Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de...Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.展开更多
Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential eq...Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential equations. The relation between the local truncation error in time domain and the error in frequency domain is established, which is the basis for developing the error estimation methods. The error estimation methods for the digital simulation model constructed by using the Runge-Kutta algorithms and the linear multistep predictor-corrector algorithms are also given.展开更多
An improved circular synthetic aperture radar（CSAR） imaging algorithm of omega-k（ω-k） type mainly for reconstructing an image on a cylindrical surface is proposed.In the typical CSAR ω-k algorithm,the rage traje...An improved circular synthetic aperture radar（CSAR） imaging algorithm of omega-k（ω-k） type mainly for reconstructing an image on a cylindrical surface is proposed.In the typical CSAR ω-k algorithm,the rage trajectory is approximated by Taylor series expansion to the quadratic terms,which limits the valid synthetic aperture length and the angular reconstruction range severely.Based on the model of the CSAR echo signal,the proposed algorithm directly transforms the signal to the two-dimensional（2D） wavenumber domain,not using approximation processing to the range trajectory.Based on form of the signal spectrum in the wavenumber domain,the formula for the wavenumber domain interpolation of the w-k algorithm is deduced,and the wavenumber spectrum of the reference point used for bulk compression is obtained from numerical method.The improved CSAR ω-k imaging algorithm increases the valid synthetic aperture length and the angular area greatly and hence improves the angular resolution of the cylindrical imaging.Additionally,the proposed algorithm can be repeated on different cylindrical surfaces to achieve three dimensional（3D） image reconstruction.The 3D spatial resolution of the CSAR system is discussed,and the simulation results validate the correctness of the analysis and the feasibility of the algorithm.展开更多
A direction-of-arrival （DOA） estimation algorithm based on direct data domain （D3） approach is presented. This method can accuracy estimate DOA using one snapshot modified data, called the temporal and spatial two...A direction-of-arrival （DOA） estimation algorithm based on direct data domain （D3） approach is presented. This method can accuracy estimate DOA using one snapshot modified data, called the temporal and spatial two-dimensional vector reconstruction （TSR） method. The key idea is to apply the D3 approach which can extract the signal of given frequency but null out other frequency signals in temporal domain. Then the spatial vector reconstruction processing is used to estimate the angle of the spatial coherent signal source based on extract signal data. Compared with the common temporal and spatial processing approach, the TSR method has a lower computational load, higher real-time performance, robustness and angular accuracy of DOA. The proposed algorithm can be directly applied to the phased array radar of coherent pulses. Simulation results demonstrate the performance of the proposed technique.展开更多
With appropriate geometry configuration, helicopter- borne rotating synthetic aperture radar （ROSAR） can break through the limitations of monostatic synthetic aperture radar （SAR） on forward-looking imaging. With ...With appropriate geometry configuration, helicopter- borne rotating synthetic aperture radar （ROSAR） can break through the limitations of monostatic synthetic aperture radar （SAR） on forward-looking imaging. With this capability, ROSAR has extensive potential applications, such as self-navigation and self-landing. Moreover, it has many advantages if combined with the frequency modulated continuous wave （FMCW） technology. A novel geometric configuration and an imaging algorithm for helicopter-borne FMCW-ROSAR are proposed. Firstly, by per- forming the equivalent phase center principle, the separated trans- mitting and receiving antenna system is equalized to the case of system configuration with antenna for both transmitting and receiving signals. Based on this, the accurate two-dimensional spectrum is obtained and the Doppler frequency shift effect in- duced by the continuous motion of the platform during the long pulse duration is compensated. Next, the impacts of the velocity approximation error on the imaging algorithm are analyzed in de- tail, and the system parameters selection and resolution analysis are presented. The well-focused SAR image is then obtained by using the improved Omega-K algorithm incorporating the accurate compensation method for the velocity approximation error. FJnally, correctness of the analysis and effectiveness of the proposed al- gorithm are demonstrated through simulation results.展开更多
Because the conventional ultra wideband（UWB） radar imaging algorithm cannot meet the demand in the capability of multiple targets detection,a novel UWB radar imaging algorithm based on the near field radiation theor...Because the conventional ultra wideband（UWB） radar imaging algorithm cannot meet the demand in the capability of multiple targets detection,a novel UWB radar imaging algorithm based on the near field radiation theory of dipole is presented.On the foundation of researching the principle of a time domain imaging algorithm,the back projection（BP） algorithm is derived and analyzed.Firstly,the far field sampling data are transferred to the near field sampling data by using the near field radiation theory of dipole.Then the BP algorithm is applied to target detection.The capability of the new algorithm to detect the multi-target is verified by using the finite-difference time-domain method,and the threedimensional images of targets are obtained.The coupling effect between targets for imaging is analyzed.The simulation results show that the new UWB radar imaging algorithm based on the near field radiation theory of dipole could weaken the coupling effect for imaging,and as a result the quality of imaging is improved.展开更多
针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出...针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出了新的频域协方差矩阵,利用平均噪声子空间建立空间谱估计函数,通过谱峰搜索估计出信源的方位角。经仿真对比分析,所提改进方法可以识别多个相干信号,并且在低信噪比、少快拍数条件下仍然获得较好的方位估计性能,估计误差较传统算法降低2%~25%。展开更多
基金Projects(60234030 60404021) supported by the National Natural Science Foundation of China
文摘Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.
