基于双目光学图像信息的空间非合作目标自主相对导航方法

针对无任何先验信息的空间非合作目标相对导航问题,提出了一种仅基于双目视觉图像测量的自主相对导航方法.首先,建立了非合作目标双目图像测量辨识模型及特征位置矢量解算方法.利用观测卫星相机系下的目标相对位置矢量观测序列,结合卫星姿态、相机安装方位等信息,给出了非合作目标初始相对运动状态估计及导航滤波参数初始化方法.之后采用考虑状态噪声补偿以及观测方差矩阵和状态噪声矩阵自适应修正的扩展卡尔曼滤波算法,完成空间非合作目标自主相对导航解算.最后以低轨非合作目标逼近段为例进行相对导航仿真,验证了该方法的有效性.     

小天体探测序列图像自主相对导航系统可观测性分析

小天体探测对探索宇宙起源、解决地球资源问题具有重要意义,研发小天体探测器及实施小天体探测已成为各国未来发展的重点.受地面测控网指令时延的影响,小天体探测器需自主获取小天体的位置、速度信息,即具备自主相对导航的能力,基于序列图像的自主相对导航系统不仅可提供包含小天体运动信息的角度观测量,还具有低成本、低功耗的优点,是一种理想的小天体探测自主相对导航方法,是目前研究的热点.可观测性分析可评估导航系统的观测能力是研究导航系统的基础.本文针对小天体探测序列图像自主相对导航系统非线性带来的可观测性分析问题,基于微分几何理论,推导了系统0至2阶李导数,建立了系统可观测性矩阵,基于秩判据分析了典型小天体探测轨道流形下序列图像自主相对导航系统的局部弱可观测性.分析结果表明,仅依靠序列图像小天体探测器可完备估计小天体运动状态.此外,本文提出了序列图像自主相对导航系统的可观测度量化方法,并分析了相对轨道流形变化对可观测度的影响,相关结论可指导小天体探测器轨道设计,具有一定的工程实用价值.     

基于序列图像的火星软着陆自主导航避障方法

针对未知地形和障碍下火星软着陆精确避障问题,本文提出一种利用未知陆标序列图像测量的火星软着陆自主导航避障方法.该方法仅利用单目相机和惯性测量敏感器,以初始时刻星下点天南东系为着陆参考坐标系,利用火星表面未知陆标在连续两幅下降图像中的单位视线矢量测量及探测器状态估计建立未知陆标的隐式测量模型,通过EKF利用所建立的未知陆标隐式测量模型和基于IMU测量建立的运动学模型对探测器的运动状态进行估计,进而根据估计的探测器相对目标着陆点的位置和速度利用改进的四次多项式制导律完成避障制导控制.数学仿真表明,提出的方法可有效估计探测器相对于目标着陆点的位置和速度,并实现精度优于0.5 m的水平方向避障,从而满足火星软着陆安全避障的要求.     

空间非合作目标特征提取与运动测量方法

在轨服务空间目标通常具有"非合作"特性,难以提取其特征并测量运动状态,针对这一问题,本文提出了一种空间非合作目标特征提取与运动测量方法.首先,对双目相机采集的目标图像进行阈值分割,将目标对接环区域与背景环境分割开来,采用Canny算子方法来检测星箭对接环边缘;其次,通过对目标边缘外形特点分析,采用Hough变换来提取十字支架直线特征,采用最小二乘法来拟合星箭对接环轮廓;再次,采用"平行等效投影"结合"极线对准"的方法,实现汇聚式双目视觉的左右相机图像匹配;最后,通过对星箭对接环和十字支架特征点进行三维重建,获取星箭对接环相对位置,采用双矢量定姿方法来确定星箭对接环相对姿态.地面仿真试验表明,该算法能够有效测量星箭对接环相对位置和姿态,在距目标1.5 m处,相对位置精度优于15 mm,相对姿态精度优于1.12°.本文的研究能够实现非合作目标对接环相对位置和姿态的精确测量,为空间非合作目标抓捕、维修、加注、模块更换、轨道转移等在轨服务任务提供测量基础和重要支撑,具有重要实际应用价值.     

GPS/INS相对导航鲁棒扩展卡尔曼滤波方法

针对绕飞模式下追踪器与合作目标间的GPS/INS组合相对导航问题,考虑追踪器的惯量阵存在不确定性,为提高相对导航系统的精确性和稳定性,提出了一种GPS/INS组合相对导航的鲁棒扩展卡尔曼滤波算法. 该算法采用近似线性化方法将相对导航系统中的非线性函数进行泰勒级数展开,并将线性化引起的模型误差作为不确定项来处理,结合鲁棒卡尔曼滤波算法,设计了GPS/INS组合相对导航的鲁棒扩展卡尔曼滤波算法. 仿真结果表明,该方法相对位置的估计精度为0.1 m,相对姿态的估计精度为0.001°,相对导航精度很高,且对追踪器惯量阵存在的不确定性具有很好的鲁棒性.      

基于序列图像的深空小天体运动状态估计

近年来,随着空间技术的进步,大部分国家逐渐开始关注深空小天体探测,这属于典型空间非合作目标探测任务.与合作目标相比,空间非合作目标具有典型的特征,如无先验知识、无合作标识和无通信等.但是在附着之前,必须获取空间非合作目标的必要信息.如何通过非接触的方式获取目标的姿态、角速度和惯性参数是深空小天体探测的重要技术之一.研究工作提出了一种估计未知非合作目标姿态、运动与惯量特性的新方法,仿真证明了在不同目标特性与状态工况下的方法有效性.此外,主惯量参数比的准确率能够达到90%.在所有这些工况中,非常重要的环节是视觉算法必须保证良好且精确的目标特征点信息.总之,本文给出了一种有前景与有效的用于小天体附着前的运动与参数辨识方法,此方法非常高效且适合星上应用.     

