Drift angle compensation-based adaptive line-of-sight path following for autonomous underwater vehicle     

《Applied Ocean Research》2019

The aim of this study is to solve the problem of poor tracking in autonomous underwater vehicle (AUVs) that are operating based on traditional line-of-sight (LOS) method when tracking different paths in a complex marine environment. An adaptive-LOS (ALOS) guidance law with drift angle compensation is proposed, and is employed to calculate the AUV’s desired course (direction of velocity) and heading. First, an appropriate look-ahead distance is derived by the ALOS guidance law in consideration of the predefined path curvature, real-time tracking error and speed of the AUV. Subsequently, proper compensation is provided with respect to the actual drift angle. Compared with traditional LOS operation, this method flexibly adjusts to a suitable look-ahead distance while considering many related factors, providing a better path following performance. Both simulation and experimental results are presented to validate the effectiveness of this method.  相似文献   

Experimental study on the deterioration and natural remediation of the Ariake Sea tidal mud caused by the sea laver treatment acid practice and the upward seepage of pore water liquid     

Yan-Jun Du  Song-Yu Liu  Shigenori Hayashi 《Environmental Geology》2008,55(4):889-900

This study presents a laboratory study of the following two aspects: (1) the influence of sea laver treatment acid on the geoenvironmental properties of Ariake Sea tidal mud, and (2) the natural remediation effect on the sea laver treatment acid contaminated Ariake Sea tidal mud caused by the upward seepage of pore water liquid in the mud. Firstly, the mechanisms of the transport of sea laver treatment acid in the Ariake Sea tidal mud and the generation mechanisms of the upward seepage flow in the Ariake Sea tidal mud are discussed. Secondly, a series of one-dimensional laboratory infiltration tests were carried out to investigate the deterioration of the Ariake Sea tidal mud caused by the sea laver acid treatment practice. Test results reveal that the acid treatment practice caused considerable change in the geochemical properties of the mud in terms of increase in sulfide content and decrease in pH value. After the treatment by the sea laver treatment acid, the sulfide content of the mud even exceeded the safe limit value for the benthos, which represents undesirable living condition for benthos. Thirdly, series of laboratory fresh seawater infiltration tests for the deteriorated Iida site mud were conducted to illustrate this natural remediation efficiency. It is found that with the infiltration of the fresh seawater, the sulfide content of the Iida site mud was considerably reduced and pH value increased to an acceptable range for benthos living in the tidal flat mud. With the increase in the infiltration time and the hydraulic gradient, the remediation efficiency could be increased.  相似文献   

基于Mindlin理论Winkler地基参数的Kalman滤波识别     

张剑  叶见曙  唐修生 《岩土力学》2008,29(2):425-430

提出了Winkler地基参数的Kalman滤波识别方法。引入Mindlin理论后,推导了Winkler地基上板的控制微分方程。利用Fourier变换,推求了Winkler地基上简支板的Fourier闭式解。推导了Winkler地基参数的Kalman滤波方程,研究了Winkler地基参数的Kalman滤波识别的具体计算步骤。研究表明,运用Kalman滤波理论进行Winkler地基参数的识别,能有效地估计Winkler地基参数;Winkler地基参数的滤波收敛速度和精度受地基参数初始值选取和位移实测资料的影响,且Kalman滤波理论也可用于其他地基模型地基参数的识别。  相似文献   

A Note on Soil Structure Resistance of Natural Marine Deposits   总被引：1，自引：1，他引：1  

洪振舜刘松玉  刘志方 《中国海洋工程》2004,18(2):321-326

It has been well documented that natural normally-consolidated marine soils are generally subjected to the effects of soil structure. The interpretation of the resistance of soil structure is an important issue in the theory study and engineering practice of ocean engineering and geotechnical engineering. It is traditionally considered that the resistance of soil structure gradually disappears with increasing stress level when the applied stress is beyond the consolidation yield stress. In this study, however, it is found that this traditional interpretation of the resistance of soil structure can not explain the strength behavior of natural marine deposits with a normally-consolidated stress history A new interpretation of the resistance of soil structure is proposed based on the strength behavior. In the preyield state, the undrained strength of natural marine deposits is composed of two components: one developed by the applied stress and the other developed by the resistance of soil structure. When the applied stress is beyond the consolidation yield stress, the strength behavior is independent of the resistance of soil structure.  相似文献   

