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检索条件"机构=Science And Technology On Complex System Control"

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Indicators and Validation Methods for Swarm Situational Awareness Assessment of Uncrewed Aerial Vehicles 1

引用

7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhang, Hang Song, Chuang Li, WeiXue Hao, Mingrui School of Software Northwestern Polytechnical University Shaanxi Xi’an710072 China Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

Swarm situational awareness technology for uncrewed aerial vehicles (UAVs) is a core technology for mastering environmental information and gaining decision-making advantages. However, evaluation indicators and validation methods for situational awareness technology have always been lacking. This article thoroughly investigates the evaluation methods for situational awareness technology indicators both domestically and internationally. By analyzing the application scenarios of UAV group situational awareness technology, this article proposes an evaluation indicator system and mathematical simulation validation method for situational awareness technology. Finally, the design process and actual verification results of each indicator in the evaluation indicator system are explained in detail. The effectiveness of the evaluation indicator is demonstrated through simulation and comparative research, which further proves the reliability of the validation method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Decision making

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Relative Position-Based Collaborative Navigation for Cluster UAVs 7th

Relative Position-Based Collaborative Navigation for Cluster...

引用

7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Aerospace Science and Industry Group Intelligent Technology Research Institute Co. Ltd. Beijing100074 China

ISBN: (纸本)9789819733316

The inertial equipment carried by UAVs without satellite signal assistance will accumulate errors over time, which cannot meet the requirement of obtaining high-precision cluster navigation information for cluster UAVs in long-duration flights. Aiming at this problem, a scheme for cooperative navigation of cluster UAVs based on relative position assistance is proposed. Firstly, the state equations of the cooperative navigation system are established by modeling the errors of inertial devices of low-precision UAVs;secondly, the relative position information of low-precision UAVs and high-precision UAVs as well as other low-precision UAVs transmitted between UAVs through the data chain is taken as the observation equation;finally, the inertial errors of low-precision UAVs are compensated by using the traceless Kalman filtering for the error compensation, which improves the navigation accuracy. After 30 min simulation results show that the cooperative navigation scheme converges the velocity and position errors of the low-precision UAV to 0.5 m/s and 5 m, respectively, which improves the navigation accuracy greatly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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A GPR-Aided Method for Collaborative Relative Navigation for Multiple Unmanned Aerial Vehicles During Ranging Measurement Outages 6

A GPR-Aided Method for Collaborative Relative Navigation for...

引用

6th International Symposium on Autonomous systems, ISAS 2023

作者： Ding, Xin Hao, Mingrui Gong, Baichun Chen, Linxiu Zhuang, Zhixing Nanjing University of Aeronautics and Astronautics Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

To maintain reliable relative navigation accuracy of unmanned aerial vehicles (UAVs) during range measurement outages, a GPR-aided ranging method is proposed to assist the extended Kalman filter for measurement updates. Specifically, when the on-board ranging measurement is available, a Gaussian process regression (GPR) algorithm is used to train the mapping model between acceleration, angular velocity of the inertial navigation system (INS), relative position, and the ranging distance. When ranging measurement is unavailable, the trained GPR algorithm is used for distance prediction, replacing the ranging measurement and being used for consensus extended Kalman filter (CEKF) measurement update to reduce the degree of relative navigation error divergence. Numerical simulation was conducted with three UAVs performing cooperative flight, the results show that the proposed algorithm can provide reliable distance prediction during ranging outage and effectively reduce the divergence of relative state estimation error. © 2023 IEEE.

关键词： Inertial navigation systems

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Relative navigation method for unmanned aerial vehicles formation using consensus unscented Kalman filter 6

Relative navigation method for unmanned aerial vehicles form...

引用

6th International Symposium on Autonomous systems, ISAS 2023

作者： Zhuang, Zhixing Gong, Baichun Ding, Xin Hao, Mingrui Chen, Linxiu Nanjing University of Aeronautics and Astronautics Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

A relative navigation method in which the measurement information between aircraft only has distance or angle was proposed to achieve accurate relative navigation between aircraft formations in the global navigation satellite system (GNSS) Denied Environment. In addition, four relative measurement schemes are analyzed. An augmented state is introduced in the relative navigation system model, and the observability analysis of the navigation system is carried out relying on the Lie derivative theory, which gives the limitation of motion: the relative position and velocity of the aircraft cannot be parallel or zero, and a single aircraft cannot keep flying straight. A consensus unscented Kalman filter (CUKF) algorithm is established using the geometric characteristics in flight. The observability of the system state is improved after using the additional constraint. Finally, a standard Monte Carlo simulation system is established, and the system simulation is carried out, which shows that the Observability analysis is verified to be correct, and the algorithm demonstrates high accuracy. © 2023 IEEE.

关键词： Observability

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Preliminary Study on the Method of Generating Infrared Image Based on CycleGAN 19th

Preliminary Study on the Method of Generating Infrared Image...

引用

19th Chinese Intelligent systems Conference, CISC 2023

作者： Sun, Baiping Tong, Jiahui Geng, Huapin Beijing Electromechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819968855

Traditional infrared scene simulation method mainly includes the establishment of 3D geometric model of the target, the establishment of scene radiation model, the relationship mapping between infrared radiation and infrared image gray value and other steps. The whole process is tedious, and contain more calculated parameters. This paper introduce CycleGAN network, draw on its ring network structure and unpaired data or paired data as a training set, realize the advantages of domain image conversion effect, explore the visible light image conversion into corresponding infrared image, solve the problems such as samples in the process of infrared imaging simulation is limited, fidelity is low, and coverage is limited. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Infrared radiation

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Multiple UAVs Time-Cooperative Guidance Law Under Directed Communication Topologies

Multiple UAVs Time-Cooperative Guidance Law Under Directed C...

