Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.     

利用直达波导频信号的高频外辐射源雷达接收阵列校正方法

基于数字调幅广播(DRM)的特点,提出了一种利用直达波频率导频信号的高频外辐射源接收阵列幅相一致性校正新方法。首先介绍了DRM广播的信号结构,分析了其导频信号作为校正源的可行性;考虑到高频段电磁环境和传播环境的时变非平稳特性,提出了一种基于平移不变阵元偶在时间上优选直达波校正数据的方法;最后结合地波模式和天波传播模式高频外辐射源雷达实测多通道数据,比较了该方法与其他辅助定标源方法用于接收阵列校正的效果,分析结果证实了该方法的有效性。     

江淮入梅异常的强信号及其对入梅的影响

江淮入梅具有显著的年际变化特征.利用NCEP/NCAR再分析数据集以及NOAA提供的全球射出长波辐射(OLR)和扩展重建海温(ERSST)等资料,采用相关分析和合成分析等方法研究了江淮入梅异常的前兆强信号,并初步分析了其影响入梅的可能机制.结果表明,ENSO事件是影响江淮入梅早晚较强的前兆信号.前期冬春季出现ENSO暖位相时有利于入梅开始偏晚,ENSO冷位相出现时入梅往往偏早.前期冬季2月和春季Nino 4区的海温异常能较好地预测入梅早晚,具有短期气候预测的指示意义和实用性.ENSO暖位相年,亚澳"大陆桥"、菲律宾、西太平洋暖池以及印度半岛附近对流偏弱,不利于西太平洋副热带高压北跳和印度夏季风爆发,东亚地区大气环流季节转换偏晚,入梅因而偏晚;ENSO冷位相年情况则相反.     

基于小波变换改善天气回波信噪比的模拟分析

为了提升天气雷达对弱气象目标的发现能力,扩展系统观测的动态范围,可以从改善雷达回波的输出信噪比方面来考虑.从信号处理算法层面寻求改善天气雷达回波的输出信噪比的方法,提出运用小波变换的方法来达到这个目的.首先介绍了小波消噪的基本原理,再结合具体雷达系统参数,进行了相关的算法模拟,其结果表明,在符合高斯谱特征分布的模拟回波在不同信噪比（-20～10dB）设定条件下,运用小波变换的去噪方法可以使其信号的输出信噪比提高大约5～11dB,为天气雷达探测更多的弱气象目标提供了有利条件.     

利用GPS-R遥感技术反演植被生物量

为了验证利用GPS-R遥感技术反演植被生物量的可行性,分析了GPS反射信号反演植被生物量的原理与方法,通过试验利用干涉复合场数据（ICF）计算出信号反射率,利用已有文献拟合出的信号反射率与植被生物量之间的关系求出生物量,并与遥感技术结果进行了对比。试验结果表明：利用GPS-R遥感技术反演植被生物量是可行的,但是精度还需依靠时间反演模型;GNSS-R反演植被生物量对分析调查区域植被生长和碳排放情况具有重要意义。     

VLBI相位校正信号提取的软件实现方法

从VLBI相关处理结果中提取的延迟值包括了天线、终端等设备的时延,必须对其加以修正,最终结果才能达到精度要求。提取相位校正信号,可以消除这些设备引入的时延,从而校正同一波前信号到达基线两端的几何时延。该文介绍了提取相位校正信号的原理、算法及软件实现方法。软件采用多线程和SSE技术,具备4台站多通道全部相位校正信号提取能力。     

Interannual Thermocline Signals and El Nio-La Nia Turnabout in the Tropical Pacific Ocean

One of the fundamental questions concerning the nature and prediction of the oceanic states in the equatorial eastern Pacific is how the turnabout from a cold water state (La Nina) to a warm water state (El Nino) takes place, and vice versa. Recent studies show that this turnabout is directly linked to the interannual thermocline variations in the tropical Pacific Ocean basin. An index, as an indicator and precursor to describe interannual thermocline variations and the turnabout of oceanic states in our previous paper (Qian and Hu, 2005), is also used in this study. The index, which shows the maximum subsurface temperature anomaly (MSTA), is derived from the monthly 21-year (1980-2000) expendable XBT dataset in the present study. Results show that the MSTA can be used as a precursor for the occurrences of El Nino (or La Nina) events. The subsequent analyses of the MSTA propagations in the tropical Pacific suggest a one-year potential predictability for El Nino and La Nina events by identifying ocean temperature anomalies in the thermocline of the western Pacific Ocean. It also suggests that a closed route cycle with the strongest signal propagation is identified only in the tropical North Pacific Ocean. A positive (or negative) MSTA signal may travel from the western equatorial Pacific to the eastern equatorial Pacific with the strongest signal along the equator. This signal turns northward along the tropical eastern boundary of the basin and then moves westward along the north side of off-equator around 16°N. Finally, the signal returns toward the equator along the western boundary of the basin. The turnabout time from an El Nino event to a La Nina event in the eastern equatorial Pacific depends critically on the speed of the signal traveling along the closed route, and it usually needs about 4 years. This finding may help to predict the occurrence of the El Nino or La Nina event at least one year in advance.     

利用小波包分析进行地震相关热红外辐射异常信息检测

研究表明很多地震前后存在明显的热红外辐射异常.影响地物热红外辐射信息的因素很多,而地震相关的热红外辐射异常是强干扰背景下的弱信息,难以简单地将其提取出来.本文将地震相关的热红外辐射异常作为一种事件性的信号分析,通过小波包分析将热红外辐射信息的时间序列分解成不同频带的信号,通过分析各频带信号能量的变化规律进行事件性信号检测.2005年11月26日九江地震、2006年4月21日堪察加地震和1998年8月27日伽师地震的研究结果表明,小波包分析能有效检测这种事件性信号,同时显示这种事件性信号与地震活动之间关系的机理和时空演化特征是进一步研究的重点.     

HHT法的基本原理及其应用探讨

以Timoshenko单跨梁为研究对象,采用回转射线矩阵法进行动力响应计算,针对Timoshenko梁的瞬态响应信号为非平稳信号,采用基于Hilbert—Huang变换原理的信号时频分析,并与FFT的处理结果进行对比分析。结果表明,HHT方法比Frr法更适合非平稳信号的分析和处理,同时,HHT方法不仅可以将瞬态信号中低频和高频部分分离出来,还可以通过Hilbert谱展示信号能量在时频域内的分布,更为深入的了解信号的本质。     

湖泊水下数字高程模型建模方法及应用模型

介绍了当前湖泊水下地形测量的一般方法和作业过程。针对逐点插入构建不规则三角网算法，本文提出了效率改正算法和格网索引号快速计算算法。基于不规则三角网，给出了湖泊水下数字高程模型的一般应用模型——任意点高程计算、填挖方计算模型及等深线计算模型。