Blind source separation (BBS) technology was applied to vibration signal processing of gearbox for separating different fault vibration sources and enhancing fault information. An improved BSS algorithm based on parti...Blind source separation (BBS) technology was applied to vibration signal processing of gearbox for separating different fault vibration sources and enhancing fault information. An improved BSS algorithm based on particle swarm optimization (PSO) was proposed. It can change the traditional fault-enhancing thought based on de-noising. And it can also solve the practical difficult problem of fault location and low fault diagnosis rate in early stage. It was applied to the vibration signal of gearbox under three working states. The result proves that the BSS greatly enhances fault information and supplies technological method for diagnosis of weak fault.展开更多
At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method o...At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.展开更多
Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar S...Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar SLAM equipped with lidar.However,pure visual SLAM have shortcomings such as low positioning accuracy,the paper proposes a visual-inertial information fusion SLAM based on Runge-Kutta improved pre-integration.First,the Inertial Measurement Unit(IMU)information between two adjacent keyframes is pre-integrated at the front-end to provide IMU constraints for visual-inertial information fusion.In particular,to improve the accuracy in pre-integration,the paper uses the RungeKutta algorithm instead of Euler integral to calculate the pre-integration value at the next moment.Then,the IMU pre-integration value is used as the initial value of the system state at the current frame time.We combine the visual reprojection error and imu pre-integration error to optimize the state variables such as speed and pose,and restore map points’three-dimensional coordinates.Finally,we set a sliding window to optimize map points’coordinates and state variables.The experimental part is divided into dataset experiment and complex indoor-environment experiment.The results show that compared with pure visual SLAM and the existing visual-inertial fusion SLAM,our method has higher positioning accuracy.展开更多
In X-ray pulsar-based navigation, strong X-ray background noise leads to a low signal-to-noise ratio（SNR） of the observed profile, which consequently makes it very difficult to obtain an accurate pulse phase that di...In X-ray pulsar-based navigation, strong X-ray background noise leads to a low signal-to-noise ratio（SNR） of the observed profile, which consequently makes it very difficult to obtain an accurate pulse phase that directly determines the navigation precision. This signifies the necessity of denoising of the observed profile. Considering that the ultimate goal of denoising is to enhance the pulse phase estimation, a profile denoising algorithm is proposed by fusing the biorthogonal lifting wavelet transform of the linear phase characteristic with the thresholding technique. The statistical properties of X-ray background noise after epoch folding are studied. Then a wavelet-scale dependent threshold is introduced to overcome correlations between wavelet coefficients. Moreover, a modified hyperbola shrinking function is presented to remove the impulsive oscillations of the observed profile. The results of numerical simulations and real data experiments indicate that the proposed method can effectively improve SNR of the observed profile and pulse phase estimation accuracy, especially in short observation durations. And it also outperforms the Donoho thresholding strategy normally used in combination with the orthogonal discrete wavelet transform.展开更多
For the longitudinal midcourse guidance problem of a cruise-glide integrated hypersonic vehicle(CGHV),an analytical method based on optimal control theory is proposed.This method constructs a guidance dynamics model f...For the longitudinal midcourse guidance problem of a cruise-glide integrated hypersonic vehicle(CGHV),an analytical method based on optimal control theory is proposed.This method constructs a guidance dynamics model for such vehicles,using aerodynamic load as the control variable,and introduces a framework for solving the guidance laws.This framework unifies the design process of guidance laws for both the glide and cruise phases.By decomposing the longitudinal guidance task into position control and velocity control,and minimizing energy consumption as the objective function,the method provides an analytical solution for velocity control load through the calculation of costate variables.This approach requires only the current state and terminal state parameters to determine the guidance law solution.Furthermore,by transforming path constraints into aerodynamic load constraints and solving backwards to obtain the angle of attack,bank angle,and throttle setting,this method ensures a smooth transition from the glide phase to the cruise phase,guaranteeing the successful completion of the guidance task.Finally,the effectiveness and practicality of the proposed method are validated through case simulations and analysis.展开更多
