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2017 IEEE International Conference on Unmanned Systems (ICUS)

作者： Qixian Wang Dongguang Li Rupeng Li Jieru Fan Tianyuan Yang Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

Accurate roll angle and roll angular rate are important to improve the target detection accuracy for the smart *** of the limited space in the fuze,only a three-axis magnetometer is used to estimate the roll attitude on the whole *** two methods of roll estimation are proposed and *** is an iterative method based on the attitude transformation matrix,in which the pitch angle and yaw angle at the previous moment are utilized to estimate the roll angle at the moment and then the three angles are kept being *** the other is an extended Kalman filter(EKF) *** state space model is derived by the dynamic characteristic of the smart munitions,and the measurement model is derived by the relationship between geomagnetic field and the output of a three-axis *** simulation results show that the EKF method is able to accurately estimate the roll attitude and is more practical than the iterative method.

关键词： Roll estimation Magnetometer Iterative method EKF Smart Munition

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A hierarchical simulation framework incorporating full-link physical response for short-range infrared detection

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Defence technology 2025年

作者： Gao, Mingze Xu, Lixin Hu, Shiyuan Shi, Xiaolong Gao, Jiaming Wu, Yanjiang Chen, Huimin Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300301 China

Missile-borne short-range infrared detection (SIRD) technology is commonly used in military ground target detection. In complex battlefield environments, achieving precise strike on ground target is a challenging task. However, real battlefield data is limited, and equivalent experiments are costly. Currently, there is a lack of comprehensive physical modeling and numerical simulation methods for SIRD. To this end, this study proposes a SIRD simulation framework incorporating full-link physical response, which is integrated through the radiative transfer layer, the sensor response layer, and the model-driven layer. In the radiative transfer layer, a coupled dynamic detection model is established to describe the external optical channel response of the SIRD system by combining the infrared radiation model and the geometric measurement model. In the sensor response layer, considering photoelectric conversion and signal processing, the internal signal response model of the SIRD system is established by a hybrid mode of parametric modeling and analog circuit analysis. In the model-driven layer, a co-simulation application based on a three-dimensional virtual environment is proposed to drive the full-link physical model, and a parallel ray tracing method is employed for real-time synchronous simulation. The proposed simulation framework can provide pixel-level signal output and is verified by the measured data. The evaluation results of the root mean square error (RMSE) and the Pearson correlation coefficient (PCC) show that the simulated data and the measured data achieve good consistency, and the evaluation results of the waveform eigenvalues indicate that the simulated signals exhibit low errors compared to the measured signals. The proposed simulation framework has the potential to acquire large sample datasets of SIRD under various complex battlefield environments and can provide an effective data source for SIRD application research. © 2025 China Ordnance Society

关键词： Radiative transfer

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Repeater jamming suppression method for pulse Doppler fuze based on identity recognition and chaotic encryption

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Defence technology（防务技术） 2021年第3期17卷 1002-1012页

作者： Jian Dai Xin-hong Hao Qiang Liu Xiao-peng Yan Ping Li Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Ordnance Science Institute of China Beijing 100089China

Pulse Doppler(PD) fuze is widely used in current battlefield. However, with the threat of repeater jamming, especially digital radio frequency memory technology, the deficiency in the anti-repeater jamming of a traditional PD fuze increasingly emerges. Therefore, a repeater jamming suppression method for a PD fuze based on identity(ID) recognition and chaotic encryption is proposed. Every fuze has its own ID which is encrypted with different chaotic binary sequences in every pulse period of the transmitted signal. The thumbtack-shaped ambiguity function shows a good resolution and distance cutoff characteristic. The ability of anti-repeater jamming is emphatically analyzed, and the results at different signal-to-noise ratio(SNR) show a strong anti-repeater jamming ability and range resolution that the proposed method possesses. Furthermore, the anti-repeater jamming ability is influenced by processing gain, bit error rate(BER) and correlation function. The simulation result validates the theoretical analysis, it shows the proposed method can significantly improve the anti-repeater jamming ability of a PD fuze.

