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Multi-scale Visual Feature Association Based Long-Term UAV Positioning Algorithm 1

3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Xiaozu, Li Jiajia, Zhao Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819710874

ISBN: (纸本)9789819710867

In order to solve the long-term drift of positioning in UAVs, we propose a multi-scale visual feature association algorithm, and applied in SLAM systems. Through the upward fusion mechanism, we fuse the image features extracted by the 30-degree angle for FOV and 120-degree angle for FOV, making full use of the ability to perceive global features in the wide FOV and the ability to perceive environmental details in the small FOV. Combined with IMU Sensors, we effectively suppress the positioning drift and improve the accuracy of the SLAM system. Using OSG to render the 3D real scene of Hong Kong, we obtain 3 trajectories in the environment including residential areas, city centers, bay highways, coastlines and mountains to test the algorithm. The experimental results show that the positioning error of the multi-scale visual feature association algorithm does not exceed 0.01% under extreme conditions such as the UAV flight trajectory length surpassing 10,000 m, sharp turn, and high speed, which proves that the algorithm in this paper can ensure the measurement accuracy of the positioning and effectively suppress drift of positioning, and has strong robustness. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Unmanned aerial vehicles (UAV)

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A Review of Target Association Methods 1

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

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

With the continuous development of information technology, target association technology has been more and more widely used in military and civilian fields. How to achieve effective and reliable target data association has always been a difficult and hot spot in the field of target tracking. In this paper, the research status of target association technology is summarized, the existing target association algorithm is sorted and summarized according to the method principle, and the existing problems in the research of target association technology are analyzed, and the further research direction is prospected. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Target tracking

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Review of Numerical Algorithms for Aircraft Trajectory Optimization 3rd

Review of Numerical Algorithms for Aircraft Trajectory Optim...

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Jiang, Yunfei Liu, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819711062

Flight trajectory optimization is a crucial aspect of aircraft design, and the numerical algorithms for trajectory optimization have always been a hot and challenging topic in domestic and international research. Starting from the classical classification of trajectory optimization methods and combining with recent advancements in the field of trajectory optimization, this paper provides an overview of various numerical algorithms for flight trajectory optimization, including their principles and applications. Furthermore, the characteristics of different methods and their suitability for solving specific problems are analyzed, offering valuable insights for the practical application of optimization methods. Finally, a brief analysis of the development of trajectory optimization is presented, along with a prospective outlook on the future direction of flight trajectory optimization algorithms. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Numerical methods

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Application of Generative Artificial Intelligence GPT in Unmanned Aircraft systems 1

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

作者： Liu, Xinyu Hao, Mingrui Fan, Yu Li, Fengyi Zhen, Yan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

This article focuses on the application of generative artificial intelligence technology in unmanned aircraft systems. In detail, it elaborates on the application scenarios of GPT in aircraft design, development and production, aircraft intelligent situational awareness, and aircraft autonomous decision-making. Then article points out the basic conditions for deploying generative artificial intelligence technology in unmanned aircrafts, such as software and hardware requirements, and large-scale databases. At the same time, this article summarizes several inspirations of the intelligent development of unmanned aircrafts and puts forward some prospects for combining generative artificial intelligence technology with aircrafts. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Decision making

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Interval analysis for neural networks with application to fault detection

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science China(Information sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Infrared small target detection algorithm with complex background based on YOLO-NWD 22

Infrared small target detection algorithm with complex backg...

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4th International Conference on Image Processing and Machine Vision, IPMV 2022

作者： Zhou, Xiao Jiang, Lang Guan, Xujun Mou, Xingang Wuhan University Of Technology China Science And Technology On Complex System Control And Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781450395823

Because of small number of occupied pixels, lacking shape and texture information, the reliability of infrared remote target detection has always been a difficult research topic. To improve the accuracy and precision of detection of infrared small targets under complex background conditions, a deep learning-based infrared small target detection algorithm YOLO-NWD is proposed. According to the characteristics of small and medium targets in infrared images, multi-channel feature fusion image was used as the input of YOLO detection framework combined with image preprocessing method. Combined with SE module and ASPP module, feature weights are explored to improve feature utilization efficiency. Finally, the normalized Wasserstein distance (NWD) loss is used to replace the original IoU calculation loss to reduce the sensitivity of small target position deviation. The experimental results show that the algorithm proposed in this paper improves the accuracy by 2.5% and the recall rate by 4%. © 2022 ACM.

关键词： Deep learning

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Cascaded Active Disturbance Rejection control for Near space Vehicle Autopilot

Cascaded Active Disturbance Rejection Control for Near space...

