilization diagram
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STABILIZATION OF COUPLED PDE-ODE SYSTEMS WITH SPATIALLY VARYING COEFFICIENT
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作者 LI Jian LIU Yungang 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2013年第2期151-174,共24页
The paper is concerned with the stabilization of a class of coupled PDE-ODE systems with spatially varying coefficient,via state-feedback or output-feedback.The system is more general than that of the related literatu... The paper is concerned with the stabilization of a class of coupled PDE-ODE systems with spatially varying coefficient,via state-feedback or output-feedback.The system is more general than that of the related literature due to the presence of the spatially varying coefficient which makes the problem more difficult to solve.By infinite-dimensional backstepping method,both state-feedback and output-feedback stabilizing controllers are explicitly constructed,which guarantee that the closed-loop system is exponentially stable in the sense of certain norm.It is worthwhile pointing out that,in the case of output-feedback,by appropriately choosing the state observer gains,the severe restriction on the ODE sub-system in the existing results is completely removed.A simulation example is presented to illustrate the effectiveness of the proposed method. 展开更多
关键词 Coupled PDE-ODE systems infinite-dimensional backstepping transformation spatially varying coefficient stabilization.
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A formal structure for symbolic reachability analysis of rectangular hybrid systems
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作者 ZHANG HaiBin ZHAO Cheng LI Rong 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2016年第2期347-356,共10页
For symbolic reachability analysis of rectangular hybrid systems, the basic issue is finding a formal structure to represent and manipulate its infinite state spaces. Firstly, this structure must be closed to the reac... For symbolic reachability analysis of rectangular hybrid systems, the basic issue is finding a formal structure to represent and manipulate its infinite state spaces. Firstly, this structure must be closed to the reachability operation which means that reachable states from states expressed by this structure can be presented by it too. Secondly, the operation of finding reachable states with this structure should take as less computation as possible. To this end, a constraint system called rectangular zone is formalized, which is a conjunction of fixed amount of inequalities that compare fixed types of linear expressions with two variables to rational numbers. It is proved that the rectangular zone is closed to those reachability operations-intersection, elapsing of time and edge transition. Since the number of inequalities and the linear expression of each inequality is fixed in rectangular zones, so to obtain reachable rectangular zones, it just needs to change the rational numbers to which these linear expressions need to compare. To represent rectangular zones and unions of rectangular zones, a data structure called three dimensional constraint matrix(TDCM) and a BDD-like structure rectangular hybrid diagram(RHD) are introduced. 展开更多
关键词 rectangular hybrid systems symbolic methods reachability analysis
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