Modified Observation Model in Tightly-Coupled INS/GPS Integration

The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation accuracy and therefore navigation accuracy.Additionally,the conventional observation model（COM）used by the filter may be divergent,which would result into some terrible accuracies of INS/GPS integration navigation in some cases.To improve the navigation accuracy,the linearization accuracy of the COM still needs further improvement.To deal with this issue,the observation model is modified with the linearization of the range and range rate equations in this paper.Compared with COM,the modified observation model（MOM）further considers the difference between the real user position and the position calculated by SINS.To verify the advantages of this model,INS/GPS integrated navigation simulation experiments are conducted with the usage of COM and MOM respectively.According to the simulation results,the positions（velocities）calculated using COM are divergent over time while the others using MOM are convergent,which demonstrates the higher linearization accuracy of MOM.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

Design and Application of Integrated Monitoring Model for Provincial Meteorological Observation Data Transmission

With the development of meteorological services, there are more and more types of real-time observation data, and the timeliness requirements are getting higher and higher. The monitoring methods of existing meteorological observation data transmission can no longer meet the needs. This paper proposes a new monitoring model, namely the “integrated monitoring model” for provincial meteorological observation data transmission. The model can complete the whole network monitoring of meteorological observation data transmission process. Based on this model, the integrated monitoring system for meteorological observation data transmission in Guangdong Province is developed. The system uses Java as the programming language, and integrates J2EE, Hibernate, Quartz, Snmp4j and Slf4j frameworks, and uses Oracle database as the data storage carrier, following the MVC specification and agile development concept. The system development uses four key technologies, including simple network management protocol, network connectivity detection technology, remote host management technology and thread pool technology. The integrated monitoring system has been put into business application. As a highlight of Guangdong’s meteorological modernization, it has played an active role in many major meteorological services.

An Integrated Image Task Planning in Satellite Networks:From Instruction Release and Observation Perspective

The unreasonable observation arrangements in the satellite operation control center(SOCC)may result in the observation data cannot be downloaded as scheduled.Meanwhile,if the operation instructions released by the satellite telemetry tracking center(STTC)for the on-board payloads are not injected on the specific satellites in time,the corresponding satellites cannot perform the observation operations as planned.Therefore,there is an urgent need to design an integrated instruction release,and observation task planning(I-IRO-TP)scheme by efficiently collaborating the SOCC and STTC.Motivated by this fact,we design an interaction mechanism between the SOCC and the STTC,where we first formulate the I-IRO-TP problem as a constraint satisfaction problem aiming at maximizing the number of completed tasks.Furthermore,we propose an interactive imaging task planning algorithm based on the analysis of resource distribution in the STTC during the previous planning periods to preferentially select the observation arcs that not only satisfy the requirements in the observation resource allocation phase but also facilitate the arrangement of measurement and control instruction release.We conduct extensive simulations to demonstrate the effectiveness of the proposed algorithm in terms of the number of completed tasks.

Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints

A new fuzzy adaptive control method is proposed for a class of strict feedback nonlinear systems with immeasurable states and full constraints.The fuzzy logic system is used to design the approximator,which deals with uncertain and continuous functions in the process of backstepping design.The use of an integral barrier Lyapunov function not only ensures that all states are within the bounds of the constraint,but also mixes the states and errors to directly constrain the state,reducing the conservativeness of the constraint satisfaction condition.Considering that the states in most nonlinear systems are immeasurable,a fuzzy adaptive states observer is constructed to estimate the unknown states.Combined with adaptive backstepping technique,an adaptive fuzzy output feedback control method is proposed.The proposed control method ensures that all signals in the closed-loop system are bounded,and that the tracking error converges to a bounded tight set without violating the full state constraint.The simulation results prove the effectiveness of the proposed control scheme.

