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   

蒙自喀斯特断陷盆地边坡与盆缘的露石差异性     

蒋若涵  沈有信  赵志猛 《山地学报》2020,38(1):42-49

喀斯特露石常常占据一定比例的地表面积,且具有许多已知或未知的水文—生态功能,对于喀斯特地区的植被恢复和环境改善发挥着重要的作用。本实验运用样线法和拍照法识别喀斯特断陷盆地不同位置(盆缘和盆地边坡)露石的数量特征和外部形态特征,同时比较了两种方法测量样地岩石裸露率的精准度。结果发现:盆地边坡与盆缘的露石数量和外部特征存在显著差异,盆缘露石分布密度(0.54个·m-2)>盆地边坡(0.39个·m-2);但盆地边坡露石的长宽比大于盆缘,单体占地面积为盆缘露石的两倍,接近40%的盆地边坡露石与山体等高线平行。样线法和拍照法测量样地岩石裸露率的结果存有差异,但并不显著,且这种差异呈现出随着岩石裸露率的增加而逐渐增加的趋势,拍照测量结果具有较小的变异系数。这些结果说明了研究区露石具有较强的空间异质性,对解释地表水土运移规律和植物分布提供重要参考。拍照法能准确地测量岩石裸露率,并提供露石外部形态特征的精准数据,可以作为喀斯特样地露石调查的新方法加以推广。  相似文献   

区域创新政策评价的框架、测度与检验     

俞立平 《地理科学》2020,40(10):1610-1617

构建区域创新政策评价的理论框架，在宏观知识生产函数中引入信息化作为创新技术进步的替代变量，基于DEA与Malmquist指数，用全要素生产率指数存量来衡量区域创新政策。并以省际高技术产业为例进行了实证，研究结果表明：区域创新政策的特征和评价维度决定评价的多样性，基于政策效果与政策交互作用的区域创新政策评价具有重要意义；区域创新政策总体上处于稳步提高阶段，较低地区以西部中部地区为主；区域创新政策测度模型系统性较好，其检验方法有待进一步深化；采用政府研发经费投入作为区域创新政策的替代变量值得商榷。  相似文献   

A note on the lake level variations of Nam Co,south-central Tibetan Plateau from 2005 to 2019     

ShiQiao Zhou 《寒旱区科学》2020,12(6):430-435

Tibetan lake levels are sensitive to global change, and their variations have a large impact on the environment, local agriculture and animal husbandry practices. While many remote sensing data of Tibetan lake level changes have been reported, few are from in-situ measurements. This note presents the first in-situ lake level time series of the central Tibetan Plateau. Since 2005, daily lake level observations have been performed at Lake Nam Co, one of the largest on the Tibetan Plateau. The interannual lake level variations show an overall increasing trend from 2006 to 2014, a rapid decrease from 2014 to 2017, and a surge from 2017 to 2018. The annual average lake level of the hydrological year (May-April) rose 66 cm from 2006 to 2014, dropped 59 cm from 2014 to 2017, and increased 20 cm from 2017 to 2018, resulting in a net rise of 27 cm or an average rate of about 2 cm per year. Compared to the annual average lake level based on the calendar year, it is better to use the annual average lake level based on the hydrological year to determine the interannual lake level changes. As the lake level was stable in May, it is appropriate to compare May lake levels when examining interannual lake level changes with fewer data. Overall, remote sensing results agree well with the in-situ lake level observations; however, some significant deviations exist. In the comparable 2006-2009 period, the calendar-year average lake level observed in-situ rose by 10-11 cm per year, which is lower than the ICESat result of 18 cm per year.  相似文献   

湖南省似大地水准面2017模型及精度分析     

董明旭  李建成  华亮春  姜卫平  尹昊华  敖敏思  曾翔强 《大地测量与地球动力学》2019,39(1):66-71

利用近7万个湖南及邻近省份重力观测数据、502个GNSS/水准控制点及数字高程模型，以EIGEN-6C4全球重力场模型作参考重力场，采用顾及地球曲率影响的各类地形质量位及引力的第二类Helmert凝集法严密算法，利用高分辨率地形数据恢复甚短波扰动重力场，确定空间分辨率2′×2′的高精度湖南省似大地水准面模型（HNGG2017）。经外部检核，模型整体精度均优于±0.022 m。与历史模型相比，新模型在湖南北部常德汉寿、西南部永州江永等地区精度得到显著改善。  相似文献   

