Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling i...Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.展开更多
船载高频地波雷达(High Frequency Surface Wave Radar, HFSWR)的平台机动运动会使目标回波信号发生展宽,引起目标回波幅度和信噪比降低,进而对目标波达方向估计(Direction of Arrival, DOA)产生不利的影响。针对船载地波雷达展宽目标DO...船载高频地波雷达(High Frequency Surface Wave Radar, HFSWR)的平台机动运动会使目标回波信号发生展宽,引起目标回波幅度和信噪比降低,进而对目标波达方向估计(Direction of Arrival, DOA)产生不利的影响。针对船载地波雷达展宽目标DOA估计问题,本文提出了一种基于时频信息Toeplitz协方差重构的展宽目标DOA估计方法。该方法首先采用结合航向补偿的时频分析处理,来提取展宽目标信号的脊线,可为充分利用展宽目标时频信息来构建协方差矩阵奠定基础。然后对构建的协方差矩阵进行Toeplitz化,实现了非平稳噪声的抑制,提高了目标信噪比,解决了展宽目标信噪比下降的问题,从而实现目标的方位角估计。最后,通过仿真和实测数据对本文提出的方法进行验证,结果表明本文所提方法在相同信噪比和目标展宽程度下均方根误差比单峰值MUSIC和DBF方法减小了1.2°,证明了本文所提方法的有效性。展开更多
基金Project(2012-Z05)supported by the State Key Laboratory of Robotics,ChinaProjects(61233013,51179183)supported by the National Natural Science Foundation of China
文摘Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
文摘船载高频地波雷达(High Frequency Surface Wave Radar, HFSWR)的平台机动运动会使目标回波信号发生展宽,引起目标回波幅度和信噪比降低,进而对目标波达方向估计(Direction of Arrival, DOA)产生不利的影响。针对船载地波雷达展宽目标DOA估计问题,本文提出了一种基于时频信息Toeplitz协方差重构的展宽目标DOA估计方法。该方法首先采用结合航向补偿的时频分析处理,来提取展宽目标信号的脊线,可为充分利用展宽目标时频信息来构建协方差矩阵奠定基础。然后对构建的协方差矩阵进行Toeplitz化,实现了非平稳噪声的抑制,提高了目标信噪比,解决了展宽目标信噪比下降的问题,从而实现目标的方位角估计。最后,通过仿真和实测数据对本文提出的方法进行验证,结果表明本文所提方法在相同信噪比和目标展宽程度下均方根误差比单峰值MUSIC和DBF方法减小了1.2°,证明了本文所提方法的有效性。