煤矿井下飞行机器人建模与仿真

针对煤矿井下飞行机器人自主导航、数学模型不完善与实验数据缺失问题,建立了煤矿井下飞行机器人运动力学模型、传感器观测状态估计模型、仿真系统。自定义煤矿井下导航坐标系,在简化后的微分平坦状态空间,建立线运动与角运动的运动力学模型;选用三维激光雷达、惯性测量单元(IMU)、相机传感器,并分别建立其观测模型,进而在特殊欧式群SE(3)空间,构建基于优化理论的传感器观测状态估计模型;搭建仿真系统并模拟煤矿井下工作面场景,对建立的运动力学模型和传感器观测状态估计模型进行仿真实验。建立的煤矿井下飞行机器人的运动力学模型与状态估计模型可行、有效,生成的仿真数据集为后续研究提供参考。     

月心矢量增强XNAV及其自适应滤波方法

针对X射线脉冲星导航(XNAV)难以获取准确的过程噪声统计特性及导航精度低的问题,提出基于自适应差分卡尔曼滤波器(ADDF),融合地月夹角的多信息融合XNAV.首先通过处理从光学相机获得的月球图像得到视场角度和方向矢量的测量模型;然后将该测量模型和传统脉冲星计时观测模型集成到航天器轨道动力学中,以建立ADDF滤波模型;最后对所提方法进行仿真验证.实验结果表明:在相同的初始状态和初始噪声误差下,与无迹卡尔曼滤波器(UKF)和差分滤波器(DDF)相比,ADDF具有良好的噪声自适应能力,其导航位置估计精度提高60%以上,速度估计精度提高25%以上;较之传统计时观测XNAV,融合视场角和月球方向矢量的XNAV方法能够将导航精度提高50%以上.     

基于SINS/星敏感器的组合导航模式

针对利用捷联惯导系统导航的不足,提出了一种基于捷联惯导系统/星敏感器的新组合导航模式,来提高飞行器导航的精度和速度.利用星敏感器得到恒星星光矢量在星敏感器CCD光敏面上的星像点及其在导航星库中对应的坐标值,然后分别进行坐标变换得到星光矢量在数学平台坐标系和地理坐标系中的坐标角度值.以Kalman滤波为基础,将所得到的星光坐标角度值和姿态角速度进行数据融合,估计出组合导航系统的误差状态量,进而修正捷联惯导系统的位置、速度和姿态角参数.详细推导了SINS/星光的组合导航算法,并通过仿真证实了该方案可提高导航系统的精度和速度,有较好的容错性和环境适应性,具有实际使用价值.     

一种雷达网络偏差估计补偿方法

为了提高雷达目标跟踪精度,针对雷达网络跟踪系统的时变配准偏差补偿问题,该文提出了一种通用的估计补偿方法.该方法根据雷达提供的测量信息,引入伪测量方程和等价偏差的概念,结合卡尔曼滤波方法估计出雷达的量测偏差和位置,用于补偿和修正量测信息.该方法使雷达的跟踪精度比补偿前明显提高.统计意义下的仿真结果显示了该方法的有效性.     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

Design and analysis of generic LBS application developing platform

Location based services is promising due to its novel working style and contents.A software platform is proposed to provide application programs of typical location based services and support new applications developing efficiently. The analysis shows that this scheme is easy implemented, low cost and adapt to all kinds of mobile nework system.     

橡胶颗粒沥青混合料低温抗裂性试验研究

以AC-13级配为基础,将橡胶颗粒代替部分集料掺入混合料中,以低温弯曲试验为评价方法对不同橡胶颗粒掺量下沥青混合料的低温抗裂性进行研究,并引入应变能密度值对混合料的低温抗裂性进行综合评价.试验结果表明:橡胶颗粒沥青混合料试件的破坏微应变均超过2 300,满足冬寒区的技术指标;无论是否掺加橡胶颗粒,随着温度的下降,沥青混合料破坏时的最大弯拉强度增大,弯拉应变降低,劲度模量增大;弯曲应变能密度在胶粒掺量为1%左右时具有较大的弯曲应变能密度值,此时橡胶颗粒沥青混合料具有较好的低温抗裂性.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

Quantitative trait loci （QTLs） for quality traits related to protein and starch in wheat

Quality traits in wheat （Triticum aestirum L.） were studied by quantitative trait locus （QTL） analysis in a recombinant inbred line （RIL） population, a set of 131 lines derived from Chuan 35050 × Shannong 483 cross （ChSh）. Grains from RILs were assayed for 21 quality traits related to protein and starch. A total of 35 putative QTLs for 19 traits with a single QTL explaining 7.99-40.52% of phenotypic variations were detected on 10 chromosomes, 1D, 2A, 2D, 3B, 3D, 5A, 6A, 6B, 6D, and 7B. The additive effects of 30 QTLs were positive, contributed by Chuan 35050, the remaining 5 QTLs were negative with the additive effect contributed by Shannong 483. For protein traits, 15 QTLs were obtained and most of them were located on chromosomes 1 D, 3B and 6D, while 20 QTLs for starch traits were detected and most of them were located on chromosomes 3D, 6B and 7B. Only 7 QTLs for protein and starch traits were co-located in three regions on chromosomes 1D, 2A and 2D. These protein and starch trait QTLs showed a distinct distribution pattern in certain regions and chromosomes. Twenty-two QTLs were clustered in 6 regions of 5 chromosomes. Two QTL clusters for protein traits were located on chromosomes 1D and 3B, respectively, three clusters for starch traits on chromosomes 3D, 6B and 7B, and one cluster including protein and starch traits on chromosome 1D.     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.