变形分析的神经网络技术应用实例   总被引：1，自引：0，他引：1  

胡伍生 《测绘工程》2008,17(3):37-40

大型工程施工过程中的变形监测、分析与预报极为重要。变形分析建模的方法很多,神经网络技术的应用是其中之一。文中结合某深基坑工程的监测资料和工作经验,运用神经网络BP算法进行预测分析。简述BP神经网络的基本概念,介绍基坑变形分析的BP神经网络的具体模型结构,将神经网络方法预报结果与实测数据对比效果较好。该成果对生产实践具有参考价值。  相似文献   

水泥粉煤灰加固有机质土的试验研究   总被引：3，自引：0，他引：3  

邵俐  刘松玉  杜广印  顾明芬 《工程地质学报》2008,16(3):408-414

对于高有机质含量的泻湖相软土,单纯采用水泥不能有效提高该软土的力学性能,因此提出了采用水泥和粉煤灰作为固化剂的加固方法。通过不同水泥掺入量、粉煤灰掺入量和龄期下水泥土的无侧限抗压强度试验,分析了水泥粉煤灰固化土的强度规律和变形规律,探讨了水泥和粉煤灰加固高有机质含量软土的机理。结果表明,粉煤灰对于水泥试块的早期强度影响较小,对后期强度影响较大;粉煤灰最佳掺入量为12％,超过此掺入量水泥土强度反而会降低,粉煤灰水泥土的破坏应变、E50也在粉煤灰掺量为12％时分别达到最低值和最大值。水泥掺加粉煤灰可有效地提高高有机质含量软土的强度。  相似文献   

坐标转换中公共点选取对于转换精度的影响   总被引：5，自引：0，他引：5  

王玉成  胡伍生 《现代测绘》2008,31(5)

采用7参数布尔莎模型转换GPS坐标时,由于公共点情况复杂会对坐标转换精度产生影响。本文简述了采用布尔莎模型进行坐标转换的一般过程,结合工程算例考虑了公共点分布的几种情况对坐标转换精度的影响,提出了坐标转换分区进行的思想,得到了一些有益的结论。  相似文献   

土地变更调查中移动电子地图的建立     

卢鑫  王庆 《四川测绘》2005,28(4):169-171,176

本文介绍了基于GPS-PDA的移动电子地图在土地变更调查中的应用与研究。主要讲述了在Windows CE嵌入式操作系统下的电子地图的数据建模，地图功能的实现和相关算法。最后结合实例验证了该软件的合理性和可操作性。  相似文献   

前方交会及光电高程导线在桥梁圆形立柱监理中的应用     

张志伟  胡伍生 《现代测绘》2005,28(6):17-18,21

根据对前方交会及光电高程导线的精度分析,对用前方交会及光电高程导线复核圆形立柱进行了探讨,并给出了工程实例验证.  相似文献   

基于混合罚函数法的多尺度电离层层析确权方法     

余龙飞  胡伍生  韩理想  郑敦勇 《测绘学报》2016,45(Z2):156-164

在利用GNSS进行像素基电离层层析时,多尺度层析方法利用权重因子将反演区域不同像素层析模型结合在一起,最终得到电离层电子密度反演结果,可以有效地解决电离层层析过程中不适应问题和最终的电离层电子密度失真现象。在多尺度电离层层析中,不同像素尺度层析模型之间权重是影响最终的电离层电子密度精度的重要因素。为了获得高精度电离层层析模型,考虑到权重因子存在着等式和不等式限制条件,采用解决最优化问题的罚函数法确定不同像素尺度电离层层析模型之间的权重。通过采用实测GNSS观测数据进行电离层多尺度电离层层析,对比了多尺度层析模型的各个子模型建模精度并进行分析,同时将罚函数法获得的模型精度与其他确权方法进行了对比,该方法可以有效地应用于多尺电离层度层析,且最终的层析模型精度优于其他确权方法,更优于单尺度电离层层析模型精度。  相似文献