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2018 IEEE CSAA Guidance, Navigation and control Conference, CGNCC 2018

作者： Yiyin, Wei Hui, Li Zhide, Yin Yu, Fan Chuang, Song China Aerospace Science Industry Corporation Beijing100048 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9781538611715

There exists a steady-state error in the closed-loop system output with some conventional linear active rejection control approaches when the pitch channel control variable of the near space vehicle is the angle of attack. In this study, a cascaded linear active disturbance rejection control approach based on the cascaded control idea is proposed. Both the inner-loop controller and the outer-loop controller are designed by the linear active disturbance rejection control method. The inner-loop is built by angular rate feedback to improve dynamic performance of the closed-loop system, and the outer-loop is built by angle of attack feedback to remove the undesired steady-state error. The approach is employed to a hypersonic near space vehicle autopilot. The numerical simulations show that the proposed approach preserves the performances on time domain and frequency domain as good as those of the conventional active disturbance rejection control approaches, and it has the better performances on disturbance rejection and angle of attack command tracking accuracy than those of some previous active disturbance rejection control approaches. © 2018 IEEE.

关键词： Angle of attack

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Multi-aircraft Cooperative Horizontal Track Programming Algorithm Based on Convex Optimization Algorithm 7th

Multi-aircraft Cooperative Horizontal Track Programming Algo...

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

作者： Zhang, Jun Jie Xu, Cheng Feng, Yi Ming Science and Technology on Complex System Control and Intelligent Agent Corporation Beijing10074 China Beijing Electro-Mechanical Engineering Institute Beijing10074 China

ISBN: (纸本)9789819733231

Multi-aircraft cooperative horizontal trajectory planning refers to finding the optimal trajectory of the objective function under specific constraints. Because many complex constraints exist, the objective function to be optimized is non Convex function, and many constraints are non convex constraints, the horizontal track planning problem of multiple aircraft is generally a non convex optimization problem with multiple constraints, and the optimal solution of this optimal control problem is very difficult to find. In this paper, a Convex optimization method is proposed to solve the cooperative horizontal path planning problem of multiple aircraft. The original non convex optimization problem is transformed into a Convex optimization problem after being processed by Convex optimization. The algorithm has the function of solving complex optimization problems. The simulation results show that the optimal solution of the problem can be obtained in a relatively short time by applying the Convex optimization algorithm to solve the coordinated horizontal path optimization problem of multiple aircraft. Compared with other optimization algorithms, the optimization time of the algorithm can be increased to more than 95%, which has good applicability and very high engineering application value. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Convex optimization

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Morphing-Aided Maneuver control of Morphing Aircraft with Variable Wing Span and Sweep Angle

Morphing-Aided Maneuver Control of Morphing Aircraft with Va...

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International Conference on Guidance, Navigation and control, ICGNC 2022

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

ISBN: (纸本)9789811966125

This paper presents a longitudinal morphing-aided maneuver control model of an aircraft which could change wing span and change sweep angle, and solved the morphing aircraft control problem of parameter uncertainty and external disturbance by a robust composite control strategy with nonlinear control allocation. Based on DATCOM simulation software and nonlinear least square interpolation, the aerodynamic model is obtained, and established the longitudinal morphing-aided maneuver control model of morphing aircraft. To ensure the maneuverability of the morphing aircraft, a nominal controller which could converge in finite time is designed. The integral sliding mode disturbance observer with super screw control is designed to eliminate the tremor, and the uncertainties and external disturbances are observed and compensated. Then the obtained control signals are assigned to each control inputs through nonlinear control allocation. The simulation result show the effectiveness of the scheme, and prove that the aircraft has good tracking performance by independently changing the shape to assist the traditional control surface. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft control

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Cross-Domain Guidance Positioning Method Based on Multi-Layer Network Structure 21

Cross-Domain Guidance Positioning Method Based on Multi-Laye...

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3rd European Symposium on Computer and Communications, ESCC 2021

作者： Wu, ChengFeng Guo, XiaoYun Xu, Cheng Qi, Hang Liu, Yanxu Zhao, Jianmin Hu, Enwen Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory China Beijing University of Posts and Telecommunications China

ISBN: (纸本)9781450387491

Oriented towards the requirements for reliable positioning and navigation of aircraft under the condition of rejection of navigation satellite, we proposed cross-domain guide positioning methods based on multi-layer network coverage, and designed the relative positioning network construction methods between ground nodes, aircrafts and ground nodes, aircrafts and target nodes. Combined with the relative positioning network characteristics of each layer, at the same time, considered the computational complexity and location accuracy, the self-established multi-point coordinate system method and the robust location method are proposed. © 2021 ACM.

关键词： Aircraft

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