With an increasing penetration of wind power in the modern electrical grid, the increasing replacement of large conventional synchronous generators by wind power plants will potentially result in deteriorated frequenc...With an increasing penetration of wind power in the modern electrical grid, the increasing replacement of large conventional synchronous generators by wind power plants will potentially result in deteriorated frequency regulation performance due to the reduced system inertia and primary frequency response. A series of challenging issues arise from the aspects of power system planning,operation, control and protection. Therefore, it is valuable to develop variable speed wind turbines(VSWTs) equipped with frequency regulation capabilities that allow them to effectively participate in addressing severe frequency contingencies. This paper provides a comprehensive surveyon frequency regulation methods for VSWTs. It fully describes the concepts, principles and control strategies of prevailing frequency controls of VSWTs, including future development trends. It concludes with a performance comparison of frequency regulation by the four main types of wind power plants.展开更多
This paper highlights the role of automation technologies for improving the safety, productivity, and environmental sustainability of underground coal mining processes. This is accomplished by reviewing the impact tha...This paper highlights the role of automation technologies for improving the safety, productivity, and environmental sustainability of underground coal mining processes. This is accomplished by reviewing the impact that the introduction of automation technology has made through the longwall shearer automation research program of Longwall Automation Steering Committee(LASC). This result has been achieved through close integration of sensing, processing, and control technologies into the longwall mining process. Key to the success of the automation solution has been the development of new sensing methods to accurately measure the location of longwall equipment and the spatial configuration of coal seam geology. The relevance of system interoperability and open communications standards for facilitating effective automation is also discussed. Importantly, the insights gained through the longwall automation development process are now leading to new technology transfer activity to benefit other underground mining processes.展开更多
To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately, single fading factor Kalman filter is suitable for simple ...To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately, single fading factor Kalman filter is suitable for simple systems. But for complex systems with multi-variable, it may not be sufficient to use single fading factor as a multiplier for the covariance matrices. In this paper, a new multiple fading factors Kalman filtering algorithm is presented. By calculating the unbiased estimate of the innovation sequence covariance using fenestration, the fading factor matrix is obtained. Adjusting the covariance matrix of prediction error Pk｜k-1 using fading factor matrix, the algorithm provides different rates of fading for different filter channels. The proposed algorithm is applied to strapdown inertial navigation system （SINS） initial alignment, and simulation and experimental results demonstrate that, the alignment accuracy can be upgraded dramatically when the actual system noise characteristics are different from the pre-set values. The new algorithm is less sensitive to uncertainty noise and has better estimation effect of the parameters. Therefore, it is of significant value in practical applications.展开更多
A new nonlinear algorithm is proposed for strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation systems. The algorithm employs a nonl...A new nonlinear algorithm is proposed for strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter （UKF） to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle＇s attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm.展开更多
A Kalman filter used in strapdown AHRS (Attitude Heading Reference System) based on micro machined inertial sensors is introduced. The composition and principle of the system are described. The attitude algorithm and ...A Kalman filter used in strapdown AHRS (Attitude Heading Reference System) based on micro machined inertial sensors is introduced. The composition and principle of the system are described. The attitude algorithm and error model of the system are derived based on the quaternion formulation. The real time quaternion based Kalman filter is designed. Simulation results show that accuracy of the system is better than 0.04 degree without disturbance of lateral acceleration and reduced to 0.44 degree with l...展开更多
A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about th...A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about the vertical axis of the vehicle. Then the errors of these sensors will have periodic variation corresponding to components along the body frame. Under this condition, the modulated sensor errors produce reduced system errors. Theoretical analysis based on a new coordinate system defined as sensing frame and test results are presented, and they indicate the method attenuates the navigation errors brought by the gyros' random constant drift and the accelerometer's bias and their white noise compared to the conventional method.展开更多
