基于多假设解分离算法的BDS/SINS紧组合完好性监视

完好性是民航基于性能的导航（PBN）运行的关键性能要求,是导航安全性的重要支撑。北斗导航系统（BDS）/惯性导航系统（SINS）紧组合导航系统将SINS信息加入到完好性监视中,增加了冗余信息,通过多假设解分离算法进行故障卫星的检测与隔离,满足民航特定飞行阶段高完好性要求。论文利用BDS接收机接收到的BDS卫星数据,通过设置飞行轨迹,模拟卫星故障,对BDS/SINS组合导航系统的完好性算法进行测试验证。实验结果表明,基于多假设解分离方法的BDS/SINS紧组合导航系统可以较好地实现故障卫星的检测与隔离,保护限计算符合预期。     

卫星信号失效条件下SINS/GPS不同组合方式的性能比较

为了研究卫星信号失效对SINS/GPS松组合导航系统和紧组合导航系统导航性能的影响,在分析惯导系统误差方程的基础上,给出了基于卡尔曼滤波的松组合和紧组合数学模型,构建了两种组合方式的仿真平台。仿真结果显示,SINS/GPS紧组合导航系统的精度要明显优于松组合导航系统,且在卫星信号失效导致可见星数目少于4颗甚至仅有1颗时,SINS/GPS紧组合依然能够保持组合模式,并可提供高于单一惯性导航系统的导航精度,说明了SINS/GPS紧组合方式具有较高的精度和可靠性。     

GPS/SINS紧组合导航系统信息融合技术研究

为了提高复杂环境条件下导弹的导航精度,以GPS/SINS紧组合导航系统为研究对象,首先研究了GPS/SINS紧组合导航系统的数学模型;然后对扩展卡尔曼滤波和无迹卡尔曼滤波的算法进行了详细的分析;最后将这两种滤波算法应用到GPS/SINS紧组合导航系统中。系统仿真结果表明,UKF在位置、速度的估计精度上均优于EKF,并且UKF具有更好的稳定性和收敛性。     

BDS/SINS紧耦合组合导航技术仿真研究

研究北斗卫星导航系统定位精度优化问题.由于单一北斗系统不能满足飞行器导航要求,为了增强系统可靠性、实时性和抗干扰能力,针对卫星系统导航信号通视性差、易失锁和数据更新频率低等问题,提出了机载紧耦合BDS/SINS组合导航技术.对BDS和SINS的误差模型进行分析,构造了利用伪距和伪距率的状态方程和量测方程.仿真结果表明,紧耦合组合导航系统精度和可靠性更高,在少星条件下仍能满足载体导航需求,并弥补了BDS单一导航的不足.     

基于GPS/SINS紧耦合系统的新息外推法

在GPS/SINS紧耦合系统中,完好性是一个极其重要的指标。为缩短卫星故障检测时间,在新息检测法的基础上提出一种新息外推法,该算法通过对外推过程中产生的新息进行处理,形成检验统计量来检测卫星故障。结合GPS/SINS紧耦合系统,仿真结果表明,新息外推法比新息检测法能更快地检测慢变故障,且能在一定程度上削弱野值对故障检测的影响。     

基于MEMS-SINS/GPS的组合导航系统设计

针对小型无人机导航系统低成本、微小型、高效性的特点,提出了基于捷联惯导(SINS)\卫星定位(GPS)的组合导航系统设计方案,深入研究了组合导航系统的关键技术;分析了MEMS传感器误差对导航系统的影响,建立了系统误差模型;采用利于工程实现的基于位置、速度误差作为状态向量,以松耦合方式进行集中式Kalman滤波,对SINS/GPS信息进行融合,避免了传统SINS系统状态模型非线性,滤波器设计困难的问题;最后对系统进行了仿真;仿真结果表明,该组合导航系统成功抑制了SINS系统的积累误差,提高了导航精度与可靠性,具有广阔的应用前景。     

紧耦合MINS/GPS组合导航系统数据融合的分析与处理

针对MINS/GPS组合导航系统的松耦合、紧耦合组合方案进行了讨论,借鉴国内外对紧耦合MINS/GPS组合模式的研究,分析了松耦合、紧耦合和超紧耦合MINS/GPS组合模式的构成和工作原理,通过理论分析建立了基于伪距差分的组合卡尔曼滤波模型.通过半实物仿真试验研究紧耦合MINS/GPS系统数据融合处理的特性.     

SINS/GLONASS/GPS组合导航系统的故障检测研究

为了避免由于应用过多的卡尔曼滤波器在组合导航系统中所带来的一系列问题,提出了一种应用SINS/GLONASS/GPS组合导航信息进行故障诊断的新方案。在总体设计了SINS/GLONASS/GPS组合容错导航系统方案的基础上,从理论上证明了该方案的可行性。SINS/GPS/GLONASS容错导航系统大大增强了系统的可用性和自主完备性,同时,提高了系统的联合定位精度。     

SINS/GPS组合导航系统Kalman滤波仿真研究

为提高捷联惯导系统SINS和全球定位系统GPS的精度和可靠性,研究了SINS和GPS的原理,建立了SINS/GPS系统的状态方程和位置速度误差量测方程;并采用卡尔曼滤波算法实现了SINS/GPS的组合导航.Matlab仿真结果证明,采用Kalman滤波实现SINS/GPS组合导航,其精度得到大大提高;且采用SINS/GPS组合导航系统,克服了SINS惯性导航难以长时间独立工作的缺点,解决了GPS易失锁、难以实时控制的不足,保证了导航系统的实时性及较高的精度和可靠性.     

