研究了自主水下航行器(AUV)的路径跟踪问题,将跟踪控制问题分为导引和控制2部分。导引部分基于视线导引(Line of Sight)原理输出AUV的参考航向,针对AUV的参数不确定性及海流干扰等特点,航向控制器采用变结构控制律计算舵角控制输入,在...研究了自主水下航行器(AUV)的路径跟踪问题,将跟踪控制问题分为导引和控制2部分。导引部分基于视线导引(Line of Sight)原理输出AUV的参考航向,针对AUV的参数不确定性及海流干扰等特点,航向控制器采用变结构控制律计算舵角控制输入,在此基础上,将航向控制器与路径跟踪控制器并行结合,构造了文中提出的混合型路径跟踪控制器。文章从理论上证明了控制律的稳定性,仿真结果表明,所设计的控制律可以保证AUV沿期望路径航行,路径跟踪误差快速收敛。展开更多
升降轨PSInSAR时序分析获得的同一地区2组监测结果分别为升轨和降轨下的地表形变速率与累积变形量。针对研究区地面以下沉为主,水平方向变形极为微小的特点,将视线向(line of sight,LOS)变形转换为垂向的下沉值,以此进行升降轨模式下2...升降轨PSInSAR时序分析获得的同一地区2组监测结果分别为升轨和降轨下的地表形变速率与累积变形量。针对研究区地面以下沉为主,水平方向变形极为微小的特点,将视线向(line of sight,LOS)变形转换为垂向的下沉值,以此进行升降轨模式下2组观测值的比较与精度检验。在此基础上,将相干目标的2组观测序列数据融合以实现加密观测。研究结果表明:升降轨模式下沉降速率观测值的互检验精度优于2 mm;2组观测序列数据的融合结果进一步揭示了相干目标在时域上的非线性沉降特征。展开更多
Terahertz(THz) communication is being considered as a potential solution to mitigate the demand for high bandwidth. The characteristic of THz band is relatively different from present wireless channel and imposes tech...Terahertz(THz) communication is being considered as a potential solution to mitigate the demand for high bandwidth. The characteristic of THz band is relatively different from present wireless channel and imposes technical challenges in the design and development of communication systems. Due to the high path loss in THz band,wireless THz communication can be used for relatively short distances. Even,for a distance of few meters( > 5 m),the absorption coefficient is very high and hence the performance of the system is poor. The use of multiple antennas for wireless communication systems has gained overwhelming interest during the last two decades.Multiple Input Multiple Output( MIMO) Spatial diversity technique has been exploited in this paper to improve the performance in terahertz band. The results show that the Bit Error Rate( BER) is considerably improved for short distance( < 5 m) with MIMO. However,as the distance increases,the improvement in the error performance is not significant even with increase in the order of diversity. This is because,as distance increases,in some frequency bands the signal gets absorbed by water vapor and results in poor transmission. Adaptive modulation scheme is implemented to avoid these error prone frequencies. Adaptive modulation with receiver diversity is proposed in this work and has improved the BER performance of the channel for distance greater than 5 m.展开更多
The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models we...The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models were established. Three infrared MIMO systems with 2X2, 2X4 and 4X4 MIMO channels using RZI and OOK modulation were designed and tested. Based on the experimental results, evaluations between BER, distance and displacement were discussed.展开更多
Line-of-sight (LOS) link planning condition has been observed to have effects on the atmospheric factor which cause crucial signal loss. The main objective of the planning was to improve a set of a link using point to...Line-of-sight (LOS) link planning condition has been observed to have effects on the atmospheric factor which cause crucial signal loss. The main objective of the planning was to improve a set of a link using point to point condition to assist the performance in emerging its strategy for handling the fixed WLAN service. The purpose of this paper is to provide a quick description of various propagation loss mechanisms on Link Budget Tool (LBT). LBT is customized to create point to point link for local area network (LAN) through radio frequency range operating between 2.400 GHz and 5.800 GHz. This software is able to define the effect of signal loss and expected performances according to the distances between link propagation conditions based on a number of system parameters.展开更多
视线(Line of Sight,LOS)计算在GIS、旅游,电信等很多领域里有着广泛的应用。在描述LOS计算方法的基础上提出了表征分辨率对LOS计算影响的因子los-eff,模拟了五种典型地貌特征的地形在降低分辨率时los-eff的变化情况。实验表明降低分辨...视线(Line of Sight,LOS)计算在GIS、旅游,电信等很多领域里有着广泛的应用。在描述LOS计算方法的基础上提出了表征分辨率对LOS计算影响的因子los-eff,模拟了五种典型地貌特征的地形在降低分辨率时los-eff的变化情况。实验表明降低分辨率可以使LOS计算时间近似指数下降,而在计算准确性方面,地貌特征简单的平原地形在降低分辨率后误差大于地貌特征复杂的山地地形,并且误差会随观察点高度增加而快速增加。因此可以根据不同的计算精度需要选择不同分辨率的DEM数据来进行视线计算,从而达到平衡计算时间和准确度的目的。展开更多