Pulsed power technology,whereas the electrical energy stored in a relative long period is released in much shorter timescale,is an efficient method to create high energy density physics(HEDP)conditions in laboratory.A...Pulsed power technology,whereas the electrical energy stored in a relative long period is released in much shorter timescale,is an efficient method to create high energy density physics(HEDP)conditions in laboratory.Around the beginning of this century,China Academy of Engineering Physics(CAEP)began to build some experimental facilities for HEDP investigations,among which the Primary Test Stand(PTS),a multi-module pulsed power facility with a nominal current of 10 MA and a current rising time~90 ns,is an important achievement on the roadmap of the electro-magnetically driven inertial confinement fusion(ICF)researches.PTS is the first pulsed power facility beyond 10 TW in China.Therefore,all the technologies have to be demonstrated,and all the engineering issues have to be overcome.In this article,the research outline,key technologies and the preliminary HEDP experiments are reviewed.Prospects on HEDP research on PTS and pulsed power development for the next step are also discussed.展开更多
Optical models directly effect the irradiance distribution of observed surface. Traditionally, approximate Lambertian models are widely used in designing the light-emitting diodes (LED) arrays in spite of their errors...Optical models directly effect the irradiance distribution of observed surface. Traditionally, approximate Lambertian models are widely used in designing the light-emitting diodes (LED) arrays in spite of their errors compared with the experimental data. But now a novel LED optical model for uniform illumination system has been proposed, in which the curvefitting technique is used to reduce the inherited errors and modify those previous models. The points from the curve of the LED light intensity are adopted, and a spline curve is designed for fitting, which obtains the revised mode. To verify its feasibility, we apply the new model in a 4×4 array design. The results show that compared with the approximate Lambertian, the light intensity distribution produced by the fitting model is more uniform and intense, as is expected.展开更多
An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） s...An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.展开更多
Inertial navigation represents a unique method of navigation,in which there is no dependency on external sources of information.As opposed to other position fixing navigation techniques,inertial navigation performs th...Inertial navigation represents a unique method of navigation,in which there is no dependency on external sources of information.As opposed to other position fixing navigation techniques,inertial navigation performs the navigation in a relative sense with respect to the initial navigation state of the moving platform.Hence,inertial navigation systems are not prone to jamming,or spoofing.Inertial navigation systems have developed vastly,from their occurrence in the 1940s up to date.The accuracy of the inertial sensors has improved over time,making inertial sensors sufficient in terms of size,weight,cost,and accuracy for navigation and guidance applications.Within the past few years,inertial sensors have developed from being purely mechanical into incorporating various technologies and taking advantage of numerous physical phenomena,from which the dynamic forces exerted on a moving body could be computed accurately.Besides,the evolution of inertial navigation scheme involved the evolution from stable-platform inertial navigation system,which were mechanically complicated,to computationally demanding strap-down inertial navigation systems.Optical sensory technologies have provided highly accurate inertial sensors,at smaller sizes.Besides,the vibratory inertial navigation technologies enabled the production of Micro-electro-machined inertial sensors that are extremely low-cost,and offer extremely low size,weight and power consumption,making them suitable for a wide range of day-to-day navigation applications.Recently,advanced inertial sensor technologies have been introduced to the industry such as nuclear magnetic resonance technology,coldatom technology,and the reintroduction of fluid-based inertial sensors.On another note,inertial sensor errors constitute a huge research aspect in which it is intended for inertial sensors to reach level in which they could operate for substantially long operation times in the absence of updates from aiding sensors,which would be a huge leap.Inertial sensors error modeling technique展开更多
Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy...Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.展开更多
The SG-Ⅲlaser facility(SG-Ⅲ)is the largest laser driver for inertial confinement fusion(ICF)researches in China,which has 48 beamlines and can deliver 180 kJ ultraviolet laser energy in 3 ns.In order to meet the req...The SG-Ⅲlaser facility(SG-Ⅲ)is the largest laser driver for inertial confinement fusion(ICF)researches in China,which has 48 beamlines and can deliver 180 kJ ultraviolet laser energy in 3 ns.In order to meet the requirements of precise physics experiments,some new functionalities need to be added to SG-Ⅲand some intrinsic laser performances need upgrade.So at the end of SG-Ⅲ's engineering construction,the 2-year laser performance upgrade project started.This paper will introduce the newly added functionalities and the latest laser performance of SG-Ⅲ.With these function extensions and performance upgrade,SG-Ⅲis now fully prepared for precise ICF experiments and solidly paves the way towards fusion ignition.展开更多
