采用调谐挠性陀螺的惯性导航系统

一、引言调谐挠性陀螺是一种非液浮、干式、弹性支承机电型陀螺。在国外资料和我国出版的译文中为了区别各种不同结构的挠性接头常用“挠性陀螺”、“动力调谐陀螺”和“振动平衡环式动力调谐挠性陀螺”等多     

多陀螺自动化测试系统研究

针对动力调谐挠性陀螺大批量生产中存在的性能调试和参数标定工作量大的问题，我们专门研制了一套多陀螺自动化测试系统，该系统主要包括多陀螺真空恒温安装基准体、测控台、计算机程控自动化数据采集和仪器等部分，本文着重介绍该系统的组成原理，设计特点和研制成果。     

干式调谐陀螺近似传递函数的实用研究

干式调谐陀螺不仅可以用一个陀螺构成两个输入输出系统,而且与一般液浮积分陀螺不同,由于不需要浮油,所以温度控制精度要求比较低,还有不需要软导线供电等优点。因此美国在80年代初就考虑将其作为捷联惯性基准装置的陀螺,在体积、重量、耗电量、精度及可靠性等方面作了一些改进研究,逐渐进入实用阶段。特别是采用三个干式调谐陀螺作为冗余系统,研制了DRIRU-Ⅰ(冗余惯性基准装置开发-Ⅰ)和DRIRU-Ⅱ(干式转子惯性基准装置-Ⅱ),并最先用于多用途地球探测卫星(Landsat)和ETS-Ⅲ等。在1977年8月发射的探测卫星“旅行者”的姿态控制用的惯性基准装置中也采用了三个干式调谐陀螺。在日本,从1977年开始,由航空宇宙技术研究所和宇宙开发事业团合作研制干式调谐陀螺,对关键性部件挠性接头进行了设计分析和试制。该干式调谐陀螺的第一次试制工作已经完     

四轴挠性陀螺稳定平台装调技术

依据四轴挠性陀螺稳定的基本结构和特点，介绍了建立平台装计基准的方法以及在平台上挠性式加速度计，动力调谐陀螺仪，棱镜组件，电气元件的装调技术，并在误差分析基础上，提出了提高装调精度的技术途径。     

动力调谐陀螺仪数字伺服与数字输出技术

分析了动力调谐陀螺仪数字控制和数字输出的可行性和优点,针对导航系统确定出采样频率4000Hz,采用PCI04和数据采集卡,实现了动力调谐陀螺仪的数字伺服控制和数字输出。该技术可以同时取代传统挠性捷联惯性测量单元中的陀螺伺服电路和陀螺模数转换电路．使IMU体积幅度缩减。原理性验证试验表明,利用该技术数字输出精度达到2-4°／11,全测量范围线性度达到0．01,调节时间8ms,测量范围达到60°／s。     

挠性陀螺组合静态漂移参数标定

主要研究挠性陀螺组合静态参数的标定问题.通过建立陀螺组合测量系统补偿误差模型,推导出陀螺组合需要标定的静态漂移参数.再由挠性陀螺仪静态漂移误差模型,推导挠性陀螺组合静态漂移的标定方法,文中给出了具体的试验方法和数据处理方法.理论分析表明:本文所述的方法能够有效地分离出捷联陀螺组合静态漂移参数,为计算机进行误差补偿提供依据.     

挠性陀螺组合静态漂移参数标定

主要研究挠性陀螺组合静态参数的标定问题。通过建立陀螺组合测量系统补偿误差模型，推导出陀螺组合需要标定的静态漂移参数。再由挠性陀螺仪静态漂移误差模型，推导挠性陀螺组合静态漂移的标定方法，文中给出了具体的试验方法和数据处理方法。理论分析表明：本文所述的方法能够有效地分离出捷联陀螺组合静态漂移参数，为计算机进行误差补偿提供依据。     

