AN IMPROVED ROTATION VECTOR ATTITUDE ALGORITHM FOR LASER STRAP-DOWN INERTIAL NAVIGATION SYSTEM

The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.

Multi-Barycenter Mechanics, N-Body Problem and Rotation of Galaxies and Stars

In the present paper, the establishment of a systematic multi-barycenter mechanics is based on the multi-particle mechanics. The new theory perfects the basic theoretical system of classical mechanics, which finds the law of mutual interaction between particle groups, reveals the limitations of Newton’s third law, discovers the principle of the intrinsic relationship between gravity and tidal force, reasonably interprets the origin and change laws for the rotation angular momentum of galaxies and stars and so on. By applying new theory, the multi-body problem can be transformed into a special two-body problem and for which an approximate solution method is proposed, the motion law of each particle can be roughly obtained.

Research on in-light alignment error model based on quaternion and rotation vector

Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.

On the Rotation of a Vector Field in a Four-Dimensional Space

Recently I published a paper in the journal ALAMT (Advances in Linear Algebra & Matrix Theory) and explored the possibility of obtaining products of vectors in dimensions higher than three [1]. In continuation to this work, it is proposed to develop, through dimensional analogy, a vector field with notation and properties analogous to the curl, in this case applied to the space IR4. One can see how the similarities are obvious in relation to the algebraic properties and the geometric structures, if the rotations are compared in spaces of three and four dimensions.

结合Rotation Forest和MultiBoost的SVM集成方法

针对如何提高集成学习的性能,提出一种结合Rotation Forest和MultiBoost的集成学习方法——利用Ro-tation Forest中旋转变换的思想对原始数据集进行变换,旨在增加分类器间的差异度;利用MultiBoost在变换后的数据集上训练基分类器,旨在提高基分类器的准确度。最后用简单的多数投票法融合各基分类器的决策结果,将其作为集成分类器的输出。为了验证该方法的有效性,在公共数据集UCI上进行了实验,结果显示,该方法可获得较高的分类精度。

Effects of the vibrational and rotational excitation of reagent on the stereodynamics of the reaction S (3P) ＋ H2→ SH ＋ H

Quasiclassical trajectory （QCT） calculations are first carried out to study the stereodynamics of the S （3p） ＋ H2 → SH ＋ H reaction based on the ab initio 13Atr potential energy surface （PES） （Lii etal. 2012 J. Chem. Phys. 136 094308）. The QCT-calculated reaction probabilities and cross sections for the S ＋ H2 （v = 0, j = 0） reaction are in good agreement with the previous quantum mechanics （QM） results. The vector properties including the alignment, orientation, and polarization- dependent differential cross sections （PDDCSs） of the product SH are presented at a collision energy of 1.8 eV. The effects of the vibrational and rotational excitations of reagent on the stereodynamics are also investigated and discussed in the present work. The calculated QCT results indicate that the vibrational and rotational excitations of reagent play an important role in determining the stereodynamic properties of the title reaction.

The effect of the rotational excitation of NO on the stereodynamics for the reaction C(~3P)+NO(X^2Π)→CN(X^2Σ^+)+O(~3P)

The stereodynamic properties of the reaction C （^3P） ＋ NO （X2^П） →CN （X^2∑^＋） ＋ O （^3P） in different rotational states of reactant NO are studied theoretically by using the quasiclassical trajectory method on ^2A″ and ^2A′ potential energy surfaces （PESs） at a collision energy of 0.06 eV. The vector properties in different rotational states on the two surfaces are discussed in detail. The results indicate that the rotational excitation of NO has considerable influence on the stereodynamic property of the reaction occurring on the two surfaces. At the same time, the calculated polarization-dependent differential cross sections （PDDCSs） in different initial rotational states manifest that products are strongly polarized at three scattering angles.

