基于声呐图像的水下目标检测、识别与跟踪研究综述

水下目标检测、识别和跟踪是具有重要意义的热点研究问题,在军事和民用领域都有重要的应用.鉴于此,对基于声呐图像的水下目标检测、识别和跟踪原理、方法以及典型算法的研究进展进行全面阐述.首先论述基于声呐图像的水下目标检测、图像去噪、图像分割等方面的主要进展以及典型算法和算法扩展;然后对水下目标声呐图像识别中的特征提取、特征分类方法和主要技术难点进行讨论;最后阐述基于水声信号处理和声呐图像信息的水下目标跟踪方法和算法.通过对水下目标处理过程各个过程的深入讨论和对比分析,指出基于声呐图像的水下目标检测、识别和跟踪中急需解决的关键科学问题及可能的解决思路,并对该领域的未来发展方向做进一步的展望.     

Robust least squares support vector machine based on recursive outlier elimination

To achieve robust estimation for noisy data set, a recursive outlier elimination-based least squares support vector machine (ROELS-SVM) algorithm is proposed in this paper. In this algorithm, statistical information from the error variables of least squares support vector machine is recursively learned and a criterion derived from robust linear regression is employed for outlier elimination. Besides, decremental learning technique is implemented in the recursive training–eliminating stage, which ensures that the outliers are eliminated with low computational cost. The proposed algorithm is compared with re-weighted least squares support vector machine on multiple data sets and the results demonstrate the remarkably robust performance of the ROELS-SVM.     

基于递推最小二乘的自适应滤波振动主动控制算法分析

针对自适应滤波X最小均方差(FXLMS)和滤波U最小均方差(FULMS)振动主动控制算法收敛性较为缓慢的问题,给出一种基于递归最小二乘(RLS)方法的自适应滤波控制算法。该算法大致有无限长脉冲响应(IIR)滤波器结构和RLS算法两部分组成,IIR滤波器作为整个算法的主体框架,采用RLS算法针对滤波器的权值进行实时调整,实现了自适应滤波控制算法的功能。仿真对比分析表明,所提算法收敛速度较快。经过实验平台验证,被控对象的整体振动响应下降了65%左右,证明了算法的有效性和可行性。     

Adaptive top-hat filter based on quantum genetic algorithm for infrared small target detection

With the development of infrared technology, infrared small targets detection has attracted great interest of researchers. Top-hat filter is one of widely used methods for detecting infrared small target, and the structure elements have great influence on the performance of detection. The structure elements are desired to be adjusted adaptively. To this end, an adaptive structure elements optimization method based on quantum genetic algorithm (QGA) is introduced, and the convergence of QGA reveals the effectiveness of QGA. Experimental results show that the proposed adaptive top-hat filter based on QGA can achieve more stable infrared small target detection performance compared with the traditional top-hat filter.     

基于递推非线性部分最小二乘模型的间歇过程批到批优化

针对间歇过程控制策略优化问题,提出一种基于递推非线性部分最小二乘(NLPLS)模型的批到批优化方法:首先采用非线性部分最小二乘方法建立软测量模型,根据过程的控制操作变量对最后的产品质量进行预测。然后基于该模型,计算出最优控制策略并在实际装置上实施。为了解决模型和对象失配并且存在未知扰动的问题,采用递推算法,在每个批次结束后根据新得到的数据和旧模型参数对原模型进行更新。然后,重新求解最优控制策略并在对象上实施。通常经过几个批次,控制策略将收敛到一个满意解。在一个间歇过程上进行仿真研究,同时与基于PLS模型的批到批优化算法进行对比,结果表明采用NLPLS模型取得了优于采用PLS模型的结果。     

A revisit to block and recursive least squares for parameter estimation

In this paper, the classical least squares (LS) and recursive least squares (RLS) for parameter estimation have been re-examined in the light of the present day computing capabilities. It has been demonstrated that for linear time-invariant systems, the performance of blockwise least squares (BLS) is always superior to that of RLS. In the context of parameter estimation for dynamic systems, the current computational capability of personal computers are more than adequate for BLS. However, for time-varying systems with abrupt parameter changes, standard blockwise LS may no longer be suitable due to its inefficiency in discarding “old” data. To deal with this limitation, a novel sliding window blockwise least squares approach with automatically adjustable window length triggered by a change detection scheme is proposed. Two types of sliding windows, rectangular and exponential, have been investigated. The performance of the proposed algorithm has been illustrated by comparing with the standard RLS and an exponentially weighted RLS (EWRLS) using two examples. The simulation results have conclusively shown that: (1) BLS has better performance than RLS; (2) the proposed variable-length sliding window blockwise least squares (VLSWBLS) algorithm can outperform RLS with forgetting factors; (3) the scheme has both good tracking ability for abrupt parameter changes and can ensure the high accuracy of parameter estimate at the steady-state; and (4) the computational burden of VLSWBLS is completely manageable with the current computer technology. Even though the idea presented here is straightforward, it has significant implications to virtually all areas of application where RLS schemes are used.     