关键词： Pulse Doppler fuze ID Chaotic binary code Encryption Repeater jamming

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Path Planning for Coverage Spraying of Plants in Outdoor Wheeled Mobile Robots

Path Planning for Coverage Spraying of Plants in Outdoor Whe...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Weixin Zhang Zhengxin Yu Shixin Mao Xuefeng Zhou Jia Pan Haifei Zhu School of ElectRomechanical Engineering Guangdong University of Technology Guangzhou China Jiutian Innovation (Guangdong) Intelligent Technology Co Ltd Foshan China Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China Department of Computer Science The University of Hong Kong Hong Kong China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

In contemporary agricultural practices and pest management, the deployment of outdoor wheeled mobile robots for precise and efficient plant spraying is crucial to optimize chemical application and mitigate environmental impact. This study introduces an integrated path planning framework designed to systematically tackle the challenges of obstacle avoidance, adherence to kinematic constraints, and optimization of spraying operations, while ensuring complete coverage of target plants. The framework comprises three key components: a local route generator utilizing principal component analysis to minimize movement required for spraying, thereby enhancing efficiency; a global path optimizer that effectively sequences and connects the generated routes to produce collision-free paths; and a path regulator that fine-tunes the resulting paths to comply with the robot's kinematic constraints. Extensive simulations across various outdoor scenarios demonstrate that the proposed framework achieves comprehensive coverage, reduces path lengths, and improves operational efficiency, presenting a viable solution for advanced robotic spraying applications.

关键词： Regulators Robot kinematics Spraying Kinematics Path planning Real-time systems Mobile robots Collision avoidance Optimization Principal component analysis

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A microexplosive shockwave-based drug delivery microsystem for treating hard-to-reach areas in the human body

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Microsystems & Nanoengineering 2022年第5期8卷 137-148页

作者： Yi Sun Wenzhong Lou Hengzhen Feng Wenting Su Sining Lv Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of technologyBeijingChina Beijing Institute of Technology Chongqing Innovation Center ChongqingChina

Implantable drug-delivery microsystems have the capacity to locally meet therapeutic requirements by maximizing local drug efficacy and minimizing potential side *** internal organs of the human body including the esophagus,gastrointestinal tract,and respiratory tract,with anfractuos contours,all manifest with endoluminal lesions often located in a curved or zigzag *** ability of localized drug delivery for these organs using existing therapeutic modalities is *** a drug onto these areas and using the adhesion and water absorption properties of the drug powder to attach to lesion areas can provide effective *** study aimed to report the development and application of microsystems based on microshockwave delivery of *** devices comprised a warhead-like shell with a powder placed at the head of the device and a flexible rod that could be inserted at the *** devices had the capacity to deposit drugs on mucous membranes in curved or zigzag areas of organs in the *** explosive impact characteristics of the device during drug delivery were analyzed by numerical *** the experiment of drug delivery in pig intestines,we described the biosafety and drug delivery capacity of the *** anticipate that such microsystems could be applied to a range of endoluminal diseases in curved or zigzag regions of the human body while maximizing the on-target effects of drugs.

关键词： organs drugs curved

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Radar emitter multi-label recognition based on residual network

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Defence technology（防务技术） 2022年第3期18卷 410-417页

作者： Yu Hong-hai Yan Xiao-peng Liu Shao-kun Li Ping Hao Xin-hong Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing100081China Beijing Institute of Telemetry Technology Beijing100081China

In low signal-to-noise ratio(SNR)environments,the traditional radar emitter recognition(RER)method struggles to recognize multiple radar emitter signals in *** paper proposes a multi-label classification and recognition method for multiple radar-emitter modulation types based on a residual *** method can quickly perform parallel classification and recognition of multi-modulation radar time-domain aliasing signals under low ***,we perform time-frequency analysis on the received signal to extract the normalized time-frequency image through the short-time Fourier transform(STFT).The time-frequency distribution image is then denoised using a deep normalized convolutional neural network(DNCNN).Secondly,the multi-label classification and recognition model for multi-modulation radar emitter time-domain aliasing signals is established,and learning the characteristics of radar signal time-frequency distribution image dataset to achieve the purpose of training ***,time-frequency image is recognized and classified through the model,thus completing the automatic classification and recognition of the time-domain aliasing *** results show that the proposed method can classify and recognize radar emitter signals of different modulation types in parallel under low SNRs.

关键词： Radar emitter recognition Image processing Parallel Residual network Multi-label

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Sea Surface Scattering Characteristics Based on Slope Statistics of Sliding Window 13

Sea Surface Scattering Characteristics Based on Slope Statis...