Energy and rotation-dependent stereodynamics of H(~2S) + NH(a^1?) → H_2(X^1Σ_g^+) + N(~2D) reaction

Quasi-classical trajectory calculations are performed to study the stereodynamics of the H（~2S） ＋ NH（a^1？） →H_2（X^1Σ_g~＋） ＋ N（~2D） reaction based on the first excited state NH_2（1~2A＇） potential energy surface reported by Li et al.[Li Y Q and Varandas A J C 2010 J. Phys. Chem. A 114 9644] for the first time. We observe the changes of differential cross-sections at different collision energies and different initial reagent rotational excitations. The influence of collision energy on the k-k＇ distribution can be attributed to a purely impulsive effect. Initial reagent rotational excitation transforms the reaction mechanism from insertion to abstraction. The effect of initial reagent rotational excitations on k-k＇ distribution can be explained by the rotational excitation enlarging the rotational rate of reagent NH in the entrance channel to reduce the probability of collision between incidence H atom and H atom of target molecular. We also investigate the changes of vector correlations and find that the rotational angular momentum vector j＇ of the product H_2 is not only aligned, but also oriented along the y axis. The alignment parameter, the disposal of total angular momentum and the reaction mechanism are all analyzed carefully to explain the polarization behavior of the product rotational angular moment.

Negative refraction in a rotational plasma metamaterial

The features of negative refraction are investigated by using a rotational plasma metamaterial. It is assumed that the plasma metamaterial is composed of plasma and dielectric material periodically. The analytical results show that the plasma density, plasma filling factor, and rotation angle significantly changed the properties of negative refraction. Interestingly, the plasma metamaterial without exhibiting negative refraction effect will show negative refraction when rotating the optical axis of the metamaterial, while the range of incident angle for negative refraction will be reduced or even disappear for the plasma metamaterial exhibiting negative refraction effect when rotating the optical axis. Moreover, the full-angle negative refraction can be obtained by specific rotation angle and plasma density. The effects of plasma density, plasma filling factor and the rotation angle on the properties of THE negative refraction effect are also explored and discussed in detail.

An advanced wind vector retrieval algorithm for the rotating fan-beam scatterometer

The rotating fan-beam scatterometer （RFSCAT） is a new type of satellite scatterometer that is proposed approximately 10 a ago. However, similar to other rotating scatterometers, relatively larger wind retrieval errors occur in the nadir and outer regions compared with the middle regions of the swath. For the RFSCAT with the given parameters, a wind direction retrieval accuracy decreases by approximately 9 in the outer regions compared with the middle region. To address this problem, an advanced wind vector retrieval algorithm for the RFSCAT is presented. The new algorithm features an adaptive extension of the range of wind direction for each wind vector cell position across the whole swath according to the distribution histogram of a retrieved wind direction bias. One hundred orbits of Level 2A data are simulated to validate and evaluate the new algorithm. Retrieval experiments demonstrate that the new advanced algorithm can effectively improve the wind direction retrieval accuracy in the nadir and outer regions of the RFSCAT swath. Approximately 1.6 and 9 improvements in the wind direction retrieval are achieved for the wind vector cells located at the nadir and the edge point of the swath, respectively.

Dynamics of the reaction of O with H_2 and its isotopic variants in different rotational excited states

Scalar properties and vector correlations of the reactions of O＋H2 →OH＋H, O＋HD→OH＋D, O＋DH→OD＋H, and O＋D2 -＋OD＋D at collision energies of 25 and 34.6 kcal/mole have been studied via the quasi-classical-trajectory （QCT） method based on a BMS1 potential energy surface （PES）. The generalized polarization-dependent differential cross section and the distributions of the dihedral angle at the collision energy of 34.6 kacl/mole are presented. The calculated results indicate that both the reagent rotational angular momentum and the mass factor have a significant influence on the scalar properties and vector correlations of the title reactions.

APPLICATION OF VECTOR ROTATING METHOD IN GRINDING INVOLUTE WORM WITH PLANE ENVELOPE METHOD

The grinding principle of plane envelope is demonstrated with the medium rack theory.The basic and general fixing patterns of grinding involute worms with plane envelope method are uniformed.The vector rotating method is originally applied to calculate precisely the grinding wheel fixing angles γ h and γ n under the general fixing pattern.It is proved with experiments that the method is feasible.

