An algorithm and observability research of autonomous navigation and joint attitude determination in asteroid exploration descent stage

In this paper, an autonomous relative navigation and joint attitude determination algorithm in asteroid exploration descent stage is researched based on feature point information of perpendicular asteroid surface image observed by optical navigation camera, distance vectors from spacecraft to asteroid measured by three angled installed lidars and relative velocity increment measured by accelerometer when the relative distance vector to the centroid of asteroid can not be obtained. The inertial attitude of spacecraft is determined by sun vector, star vectors and inertial angular velocity respectively measured by sun sensor, star trackers and inertial reference unit. Also, in order to obtain measurement error model transferred from sensor noise, a covariance matrix solver considering error correlation is presented via the error model of normalized vector to first order. Numerical simulation and improved observability evaluation of filtering are undertaken to discuss the results of complete sensor observation and weak observation of lidars, and verify the effectiveness of the presented relative navigation and attitude determination algorithm.     

Adaptive variational models for image decomposition

Image decomposition refers to the splitting of an image into two or more components.In this paper,a clean image is separated into two parts:one is the cartoon component,consisting only of geometric structure,and the other is the oscillatory component,consisting of texture.Three parts for noisy image are considered:cartoon,texture,and noise.To better decompose an image,we propose two new variational models.In our models,two adaptive regularization terms are introduced.The two regularization terms are determined by an adaptive function which can discriminate the cartoon and texture of an image automatically.Experimental results illustrate the efectiveness of the proposed models for image decomposition.     

Guaranteed transient performance based control with input saturation for near space vehicles

This paper describes the design of guaranteed transient performance based attitude control for the near space vehicle(NSV)with control input saturation using the backstepping method.To improve the robust controllability of the NSV,the parameter adaptive method is used to tackle the integrated effect of unknown time-varying disturbance and control input saturation.Based on the backstepping technique and parameter estimated outputs,a robust attitude control scheme is proposed for the NSV with input saturation.A novel robust attitude control scheme is then proposed based on a prescribed performance bound(PPB)which characterizes the convergence rate and maximum overshoot of the attitude tracking error.The closed-loop system stability under both the developed robust attitude control schemes is proved using Lyapunov’s method and uniformly asymptotical convergence of all closed-loop signals is guaranteed.Finally,simulation results are given to show the effectiveness of both the proposed robust constrained attitude control schemes.     

Fractional partial differential equation denoising models for texture image

In this paper,a set of fractional partial differential equations based on fractional total variation and fractional steepest descent approach are proposed to address the problem of traditional drawbacks of PM and ROF multi-scale denoising for texture image.By extending Green,Gauss,Stokes and Euler-Lagrange formulas to fractional field,we can find that the integer formulas are just their special case of fractional ones.In order to improve the denoising capability,we proposed 4 fractional partial differential equation based multiscale denoising models,and then discussed their stabilities and convergence rate.Theoretic deduction and experimental evaluation demonstrate the stability and astringency of fractional steepest descent approach,and fractional nonlinearly multi-scale denoising capability and best value of parameters are discussed also.The experiments results prove that the ability for preserving high-frequency edge and complex texture information of the proposed denoising models are obviously superior to traditional integral based algorithms,especially for texture detail rich images.     

基于雪岭云杉树轮的阿克苏河干流冬季径流重建

基于阿克苏河上游高山区采集的雪岭云杉树轮样芯构建了雪岭云杉树轮宽度年表,结合阿克苏河干流径流数据解析了雪岭云杉长期生长与阿克苏河干流径流关系,并重建了阿克苏河干流1813—2015年冬季径流序列。结果表明:利用雪岭云杉树轮宽度年表重建的阿克苏河干流1813—2015年冬季径流序列模拟值与实测值吻合度较高,重建径流序列稳定可靠;1813—2015年阿克苏河干流冬季多年平均流量为82.19 m~3/s,共出现5次持续丰水期和3次持续枯水期,最长的枯水段持续17年(1943—1959年);阿克苏河干流冬季径流变化存在51 a、29 a、16 a周期,第一主周期为51 a。     

一种基于并联机构的航天器姿态模拟装置的设计开发

航天器发射升空前进行地面测试和试验是航天器研制过程中的重要环节。文中针对一种基于并联机构的姿态模拟装置的设计开发,从位置分析、速度分析和虚拟样机的建造和仿真分析等方面对3UPS-PU并联机构进行研究,完成姿态模拟装置的设计,为航天器装配、试验和测试设备的设计提供一种新的思路。     

斜拉桥肋板式主梁剪力滞效应研究

大跨度斜拉桥剪力滞效应十分突出,在设计和施工过程中应考虑剪力滞效应的影响。根据能量变分原理,推导出肋板式主梁截面的剪力滞系数简易计算公式。以某460米主跨预应力混凝土斜拉桥为研究对象,采用大型空间有限元分析程序MIDAS FEA 3.3进行三维实体有限元数值分析,并与通过能量变分法计算得到的剪力滞系数比较发现,宽度较大的肋板式主梁剪力滞效应突出,且跨中处截面剪力滞系数小,而塔根处的截面剪力滞系数大,在设计和施工过程中应采取必要的措施保证结构安全。     

基于Sage-Hus a方法的旋翼姿态控制

针对传统IM U传感器信息融合方法对外界信息变化不敏感等问题,在分析陀螺仪噪声特性并建立基于A RM A模型的卡尔曼滤波器抑制陀螺仪随机噪声的基础上,将基于Sage‐Husa方法的卡尔曼滤波器作为信息融合算法,增强姿态解算系统的自适应性。为提高Sage‐Husa算法容错性能,提出一种加速度计可信性条件,根据总加速度与重力幅值、方向上的差异来判定是否进行姿态融合。在基于ARM Cortex M4内核的嵌入式系统上实现姿态解算和姿态控制系统,在自制四旋翼飞行器半实物仿真平台上进行的实验结果表明,以上方法降低了姿态静态及动态解算误差,提高了姿态系统状态的跟踪性和适应性,满足复杂运动环境下姿态控制的需求。     

水上无人机自主着水控制系统设计

针对水上无人机在高海况下的着水问题,本文在分析了不同着水阶段特性的基础上,提出了一种自主着水控制系统设计方案.该方案将整个系统分为速度控制子系统和姿态控制子系统.速度控制子系统包含速度动态逆控制器和油门切换模块,姿态控制子系统包含海浪滤波器俯仰角反步控制器、高度PID控制器、俯仰角切换模块和T-S模糊推理模块.其中,海浪滤波器能有效滤除受扰姿态角中的海浪高频扰动,避免了着水之后舵面的频繁抖动;俯仰角反步控制器采用指令滤波的反步法设计,有效缓解了高海况下的舵面饱和问题.最后,在不同海况条件下进行了仿真.仿真结果表明所设计的控制系统具有良好的控制性能.     

运动模糊图像复原算法研究

运动模糊主要是由于成像系统与目标物之间产生了相对运动而成的。在运动模糊图像复原的研究中,运动模糊的点扩散函数(PSF)和复原方法是近年来图像复原中的热点问题。针对含有噪声的运动模糊图像的退化模型和恢复过程进行了研究,叙述了运动模糊图像基本原理,并提出了一种基于变分法求极值的方法并应用了模糊图像限制核函数法的方法解决了变分模型中大多数应用场定义域的有限性,最后根据方法得出实验结果。