引用

International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Lyu, Teng Xu, Cheng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811581540

Collaborative guidance of multiple UAVs with directional communication topologies for directional targets is being researched. First, a new multi-UAV time-cooperative guidance model is established based on the relative motion equation of the UAV target. Next, based on the cooperative control theory of multi-agent systems, a rigorously proven distributed time cooperative guidance method is designed. This ensures that the impact times of multiple UAVs in a directional topology reach asymptotic consistency. After reaching the impact time consensus, all unmanned aerial vehicles use traditional PN guidance techniques to ensure that the UAV accurately hits the target without impacting the impact time consensus. Finally, the simulation results prove the effectiveness of the designed collaborative guidance method. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Warship Object Detection in Remote Sensing Images with Improved YOLOv5

Warship Object Detection in Remote Sensing Images with Impro...

引用

2023 China Automation Congress, CAC 2023

作者： Liu, Caiyuan Li, Yuan Chen, Linxiu Guan, Weili School of Automation Beijing Institute of Technology Beijing100081 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9798350303759

Aiming at the task of detecting ships on the sea surface in remote sensing images, there are a lot of disturbances such as variable object sizes, cloud occlusion, complex image backgrounds, and different ship orientations, etc. In this paper, we propose a ship rotating object detection network based on the improved YOLOv5, which is constructed through the strategies of introducing Swin Transformer as a feature extraction network to enhance the feature extraction performance of the network, introducing a rotating detection head to realize the detection of the rotation angle, and modifying the network loss function to accelerate the convergence of the network. The network finally achieves a 71.7% map on ShipRSImageNet validation set, which is an improvement of 2.4% compared with the original network model. The network proposed in this paper solves the problem that the YOLOv5 algorithm is unable to detect rotating objects, and the network based on the self-attention mechanism is used to further enhance the ability to detect small objects. Finally, a ship object detector that can be used in real remote sensing satellite images is obtained. © 2023 IEEE.

关键词： Feature extraction

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Multi-Stage Marine Ship Recognition Based on Stackable Residual Network 19

Multi-Stage Marine Ship Recognition Based on Stackable Resid...

引用

19th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery, ICNC-FSKD 2023

作者： Yu, Wanwan Zhang, Junping Wang, Linlin Xi, Yunqiao Xu, Hongfeng Chen, Linxiu Hao, Mingrui Harbin Institute of Technology School of Electronics and Information Engineering Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350304398

Marine ship recognition has always been an important research field. The ships can be usually recognized by analyzing their attribute characteristics. However, in the actual process of recognition, many ship recognition methods using a single model cannot meet the requirements of this task due to the complexity of ship types, diversity of interference factors and different information obtained from distance differences. Therefore, we propose a multi-stage ship recognition scheme. First, the single radiation emitter feature recognition network model is designed for long-distance recognition. Second, the fusion feature network model for short distance recognition. The proposed network is mainly constructed with the residual units, which not only simplify the training of deep networks and facilitate the spread of information, but also can solve the vanishing gradient and exploding gradient problem. The simulation experimental results show that the proposed network model has better performance than typical methods and has great potential in applications. © 2023 IEEE.

关键词： Ships

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Method for Evaluating the Performance of Aircraft Collaborative Decision-Making Based on Dynamic Bayesian Network

Method for Evaluating the Performance of Aircraft Collaborat...

引用

2024 International Conference on Electronics and Devices, Computational science, ICEDCS 2024

作者： Zhang, Wenbo Yu, Boxiao Tong, Jiahui Li, Jing Beijing Electro-Mechanical Engineering Institute National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China Beijing Institute of Technology School of Computer Science and Technology Beijing China

ISBN: (纸本)9798331527624

This research addresses the challenge of assessing equipment decision-making effectiveness in environments characterized by uncertainty and multiple influencing factors. We propose a novel approach involving the creation and optimization of a dynamic Bayesian network-based model tailored for equipment decision-making processes. The model facilitates a systematic evaluation of decision-making effectiveness by incorporating various factors, including equipment performance, environmental conditions, and enemy defensive capabilities. A comprehensive assessment system has been developed to simulate the penetration capabilities of different equipment through enemy defenses. Moreover, this study identifies potential errors in the effectiveness evaluation model by analyzing its performance in typical scenarios, pinpointing areas for enhancement. © 2024 IEEE.

关键词： Decision-making Dynamic Bayesian networks Equipment Simulation Uncertainty Management

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Distributed Event-Triggered Cooperative Formation control of Fixed-Wing UAV 1

引用

International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Yue, Keyuan Yuan, Jianquan Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789811694929

ISBN: (纸本)9789811694912

In order to save the communication bandwidth between the fixed-wing unmanned aerial vehicles (UAVs), a cooperative formation control algorithm based on event-triggered communication mechanism is proposed in this paper. The aircraft uses a state estimator to estimate the states of other aircrafts, and when the state of the aircraft itself exceeds a certain threshold, its state information is sent to the neighboring aircraft through the data link, so that the neighboring aircraft updates the states of its estimator. Taking the established autopilot model with a 6-dof inner-loop attitude stabilization loop as the formation control object, a multi-aircraft outer-loop formation controller is designed based on the consensus algorithm. Through numerical simulation, under the condition of ensuring certain control performance of the aircraft cluster, the communication between aircrafts is reduced and bandwidth resources are saved, which verifies the effectiveness of the proposed algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fixed wings

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