Uniquely Decomposable Constellation Group-Based Sparse Vector Coding for Short Packet Communications

Sparse vector coding(SVC)is emerging as a potential technology for short packet communications.To further improve the block error rate(BLER)performance,a uniquely decomposable constellation group-based SVC(UDCG-SVC)is proposed in this article.Additionally,in order to achieve an optimal BLER performance of UDCG-SVC,a problem to optimize the coding gain of UDCG-based superimposed constellation is formulated.Given the energy of rotation constellations in UDCG,this problem is solved by converting it into finding the maximized minimum Euclidean distance of the superimposed constellation.Simulation results demonstrate the validness of our derivation.We also find that the proposed UDCGSVC has better BLER performance compared to other SVC schemes,especially under the high order modulation scenarios.

基于正弦函数拟合的高动态捷联惯导姿态更新算法

为提高捷联惯导在高动态条件下的姿态解算精度,基于等效旋转矢量泰勒级数展开法,提出一种基于正弦函数拟合的高动态捷联惯导姿态更新算法。以正弦函数拟合载体运动角速度,考虑Bortz方程高阶项的影响,对陀螺角增量表示的旋转矢量进行泰勒六阶展开,对比旋转矢量不同形式表达式求得误差补偿系数。在MATLAB平台上,以圆锥运动与大角速率转动并存环境作为仿真条件,对所提算法与传统算法进行对比仿真分析。仿真结果表明,在小半锥角低频圆锥运动伴随高速角速率转动情况下,所提算法性能较好,当半锥角为0.5°、角频率为2.26πrad/s、常值角速率为5.30 rad/s、姿态解算周期为0.02 s时,所提正弦函数拟合三子样旋转矢量算法与传统扩展形式频率级数/显示频率三子样圆锥算法相比误差降低了2个数量级。

基于函数拟合姿态更新方法的足绑式行人导航算法

针对低成本足绑式行人导航系统中航向误差快速发散导致定位精度下降的问题,从降低姿态更新误差的角度出发,基于等效旋转矢量理论和傅里叶展开,提出一种基于函数拟合姿态更新方法的足绑式行人导航算法。首先,以等效旋转矢量法为理论基础,使用正余弦函数拟合足部运动角速度,利用泰勒展开及等式变换求取函数拟合姿态更新方法;随后,结合长短期记忆网络(LSTM)零速检测,设计适用于多种步态的足绑式行人导航算法;最后,以WT901BC IMU为硬件平台开展了多组不同步态的闭环路径验证实验,结果表明,相较于传统基于四元数法或二子样等效旋转矢量法的足绑式行人导航算法,所提方法定位误差平均减小47.66%和42.83%,航向误差平均减小49.99%和44.74%。

利用旋转双目立体相机的桩体倾斜度测量方法

桩体倾斜度监测在沉桩作业中至关重要,现有方法普遍存在安置过程复杂、工作耗时长等典型问题。针对以上问题,以双目立体设备研制为基础,提出了一种基于双目立体视觉的桩体倾斜度测量方法。首先,该方法通过旋转码盘与相机的高精度标定实现利用码盘旋转角度读数来高效计算相机在任意旋转角度的位姿信息。其次,在双目影像同步采集以及高频倾斜角度测量条件下,设计了一种新的利用提取桩体边线几何的方法来拟合桩体中心轴线方向向量,从而快速计算柱体的倾斜度。实验结果表明,该方法可准确计算相机相对位姿以及柱体倾斜度,倾斜度测量精度可达到优于0.1°,且单次自动测量效率优于10 s,相较于常用的全站仪测量方法,其效率可提高6倍以上,能够满足连续高效且高精度的桩体倾斜度测量需求。

