This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver d...This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.展开更多
This paper summarizes the design result of automatic fast-north-seeking system for land vehicle navigator, dealing with principle of system combination hardware and software, as well as error analysis.
A fast U D factorization based Kalman filter for the 21 state integrated global positioning system and inertial navigation system (GPS/INS) is developed from the point of engineering implementation. The conventio...A fast U D factorization based Kalman filter for the 21 state integrated global positioning system and inertial navigation system (GPS/INS) is developed from the point of engineering implementation. The conventional Kalman filter is widely used for integration of GPS/INS, however, due to the model and numerical computation errors, the Kalman filter may diverge in engineering implementation. In order to solve this problem, an extended Kalman filter based on the U D factorization is proposed. Moreover, the high order integrated system suffers from the problem of long computation time, leading to difficulties in real time applications. An algorithmic approach is developed to improve the computational speed. A typical aircraft trajectory is simulated to compare the improvement in the computational speed and the navigation accuracy using the conventional Kalman filter and the fast Kalman filter based on the U D factorization. The results indicate that the methods proposed in this paper are very effective in overcoming these problems for the high dynamic integrated GPS/INS system.展开更多
This letter proposes a method for designing a specific formation of satellites where the flying motion only exists in a circle orbit plane of the reference satellite, which means that the orbit eccentricity is zero. T...This letter proposes a method for designing a specific formation of satellites where the flying motion only exists in a circle orbit plane of the reference satellite, which means that the orbit eccentricity is zero. This method combines the Hill equation, the Kepler equation, and the geometrical inea^ing of orbit elements. It creates the redundancy condition to simplify the deducing process, utilizes multiple conditions to solve the orbit elements for the satellite formation, and obtains the analytical relationship of the orbit elements for the formation satellites with the formation parameters and the orbit elements of the reference satellite. Using these formulations, the orbit elements and formation parameters for the formation satellites can be solved for the given orbit elements of the reference satellite. The letter describes the proposed double-ellipse formation for both GMTI and InSAR, and the validity of the formation is demonstrated via simulation.展开更多
In order to simulate the stress of turbine rotor in aeroengine, based on the ANSYS, the simplification model of the turbine rotor was built up. By applying the simplification model, the contact stress of turbine rotor...In order to simulate the stress of turbine rotor in aeroengine, based on the ANSYS, the simplification model of the turbine rotor was built up. By applying the simplification model, the contact stress of turbine rotor was computed. The maximum contact stress appears at the chamfer below the flank, which agrees with experiment result. At the same time, the contact stress changing with the flank angle and friction coefficient was calculated, The results show that the contact stress in the flank increases slowly with the increase of flank angle; with the friction coefficient increasing, the contact stress in flank length decreases; the contact stress will not change when the friction coefficient is over 0.25.展开更多
In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization mod...In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization modeling, to be used in the preliminary design phase, for the turbine cover plate of an aero-engine. The parameterization modeling of the turbine cover plate is achieved by using commercial CAD （computer aided design） software processing in batch mode. Two main approaches are presented the outer face and the skeleton models. These models can then be integrated into an iterative process for designing optimal shapes. Both models are capable of reproducing existing cover plate with reasonable accuracy in relatively shorter time periods. However, the skeleton approach provides probably the best results in terms of flexibility and accuracy, but increases programming complexity and requires greater run times.展开更多
Expansion of computer technologies allow using numerical simulation in the early stages of aircraft design more and more often. The role of both wind tunnels and initial test flights used to verify the validity of sol...Expansion of computer technologies allow using numerical simulation in the early stages of aircraft design more and more often. The role of both wind tunnels and initial test flights used to verify the validity of solutions seems to be diminishing. Big systems for three-dimensional simulations of Fluid-Structure Interactions （FSI） constitute highly specialized and costly software. Most of the codes are based on many simplifications. In this paper fluid-structure interaction, taking into account the symetric manoeuvre of ultra light plane, is concerned. This phenomenon has important influence in many aeronautical applications. The method and developed system is demonstrated on ultra light I23 plane. For the first flow the comparison with experiment made in Institute of Aviation Warsaw is presented. Finally, aeroelastic simulation of full 123 aircraft configuration presents the capability of used numerical codes to analyze largescale complex geometries for manoeuvre. All computations were carried out in parallel environment for CFD mesh of order of millions tetrahedral elements.展开更多
