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An enhanced stochastic error modeling using multi-Gauss–Markov processes for GNSS/INS integration system

Journal of engineering and Applied science 2024年第1期71卷 186页

作者： Wu, Youlong Chen, Shuai School of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing China School of Automation Nanjing University of Science and Technology Nanjing China

Angular random walk (ARW), rate random walk (RRW), and bias instability (BI) are the main noise types in inertial measurement units (IMUs) and thus determine the navigation performance of IMUs. BI is the flicker noise, which determines the noise level of an inertial sensor. The traditional error modeling approach involves modeling the ARW and BI processes as RRW or Gauss–Markov (GM) processes, and this approach is applied as a suboptimal filter in the global navigation satellite system (GNSS)/inertial navigation system (INS) extended Kalman filter (EKF). In this paper, the random error identification processes for white noise and colored noise for inertial sensors are separated using the Allan variance and power spectral density methods and the equivalence of the stochastic process differential equations of bias instability and a combination of multiple first-order GM processes are derived. A colored noise compensation method is proposed based on the enhanced EKF model. Experimental results demonstrate that, compared to traditional error models, our proposed model reduces positional drift error in dynamic testing from 195 to 49 m, enhancing positional accuracy by 40.2%. These findings confirm the potential and superiority of our method in complex navigation environments. © The Author(s) 2024.

关键词： Markov processes

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Autonomous navigation method of satellite constellation based on adaptive forgetting factors

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Chinese Journal of Aeronautics 2024年第7期37卷 317-332页

作者： Dong WANG Jing YANG Kai XIONG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100094China

To address the problem that model uncertainty and unknown time-varying system noise hinder the filtering accuracy of the autonomous navigation system of satellite constellation,an autonomous navigation method of satellite constellation based on the Unscented Kalman Filter with Adaptive Forgetting Factors(UKF-AFF)is *** process noise covariance matrix is estimated online with the strategy that combines covariance matching and adaptive adjustment of forgetting *** adaptive adjustment coefficient based on squared Mahalanobis distance of state residual is employed to achieve online regulation of forgetting factors,equipping this method with more *** intersatellite direction vector obtained from photographic observations is introduced to determine the constellation satellite orbit together with the distance measurement to avoid rank deficiency *** that the number of available measurements varies online with intersatellite visibility in practical applications such as time-varying constellation configurations,the smooth covariance matrix of state correction determined by innovation and gain is adopted and constructed *** analysis of the proposed method is also *** effectiveness of the proposed method is verified by the Monte Carlo simulation and comparison *** estimation accuracy of constellation position and velocity of UKF-AFF is improved by 30%and 44%respectively compared to those of the extended Kalman filter,and the method proposed is also better than other several adaptive filtering methods in the presence of significant model uncertainty.

关键词： Constellation autonomous navigation Unscented Kalman filter Adaptive forgetting factor Model uncertainty Stability analysis

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Autonomous Recommendation of Fault Detection Algorithms for Spacecraft

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 273-275页

作者： Wenbo Li Baoling Ning the National Key Laboratory of Science and Technology on Space Intelligent Control Beijing Institute of Control EngineeringBeijing 100094China the School of Data Science and Technology Heilongjiang UniversityHarbin 150001China

Dear Editor, This letter deals with the problem of algorithm recommendation for online fault detection of spacecraft. By transforming the time series data into distributions and introducing a distribution-aware measure, a principal method is designed for quantifying the detectabilities of fault detection algorithms over special datasets.