Global positioning system (GPS) for vehicle applications in the urban area is challenged by low signal intensity. The carrier loop based on fast Fourier transform (FFT) can obtain a high signal to noise ratio (SNR) ga...Global positioning system (GPS) for vehicle applications in the urban area is challenged by low signal intensity. The carrier loop based on fast Fourier transform (FFT) can obtain a high signal to noise ratio (SNR) gain by increasing the observation time. However, this leads to a major problem that the acceleration cannot be ignored. The performance of the FFT-based loop will decline with the acceleration increasing. This paper discusses the effect of the dynamic on FFT first. Then a high performance carrier tracking loop for weak GPS L5 signals is proposed. It combines discrete chirp-Fourier transform (DCFT) and the phase fitting method to estimate Doppler frequency and Doppler rate simultaneously. First, a sequence of integration results is used to perform DCFT to estimate coarse Doppler frequency and Doppler rate. Second, the phase of the sequence is calculated and used to perform linear fitting. By the phase fitting method, the fine Doppler frequency and Doppler rate can be estimated. The computation cost is small because the integration results are used and the phase fitting method needs only coarse estimates of Doppler frequency and Doppler rate. Compared with FFT and DCFT, the precision of the phase fitting method is not limited by the resolution. Thus the proposed loop can get high precision and low carrier to noise ratio (C/N-0) tracking threshold. Simulation results show this loop has a great improvement than conventional loops for urban weak-signal applications.展开更多
In order to improve the acquisition probability of satellite navigation signals, this paper proposes a novel code acquisition method based on wavelet transform filtering. Firstly, the signal vector based on the signal...In order to improve the acquisition probability of satellite navigation signals, this paper proposes a novel code acquisition method based on wavelet transform filtering. Firstly, the signal vector based on the signal passing through a set of partial matched filters （PMFs） is built. Then, wavelet domain filtering is performed on the signal vector value. Since the correlation signal is low in frequency and narrow in bandwidth, the noise out-of-band can be filtered out and the most of the useful signal energy is retained. Thus this process greatly improves the signal to noise ratio （SNR）. Finally, the detection variable when the filtered signal goes through the combination process is constructed and the detection based on signal energy is made. Moreover, for the better retaining useful signal energy, the rule of selection of wavelet function has been made. Simulation results show the proposed method has a better detection performance than the normal code acquisition methods under the same false alarm probability.展开更多
基金Project(50875247) supported by the National Natural Science Foundation of ChinaProject(2007011070) supported by the Natural Science Foundation of Shanxi Province, China
文摘Blind source separation (BBS) technology was applied to vibration signal processing of gearbox for separating different fault vibration sources and enhancing fault information. An improved BSS algorithm based on particle swarm optimization (PSO) was proposed. It can change the traditional fault-enhancing thought based on de-noising. And it can also solve the practical difficult problem of fault location and low fault diagnosis rate in early stage. It was applied to the vibration signal of gearbox under three working states. The result proves that the BSS greatly enhances fault information and supplies technological method for diagnosis of weak fault.
基金supported by the National Science Fund of China under Grants 61603034China Postdoctoral Science Foundation under Grant 2019M653870XB+1 种基金Beijing Municipal Natural Science Foundation (3182027)Fundamental Research Funds for the Central Universities,China,FRF-GF-17-B44,and XJS191315
文摘At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.
基金supported by the China Postdoctoral Science Foundation under Grant 2019M653870XBNational Natural Science Foundation of Shanxi Province under Grants No.2020GY-003 and 2021GY-036+1 种基金National Natural Science Foundation of China under Grants 62001340Fundamental Research Funds for the Central Universities,China,XJS211306 and JC2007
文摘Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar SLAM equipped with lidar.However,pure visual SLAM have shortcomings such as low positioning accuracy,the paper proposes a visual-inertial information fusion SLAM based on Runge-Kutta improved pre-integration.First,the Inertial Measurement Unit(IMU)information between two adjacent keyframes is pre-integrated at the front-end to provide IMU constraints for visual-inertial information fusion.In particular,to improve the accuracy in pre-integration,the paper uses the RungeKutta algorithm instead of Euler integral to calculate the pre-integration value at the next moment.Then,the IMU pre-integration value is used as the initial value of the system state at the current frame time.We combine the visual reprojection error and imu pre-integration error to optimize the state variables such as speed and pose,and restore map points’three-dimensional coordinates.Finally,we set a sliding window to optimize map points’coordinates and state variables.The experimental part is divided into dataset experiment and complex indoor-environment experiment.The results show that compared with pure visual SLAM and the existing visual-inertial fusion SLAM,our method has higher positioning accuracy.