An Improved Stator Flux Observation Method of Permanent Magnet Synchronous Motor

The stator flux and electromagnetic torque observation is the basis of direct torque controlled permanent magnet synchronous motor( PMSM) drive system. However,the traditional stator flux observer based on voltage model is affected by integral initial values and integral drift,that based on current model is affected by the parameters of PMSM,so a new stator flux observation method is proposed based on an improved secondorder generalized integrator( SOGI). Compared to the stator flux observation method based on the conventional SOGI,the proposed method can not only overcome the influence of integral initial values and integral drift,but also completely eliminate the DC offset's influence. Therefore,the observation accuracy of stator flux is further improved. The simulation and experimental results both show that the proposed method has a higher stator flux and electromagnetic torque observation precision.

Integrated guidance and control design method based on finite-time state observer

A composited integrated guidance and control(IGC) algorithm is presented to tackle the problem of the IGC design in the dive phase for the bank-to-turn(BTT) vehicle with the inaccuracy information of the line-of-sight(LOS) rate. For the sake of theoretical derivation, an IGC model in the pitch plane is established. The high-order finite-time state observer(FTSO), with the LOS angle as the single input, is employed to reconstruct the states of the system online. Besides, a composited IGC algorithm is presented via the fusion of back-stepping and dynamic inverse. Compared with the traditional IGC algorithm, the proposed composited IGC method can attenuate effectively the design conservation of the flight control system, while the LOS rate is mixed with noise. Extensive experiments have been performed to demonstrate that the proposed approach is globally finite-time stable and strongly robust against parameter uncertainty.

Green Air-Ground Integrated Heterogeneous Network in 6G Era

The research of three-dimensional integrated communication technology plays a key role in achieving the ubiquitous connectivity,ultra-high data rates,and emergency communications in the sixth generation(6G)networks.Aerial networking provides a prom⁃ising solution to flexible,scalable,low-cost and reliable coverage for wireless devices.The integration of aerial network and terrestrial network has been an inevitable paradigm in the 6G era.However,energy-efficient communications and networking among aerial net⁃work and terrestrial network face great challenges.This paper is dedicated to discussing green communications of the air-ground integrated heterogeneous network(AGIHN).We first provide a brief introduction to the characteristics of AGIHN in 6G networks.Further,we analyze the challenges of green AGIHN from the aspects of green terrestrial networks and green aerial networks.Finally,several solutions to and key technologies of the green AGIHN are discussed.

Unified parametric approaches for high-order integral observer design for matrix second-order linear systems

A type of high-order integral observers for matrix second-order linear systems is proposed on the basis of generalized eigenstructure assignment via unified parametric approaches. Through establishing two general parametric solutions to this type of generalized matrix second-order Sylvester matrix equations, two unified complete parametric methods for the proposed observer design problem are presented. Both methods give simple complete parametric expressions for the observer gain matrices. The first one mainly depends on a series of singular value decompositions, and is thus numerically simple and reliable; the second one utilizes the fight factorization of the system, and allows eigenvalues of the error system to be set undetermined and sought via certain optimization procedures. A spring-mass-dashpot system is utilized to illustrate the design procedure and show the effect of the proposed approach.

Self-organizing strategy design and validation forintegrated air-ground detection swarm

A self-organized integrated air-ground detection swarmis tentatively applied to achieve reentry vehicle landing detection,such as searching and rescuing a manned spaceship. The detectionswarm consists of multiple unmanned aerial vehicles （UAVs）and unmanned ground vehicles （UGVs）. The UAVs can accessa detected object quickly for high mobility, while the UGVs cancomprehensively investigate the object due to the variety of carriedequipment. In addition, the integrated air-ground detectionswarm is capable of detecting from the ground and the air simultaneously.To accomplish the coordination of the UGVs andUAVs, they are all regarded as individuals of the artificial swarm.Those individuals make control decisions independently of othersbased on the self-organizing strategy. The overall requirements forthe detection swarm are analyzed, and the theoretical model ofthe self-organizing strategy based on a combined individual andenvironmental virtual function is established. The numerical investigationproves that the self-organizing strategy is suitable andscalable to control the detection swarm. To further inspect the engineeringreliability, an experiment set is established in laboratory,and the experimental demonstration shows that the self-organizingstrategy drives the detection swarm forming a close range and multiangularsurveillance configuration of a landing spot.