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13th International Symposium on Antennas, Propagation and EM Theory, ISAPE 2021

作者： Xie, Yue Li, Tie Tian, Bo Li, Tuan Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China

ISBN: (纸本)9781665418126

In view of the insufficient applicability of the current engineer laser short-range sea surface scattering echo related calculation model, it is impossible to effectively evaluate the performance of the system under different conditions, the simulated wave pool environment is used to obtain the detection system at a fixed height and attitude. Data has limitations such as limited sample points and high funding. This paper proposes a sea surface scattering echo model based on three-point sliding window function statistics. By discretizing the sampling of the wave cross section and obtaining the slope statistics under different intersection conditions, the ray tracing method and the slope value are used to determine the effective surface element. The statistical value of the detection probability and the value of the SNR interval under different sea conditions and attitude angles are obtained by simulation, this provides adaptability assessment and related technical index reference for laser short-range sea surface detection. © 2021 IEEE.

关键词： Surface scattering

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A novel DOA estimation algorithm using directional antennas in cylindrical conformal arrays

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Defence technology（防务技术） 2021年第3期17卷 1042-1051页

作者： Xiao-feng Gao Ping Li Xin-hong Hao Guo-lin Li Zhi-jie Kong Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing100081China China Academy of Launch Vehicle Technology Beijing100076China

In this paper, a novel direction of arrival(DOA) estimation algorithm using directional antennas in cylindrical conformal arrays(CCAs) is proposed. To eliminate the shadow effect, we divide the CCAs into several subarrays to obtain the complete output vector. Considering the anisotropic radiation pattern of a CCA, which cannot be separated from the manifold matrix, an improved interpolation method is investigated to transform the directional subarray into omnidirectional virtual nested arrays without non-orthogonal perturbation on the noise vector. Then, the cross-correlation matrix(CCM) of the subarrays is used to generate the consecutive co-arrays without redundant elements and eliminate the noise vector. Finally, the full-rank equivalent covariance matrix is constructed using the output of co-arrays,and the unitary estimation of the signal parameters via rotational invariance techniques(ESPRIT) is performed on the equivalent covariance matrix to estimate the DOAs with low computational complexity. Numerical simulations verify the superior performance of the proposed algorithm, especially under a low signal-to-noise ratio(SNR) environment.

关键词： Direction of arrival(DOA) Conformal antenna array Interpolation technique Nested array

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Application of Target Electromagnetic Scattering Characteristics in Short-Range dynamic Detection 13

Application of Target Electromagnetic Scattering Characteris...

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13th International Symposium on Antennas, Propagation and EM Theory, ISAPE 2021

作者： Hu, Wenhui Li, Gang Li, Wei Tian, Bo Li, Tie Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China

ISBN: (纸本)9781665418126

In view of the way that radio fuse probe target for echo information with dynamic scanning detection in the scene of near-field, this paper designed an experiment of the application scheme, which the scheme used radar to image electromagnetic scattering from a target of interest, the complex echo signals in the detection results were divided according to the time series and the RCS mean value of the corresponding region was calibrated, thus the time-resolved/part-resolved target information can be used in the design and verification of near-field detector, providing a new method for the application of target characteristic information in the process of short-range dynamic detection. © 2021 IEEE.

关键词： Electromagnetic wave scattering

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Automatic modulation recognition of radiation source signals based on two-dimensional data matrix and improved residual neural network

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Defence technology（防务技术） 2024年第3期33卷 364-373页

作者： Guanghua Yi Xinhong Hao Xiaopeng Yan Jian Dai Yangtian Liu Yanwen Han Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China BIT Tangshan Research Institute Beijing 100081China

Automatic modulation recognition(AMR)of radiation source signals is a research focus in the field of cognitive ***,the AMR of radiation source signals at low SNRs still faces a great ***,the AMR method of radiation source signals based on two-dimensional data matrix and improved residual neural network is proposed in this ***,the time series of the radiation source signals are reconstructed into two-dimensional data matrix,which greatly simplifies the signal preprocessing ***,the depthwise convolution and large-size convolutional kernels based residual neural network(DLRNet)is proposed to improve the feature extraction capability of the AMR ***,the model performs feature extraction and classification on the two-dimensional data matrix to obtain the recognition vector that represents the signal modulation *** analysis and simulation results show that the AMR method based on two-dimensional data matrix and improved residual network can significantly improve the accuracy of the AMR *** recognition accuracy of the proposed method maintains a high level greater than 90% even at -14 dB SNR.

关键词： Automatic modulation recognition Radiation source signals Two-dimensional data matrix Residual neural network Depthwise convolution

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