Physical processes associated with onset of the 1998 Asian summer monsoon were examined in detail using multi-source datasets. We demonstrated that strong ocean-atmosphere-land interaction in the northern Indian Ocean...Physical processes associated with onset of the 1998 Asian summer monsoon were examined in detail using multi-source datasets. We demonstrated that strong ocean-atmosphere-land interaction in the northern Indian Ocean and tropical Asian area during spring is a fundamental factor that induces the genesis and development of a monsoon onset vortex over the Bay of Bengal （BOB）, with the vortex in turn triggering onset of the Asian summer monsoon. In spring, strong surface sensible heat- ing over India and the Indochina Peninsula is transferred to the atmosphere, forming prominent in situ cyclonic circulation, with anticyclonic circulations over the Arabian Sea and northern BOB where the ocean receives abundant solar radiation. The corresponding surface winds along the North Indian Ocean coastal areas cause the ocean to produce the in situ offshore cur- rents and upwelling, resulting in sea surface temperature （SST） cooling. With precipitation on the Indochina Peninsula in- creasing from late April to early May, the offshore current disappears in the eastern BOB or develops into an onshore current, leading to SST increasing. A southwest-northeast oriented spring BOB warm pool with SST 〉31℃forms in a band from the southeastern Arabian Sea to the eastern BOB. In early May, the Somali cross-equatorial flow forms due to the meridional SST gradient between the two hemispheres, and surface sensible heat over the African land surface. The Somali flow overlaps in phase with the anticyclone over the northern Arabian Sea in the course of its inertial fluctuation along the equator. The con- vergent cold northerlies on the eastern side of the anticyclone cause the westerly in the inertial trough to increase rapidly, so that enhanced sensible heat is released from the sea surface into the atmosphere. The cyclonic vorticity forced by such sensible heating is superimposed on the inertial trough, leading to its further increase in vorticity strength. Since atmospheric inertial motion is destroyed, the flow deviates from t展开更多
An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for t...An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for the alignment in the moving state is established and the observability of the system is analyzed. The results show that the SINS can successfully achieve the precision alignment in 10 min when the vehicle is moving toward the prearranged place after its staying for several seconds to perform the coarse alignment. The precision of alignment can also be improved in the moving state compared with that in the static state.展开更多
To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two diff...To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.展开更多
SG-Ⅲ laser facility is now the largest laser driver for inertial confinement fusion research in China. The whole laser facility can deliver 180 kJ energy and 60 TW power ultraviolet laser onto target, with power bala...SG-Ⅲ laser facility is now the largest laser driver for inertial confinement fusion research in China. The whole laser facility can deliver 180 kJ energy and 60 TW power ultraviolet laser onto target, with power balance better than 10%.We review the laser system and introduce the SG-Ⅲ laser performance here.展开更多
A marine INS/GPS adaptive navigation system is presented. GPS with two antenna providing vessel＇ s altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kal...A marine INS/GPS adaptive navigation system is presented. GPS with two antenna providing vessel＇ s altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kalman filter is the most frequently used algorithm in the integrated navigation system, which is capable of estimating INS errors online based on the measured errors between INS and GPS. The standard Kalman filter （SKF） assumes that the statistics of the noise on each sensor are given. As long as the noise distributions do not change, the Kalman filter will give the optimal estimation. However GPS receiver will be disturbed easily and thus temporally changing measurement noise will join into the outputs of GPS, which will lead to performance degradation of the Kalman filter. Many researchers introduce fuzzy logic control method into innovation-based adaptive estimation adaptive Kalman filtering （IAE-AKF） algorithm, and accordingly propose various adaptive Kalman filters. However how to design the fuzzy logic controller is a very complicated problem still without a convincing solution. A novel IAE-AKF is proposed herein, which is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence of the filter gain. The approach is direct and simple without having to establish fuzzy inference rules. After having deduced the proposed IAEAKF algorithm theoretically in detail, the approach is tested by the simulation based on the system error model of the developed INS/GPS integrated marine navigation system. Simulation results show that the adaptive Kalman filter outperforms the SKF with higher accuracy, robustness and less computation. It is demonstra- ted that this proposed approach is a valid solution for the unknown changing measurement noise exited in the Kalman filter.展开更多
基金supported in part by the National Natural Science Foundation of China (Nos.61428301,61433004 and 61627809)
文摘With an increasing penetration of wind power in the modern electrical grid, the increasing replacement of large conventional synchronous generators by wind power plants will potentially result in deteriorated frequency regulation performance due to the reduced system inertia and primary frequency response. A series of challenging issues arise from the aspects of power system planning,operation, control and protection. Therefore, it is valuable to develop variable speed wind turbines(VSWTs) equipped with frequency regulation capabilities that allow them to effectively participate in addressing severe frequency contingencies. This paper provides a comprehensive surveyon frequency regulation methods for VSWTs. It fully describes the concepts, principles and control strategies of prevailing frequency controls of VSWTs, including future development trends. It concludes with a performance comparison of frequency regulation by the four main types of wind power plants.