Iterative and recursive least squares estimation algorithms for moving average systems

An iterative least squares algorithm and a recursive least squares algorithms are developed for estimating the parameters of moving average systems. The key is use the least squares principle and to replace the unmeasurable noise terms in the information vector. The steps and flowcharts of computing the parameter estimates are given. The simulation results validate that the proposed algorithms can work well.     

Weighted least squares based recursive parametric identification for the submodels of a PWARX system

A piecewise affine autoregressive system with exogenous inputs (PWARX) is composed of a finite number of ARX subsystems, each of which corresponds to a polyhedral partition of the regression space. In this work a weighted least squares (WLS) estimator is suggested to recursively estimate the parameters of the ARX submodels, in which a sequence of kernel functions are introduced. Conditions on the input signal and the PWARX system are imposed to guarantee the almost sure convergence of the WLS estimates. Some numerical examples are included to illustrate performances of the algorithm.     

基于动态遗忘因子递推最小二乘算法的船舶航向模型辨识

为提高遗忘因子递推最小二乘（RLS）算法辨识船舶航向运动数学模型参数的快速性和鲁棒性,在分析遗忘因子大小对算法特性影响的基础上,提出一种基于模糊控制的动态遗忘因子RLS算法。该算法从理论模型输出与实际模型输出之间的残差入手来构造评估参数辨识误差大小的评价函数,并将评价函数及其变化率作为模糊控制器的输入,利用模糊控制器结合制定的规则表进行模糊推理并计算遗忘因子的修正量,从而实现遗忘因子的动态调整。仿真结果表明,与恒定遗忘因子RLS算法的对比,该算法能够根据参数辨识误差实时调整遗忘因子的大小,使算法在模型参数平稳时有更高的辨识精度,在模型参数突变时有更快的收敛速度,验证了所提算法的优越性。     

基于偏最小二乘的质量相关多模态故障检测技术

偏最小二乘(PLS)算法通常适用于稳定工况下的工业过程故障检测.在日趋复杂的工业过程中,过程数据通常不满足正态分布,存在非线性、动态、多模态等问题.针对多模态问题,已有大量模态区分方法可用,但这些方法都未考虑质量相关因素,因此并不适用于质量相关类算法.为此,针对质量相关类算法提出新的质量相关模态区分规则,该规则通过核模糊聚类对添加线性递增时间变量的数据在时间方向上进行初步的聚类,再通过质量相关指标进一步准确划分模态;同时,过程复杂化导致静态控制限不能满足故障检测的需求,现存的动态控制限适用范围具有一定的局限性,可通过改进动态控制限将其推广为广义动态综合控制限.实验中,先是基于两种非线性偏最小二乘模型将新方法应用于青霉素发酵过程故障检测中,极大减少了漏报率和误报率.最后,通过数值仿真实验验证了添加线性递增时间变量的合理性.     

基于递推最小二乘的吊舱推进无人水面艇建模与辨识研究

为了研究吊舱推进无人水面艇的建模问题,以响应型数学模型为研究重点,应用系统辨识的方法确定其模型参数。根据MMG分离建模的理论建立吊舱推进无人艇的三自由度平面运动数学模型,然后对作用在艇体的力与推进器推力进行分析与假设,将平面运动数学模型化简为响应型数学模型。在得到响应型模型的基础上,通过实船进行回转实验和Z型实验采集相应数据,然后利用递推最小二乘以及数据拟合的方法对模型参数加以辨识。为了验证辨识结果的正确性,对辨识出的响应模型进行模拟仿真并与实际数据进行比较,结果表明：仿真结果与实际数据的误差在可信范围内,由此证明了系统建模与辨识结果的正确性。     

基于FPGA的逆QR分解SMI算法的并行实现方法

在讨论了逆QR分解(逆正交三角分解)SM(I采样矩阵求逆)自适应波束形成算法的基础上,研究了逆QR分解SMI算法的Systolic阵列(脉动阵列)并行实现结构,分析了组成Systolic阵列的各PE(处理单元)单元的基本运算模块的实现,并给出了逆QR分解SMI算法基于Systolic阵列结构的FPGA(现场可编程门阵列)并行实现方法,提出了系统整体的设计与构架。     

MIMO-OFDM系统中基于QR分解的新型迭代检测算法

结合QR分解的迭代检测算法与连续干扰消除思想提出了一种新型的QR迭代检测算法。该算法充分利用最后检测层分集增益最高、性能最优的特点,在每一次QR分解之后,仅保留最后检测层的判决,在接收信号中消除已判决信号的干扰,并将信道矩阵中已判决信号的列删除,降低信道矩阵列的维数后,进行下一次QR分解,直到所有层的信号都检测出来。分析表明,新型QR迭代检测算法复杂度大约为连续干扰消除算法的1/8,约为传统迭代检测算法的1/2。仿真试验表明,对称系统中新型QR迭代检测算法性能与传统迭代检测算法基本保持一致,都要优于连续干扰消除算法。     