一种应用磁强计提高导航系统航向精度的方法

针对静止与匀速运动状态下低成本SINS/GPS组合导航系统航向角可观性差的问题,采用磁强计与低成本SINS/GPS构成新的组合导航系统,以提高系统的航向精度.给出了完整的组合导航系统卡尔曼滤波模型,利用Simulink进行了仿真实验.仿真结果表明:在静止与匀速运动状态下,SINS/GPS组合导航系统航向角误差发散,而SINS/GPS/磁强计组合导航系统的航向角有效收敛.利用某型系统进行了静态实验,实验表明:在传感器精度较差的条件下,SINS/GPS/磁强计组合系统航向角仍可以有效收敛,收敛后姿态角误差标准差小于0.2.静态实验验证了该方法在实际应用中的有效性.     

M/G/c/K blocking probability models and system performance

An exact solution for the M/G/c/K model is only possible for special cases, such as exponential service, a single server, or no waiting room at all. Instead of basing the approximation on an infinite capacity queue as is often the case, an approximation based on a closed-form expression derivable from the finite capacity exponential queue is presented. Properties of the closed-form expression along with its use in approximating the blocking probability of M/G/c/K systems are discussed. Extensive experiments are provided to test and verify the efficacy of our approximate results.     

设计模式变体的描述与验证*

为解决标准设计模式演化后难以检测的问题,引入设计模式变体思想,以Bridge模式为例,给出了八种常用的变体实现,并以人工形式挖掘了四种开源系统中Bridge模式变体的基准数,接着在Apache Ant1.6.2与JHotDraw5.1开源系统中通过六种主流设计模式检测工具进行了变体检测实验。试验结果表明,FCA-CBR方法简单有效,对2种开源系统中Bridge模式变体检测的精确率达到60%与48.1%,与先前方法相比有了较大的提高。     

(r∞, n12, s12) measurements on the 2-CPU CRAY X-MP

We report performance measurements made on the 2-CPU CRAY X-MP at ECMWF, Reading. Vector (SIMD) performance on one CPU is interpreted by the two parameters ($\text{r}{}_{\mathrm{\infty }}\text{, n}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$), and we find for dyadic operations using FORTRAN $\text{r}{}_{\mathrm{\infty }}\text{= 70}\text{Mflop/s}\text{, n}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}\text{= 53}\text{flop}$. All vector triadic operations produce $\text{r}{}_{\mathrm{\infty }}\text{= 107}\text{Mflop/s}\text{, n}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}\text{= 45}\text{flop}$; and a triadic operation with two vectors and one scalar gives r_∞ = 148 Mflop/s and $\text{n}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}\text{= 60}\text{flop}$. MIMD performance using both CPUs on one job is interpreted with the two parameters ($\text{r}{}_{\mathrm{\infty }}\text{, s}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$), where $\text{s}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$ is the amount of arithmetic that could have been done during the time taken to synchronize the two CPUs. We find, for dyadic operations using the TSKSTART and TSKWAIT synchronization primitives, that r_∞ = 130 Mflop/s and $\text{s}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}\text{= 5700}\text{flop}$. This means that a job must contain more than ～ 6000 floating-point operations if it is to run at more than 50% of the maximum performance when split between both CPUs by this method. Less expensive synchronization methods using LOCKS and EVENTS reduces $\text{s}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$ to 4000 flop and 2000 flop respectively. A simplified form of LOCK synchronization written in CAL code further reduces $\text{s}{}_{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$ to 220 flop. This is probably the minimum possible value for synchronization overhead on the CRAY X-MP.     

Complex random sample scheduling and its application to an N/M/F/Fmax problem

“Complex Random Sample Scheduling(CRSS)” was proposed in this paper as an efficient heuristic method for solving any permutation scheduling problems. To show the effectiveness of the proposed CRSS, it was applied to an N-job, M-machine, permutation flowshop scheduling problem to minimize makespan, N/M/F/F_max. Numerical experiments made it clear that the proposed CRSS provides a schedule very close to the near-optimal schedule obtained by the existing promising heuristic methods such as taboo search and simulated annealing, within less computation time than these heuristic methods.     

Geom/G/1/n system with LIFO discipline without interrupts and constrained total amount of customers

Consideration was given to the discrete-time queuing system with inversive servicing without interrupts, second-order geometrical arrivals, arbitrary (discrete) distribution of the customer length, and finite buffer. Each arriving customer has length and random volume. The total volume of the customers sojourning in the system is bounded by some value. Formulas of the stationary state probabilities and stationary distribution of the time of customer sojourn in the system were established.     

Efficient implementation of Johnson''s rule for the n/2/F/Fmax scheduling problem

Several efficient algorithms of O(n log n) computational complexity, for the Johnson's rule to schedule a set of simultaneously available jobs on two machines in a flowship to minimize the maximum job flowtime have appeared in the literature. A modified version of one of these algorithms is presented which not only simplifies the programming effort for implementation but is also able to generate all possible optimal sequences obtainable from Johnson's rule.     

On the M/Ck/1 queue

We obtain the exact analytic expression of the probability distribution of the number of units in a single server queue with Poisson arrivals and Coxian service time distribution (notated as M/C_k/1). A recursive procedure for calculating this probability distribution is given. The well-known queues M/E_k/1 and M/D/1 are re-derived as special cases of the M/C_k/1 queue. Finally, the cases of M/C₂/1 and M/C₃/1 are fully worked out.