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Chinese Journal of Aeronautics 2023年第10期36卷 409-433页

作者： Hao WU Zhonghong WU zhangsong shi shiyan SUN Pengfei WU Zhi WANG School of Ordnance Engineering Naval University of EngineeringWuhan 430033China

In the networking of loitering munitions during a battle,clustering and localizing algorithms become a major problem because of their highly dynamic topological structure,incomplete connectivity,and limited *** paper proposed swarm intelligence based collaborative localizing,clustering,and routing scheme for an ad hoc network of loitering munitions in a satellite denied environment.A hybrid algorithm was first devised by integrating an improved coyote optimization algorithm with a simplified grey wolf optimizer under the sinusoidal crossover *** performance of this algorithm was considerably improved thanks to *** this basis,a swarm intelligence based localizing algorithm was *** cubes were created to reduce the initial search space,which effectively lowered the localizing ***,an energysaving clustering algorithm based on the hybrid algorithm was put forward to enhance the clustering efficiency by virtue of grey wolf ***,an analysis model was developed to determine the optimal number of clusters using the lowest possible number of ***,a compressed sensing routing scheme based on the hybrid algorithm was proposed to transmit data from a cluster head to a base *** algorithm constructed an efficient routing tree from the cluster head to the base station,so as to reduce the routing delay and transmission *** revealed in the results of simulation experiments,the proposed collaborative localizing,clustering and routing algorithms achieved better performance than other popular algorithms employed in various scenarios.

关键词： Ammunition networking Ad hoc network Clustering Collaborative localization Swarm intelligence

Maneuver Target Detection Method with Iterative Endpoint Fitting Assisted

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Maneuver Target Detection Method with Iterative Endpoint Fit...

2013年中国智能自动化学术会议

作者： zhangsong shi Zhonghong Wu Department of Command and Control College of Electronic EngineeringNaval University of Engineering

A target maneuvering detection method with iterative endpoint fitting assisted is derived and *** the similarity between image curve fitting and maneuvering target tracking has been thought of in the method,when the traditional target maneuvering detection method was used,the target maneuver information could be abstracted with the principle of iterative endpoint fitting assisted,and the maneuver start point would be detected more accurately by the information feed backed to the detection *** effectiveness of the method has been verified by numerical simulation.

关键词： Point Iterative endpoint fitting Target maneuvering detection Maneuver target tracking

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粒子滤波器在机动目标被动跟踪中的应用

数据采集与处理 2007年第2期22卷 234-237页

作者：薛锋刘忠石章松海军工程大学电子工程学院武汉430033

为处理机动目标被动跟踪中的非线性非高斯问题,提出了一种基于粒子滤波器的交互多模型(IMM)多观测站跟踪方法。使用转弯率建立了被动跟踪模型,用"蛙跳"处理方式来提高多站被动跟踪问题的可观测性,结合被动跟踪模型,利用非线性粒子滤波方... 详细信息

为处理机动目标被动跟踪中的非线性非高斯问题,提出了一种基于粒子滤波器的交互多模型(IMM)多观测站跟踪方法。使用转弯率建立了被动跟踪模型,用"蛙跳"处理方式来提高多站被动跟踪问题的可观测性,结合被动跟踪模型,利用非线性粒子滤波方法,对IMM算法进行了改进,提高了对IMM混和密度的近似程度,通过被动跟踪仿真实例,同时使用IMM粒子滤波器(IMM-PF)与IMM扩展卡尔曼滤波器(IMM-EKF)进行跟踪仿真,分析了轨迹跟踪性能,利用均方根误差比较了误差性能。仿真结果表明,与IMM-EKF相比,IMM-PF具有更高的跟踪精度和更快的机动响应速度。

关键词：机动目标被动跟踪交互多模型粒子滤波器

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航母作战部署中的舰载机出动规划模型

系统工程与电子技术 2020年第1期42卷 128-132页

作者：谢君廖松石章松海军工程大学兵器工程学院

为完成航母作战部署过程中的舰载机出动架次优化,采用规划模型来平衡部署中的母舰航行需求和舰载机出动需求。首先,改进原有的非线性规划模型,将目标改进为最大且均衡使用航空兵力;其次,提出一种新的转向方式,即剩余航程等分点转向方式... 详细信息