海底底质声学原位测量电路控制系统研究     

吕斌  祁国梁  李官保  王景强  刘杰 《海洋科学》2018,42(5):32-39

介绍了一种液压驱动贯入式海底沉积声学原位测量系统的电路控制单元的研究实现过程,以及该控制单元在南海北部海底沉积声学调查中的应用。该电路控制单元以Cortex-A8处理器为核心,集成大容量FLASH存储器,与单片机接口控制板进行串口通讯,实现对声学发射采集单元和机械液压贯入单元的可视化控制和监测。基于该电路控制单元,海底底质声学原位测量系统兼具自容式和在线式两种工作模式,可自容记录或实时采集声学原位测量单元在海底的工作状态数据、海底沉积物声速和声衰减系数等声学特性数据。该声学原位测量系统的实验室联调及南海海试结果表明,使用该电路控制单元对海底底质声学测量过程的监测与控制是有效的,对精确获取海底底质的原位声学特性有重要作用,可以促进海底底质声学原位测量系统的产品化。  相似文献   

激光跟踪仪在核电站主管道安装中的应用     

郭建兵 《北京测绘》2020,(1):123-125

目前,核电站的主管道焊接越来越多的采用了自动焊技术,这有利于提高焊接质量效率,还可以压缩建设成本。然而,主管道自动焊对焊缝的限差较现有工艺要求更高,高精度的测量是实现主管道自动焊的必要条件之一。本文针对主管道自动焊管口组队高精度的技术要求,提出采用激光跟踪仪对主管道自动焊相关的设备进行更为精密的三维工业测量,通过理论技术评定测量精度,然后选择测量仪器和编制具体的测量方案,最终保证了主管道自动焊精确组对的实现。  相似文献   

空地技术结合地形图测图方法研究     

方秋生  王宵雷  刘如飞  马新江 《测绘与空间地理信息》2020,(3):37-40

车载移动测量系统可以快速、高精度地对测区进行三维激光扫描,但是因地物遮挡、视角限制,使得点云数据存在缺失;无人机航测具有高效率、高灵活性和低成本等优势,但是稳定性差,受天气影像严重,易导致影像不清晰或精度低。无人机航测技术可以弥补车载移动测量技术的采集盲区,后者可以发挥高精度的优点,二者技术联合应用,将极大提高测绘精度及生产效率。本文以某小区为例,进行了相关方法实验,对建筑物顶部或植被茂密处等扫描盲区,采用无人机航测补测,通过高精度激光点云对航摄影像进行纠正匹配,综合利用激光点云与航摄影像进行大比例尺测图。  相似文献   

移动测量技术在城市绿化普查中的应用     

庞岩  孙国强  解全波 《北京测绘》2020,(4):518-522

在新时代的城市建设中,绿化建设对于美化城市面貌和提高市民居住舒适度显得十分重要,那么城市绿化普查工作则成为绿化建设工作中的重要一环。为了改进传统绿化普查工作,本文提供一整套基于移动测量技术的城市绿化普查方案,搭配自主研发的GIS采集软件和实景三维管理平台,采集绿化信息的效率和精度显著提高,更可以优化城市绿化管理方法。  相似文献   

基于GNSS方位辅助惯性导航系统的水下地形精密测量技术     

冯义楷  丁继胜  杨龙  陈义兰  梁冠辉 《海洋技术学报》2019,38(5)

多波束测深技术是目前水下地形测量的主要技术手段,测量平台的瞬时姿态及方位是影响多波束测深系统最终成果准确度的重要因素。GNSS方位辅助惯性导航系统,作为目前应用较为广泛的方位、姿态、及位置综合测量系统,不仅能够提供高精度位置信息,同时也能提供测量平台的瞬时姿态及方位数据,而且因为具有GNSS方位辅助测量,使得最终方位测量结果比传统方位测量精度大大提高,这对于多波束最终测量成果精度提高具有重要意义。文中从GNSS方位辅助惯性导航系统原理及技术优势出发,结合Trimble RTX后处理技术,从姿态测量、方位测量及辅助高程测量方面分析了在多波束水下地形测量中的应用,并以实际测量成果来展现其在水下地形精密测量技术方面的优势,结果显示,定位精度可以达到优于2 cm级别,方位精度可以优于0.01°(依赖于双GNSS天线之间的基线长度),该技术对水下地形测量准确度提升作用显著。  相似文献