基于SORT映射的IRCMFDE在旋转机械故障诊断中的应用

针对旋转机械振动信号的强非线性和非平稳性,导致故障特征提取困难的问题,提出了一种基于SORT映射的改进精细复合多尺度波动散布熵(IRCMFDE)和蝙蝠算法优化的相关向量机(BA-RVM)的旋转机械故障诊断方法。首先,利用SORT映射函数替换了精细复合多尺度波动散布熵(RCMFDE)方法的正态累积分布函数,同时对RCMFDE方法的粗粒化方式进行了改进,提出了基于SORT映射的IRCMFDE方法;随后,利用IRCMFDE方法提取了旋转机械振动信号的故障特征,构造了故障特征集;最后,采用BA-RVM分类器对旋转机械的故障类型进行了智能化的识别和分类;将基于IRCMFDE和BA-RVM的故障诊断方法应用于滚动轴承、离心泵和齿轮箱的实验数据分析,并将其与现有故障诊断方法进行了对比分析。研究结果表明:基于IRCMFDE和BA-RVM的故障诊断方法能够有效地识别旋转机械的故障状态,识别准确率分别达到了100%、98%和99%,相比基于RCMFDE、精细复合多尺度熵、精细复合多尺度模糊熵、精细复合多尺度排列熵和精细复合多尺度散布熵的故障特征提取方法,该故障诊断方法的效率和平均识别准确率均优于对比方法,其更适合应用于旋转机械的在线实时故障监测。

正负序时变幅频旋转矢量及其在三相静止坐标系上投影瞬时值间关系的特征及仿真分析

随着电力电子化并网设备在电力系统中所占比例的大幅增加,电源侧的输出特性明显区别于传统以同步发电机为代表的电源输出特性,电力电子化电力系统故障分析尤其是网络不对称故障分析面临新的挑战。然而现有的故障分析方法基本未认识到设备内电势的时变幅频特征,仅有的基于时变幅频信号提出的时变幅频对称分量法也仅是1组数学化的分解公式,无明确的物理内涵作为方法支撑。针对此,通过分析正/负序时变幅频旋转矢量投影三相瞬时值间关系的特征,诠释了时变幅频对称分量法的物理本质。首先,研究时变幅频内电势旋转矢量的产生机制;然后,基于正/负时变幅频旋转矢量在三相静止坐标系上投影瞬时值特性建立描述各相的旋转相量概念及正/负序三相旋转相量图;最后,基于上述旋转矢量投影等效三相旋转相量的过程建立时变幅频对称分量法的物理内涵,由此将不对称故障点电压等效为正/负序旋转相量,并结合仿真进行分析。分析结果表明,所提故障分析方法为时变幅频内电势激励下网络不对称故障分析提供了基础理论。

基于旋转粒化的逻辑回归算法

逻辑回归(LR)作为监督学习的二元分类广义线性分类器,在处理线性数据方面表现出结构简单、解释性强,拟合效果好的特点。然而,当面对高维、不确定性和线性不可分数据时,逻辑回归的分类效果受到限制。针对逻辑回归的固有缺陷,引入粒计算理论,借助粒化的优势提出一种新型的逻辑回归模型:旋转粒逻辑回归。通过引入旋转粒化理论,在特征两两组合形成的平面坐标系上旋转不同角度,构建旋转粒子,多平面坐标系上粒化构造旋转粒向量。进一步定义粒的大小、度量和运算规则,提出旋转粒逻辑回归的损失函数。通过求解损失函数,得到旋转粒逻辑回归的优化解。最后,采用多个UCI数据集进行实验,从多个评价指标比较的结果表明旋转粒逻辑回归模型的有效性。

精密单点定位结果转换至CGCS2000坐标方法

为了解决精密单点定位结果存在坐标框架历元不明确、时间坐标基准不统一、使用速度场转换精度,导致难以应用到实际工程中的问题,分别采用全域七参数转换法、局域七参数转换法,以及使用点位速度进行转换的基线法、反距离加权法、欧拉矢量法对上海区域利用精密单点定位结果转换至CGCS2000坐标进行研究,并分析了其适用性。结果表明七参数方法精度略高于使用速度进行转换的方法,转换精度达到毫米级,可以满足实际工程中的需要,且局域七参数转换法精度略高于全域七参数转换法。使用速度进行转换的方法中基线法的转换精度最高,可以达到毫米级。在实际工程应用中推荐使用七参数转换方法将精密单点定位结果转换到CGCS2000坐标系下,以充分发挥精密单点定位技术的优势。