为完成航母作战部署过程中的舰载机出动架次优化,采用规划模型来平衡部署中的母舰航行需求和舰载机出动需求。首先,改进原有的非线性规划模型,将目标改进为最大且均衡使用航空兵力;其次,提出一种新的转向方式,即剩余航程等分点转向方式;最后,开发一个利用遗传算法求解规划模型的图形化界面计算工具,利用该工具计算对比了2种目标函数和3种转向方式对于舰载机出动架次决策的影响。计算结果表明,模型和工具可行,剩余航程等分点转向方式总是优于原有的转向方式。

关键词：运筹学出动架次规划模型航母转向方式

Improved EKF-SLAM Algorithm of Unmanned Helicopter Autonomous Landing on ship

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Improved EKF-SLAM Algorithm of Unmanned Helicopter Autonomou...

第37届中国控制会议

作者： Pengfei Wu zhangsong shi Penghao Yan Weaponry Engineering College Naval Univ.of Engineering Naval Aviation University

In the process of unmanned helicopter autonomous landing on ship,SLAM is the key to realize the real *** paper introduces the extended kalman filter algorithm as the basis of SLAM,describes the unmanned helicopter SLAM problem,builds up the motion equation and observation equation of unmanned helicopter,verifies the decomposition principle of EKF-SLAM algorithm by equation,studies the improved EKF-SLAM algorithm,finally verifies the algorithm by simulation experiment which can realize the navigation for unmanned helicopter autonomous landing within a certain error range.

关键词： Unmanned helicopter Autonomous landing EKF EKF-SLAM

Firepower Compatibility Control Method of Formation HPM Weapon and shipgun Informationized Ammunition

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Firepower Compatibility Control Method of Formation HPM Weap...

第三十九届中国控制会议

作者： Wang Chong shi zhangsong Fu Bing Naval university of engineering

Under formation condition,this paper takes formation naval gun information ammunition as the research object,aiming at the problem of firepower compatibility between HPM weapon and information ammunition,establishes formation naval ship stable reference system,calculates firepower with ballistic differential equation,calculates the space position of ammunition at a certain time,and establishes the space sphere safety model based on the calculated *** the basis of the narrow spectrum and ultra wide spectrum characteristics of HPM weapon,putting forward the compatibility control method of HPM and information ammunition under formation condition,which offers some reference methods for solving the problem of firepower compatibility under formation condition.

关键词： Warship formation HPM weapon Information ammunition Fire compatibility

A Kalman Filter with Progressive Measurement Update

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A Kalman Filter with Progressive Measurement Update

第37届中国控制会议

作者： Zhonghong Wu zhangsong shi Li Pan Weapon Eng. College Naval Uni. of Engineering Electronics Eng. College Naval Uni. of Engineering

Under the condition of large initial error and/or accurate measurement, due to the decrease of the accuracy of the joint Gauss distribution hypothesis, the moment approximation filtering methods based on Gauss hypothesis have the problem of posteriori error matrix overestimated, which means the error of the filter is much lower than the actual error, resulting in filtering divergence. In view of this problem, a Kalman filter with progressive measurement update is proposed. Firstly, based on Gauss hypothesis, under the framework of Daum-Huang filter, the progressive Bayesian formal description of the state evolution equation is given, the linear Gauss solution of the state evolution equation is derived. Secondly, by means of the first order Taylor expansion, the approximate solution of the nonlinear condition is obtained, and at last a Kalman filter with progressive measurement update and its nonlinear extend form are proposed. Simulation results show that in the large initial error and/or accurate measurement conditions, proposed method improves position estimation accuracy by 90% than UKF（Unscented Kalman Filter） and CKF（Cubature Kalman Filter）, by 17% than EKF（Extended Kalman Filter）, by 30% than similar method when progressive step is 0.1 and by 17% when progressive step is 0.01;proposed method improves velocity estimation accuracy by 66% than UKF and by 73% than CKF, by 53% than EKF, by 23% than similar method when progressive step is 0.1 and equivalent accuracy when progressive step is 0.01.

