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Vision Inertial Fusion Based on BP Neural Network for Aircraft Autonomous Positioning

Vision Inertial Fusion Based on BP Neural Network for Aircra...

引用

International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Liu, Haiqiao Guan, Xujun Luo, Shibin Wu, Xia Xu, Dequan School of Automation Central South University Changsha410083 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China School of Aeronautics and Astronautics Central South University Changsha410083 China

ISBN: (纸本)9789811581540

Long-term navigation for aircraft in global position system (GPS) denied environment is a very challenging task. In this thesis, a novel aircraft autonomous positioning method based on fusion multi-modal image matching and inertial navigation system (INS) is proposed. This method consists of three steps. First, the coordinates of ground control points were obtained by matching the real-time image with the reference image. Then, PnP algorithm is employed for calculating the position of the aircraft. Finally, aircraft gets the optimal position by using BP neural network to combine the position estimated by inertial navigation and the results of multi-modal image matching. Simulation result displays that our method can effectively improve the positioning accuracy of aircraft. The accuracy of this method proposed in this thesis is comparable with that of GPS. Therefore, the study of this data fusion method has certain effects, the positioning accuracy can be improved of the aircraft. It is a great significance for the aircraft to achieve autonomous navigation. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image matching

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Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

引用

作者： Li, Hao Bai, Yongqiang Su, Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China Key Laboratory of Modern Measurement and Control Technology Beijing Information Science and Technology University Ministry of Education Beijing 100101 China

ISBN: (纸本)9788995605646

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples. © 2011 Asian control Association.

关键词： Parameter estimation

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Cooperative collision avoidance method for multi-UAV based on kalman filter and model predictive control

Cooperative collision avoidance method for multi-UAV based o...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Huang, Hanqiao Zhou, Huan Zheng, Meiyun Xu, Cheng Zhang, Xiaofeng Xiong, Wei Unmanned System Research Institute Northwest Polytechnical University Xi'an China Aeronautical Engineering College Air Force Engineering University Xi'an China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China UAV Researc Center Army Aviation Institute Beijing China

ISBN: (纸本)9781728158594

Collision avoidance is the primary problem to be solved in formation flight of multiple Unmanned aerial vehicles(UAVs). Firstly, a cooperative collision avoidance architecture of multiple UAVs is designed according to the requirement of autonomous collision avoidance of single UAV. Then a new cooperative collision avoidance method of multiple UAVs based on Kalman filter and model predictive control(MPC) is proposed. In this method, extended Kalman filter(EKF) is used to estimate the state of obstacles and target points in uncertain environment space, and to predict the trajectory of obstacles and target points. At the same time, relevant performance index functions and constraints are set up. On the basis of sharing environmental information, model predictive control strategy is used to guide and make cooperative collision avoidance decisions for multiple UAVs. The simulation results show that the proposed method is effective in uncertain environment perception and UAV collision avoidance, and the cooperative mechanism has obvious advantages. © 2019 IEEE.

关键词： Model predictive control

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Aircraft Autonomous Positioning Based on a Coarse to Fine Multi-modal Image Registration Scheme

Aircraft Autonomous Positioning Based on a Coarse to Fine Mu...

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2021 IEEE International Conference on Power Electronics, Computer Applications, ICPECA 2021

作者： Sun, Fangde Fu, Wenxing Lu, Xiaohui Dong, Jing Han, Songlai Central South University School of Aeronautics and Astronautics Changsha China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China People's Liberation Army 91039th Unit Beijing China National University of Defense Technology Aerospace Science and Engineering Changsha China

ISBN: (纸本)9781728190037

In this paper, an autonomous positioning method based on coarse-to-fine multi-modal image matching is proposed for UAV navigation in GPS denied environment. Coarse image matching refers to roughly determining the approximate position of the real-time image in the reference image. Fine image matching refers to iterative matching around the position obtained by coarse image matching to achieve more accurate matching results. Besides, RANSAC is adopted to eliminate the outliers of image matching. After getting the result of image matching, we use PNP to estimate the position of the aircraft. The proposed position method has the advantages of high accuracy and reliability. The experimental results show that the average error of the position of the proposed method is 59%. © 2021 IEEE.

关键词： Image matching

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Design of Reusable Effectiveness Evaluation Model Framework

Design of Reusable Effectiveness Evaluation Model Framework

引用

Chinese control and Decision Conference, CCDC

作者： Shuang Zhang Wei Li Shenglin Lin Ming Yang Jiahui Tong Control and Simulation Center Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

In order to make the effectiveness evaluation models of the weapon equipment system universal and flexible, and adapt to different evaluation objects, a framework of effectiveness evaluation model is designed. Next a series of modular and reusable effectiveness evaluation models are proposed under the framework. Each type of evaluation model is built based on IDEF0, and the corresponding input and output of each model are designed. To further improve reusability, several models are mathematically described and model interface is designed based on XML.