多位置对准技术在挠性陀螺捷联系统初始对准中的应用研究

在挠性陀螺捷联系统中，初始对准是影响系统输出精度的重要环节。本文针对挠性陀螺捷联系统的特点，将多位置对准技术应用于挠性陀螺捷联系统，利用分段定常系统可观测性分析理论对系统多位置对准的可观测性进行了全面研究，并采用卡尔曼滤波方法，对姿态误差角和惯性测量元件误差进行了估计，给出了两位置及三位置的方差仿真曲线。仿真结果表明，最优两位置对准不但可以使系统成为完全可观测，而且可以减小对准误差。最优三位置对准可以加速垂直陀螺漂移估计误差的收敛速度，将多位置技术应用于挠性陀螺捷联系统可以提高系统的对准、标定精度。     

陀螺仪的惯性转子支承装置及其制造方法

本发明涉及到陀螺仪的整体技术,特别是关系到美国专利3354726号详细展示的双轴陀螺的改进。由上述美国专利说明书介绍的采用原来挠性接头组合件的陀螺仪,是一种小型、非浮动、自由转子位移型陀螺仪,特别适用于惯性平台及其它类似装置。它是将陀螺转子连结到转子驱动轴的一端,构成独特的无摩擦自由连接挠性接头即支承装置。而挠性接头的作用是将驱动轴的正旋转传递给转子,同时,在接头的中心可以允许转子绕与驱动轴轴线成直角的所有横轴倾斜。     

动カ调谐陀螺键合图建模及控制方法研究

键合图方法是一种统一处理多种能量范畴的工程系统的动态分析图形化方法。本文根据陀螺的结构原理建立了动力调谐陀螺的开环键合图模型,模型能够正确反映陀螺的特性,根据模型设计了陀螺的再平衡回路闭环解耦控制器,应用20-sim软件对结构和控制一体的陀螺闭环模型进行了仿真,仿真结果表明设计的闭环解耦控制器能够显著降低动力调谐陀螺两轴之间的固有耦合作用,结构和控制一体化的建模和仿真方法有利于实现陀螺控制系统的快速设计。     

Nitrosation and Nitration of Tetraacetyldibenzylhexaazaisowurtzitane

Tetraacetyldibenzylhitane (TADBIW) was subjected to debenzylation by nitrosating with inorganic materials available commercially to synthesize tetraacetyldinitrosohexaazaisowurtzitane (TADNSIW). TADNSIW was purified, and its structure was determined by FTIR, 1H NMR, MS and element analysis. The debenzylation reaction of TADBIW gave quantitative benzaldehyde as a by-product. This indicates that the reaction produces an imine cation as an intermediate. Hexanitrohexaazaisowurtzitane (HNIW) was prepared from unpurified TADNSIW with the yield over 96.0 % and the purity more than 98.0 %. And the mechanism of the reaction from TADNSIW to HNIW is proposed to be oxidation of nitroso and nitration of acetyl on the molecule of TADNSIW, This reaction system involved is simple, and the reaction can complete within a short time and under mild conditions. The product can be easily to separate and the waste disposed readily.     

A Robust Algorithm for Watermarking 2D Vector Maps with Low Shape-Distortions

The technique of watermarking has been introduced into 2D vector maps for many potential applications such as protecting the copyright of important GIS （geographical information system） data and tracing the data source of military maps. In most previous works, although the validity of the map data could be preserved during the embedding procedure, the shape-distortions of the map elements are usually neglected which would tend to degrade the invisibility of the watermarking schemes. A shape-preserving algorithm for watermarking 2D vector maps is presented in this paper. A 1D distance sequence extracted from the original map is adopted as the cover data instead of 2D coordinates. A watermark bit is represented by changing the distributions of the cover data. The embedding procedure induces lower shape-distortions than in former works. Experimental results indicate better invisibility of the proposed scheme, as well as its robustness to certain attacks such as map simplification, interpolation, additive noise and most geometric transforms.     

Open Rule-setting System Applied to Conceptual Design of Engines

Open rule-setting method advanced in this paper concentrates on providing designers of engines with a convenient way to express their design innovations and develop the expected prototypes in the early CAD stage, and constitute effective models for the following analysis process of CAE and CAPP. The problems arisen in the process of conceptual design with the traditional experience-based development method are analyzed. Based on those analyses, open rule-setting method is presented and some associated technical problems are discussed. The functional framework of open rule-setting system was built as software engineering methods. The speciality of the engine product as a kind of complex product and the requirement of the engine product based on its structural particularity to rule-setting system are considered carefully. A demonstration is supplied to illustrate how the open rule-setting method enhances the efficiency and quality of the engine conceptual design.     

