The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A c...The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A correlation domain wideband DOA estimation algorithm without array calibration is proposed, to deal with these array model errors, using the arbitrary antenna array of omnidirectional elements. By using the matrix operators that have the memory and oblivion characteristics, this algorithm can separate the incident signals effectively. Compared with other typical wideband DOA estimation algorithms based on the subspace theory, this algorithm can get robust DOA estimation with regard to position error, gain-phase error, and mutual coupling, by utilizing a relaxation technique based on signal separation. The signal separation category and the robustness of this algorithm to the array model errors are analyzed and proved. The validity and robustness of this algorithm, in the presence of array model errors, are confirmed by theoretical analysis and simulation results.展开更多
Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matri...Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.展开更多
Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression mo...Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.展开更多
Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis err...Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis error model, and the validity of model was confirmed by the experiment. Additionally, in grinding wheel tool point coordinate system, the errors of six degrees of freedom were simulated when the grinding wheel revolving around C-axis, moving along X-axis and Y-axis. The influence of these six errors on teeth space, helix angle, pitch, teeth profile was discussed. The simulation results show that the angle error is in the range from -0.148 4 tad to -0.241 9 rad when grinding wheel moving along X, Y-axis; the translation error is in the range from 0.866 0 μm to 3.605 3μm when grinding wheel moving along X-axis. These angle and translation errors have a great influence on the helix angle, pitch, teeth thickness and tooth socket.展开更多
In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error m...In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.展开更多
Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its tes...Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.展开更多
Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and...Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.展开更多
Heilongjiang is a large agriculture province.Problems of agriculture,rural areas and farmers are urgent to be solved.The development of agriculture needs the support of agricultural credits,because finance is the cent...Heilongjiang is a large agriculture province.Problems of agriculture,rural areas and farmers are urgent to be solved.The development of agriculture needs the support of agricultural credits,because finance is the center of agriculture economy.However,the low comparative advantage in agriculture and pursuit of the capital interests which aggravate the conflicts of supply and demand of agricultural funds.Lacking of fund is the main factor that constrains the development of agricultural economy.In order to analyze the economic effect of agricultural credits on agricultural economy,an error correction model was set up to research the relationship between them,which based on the least square methods.Through the study of the contribution from agricultural credits to total value of agricultural out-put,the empirical evidence for developing the rural financial vigorously was provided,in order to promote the agricultura leconomic development.展开更多
The strap-down inertial navigation system (SINS) error of ballistic missile is generated by the mutual influence of gyroscope and accelerometer, and the recursive model is completely different from that of gimbaled IN...The strap-down inertial navigation system (SINS) error of ballistic missile is generated by the mutual influence of gyroscope and accelerometer, and the recursive model is completely different from that of gimbaled INS. In the paper, a discrete error recursive model was obtained by studying the applied SINS error model of ballistic missile, and the discrete Kalman filtering simulation based on the model was carried out. The simulated results show that the model can depict the SINS error exactly and provide the advantages for research on integrated guidance and improved hit accuracy.展开更多
Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative i...Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative impacts of the Gaussian colored noise. However, the unexpected modeling errors appearing in practice are known to significantly degrade the performance of the RARE. Therefore, the direction-of-arrival(DOA) estimation performance of the FOC-RARE is quantitatively derived. The explicit expression for direction-finding(DF) error is derived via the first-order perturbation analysis, and then the theoretical formula for the mean square error(MSE) is given. Simulation results demonstrate the validation of the theoretical analysis and reveal that the FOC-RARE is more robust to the unexpected modeling errors than the SOS-RARE.展开更多
The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of ...The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of the thermal error modeling for machine tools, a new approach of regression orthogonal design is proposed, which combines the statistic theory with machine structures, surrounding condition, engineering judgements, and experience in modeling. A whole computation and analysis procedure is given. Therefore, the model got from this method are more robust and practical than those got from the present method that depends on the modeling data completely. At last more than 100 applications of CNC turning center with only one thermal error model are given. The cutting diameter variation reduces from more than 35 μm to about 12 μm with the orthogonal regression modeling and compensation of thermal error.展开更多
This paper surveys a number of recent advances in the error analysis in the frequency domain for a digital simulation model. It is emphasized to discuss the errors in characteristic roots and transfer funcnon of the d...This paper surveys a number of recent advances in the error analysis in the frequency domain for a digital simulation model. It is emphasized to discuss the errors in characteristic roots and transfer funcnon of the digital simulation model, the frequency domain errors of the data transfers between thesimulation submodels, and some compensation methods for the errors. Some of the questions to be answered are also presented.展开更多
