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A cluster positioning architecture and relative positioning algorithm based on pigeon fock bionics

Satellite Navigation 2023年第1期4卷 92-112,I0004页

作者： Zhongliang Deng Hang Qi Chengfeng Wu Enwen Hu Runmin Wang Beijing University of Posts and Telecommunications Beijing 100876China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing 100074China.

Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned *** positioning is important for ensuring the normal operation of unmanned *** existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over *** the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative *** on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon *** divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster *** at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation *** the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)*** cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the *** designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent *** with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of *** also has higher relative positioning accuracy

关键词： Cluster positioning architecture Cluster relative positioning Multidimensional scaling Multiple objective particle swarm optimization Unmanned aerial vehicles positioning Localizability analysis Rigid graph

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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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A Multi-branch Parallel Simulation Method based on Symbiotic Potential

A Multi-branch Parallel Simulation Method based on Symbiotic...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhao, Lu Zhen-Biao, Tu Jia-Ning, Wei Yu-Tong, Zhu Tong-Lin, Liu Qing-Hua, Liu Beijing Electro-Mechanical Engineering Insititute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

A multi-branch parallel simulation method and an architecture of application system are proposed in this paper based on symbiotic potential, and method of construction and calibration of parallel battlefield based on real data, as well as generation of simulation branch based on situation interpretation etc. are proposed. Fast building and adjustment of situation of real time simulation are realized based on simulation to meet the requirements of consistency and parallel operation between virtual simulation and real systems. Multibranch operation management, multi-branch highperformance operation support and other methods are proposed to support the dynamic generation of massive parallel simulation copies based on real-time intelligence and ultra-realtime and large-sample operation to meet the requirements of advanced evaluation of real-time situation. At the same time, a set of simulation application verification frameworks for typical task situation is presented to support the construction of multibranch simulation operation environment, and provide technical verification means for real-time situation prediction and evaluation. © 2019 IEEE.

关键词： Real time systems

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Online Weapon-target Assignment based on Distributed Auction Mechanism 2

Online Weapon-target Assignment based on Distributed Auction...

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2nd International Conference on Robotics, Automation and intelligent control, ICRAIC 2022

作者： Si, Jiashuai Hao, Mingrui Sci. and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Beijing China

To solve the problem of online weapon-target assignment (OWTA) in the integration of large-scale search and attack in unknown environment, an OWTA algorithm based on distributed auction mechanism is presented. Aiming at the problem that the traditional combinatorial optimization algorithm needs to set up the global battlefield situation in advance, considering the consumability of resources in the attack process, the integrated search and attack task flow is established. Considering the communication restricted environment, the unmanned aerial vehicles (uavs) are grouped, with centralized architecture within the group and distributed structure between the groups, and the corresponding distributed auction mechanism is constructed to achieve OWTA within the communication range limited. In order to solve the problem that it is difficult to ensure the time consistency of the coordinated attack target, a dubins cooperative path planning based on cooperative particle swarm optimization (CPSO) algorithm is proposed. Particle swarm optimization algorithm is used to adjust the radius of the dubins path of each bomb, so that the uav in the same group can hit the target simultaneously without collision and have the shortest flight range. The simulation results show that the designed distributed auction algorithm takes into account the consumption of attack resources, and quickly redistributes the firepower to the new targets in the dynamic uncertain environment, which ensures the maximization of the execution efficiency of the multi-machine cluster fire allocation task. © Published under licence by IOP Publishing Ltd.

关键词： Combinatorial optimization

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Failure mode and effects analysis based on intuitionistic fuzzy sets and evidential correlation coefficient

Failure mode and effects analysis based on intuitionistic fu...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhang, Hang Huang, Chan Lu, Mingsheng Dong, Xiaofei School of Software Northwestern Polytechnical University Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Xi'an Beijing China Northwestern Polytechnical University School of Electronics and Information Xi'an China Agent Cooperation Laboratory Science and Technology on Complex System Control and Intelligent Beijing China

ISBN: (纸本)9781728137926

As an effective implement, failure mode and effects analysis (FMEA) is widely applied in the security of system for practical application. Nowadays, many methods determine the order of fault mode by a crisp risk priority number (RPN). However, these methods exist several shortcomings, for instance, the correlation of the assessments given by team members are not fully considered. In this article, a new method for risk assessment and sequence for failure modes in FMEA is proposed on account of the D-S evidence theory and the evidential correlation coefficient. By using the proposed approach, the weights of team members for each failure mode and risk factor is obtained. Then the weighted assessments are used to perform the aggregation process by Intuitionistic fuzzy weighted averaging (IFWA) operator. A classic application regarding risk assessment is used to verify the effectiveness of the proposed method. © 2019 IEEE.

关键词： Failure modes

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Influence of aircraft's maneuver flight performance parameters on within visual range air combat effectiveness 3

Influence of aircraft's maneuver flight performance paramete...

