基于小波变换的两种惯性传感器数据融合

针对光电跟踪系统中两种高低不同带宽的惯性传感器,采用小波滤波的方式滤除噪声,并在此基础上,引入小波系数方差作为信号的特征量,构造低频系数的权值,实现两种不同带宽的惯性传感器信号的融合.通过采用提升小波变换,使设计更为灵活、计算简单、速度更快.最后的实验验证了该算法的有效性,从其结果可以看出,在融合的整个频段,除了在频率的交接处(30～40Hz)有轻微的波动外,在别的频段都与真实数据吻合的比较好.在融合的整个频段,幅值最大衰减为-2.5dB,相移最大滞后大约为30o.     

制导弹药六自由度运动的Simulink建模仿真

利用数字仿真方法验证制导控制系统是现代导弹设计的重要手段,也是后续控制系统六自由度半实物仿真的基础。以某型制导增程弹药为背景,在Matlab/Simulink环境下构建其六自由度弹道仿真模型。将设计好的制导控制算法嵌入六自由度弹道模型中进行验证,仿真结果表明了此快速仿真架构的正确性和制导、控制方案的可行性。     

惯性导航系统陀螺漂移补偿算法研究

分析了几种计算惯导系统导航陀螺漂移的方法，构思了一种组合导航系统模式，在水下即可完成对惯导的校正，对导航陀螺漂移进行补偿。同时还提出了对导航陀螺漂移补偿的优化组合算法。理论分析及计算机仿真结果均表明，应用该组合导航系统可大大提高潜艇的导航定位精度和隐蔽性。     

惯性技术研究现状及发展趋势

基于惯性系统的运动信息动态精确测量技术是现代各类运载体制导与控制的基础,惯性技术是在各种复杂环境条件下自主地建立运动载体的方位、姿态基准的唯一有效手段. 本文介绍了惯性技术的发展历程和近年来国内外惯性技术发展与应用现状,阐述了惯性技术在主要领域的技术研究及应用成果,分析了我国惯性技术与国际先进水平的差距,展望了未来惯性技术的发展趋势.     

不确定非线性系统的非光滑控制及应用

针对一类具有严格反馈结构形式的不确定非线性系统,研究非光滑鲁棒控制问题。在一定的假设条件下,基于backstepping设计方法,设计鲁棒非光滑控制律,证明闭环系统的鲁棒稳定性。将所得结果应用于飞行器的末制导问题,设计非光滑末制导律,并进行数值仿真研究。仿真结果说明了方法的有效性。     

A-SMGCS中的航迹关联设计与实现

针对民航先进场面引导与控制系统(A-SMGCS)下的多传感器航迹关联融合问题,提出一种快速的航迹关联方法.该方法与基于分布式的联邦卡尔曼滤波相结合,构成一种稳定可靠的系统结构,并结合场面监视传感器特性,达到效率与精度的平衡.仿真实验结果表明,该关联方法是有效可行的,且具有较高的精度和处理效率.     

随机共振在惯性传感器信号处理中的应用

针对实际处理惯性传感器信号的特点,根据随机共振利用噪声增强信号传输的特性,对现有随机共振的算法进行分析和改进,提出将随机共振应用于惯性传感器输出信号处理方法,即将随机共振系统与恢复系统相结合组成随机共振滤波系统,并通过改进系统参数和恢复方法以及对Runge-Kutta算法实现惯性传感器信号的滤波处理。最后分别对惯性传感器的静态数据和动态数据进行验证,结果表明改进的算法能有效地消除干扰,有效地改善了输出信号精度。所提出的滤波方法与传统的滤波方法相比有较大的优势,为惯性传感器信号处理提供了一种新的方法,具有实际应用价值。     

Application of position and inertial-rate control to a 2-DOF gyroscopic platform

This paper presents a control application for the inertial stabilization of a gyroscopic platform with two degrees of freedom (2-DOF). The purposes of this application are, first, to control the angular positions of the platform in the absence of inertial disturbances and second, to control velocities measured in an inertial frame, while rejecting the disturbances associated with moving components. With regard to the first objective, a switching-control strategy is proposed in order to reduce the effects of friction as the main source of undesirable non-linear behaviors. Regarding the inertial-rate control, a master–slave control structure is suggested to achieve the desired specifications. Simulation and experimental results are presented, showing the performance attained on a real platform.     

BIC 3, the Latest Inertial Centrifugal Balance for Mass Measurement in Weightless Conditions

The paper describes BIC 3, the latest prototype of inertial balance made at INRIM (former IMGC–CNR) in view of its possible use on board the International Space Station. The main characteristic of this instrument is its ability to work both in weightless conditions and on Earth surface with metrological performances comparable to those of a laboratory-level classic balance. BIC 3, although still based on the same centrifugal method adopted in the two previous prototypes, widely differs from them as regards configuration (constant speed), main motor characteristics (here a stepping motor is used), force transducer (the integral beam of a commercially-available balance), and consequently shows metrological performances considerably improved. The main constructional features are described and the metrological characteristics resulted from on-Earth tests are reported and discussed. A test made of 175 measurements in the range 0–150 g showed an expanded uncertainty of 4.1 mg.     

Design,manufacturing, and performance verification of a Roberts linkage for inertial isolation

There are a number of experimental apparati aimed at the measurement of small forces, whose performance is strictly related to the availability of an isolated inertial frame. This means that one component of the apparatus has to be set in free-fall condition along selected degrees of freedom. Such a free-fall condition can be achieved thanks to dedicated mechanisms acting as inertial isolation systems. The present work discusses the optimal design, realization, and testing of an inertial isolation system implemented as a 3-D Roberts linkage. The first part of the work describes the design phase: the optimal calculation of the linkage design parameters is performed through the application of a Nelder–Mead optimization scheme. In order to apply the optimization scheme, the calculation of the linkage kinematics is firstly performed through a variational approach, then the sampled surface describing the linkage trajectory is approximated by a set of Zernike polynomials, which allows to effectively define and calculate the target function for the optimization itself. The second part of the work describes the detailed design and realization of a linkage prototype, and its chararacterization by means of a coordinate measuring machine. The characterization of the device is carried out by exploiting a coordinate measuring machine, which is unusually employed for both driving the linkage moveable part along its two DoF trajectory, and for measuring the resulting error about the nominal trajectory.