关键词： fault introducing letter

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Data-driven output regulation control for constrained linear systems

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science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Coalition formation problem: a capability-centric analysis and general model

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science China(Information sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Study on the assimilation of the sulphate reaction rates based on WRF-Chem/DART

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science China Earth sciences 2023年第10期66卷 2239-2253页

作者： Congwu HUANG Chaoqun MA Tijian WANG Yawei QU Mengmeng LI Shu LI Bingliang ZHUANG Min XIE Faculty of Resources and Environmental Science Hubei UniversityWuhan430062China School of Atmospheric Sciences Nanjing UniversityNanjing210023China College of Intelligent Science and Control Engineering Jinling Institute of TechnologyNanjing211169China

Sulphate(SO_(4)^(2-))is a main component of PM_(2.5)in *** chemical formation mechanisms of sulphate are complex,and many air quality models have been used to analyse these *** improve the accuracy of Weather Research Forecast-Chemistry(WRF-Chem)on sulphate,an alternative method is proposed in this ***,data assimilation is performed to adjust the chemical reaction rates of *** on the original reactions,a new sulphate parameterisation scheme,which includes two hypothetical reactions and six undetermined parameters,was *** on the WRF-Chem/DART(Data Assistance Research Testbed)system,the near-ground concentrations of SO_(4)^(2-),SO_(2),NO_(2),O_(3)and particulate matter are assimilated to adjust the six *** adjusting the parameters,the new scheme can effectively solve the underestimation of SO_(4)^(2-)and overestimation of SO_(2).The simulation of SO_(4)^(2-)improved as the mean bias changed from-13.1μg m^(-3)to 3.5μg m^(-3)while SO_(2)improved from 17.0μg m^(-3)to 6.3μg m^(-3).The temporal and spatial variation characteristics predicted by the new scheme are consistent with the theoretical research results,indicating that the complex mechanism of sulphate formation could be replaced by the temporal and spatial variation characteristics predicted by the new scheme and that the parameters can be adjusted by data ***,the reaction rates of the SO_(4)^(2-)parameterisation scheme of the WRF-Chem model are improved in this study,and a new method for improving the accuracy of the air quality model is provided.

关键词： Sulphate Chemical reaction rate WRF-Chem/DART Data assimilation Air quality forecast

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Research on Undisturbed Monitoring of Eriocheir Sinensis based on Biological Habits 9

Research on Undisturbed Monitoring of Eriocheir Sinensis bas...

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9th International Conference on intelligent Computing and Signal Processing, ICSP 2024

作者： Wang, Yizhi Hu, Yan Liu, Siyuan Hu, Xingliu Chen, Weina Xiao, Maohua School of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing China College of Engineering Nanjing Agricultural University Nanjing China

ISBN: (纸本)9798350376548

The undisturbed monitoring of Eriocheir Sinensis, also known as Chinese mitten crabs, is accepted as the reliable guidance to feeding equipment development, under the circumstance of labor force aging issue, while currently there is yet a satisfactory method. In utilizing the biological habit of Erocheir Sinensis, climbing the fish net cage, a platform is proposed and implemented in this research to record the photos and weights of Eriocheir Sinensis when climbing up the cage and passing through the platform, willingly, fulfilling the goal of undisturbed monitoring purpose. Furthermore, the shadow marking method and maximum inscribed circle method is developed to process the photos under natural illumination with different area of shadow, and to obtain the carapace size of Eriocheir Sinensis, respectively. Results show the shadow marking method will return a clear contour line of Eriocheir Sinensis with an appropriate v value, while the maximum inscribed circle method will return an error of size data with relatively constant error, which could be eliminated by correcting algorithm in future. © 2024 IEEE.

关键词： Biotic

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Multi–physical-field characteristics modeling and structure optimization for kW-level ultra-high-speed PM motors with integrated support system

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Chinese Journal of Aeronautics 2023年第4期36卷 455-467页

作者： Qixing GAO Xiaolin WANG Yan ZHANG College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China School of Intelligence Science and Control Engineering Jinling Institute of TechnologyNanjing 211169China

