基于RCB与锁相环的跟踪鉴别测向方法

为了弥补阵列天线导向矢量失配和相位测量噪声对测向性能的影响,提出一种基于稳健capon波束形成技术(robust capon beamforming,RCB)和锁相环的矢量最优估计与跟踪鉴别测向方法。首先基于RCB与锁相环原理,对目标来波信号导向矢量进行最优估计与跟踪测量;然后在稳定、准确跟踪导向矢量的基础上,借鉴扩频接收机伪码鉴相原理确定来波信号方向。仿真分析表明,该方法能够弥补阵列流型失配和相位噪声的影响、突破角度相关间隔的限制,准确测量来波信号的方向。     

基于图像信息的微小型飞行器飞行测高方法

微小型飞行器飞行高度的实时测量是实现其自主飞行的关键技术之一。为了准确快速地获取微小型飞行器的飞行高度参数,提出了一种新的稳健的利用图像信息获取微小型飞行器飞行高度的方法。此算法首先使用光学理论和几何学理论推导出了飞行高度的计算公式,综合运用Harris角点检测算法和区域灰度算法得到图像间的匹配角点,并使用分割区域法得到图像之间的关键点。最后通过计算关键点在图像中的位移情况,计算出飞行器当前的高度值。飞行实验表明,这种测量算法可以实时获得飞行器的高度,精度满足飞行器平稳飞行的需要。

Abstract：

Flight height is one of key technologies for micro aerial vehicle （MAV） flight autonomy.In order to get the MAV flight height accurately and quickly,a new robust flight height measurement algorithm was proposed.In the algorithm,the height was deduced from optical theory and geometry theory,and a matching corner points set was obtained by Harris corner detector and regional gray method.And then,the key points were got using the segmentation area method.In the end,the current flight height was obtained by computing the displacement of the key points in the images.The flight experiment shows that flight height measurement is real-time,and it meets the stable flight control requirements for the MAVs.