The Qi Tai Telescope(QTT),which has a 110 m aperture,is planned to be the largest scale steerable tele-scope in the world.Ideally,the telescope’s repeated pointing accuracy error should be less than 2.5 arc seconds(a...The Qi Tai Telescope(QTT),which has a 110 m aperture,is planned to be the largest scale steerable tele-scope in the world.Ideally,the telescope’s repeated pointing accuracy error should be less than 2.5 arc seconds(arcsec);thus,the telescope structure must satisfy ultra-high precision requirements.In this pur-suit,the present research envisages a reverse-design method for the track surface to reduce the difficulty of the telescope’s design and manufacture.First,the distribution characteristics of the test data for the track error were verified using the skewness coefficient and kurtosis coefficient methods.According to the distribution characteristics,the azimuth track error was simulated by a two-scale model.The error of the long period and short amplitude was characterized as large-scale and described by a trigonometric function,while the short period and high amplitude error was characterized as small-scale and simulated by a fractal function.Based on the two-scale model,effect of the error on the pointing accuracy was deduced.Subsequently,the relationship between the root mean square(RMS)of the track error and the RMS of the pointing accuracy error of the telescope was deduced.Finally,the allowable RMS value of the track error was derived from the allowable pointing accuracy errors.To validate the effectiveness of the new design method,two typical radio telescopes(the Green Bank Telescope(GBT)and the Large Millimeter Telescope(LMT))were selected as experimental examples.Through comparison,the theoretical calculated values of the pointing accuracy of the telescope were consistent with the measured values,with a maximum error of less than 10%.展开更多
The sub-land/sub-pit affects the characteristic of the tracking error signal which is generated by the conventional differential phase detection (DPD) method in the signal waveform modulation multi-level (SWML) re...The sub-land/sub-pit affects the characteristic of the tracking error signal which is generated by the conventional differential phase detection (DPD) method in the signal waveform modulation multi-level (SWML) read-only disc. To solve this problem, this paper proposes a new tracking error detection method using amplitude difference. Based on the diffraction theory, the amplitude difference is proportional to the tracking error and is feasible to be used for obtaining the off-track information. The experimental system of the amplitude difference detection method is developed. The experimental results show that the tracking error signal derived from the new method has better performance in uniformity and signal-to-noise ratio than that derived from the conventional DPD method in the SWML read-only disc.展开更多
In order to solve problems in high dynamic environment, a frequency-locked loop (FLL) assisted phase-locked loop (PLL) is put forward for carrier tracking. On the basis of the analysis of discriminators, the total...In order to solve problems in high dynamic environment, a frequency-locked loop (FLL) assisted phase-locked loop (PLL) is put forward for carrier tracking. On the basis of the analysis of discriminators, the total phase error of the tracking loop is analyzed and a general error expression is derived. By using linearization and Jaffe-Rechtin coefficients, the performance of a special first order FLL-assisted second order PLL is analyzed to get a closed expression. Analysis results and simula- tions show that there exist an optimal FLL loop bandwidth and a optimal PLL loop bandwidth which can make the phase jitter much less than that when the PLL is used alone.展开更多
Laser tracking system (LTS) is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the ...Laser tracking system (LTS) is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.展开更多
Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this ...Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.展开更多
This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors ...This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting in virtual reality, like Google Tilt Brush, but cost effectively. Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error. Sensor fusion, Inertial Measurement Unit (IMU), MEMS inertial sensor, Kalman filter based global translational localization systems are studied. It is observed, prevailing approaches consist issues such as stability, random bias drift, noisy acceleration output, position estimation error, robustness or accuracy, cost effectiveness etc. Moreover, issues with motions that do not follow laws of physics, bandwidth, restrictive nature of assumptions, scale optimization for large space are noticed as well. Advantages of such smartphone sensor based position estimation approaches include, less memory demand, very fast operation, making them well suited for real time problems and embedded systems. Being independent of the size of the system, they can work effectively for high dimensional systems as well. Through study of these approaches it is observed, extended Kalman filter gives the highest accuracy with reduced requirement of excess hardware during tracking. It renders better and faster result when used in accelerometer sensor. With the aid of various software, error accuracy can be increased further as well.展开更多
The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-t...The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-to-track association algorithms. Consequently, the influence of radar systematic errors on tracks from different radars, which is described as some rotation and translation, has been analyzed theoretically in this paper. In addition, a novel approach named alignment-correlation method is developed to estimate and reduce this effect, align and correlate tracks accurately without prior registration using phase correlation technique and statistic binary track correlation algorithm. Monte-Carlo simulation results illustrate that the proposed algorithm has good performance in solving the track-to-track association problem with systematic errors in radar network and could provide effective and reliable associated tracks for the next step of registration.展开更多
In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming (ADP) algorithm. Via the system transformat...In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming (ADP) algorithm. Via the system transformation, the optimal tracking problem is transformed into an optimal regulation problem, and then the novel optimal tracking control method is proposed. It is shown that for the iterative ADP algorithm with finite approximation error, the iterative performance index functions can converge to a finite neighborhood of the greatest lower bound of all performance index functions under some convergence conditions. Two examples are given to demonstrate the validity of the proposed optimal tracking control scheme for chaotic systems.展开更多
基金financial support from the National Natural Science Foundation of China (51775402 and U1931139)
文摘The Qi Tai Telescope(QTT),which has a 110 m aperture,is planned to be the largest scale steerable tele-scope in the world.Ideally,the telescope’s repeated pointing accuracy error should be less than 2.5 arc seconds(arcsec);thus,the telescope structure must satisfy ultra-high precision requirements.In this pur-suit,the present research envisages a reverse-design method for the track surface to reduce the difficulty of the telescope’s design and manufacture.First,the distribution characteristics of the test data for the track error were verified using the skewness coefficient and kurtosis coefficient methods.According to the distribution characteristics,the azimuth track error was simulated by a two-scale model.The error of the long period and short amplitude was characterized as large-scale and described by a trigonometric function,while the short period and high amplitude error was characterized as small-scale and simulated by a fractal function.Based on the two-scale model,effect of the error on the pointing accuracy was deduced.Subsequently,the relationship between the root mean square(RMS)of the track error and the RMS of the pointing accuracy error of the telescope was deduced.Finally,the allowable RMS value of the track error was derived from the allowable pointing accuracy errors.To validate the effectiveness of the new design method,two typical radio telescopes(the Green Bank Telescope(GBT)and the Large Millimeter Telescope(LMT))were selected as experimental examples.Through comparison,the theoretical calculated values of the pointing accuracy of the telescope were consistent with the measured values,with a maximum error of less than 10%.
