Single SAR image direct positioning is to determine the ground coordinate for each pixel in the SAR image assisted with a reference DEM.During this procedure,an iterative procedure is essentially needed to solve the u...Single SAR image direct positioning is to determine the ground coordinate for each pixel in the SAR image assisted with a reference DEM.During this procedure,an iterative procedure is essentially needed to solve the uncertainty in elevation of each pixel in the SAR image.However,such an iterative procedure may suffer from the problem of divergence in shaded and serious layover areas.To investigate this problem,we performed a theoretical analysis on the convergence conditions that has not been intensively studied till now.The Range-Doppler(RD)model was simplified and then the general surface is degenerated into a planar surface.Mathematical deduction was then carried out to derive the convergence conditions and the impact factors for the convergence speed were evaluated.The theoretical findings were validated by experiments for both simulated and real scenarios.展开更多
As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring...As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture展开更多
The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coinci...The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coincides exactly with the planned path, which is usually a plane curve with straight, building, holding, and dropping sections in succession. The drilling direction is of course dependant on the direction of the resultant forces acting on the bit and it is quite a tough job to hit the optimum target at the hole bottom as required. The traditional passive methods for correcting the drilling path have not met the demand to improve the techniques of deviation control. A method for combining wellbore surveys to obtain a composite, more accurate well position relies on accepting the position of the well from the most accurate survey instrument used in a given section of the wellbore. The error in each position measurement is the sum of many independent root sources of error effects. The relationship between surveys and other influential factors is considered, along with an analysis of different points of view. The collaborative work describes, establishes a common starting point of wellbore position uncertainty model, definition of what constitutes an error model, mathematics of position uncertainty calculation and an error model for basic directional service.展开更多
The deployment of the low earth orbit(LEO)satellites provides a large number of signals of opportunity(SOPs),unmanned aerial vehicle(UAV)positioning and navigation via LEO-SOPs have re-ceived much attention.Current re...The deployment of the low earth orbit(LEO)satellites provides a large number of signals of opportunity(SOPs),unmanned aerial vehicle(UAV)positioning and navigation via LEO-SOPs have re-ceived much attention.Current research is focused on Doppler positioning techniques,which require the collaboration of multiple satellites(≥3).However,the dynamic changes of LEO satellites weaken the generalization ability of Doppler positioning.In this paper,a direct position determination(DPD)method with uniform circular array(UCA)is proposed for UAV positioning from the perspective of the spatial spectrum estimation of LEO-SOPs.The proposed method employs the orthogonality between the signal and noise subspaces of the covariance matrix of the different received SOPs to establish the cost function for UAV’s coordinate.Instead of the multiple dimen-sional search,a root mean square propagation(RM-SProp)gradient optimizer with an adaptive learning rate is developed to find the coordinate of UAV.The effectiveness and robustness of the proposed method are verified using numerical data generated from the systems tool kit(STK).展开更多
In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and...In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment,and the control mechanism is simplified.Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger,so the dredger can maintain the desired position with a minimum error and shock.The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger.The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.展开更多
如何生成具有适当水平位差的左右眼平面图片是自由立体显示软件设计的核心问题。针对该问题,首先以双眼能够舒适地融合显示屏上的最大水平位差为依据,在M icrosoft D irect 3D构建的3维模型空间体系内,寻找模型空间的视点与显示屏上水...如何生成具有适当水平位差的左右眼平面图片是自由立体显示软件设计的核心问题。针对该问题,首先以双眼能够舒适地融合显示屏上的最大水平位差为依据,在M icrosoft D irect 3D构建的3维模型空间体系内,寻找模型空间的视点与显示屏上水平位差之间的理论关系;然后,以视者在真实空间浏览3维模型真实感强、视觉舒适为原则来确定模型空间视点位置和投射表面平移量;最后,还提出了调整立体视觉效果的参数,并阐述了它们对立体视觉效果的影响机制。该研究成果已经投入使用,并获得了理想的立体视觉效果。展开更多
基金The authors would like to thank the German Aerospace Center(DLR)for providing the test data-sets via the DLR AO LAN0793 and LAN0634,and Prof.Miaozhong Xu of LIESMARS for providing the photogrammetric DEM with spatial resolution of 3 mThis work was supported by the National Natural Science Foundation of China[grant number 41271457]the Demonstration System of High Resolution Remote Sensing Applications in Urban Fine Management Area[grant number 06-Y30B04–9002-13/15].
