The optimum control of thruster system for dynamically positioned vessels

An offshore vessel with a dynamic positioning system (DP system) needs fast response to produce thrust to counteract the environmental forces acting on it for the purpose of maintaining its position and heading as close as possible to the working position. Therefore, quick and effective modulation of the thrust is the problem to determine the thrust and the rotation angle of the thruster devices of the ship. This paper presents an effective optimum control for a thruster system, using the sequential quadratic method to achieve economical and effective modulation of the thrust and the direction of the thruster. An optimum control study of a 2280 tons DP coring vessel with five rotary azimuth thruster marine positioning is studied in detail, which can quickly and exactly estimate the thrusts and angles of direction of all the thrusters. The results can provide a valuable thruster system for a dynamically positioned vessel.     

协方差阵二次型容许估计的一个必要条件

研究协方差阵Σ的二次型容许估计问题。设 y1,y2 ,… ,yniid,n≥ 2 ,y1与 p维正态分布N (β,Σ )有相同的前四阶矩。其中β =(β1,β2 ,… ,βp)′∈ Rp与Σ =(σij) p× p >0均未知。记 y =△ (y1,y2 ,… ,yn)′。在二次损失 L (d ,Σ ) =tr(d -Σ) 2下给出Σ的二次型估计 a S2 + nby-y-′是容许估计的必要条件为 :(n - 1) a + b + 2 max(a,b)≤ 1。此必要条件比张立振等协方差阵的二次型容许估计中的必要条件有了明显的加强     

二次特征值问题的最佳向后扰动分析

二次特征值问题 (QEP)的主要的求解方法之一是转化为广义特征值问题 (GEP) ,然后用求解广义特征值的方法 (比如 QZ方法 )求解。本文研究由此获得的计算解的范数意义下的最佳向后扰动分析 ,所得结果是 Tisseur最近所得结果的加强。     

基于强跟踪性能的QEKF组合导航自适应滤波研究

以低成本陆用航姿参考系统（AHRS）/GPS紧耦合系统为研究对象,建立了基于伪距、伪距率、航向角的组合观测数学模型。引入强跟踪滤波（STF）算法,利用渐消因子的作用,增强滤波器对状态快速变化的跟踪能力。同时,针对微惯性器件漂移过大的缺点,采用二阶EKF（QEKF）方法,通过对Hessian矩阵的求解,补偿系统观测方程线性化的二阶截断误差。仿真表明：STQEKF方法可高速准确地逼近系统非线性模型,实现陆地载体导航控制,在传感器精度有限的情况下,使姿态和位置的控制效果较标准EKF分别提高了约8.9%-38.2%和48.7%-54.4%     

BDS／GPS 组合 RTK 定位性能分析

针对单系统RTK存在可见卫星数少等问题,文中研究BDS/GPS站间单差的RTK算法模型,该模型采用二次型函数部分最小化及LAMBDA方法联合搜索模糊度。利用该模型分析BDS/GPS组合RTK的定位性能,通过短基线实测数据分析表明:站间单差RTK模型与双差模型是等价的;BDS/GPS组合系统相比于单一系统,明显提高定位的稳健性和精度,改善模糊度固定的成功率。     

Why GPS makes distances bigger than they are

Global navigation satellite systems such as the Global Positioning System (GPS) is one of the most important sensors for movement analysis. GPS is widely used to record the trajectories of vehicles, animals and human beings. However, all GPS movement data are affected by both measurement and interpolation errors. In this article we show that measurement error causes a systematic bias in distances recorded with a GPS; the distance between two points recorded with a GPS is – on average – bigger than the true distance between these points. This systematic ‘overestimation of distance’ becomes relevant if the influence of interpolation error can be neglected, which in practice is the case for movement sampled at high frequencies. We provide a mathematical explanation of this phenomenon and illustrate that it functionally depends on the autocorrelation of GPS measurement error (C). We argue that C can be interpreted as a quality measure for movement data recorded with a GPS. If there is a strong autocorrelation between any two consecutive position estimates, they have very similar error. This error cancels out when average speed, distance or direction is calculated along the trajectory. Based on our theoretical findings we introduce a novel approach to determine C in real-world GPS movement data sampled at high frequencies. We apply our approach to pedestrian trajectories and car trajectories. We found that the measurement error in the data was strongly spatially and temporally autocorrelated and give a quality estimate of the data. Most importantly, our findings are not limited to GPS alone. The systematic bias and its implications are bound to occur in any movement data collected with absolute positioning if interpolation error can be neglected.     

基于共轭梯度搜索的病态问题处理方法

在最小二乘平差准则基础上,把病态平差问题转化为无约束的二次规划问题,并利用优化理论分析病态对平差解的影响。通过共轭梯度搜索算法在可行域中寻找最优步长因子,自动寻找最速下降方向,并给出迭代初值的设置方法。分析近似计算中病态问题与局部最优解的关系,讨论局部最优解的快速迭代方法,并通过实例验证算法的有效性,计算迭代的速度。由于整个过程没有对法方程系数矩阵进行求逆计算,该算法可用于处理大规模系数矩阵高病态的平差问题。     

基于不完备模态信息的海洋平台损伤诊断研究

首先利用测量自由度正则化损伤指标向量得到损伤的大致区域;其次,在选定的区域内分别采用序列二次规划算法和最小二乘法来诊断损伤构件及其损伤程度,并对其结果进行了比较。数值模拟表明,仅需少量低阶模态和部分测量自由度,上述损伤诊断算法便可完成海洋平台的损伤诊断。     

ȱʧ�����»���EM�㷨��GPS�߳����

GPS????????????????????????????????????????????????????????????????????????ó??淽?????????????????????????????EM?????????????????????????????????????????????????????Ч????????????μ?GPS??????????     

精密单点定位中三种GPS卫星钟差预报模型的精度分析

分析了二次多项式、线性和灰色系统三种预报模型的原理和特点,采用了IGS精密星历和超快星历数据,选取了五颗钟差变化比较典型的卫星,实现了为期一天的卫星钟差预报。