“海龙Ⅲ”号ROV系统深海试验与应用研究

深海水下机器人主要用于深远海地质、矿物资源和生物调查研究,以及海洋石油工程服务等水下综合作业,能够实现深海近底高精度、长时间的定点取样作业及其他精细化调查。结合国内外深海ROV装备和技术发展现状,以新研发的6 000 m级"海龙Ⅲ"号ROV搭载"大洋一号"船执行的2018年南海综合海试和48航次为例,从深海试验流程和方法、浅水区功能测试、深水区功能测试、深海观测及取样功能测试等方面,详细阐述了ROV海上试验和应用作业过程,对作业水深、功率配置、水下运动能力、搭载能力等关键性能指标进行了试验验证。海上功能测试和试验性应用结果表明,"海龙Ⅲ"ROV各项性能指标满足设计要求,验证了系统在不同深度、不同地形条件下的观测取样作业能力,创新了深水ROV作业方法手段,分析得出此类装备目前在国内发展存在的不足之处,并结合实际应用提出后期改进计划,以期为深海ROV的海试应用提供技术参考。     

基于无人机的用海项目施工期悬浮泥沙监测

为实现对用海项目施工期悬浮泥沙扩散的实时跟踪监测,尝试采用无人机携带可见光、多光谱传感器对古雷围填海项目的围堰区进行遥感探测。利用Pix4d软件对无人机携带的可见光及多光谱照片进行处理,结果表明,可见光及多光谱影像对水体中的悬浮泥沙分布均具有一定的识别能力。通过研究分析多光谱影像的光谱特征发现,近红外波段对悬浮泥沙含量的升高较为敏感,运用波段比值公式计算结果显示,围堰内含沙水体经溢流口排入海域后浓度明显降低,并可向南继续扩散约300 m。该方法可克服遥感卫星影像时空分辨率低的特点,为用海项目资源环境影响跟踪监测提供新的技术手段。     

面向海上目标搜索任务的多无人机协同航路优化

提出了一种面向多无人机(unmanned aerial vehicle,UAV)协同搜索海上目标任务的航路优化方法。首先,分析多无人机协同航路优化问题的基本要素模型。然后,在对各UAV独立维护的目标概率图信息进行探测更新的基础上,采用状态预测一致性算法实现目标概率图信息的快速融合。最后,同时考虑局部搜索收益与未来搜索收益,采用分布式模型预测控制(distributed model predictive control,DMPC)方法优化各UAV的搜索航路。仿真结果表明,本研究提出的方法具有较高的搜索效率,可有效应用于海上目标的快速搜索任务,具有重要的应用价值。     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

Nonlinear adaptive control of an underwater towed vehicle

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.     

自动表面船用于岛礁水深测绘

岛礁具有重要的地位,然而对其附近水深的调查手段却不充分。比较了几种水深测绘手段的优缺点,设计了一种小型自动表面船用于岛礁水深测绘。该表面船底部安装声学测深仪,具备自动定位、导航与运动功能;其尾部安装两个电动推进器提供动力,通过独立控制两个推进器的转速,可实现船体的前进、后退和转向;利用无线电与岸基单元进行数据通讯。根据不同水深测绘条件,该船可以用三种控制方式进行水深测量:直接控制、间接控制和自主控制。测量数据实时传输到岸基单元,并自动存储于船载存储单元。初步试验结果表明,设计的自动表面船测量系统具有可行性。     

航空摄影最佳曝光量的选择

分解力是评定影象质量的重要指标。本文介绍利用改进后的国产9 w测微密度仪,测定航空软片静态分解力与曝光量的关系。以最大分解力所相应的曝光量作为确定航摄软片感光度的基准,以此为基础,确定航摄底片的最大密度(D_(max))、最小密度(D_(min))、影象反差(△D)和平均密度(D_R)本文对国产1022T、1022P、柯达2402、2412等航摄软片进行了研究,其试验结果可作为今后修改航摄规范的基础。     

彩色红外航空遥感技术在西藏农田非耕地系数测算中的应用研究与实践

西藏自治区的耕地多分布在藏东、藏南河谷地带,多数耕地地块破碎,形态各异,并且有大量的非耕地成分混杂其间,即使采用大比例尺图件,也难以测量准确的耕地面积。为准确查清耕地面积,在西藏土地资源调查工作中,独创地采用了彩色红外条带航空摄影,计算机图像处理系统求算彩色红外航空像片耕地样地中非耕地系数值和建立不同地貌、不同耕地类型非耕地系数检索表等系统的方法。该方法已在全藏调查工作中普遍推广,提高了调查精度,缩短了调查时间,大大减少了人力和经费投入。该项研究为我国山区耕地面积调查提供了有效的手段。     

Lightning optical pulse statistics from storm overflights during the Altus Cumulus Electrification Study

The Altus Cumulus Electrification Study (ACES) was conducted during the month of August 2002 in an area near Key West, Florida. One of the goals of this uninhabited aerial vehicle (UAV) study was to collect time resolved optical pulse data from thunderstorms. During the month long campaign, we acquired 5256 lightning generated optical pulses. Most of these observations were made while quite close to the top of the storms. We divided our data into two amplitude groups based on prior NASA U2 aircraft optical data and the pulse characteristics. The group of strong pulses with radiance greater than 2.1 mW m^{− 2} sr^{− 1} had mean and median 10–10% optical pulse widths of 770 and 740 μs, respectively, 50–50% pulse widths of 399 and 355 μs, respectively, and 10–90% risetimes of 292 and 260 μs. These values are very similar to the previous U2 based optical results The other group of pulses consisting of slightly more than a quarter of the total pulses observed had radiances less than the minimum values detected in the U2 study. These weak pulses were narrower than the strong pulses with 50–50% mean and median values of 199 and 160 μs, respectively. Only 12% of the flashes observed contained only weak pulses. The source of these weak pulses is unknown, but we suspect that some are artifacts of the close proximity of the aircraft to cloud top.     

吐哈盆地航测数据库管理系统

随着吐哈盆地航测不断深入，航测数据急剧增加，航测成果管理已进入信息化阶段，吐哈盆地航测数据库管理系统是基于Visual C^ 、ODBC 、DAO、ActiveX、COM等技术开发的属性数据管理系统，系统实现了对吐哈盆地航测成果数据的动态存储和管理，可完成属性数据输入，航测数据建库，航测数据更新，数据记录修改，属性结构修改，数据查询检索等功能。