文摘Single SAR image direct positioning is to determine the ground coordinate for each pixel in the SAR image assisted with a reference DEM.During this procedure,an iterative procedure is essentially needed to solve the uncertainty in elevation of each pixel in the SAR image.However,such an iterative procedure may suffer from the problem of divergence in shaded and serious layover areas.To investigate this problem,we performed a theoretical analysis on the convergence conditions that has not been intensively studied till now.The Range-Doppler(RD)model was simplified and then the general surface is degenerated into a planar surface.Mathematical deduction was then carried out to derive the convergence conditions and the impact factors for the convergence speed were evaluated.The theoretical findings were validated by experiments for both simulated and real scenarios.
基金supported by the National Natural Science Foundation of China (Grant No. 50909025)the National High Technology Development Program of China (Grant No. 2008AA092301)
文摘As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture
文摘The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coincides exactly with the planned path, which is usually a plane curve with straight, building, holding, and dropping sections in succession. The drilling direction is of course dependant on the direction of the resultant forces acting on the bit and it is quite a tough job to hit the optimum target at the hole bottom as required. The traditional passive methods for correcting the drilling path have not met the demand to improve the techniques of deviation control. A method for combining wellbore surveys to obtain a composite, more accurate well position relies on accepting the position of the well from the most accurate survey instrument used in a given section of the wellbore. The error in each position measurement is the sum of many independent root sources of error effects. The relationship between surveys and other influential factors is considered, along with an analysis of different points of view. The collaborative work describes, establishes a common starting point of wellbore position uncertainty model, definition of what constitutes an error model, mathematics of position uncertainty calculation and an error model for basic directional service.
基金supported by Jiangsu Province Fron-tier Leading Technology Basic Research Project(BK20222013)partly supported by National Natural Science Foundation of China(No.62101251)+1 种基金Fundamental Research Funds for the Central Universities(No.NS20240240)partly supported by Post-graduate Research&Practice Innovation Program of NUAA(No.016001)。
文摘The deployment of the low earth orbit(LEO)satellites provides a large number of signals of opportunity(SOPs),unmanned aerial vehicle(UAV)positioning and navigation via LEO-SOPs have re-ceived much attention.Current research is focused on Doppler positioning techniques,which require the collaboration of multiple satellites(≥3).However,the dynamic changes of LEO satellites weaken the generalization ability of Doppler positioning.In this paper,a direct position determination(DPD)method with uniform circular array(UCA)is proposed for UAV positioning from the perspective of the spatial spectrum estimation of LEO-SOPs.The proposed method employs the orthogonality between the signal and noise subspaces of the covariance matrix of the different received SOPs to establish the cost function for UAV’s coordinate.Instead of the multiple dimen-sional search,a root mean square propagation(RM-SProp)gradient optimizer with an adaptive learning rate is developed to find the coordinate of UAV.The effectiveness and robustness of the proposed method are verified using numerical data generated from the systems tool kit(STK).
基金The National Basic Research Program of China (973 Program) (No. 2005CB221505)Open Fund of Provincial Open Laboratory for Control Engineering Key Disciplines (No. KG2009-02)
文摘In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment,and the control mechanism is simplified.Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger,so the dredger can maintain the desired position with a minimum error and shock.The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger.The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.
文摘如何生成具有适当水平位差的左右眼平面图片是自由立体显示软件设计的核心问题。针对该问题,首先以双眼能够舒适地融合显示屏上的最大水平位差为依据,在M icrosoft D irect 3D构建的3维模型空间体系内,寻找模型空间的视点与显示屏上水平位差之间的理论关系;然后,以视者在真实空间浏览3维模型真实感强、视觉舒适为原则来确定模型空间视点位置和投射表面平移量;最后,还提出了调整立体视觉效果的参数,并阐述了它们对立体视觉效果的影响机制。该研究成果已经投入使用,并获得了理想的立体视觉效果。