In this study,the communication error generation mechanism was analyzed from the view of human's psychological trait and organizational behavior,based on the basic process of communication,and the individual facto...In this study,the communication error generation mechanism was analyzed from the view of human's psychological trait and organizational behavior,based on the basic process of communication,and the individual factors and organizational factors which cause communication errors were examined.Communication error doesn't just say that there was just a slip in transport of information(misinformation),the behavior which information wasn't conveyed or which couldn't be transported is also included(non-information). To prevent communication error,it's necessary to consider from the individual personal level and the organizational level based on a process of communication. The model to prevent communication error in the industrial organization was tried to propose by this consideration. In recent years,the trouble and accident by nonverbal communication which doesn't depend on language often generate at a work site. It should be considered as future's problem how to prevent such communication error,based on the environment of the work site and the situation.展开更多
Longley-Rice channel model modifies the atmospheric refraction by the equivalent earth radius method, which is simple calculation but is not accurate. As it only uses the horizontal difference, but does not make use o...Longley-Rice channel model modifies the atmospheric refraction by the equivalent earth radius method, which is simple calculation but is not accurate. As it only uses the horizontal difference, but does not make use of the vertical section information, it does not agree with the actual propagation path. The atmospheric refraction error correction method of the Longley-Rice channel model has been improved. The improved method makes use of the vertical section information sufficiently and maps the distance between the receiver and transmitter to the radio wave propagation distance, It can exactly reflect the infection of propagation distance for the radio wave propagation loss. It is predicted to be more close to the experimental results by simulation in comparison with the measured data. The effectiveness of improved methods is proved by simulation.展开更多
Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and g...Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and guaranteeing space-timefrequency synchronization of the transmitter and the receiver.The error model of space-time-frequency synchronization in a motion platform of bistatic/multistatic radar is studied. The relationship between the space synchronization error and the transmitter platform position, receiver platform position, moving state, and beam pointing error, is analyzed. The effect of space synchronization error on target echo power is studied. The target scattering characteristics are restructured by many separate scattering centers of the target in high frequency regions. Based on the scattering centers model of the radar target, this radar target echo model and the simulation method are discussed. The algorithm of bistatic/multistatic radar target echo accurately reflects the scattering characteristics of the radar target, pulse modulation speciality of radar transmitting signals, and spacetime-frequency synchronization error characteristics between the transmitter station and the receiver station. The simulation of bistatic radar is completed in computer, and the results of the simulation validate the feasibility of the method.展开更多
基金supported by the National "863" High Technology Research and Development Program of China(2007AA703428)
文摘The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A correlation domain wideband DOA estimation algorithm without array calibration is proposed, to deal with these array model errors, using the arbitrary antenna array of omnidirectional elements. By using the matrix operators that have the memory and oblivion characteristics, this algorithm can separate the incident signals effectively. Compared with other typical wideband DOA estimation algorithms based on the subspace theory, this algorithm can get robust DOA estimation with regard to position error, gain-phase error, and mutual coupling, by utilizing a relaxation technique based on signal separation. The signal separation category and the robustness of this algorithm to the array model errors are analyzed and proved. The validity and robustness of this algorithm, in the presence of array model errors, are confirmed by theoretical analysis and simulation results.
基金This work is supported by Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX18_0467)Jiangsu Province,China.During the revision of this paper,the author is supported by China Scholarship Council(No.201906840021)China to continue some research related to data processing.
文摘Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.
基金supported by the National Security Major Basic Research Project of China (973-61334).
文摘Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.
基金Project(2005CB724104) supported by the Major State Basic Research Development Program of ChinaProject(1343-77202) supported by the Graduate Students Innovate of Central South University
文摘Six-axis numerical control spiral bevel gear grinder was taken as the object, multi-body system theory and Denavit-Hartenberg homogeneous transformed matrix （HTM） were utilized to establish the grinder synthesis error model, and the validity of model was confirmed by the experiment. Additionally, in grinding wheel tool point coordinate system, the errors of six degrees of freedom were simulated when the grinding wheel revolving around C-axis, moving along X-axis and Y-axis. The influence of these six errors on teeth space, helix angle, pitch, teeth profile was discussed. The simulation results show that the angle error is in the range from -0.148 4 tad to -0.241 9 rad when grinding wheel moving along X, Y-axis; the translation error is in the range from 0.866 0 μm to 3.605 3μm when grinding wheel moving along X-axis. These angle and translation errors have a great influence on the helix angle, pitch, teeth thickness and tooth socket.
基金Projects(2012ZX04010-011,2009ZX02037-02) supported by the Key National Science and Technology Project of China
文摘In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.
基金Project(2014E00468R)supported by Technological Innovation Fund of Aviation Industry Corporation of China
文摘Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.
基金Project(61201381)supported by the National Nature Science Foundation of ChinaProject(YP12JJ202057)supported by the Future Development Foundation of Zhengzhou Information Science and Technology College,China
文摘Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.
