GNSS receiver autonomous integrity monitoring(RAIM)algorithm based on robust estimation

Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring（RAIM） has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm is only suitable for single fault detection, single GNSS constellation. However, multiple satellite failure should be considered when more than one satellite navigation system are adopted. To detect and exclude multi-fault, most current algorithms perform an iteration procedure considering all possible fault model which lead to heavy computation burden. An alternative RAIM is presented in this paper based on multiple satellite constellations（for example, GPS and Bei Dou（BDS） etc.） and robust estimation for multi-fault detection and exclusion, which can not only detect multi-failures,but also control the influences of near failure observation. Besides, the RAIM algorithm based on robust estimation is more efficient than the current RAIM algorithm for multiple constellation and multiple faults. Finally, the algorithm is tested by GPS/Bei Dou data.

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.

A Dependent-Chance Programming Model for Proactive Scheduling

Proactive scheduling based on expected value model is an effective method to develop robust schedules in consideration of minimizing project cost caused by deviations between realized and planed activity starting times.However,these schedules may be realized with low probabilities.In this paper,a novel model based on dependent-chance programming(DCP) is proposed,considering probability as well as solution robustness.A hybrid intelligent algorithm integrating stochastic simulation and genetic algorithm(GA)is designed to solve the proposed model.Moreover,a numerical example is conducted to reveal the effectiveness of the proposed model and the algorithm.

Robust and low-cost interrogation technique for integrated photonic biochemical sensors based on Mach–Zehnder interferometers

We describe and experimentally demonstrate a measuring technique for Mach–Zehnder interferometer(MZI)based integrated photonic biochemical sensors. Our technique is based on the direct measurement of phase changes between the arms of the MZI, achieved by signal modulation on one of the arms of the interferometer together with pseudoheterodyne detection, and it allows us to avoid the use of costly equipment such as tunable light sources or spectrum analyzers. The obtained output signal is intrinsically independent of wavelength, power variations, and global thermal variations, making it extremely robust and adequate for use in real conditions. Using a silicon-on-insulator MZI, we demonstrate the real-time monitoring of refractive index variations and achieve a detection limit of 4.1 × 10^(-6)refractive index units(RIU).