基金Supported by National Basic Research Program of China (973 Program) (2010CB731800) and National Natural Science Foundation of China (60974059, 60736026, 61021063)
基金Project supported by the National Natural Science Foundation of China (Grant No. 60977005)
文摘The sub-land/sub-pit affects the characteristic of the tracking error signal which is generated by the conventional differential phase detection (DPD) method in the signal waveform modulation multi-level (SWML) read-only disc. To solve this problem, this paper proposes a new tracking error detection method using amplitude difference. Based on the diffraction theory, the amplitude difference is proportional to the tracking error and is feasible to be used for obtaining the off-track information. The experimental system of the amplitude difference detection method is developed. The experimental results show that the tracking error signal derived from the new method has better performance in uniformity and signal-to-noise ratio than that derived from the conventional DPD method in the SWML read-only disc.
文摘In order to solve problems in high dynamic environment, a frequency-locked loop (FLL) assisted phase-locked loop (PLL) is put forward for carrier tracking. On the basis of the analysis of discriminators, the total phase error of the tracking loop is analyzed and a general error expression is derived. By using linearization and Jaffe-Rechtin coefficients, the performance of a special first order FLL-assisted second order PLL is analyzed to get a closed expression. Analysis results and simula- tions show that there exist an optimal FLL loop bandwidth and a optimal PLL loop bandwidth which can make the phase jitter much less than that when the PLL is used alone.
基金National Natural Science Foundation of China (No. 50475038).
文摘Laser tracking system (LTS) is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.
文摘Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.
文摘This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting in virtual reality, like Google Tilt Brush, but cost effectively. Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error. Sensor fusion, Inertial Measurement Unit (IMU), MEMS inertial sensor, Kalman filter based global translational localization systems are studied. It is observed, prevailing approaches consist issues such as stability, random bias drift, noisy acceleration output, position estimation error, robustness or accuracy, cost effectiveness etc. Moreover, issues with motions that do not follow laws of physics, bandwidth, restrictive nature of assumptions, scale optimization for large space are noticed as well. Advantages of such smartphone sensor based position estimation approaches include, less memory demand, very fast operation, making them well suited for real time problems and embedded systems. Being independent of the size of the system, they can work effectively for high dimensional systems as well. Through study of these approaches it is observed, extended Kalman filter gives the highest accuracy with reduced requirement of excess hardware during tracking. It renders better and faster result when used in accelerometer sensor. With the aid of various software, error accuracy can be increased further as well.
文摘The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-to-track association algorithms. Consequently, the influence of radar systematic errors on tracks from different radars, which is described as some rotation and translation, has been analyzed theoretically in this paper. In addition, a novel approach named alignment-correlation method is developed to estimate and reduce this effect, align and correlate tracks accurately without prior registration using phase correlation technique and statistic binary track correlation algorithm. Monte-Carlo simulation results illustrate that the proposed algorithm has good performance in solving the track-to-track association problem with systematic errors in radar network and could provide effective and reliable associated tracks for the next step of registration.
基金supported by the Open Research Project from SKLMCCS (Grant No. 20120106)the Fundamental Research Funds for the Central Universities of China (Grant No. FRF-TP-13-018A)+1 种基金the Postdoctoral Science Foundation of China (Grant No. 2013M530527)the National Natural Science Foundation of China (Grant Nos. 61304079, 61125306, and 61034002)
文摘In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming (ADP) algorithm. Via the system transformation, the optimal tracking problem is transformed into an optimal regulation problem, and then the novel optimal tracking control method is proposed. It is shown that for the iterative ADP algorithm with finite approximation error, the iterative performance index functions can converge to a finite neighborhood of the greatest lower bound of all performance index functions under some convergence conditions. Two examples are given to demonstrate the validity of the proposed optimal tracking control scheme for chaotic systems.