基于EKF的北斗B1C信号数据/导频联合跟踪方法          下载免费PDF全文

赵琳  柏亚国  丁继成  章小春 《全球定位系统》2020,45(6):1-9

针对北斗B1C信号在低载噪比情况下跟踪精度低的问题，提出一种基于扩展卡尔曼滤波（EKF）的北斗B1C信号数据/导频联合跟踪方法.通过构建数据/导频双通道联合跟踪模型，增加对B1C信号利用率，并在联合跟踪模型的基础上引入扩展卡尔曼滤波器，削弱传统跟踪环路中鉴别器和环路滤波器带来的跟踪误差，进一步提高跟踪环路对低载噪比信号的跟踪性能.仿真结果验证:在低载噪比情况下，相比于传统单导频通道跟踪、单导频扩展卡尔曼跟踪和联合跟踪，该方法可以有效提高跟踪精度.   相似文献   

与观测方向无关的水平地震动参数计算方法     

任叶飞  代志勇  温瑞智 《世界地震工程》2011,27(3)

强震动记录的使用通常不考虑观测方向对于水平地震动参数计算的影响。文中以2008年汶川Ms8.0级地震中绵竹清平台获取的强震动记录为研究对象,对记录进行水平向旋转以模拟观测方向的变化,分析水平向峰值加速度PGA、峰值速度PGV、相对持时DR、绝对持时DA及谱加速度PSA随观测方向的变化情况。结果表明,PGA、PGV及PSA的计算较大依赖于观测方向,而DR和DA则受观测方向影响较小。为此文中提出了一种与观测方向无关的水平地震动参数计算方法,对于计算诸如PGA、PGV等与周期无关的地震动参数时不考虑周期独立;而对于计算诸如PSA等与周期有关的地震动参数时考虑周期独立。  相似文献   

井外爆炸点源激发井孔声波场   总被引：1，自引：0，他引：1  

周来江  张玉君  崔志文  王克协 《吉林大学学报(地球科学版)》2011,41(1):299-304

利用井外爆炸点源激发的声波场与井孔的相互作用模拟井间地震的物理过程,推导了全频域井孔内外声波场的理论计算公式,并针对不同震源主频、不同源距(震源到井轴的径向距离)和软硬地层进行了井内声场的全波模拟与频率-相速度分析。结果表明:井外爆炸点源激发井孔内外的声场等效于无穷多级声场迭加的结果;震源靠近井壁时的频率-相速度图与震源在井内时相似;震源的主频越高、源距和接收器离井轴的径向距离越大、地层越硬,则顾及的多级声场的项数就要越多;震源主频越低、源距越小,井中激发的斯通利波则越强。  相似文献   

NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed     

Li-Jun Zhang  Xue Qi 《Ocean Engineering》2011,38(13):1430-1438

An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme.  相似文献   

Tsunami simulation with Green–Naghdi theory     

B.B. Zhao  W.Y. Duan  W.C. Webster 《Ocean Engineering》2011,38(2-3):389-396

Green–Naghdi (GN) theory is a fully nonlinear wave theory which has been used with success to simulate nonlinear water waves. In previous applications of GN theory to water wave problems the ocean bottom was assumed to be time invariant. In this work no such restriction is made and GN theory is used to simulate tsunami caused by bottom fluctuation. As first test cases we simulate two-dimensional nonlinear surface waves generated by positive bottom movements. The results in the generation region for three different seabed movements compare well against earlier experimental data. The results in the downstream region for impulsive seabed movements show some discrepancies in wave phase and amplitude compared with earlier experimental values. It is suspected that the viscous effects may have played a role. The GN theory is then used to study three-dimensional near-field tsunami amplitudes caused by submarine landslides and slumps spreading in two orthogonal directions. The GN results agree with previous linear solution very well when the ratio of the velocities is v₁/v₂=1.0. But GN theory give more believable results for the case of v_T/v=0.1 and v₁/v₂=0.1.  相似文献   

Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances   总被引：1，自引：0，他引：1  

潘立鑫  金鸿章  王琳琳 《中国海洋工程》2011,25(2):251-263

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.  相似文献   

基于电子海图的智能潜水器路径规划研究     

孙俊岭 《海洋工程》2011,29(4):135-140

随着地理信息系统技术的发展,电子海图作为一种专门的电子地图也越来越成熟。电子海图中提供了详细而准确的海洋环境信息。利用电子海图的环境建模和考虑海流因素的遗传搜索策略为解决大范围海洋环境下智能潜水器全局路径规划提供了一个新的方法。利用电子海图中的信息对智能潜水器的工作环境进行环境建模,以遗传多目标优化算法为搜索策略进行全局路径规划,并考虑海流因素对潜水器的影响,使潜水器在航行时可充分利用海流的能量。通过仿真试验对环境建模和路径规划进行了验证。该方法具有很好的实用性。  相似文献   

自由站立式立管总体运动疲劳分析     

康庄  李辉  孙丽萍  冯玮  贾旭 《海洋工程》2011,29(4):43-50

由于良好的疲劳特性,自由站立式立管(FSHR)正广泛应用于深海油气田的开发当中。首先根据设计参数建立FSHR详细的有限元模型,然后利用谱分析方法对FSHR进行总体运动疲劳分析,以确定FSHR总体设计参数是否满足运动疲劳要求。最后对工作于相同环境下的钢悬链立管(SCR)进行总体运动疲劳分析,探讨哪种立管系统的疲劳性能更为优良。计算结果表明FSHR系统中刚性主管最大运动疲劳损伤出现在刚性主管顶部,FSHR总体设计参数满足规范要求;FSHR总体运动疲劳寿命要远大于SCR,体现了FSHR系统对浮体运动与刚性主管之间具有良好的解耦作用。  相似文献   

平板对下游方柱流体动力性能影响分析     

闫岱峻  苏玉民  于宪钊 《海洋工程》2011,29(4):8-13

基于有限体积法求解二维粘性不可压缩Navier-Stokes方程,分别采用层流模型和Realizable k-ε模型研究Re=250和Re=104前置平板与下游方柱间的流动干扰现象,分析不同尺度的平板布置在不同位置时对下游方柱的绕流场及流体动力性能的影响。计算发现在方柱上游布置平板可以有效的控制方柱的绕流场,减小方柱的阻力系数和升力系数;随着平板尺度的增加,方柱的阻力系数、升力系数呈下降趋势;并且存在较好的平板布置区间,可以最大程度的降低方柱和平板的阻力系数及方柱的升力系数,从而达到良好的减振、降噪的效果。  相似文献   

黑龙江流域洪峰水位特征分析     

董淑华  姜雪  邢贞相  张玉国 《水文》2015,35(3):74-77

黑龙江流域地跨中、俄、蒙三国,沿岸地区洪水灾害频繁,在一定程度上制约了当地国民经济的发展。因此,有必要对流域的洪峰水位变化特征进行分析,为流域水资源管理提供可靠依据。结合SPSS对相邻两站的洪峰水位进行相关分析,相邻两水位站的相关系数均较大,成极显著相关,且有非常显著的统计学意义。经回归分析得出相邻两站间洪峰水位均成线性关系,且不包含常数项。降水量对洪峰水位影响分析表明,最大洪峰雨量的影响最为显著,其次是汛期雨量,相关关系最不显著的是年降水量。  相似文献