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3rd International Conference on Unmanned systems, ICUS 2020

作者： Zhen-Ning, Zhang Jia-Ning, W.E.I. Zhen-Biao, T.U. Fei-Fei, L.I. Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728180250

The fighter's war ability is closely related to its maneuver ability. The maneuver measurement index of the new generation fighter changed greatly compared to the traditional rules. This essay firstly introduced the modern fighter's maneuver performance quantized index. According to the built simulation system, take two typical third generation fighter models as the confront sides, built fuzzy control intelligent decision model based on the genetic algorithm, simulated the one-to-one air combat confront process. Under such circumstances, adjusted the maneuver flight performance parameters reasonable and got the confront simulation results, then analyzed and evaluated the influence of the parameterad justed within visual range air combat effectiveness, which provided reference significance to air combat flight's original design and maneuver flight performance parameter optimization. © 2020 IEEE.

关键词： Fuzzy control

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Research on the technology of cooperative dual-station position based on passive radar system 3

Research on the technology of cooperative dual-station posit...

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3rd International Conference on Unmanned systems, ICUS 2020

作者： Siting, Peng Qian, Zhao Yichao, Ma Jixiang, Jiang The Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728180250

When the aircraft adopt passive sensors to detect external conditions, the detection information we can directly get is the aspect Angle of target. However, the position, velocity, acceleration and other information of target need to be calculated through the relevant algorithm estimates. It need more passive sensor to work together in order to get more the target location information, because a single passive sensor can only give the arriving orientation and time of target signal. In view of the complex weather and sea wave situation at marine surrounding, a Cooperative dual-station positioning technology based on passive sensors is studied, and a Cooperative filtering method based on the theory of consensus is adopted to verify the algorithm performance and engineering significance through relevant simulation. © 2020 IEEE.

关键词： Kalman filters

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Motion Parallax Estimation for Ultra Low Altitude Obstacle Avoidance

Motion Parallax Estimation for Ultra Low Altitude Obstacle A...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Wang, Changqing Liang, Xinkai Zhang, Shan Shen, Chao Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

By making full use of the curvature of the earth and ground clutter, the ultra-low altitude flight technique can significantly increase the difficulty of detecting and intercepting unmanned aerial vehicles (UAVs), and improve their penetration probabilities. However, unpredicted static/dynamic obstacles seriously threaten the flight safety of the ultra-low altitude UAVs. Therefore, fine autonomous spatial perception capability is essential for ultra-low altitude UAVs with limited loads and computing resources to avoid obstacles. To solve the difficult problem of spatial perception for ultra-low altitude obstacle avoidance, a motion parallax estimation algorithm is proposed by combing the deep learning and the epipolar geometry in this paper. By utilizing the deep neural network, the end-to-end mapping relationship from sequence images to depth values of pixels is constructed for spatial perception. At the same time, to overcome the interference caused by the image consistency hypothesis, the loss function is constructed based on the 3D geometric information of the scene rather than the re-projection error between images. Finally, the proposed algorithm is evaluated on the KITTI dataset and infrared image dataset to verify its effectiveness and generalization. © 2019 IEEE.

关键词： Deep neural networks

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Design and simulation of a two-stage linear inverted pendulum control system based on fuzzy LQR control 7

Design and simulation of a two-stage linear inverted pendulu...

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7th International Symposium on Autonomous systems, ISAS 2024

作者： Peng, Siting Ren, Jun Li, Lei Ma, Yichao Song, Zhichao The Beijing Electro-Mechanical Engineering Institute Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350363173

This paper introduces in detail the origin of the development of automatic control methods, applications and current research hotspots. It also introduces some control methods commonly used in industrial and agricultural production, and expounds the current application hotspots and new advanced control methods that are developing rapidly. The background, current situation and classification of the inverted pendulum platform are introduced in detail. In the first chapter, the LQR method in modern control theory is introduced in detail. The influence of parameters is analyzed through simulink space modeling and simulation control experiment. At the same time, the real-time experiment is also done in combination with the hardware platform. In the second chapter, the fuzzy control theory in intelligent control is introduced in detail. By combining fuzzy control with LQR method, suitable LQR parameters are calculated by pole assignment. After proper adjustment, reasonable fuzzy rules are adopted and adaptive fuzzy control principle is applied to adjust the control situation in real time. Using simulink space modeling, a good simulation control effect is obtained. Finally, the summary is made. © 2024 IEEE.

关键词： Fuzzy control

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Simulation Experiment Factor Screening Method Based on Combinatorial Optimization 21st

Simulation Experiment Factor Screening Method Based on Combi...

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21st Asia Simulation Conference, AsiaSim 2022

作者： Zhang, Peng Li, Wei Chen, Qingao Tong, Jiahui 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: (纸本)9789811991974

When conducting complex simulation experiments, experimental factor screening is of great significance to improve the effectiveness and efficiency of the simulation. Aiming at the problems of unsatisfactory accuracy and efficiency of existing experimental factor screening methods, a simulation experiment factor screening method based on combinatorial optimization (EFS-CO) was designed. EFS-CO abstracts the experimental factor screening problem into a combinatorial optimization problem, designs the experimental factor evaluation criteria based on the support vector machine model, uses it as the fitness function of the genetic algorithm, and finally obtains the significant experimental factor. At the same time, to eliminate the influence of the randomness of the genetic algorithm on the screening results, the screening results of the experimental factors were determined based on the results of multiple experiments. Finally, the effectiveness of the method is verified by example analysis and comparing the results with the traditional experimental factor screening method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Combinatorial optimization

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