Research on Linux Network Device Driver

By analyzing the working principle of Linux network device driver, discussing the Linux network driver structure and its key technologies, the general network driver structure and its design methodologies in Linux system are summarized. Through modifying the network device driver of Linux device driver 3rd version snull, c and improving the COW technology, the Zero-Copy technology in Linux （kernel version 2.6.11 ） is implemented. In the end, the success test tells us that the thorough analysis of network device driver is the foundation of many applications, and it also provides a certain improvement to a lot of real applications, even to military application development.     

Method for Measuring Velocity of Warhead Fragments Based on Photoelectric Detection

For measuring velocity and impacting position of single fragment of warhead, a non-contact measuring method is proposed, in which a six-light-screen array, a position indicator, a multi-channel chronograph and a computer are used.The principle of measurement is described. The key device of the system is a light screen array sensor which consists of six light screens allocated with certain geometrical parameters. When the fragment flies through the light screen array, the time of passing through each of the screens is recorded by the multi-channel chronograph. According to the time data and the geometrical parameters of the array, the velocity vector and the location of the fragment can be calculated immediately. The presented method can be used to locate the fragment and to measure the real velocity on its flying direction. It can also be used to measure the velocity of a fragment swarm after the system is engineered further.     

数码电子雷管中影响点火头性能因素分析

阐述了数码电子雷管中,点火药剂细结晶三硝基间苯二酚铅（LTNR）的制备工艺;从点火药剂的种类、加入黏合剂的质量分数、桥丝直径、点火头的电阻值、防潮漆的蘸涂等方面对点火头性能的影响因素进行了探讨;通过震动试验、并联起爆试验、延期精度检测与考核,试验结果表明：一次性合成的细结晶LTNR是制造数码电子雷管点火头较为理想的点火药剂,按技术要求生产的点火头性能指标能够满足行业标准要求。     

Improvement and Experiment of the Reamer in Vibra Cutter Against Wave Edge of Titanium Sheet Alloy Parts

By analyzing the influencing factors of part quality making of sheet alloy of titanium by vibra cutter, the shape of upper reamer is set as cylinder and wedge-shaped form, and the lower reamer as plain and hemicycle form, and its main structural parameters are defined as well. Then it is validated further that such improved vibra cutter reamer can be used to process curve-edged parts of titanium alloy sheet. The experimental result shows that the titanium alloy sheet parts processed by above equipment have no sharpen angles for convex parts and evident crevasse of concave-edged part. In summary, such improvement can eliminate the free-waved edge and improve the manufacture quality of titanium alloy sheet parts greatly.     

Experimental Study on the Small Flyer Initiating Behavior of Fine-grained Explosives

The initiating behavior of fine-grained explosives by small flyer is studied. The diameter of small flyer in this device is 1 ram. The test results indicate that the granularity of explosives has great effect on its flyer initiating sensitivity.The flyer initiating sensitivity of the fine-grained explosives is higher and the critical initiating energy is lower than that of common explosives. For common explosive, the flyer initiating sensitivity increases as the density is reduced. But for the fine-grained explosive, the test results are exactly opposite.     

Algorithm for Multi-laser-target Tracking Based on Clustering Fusion

Multi-laser-target tracking is an important subject in the field of signal processing of laser warners. A clustering method is applied to the measurement of laser warner, and the space-time fusion for measurements in the same cluster is accomplished. Real-time tracking of multi-laser-target and real-time picking of multi-laser-signal are introduced using data fusion of the measurements. A prototype device of the algorithm is built up. The results of experiments show that the algorithm is very effective.     

Influence of Installing Error on the Surface Shape Precision of the Axial Symmetry Aspheric Workpiece in Lapping

A method to calculate the surface shape error, which is caused by the installing error between the workpiece and the lapping tool in the process of form lapping, is proposed. The mathematical model which the installing translation error influences on the workpiece surface shape error is established. The changing rule of the error is simulated through the calculating example of the paraboloid workpiece. The results indicate that the surface shape error of the workpiece is increasing with the increase of the installing translation error, it is also increasing gradually along the center point of the curve surface to the edge, and the influence is severer to the curve surface with great curvature than that of the small curvature when the translation error is the same.