基于蛙人探测声纳序列图像的水下小目标检测算法

针对水下监控系统的小目标检测问题,在分析蛙人探测声纳成像特点的基础上,提出了基于图像二值化和区域生长法的自适应双帧差法.通过将双帧差结果与当前帧的二值化图像进行“与”运算来消除“双影”,然后采用区域生长法消除“空洞”,最后根据检测结果自适应地调整阈值.克服了三帧法和累积帧差法在处理空洞和双影问题时存在较长时延的缺陷,提...     

基于改进偏最小二乘法的多模态过程故障检测方法

针对传统的数据驱动方法偏最小二乘法（PLS）中存在的多模态数据故障检测效果不佳的问题,提出了一种新的故障检测方法——基于局部近邻标准化（LNS）的PLS（LNS-PLS）。首先,利用LNS方法对原始数据进行高斯化处理,在此基础上建立PLS的监控模型,确定T²和平方预测误差（SPE）的控制限;其次,对测试数据同样进行LNS标准化处理,再计算出测试数据的PLS监控指标来进行过程监视及故障检测,解决了PLS中无法处理多模态的问题。将所提方法应用于数值例子和青霉素生产过程,并将其测试结果与主成分分析（PCA）、K最近邻（KNN）、PLS等方法进行对比分析。实验结果表明,所提方法的故障检测效果优于PLS、KNN、PCA,该方法在分类及多模态过程故障检测方面有较高的准确性。     

基于改进粒子滤波的机动目标自适应跟踪算法

在粒子滤波的基础上融合扩展卡尔曼滤波算法,融合后的算法在计算提议概率密度分布时,充分考虑当前时刻的量测,使粒子的分布更加接近状态的后验概率分布.将此改进粒子滤波算法在"当前"统计模型框架下进行机动目标自适应跟踪.仿真实验验证了该种方法对机动目标的良好自适应跟踪性能.     

基于她分解与多项式的无线传感器网络密钥算法

提出了基于QR分解与二元多项式的密钥建立与分配方案。该方案以二元多项式的计算结果作为无线传感器网络的密钥。二元多项式的其中一个参数由对称矩阵进行QR分解生成,节点部署后交换Q矩阵的行信息再与R矩阵的列信息相乘生成多项式的参数。多项式的另一个参数由各自生成的随机数确定。分析结果表明：该方案可以提高存储效率、网络连通性、抗捕获性能,并能提供额外的通信链路验证。     

Virtual metrology and feedback control for semiconductor manufacturing processes using recursive partial least squares

Virtual metrology (VM) is the prediction of metrology variables (either measurable or non-measurable) using process state and product information. In the past few years VM has been proposed as a method to augment existing metrology and has the potential to be used in control schemes for improved process control in terms of both accuracy and speed. In this paper, we propose a VM based approach for process control of semiconductor manufacturing processes on a wafer-to-wafer (W2W) basis. VM is realized by utilizing the pre-process metrology data and more importantly the process data from the underlying tools that is generally collected in real-time for fault detection (FD) purposes. The approach is developed for a multi-input multi-output (MIMO) process that may experience metrology delays, consistent process drifts, and sudden shifts in process drifts. The partial least squares (PLS) modeling technique is applied in a novel way to derive a linear regression model for the underlying process, suitable for VM purposes. A recursive moving-window approach is developed to update the VM module whenever metrology data is available. The VM data is then utilized to develop a W2W process control capability using a common run-to-run control technique. The proposed approach is applied to a simulated MIMO process and the results show considerable improvement in wafer quality as compared to other control solutions that only use lot-to-lot metrology information.     

基于鲁棒容积卡尔曼滤波的自适应目标跟踪算法

目标跟踪系统的观测野值将大大降低滤波算法对目标状态的估计精度.为了解决这个问题,提出了一种基于鲁棒容积卡尔曼滤波的自适应目标跟踪算法.借鉴Huber等价权函数的思想,构造了基于平方根平滑逼近函数的修正因子以抑制观测野值的影响,并结合容积卡尔曼滤波器求解框架推导出该算法.区别于Huber方法对观测残差的每个维度分别进行处理,提出的算法能够对观测残差进行综合评判.理论分析证明所提算法具有更好的数值稳定性.仿真实验表明,所提算法能够自适应地减少异常值的不利影响,与现有算法相比具有更优的滤波性能.在仿真实验中还对几种滤波算法的计算花费进行了比较,发现所提算法未大幅增加计算成本.