基金This project was supported by the National Natural Science Foundation of China (No. 19871080).
文摘Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential equations. The relation between the local truncation error in time domain and the error in frequency domain is established, which is the basis for developing the error estimation methods. The error estimation methods for the digital simulation model constructed by using the Runge-Kutta algorithms and the linear multistep predictor-corrector algorithms are also given.
文摘An improved circular synthetic aperture radar（CSAR） imaging algorithm of omega-k（ω-k） type mainly for reconstructing an image on a cylindrical surface is proposed.In the typical CSAR ω-k algorithm,the rage trajectory is approximated by Taylor series expansion to the quadratic terms,which limits the valid synthetic aperture length and the angular reconstruction range severely.Based on the model of the CSAR echo signal,the proposed algorithm directly transforms the signal to the two-dimensional（2D） wavenumber domain,not using approximation processing to the range trajectory.Based on form of the signal spectrum in the wavenumber domain,the formula for the wavenumber domain interpolation of the w-k algorithm is deduced,and the wavenumber spectrum of the reference point used for bulk compression is obtained from numerical method.The improved CSAR ω-k imaging algorithm increases the valid synthetic aperture length and the angular area greatly and hence improves the angular resolution of the cylindrical imaging.Additionally,the proposed algorithm can be repeated on different cylindrical surfaces to achieve three dimensional（3D） image reconstruction.The 3D spatial resolution of the CSAR system is discussed,and the simulation results validate the correctness of the analysis and the feasibility of the algorithm.
文摘A direction-of-arrival （DOA） estimation algorithm based on direct data domain （D3） approach is presented. This method can accuracy estimate DOA using one snapshot modified data, called the temporal and spatial two-dimensional vector reconstruction （TSR） method. The key idea is to apply the D3 approach which can extract the signal of given frequency but null out other frequency signals in temporal domain. Then the spatial vector reconstruction processing is used to estimate the angle of the spatial coherent signal source based on extract signal data. Compared with the common temporal and spatial processing approach, the TSR method has a lower computational load, higher real-time performance, robustness and angular accuracy of DOA. The proposed algorithm can be directly applied to the phased array radar of coherent pulses. Simulation results demonstrate the performance of the proposed technique.
基金supported by the National Basic Research Program of China(2011CB707001)the Fundamental Research Funds for the Central Universities(106112015CDJXY500001CDJZR165505)
文摘With appropriate geometry configuration, helicopter- borne rotating synthetic aperture radar （ROSAR） can break through the limitations of monostatic synthetic aperture radar （SAR） on forward-looking imaging. With this capability, ROSAR has extensive potential applications, such as self-navigation and self-landing. Moreover, it has many advantages if combined with the frequency modulated continuous wave （FMCW） technology. A novel geometric configuration and an imaging algorithm for helicopter-borne FMCW-ROSAR are proposed. Firstly, by per- forming the equivalent phase center principle, the separated trans- mitting and receiving antenna system is equalized to the case of system configuration with antenna for both transmitting and receiving signals. Based on this, the accurate two-dimensional spectrum is obtained and the Doppler frequency shift effect in- duced by the continuous motion of the platform during the long pulse duration is compensated. Next, the impacts of the velocity approximation error on the imaging algorithm are analyzed in de- tail, and the system parameters selection and resolution analysis are presented. The well-focused SAR image is then obtained by using the improved Omega-K algorithm incorporating the accurate compensation method for the velocity approximation error. FJnally, correctness of the analysis and effectiveness of the proposed al- gorithm are demonstrated through simulation results.
基金supported by the Key Laboratory of Millimeter Waves of China (K200907)
文摘Because the conventional ultra wideband（UWB） radar imaging algorithm cannot meet the demand in the capability of multiple targets detection,a novel UWB radar imaging algorithm based on the near field radiation theory of dipole is presented.On the foundation of researching the principle of a time domain imaging algorithm,the back projection（BP） algorithm is derived and analyzed.Firstly,the far field sampling data are transferred to the near field sampling data by using the near field radiation theory of dipole.Then the BP algorithm is applied to target detection.The capability of the new algorithm to detect the multi-target is verified by using the finite-difference time-domain method,and the threedimensional images of targets are obtained.The coupling effect between targets for imaging is analyzed.The simulation results show that the new UWB radar imaging algorithm based on the near field radiation theory of dipole could weaken the coupling effect for imaging,and as a result the quality of imaging is improved.
文摘针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出了新的频域协方差矩阵,利用平均噪声子空间建立空间谱估计函数,通过谱峰搜索估计出信源的方位角。经仿真对比分析,所提改进方法可以识别多个相干信号,并且在低信噪比、少快拍数条件下仍然获得较好的方位估计性能,估计误差较传统算法降低2%~25%。
