基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

四旋翼长续航飞行模式的设计与实现

更长的飞行时间是四旋翼无人机领域研究热点方向之一;在对实际飞行中瞬时消耗电流和电池电压数据的研究中发现,过大姿态角下电池电量消耗显著提升;为了延长飞行时间和提升电池电量使用效率,提出一种长续航飞行模式;在该模式下,基于现有的角速度串级PID姿态控制器,将飞行加速度的控制算法改为飞行速度控制,限制过大姿态角的操作;在无风、微风和强风环境下的飞行实验表明,长续航飞行模式比传统飞行方式飞行时间增加8%~20%;长续航飞行模式可广泛应用于多种无需快速变换飞行路径,但需要更长飞行时间的的应用场景中。     

Advances in bio-logging techniques and their application to study navigation in wild seabirds

ABSTRACT

This review summarizes the advances in bio-logging technology that enables us to monitor foraging behavior, movement, behavioral performance, physiological performance, and sociality in a wide range of bird species, as well as their habitat. Subsequently, navigation is discussed, using long-distance movements in streaked shearwaters as a case study. Moreover, challenges and future research directions in bio-logging science are presented, with focus on: multimodal recording, big data analysis, feedback logging, low-power consumption and power generation systems, logger effects, and capture–recapture methods.     

Fracture toughness of high strength seamless pipe steel from SE(T) and SE(B) specimens evaluated by different standards

Recently released, BS 8571:2014 standard offers an alternative for the experimental determination of fracture toughness and resistance curves of metallic materials from SE(T) specimens. Similar in stress conditions and constraint to cracked tubes, specimens in SE(T) geometry should yield less conservative toughness values than conventional high‐constraint specimens, such as SE(B) geometry. However, the convention to determine the J‐integral fracture toughness proposed in the new BS standard is different from ASTM standards. In this work, SE(T) and SE(B) specimens of similar dimensions of a tough high‐strength seamless pipe steel were tested following the BS 8571:2014 and ASTM E1820‐16 standards, respectively. Because of the different standardized definitions, SE(T) specimens yield lower fracture toughness than SE(B) specimens, which could lead to more conservative results in structural integrity analysis. This investigation also suggests the introduction of the blunting line concept in the BS 8571:2014 standard in order to minimize this problem.     

基于深度卷积神经网络的视觉里程计研究

视觉里程计利用视频信息来估计相机运动的位姿参数，实现对智能体的定位。传统视觉里程计方法需要特征提取、特征匹配/跟踪、外点剔除、运动估计、优化等流程，解算非常复杂，因此，提出了基于卷积神经网络的方法来实现端对端的单目视觉里程计。借助卷积神经网络对彩色图片自动学习提取图像帧间变化的全局特征，将用于分类的卷积神经网络转化为帧间时序特征网络，通过三层全连接层输出相机的帧间相对位姿参数。在KITTI数据集上的实验结果表明，提出的Deep-CNN-VO模型可以较准确地估计车辆的运动轨迹，证明了方法的可行性。在简化了复杂模型的基础上，与传统的视觉里程计系统相比，该模型的精度也有所提高。     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

浅析火力发电厂汽水系统中内径管与外径管的设计选择

按照管道加工工艺的不同,管道可分为内径控制管和外径控制管。通过热轧工艺生产的外径控制无缝钢管,可满足火力发电厂汽水系统中绝大部分管道的使用要求。对于超(超)临界机组的主蒸汽和高温再热蒸汽管道采用的P91/P92材质的大口径厚壁无缝钢管,由于对材料性能和加工工艺有特殊要求,因此宜采用内径控制管。     

干扰条件下的“北斗”信号解扩重构DOA估计

在干扰条件下，卫星导航抗干扰波束形成算法往往需要卫星信号波达方向（Direction-of-Arrival，DOA）的先验信息。但当存在低信噪比信号或主动干扰源时，常规的DOA估计算法性能急剧下降甚至失效。针对此问题，提出了一种被干扰信号压制的低信噪比“北斗”信号的DOA估计算法。该算法首先通过对接收信号进行子空间投影抑制干扰信号，然后对抑制干扰后的信号进行解扩重构处理，最后通过多重信号分类算法完成对“北斗”信号的DOA估计。仿真结果表明，在干扰信号干信比80 dB条件下，“北斗”信号DOA估计误差在5°以内，为下一步进行波束形成计算提供了高精度的入射角信息。