GNSS多天线基线网单历元模糊度同步解算法     

汤佳明  柴艳菊  闻德保  欧吉坤 《大地测量与地球动力学》2019,39(3):262-268

提出多天线基线网单历元模糊度同步解算法，其具体实现步骤为：1）根据宽巷组合模糊度易于固定的优点，采用附加已知基线长度约束法同步解算各基线的宽巷模糊度，得到dm~cm级精度的近似基线分量；2）将解算得到的各近似基线分量作为约束，同步解算各基线的基频模糊度，以获取mm级精度的基线矢量。该方法的关键在于检验各历元宽巷模糊度解算的正确性，以获取可靠的近似基线分量，为解算各基线的基频模糊度提供准确的基线先验信息。由于动态情况下各历元观测信息比较少，单纯依赖ratio检验不可靠，提出结合基线误差、单位权中误差、基线网模糊度闭合环及ratio值等对多组宽巷模糊度进行检验，避免ratio值设置不当导致模糊度检验中发生纳伪和弃真问题。实测数据结果证明，该处理方法使得模糊度解算的成功率提高1%~2%，可以获取移动平台更丰富的导航信息，提高其服务能力。  相似文献   

A novel coupled FDM-DEM modelling method for flexible membrane boundary in laboratory tests     

Hua-Xiang Zhu  Zhen-Yu Yin  Qiang Zhang 《国际地质力学数值与分析法杂志》2020,44(3):389-404

Difficulties are involved in discrete element method (DEM) modelling of the flexible boundary, that is, the membranes covering the soil sample, which can be commonly found in contemporary laboratory soil tests. In this paper, a novel method is proposed wherein the finite difference method (FDM) and DEM are coupled to simulate the rubber membrane and soil body, respectively. Numerical plane strain and triaxial tests, served by the flexible membrane, are implemented and analysed later. The effect of the membrane modulus on the measurement accuracy is considered, with analytical formulae derived to judge the significance of this effect. Based on an analysis of stress-strain responses and the grain rotation field, the mechanical performances produced by the flexible and rigid lateral boundaries are compared for the plane strain test. The results show that (1) the effect of the membrane on the test result becomes more significant at larger strain level because the membrane applies additional lateral confining pressure to the soil body; (2) the tested models reproduce typical stress and volumetric paths for specimens with shear bands; (3) for the plane strain test, the rigid lateral boundary derives a much higher peak strength and larger bulk dilatation, but a similar residual strength, compared with the flexible boundary. The latter produces a more uniform (or ‘diffuse') rotation field and more mobilised local kinematics than does the former. All simulations show that the proposed FDM-DEM coupling method is able to simulate laboratory tests with a flexible boundary membrane.  相似文献   

Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

Bearing capacity of offshore umbrella suction anchor foundation in silty soil under varying loading modes     

Qi Yang  Guanglai Pan  Quandi Wang 《Marine Georesources & Geotechnology》2018,36(7):781-794

Considering the current disadvantages of present offshore wind turbine foundations, a novel anchor foundation with skirt and branches is proposed, called offshore umbrella suction anchor foundation (USAF). A series of experiments and numerical simulations were performed to explore the bearing capacity of the USAF under various kinds of loading modes. The bearing characteristics and the anchor–soil interactions are described in detail for horizontal static loading, horizontal cyclic loading, and an antidrawing (pullout) test in silty soil. In the static loading test, the load–deflection of the anchor under step loading was analyzed and the normalized curve of the load–deflection was obtained to determine the ultimate horizontal bearing capacity of the anchor under normal working conditions. Under horizontal cyclic loading, the relationship between the plastic cumulative deformation and cyclic number was determined. In addition, the responses of USAF were investigated for a low wave frequency and storm surges. In the drawing test, it was found that a “segmentation phenomenon” occurred during the test. Moreover, a method to identify the maximum antidrawing load of USAF was provided based on dynamic mechanics. The numerical results show that the use of anchor branches and skirt can enhance the bearing performance of USAF to a certain degree. However, the anchor branch has a slight positive influence on the bearing performance improvement. The USAF is not only similar to a stiff short pile, but a rotation occurs. The failure envelope under composite loading (V-M) was obtained and the changes associated with changes in the aspect ratio of the internal compartment were clarified.  相似文献   

Changes in hillslope hydrology in a perched,shallow soil system due to clearcutting and residual biomass removal     

Colin P. R. McCarter  Stephen D. Sebestyen  Susan L. Eggert  Randall K. Kolka  Carl P. J. Mitchell 《水文研究》2020,34(26):5354-5369

