The structure and measurement theory of a single-axis integrated inertia measurement device are discussed in this paper.The acceleration and angle velocity can be detected by the proposed sensor at the same time.The k...The structure and measurement theory of a single-axis integrated inertia measurement device are discussed in this paper.The acceleration and angle velocity can be detected by the proposed sensor at the same time.The ki- netic model of the device is also established.In addition,the signal generation of the single-axis integrated inertia measurement device is analyzed and simulated.The results of the model are consistent with simulation result.展开更多
In view of the problem that the current single-antenna GPS attitude determination system can only determine the body attitude when the sideslip angle is zero and the multiantenna GPS/SINS integrated navigation system ...In view of the problem that the current single-antenna GPS attitude determination system can only determine the body attitude when the sideslip angle is zero and the multiantenna GPS/SINS integrated navigation system is of large volume, high cost, and complex structure, this approach is presented to determine the attitude based on vector space with single-antenna GPS and accelerometers in the micro inertial measurement unit （MIMU）. It can provide real-time and accurate attitude information. Subsequently, the single-antenna GPS/SINS integrated navigation system is designed based on the combination of position, velocity, and attitude. Finally the semi- physical simulations of single-antenna GPS attitude determination system and single-antenna GPS/SINS integrated navigation system are carried out. The simulation results, based on measured data, show that the single-antenna GPS/SINS system can provide more accurate navigation information compared to the GPS/SINS system, based on the combination of position and velocity. Furthermore, the single-antenna GPS/SINS system is characteristic of lower cost and simpler structure. It provides the basis for the application of a single-antenna GPS/SINS integrated navigation system in a micro aerial vehicle （MAV）.展开更多
针对模块化多电平换流器型高压直流输电(modular multilevel converter-high voltage direct current,MMC-HVDC)系统,提出了一种创新的换流器桥臂保护方法。首先,分析了在换流器单桥臂接地以及单相桥臂间接地情况下电流的流通路径,构建...针对模块化多电平换流器型高压直流输电(modular multilevel converter-high voltage direct current,MMC-HVDC)系统,提出了一种创新的换流器桥臂保护方法。首先,分析了在换流器单桥臂接地以及单相桥臂间接地情况下电流的流通路径,构建了等值电路,并推导了换流器闭锁前后桥臂电流的表达式。基于此,剖析了故障后三相桥臂电流之和的独有特征,提出了通过检测三相桥臂和电流的基频分量是否为零来区分桥臂内部故障与外部故障的保护策略。鉴于现有桥臂保护方法无法有效应对换流器单相桥臂间短路的问题,进一步研究了此类短路情况下的特性,发现故障相上、下桥臂电流仅包含基频分量而不含直流分量,从而制定了相应的动作判据。将三相桥臂和电流保护与单相桥臂间短路保护判据进行,能够全面识别换流器桥臂上发生的各种故障,丰富和完善了换流器桥臂的保护原理。最终,通过在MATLAB/SimulinK中搭建双极MMC-HVDC系统仿真模型验证了所提出保护方法的有效性和可靠性。展开更多
针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位...针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位,本文系统利用无源单向水声定位方式,单浮标周期性广播声脉冲信号,UUV根据其水听器阵列接收声脉冲时间差以及相位差解算自身位置信息。由于广播范围内的所有UUV可同步定位,因此该定位方法不受集群成员数量限制,具有良好的可拓展性。此外由于基于单声程信号定位且不对外发射声波,该定位方法还具有位置更新率高、隐蔽性好和能耗低等优点,为UUV集群水下导航定位领域带来了新的解决方案。展开更多
基金Supported by Shanxi Province Young Leaders on Science and by Program for New Century Excellent Talents in University(NCET)
文摘The structure and measurement theory of a single-axis integrated inertia measurement device are discussed in this paper.The acceleration and angle velocity can be detected by the proposed sensor at the same time.The ki- netic model of the device is also established.In addition,the signal generation of the single-axis integrated inertia measurement device is analyzed and simulated.The results of the model are consistent with simulation result.
基金the Astronautic Technology Foundation (HTZC0405)
文摘In view of the problem that the current single-antenna GPS attitude determination system can only determine the body attitude when the sideslip angle is zero and the multiantenna GPS/SINS integrated navigation system is of large volume, high cost, and complex structure, this approach is presented to determine the attitude based on vector space with single-antenna GPS and accelerometers in the micro inertial measurement unit （MIMU）. It can provide real-time and accurate attitude information. Subsequently, the single-antenna GPS/SINS integrated navigation system is designed based on the combination of position, velocity, and attitude. Finally the semi- physical simulations of single-antenna GPS attitude determination system and single-antenna GPS/SINS integrated navigation system are carried out. The simulation results, based on measured data, show that the single-antenna GPS/SINS system can provide more accurate navigation information compared to the GPS/SINS system, based on the combination of position and velocity. Furthermore, the single-antenna GPS/SINS system is characteristic of lower cost and simpler structure. It provides the basis for the application of a single-antenna GPS/SINS integrated navigation system in a micro aerial vehicle （MAV）.
文摘针对模块化多电平换流器型高压直流输电(modular multilevel converter-high voltage direct current,MMC-HVDC)系统,提出了一种创新的换流器桥臂保护方法。首先,分析了在换流器单桥臂接地以及单相桥臂间接地情况下电流的流通路径,构建了等值电路,并推导了换流器闭锁前后桥臂电流的表达式。基于此,剖析了故障后三相桥臂电流之和的独有特征,提出了通过检测三相桥臂和电流的基频分量是否为零来区分桥臂内部故障与外部故障的保护策略。鉴于现有桥臂保护方法无法有效应对换流器单相桥臂间短路的问题,进一步研究了此类短路情况下的特性,发现故障相上、下桥臂电流仅包含基频分量而不含直流分量,从而制定了相应的动作判据。将三相桥臂和电流保护与单相桥臂间短路保护判据进行,能够全面识别换流器桥臂上发生的各种故障,丰富和完善了换流器桥臂的保护原理。最终,通过在MATLAB/SimulinK中搭建双极MMC-HVDC系统仿真模型验证了所提出保护方法的有效性和可靠性。
文摘针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位,本文系统利用无源单向水声定位方式,单浮标周期性广播声脉冲信号,UUV根据其水听器阵列接收声脉冲时间差以及相位差解算自身位置信息。由于广播范围内的所有UUV可同步定位,因此该定位方法不受集群成员数量限制,具有良好的可拓展性。此外由于基于单声程信号定位且不对外发射声波,该定位方法还具有位置更新率高、隐蔽性好和能耗低等优点,为UUV集群水下导航定位领域带来了新的解决方案。
