A Combined Antenna Array Deployment with High Positioning Accuracy and Low Angular Measurement Error

In this paper,an antenna array composed of circular array and orthogonal linear array is proposed by using the design of long and short baseline“orthogonal linear array”and the circular array ambiguity resolution design of multi-group baseline clustering.The effectiveness of the antenna array in this paper is verified by sufficient simulation and experiment.After the system deviation correction work,it is found that in the L/S/C/X frequency bands,the ambiguity resolution probability is high,and the phase difference system error between each channel is basically the same.The angle measurement error is less than 0.5°,and the positioning error is less than 2.5 km.Notably,as the center frequency increases,calibration consistency improves,and the calibration frequency points become applicable over a wider frequency range.At a center frequency of 11.5 GHz,the calibration frequency point bandwidth extends to 1200 MHz.This combined antenna array deployment holds significant promise for a wide range of applications in contemporary wireless communication systems.

Trajectory shaping guidance law with terminal impact angle constraint

In order to strike hard targets underground or warships and tanks with expected impact angle by missiles or guided bombs, trajectory shaping guidance law with terminal position and impact angle constraints is derived based on linear quadratic optimal control theory. The required accelera- tion expressed by impact angle and heading error is obtained in lag-free guidance system in order to find the optimal relationship of those angles in terminal phase. The adjoint systems of miss distance and impact angle error of first-order guidance system are established based on statistical linearization adjoint method （SLAM） in order to study the impact performances of the guidance law. Simulation results show that the miss distance and impact angle error of trajectory shaping guidance law are both according with the impact position and angle constraint and the required acceleration at impact can be decreased by an optimal relationship of impact angle and heading error.

Dynamics and Attitude Error Analysis for Dock Test System of Small Satellite

To analyze the attitude errors of vertical docking test system of small satellite,the static error and kinematic error of test system are considered.The working principle of test system and coordinate of actuator are introduced.The model of friction torque on the joints and torque on docking mechanism are built.Dynamics equation of actuator is built by the Lagrange equation and the Nielsen equation.Under the condition of 24 different angle groups,the calculation of dynamics equation is built by using MATLAB/SIMULINK platform and the kinematic errors of actuator are obtained.The attitude error models of docking mechanism are built.Results shows that the main angle error sources of yaw,row,pitch are not identical.The attitude error of yaw angle can be decreased by compensating the angle error around xaxis.The attitude error of row angle mainly originates in the system error,and it can be eliminated by adjusting non-orthogonal degree.

Study on Initial Alignment Under Large Misalignment Angle

Misalignment angle error model describing the SINS mathematical platform error is presented in this paper following the idea of small misalignment angle error model and large azimuth misalignment angle error model.It can be considered that the three misalignment angles are independent of the rotational sequence in the misalignment error model,but not suitable in the large misalignment error model.The error angle of Euler platform is used to represent the three misalignment angles from theoretical navigation coordinate system to computational navigation coordinate system.The Euler platform error angle is utilized to represent the mathematical platform error and its physical meaning is very clear.The SINS nonlinear error model is deduced by using the error angle of Euler platform and is simplified under the condition of large azimuth error and small error.The simplified results are more comprehensive and accurate than the large azimuth misalignment error model.The damping SINS algorithm and its error model are proposed to change the structure of the strapdown inertial navigation algorithm by using the external damping information.The accuracy of SINS error model of large Euler platform error angle is simulated,and has strong practicability in initial alignment and is conducive to reducing the amount of calculation.