关键词： Indexes Data models Data mining Analytical models Mathematical model Optimization Adaptation models

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Optimization of Missile Path Planning Based on APMO-HV Algorithm

Optimization of Missile Path Planning Based on APMO-HV Algor...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhang, Hu Wang, Shuai Liu, Tonglin Zhou, Aimin Zhang, Yi Beijing Electro-mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Changzhou University School of Mechanical Engineering Changzhou China East China Normal University Shanghai Key Laboratory of Multidimensional Information Processing School of Computer Science and Technology Shanghai China

ISBN: (纸本)9781728137926

In this paper, with considerations of low efficiency of missile path planning (MPP) by traditional aggregation technology, it uses affinity propagation based multi-objective evolutionary algorithm with hypervolume environment selection (APMO-HV) to solve the problem of MPP after establishing the MPP model. The experimental part compares and analyzes APMO-HV with six state-of-the-art algorithms, and applies it to address the MPP problem. The experimental results show that compared with the other six algorithms, APMO-HV has achieved the best solution performance in both the GLT test suite and MPP problem. This not only validates the effect of the proposed algorithm, but also enriches and improves the research results of MPP. © 2019 IEEE.

关键词： Evolutionary algorithms

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Research on Uncertainty Measurement Methods of Aircraft HWIL system

Research on Uncertainty Measurement Methods of Aircraft HWIL...

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2020中国仿真大会

作者： Geng huapin Tong jiahui Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory

Uncertainty is an inherent attribute of a simulation system which causes inconsistency between the predicated result of the system and its actual result,affecting the robustness and reliability of the *** on analysis of the uncertainty characteristics of the hardware-in-loop(HWIL) system of an aircraft,a framework of uncertainty measurement and analysis is proposed for the HWIL system,and three types of methods are studied which are suitable for measuring the randomness,cognition,and hybrid uncertainties of the HWIL *** a typical simulation object,various methods of measuring uncertainty are investigated,with their effectiveness validated,which lays the ground for further studying the influence of the uncertainty measurement result on the system.

关键词： HWIL system uncertainty measurement method

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Reinforcement learning-based three-dimensional cooperative guidance law

Reinforcement learning-based three-dimensional cooperative g...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Zhen Gu Zeqi Zhang Honglong Kang Jianfeng Li Keyuan Yue Shenmin Song Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

An innovative three-dimensional cooperative guidance law for striking stationary target, based on proximal policy optimization (PPO), is introduced. This novel guidance law directly correlates engagement state information with the navigation ratio of proportional navigation guidance (PNG). Initially, the cooperative homing guidance problem is transformed into a Markov decision process, and the reward function incorporates considerations for the zero-effort-miss (ZEM) and the consensus error of time-to-go. Subsequently, the cooperative homing guidance problem is transposed into the framework of reinforcement learning (RL). Ultimately, the effectiveness of the cooperative homing guidance solution is validated through numerical simulations, encompassing agent model training and Monte Carlo cases.

关键词： Training Monte Carlo methods Navigation Markov decision processes Reinforcement learning Numerical simulation Robustness

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Robust composite control of telescopic wing morphing aircraft with control allocation

Robust composite control of telescopic wing morphing aircraf...

引用

Chinese Automation Congress (CAC)

作者： Zijian Wang Mingzhe Hou Mingrui Hao Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781665426480

In this paper, the problem of anti-disturbance, anti-saturation and fixed-time control for a class of telescopic wing morphing aircraft is studied. The telescopic wing morphing aircraft treats the variable wingspan as an extra control input to construct the dynamic model of the morphing-aided maneuver. According to the model characteristics, the controller design is divided into two loops: the speed loop and the attitude loop. Through a fixed-time continuous feedback control scheme, fixed time of the tracking reference trajectory is ensured. By combining the integral sliding mode control (ISMC) method with super-twisting control (STC), the uncertainties of aerodynamic coefficients and external disturbances are overcome. In addition, the anti-saturation problem of the aircraft actuator is solved by the initial solution correction method based on Null-space augmented solutions. The simulation result shows that the designed algorithm has great tracking performance, while the robustness and anti-saturation performance are guaranteed.

关键词： Attitude control Atmospheric modeling Heuristic algorithms Aerodynamics Robustness Trajectory Feedback control

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Adaptive sliding mode control for Takagi-Sugeno fuzzy systems

Adaptive sliding mode control for Takagi-Sugeno fuzzy system...

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48th IEEE Conference on Decision and control held jointly with 2009 28th Chinese control Conference, CDC/CCC 2009

作者： Zhang, Jinhui Shi, Peng Xia, Yuanqing Fu, Mengyin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University Australia

ISBN: (纸本)9781424438716

This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of linear matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed. Simulation studies show the effectiveness of the control scheme. ©2009 IEEE.

关键词： Linear matrix inequalities

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