Sustainable fuels legislation and volatility in energy prices have put additional pressures on the forestry sector to intensify the harvesting of biomass for “advanced biofuel” production. To better understand how residual biomass removal after harvest affects forest hydrology in relatively low slope terrain, a Before-After-Control-Impact (BACI) study was conducted in the USDA Forest Service's Marcell Experimental Forest, Minnesota, USA. Hydrological measurements were made from 2010–2013 on a forested hillslope that was divided into three treatment blocks, where one block was harvested and residual biomass removed (Biomass Removed), the second was harvested and residual biomass left (Biomass Left), and the last block was left as an Unharvested Control. The pre-harvest period (2 years) was 2010–11 and post-harvest (2 years) was 2012–13. Water table elevation at the upslope and downslope position, subsurface runoff, and soil moisture were measured between May–November. Mixed effect statistical models were used to compare both the before-after and “control” treatment ratios (ratios between harvested hillslopes and the Unharvested Control hillslope). Subsurface runoff significantly increased (p < .05) at both harvested hillslopes but to a greater degree on the Biomass Left hillslope. Greater subsurface runoff volumes at both harvested hillslopes were driven by substantial increases during fall, with additional significant increases during summer on the Biomass Left hillslope. The hydrological connectivity, inferred from event runoff ratios, increased due to harvesting at both hillslopes but only significantly on the Biomass Left hillslope. The winter harvest minimized soil disturbance, resulting in no change to the effective hydraulic conductivity distribution with depth. Thus, the observed hydrological changes were driven by increased effective precipitation and decreased evapotranspiration, increasing the duration that both harvested hillslopes were hydrologically active. The harvesting of residual biomass appears to lessen hydrological connectivity relative to leaving residual biomass on the hillslope, potentially decreasing downstream hydrological impacts of similar forestry operations.  相似文献   

Geostatistical features of streambed vertical hydraulic conductivities in Frenchman Creek Watershed in Western Nebraska     

Olufemi P. Abimbola  Aaron R. Mittelstet  Troy E. Gilmore 《水文研究》2020,34(16):3481-3491

This study evaluated the spatial variability of streambed vertical hydraulic conductivity (K_v) in different stream morphologies in the Frenchman Creek Watershed, Western Nebraska, using different variogram models. Streambed K_v values were determined in situ using permeameter tests at 10 sites in Frenchman, Stinking Water and Spring Creeks during the dry season at baseflow conditions. Measurements were taken both in straight and meandering stream channels during a 5 day period at similar flow conditions. Each test site comprised of at least three transects and each transect comprised of at least three K_v measurements. Linear, Gaussian, exponential and spherical variogram models were used with Kriging gridding method for the 10 sites. As a goodness-of-fit statistic for the variogram models, cross-validation results showed differences in the median absolute deviation and the standard deviation of the cross-validation residuals. Results show that using the geometric means of the 10 sites for gridding performs better than using either all the K_v values from the 93 permeameter tests or 10 K_v values from the middle transects and centre permeameters. Incorporating both the spatial variability and the uncertainty involved in the measurement at a reach segment can yield more accurate grid results that can be useful in calibrating K_v at watershed or sub-watershed scales in distributed hydrological models.  相似文献   

地下洞库勘察中的深斜孔钻探和压水试验技术          下载免费PDF全文

吉孟瑞  孙桂明  吴昌庆  原华山 《山东国土资源》2001,17(2):56-60

青岛市黄岛区拟建设海底地下油气储藏库,前期地质勘察工作要求施工倾角45°、深220m的取心钻孔4个,并在孔内分段进行压水试验.本文介绍了如何利用XY-4型金刚石小口径钻机施工基岩深斜孔及压水试验技术.  相似文献   

变形分析的Bayes估计与检验     

寇新建 《大地测量与地球动力学》1994,(3)

由于观测条件的变化，观测值方差将产生随机波动。本文根据Ｂａｙｅｓ估计理论，推导了线性模型待估参数的分布函数及观测值方差估计公式，并将其用于位移检验。计算结果表明，在同样的置信度下，本方法更符合实际。文中还对参数估值的统计性质进行了讨论。  相似文献   

水下滑翔器主体外形优化设计   总被引：2，自引：0，他引：2  

王兵振  朱光文  杜敏  任炜  李永奇 《海洋技术学报》2008,27(3)

对水下滑翔器主体外形的优化设计问题进行研究.首先,在考虑内部机械结构限制的条件下,建立了主体外形优化数学模型,并采用CFX计算了若干主体形状的绕流阻力.在此基础上建立了映射主体外形的尺寸参数与绕流阻力的BP神经网络.然后将建立的神经网络作为优化设计问题的目标函数,采用坐标轮换法对滑翔器主体外形进行了优化设计,确定了尺寸参数的最优解.  相似文献