文摘This paper highlights the role of automation technologies for improving the safety, productivity, and environmental sustainability of underground coal mining processes. This is accomplished by reviewing the impact that the introduction of automation technology has made through the longwall shearer automation research program of Longwall Automation Steering Committee(LASC). This result has been achieved through close integration of sensing, processing, and control technologies into the longwall mining process. Key to the success of the automation solution has been the development of new sensing methods to accurately measure the location of longwall equipment and the spatial configuration of coal seam geology. The relevance of system interoperability and open communications standards for facilitating effective automation is also discussed. Importantly, the insights gained through the longwall automation development process are now leading to new technology transfer activity to benefit other underground mining processes.
基金Pre-research Foundation of PLA General Armaments Department （51309010602） National Natural Science Foundation of China （60774002）
文摘To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately, single fading factor Kalman filter is suitable for simple systems. But for complex systems with multi-variable, it may not be sufficient to use single fading factor as a multiplier for the covariance matrices. In this paper, a new multiple fading factors Kalman filtering algorithm is presented. By calculating the unbiased estimate of the innovation sequence covariance using fenestration, the fading factor matrix is obtained. Adjusting the covariance matrix of prediction error Pk｜k-1 using fading factor matrix, the algorithm provides different rates of fading for different filter channels. The proposed algorithm is applied to strapdown inertial navigation system （SINS） initial alignment, and simulation and experimental results demonstrate that, the alignment accuracy can be upgraded dramatically when the actual system noise characteristics are different from the pre-set values. The new algorithm is less sensitive to uncertainty noise and has better estimation effect of the parameters. Therefore, it is of significant value in practical applications.
基金supported by the National Natural Science Foundation of China (60535010)
文摘A new nonlinear algorithm is proposed for strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation systems. The algorithm employs a nonlinear system error model which can be modified by unscented Kalman filter （UKF） to give predictions of local filters. And these predictions can be fused by the federated Kalman filter. In the system error model, the rotation vector is introduced to denote vehicle＇s attitude and has less variables than the quaternion. Also, the UKF method is simplified to estimate the system error model, which can both lead to less calculation and reduce algorithm implement time. In the information fusion section, a modified federated Kalman filter is proposed to solve the singular covariance problem. Specifically, the new algorithm is applied to maneuvering vehicles, and simulation results show that this algorithm is more accurate than the linear integrated navigation algorithm.
文摘A Kalman filter used in strapdown AHRS (Attitude Heading Reference System) based on micro machined inertial sensors is introduced. The composition and principle of the system are described. The attitude algorithm and error model of the system are derived based on the quaternion formulation. The real time quaternion based Kalman filter is designed. Simulation results show that accuracy of the system is better than 0.04 degree without disturbance of lateral acceleration and reduced to 0.44 degree with l...
文摘A method of improving the navigation accuracy of strapdown inertial navigation system (SINS) is studied. The particular technique discussed involves the continuous rotation of gyros and accelerometers cluster about the vertical axis of the vehicle. Then the errors of these sensors will have periodic variation corresponding to components along the body frame. Under this condition, the modulated sensor errors produce reduced system errors. Theoretical analysis based on a new coordinate system defined as sensing frame and test results are presented, and they indicate the method attenuates the navigation errors brought by the gyros' random constant drift and the accelerometer's bias and their white noise compared to the conventional method.