关键词： nonlinear filtering progressive Bayesian progressive measurement update extended Kalman filter bearing only tracking

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高分辨率遥感卫星图像不均匀云雾去除算法

激光与光电子学进展 2020年第6期57卷 286-293页

作者：龚文斌石章松韦华海军工程大学兵器工程学院湖北武汉430000 中国人民解放军海军参谋部北京100841

针对高分辨率遥感卫星图像采用单一算法难以有效去除不均匀云雾的问题,提出一种基于图像分割和暗原色先验改进方法相结合的优化算法。采用图像分割技术将原云雾图像分割成浓雾部分和淡雾部分。浓雾部分采用加权多尺度Retinex算法进行局... 详细信息

针对高分辨率遥感卫星图像采用单一算法难以有效去除不均匀云雾的问题,提出一种基于图像分割和暗原色先验改进方法相结合的优化算法。采用图像分割技术将原云雾图像分割成浓雾部分和淡雾部分。浓雾部分采用加权多尺度Retinex算法进行局部增强去雾处理;淡雾部分采用改进暗原色方法,将暗原色图像去雾模型由RGB颜色空间转换到HSI颜色空间,提取亮度分量,获取准确的大气光值,并采用容差机制优化获取大气透射率,在此基础上采用自动色阶法增强处理,获取去除云雾后的图像。实验对比表明提出的算法能够很好地还原图像细节,有效恢复图像的颜色和清晰度。

关键词：机器视觉去雾处理高分辨率遥感图像暗原色先验法图像分割

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基于粒子滤波的传感器网络被动目标跟踪研究

仪器仪表学报 2006年第Z1期27卷 314-315页

作者：薛锋刘忠石章松海军工程大学电子工程学院武汉430033

为提高被动跟踪性能并减少无线传感器网络中的通信开销,该文提出了一种分布式的粒子滤波方法。首先,利用转弯率建立了机动目标的被动跟踪模型,然后,动态组织传感器网络节点成簇,推导了分布式粒子滤波实现的具体步骤。最后,使用计算机仿... 详细信息

为提高被动跟踪性能并减少无线传感器网络中的通信开销,该文提出了一种分布式的粒子滤波方法。首先,利用转弯率建立了机动目标的被动跟踪模型,然后,动态组织传感器网络节点成簇,推导了分布式粒子滤波实现的具体步骤。最后,使用计算机仿真对两种粒子滤波方法性能进行了对比,结果表明两种方法具有良好的跟踪精度,但分布式方法通信消耗更小。

关键词：传感器网络粒子滤波被动跟踪分布式计算

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无人直升机自主着舰轨迹跟踪控制

系统工程与电子技术 2019年第11期41卷 2573-2580页

作者：吴鹏飞石章松吴中红王智海军工程大学兵器工程学院湖北武汉430033 中国人民解放军92925部队山西长治046000

着舰飞行过程中的轨迹跟踪控制能力是影响舰载无人直升机性能的关键因素,针对无人直升机模型不确定性和在飞行时受阵风干扰的问题,基于扩张状态观测器(extend stated observer,ESO)和动态面策略提出一种应用于无人直升机自主着舰的轨迹... 详细信息

着舰飞行过程中的轨迹跟踪控制能力是影响舰载无人直升机性能的关键因素,针对无人直升机模型不确定性和在飞行时受阵风干扰的问题,基于扩张状态观测器(extend stated observer,ESO)和动态面策略提出一种应用于无人直升机自主着舰的轨迹跟踪控制方法。首先,建立无人直升机数学模型。其次,设计复合扰动ESO,用来观测未建模动态和外界阵风扰动的影响,并采用前馈补偿的方式来抑制系统不确定性,实现系统对扰动的鲁棒性。然后,采用内外环形式的分层结构设计轨迹跟踪控制器,采取动态面策略避免反步法“微分爆炸”和控制参数调整不敏感的问题,并采用Lyapunov方法证明了整个系统是一致渐进稳定的。最后,采用课题组在研直升机进行了仿真实验,仿真结果表明该控制器具有较好的轨迹跟踪性能。

关键词：无人直升机自主着舰轨迹跟踪反步法动态面扩张状态观测器