针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计...针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证设计思想的可行性和控制算法的合理性及有效性。仿真结果表明,控制算法可以保证航向控制系统的渐近收敛及稳定,根据该控制算法所设计的控制器,能够使船舶航向精确的保持在预定航向上,具有优良的控制效果。展开更多
文摘研究了自主水下航行器(AUV)的路径跟踪问题,将跟踪控制问题分为导引和控制2部分。导引部分基于视线导引(Line of Sight)原理输出AUV的参考航向,针对AUV的参数不确定性及海流干扰等特点,航向控制器采用变结构控制律计算舵角控制输入,在此基础上,将航向控制器与路径跟踪控制器并行结合,构造了文中提出的混合型路径跟踪控制器。文章从理论上证明了控制律的稳定性,仿真结果表明,所设计的控制律可以保证AUV沿期望路径航行,路径跟踪误差快速收敛。
文摘升降轨PSInSAR时序分析获得的同一地区2组监测结果分别为升轨和降轨下的地表形变速率与累积变形量。针对研究区地面以下沉为主,水平方向变形极为微小的特点,将视线向(line of sight,LOS)变形转换为垂向的下沉值,以此进行升降轨模式下2组观测值的比较与精度检验。在此基础上,将相干目标的2组观测序列数据融合以实现加密观测。研究结果表明:升降轨模式下沉降速率观测值的互检验精度优于2 mm;2组观测序列数据的融合结果进一步揭示了相干目标在时域上的非线性沉降特征。
文摘Terahertz(THz) communication is being considered as a potential solution to mitigate the demand for high bandwidth. The characteristic of THz band is relatively different from present wireless channel and imposes technical challenges in the design and development of communication systems. Due to the high path loss in THz band,wireless THz communication can be used for relatively short distances. Even,for a distance of few meters( > 5 m),the absorption coefficient is very high and hence the performance of the system is poor. The use of multiple antennas for wireless communication systems has gained overwhelming interest during the last two decades.Multiple Input Multiple Output( MIMO) Spatial diversity technique has been exploited in this paper to improve the performance in terahertz band. The results show that the Bit Error Rate( BER) is considerably improved for short distance( < 5 m) with MIMO. However,as the distance increases,the improvement in the error performance is not significant even with increase in the order of diversity. This is because,as distance increases,in some frequency bands the signal gets absorbed by water vapor and results in poor transmission. Adaptive modulation scheme is implemented to avoid these error prone frequencies. Adaptive modulation with receiver diversity is proposed in this work and has improved the BER performance of the channel for distance greater than 5 m.
基金Supported by the Strategic Priority Research Program of Chinese Academy of Sciences(Grant No.XDA17040401)
文摘The multiple input multiple output(MIMO) systems using serial infrared(SIR),return to zero-inverted(RZI) and on off keying(OOK) modulation were studied. Also, by analyzing experimental results, curve fitting models were established. Three infrared MIMO systems with 2X2, 2X4 and 4X4 MIMO channels using RZI and OOK modulation were designed and tested. Based on the experimental results, evaluations between BER, distance and displacement were discussed.
文摘Line-of-sight (LOS) link planning condition has been observed to have effects on the atmospheric factor which cause crucial signal loss. The main objective of the planning was to improve a set of a link using point to point condition to assist the performance in emerging its strategy for handling the fixed WLAN service. The purpose of this paper is to provide a quick description of various propagation loss mechanisms on Link Budget Tool (LBT). LBT is customized to create point to point link for local area network (LAN) through radio frequency range operating between 2.400 GHz and 5.800 GHz. This software is able to define the effect of signal loss and expected performances according to the distances between link propagation conditions based on a number of system parameters.
文摘视线(Line of Sight,LOS)计算在GIS、旅游,电信等很多领域里有着广泛的应用。在描述LOS计算方法的基础上提出了表征分辨率对LOS计算影响的因子los-eff,模拟了五种典型地貌特征的地形在降低分辨率时los-eff的变化情况。实验表明降低分辨率可以使LOS计算时间近似指数下降,而在计算准确性方面,地貌特征简单的平原地形在降低分辨率后误差大于地貌特征复杂的山地地形,并且误差会随观察点高度增加而快速增加。因此可以根据不同的计算精度需要选择不同分辨率的DEM数据来进行视线计算,从而达到平衡计算时间和准确度的目的。
文摘针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证设计思想的可行性和控制算法的合理性及有效性。仿真结果表明,控制算法可以保证航向控制系统的渐近收敛及稳定,根据该控制算法所设计的控制器,能够使船舶航向精确的保持在预定航向上,具有优良的控制效果。
