In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical f...In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical formula on the basis of estimations. Next, we design a scheme for evaluating the transfer alignment on a moving base, for which the attitude error cannot be directly measured. Then, we build a mathematic estimation model and discuss Fixed Point Smoothing(FPS), Returns to Scale(RTS), Inverted Sequence Recursive Estimation(ISRE), and Kalman filter estimation methods, which can be used when evaluating alignment accuracy. Our theoretical calculations and simulated analyses show that the DOA reflects not only the alignment time and accuracy but also differences in the maneuver schemes, and is suitable for use as an integrated evaluation index. Furthermore, all four of these algorithms can be used to identify the transfer alignment and evaluate its accuracy. We recommend RTS in particular for engineering applications. Generalized DOAs should be calculated according to the tactical requirements.展开更多
An inertial frame based alignment (IFBA) method is presented, especially for the applications on a rocking platform, e.g., marine applications. Defining the initial body frame as the inertial frame, the IFBA method ac...An inertial frame based alignment (IFBA) method is presented, especially for the applications on a rocking platform, e.g., marine applications. Defining the initial body frame as the inertial frame, the IFBA method achieves the alignment by virtue of a cascade of low-pass FIR filters, which attenuate the disturbing acceleration and maintain the gravity vector. The aligning time rests with the orders of the FIR filter group, and the method is suitable for large initial misalignment case. An alignment scheme comprising a coarse phase by the IFBA method and a fine phase by a Kalman filter is presented. Both vehicle-based and ship-based alignment experiments were carried out. The results show that the proposed scheme converges much faster than the traditional method at no cost of precision and also works well under any large initial misalignment.展开更多
Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm us...Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.展开更多
The emerging millimeter-wave microphones have garnered considerable attention in recent years due to their potential for sound detection in various applications,particularly in situations where traditional microphones...The emerging millimeter-wave microphones have garnered considerable attention in recent years due to their potential for sound detection in various applications,particularly in situations where traditional microphones may be impractical.However,despite their promise,there is a notable lack of evidence demonstrating high-quality sound recovery of moving sources,which remains a significant challenge in thefield.This paper addresses this critical gap by proposing a novel method for displacement alignment that improves the detection and recovery of sound signals from moving sources.The proposed method works byfirst aligning the displacement of the sound source over time,which ensures that the signals are synchronized and avoids interference from movement of sources.Subsequently,precise surface vibrations are extracted from the aligned signals,providing data for sound recovery.Afinite impulse response(FIR)filter is applied to remove low-frequency motion,which often interferes with the clarity of the detected sound.Experimental results demonstrate the method’s effectiveness in recovering high-quality sound from moving sources,offering a promising solution for advancing the emerging millimeter-wave microphone technology in real-world applications.This work could pave the way for more accurate and reliable sound detection systems,particularly in dynamic environments.展开更多
In Earth's high-latitude ionosphere, the poleward motion of east–west elongated auroral arcs has been attributed to standing hydromagnetic waves, especially when the auroral arcs appear quasi-periodically with a ...In Earth's high-latitude ionosphere, the poleward motion of east–west elongated auroral arcs has been attributed to standing hydromagnetic waves, especially when the auroral arcs appear quasi-periodically with a recurrence time of a few minutes. The validation of this scenario requires spacecraft observations of ultra-low-frequency hydromagnetic waves in the magnetosphere and simultaneous observations of poleward-moving auroral arcs near the spacecraft footprints. Here we present the first observational evidence from the multi-spacecraft THEMIS (Time History of Events and Macroscale Interactions during Substorms) mission and the conjugated all-sky imager to support the scenario that standing hydromagnetic waves can generate the quasi-periodic appearance of poleward-moving auroral arcs. In this specific event, the observed waves were toroidal branches of the standing hydromagnetic waves, which were excited by a pulse in the solar wind dynamic pressure. Multi-spacecraft measurements from THEMIS also suggest higher wave frequencies at lower L shells (consistent with the distribution of magnetic field line eigenfrequencies), which indicates that the phase difference across latitudes would increase with time. As time proceeds, the enlarged phase difference corresponds to a lower propagation speed of the auroral arcs, which agrees very well with the ground-based optical data.展开更多
基金Supported by the National Natural Science Foundation of China （61633008）, the National Natural Science Foundation of China （61203225）, the Natural Science Foundation of Heilongjiang Province of China（QC2014C069）, the Special fund for the Central Universities （HEUCF160401）, and Provincial Postdoctoral Scientific Research Foundation （LBH-Q 15032）.
