This paper studies the problem of tracking a ground target for a fixed-wing unmanned aerial vehicle(UAV) based on the proposed guidance law. The algorithm ensures that a UAV continuously overflies the target whether i...This paper studies the problem of tracking a ground target for a fixed-wing unmanned aerial vehicle(UAV) based on the proposed guidance law. The algorithm ensures that a UAV continuously overflies the target whether it is fixed or moving. The requirements of the UAV flight constraints such as bounded airspeed and acceleration are considered. A Lyapunov function is constructed to prove the stability of the proposed guidance law,and parameter design criteria have been developed. Considering the fixed and moving ground targets, numerical simulations are performed to verify the feasibility and benefits of the proposed guidance algorithm.展开更多
A Target State Estimator (TSE) for airborne radar system is proposed in this paper. It is very important for fire control system to obtain accurate estimation of the maneuvering target and the TSE becomes a key link i...A Target State Estimator (TSE) for airborne radar system is proposed in this paper. It is very important for fire control system to obtain accurate estimation of the maneuvering target and the TSE becomes a key link in the integrated Flight/Fire Control (IFFC) system. By adopting the Cartesian coordinates and pseudomeasurements ,the result ed TSE has it s advantages in computation.In addition, by employing accurate range and range-rate redundant filter, the range direction estimations obtained in Cartesian filter are greatly improved. The TSE shows its satisfaCtory performance in the Monte Carlo simulation of the IFFC system.展开更多
针对非合作慢旋卫星的模型重建问题,提出基于飞行时间(time-of-flight,TOF)相机和同时定位与制图(simultaneous localization and mapping,SLAM)的稠密重建方法。基于预先检测与自适应阈值方法提高旋转提取与描述(oriented fast and rot...针对非合作慢旋卫星的模型重建问题,提出基于飞行时间(time-of-flight,TOF)相机和同时定位与制图(simultaneous localization and mapping,SLAM)的稠密重建方法。基于预先检测与自适应阈值方法提高旋转提取与描述(oriented fast and rotated brief,ORB)的特征尺度适应性。利用运动度量方法选取关键帧。利用子模型拼接方法加快重建效率。利用仿真环境制作非合作慢旋卫星的数据集。仿真实验结果表明:该方法能够实现长时间稳定地工作,可在3 min内重建出卫星模型的稠密点云,点云密度大于5000,重建误差小于5 cm。利用机械臂、卫星模型及光学暗室搭建半物理实验系统,表明算法的精度及抗噪声能力基本满足非合作目标感知的任务的需求。展开更多
基金supported by the Aeronautical Science Foundation of China(20160152001)
文摘This paper studies the problem of tracking a ground target for a fixed-wing unmanned aerial vehicle(UAV) based on the proposed guidance law. The algorithm ensures that a UAV continuously overflies the target whether it is fixed or moving. The requirements of the UAV flight constraints such as bounded airspeed and acceleration are considered. A Lyapunov function is constructed to prove the stability of the proposed guidance law,and parameter design criteria have been developed. Considering the fixed and moving ground targets, numerical simulations are performed to verify the feasibility and benefits of the proposed guidance algorithm.
文摘A Target State Estimator (TSE) for airborne radar system is proposed in this paper. It is very important for fire control system to obtain accurate estimation of the maneuvering target and the TSE becomes a key link in the integrated Flight/Fire Control (IFFC) system. By adopting the Cartesian coordinates and pseudomeasurements ,the result ed TSE has it s advantages in computation.In addition, by employing accurate range and range-rate redundant filter, the range direction estimations obtained in Cartesian filter are greatly improved. The TSE shows its satisfaCtory performance in the Monte Carlo simulation of the IFFC system.
文摘针对非合作慢旋卫星的模型重建问题,提出基于飞行时间(time-of-flight,TOF)相机和同时定位与制图(simultaneous localization and mapping,SLAM)的稠密重建方法。基于预先检测与自适应阈值方法提高旋转提取与描述(oriented fast and rotated brief,ORB)的特征尺度适应性。利用运动度量方法选取关键帧。利用子模型拼接方法加快重建效率。利用仿真环境制作非合作慢旋卫星的数据集。仿真实验结果表明:该方法能够实现长时间稳定地工作,可在3 min内重建出卫星模型的稠密点云,点云密度大于5000,重建误差小于5 cm。利用机械臂、卫星模型及光学暗室搭建半物理实验系统,表明算法的精度及抗噪声能力基本满足非合作目标感知的任务的需求。