文摘Pulsed power technology,whereas the electrical energy stored in a relative long period is released in much shorter timescale,is an efficient method to create high energy density physics(HEDP)conditions in laboratory.Around the beginning of this century,China Academy of Engineering Physics(CAEP)began to build some experimental facilities for HEDP investigations,among which the Primary Test Stand(PTS),a multi-module pulsed power facility with a nominal current of 10 MA and a current rising time~90 ns,is an important achievement on the roadmap of the electro-magnetically driven inertial confinement fusion(ICF)researches.PTS is the first pulsed power facility beyond 10 TW in China.Therefore,all the technologies have to be demonstrated,and all the engineering issues have to be overcome.In this article,the research outline,key technologies and the preliminary HEDP experiments are reviewed.Prospects on HEDP research on PTS and pulsed power development for the next step are also discussed.
基金supported by the National Natural Science Foundation of China (No.60977068)the Science and Technology Key Project of Quanzhou (No.2009G9)
文摘Optical models directly effect the irradiance distribution of observed surface. Traditionally, approximate Lambertian models are widely used in designing the light-emitting diodes (LED) arrays in spite of their errors compared with the experimental data. But now a novel LED optical model for uniform illumination system has been proposed, in which the curvefitting technique is used to reduce the inherited errors and modify those previous models. The points from the curve of the LED light intensity are adopted, and a spline curve is designed for fitting, which obtains the revised mode. To verify its feasibility, we apply the new model in a 4×4 array design. The results show that compared with the approximate Lambertian, the light intensity distribution produced by the fitting model is more uniform and intense, as is expected.
基金co-supported by the National Key Research and Development Program of China(No.2016YFC0803103)Beijing Advanced Innovation Center for Future Urban Design(No.UDC2016050100)Beijing Postdoctoral Research Foundation
文摘An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.
基金Dr.Naser El-Sheimy research funds from NSERC and Canada Research Chairs programs(Grant No.RT691875).
文摘Inertial navigation represents a unique method of navigation,in which there is no dependency on external sources of information.As opposed to other position fixing navigation techniques,inertial navigation performs the navigation in a relative sense with respect to the initial navigation state of the moving platform.Hence,inertial navigation systems are not prone to jamming,or spoofing.Inertial navigation systems have developed vastly,from their occurrence in the 1940s up to date.The accuracy of the inertial sensors has improved over time,making inertial sensors sufficient in terms of size,weight,cost,and accuracy for navigation and guidance applications.Within the past few years,inertial sensors have developed from being purely mechanical into incorporating various technologies and taking advantage of numerous physical phenomena,from which the dynamic forces exerted on a moving body could be computed accurately.Besides,the evolution of inertial navigation scheme involved the evolution from stable-platform inertial navigation system,which were mechanically complicated,to computationally demanding strap-down inertial navigation systems.Optical sensory technologies have provided highly accurate inertial sensors,at smaller sizes.Besides,the vibratory inertial navigation technologies enabled the production of Micro-electro-machined inertial sensors that are extremely low-cost,and offer extremely low size,weight and power consumption,making them suitable for a wide range of day-to-day navigation applications.Recently,advanced inertial sensor technologies have been introduced to the industry such as nuclear magnetic resonance technology,coldatom technology,and the reintroduction of fluid-based inertial sensors.On another note,inertial sensor errors constitute a huge research aspect in which it is intended for inertial sensors to reach level in which they could operate for substantially long operation times in the absence of updates from aiding sensors,which would be a huge leap.Inertial sensors error modeling technique
文摘Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.
基金This work is supported by the SG-Ⅲ performance upgrade project.
文摘The SG-Ⅲlaser facility(SG-Ⅲ)is the largest laser driver for inertial confinement fusion(ICF)researches in China,which has 48 beamlines and can deliver 180 kJ ultraviolet laser energy in 3 ns.In order to meet the requirements of precise physics experiments,some new functionalities need to be added to SG-Ⅲand some intrinsic laser performances need upgrade.So at the end of SG-Ⅲ's engineering construction,the 2-year laser performance upgrade project started.This paper will introduce the newly added functionalities and the latest laser performance of SG-Ⅲ.With these function extensions and performance upgrade,SG-Ⅲis now fully prepared for precise ICF experiments and solidly paves the way towards fusion ignition.