文摘In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical formula on the basis of estimations. Next, we design a scheme for evaluating the transfer alignment on a moving base, for which the attitude error cannot be directly measured. Then, we build a mathematic estimation model and discuss Fixed Point Smoothing(FPS), Returns to Scale(RTS), Inverted Sequence Recursive Estimation(ISRE), and Kalman filter estimation methods, which can be used when evaluating alignment accuracy. Our theoretical calculations and simulated analyses show that the DOA reflects not only the alignment time and accuracy but also differences in the maneuver schemes, and is suitable for use as an integrated evaluation index. Furthermore, all four of these algorithms can be used to identify the transfer alignment and evaluate its accuracy. We recommend RTS in particular for engineering applications. Generalized DOAs should be calculated according to the tactical requirements.
基金the National Natural Science Foundation of China (60604011)
文摘An inertial frame based alignment (IFBA) method is presented, especially for the applications on a rocking platform, e.g., marine applications. Defining the initial body frame as the inertial frame, the IFBA method achieves the alignment by virtue of a cascade of low-pass FIR filters, which attenuate the disturbing acceleration and maintain the gravity vector. The aligning time rests with the orders of the FIR filter group, and the method is suitable for large initial misalignment case. An alignment scheme comprising a coarse phase by the IFBA method and a fine phase by a Kalman filter is presented. Both vehicle-based and ship-based alignment experiments were carried out. The results show that the proposed scheme converges much faster than the traditional method at no cost of precision and also works well under any large initial misalignment.
文摘Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.
基金supported by the National Natural Science Foundation of China under Grant No.51905341the Natural Science Foundation of Shanghai under Grant 22ZR1433900.
文摘The emerging millimeter-wave microphones have garnered considerable attention in recent years due to their potential for sound detection in various applications,particularly in situations where traditional microphones may be impractical.However,despite their promise,there is a notable lack of evidence demonstrating high-quality sound recovery of moving sources,which remains a significant challenge in thefield.This paper addresses this critical gap by proposing a novel method for displacement alignment that improves the detection and recovery of sound signals from moving sources.The proposed method works byfirst aligning the displacement of the sound source over time,which ensures that the signals are synchronized and avoids interference from movement of sources.Subsequently,precise surface vibrations are extracted from the aligned signals,providing data for sound recovery.Afinite impulse response(FIR)filter is applied to remove low-frequency motion,which often interferes with the clarity of the detected sound.Experimental results demonstrate the method’s effectiveness in recovering high-quality sound from moving sources,offering a promising solution for advancing the emerging millimeter-wave microphone technology in real-world applications.This work could pave the way for more accurate and reliable sound detection systems,particularly in dynamic environments.
基金supported by the National Natural Science Foundation of China (grant numbers 41774168 and 41421003)
文摘In Earth's high-latitude ionosphere, the poleward motion of east–west elongated auroral arcs has been attributed to standing hydromagnetic waves, especially when the auroral arcs appear quasi-periodically with a recurrence time of a few minutes. The validation of this scenario requires spacecraft observations of ultra-low-frequency hydromagnetic waves in the magnetosphere and simultaneous observations of poleward-moving auroral arcs near the spacecraft footprints. Here we present the first observational evidence from the multi-spacecraft THEMIS (Time History of Events and Macroscale Interactions during Substorms) mission and the conjugated all-sky imager to support the scenario that standing hydromagnetic waves can generate the quasi-periodic appearance of poleward-moving auroral arcs. In this specific event, the observed waves were toroidal branches of the standing hydromagnetic waves, which were excited by a pulse in the solar wind dynamic pressure. Multi-spacecraft measurements from THEMIS also suggest higher wave frequencies at lower L shells (consistent with the distribution of magnetic field line eigenfrequencies), which indicates that the phase difference across latitudes would increase with time. As time proceeds, the enlarged phase difference corresponds to a lower propagation speed of the auroral arcs, which agrees very well with the ground-based optical data.