文摘In X-ray pulsar-based navigation, strong X-ray background noise leads to a low signal-to-noise ratio（SNR） of the observed profile, which consequently makes it very difficult to obtain an accurate pulse phase that directly determines the navigation precision. This signifies the necessity of denoising of the observed profile. Considering that the ultimate goal of denoising is to enhance the pulse phase estimation, a profile denoising algorithm is proposed by fusing the biorthogonal lifting wavelet transform of the linear phase characteristic with the thresholding technique. The statistical properties of X-ray background noise after epoch folding are studied. Then a wavelet-scale dependent threshold is introduced to overcome correlations between wavelet coefficients. Moreover, a modified hyperbola shrinking function is presented to remove the impulsive oscillations of the observed profile. The results of numerical simulations and real data experiments indicate that the proposed method can effectively improve SNR of the observed profile and pulse phase estimation accuracy, especially in short observation durations. And it also outperforms the Donoho thresholding strategy normally used in combination with the orthogonal discrete wavelet transform.
基金supported by the National Natural Science Foundation of China(Grant Nos.62473374,62403487 and U2441243).
文摘For the longitudinal midcourse guidance problem of a cruise-glide integrated hypersonic vehicle(CGHV),an analytical method based on optimal control theory is proposed.This method constructs a guidance dynamics model for such vehicles,using aerodynamic load as the control variable,and introduces a framework for solving the guidance laws.This framework unifies the design process of guidance laws for both the glide and cruise phases.By decomposing the longitudinal guidance task into position control and velocity control,and minimizing energy consumption as the objective function,the method provides an analytical solution for velocity control load through the calculation of costate variables.This approach requires only the current state and terminal state parameters to determine the guidance law solution.Furthermore,by transforming path constraints into aerodynamic load constraints and solving backwards to obtain the angle of attack,bank angle,and throttle setting,this method ensures a smooth transition from the glide phase to the cruise phase,guaranteeing the successful completion of the guidance task.Finally,the effectiveness and practicality of the proposed method are validated through case simulations and analysis.
基金supported by the National Natural Science Foundation of China(6140134061573059)the Areo Space T.T.&.C.Innovation Program(201515A)
文摘Global positioning system (GPS) for vehicle applications in the urban area is challenged by low signal intensity. The carrier loop based on fast Fourier transform (FFT) can obtain a high signal to noise ratio (SNR) gain by increasing the observation time. However, this leads to a major problem that the acceleration cannot be ignored. The performance of the FFT-based loop will decline with the acceleration increasing. This paper discusses the effect of the dynamic on FFT first. Then a high performance carrier tracking loop for weak GPS L5 signals is proposed. It combines discrete chirp-Fourier transform (DCFT) and the phase fitting method to estimate Doppler frequency and Doppler rate simultaneously. First, a sequence of integration results is used to perform DCFT to estimate coarse Doppler frequency and Doppler rate. Second, the phase of the sequence is calculated and used to perform linear fitting. By the phase fitting method, the fine Doppler frequency and Doppler rate can be estimated. The computation cost is small because the integration results are used and the phase fitting method needs only coarse estimates of Doppler frequency and Doppler rate. Compared with FFT and DCFT, the precision of the phase fitting method is not limited by the resolution. Thus the proposed loop can get high precision and low carrier to noise ratio (C/N-0) tracking threshold. Simulation results show this loop has a great improvement than conventional loops for urban weak-signal applications.
基金supported by the National Natural Science Foundation of China(6117213861401340)the Fundamental Research Funds for the Central Universities(K5051302015)
文摘In order to improve the acquisition probability of satellite navigation signals, this paper proposes a novel code acquisition method based on wavelet transform filtering. Firstly, the signal vector based on the signal passing through a set of partial matched filters （PMFs） is built. Then, wavelet domain filtering is performed on the signal vector value. Since the correlation signal is low in frequency and narrow in bandwidth, the noise out-of-band can be filtered out and the most of the useful signal energy is retained. Thus this process greatly improves the signal to noise ratio （SNR）. Finally, the detection variable when the filtered signal goes through the combination process is constructed and the detection based on signal energy is made. Moreover, for the better retaining useful signal energy, the rule of selection of wavelet function has been made. Simulation results show the proposed method has a better detection performance than the normal code acquisition methods under the same false alarm probability.