基金supported jointly by National Basic Research Program of China (Grant No. 2006CB403600)the Chinese Academy of Sciences (Grant No. KZCX2-YW-Q11-01)National Natural Science Foundation of China (Grant Nos. 40875034, 40925015, 40821092, 40975052, and 40810059005)
文摘Physical processes associated with onset of the 1998 Asian summer monsoon were examined in detail using multi-source datasets. We demonstrated that strong ocean-atmosphere-land interaction in the northern Indian Ocean and tropical Asian area during spring is a fundamental factor that induces the genesis and development of a monsoon onset vortex over the Bay of Bengal （BOB）, with the vortex in turn triggering onset of the Asian summer monsoon. In spring, strong surface sensible heat- ing over India and the Indochina Peninsula is transferred to the atmosphere, forming prominent in situ cyclonic circulation, with anticyclonic circulations over the Arabian Sea and northern BOB where the ocean receives abundant solar radiation. The corresponding surface winds along the North Indian Ocean coastal areas cause the ocean to produce the in situ offshore cur- rents and upwelling, resulting in sea surface temperature （SST） cooling. With precipitation on the Indochina Peninsula in- creasing from late April to early May, the offshore current disappears in the eastern BOB or develops into an onshore current, leading to SST increasing. A southwest-northeast oriented spring BOB warm pool with SST 〉31℃forms in a band from the southeastern Arabian Sea to the eastern BOB. In early May, the Somali cross-equatorial flow forms due to the meridional SST gradient between the two hemispheres, and surface sensible heat over the African land surface. The Somali flow overlaps in phase with the anticyclone over the northern Arabian Sea in the course of its inertial fluctuation along the equator. The con- vergent cold northerlies on the eastern side of the anticyclone cause the westerly in the inertial trough to increase rapidly, so that enhanced sensible heat is released from the sea surface into the atmosphere. The cyclonic vorticity forced by such sensible heating is superimposed on the inertial trough, leading to its further increase in vorticity strength. Since atmospheric inertial motion is destroyed, the flow deviates from t
文摘An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system’s external sensor, the mathematical model for the alignment in the moving state is established and the observability of the system is analyzed. The results show that the SINS can successfully achieve the precision alignment in 10 min when the vehicle is moving toward the prearranged place after its staying for several seconds to perform the coarse alignment. The precision of alignment can also be improved in the moving state compared with that in the static state.
基金supported by the National Natural Science Foundation of China (60902055)
文摘To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.
文摘SG-Ⅲ laser facility is now the largest laser driver for inertial confinement fusion research in China. The whole laser facility can deliver 180 kJ energy and 60 TW power ultraviolet laser onto target, with power balance better than 10%.We review the laser system and introduce the SG-Ⅲ laser performance here.
基金This project was supported by the National Natural Science Foundation of China (40125013 &40376011)
文摘A marine INS/GPS adaptive navigation system is presented. GPS with two antenna providing vessel＇ s altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kalman filter is the most frequently used algorithm in the integrated navigation system, which is capable of estimating INS errors online based on the measured errors between INS and GPS. The standard Kalman filter （SKF） assumes that the statistics of the noise on each sensor are given. As long as the noise distributions do not change, the Kalman filter will give the optimal estimation. However GPS receiver will be disturbed easily and thus temporally changing measurement noise will join into the outputs of GPS, which will lead to performance degradation of the Kalman filter. Many researchers introduce fuzzy logic control method into innovation-based adaptive estimation adaptive Kalman filtering （IAE-AKF） algorithm, and accordingly propose various adaptive Kalman filters. However how to design the fuzzy logic controller is a very complicated problem still without a convincing solution. A novel IAE-AKF is proposed herein, which is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence of the filter gain. The approach is direct and simple without having to establish fuzzy inference rules. After having deduced the proposed IAEAKF algorithm theoretically in detail, the approach is tested by the simulation based on the system error model of the developed INS/GPS integrated marine navigation system. Simulation results show that the adaptive Kalman filter outperforms the SKF with higher accuracy, robustness and less computation. It is demonstra- ted that this proposed approach is a valid solution for the unknown changing measurement noise exited in the Kalman filter.