In the aerospace industry,the low-mass ultra-high-speed flywheel system play a critical *** this paper,a kW-level Ultra-High Speed Permanent Magnet Synchronous Motor(UHSPMSM)as the core component of flywheel system is proposed and analyzed with consideration of multiple physical fields,including electromagnetic characteristics,mechanical strength and rotor *** integrated support structure is put forward to improve rotation accuracy and operation stability of the ***,influence of the integrated support structure on critical speed is explored,and the key parameters such as support position and support stiffness are ***,the rotor strength is analyzed by analytical model developed of rotor stress that can deal with multiple boundary *** and thickness of the sleeve are optimized,and range of interference value is accurately limited based on four extreme operating *** 3-D Finite Element Model(FEM)is used to validate the strength characteristics and stress distribu-tion of rotor.A 1.5 kW-150000 r/min UHSPMSM with integrated support system is manufactured and *** feasibility of UHSPMSM proposed and the accuracy of analysis method are verified through electromagnetic,temperature rise and vibration characteristics *** machine prototype realizes the load operation at rated speed and the multi-physical-field characteristics achieve the design specification.

关键词： Flywheel energy storage Integrated support system Multi–physical-field charac-teristics Mechanical strength Rotor dynamics Ultra-high-speed motor

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Predicting circRNA-Disease Associations by Using Multi-Biomolecular Networks Based on Variational Graph Auto-Encoder with Attention Mechanism

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Chinese Journal of Electronics 2024年第6期33卷 1526-1537页

作者： Jing YANG Xiujuan LEI Yi PAN School of Computer Science Shaanxi Normal University Faculty of Computer Science and Control Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences Shenzhen Key Laboratory of Intelligent Bioinformatics Shenzhen Institute of Advanced Technology

CircRNA-disease association(CDA) can provide a new direction for the treatment of diseases. However,traditional biological experiment is time-consuming and expensive, this urges us to propose the reliable computational model to predict the associations between circRNAs and diseases. And there is existing more and more evidence indicates that the combination of multi-biomolecular information can improve the prediction accuracy. We propose a novel computational model for CDA prediction named MBCDA, we collect the multi-biomolecular information including circRNA, disease, miRNA and lncRNA based on 6 databases, and construct three heterogeneous network among them, then the multi-heads graph attention networks are applied to these three networks to extract the features of circRNAs and diseases from different views, the obtained features are put into variational graph auto-encoder(VGAE) network to learn the latent distributions of the nodes, a fully connected neural network is adopted to further process the output of VGAE and uses sigmoid function to obtain the predicted probabilities of circRNA-disease *** a result, MBCDA achieved the values of AUC and AUPR under 5-fold cross-validation of 0.893 and 0.887. MBCDA was applied to the analysis of the top-25 predicted associations between circRNAs and diseases, these experimental results show that our proposed MBCDA is a powerful computational model for CDA prediction.

关键词： Knowledge engineering Attention mechanisms Computational modeling Biological system modeling Predictive models Feature extraction Heterogeneous networks Topology Data mining Diseases

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Quasi-static Mechanical Properties of Optimized SC Lattice Structure Based on Periodic Boundary Theory

Quasi-static Mechanical Properties of Optimized SC Lattice S...

引用

2023 International Conference on Optoelectronic Information and Functional Materials, OIFM 2023

作者： Zhou, Duan College of Intelligent Science and Control Engineering Jinling Institute of Technology Nanjing211169 China

ISBN: (纸本)9781510668119

In order to establish the planar dynamic symmetry of SC unit cell and the macroscopic structure, periodic boundary constraints equations were constructed in ABAQUS for the SC unit cell and the topology optimization design was conducted under periodic boundary conditions with the ESO algorithm. The equivalent elasticity modulus of the optimized SC unit cell was solved and it was found that the equivalent elasticity modulus of the optimized SC unit cell was evidently better than that of the traditional SC unit cell. The optimized SC unit cell was then extended from the unit cell level to the macrostructure, and the quasi-static flat compression resistivity of three kinds of SC lattice structures were studied. It was concluded that the optimized SC lattice structure removed from the initial material of the unit cell had a better resistant force and energy absorption value than the traditional SC lattice structure under the flat compression condition. © 2023 SPIE.

关键词： Elastic moduli

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