In satellite mobile communication system, relative movement of the satellite and the terminal will cause a large Doppler offset. Timing advanced estimation with Zadoff-Chu sequence is sensitive to the frequency offset...In satellite mobile communication system, relative movement of the satellite and the terminal will cause a large Doppler offset. Timing advanced estimation with Zadoff-Chu sequence is sensitive to the frequency offset. When the frequency offset is larger than one times subcarrier spacing, the value of peak cannot be detected at the receiving end. To suppress the larger Doppler frequency shift, this paper proposes a novel timing advanced estimation scheme(TAE-MCD) for satellite communication system. In this algorithm, t r a n s m i t t e d s i g n a l i s d i v i d e d i n t o Z C sequence and its conjugate sequence. Using multiplication and DFT operation to find the estimated peak at the receiving end, and make subtraction with the obtained sequences at last. The scheme can not only inhibit the adverse effects of large Doppler frequency shift in timing estimation effectively, but also reduce the computational complexity at the receiving end and improve the work efficiency of the hardware. Simulations results show that TAEMCD outperform the existing timing advanced estimation methods, on the condition of no additional time and frequency resource are needed.展开更多
In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research...In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research in public published papers.This paper proposes two timing estimation algorithms,which are non-data-aided and based on the cyclic auto-correlation function.In order to evaluate the performance of the proposed algorithms,the theoretical bound of the timing estimation is derived.According to the analyses and simulation results,the effectiveness of the proposed algorithms has been demonstrated.It shows that MethodⅠhas better performance than MethodⅡ.However,MethodⅡdoes not need prior information,so it has a wider range of applications.展开更多
Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic mode...Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. In view of the characteristics of multi-UAVs coordinated trajectory replanning in dynamic and uncertain environments, the minimum and maximum pheromone trails in ACO are set to enhance the searching capability, and the point pheromone is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.展开更多
The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution ...The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution of the problem is constructed and the error estimation between spectral approximate solution and exact solution on large time is also obtained. The existence of the approximate attractor AN and the upper semicontinuity d（AN,A） → 0 are proved.展开更多
Underwater acoustic communication based on Pattern Tune Delay Shift Coding （PDS） communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS sche...Underwater acoustic communication based on Pattern Tune Delay Shift Coding （PDS） communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS scheme, which belongs to the Pulse Position Modulation （PPM）. The duty cycle of the PDS scheme is small, so it can economize the power for communication. By use of different patterns for code division and different frequencies for channel division, the communication system is capable of mitigating the inter-symbol interference （ISI） caused by the muhipath channel. The data rate of communication is 1000 bits/s at 8 kHz bandwidth. The receiver separates the channels by means of bandpass filters, and performs decoding by 4 copy-correlators to estimate the time delay shift value. Based on the theoretical analysis and numerical simulations, the PDS scheme is shown to be a robust and effective approach for underwater acoustic communication.展开更多
This article provides a review on X-ray pulsar-based navigation(XNAV).The review starts with the basic concept of XNAV,and briefly introduces the past,present and future projects concerning XNAV.This paper focuses on ...This article provides a review on X-ray pulsar-based navigation(XNAV).The review starts with the basic concept of XNAV,and briefly introduces the past,present and future projects concerning XNAV.This paper focuses on the advances of the key techniques supporting XNAV,including the navigation pulsar database,the X-ray detection system,and the pulse time of arrival estimation.Moreover,the methods to improve the estimation performance of XNAV are reviewed.Finally,some remarks on the future development of XNAV are provided.展开更多
For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For ...For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.展开更多
The non-Gaussian α-stable distribution is introduced to model impulsive noise. Based on the theory of fractional lower order statistics (FLOS), the fractional lower order cross-covariance (FLOCC) sequence for two rec...The non-Gaussian α-stable distribution is introduced to model impulsive noise. Based on the theory of fractional lower order statistics (FLOS), the fractional lower order cross-covariance (FLOCC) sequence for two received signals is obtained and the fractional lower order cross-covariance spectrum (FLOCCS) can be approached by taking a Fourier transform for the FLOCC sequence. When the FLOCCS is treated as a sequence in the time domain, the problem of multipath time delay estimation (TDE) may be converted into one on multi-frequencies estimation or directions of arrival estimation. Accordingly, the high resolution multipath TDE can be realized with the ESPRIT technology. This idea on multipath TDE is referred to as FLOCCS-ESPRIT in this paper. Computer simulations show that this method has good performance both in a Gaussian noise and in an impulsive noise environment.展开更多