基金Supported by the Fund for Heilongjiang Province Philosophy and Social Sciences Project (08E015)Social Sciences Fund of the Heilongjiang Provincial Education Department (11542014)Scientific Research Fund of Northeast Agricultural University
文摘Heilongjiang is a large agriculture province.Problems of agriculture,rural areas and farmers are urgent to be solved.The development of agriculture needs the support of agricultural credits,because finance is the center of agriculture economy.However,the low comparative advantage in agriculture and pursuit of the capital interests which aggravate the conflicts of supply and demand of agricultural funds.Lacking of fund is the main factor that constrains the development of agricultural economy.In order to analyze the economic effect of agricultural credits on agricultural economy,an error correction model was set up to research the relationship between them,which based on the least square methods.Through the study of the contribution from agricultural credits to total value of agricultural out-put,the empirical evidence for developing the rural financial vigorously was provided,in order to promote the agricultura leconomic development.
文摘The strap-down inertial navigation system (SINS) error of ballistic missile is generated by the mutual influence of gyroscope and accelerometer, and the recursive model is completely different from that of gimbaled INS. In the paper, a discrete error recursive model was obtained by studying the applied SINS error model of ballistic missile, and the discrete Kalman filtering simulation based on the model was carried out. The simulated results show that the model can depict the SINS error exactly and provide the advantages for research on integrated guidance and improved hit accuracy.
基金Project(61201381) supported by the National Natural Science Foundation of ChinaProject(YP12JJ202057) supported by the Future Development Foundation of Zhengzhou Information Science and Technology College,China
文摘Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative impacts of the Gaussian colored noise. However, the unexpected modeling errors appearing in practice are known to significantly degrade the performance of the RARE. Therefore, the direction-of-arrival(DOA) estimation performance of the FOC-RARE is quantitatively derived. The explicit expression for direction-finding(DF) error is derived via the first-order perturbation analysis, and then the theoretical formula for the mean square error(MSE) is given. Simulation results demonstrate the validation of the theoretical analysis and reveal that the FOC-RARE is more robust to the unexpected modeling errors than the SOS-RARE.
文摘The thermal induced errors can account for as much as 70% of the dimensional errors on a workpiece. Accurate modeling of errors is an essential part of error compensation. Base on analyzing the existing approaches of the thermal error modeling for machine tools, a new approach of regression orthogonal design is proposed, which combines the statistic theory with machine structures, surrounding condition, engineering judgements, and experience in modeling. A whole computation and analysis procedure is given. Therefore, the model got from this method are more robust and practical than those got from the present method that depends on the modeling data completely. At last more than 100 applications of CNC turning center with only one thermal error model are given. The cutting diameter variation reduces from more than 35 μm to about 12 μm with the orthogonal regression modeling and compensation of thermal error.
文摘This paper surveys a number of recent advances in the error analysis in the frequency domain for a digital simulation model. It is emphasized to discuss the errors in characteristic roots and transfer funcnon of the digital simulation model, the frequency domain errors of the data transfers between thesimulation submodels, and some compensation methods for the errors. Some of the questions to be answered are also presented.
文摘In this study,the communication error generation mechanism was analyzed from the view of human's psychological trait and organizational behavior,based on the basic process of communication,and the individual factors and organizational factors which cause communication errors were examined.Communication error doesn't just say that there was just a slip in transport of information(misinformation),the behavior which information wasn't conveyed or which couldn't be transported is also included(non-information). To prevent communication error,it's necessary to consider from the individual personal level and the organizational level based on a process of communication. The model to prevent communication error in the industrial organization was tried to propose by this consideration. In recent years,the trouble and accident by nonverbal communication which doesn't depend on language often generate at a work site. It should be considered as future's problem how to prevent such communication error,based on the environment of the work site and the situation.
文摘Longley-Rice channel model modifies the atmospheric refraction by the equivalent earth radius method, which is simple calculation but is not accurate. As it only uses the horizontal difference, but does not make use of the vertical section information, it does not agree with the actual propagation path. The atmospheric refraction error correction method of the Longley-Rice channel model has been improved. The improved method makes use of the vertical section information sufficiently and maps the distance between the receiver and transmitter to the radio wave propagation distance, It can exactly reflect the infection of propagation distance for the radio wave propagation loss. It is predicted to be more close to the experimental results by simulation in comparison with the measured data. The effectiveness of improved methods is proved by simulation.
基金supported by the National Natural Science Foundation of China(61271327)
文摘Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and guaranteeing space-timefrequency synchronization of the transmitter and the receiver.The error model of space-time-frequency synchronization in a motion platform of bistatic/multistatic radar is studied. The relationship between the space synchronization error and the transmitter platform position, receiver platform position, moving state, and beam pointing error, is analyzed. The effect of space synchronization error on target echo power is studied. The target scattering characteristics are restructured by many separate scattering centers of the target in high frequency regions. Based on the scattering centers model of the radar target, this radar target echo model and the simulation method are discussed. The algorithm of bistatic/multistatic radar target echo accurately reflects the scattering characteristics of the radar target, pulse modulation speciality of radar transmitting signals, and spacetime-frequency synchronization error characteristics between the transmitter station and the receiver station. The simulation of bistatic radar is completed in computer, and the results of the simulation validate the feasibility of the method.
