有色观测噪声下的多变量设置调整策略

针对存在初始设置偏差的离散的多变量生产制造过程，研究了观测噪声服从Auto-Rgressive （AR）模型的情况下，考虑调整花费成本为二次型函数时的设置调整问题，在建立过程状态空间方程的基础上，利用卡尔曼滤波方法在线估计过程的状态变量，根据随机二次型最优控制理论，得到了使过程质量损失最小的最优调整策略. 通过算例解释了最优调整策略的实现方法，并进行了仿真验证，结果表明，得到的调整策略与观测噪声为白噪声时的质量调整策略相比，能更好地减少过程总体质量损失.     

New rapid transfer alignment method for SINS of airborne weapon systems

Transfer alignment is an effective alignment method for the strapdown inertial navigation system （SINS） of airborne weapon systems. The traditional transfer alignment methods for large misalignment angles alignment use nonlinear transfer align- ment models and incorporate nonlinear filtering. A rapid transfer alignment method with linear models and linear filtering for ar- bitrary misalignment angles is presented. Through the attitude quaternion decomposition, the purpose of transfer alignment is converted to estimate a constant quaternion. Employing special manipulations on measurement equation, velocity and attitude linear measurement equations are derived. Then the linear trans- fer alignment model for arbitrary misalignment angles is built. An adaptive Kalman filter is developed to handle modeling errors of the measurement noise statistics. Simulation results show feasibili- ty and effectiveness of the proposed method, which provides an alternative rapid transfer alignment method for airborne weapons.     

Self-alignment of full skewed RSINS：observability analysis and full-observable Kalman filter

Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.     

Vizrt在电视新闻类节目中的技术研发的探索与实践——Vizrt二次开发具体案例分析

Vizrt系统是一个比较开放的平台，具备优秀的设计制作功能，同时具有较为强大的二次开发扩展空间。本人通过近两年的经验积累，总结了一些对Vizrt进行二次开发进而提高制作效率、智能化操作流程、提升交互特性、解决系统故障、优化播控流程、扩展软件功能等方面的基本方法。鉴于目前在行业内对Vizrt二次开发方面进行探讨的资料并不多见，本人把相关程序思路与应用效果展示给同行业内人士，希望可以抛砖引玉，与诸位同行交流进步。     

基于卡尔曼滤波的多滑模面电动舵机控制

针对导弹用力矩电机的位置反馈控制,提出一种采用多滑模面自适应变结构控制法,采用卡尔曼滤波器估计状态,消除测量噪声,降低输出抖动,对多滑模面控制率的稳定与收敛性进行适当证明,通过仿真验证算法的有效性。     

GPSNISNAV integrated relative navigation and attitude determination system for ultra-close spacecraft formation flying

For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.     

一种应用于二进制传感器网络的目标跟踪算法

针对采用集中式粒子滤波方法解决二进制传感器网络目标跟踪问题存在的实时性较差和网络能量消耗大的缺点，提出了一种基于动态分簇的分布式粒子滤波算法。以随着目标运动而动态变化的簇为信息处理结构，簇头节点收集簇成员的单跳测量信息，实时对目标状态进行估计，非簇内节点进入休眠状态以节省能量。仿真表明，合理设置簇转换距离和激活半径，算法的跟踪精度与集中式粒子滤波方法相当；在不影响跟踪效果的情况下，可适当减小簇转换距离和激活半径，从而节省网络能量。     

一种参数自调整风电功率预测模型

为了提高风电功率预测精度,提出一种参数自调整风电功率预测模型.通过加权递推最小二乘(SWWRLS)方法建立预测模型,侧重当前数据对预测结果的影响,排除了历史数据对预测结果的干扰.模型通过加权递推的方法节省了存储空间,并且提高了模型对外界环境数据变化的自适应性.最后,分别采用支持向量机(SVM)方法、卡尔曼滤波(KF)方法和本文SWWRLS方法,以辽宁省某风电场的真实历史数据进行风电功率预测对比实验,实验结果表明,本文方法建立的模型具有较高的预测精度.     

基于生物-生态耦合工艺的农村生活污水处理研究

开发低投资、低能耗、低维护的生活污水处理工艺是解决农村污水处理问题的关键。采用无动力升流式厌氧生物滤池(UAF)与潜流式人工湿地(SFW)耦合工艺处理农村生活污水,考察了耦合工艺在不同水力停留时间(HRT)下对生活污水的处理效果,并通过增加SFW内的植株密度改善脱氮除磷效果。结果表明:UAF与SFW耦合工艺无动力消耗,免维护,适合农村地区的生活污水处理,对氮、磷的去除主要依靠SFW阶段完成,通过增加芦苇的植株密度可以明显增强SFW内生物的脱氮除磷能力,并保证UAF与SFW耦合工艺的处理性能稳定在较高水平。在t(HRT)UAF=18h,t(HRT)SFW=3d的条件下,UAF与SFW耦合工艺出水COD、氨氮、总氮、总磷的平均质量浓度分别为44.07,4.25,13.36和0.44mg/L,达到《城镇污水处理厂污染物排放标准》(GB 18918-2002)一级A标准。     

EHGFs方向可控滤波压制地震勘探随机噪声

为有效提取地震信号同相轴信息, 解决以哈密特-高斯函数(HGFs: Hemite-Gauss Functions)为核函数的方向可控滤波器因无方向性而导致同相轴被降频的问题, 引入以拉伸哈密特-高斯函数(EHGFs: Elongated Hemite-Gauss Functions)为核的方向可控滤波去噪方法。该方法考虑有效信号与随机噪声在方向性上的差异,
通过近似拟合方法构造EHGFs 方向可控滤波器, 借助EHGFs 具有明确的方向性, 滤波时沿着轴向进行滤波,提高线性度, 减少平滑作用, 取得方向滤波数据后再根据数据局部数字特征进行数据重组, 达到去噪效果。实验结果表明, 该方法具有明显压制随机噪声、恢复有效信号的效果。