Currently, some fault prognosis technology occasionally has relatively unsatisfied performance especially for in- cipient faults in nonlinear processes duo to their large time delay and complex internal connection. To...Currently, some fault prognosis technology occasionally has relatively unsatisfied performance especially for in- cipient faults in nonlinear processes duo to their large time delay and complex internal connection. To overcome this deficiency, multivariate time delay analysis is incorporated into the high sensitive local kernel principal component analysis. In this approach, mutual information estimation and Bayesian information criterion （BIC） are separately used to acquire the correlation degree and time delay of the process variables. Moreover, in order to achieve prediction, time series prediction by back propagation （BP） network is applied whose input is multivar- iate correlated time series other than the original time series. Then the multivariate time delayed series and future values obtained by time series prediction are combined to construct the input of local kernel principal component analysis （LKPCA） model for incipient fault prognosis. The new method has been exemplified in a sim- ple nonlinear process and the complicated Tennessee Eastman （TE） benchmark process. The results indicate that the new method has suoerioritv in the fault prognosis sensitivity over other traditional fault prognosis methods.展开更多
More than 200 research papers on the molecular phylogeny and phylogenetic biogeography ofbryophytes have been published since the beginning of this millenium. These papers corroborated assumptions of a complex genetic...More than 200 research papers on the molecular phylogeny and phylogenetic biogeography ofbryophytes have been published since the beginning of this millenium. These papers corroborated assumptions of a complex genetic structure of morphologically circumscribed bryophytes, and raised reservations against many morphologically justified species concepts, especially within the mosses. However, many molecular studies allowed for corrections and modifications of morphological classification schemes. Several studies reported that the phylogenetic structure of disjunctly distributed bryophyte species reflects their geographical ranges rather than morphological disparities. Molecular data led to new appraisals of distribution ranges and allowed for the reconstruction of refugia and migration routes. Intercontinental ranges of bryophytes are often caused by dispersal rather than geographical vicariance. Many distribution patterns of disjunct bryophytes are likely formed by processes such as short distance dispersal, rare long distance dispersal events, extinction, recolonization and diversification.展开更多
Although the effects of the coalescent process on sequence divergence and genealogies are well understood, the vir- tual majority of studies that use molecular sequences to estimate times of divergence among species h...Although the effects of the coalescent process on sequence divergence and genealogies are well understood, the vir- tual majority of studies that use molecular sequences to estimate times of divergence among species have failed to account for the coalescent process. Here we study the impact of ancestral population size and incomplete lineage sorting on Bayesian estimates of species divergence times under the molecular clock when the inference model ignores the coalescent process. Using a combination of mathematical analysis, computer simulations and analysis of real data, we find that the errors on estimates of times and the molecular rate can be substantial when ancestral populations are large and when there is substantial incomplete lineage sorting. For example, in a simple three-species case, we find that if the most precise fossil calibration is placed on the root of the phylogeny, the age of the internal node is overestimated, while if the most precise calibration is placed on the internal node, then the age of the root is underestimated. In both cases, the molecular rate is overestimated. Using simulations on a phylogeny of nine species, we show that substantial errors in time and rate estimates can be obtained even when dating ancient divergence events. We analyse the hominoid phylogeny and show that estimates of the neutral mutation rate obtained while ignoring the coalescent are too high. Using a coalescent-based technique to obtain geological times of divergence, we obtain estimates of the mutation rate that are within experimental estimates and we also obtain substantially older divergence times within the phylogeny [Current Zoology 61 （5）： 874-885, 2015].展开更多
A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay ...A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay arrivals of surface-bottom reflection and bottom-surface reflection intersect at the source depth. Two hydrophones deployed vertically with a certain interval are required at least. If the receiver depths are known, the pair of time delays can be used to estimate the source depth. With the proposed method the source depth can be estimated successfully in a moderate range in the deep ocean without complicated matched-field calculations in the simulations and experiments.展开更多
Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase t...Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase transform(PHAT)has been widely used.PHAT is well-known for its robustness to reverberation and its sensitivity to noise,which is partly due to the fact that PHAT distributes same weights to the frequencies dominated by signal or noise.To alleviate this problem,two weighting functions are proposed in this paper.By taking a posteriori signal-to-noise ratio(SNR)into account to classify reliable and unreliable frequencies,different weights could be assigned.The first proposed weighting function borrows the idea of binary mask and distributes same weights to frequencies in same set,whereas,the second one assigns weights based on coherence function.Experiments showed the robustness of proposed methods to reverberation and noise for improving the performance of time delay estimation through various criteria.展开更多
Underwater acoustic scattering echoes have time–space structures and are aliasing in time and frequency domains.Different series of echoes properties are not identified when incident angle is unknown.This article inv...Underwater acoustic scattering echoes have time–space structures and are aliasing in time and frequency domains.Different series of echoes properties are not identified when incident angle is unknown.This article investigates variations in target echoes of monostatic sonar to address this problem.The mother wavelet with similar structures has been proposed on the basis of preprocessing signal waveform using matched filter,and the theoretical expressions between delay factor and incident angle are derived in the wavelet domain.Analysis of simulation data and experimental results in free-field pool show that this method can effectively separate geometrical scattering components of target echoes.The time delay estimation obtained from geometrical echoes at a single angle is consistent with target geometrical features,which provides a basis for object recognition without angle information.The findings provide valuable insights for analyzing elastic scattering echoes in actual ocean environment.展开更多
The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground,...The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.展开更多
基金supported by the Science and Technology on Information Transmission and Dissemination in Communication Networks Laboratory (ITD-U13007/ KX132600014)the National Natural Science Foundation of China (No. 9143810063)the Fundamental Research Funds for the Central Universities (2014RC0202)
文摘In satellite mobile communication system, relative movement of the satellite and the terminal will cause a large Doppler offset. Timing advanced estimation with Zadoff-Chu sequence is sensitive to the frequency offset. When the frequency offset is larger than one times subcarrier spacing, the value of peak cannot be detected at the receiving end. To suppress the larger Doppler frequency shift, this paper proposes a novel timing advanced estimation scheme(TAE-MCD) for satellite communication system. In this algorithm, t r a n s m i t t e d s i g n a l i s d i v i d e d i n t o Z C sequence and its conjugate sequence. Using multiplication and DFT operation to find the estimated peak at the receiving end, and make subtraction with the obtained sequences at last. The scheme can not only inhibit the adverse effects of large Doppler frequency shift in timing estimation effectively, but also reduce the computational complexity at the receiving end and improve the work efficiency of the hardware. Simulations results show that TAEMCD outperform the existing timing advanced estimation methods, on the condition of no additional time and frequency resource are needed.
基金supported by the National Natural Science Foundation of China under Grant No. 61501084。
文摘In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research in public published papers.This paper proposes two timing estimation algorithms,which are non-data-aided and based on the cyclic auto-correlation function.In order to evaluate the performance of the proposed algorithms,the theoretical bound of the timing estimation is derived.According to the analyses and simulation results,the effectiveness of the proposed algorithms has been demonstrated.It shows that MethodⅠhas better performance than MethodⅡ.However,MethodⅡdoes not need prior information,so it has a wider range of applications.
基金supported by the Natural Science Foundation of China (Grant no.60604009)Aeronautical Science Foundation of China (Grant no.2006ZC51039,Beijing NOVA Program Foundation of China (Grant no.2007A017)+1 种基金Open Fund of the Provincial Key Laboratory for Information Processing Technology,Suzhou University (Grant no KJS0821)"New Scientific Star in Blue Sky"Talent Program of Beihang University of China
文摘Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. In view of the characteristics of multi-UAVs coordinated trajectory replanning in dynamic and uncertain environments, the minimum and maximum pheromone trails in ACO are set to enhance the searching capability, and the point pheromone is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.