Conventional and Added-Order Proportional Nonlinear Integral Observers

In this paper, a kind of fire new nonlinear integrator and integral action is proposed. Consequently, a conventional Proportional Nonlinear Integral (P_NI) observer and two kinds of added-order P_NI observers are developed to deal with the uncertain nonlinear system. The conditions on the observer gains to ensure the estimated error to be ultimate boundness, which shrinks to zero as the states and control inputs converge to the equilibrium point, are provided. This means that if the observed system is asymptotically stable, the estimated error dynamics is asymptotically stable, too. Moreover, the highlight point of this paper is that the design of nonlinear integral observer is achieved by linear system theory. Simulation results showed that under the normal and perturbed cases, the pure added-order P_NI observer can effectively deal with the uncertain nonlinearities on both the system dynamics and measured outputs.

Intelligent Data Pre-processing Model in Integrated Ocean Observing Network System

There are a number of dirty data in observation data set derived from integrated ocean observing network system. Thus, the data must be carefully and reasonably processed before they are used for forecasting or analysis. This paper proposes a data pre-processing model based on intelligent algorithms. Firstly, we introduce the integrated network platform of ocean observation. Next, the preprocessing model of data is presemed, and an imelligent cleaning model of data is proposed. Based on fuzzy clustering, the Kohonen clustering network is improved to fulfill the parallel calculation of fuzzy c-means clustering. The proposed dynamic algorithm can automatically f＇md the new clustering center with the updated sample data. The rapid and dynamic performance of the model makes it suitable for real time calculation, and the efficiency and accuracy of the model is proved by test results through observation data analysis.

Adaptive Fractional-Order PID Control for VSC-HVDC Systems via Cooperative Beetle Antennae Search with Offshore Wind Integration

Since the voltage source converter based high voltage direct current(VSC-HVDC)systems owns the features of nonlinearity,strong coupling and multivariable,the classical proportional integral(PI)control is hard to obtain content control effect.Hence,a new perturbation observer based fractional-order PID(PoFoPID)control strategy is designed in this paper for(VSC-HVDC)systems with offshore wind integration,which can efficiently boost the robustness and control performance of entire system.Particularly,it employs a fractional-order PID(FoPID)fra-mework for the sake of compensating the perturbation estimate,which dramatically boost the dynamical responds of the closed-loop system,and the cooperative beetle antennae search(CBAS)algorithm is adopted to quickly and effi-ciently search its best control parameters.Besides,CBAS algorithm is able to efficiently escape a local optimum because of a suitable trade-off between global exploration and local exploitation can be realized.At last,comprehensive case studies are carried out,namely,active and reactive power tracking,5-cycle line-line-line-ground(LLLG)fault,and offshore wind farm integration.Simulation results validate superiorities and effectiveness of PoFoPID control in com-parison of that of PID control and feedback linearization sliding-mode control(FLSMC),respectively.

Robust Fractional-Order Proportional-Integral Observer for Synchronization of Chaotic Fractional-Order Systems

In this paper, we propose a robust fractional-order proportional-integral(FOPI) observer for the synchronization of nonlinear fractional-order chaotic systems. The convergence of the observer is proved, and sufficient conditions are derived in terms of linear matrix inequalities(LMIs) approach by using an indirect Lyapunov method. The proposed FOPI observer is robust against Lipschitz additive nonlinear uncertainty. It is also compared to the fractional-order proportional(FOP) observer and its performance is illustrated through simulations done on the fractional-order chaotic Lorenz system.

