双射映射(bijective mapping)能够实现二维基于旋转不变子空间的信号参数估计算法(two-dimensional estimating signal parameters via rotational invariance techniques,2D-ESPRIT)的参数自动配对,从而有效降低计算复杂度.在双射映射...双射映射(bijective mapping)能够实现二维基于旋转不变子空间的信号参数估计算法(two-dimensional estimating signal parameters via rotational invariance techniques,2D-ESPRIT)的参数自动配对,从而有效降低计算复杂度.在双射映射中,相较于其他部分,矩阵的实数化涉及规模更大、复杂度更高的计算,对系统实时性的影响更大.为优化这一过程,从矩阵的稀疏性出发,对其计算流程进行了深入分析,在FPGA平台上设计并实现了一种由通用与延长流水线构成的矩阵实数化硬件加速系统.实验结果表明:该系统的计算误差控制在1.14×10^(-4)以内;当总阵元数为6、快拍数为32时,该系统仅用时2.62μs完成计算,且达到最大加速比8.17;在不同快拍数和阵元数的情况下,系统的资源消耗保持稳定.展开更多
The maneuvering of a large-scale unmanned aerial vehicle(UAV)swarm,notable for flexible flight with collisionfree,is still challenging due to the significant number of UAVs and the compact configuration of the swarm.I...The maneuvering of a large-scale unmanned aerial vehicle(UAV)swarm,notable for flexible flight with collisionfree,is still challenging due to the significant number of UAVs and the compact configuration of the swarm.In light of this problem,a novel parallel control method that utilizes space and time transformation is proposed.First,the swarm is decomposed based on a grouping-hierarchical strategy,while the distinct flight roles are assigned to each UAV.Then,to achieve the desired configuration(DCF)in the real world,a bijection transformation is conducted in the space domain,converting an arbitrarily general configuration(GCF)into a standard configuration(SCF)in the virtual space.Further,to improve the flexibility of the swarm,the time scaling transformation is adopted in the time domain,which ensures the desired prescribed-time convergence of the swarm independent of initial conditions.Finally,simulation results demonstrate that collision-free maneuvering,including formation changes and turning,can be effectively and rapidly achieved by the proposed parallel control method.Overall,this research contributes a viable solution for enhancing cooperation among largescale UAV swarms.展开更多
首先利用递推方法求出了正整数 n 各分部量不大于2的分拆数的公式;其次建立了正整数 n 各分部量不大于2的有序分拆的集合与正整数 n +2各分部量不小于2的有序分拆集合之间的双射,从而得到了正整数 n +2各分部量不小于2的有序分拆数的公...首先利用递推方法求出了正整数 n 各分部量不大于2的分拆数的公式;其次建立了正整数 n 各分部量不大于2的有序分拆的集合与正整数 n +2各分部量不小于2的有序分拆集合之间的双射,从而得到了正整数 n +2各分部量不小于2的有序分拆数的公式;最后给出了正整数 n 的各分部量不大于3和4的有序分拆数的递推关系式,以及正整数 n 各分部量是2,或3,或4的有序分拆数的递推关系式。展开更多
文摘双射映射(bijective mapping)能够实现二维基于旋转不变子空间的信号参数估计算法(two-dimensional estimating signal parameters via rotational invariance techniques,2D-ESPRIT)的参数自动配对,从而有效降低计算复杂度.在双射映射中,相较于其他部分,矩阵的实数化涉及规模更大、复杂度更高的计算,对系统实时性的影响更大.为优化这一过程,从矩阵的稀疏性出发,对其计算流程进行了深入分析,在FPGA平台上设计并实现了一种由通用与延长流水线构成的矩阵实数化硬件加速系统.实验结果表明:该系统的计算误差控制在1.14×10^(-4)以内;当总阵元数为6、快拍数为32时,该系统仅用时2.62μs完成计算,且达到最大加速比8.17;在不同快拍数和阵元数的情况下,系统的资源消耗保持稳定.
基金supported in part by the National Natural Science Foundation of China(62373302,62333009,61973253,62273283).
文摘The maneuvering of a large-scale unmanned aerial vehicle(UAV)swarm,notable for flexible flight with collisionfree,is still challenging due to the significant number of UAVs and the compact configuration of the swarm.In light of this problem,a novel parallel control method that utilizes space and time transformation is proposed.First,the swarm is decomposed based on a grouping-hierarchical strategy,while the distinct flight roles are assigned to each UAV.Then,to achieve the desired configuration(DCF)in the real world,a bijection transformation is conducted in the space domain,converting an arbitrarily general configuration(GCF)into a standard configuration(SCF)in the virtual space.Further,to improve the flexibility of the swarm,the time scaling transformation is adopted in the time domain,which ensures the desired prescribed-time convergence of the swarm independent of initial conditions.Finally,simulation results demonstrate that collision-free maneuvering,including formation changes and turning,can be effectively and rapidly achieved by the proposed parallel control method.Overall,this research contributes a viable solution for enhancing cooperation among largescale UAV swarms.
文摘首先利用递推方法求出了正整数 n 各分部量不大于2的分拆数的公式;其次建立了正整数 n 各分部量不大于2的有序分拆的集合与正整数 n +2各分部量不小于2的有序分拆集合之间的双射,从而得到了正整数 n +2各分部量不小于2的有序分拆数的公式;最后给出了正整数 n 的各分部量不大于3和4的有序分拆数的递推关系式,以及正整数 n 各分部量是2,或3,或4的有序分拆数的递推关系式。