Penumbra lunar eclipse observations reveal anomalous thermal performance of Lunakhod 2 reflectors

As the signal reflected by the corner-cube reflector arrays is very weak and easily submerged during the full moon,we analyze the influence of the thermal effect of corner-cube reflector arrays on the intensity of lunar laser ranging echo.Laser ranging measurements during the penumbra lunar eclipse verify suspected thermal deformation in the Lunakhod 2 reflectors.Signal levels vary over two orders of magnitude as the penumbra eclipse progresses.This can be explained by the change in the dihedral angle of the corner-cube reflectors caused by the temperature.The results show that when the dihedral angle errors reach 1,the energy is reduced by 100 times compared with the ideal corner-cube reflector.In the experiment,our findings suggest that when the corner-cube reflector arrays enter the penumbra of the earth,the effective echo signal level which reaches 0.18 photons/s far exceeds the historical level of the full moon.However,11 minutes after the penumbra lunar eclipse,the effective echo rate of Lunakhod 2 will drop two orders of magnitude.The mechanism can explain the acute signal deficit observed at full moon.

Key Techniques of Terminal Correction Mortar Projectiles

The operational principle, the impulse force and terminal guidance laws of terminal correction mortar projectiles（TCMP） are researched in this paper, by using the TCMP simulation program, key techniques such as the miss distance influenced by the acting point of impulse force, the impulse force value, the correction threshold, and the number of impulse rockets are researched in this paper. And the dual pulse control scheme is also studied. Simulation results indicate that the best acting point is near the center of gravity, sufficient correction resources are needed, the miss distance is insentive to the correction threshold, increasing the number of impulse rockets properly is beneficial to increase the hit precision, the velocity pursuit guidance law has less miss distance, the change of the attack angle is milder and the transient time becomes less in the dual impulse control scheme. These conclusions are important for choosing parameters and impulse correction schemes designed for TCMP.

EXPLICIT ERROR ESTIMATES FOR MIXED AND NONCONFORMING FINITE ELEMENTS

In this paper, we study the explicit expressions of the constants in the error estimates of the lowest order mixed and nonconforming finite element methods. We start with an explicit relation between the error constant of the lowest order Raviart-Thomas interpolation error and the geometric characters of the triangle. This gives an explicit error constant of the lowest order mixed finite element method. Furthermore, similar results can be ex- tended to the nonconforming P1 scheme based on its close connection with the lowest order Raviart-Thomas method. Meanwhile, such explicit a priori error estimates can be used as computable error bounds, which are also consistent with the maximal angle condition for the optimal error estimates of mixed and nonconforming finite element methods.

Optimal guidance of extended trajectory shaping

To control missile＇s miss distance as well as terminal impact angle, by involving the timeto-go-nth power in the cost function, an extended optimal guidance law against a constant maneuvering target or a stationary target is proposed using the linear quadratic optimal control theory.An extended trajectory shaping guidance（ETSG） law is then proposed under the assumption that the missile-target relative velocity is constant and the line of sight angle is small. For a lag-free ETSG system, closed-form solutions for the missile＇s acceleration command are derived by the method of Schwartz inequality and linear simulations are performed to verify the closed-form results. Normalized adjoint systems for miss distance and terminal impact angle error are presented independently for stationary targets and constant maneuvering targets, respectively. Detailed discussions about the terminal misses and impact angle errors induced by terminal impact angle constraint, initial heading error, seeker zero position errors and target maneuvering, are performed.

Target tracking methods based on a signal-to-noise ratio model

In traditional target tracking methods,the angle error and range error are often measured by the empirical value,while observation noise is a constant.In this paper,the angle error and range error are analyzed.They are influenced by the signalto-noise ratio(SNR).Therefore,a model related to SNR has been established,in which the SNR information is applied for target tracking.Combined with an advanced nonlinear filter method,the extended Kalman filter method based on the SNR model(SNR-EKF)and the unscented Kalman filter method based on the SNR model(SNR-UKF)are proposed.There is little difference between the SNR-EKF and SNR-UKF methods in position precision,but the SNR-EKF method has advantages in computation time and the SNR-UKF method has advantages in velocity precision.Simulation results show that target tracking methods based on the SNR model can greatly improve the tracking performance compared with traditional tracking methods.The target tracking accuracy and convergence speed of the proposed methods have significant improvements.

Reactive Navigation of Underwater Mobile Robot Using ANFIS Approach in a Manifold Manner

Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system（ANFIS）has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace.An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.