Evaluating the Potential Economic Benefits of the New South Wales Node of Australia＇s Integrated Marine Observing System： [NSW-IMOS]

The Integrated Marine Observing System [IMOS] is an Australian national program for observing the oceans around Australia. As one of its important nodes, the New South Wales Integrated Marine Observing System （NSW-IMOS] aims to provide more accurate descriptions of the East Australian Current [EAC]. The purpose of this paper is to evaluate the potential economic benefits from NSW-IMOS. Six related sectors which can potentially be among its main beneficiaries are considered： beach recreation, commercial fishing, recreational fishing, recreational boating, natural hazard predictions, and oil spill mitigation. The 1% constant percentage increase evaluation method is used to estimate the potential economic benefits to these six beneficiaries. By using this method, our study shows that the total potential economic benefit for these sectors is estimated to be $ 6.07 million per year. We consider that this is indicative but not conclusive in demonstrating some of the potential economic benefits that can be provided from information gathered by NSW-IMOS facilities. We conclude with further evaluative approaches that could be used to provide more accurate estimates of potential economic benefits.

Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

A Fine-grained Building Height Control Method for Heritage Areas from the Perspective of Visual Integrity

This study proposes a refined methodology for controlling building heights in heritage areas.In order to protect the visual integrity of the heritage area,buildings should not obstruct the view from important site points and viewpoints to the periphery.By calculating the building height thresholds that buildings should not obscure the view from each viewpoint,the results of which are weighted and superimposed,and the values are extracted to each building unit as a refined building height control guideline.This study takes the Zhoukoudian area as a case study,applies the refined building height control criterion to the Zhoukoudian Site,and relies on this refined criterion to assess the visual integrity of the Zhoukoudian area,so as to realize the scientific planning and monitoring of the Zhoukoudian area.The refined building height control method can be applied to building height planning and visual landscape protection in large heritage areas.

Powertrain Torque Control Based on Torque Observer

To reduce shock during transmission gear shift, a transmission torque feedback closed loop control system is proposed based on the powertrain system model and a torque observer. The ignition time of engine was delayed to reduce transmission output shaft torque during gear shift. In contrast to traditional control method, the closed loop control system based on torque observer can obviously reduce the transmission output shaft torque during gear shift. It can be concluded that by way of torque feedback closed loop control, transmission shift shock can be reduced.

Integration, Quality Assurance, and Usage of Global Aircraft Observations in CRA

This paper presents a detailed description of integration, quality assurance procedure, and usage of global aircraft observations for China's first generation global atmospheric reanalysis(CRA) product(1979–2018). An integration method named "classified integration" is developed. Aircraft observations from nine different sources are integrated into the Integrated Global Meteorological Observation Archive from Aircraft(IGMOAA), a new dataset from the National Meteorological Information Center(NMIC) of the China Meteorological Administration(CMA). IGMOAA consists of global aircraft temperature, wind, and humidity data from the surface to 100 h Pa, extending from 1973 to the present. Compared with observations assimilated in the Climate Forecast System Reanalysis(CFSR) of NCEP,the observation number of IGMOAA increased by 12.9% between 2010 and 2014, mainly as a result of adding more Chinese Aircraft Meteorological Data Relay(AMDAR) data. Complex quality control procedures for aircraft observations of NCEP are applied to detect data errors. Observations are compared with ERA-Interim reanalysis from 1979 to 2018 to investigate data quality of different types and aircraft, and subsequently to develop the blacklists for CRA. IGMOAA data have been assimilated in CRA in 2018 and are real-time updated at the CMA Data-as-a-Service(CMADaa S) platform. For CRA, the fits to observations improve over time. From 1994 to 2018, root-meansquare error(RMSE) of observations relative to CRA background decreases from 1.8 to 1.0℃ for temperature above 300 h Pa, and from 4.5 to 3 m s^(-1) for zonal wind. The RMSE for humidity appears to exhibit an apparent seasonal variation with larger errors in summer and smaller ones in winter.