基金This work was supported by the National Science Foundation of China(10271034)
文摘The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution of the problem is constructed and the error estimation between spectral approximate solution and exact solution on large time is also obtained. The existence of the approximate attractor AN and the upper semicontinuity d（AN,A） → 0 are proved.
文摘Underwater acoustic communication based on Pattern Tune Delay Shift Coding （PDS） communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS scheme, which belongs to the Pulse Position Modulation （PPM）. The duty cycle of the PDS scheme is small, so it can economize the power for communication. By use of different patterns for code division and different frequencies for channel division, the communication system is capable of mitigating the inter-symbol interference （ISI） caused by the muhipath channel. The data rate of communication is 1000 bits/s at 8 kHz bandwidth. The receiver separates the channels by means of bandpass filters, and performs decoding by 4 copy-correlators to estimate the time delay shift value. Based on the theoretical analysis and numerical simulations, the PDS scheme is shown to be a robust and effective approach for underwater acoustic communication.
基金the National Natural Science Foundation of China(No.61703413)the Science and Technology Innovation Program of Hunan Province,China(No.2021RC3078).
文摘This article provides a review on X-ray pulsar-based navigation(XNAV).The review starts with the basic concept of XNAV,and briefly introduces the past,present and future projects concerning XNAV.This paper focuses on the advances of the key techniques supporting XNAV,including the navigation pulsar database,the X-ray detection system,and the pulse time of arrival estimation.Moreover,the methods to improve the estimation performance of XNAV are reviewed.Finally,some remarks on the future development of XNAV are provided.
基金This work was supported by the National Natural Science Foundation(NNSF)of China under grant no.61673386,62073335the China Postdoctoral Science Foundation(2017M613201,2019T120944).
文摘For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.
基金Projects 60372081, 30170259 and 30570475 supported by the National Natural Science Foundation of China, VSN-2005-01 the Opened Foundation of National Key-Lab of Vibration, Impact and Noise, 80523+1 种基金the Science Foundation of Hainan Province and Hj200501 the Foundation of Education Department of Hainan Province
文摘The non-Gaussian α-stable distribution is introduced to model impulsive noise. Based on the theory of fractional lower order statistics (FLOS), the fractional lower order cross-covariance (FLOCC) sequence for two received signals is obtained and the fractional lower order cross-covariance spectrum (FLOCCS) can be approached by taking a Fourier transform for the FLOCC sequence. When the FLOCCS is treated as a sequence in the time domain, the problem of multipath time delay estimation (TDE) may be converted into one on multi-frequencies estimation or directions of arrival estimation. Accordingly, the high resolution multipath TDE can be realized with the ESPRIT technology. This idea on multipath TDE is referred to as FLOCCS-ESPRIT in this paper. Computer simulations show that this method has good performance both in a Gaussian noise and in an impulsive noise environment.
基金Supported by the National Natural Science Foundation of China(61573051,61472021)the Natural Science Foundation of Beijing(4142039)+1 种基金Open Fund of the State Key Laboratory of Software Development Environment(SKLSDE-2015KF-01)Fundamental Research Funds for the Central Universities(PT1613-05)
文摘Currently, some fault prognosis technology occasionally has relatively unsatisfied performance especially for in- cipient faults in nonlinear processes duo to their large time delay and complex internal connection. To overcome this deficiency, multivariate time delay analysis is incorporated into the high sensitive local kernel principal component analysis. In this approach, mutual information estimation and Bayesian information criterion （BIC） are separately used to acquire the correlation degree and time delay of the process variables. Moreover, in order to achieve prediction, time series prediction by back propagation （BP） network is applied whose input is multivar- iate correlated time series other than the original time series. Then the multivariate time delayed series and future values obtained by time series prediction are combined to construct the input of local kernel principal component analysis （LKPCA） model for incipient fault prognosis. The new method has been exemplified in a sim- ple nonlinear process and the complicated Tennessee Eastman （TE） benchmark process. The results indicate that the new method has suoerioritv in the fault prognosis sensitivity over other traditional fault prognosis methods.
