Instrumental and environmental disturbances do affect FG5 absolute gravimeter observations and the estimated gravity values, sometimes to the degree that entire measurement campaigns are discarded. We propose a method...Instrumental and environmental disturbances do affect FG5 absolute gravimeter observations and the estimated gravity values, sometimes to the degree that entire measurement campaigns are discarded. We propose a method which moves towards the re-assessment of previously discarded observations. Once an estimate of the frequency and amplitude of a disturbance in a FG5 data set exists, the proposed method can estimate its impact on the estimated gravity value. This is performed through a Gaussian Bell Summation approach of the functional relationship between disturbance frequency and standard deviation of gravity. The filtering of the identified disturbance is realized through a modification of the functional model of the equation of motion in the least squares adjustment of FG5 observations. The results reveal that the Gaussian Bell Summation approximates the frequency—gravity impact relationship sufficiently well with negligible uncertainties, while the accuracy of the detected disturbance frequency defines a limiting factor for the gravity impact estimation. A realistic disturbance of 15 Hz with an amplitude of 1.5 nm had an impact of ≈48 [μGal] on the gravity estimate. The proposed filter approach reduced the impact to ≈12 [μGal], with the remaining effect being almost entirely associated to the uncertainty in disturbance frequency detection.展开更多
A new longitudinal attitude control system design for an unmanned seaplane in the severe sea states is presented in this paper. We develop a nonlinear passive observer, which is used to achieve wave filtering and stat...A new longitudinal attitude control system design for an unmanned seaplane in the severe sea states is presented in this paper. We develop a nonlinear passive observer, which is used to achieve wave filtering and state estimation. Moreover, the observer can be extended to achieve adaptive wave filtering in varying sea states. Using the estimated low-frequency states, a backstepping sliding mode controller is designed to keep the longitudinal attitude of the unmanned seaplane stable. The stability of the total closed loop system is analyzed by using Lyapunov theory. Simulations are performed in different wave conditions, including Seastate 3 and Seastate 5. The simulations results show that the proposed longitudinal attitude controller can improve the anti-waves capability effectively. Moreover, adaptive wave filter has a significant advantage over a filter with fixed model parameters in varying sea states.展开更多
A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, ...A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, a new DDF design scheme, which is very simple, is proposed via innovations theorem. At last, the application of DDF to Maneuvering Targets Tracking is simulated and the simulation results show that DDF is suitable for high maneuvering cases.展开更多
文摘Instrumental and environmental disturbances do affect FG5 absolute gravimeter observations and the estimated gravity values, sometimes to the degree that entire measurement campaigns are discarded. We propose a method which moves towards the re-assessment of previously discarded observations. Once an estimate of the frequency and amplitude of a disturbance in a FG5 data set exists, the proposed method can estimate its impact on the estimated gravity value. This is performed through a Gaussian Bell Summation approach of the functional relationship between disturbance frequency and standard deviation of gravity. The filtering of the identified disturbance is realized through a modification of the functional model of the equation of motion in the least squares adjustment of FG5 observations. The results reveal that the Gaussian Bell Summation approximates the frequency—gravity impact relationship sufficiently well with negligible uncertainties, while the accuracy of the detected disturbance frequency defines a limiting factor for the gravity impact estimation. A realistic disturbance of 15 Hz with an amplitude of 1.5 nm had an impact of ≈48 [μGal] on the gravity estimate. The proposed filter approach reduced the impact to ≈12 [μGal], with the remaining effect being almost entirely associated to the uncertainty in disturbance frequency detection.
基金supported by National Natural Science Foundation of China(Nos.61273336,61203003,61273149 and 61421004)the Innovation Method Fund of China(No.2012IM010200)
文摘A new longitudinal attitude control system design for an unmanned seaplane in the severe sea states is presented in this paper. We develop a nonlinear passive observer, which is used to achieve wave filtering and state estimation. Moreover, the observer can be extended to achieve adaptive wave filtering in varying sea states. Using the estimated low-frequency states, a backstepping sliding mode controller is designed to keep the longitudinal attitude of the unmanned seaplane stable. The stability of the total closed loop system is analyzed by using Lyapunov theory. Simulations are performed in different wave conditions, including Seastate 3 and Seastate 5. The simulations results show that the proposed longitudinal attitude controller can improve the anti-waves capability effectively. Moreover, adaptive wave filter has a significant advantage over a filter with fixed model parameters in varying sea states.
文摘A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, a new DDF design scheme, which is very simple, is proposed via innovations theorem. At last, the application of DDF to Maneuvering Targets Tracking is simulated and the simulation results show that DDF is suitable for high maneuvering cases.
