基于移动长基线和误差修正算法的多UUV协同导航

在移动长基线（MLBL）定位结构中,虽可利用基于水声传播延迟（TOF）原理获取的量测信息和贝叶斯滤波器（如扩展卡尔曼滤波（EKF））提高低自定位能力无人水下航行器（UUV）的定位精度,但较高的测量误差会降低这种提高的幅度.根据水声通信的特点提出了一种相关性假设并构建了误差修正算法（ECA）,在设定条件下利用误差间的相关性减小量测误差,从而实现量测的粗估计.仿真结果表明,先粗估计量测值再结合贝叶斯滤波器,可显著提高配备低精度自定位传感器的UUV的定位精度.     

共同观测环境多UUV协同导航

协同导航方法是一种利用无人水下航行器(UUV)之间相对位置信息,提高配备低精度自定位传感器个体定位精度的方法。然而个体间相对位置的改变,即协同结构的不同,会导致不同的定位精度。当多个UUV由于相距较近,被在较远处的配备高精度定位传感器的另一UUV上的同一声纳同步观测时,即它们处于"共同观测环境"中,各个UUV所受到的噪声干扰具有相同或相近的性质。因此,可以利用误差间这种相关性对量测信息进行粗估计,再利用合适的滤波器融合粗估计量测与航位推算估计以提高配备低自定位精度传感器UUV位置估计的精度。最后的仿真结果显示了这种处理方法的有效性和一致性。     

电磁环境适应性测量系统的虚拟环境设计与实现

电磁环境适应性测量系统是通过对预期电磁环境场景的"再现",以及电磁作用过程的分析与模拟,性能变化的检查与测量,以达到对目标环境适应能力的综合评价。针对飞行器电磁环境适应性测量系统所涉及的虚拟环境和测量数据的三维显示要求,本文给出了一种在VC++环境下,利用OpenGL与3DSMAX构建复杂模型的方法,完成了复杂虚拟环境的构建与控制,并通过Visual C++与MATLAB的混合编程,借助MATLAB的自带编译器,较为方便地实现了分析数据的三维显示。     

应用小波变换的频谱边缘检测技术研究

频谱感知是认知无线电实现的首要步骤。作为分析奇异点和边缘检测的强大数学工具,小波变换被用于探测和估计局部频谱的不规则变化。针对小波变换实现频谱边缘检测的局限条件,提出一种带内非平稳变化,边界连续变化的频谱边缘检测方法。通过对原始频谱信号进行数据预处理和结果峰值变化特性分析,利用小波变换实现频段的边缘划分,最后进行仿真验证。仿真结果表明:本算法能够将带内不光滑且边界连续变化的频谱有效的划分成若干独立频段,从而实现信号频谱边缘检测。     

Growth of YAG:Ce3+-Al2O3 eutectic ceramic by HDS method and its application for white LEDs

The resin-free YAG:Ce³⁺-Al₂O₃ eutectic ceramic phosphor for white light emitting diodes (WLEDs) was successfully grown in vacuum by Horizontal Directional Solidification method (HDS). X-ray diffraction and scanning electron microscopy indicate that this material has a typical eutectic structure of interpenetrating sapphire and garnet phases. The excitation spectra, emission spectra and temperature characteristics of the eutectic show that it is characterized by a wide excitation band and it has good stability in high temperature. In X-ray photoelectron spectroscopy, annealing in an air atmosphere could eliminate the oxygen vacancies and didn’t change the Ce³⁺ valence in the eutectic. The YAG:Ce³⁺-Al₂O₃ eutectic ceramic with different thickness was fixed in COB (chip on board) element for researching the performance of the WLEDs with the phosphor. The electroluminescence characterization of the WLEDs show that the WLEDs with the eutectic ceramic are more excellent than the common commercial WLEDs.     

Design and implementation of a secure wide-area object middleware

Wide-area service replication is becoming increasingly common, with the emergence of new operational models such as content delivery networks and computational grids. This paper describes the security architecture for Globe, an object-based middleware specifically designed to support dynamic replication of services over wide-area networks. Replication introduces a series of new security issues, including the need to restrict replica privileges with respect to method execution, and protection of distributed objects against malicious hosts running instances of their code. Our modular security design addresses these new threats, as well as a broad range of traditional ones, and is validated through a series of performance measurements. Additional contributions include a novel authentication mechanism specifically designed for wide-area deployment, which combines some of the best features of public key authentication protocols (reliance on an offline trusted third party in particular) with the computational efficiency characteristic to symmetric key schemes.     

利用sigma点卡尔曼滤波的多UUV协同定位

融合无人水下航行器（UUV）内部航位递推估计和外部量测信息的协同定位方法是一种提高只配备低精度自定位装置的UUV定位精度的有效手段。当协同系统结构固定时,滤波器的选择就决定了精度提高的幅度。针对扩展卡尔曼滤波（EKF）在处理非线性系统时具有较大的截断误差和繁琐的计算,提出了使用sigma点卡尔曼滤波（SPKF）的协同定位方法。与EKF相比,无味卡尔曼滤波（UKF）和中心差分卡尔曼滤波（CDKF）具有更好的鲁棒性,在没有增加计算复杂度的基础上进一步提高了UUV的定位精度。仿真比较了采用不同滤波算法的协同定位方法提高定位精度的效果,验证了利用sigma点卡尔曼滤波的多UUV协同定位方法的有效性和一致性。     

Oxide interface studies using second harmonic generation

We report experiments using a non-invasive second harmonic generation (SHG) technique to characterize buried Si/SiO₂ interfaces and also SIMOX thin film silicon-on-insulator (SOI) wafers. The measurements demonstrate that the SHG response can provide an indication of the quality of the buried oxide interfaces, by providing information on surface roughness, strain, defects, and metallic contamination. The potential application of SHG for comprehensive buried interface characterization and as a non-contact metrology tool for process control is described.     

AUV同时定位与跟踪研究

由于低精度航位推算系统带来的累积误差,自治水下航行器（AUV）在未知环境中的定位准确性会随着时间的推移变得越来越差。当环境中有非合作体运动时,AUV不但可利用自身携带的声纳传感器对其探测并利用基于模型的目标跟踪方法估计非合作体轨迹,而且可以同时利用探测到的与非合作体的相对信息来提高自身定位精度。在同时定位与制图（SLAM）方法中的FastSLAM算法框架的基础上提出了同时定位与跟踪（SLAT）算法,即设置多个估计粒子,利用每个粒子中的粒子滤波器（PF）和扩展卡尔曼滤波器（EKF）分别估计AUV和非合作体的轨迹,并能根据实际量测与粒子估计量测之间的差别赋予粒子权值,继而得到多粒子加权的最终估计。最后仿真验证了算法的有效性。     

异时量测序贯处理的多AUV协同导航

利用多个体之间的相对信息提高个体的定位精度的协同导航是一个很值得探讨的问题。自治水下航行器（AUV）在移动长基线（MLBL）网络中获取各应答器的位置信息并解算出相对各应答器的距离量测后,再通过贝叶斯滤波算法集中式提高其定位精度。但是,集中式利用量测的方法没有考虑由于水下环境的宽广性和水下传感器的限制导致的声信号在AUV和应答器间的往返时间内AUV的移动和应答器间位置的差异所带来的影响。首先以并行滤波的形式总结了集中式扩展卡尔曼滤波（EKF）协同导航方法,并针对集中式利用量测的不利因素,提出了按照异时量测的产生顺序即时更新AUV状态的更有效的序贯EKF协同导航算法,最后在仿真中将两种处理方法进行了比较。