Objective： To evaluate the accuracy of computer-assisted pedicle screw installation and its clinical benefit as compared with conventional pedicle screw installation techniques. Methods： Total 176 thoracic pedicle s...Objective： To evaluate the accuracy of computer-assisted pedicle screw installation and its clinical benefit as compared with conventional pedicle screw installation techniques. Methods： Total 176 thoracic pedicle screws placed in 42 thoracic fracture patients were involved in the study randomly, 20 patients under conventional fluoroscopic control （84 screws） and 22 patients had screw insertion under three dimensional （3D） computer-assisted navigation （92 screws）. The 2 groups were compared for accuracy of screw placement, time for screw insertion by postoperative thincut CT scans and statistical analysis by χ^2 test. The cortical perforations were then graded by 2-mm increments： Grade Ⅰ （good, no cortical perforation）, Grade Ⅱ （screw outside the pedicle 〈2 mm）, Grade Ⅲ （screw outside the pedicle 〉2 mm）. Results： In computer assisted group, 88 （95.65%） were Grade Ⅰ （good）, 4 （4.35%） were Grade Ⅱ （〈2mm）, no Grade Ⅲ （〉2 mm） violations. In conventional group, there were 14 cortical violations （16.67%）, 70 （83.33%） were Grade Ⅰ （good）, Ⅱ （13.1%） were Grade Ⅱ （〈2 mm）, and 3 （3,57%） were Grade Ⅲ （〉2 mm） violations （P〈0.001）. The number （19.57%） of upper thoracic pedicle screws （ T1-T4 ） inserted under 3D computer-assisted navigation was significantly higher than that （3.57%） by conventional fluoroscopic control （P〈0.001）. Average screw insertion time in conventional group was （4.56 ±1.03） min and （2.54 ± 0.63） min in computer assisted group （P〈0.001）. In the conventional group, one patient had pleura injury and one had a minor dura violation. Conclusions： This study provides further evidence that 3D computer-assisted navigation placement ofpedicle screws can increase accuracy, reduce surgical time, and be performed safely and effectively at all levels of the thoracic spine, particularly upper thoracic spine.展开更多
Objective： To provide a new method in the fixation of sacral fracture by means of three-dimensional reconstruction and reverse engineering technique. Methods： Pelvis image data were obtained from threedimensional C...Objective： To provide a new method in the fixation of sacral fracture by means of three-dimensional reconstruction and reverse engineering technique. Methods： Pelvis image data were obtained from threedimensional CT scan in patients with sacral fracture. The data were transferred into a computer workstation. The threedimensional models of pelvis were reconstructed using Amira 3.1 software and saved in STL format. Then the threedimensional fracture models were imported into Imageware 9.0 software. Different situations of reduction （total reduction, half reduction and non-reduction） were simulated using Imageware 9.0 software. The best direction and location of extract iliosacral lag screws were defined using reverse engineering according to these three situations and navigation templates were designed according to the anatomic features of the postero-iliac part and the channel. The exact navigational template was made by rapid prototyping. Drill guides were sterilized and used intraoperatively to assist in surgical navigation and the placement of iliosacral lag screws. Results： Accurate screw placement was confirmed with postoperative X-ray and CT scanning. The navigation template was found to be highly accurate. Conclusion： The navigation template may be a useful method in minimal-invasive fixation of sacroiliac joint fracture.展开更多
Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinar...Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.展开更多
文摘This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.
文摘This paper summarizes the design result of automatic fast-north-seeking system for land vehicle navigator, dealing with principle of system combination hardware and software, as well as error analysis.
文摘A fast U D factorization based Kalman filter for the 21 state integrated global positioning system and inertial navigation system (GPS/INS) is developed from the point of engineering implementation. The conventional Kalman filter is widely used for integration of GPS/INS, however, due to the model and numerical computation errors, the Kalman filter may diverge in engineering implementation. In order to solve this problem, an extended Kalman filter based on the U D factorization is proposed. Moreover, the high order integrated system suffers from the problem of long computation time, leading to difficulties in real time applications. An algorithmic approach is developed to improve the computational speed. A typical aircraft trajectory is simulated to compare the improvement in the computational speed and the navigation accuracy using the conventional Kalman filter and the fast Kalman filter based on the U D factorization. The results indicate that the methods proposed in this paper are very effective in overcoming these problems for the high dynamic integrated GPS/INS system.
文摘This letter proposes a method for designing a specific formation of satellites where the flying motion only exists in a circle orbit plane of the reference satellite, which means that the orbit eccentricity is zero. This method combines the Hill equation, the Kepler equation, and the geometrical inea^ing of orbit elements. It creates the redundancy condition to simplify the deducing process, utilizes multiple conditions to solve the orbit elements for the satellite formation, and obtains the analytical relationship of the orbit elements for the formation satellites with the formation parameters and the orbit elements of the reference satellite. Using these formulations, the orbit elements and formation parameters for the formation satellites can be solved for the given orbit elements of the reference satellite. The letter describes the proposed double-ellipse formation for both GMTI and InSAR, and the validity of the formation is demonstrated via simulation.