基金support from the German Research Foundation(grants HE 3584/1-4)
文摘More than 200 research papers on the molecular phylogeny and phylogenetic biogeography ofbryophytes have been published since the beginning of this millenium. These papers corroborated assumptions of a complex genetic structure of morphologically circumscribed bryophytes, and raised reservations against many morphologically justified species concepts, especially within the mosses. However, many molecular studies allowed for corrections and modifications of morphological classification schemes. Several studies reported that the phylogenetic structure of disjunctly distributed bryophyte species reflects their geographical ranges rather than morphological disparities. Molecular data led to new appraisals of distribution ranges and allowed for the reconstruction of refugia and migration routes. Intercontinental ranges of bryophytes are often caused by dispersal rather than geographical vicariance. Many distribution patterns of disjunct bryophytes are likely formed by processes such as short distance dispersal, rare long distance dispersal events, extinction, recolonization and diversification.
文摘Although the effects of the coalescent process on sequence divergence and genealogies are well understood, the vir- tual majority of studies that use molecular sequences to estimate times of divergence among species have failed to account for the coalescent process. Here we study the impact of ancestral population size and incomplete lineage sorting on Bayesian estimates of species divergence times under the molecular clock when the inference model ignores the coalescent process. Using a combination of mathematical analysis, computer simulations and analysis of real data, we find that the errors on estimates of times and the molecular rate can be substantial when ancestral populations are large and when there is substantial incomplete lineage sorting. For example, in a simple three-species case, we find that if the most precise fossil calibration is placed on the root of the phylogeny, the age of the internal node is overestimated, while if the most precise calibration is placed on the internal node, then the age of the root is underestimated. In both cases, the molecular rate is overestimated. Using simulations on a phylogeny of nine species, we show that substantial errors in time and rate estimates can be obtained even when dating ancient divergence events. We analyse the hominoid phylogeny and show that estimates of the neutral mutation rate obtained while ignoring the coalescent are too high. Using a coalescent-based technique to obtain geological times of divergence, we obtain estimates of the mutation rate that are within experimental estimates and we also obtain substantially older divergence times within the phylogeny [Current Zoology 61 （5）： 874-885, 2015].
基金Supported by the National Natural Science Foundation of China under Grant No 11174235
文摘A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay arrivals of surface-bottom reflection and bottom-surface reflection intersect at the source depth. Two hydrophones deployed vertically with a certain interval are required at least. If the receiver depths are known, the pair of time delays can be used to estimate the source depth. With the proposed method the source depth can be estimated successfully in a moderate range in the deep ocean without complicated matched-field calculations in the simulations and experiments.
基金supported by the National Natural Science Foundation of China(Grant No.61831019).
文摘Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase transform(PHAT)has been widely used.PHAT is well-known for its robustness to reverberation and its sensitivity to noise,which is partly due to the fact that PHAT distributes same weights to the frequencies dominated by signal or noise.To alleviate this problem,two weighting functions are proposed in this paper.By taking a posteriori signal-to-noise ratio(SNR)into account to classify reliable and unreliable frequencies,different weights could be assigned.The first proposed weighting function borrows the idea of binary mask and distributes same weights to frequencies in same set,whereas,the second one assigns weights based on coherence function.Experiments showed the robustness of proposed methods to reverberation and noise for improving the performance of time delay estimation through various criteria.
基金Foundation item:Supported by the National Natural Science Foundation of China(Grant No.51279033)Natural Science Foundation of Heilongjiang Province,China(Grant No.F201346)
文摘Underwater acoustic scattering echoes have time–space structures and are aliasing in time and frequency domains.Different series of echoes properties are not identified when incident angle is unknown.This article investigates variations in target echoes of monostatic sonar to address this problem.The mother wavelet with similar structures has been proposed on the basis of preprocessing signal waveform using matched filter,and the theoretical expressions between delay factor and incident angle are derived in the wavelet domain.Analysis of simulation data and experimental results in free-field pool show that this method can effectively separate geometrical scattering components of target echoes.The time delay estimation obtained from geometrical echoes at a single angle is consistent with target geometrical features,which provides a basis for object recognition without angle information.The findings provide valuable insights for analyzing elastic scattering echoes in actual ocean environment.
基金This study was supported by the National Defense Science and Technology Innovation Zone of China(Grant No.00205501).
文摘The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.
