Anomaly detection method based on kinematics model and nonholonomic constraint of vehicle

A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.

外部搭载对潜艇操纵性影响的数值研究

为研究外部搭载装置对潜艇操纵性的影响,采用RANS(Reynolds-averaged Navier-Stokes)方法对搭载某水下航行器的SUBOFF潜艇约束模运动进行数值模拟。基于获得的水动力导数,评估外部搭载对潜艇动态稳定性与机动性的影响。首先,对SUBOFF斜航运动水动力参数计算结果进行网格收敛性分析,并将数值结果与试验数据对比,验证数值方法的可靠性。其次,数值预报搭载状态下的SUBOFF潜艇在垂直面与水平面上典型的静态和动态约束模运动的水动力和力矩,并通过拟合曲线求取相应的水动力导数。在此基础上,用操纵性衡准数评估潜艇稳定性与机动性。结果显示,未搭载与搭载状态下的SUBOFF潜艇均不具有稳定性,且在搭载状态下其稳定性会进一步降低;外载装置能改善潜艇垂直面的应舵性和水平面上的回转性。