基金Foundation item： Project（1774-107101027） supported by the National Defense Fund of China Project（1343-74236000006） supported by the Graduate Foundation of Flunan Province, China
文摘In order to simulate the stress of turbine rotor in aeroengine, based on the ANSYS, the simplification model of the turbine rotor was built up. By applying the simplification model, the contact stress of turbine rotor was computed. The maximum contact stress appears at the chamfer below the flank, which agrees with experiment result. At the same time, the contact stress changing with the flank angle and friction coefficient was calculated, The results show that the contact stress in the flank increases slowly with the increase of flank angle; with the friction coefficient increasing, the contact stress in flank length decreases; the contact stress will not change when the friction coefficient is over 0.25.
文摘In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization modeling, to be used in the preliminary design phase, for the turbine cover plate of an aero-engine. The parameterization modeling of the turbine cover plate is achieved by using commercial CAD （computer aided design） software processing in batch mode. Two main approaches are presented the outer face and the skeleton models. These models can then be integrated into an iterative process for designing optimal shapes. Both models are capable of reproducing existing cover plate with reasonable accuracy in relatively shorter time periods. However, the skeleton approach provides probably the best results in terms of flexibility and accuracy, but increases programming complexity and requires greater run times.
文摘Expansion of computer technologies allow using numerical simulation in the early stages of aircraft design more and more often. The role of both wind tunnels and initial test flights used to verify the validity of solutions seems to be diminishing. Big systems for three-dimensional simulations of Fluid-Structure Interactions （FSI） constitute highly specialized and costly software. Most of the codes are based on many simplifications. In this paper fluid-structure interaction, taking into account the symetric manoeuvre of ultra light plane, is concerned. This phenomenon has important influence in many aeronautical applications. The method and developed system is demonstrated on ultra light I23 plane. For the first flow the comparison with experiment made in Institute of Aviation Warsaw is presented. Finally, aeroelastic simulation of full 123 aircraft configuration presents the capability of used numerical codes to analyze largescale complex geometries for manoeuvre. All computations were carried out in parallel environment for CFD mesh of order of millions tetrahedral elements.
基金This study was supported by National Natural Science Foundationof China （No. 30772209）.
文摘Objective： To evaluate the accuracy of computer-assisted pedicle screw installation and its clinical benefit as compared with conventional pedicle screw installation techniques. Methods： Total 176 thoracic pedicle screws placed in 42 thoracic fracture patients were involved in the study randomly, 20 patients under conventional fluoroscopic control （84 screws） and 22 patients had screw insertion under three dimensional （3D） computer-assisted navigation （92 screws）. The 2 groups were compared for accuracy of screw placement, time for screw insertion by postoperative thincut CT scans and statistical analysis by χ^2 test. The cortical perforations were then graded by 2-mm increments： Grade Ⅰ （good, no cortical perforation）, Grade Ⅱ （screw outside the pedicle 〈2 mm）, Grade Ⅲ （screw outside the pedicle 〉2 mm）. Results： In computer assisted group, 88 （95.65%） were Grade Ⅰ （good）, 4 （4.35%） were Grade Ⅱ （〈2mm）, no Grade Ⅲ （〉2 mm） violations. In conventional group, there were 14 cortical violations （16.67%）, 70 （83.33%） were Grade Ⅰ （good）, Ⅱ （13.1%） were Grade Ⅱ （〈2 mm）, and 3 （3,57%） were Grade Ⅲ （〉2 mm） violations （P〈0.001）. The number （19.57%） of upper thoracic pedicle screws （ T1-T4 ） inserted under 3D computer-assisted navigation was significantly higher than that （3.57%） by conventional fluoroscopic control （P〈0.001）. Average screw insertion time in conventional group was （4.56 ±1.03） min and （2.54 ± 0.63） min in computer assisted group （P〈0.001）. In the conventional group, one patient had pleura injury and one had a minor dura violation. Conclusions： This study provides further evidence that 3D computer-assisted navigation placement ofpedicle screws can increase accuracy, reduce surgical time, and be performed safely and effectively at all levels of the thoracic spine, particularly upper thoracic spine.
文摘Objective： To provide a new method in the fixation of sacral fracture by means of three-dimensional reconstruction and reverse engineering technique. Methods： Pelvis image data were obtained from threedimensional CT scan in patients with sacral fracture. The data were transferred into a computer workstation. The threedimensional models of pelvis were reconstructed using Amira 3.1 software and saved in STL format. Then the threedimensional fracture models were imported into Imageware 9.0 software. Different situations of reduction （total reduction, half reduction and non-reduction） were simulated using Imageware 9.0 software. The best direction and location of extract iliosacral lag screws were defined using reverse engineering according to these three situations and navigation templates were designed according to the anatomic features of the postero-iliac part and the channel. The exact navigational template was made by rapid prototyping. Drill guides were sterilized and used intraoperatively to assist in surgical navigation and the placement of iliosacral lag screws. Results： Accurate screw placement was confirmed with postoperative X-ray and CT scanning. The navigation template was found to be highly accurate. Conclusion： The navigation template may be a useful method in minimal-invasive fixation of sacroiliac joint fracture.
文摘Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.
