Abstract This paper addresses the trajectory tracking control problem for an underactuated surface vessel (USV) with full state constraints. In order to solve inconvenience caused by USV structure system controller design, system's model is transformed into two subsystems. Furthermore, constrained can be solved Barrier Lyapunov method. USV's design process, a tan‐type function (BLF) constructed ensure stability of and avoid states reaching boundary value. Compared conventional constructing...

Abstract This study presents a radar-optical fusion detection method for unmanned aerial vehicles (UAVs) in maritime environments. Radar and camera technologies are integrated to improve the capabilities of platforms. The proposed involves generating regions interest (ROI) by projecting radar traces onto optical images through matrix transformation geometric centroid registration. generated ROI matched with YOLO boxes using intersection-over-union (IoU) algorithm, enabling detection. A...

To address multi‐sensor real‐time track‐to‐track association problem of aircraft platforms in a complex environment, where sensor biases are time‐varied, targets distributed closely and different sensors report targets, an anti‐bias algorithm based on distance detection is proposed according to the statistical characteristics Gaussian random vectors. First, vector between homologous tracks derived its feature analysed; second, rough minimum average refined χ 2 distribution illustrated...

To address track association problem for more than two radars under the influence of measurement biases, multi-radar anti-bias algorithm based on reference topology feature (RET) is proposed. Influence radar biases and random errors RET analysed application conditions are clarified. The distance among multi-track RETs defined Simulation results demonstrate conditions, sufficiently effective in circumstances strongly adaptable to biases.

Propellant sloshing, which induces perturbations to dynamic behavior of spacecraft, is a conspicuous problem. Thus, sloshing suppression during maneuver poses challenge on spacecraft control design. Herein, the input shaping technique, has been validated in reducing residual vibration flexible structure, applied this subject. The shaper designed subject constraints such as limited amplitude disturbance, time optimization and capability engine. design procedure described paper. dynamical...

Owing to its high-fault tolerance and scalability, the consensus-based paradigm has attracted immense popularity for distributed state estimation. If a target is neither observed by certain node nor neighbors, this naive about target. Some existing algorithms have considered presence of nodes, but it takes sufficient consensus iterations these achieve satisfactory performance. In practical applications, because constrained energy communication resources, only limited number are allowed thus...

Liquid propellant sloshing induces perturbations to spacecraft Guidance Navigation and Control (GNC) due coupling between fluid motion dynamic behavior of the spacecraft. Therefore, liquid in fuel tanks is a conspicuous problem. An approach based on equivalent mechanics proposed this paper estimate effect improve efficiency estimating process. A mechanical model built by use Computational Fluid Dynamics (CFD) tools packed as module be utilized GNC simulator. Then close-loop outputs obtained...

Liquid propellant sloshing, which induces perturbations to dynamic behavior of spacecraft, is a serious problem. This paper proposes an approach based on equivalent mechanics theory and Computational Fluid Dynamics (CFD) technology estimate the influence sloshing spacecraft. A mechanical model was built by CFD technique packed as "sloshing" block utilized in spacecraft Guidance Navigation Control (GNC) simulation loop. The takes motion characteristics inputs outputs perturbative force...

In order to improve reliability and safety of computer control system, it is very important detect diagnose faults in sensors. Generally, pulse-type sensors result outliers a sampled time series system. Based on the fact that median estimator most robust one among all estimators, new algorithm for detection magnitude identification abrupt established this paper. The composed four parts: outlier-tolerant filtering, faults, repairing. This can be used directly not only deal with but also...

In order to estimate the systematic error in process of maneuvering target adaptive tracking, a new method is proposed. The proposed linear tracking scheme based on modified input estimation approach. A special augmentation state space model considered, which both and unknown vector are attached vector. Then, an augmented measurement established case error, corresponding filter formulas also given. scheme, original state, acceleration can be estimated simultaneously. This not only solve...

Channel estimation is a key issue for ultra-wideband (UWB) wireless communication systems. In this paper, we investigate UWB channel estimation, where the emerging compressed sensing (CS) used to bypass difficulty faced by Nyquist sampling. Particularly, propose couple of dual-kernel dictionaries, namely cross-derivative dictionary (CDD) and accessorial-derivative (ADD), approximate signals sparsely, both transmitted pulse shape its derivative are as generating kernels. Extensive simulation...

Sub-Nyquist sampling based on Modulated Wideband Converter (MWC) as an innovative low rate theory for sparse wideband signals draws much attention from researchers. However, the research in terms of implementation this is far satisfactory. In paper, we present scheme complete MWC sub-Nyquist system. The proposed system consists two parts: a lower machine mainly designed by FPGA and four-quadrant analog multiplier, upper using computer. Lower responsible signal processing at below Nyquist...

A maximum likelihood algorithm is proposed in this paper to locate scan-based emitter the condition of unknown scan rate. This method projects each time difference measurements target state space, and then fused estimate can be obtained by modification iterative calculation for rate state, avoiding poor accuracy jointly estimation moving target. Simulation results show that obtain effective estimates states rate, respectively. And its performance more robust compared with nonlinear...

In this paper, a layered channel estimation method is proposed for DS-UWB systems, where both ISI and IPI are taken into consideration. The multipath components classified layers with respect to their time delays estimated layer-by-layer iteratively. each layer, the mitigated by using inherent characteristics of bipolar symbols prior knowledge spreading code sequence pilot symbols. A detection-directed refinement procedure used improve accuracy further. Simulation results show that scheme...

Nyquist rate sampling of ultra-wideband (UWB) signal is prohibitively costly and UWB receivers suffer from narrowband interference (NBI). In this paper, we present a compressed sensing (CS) based receiver scheme with the capability NBI mitigation. The key issue to refine measurement matrix according subspace such that energy can be captured efficiently meanwhile mitigated effectively. To end, dominating atoms eigen-based dictionary are collected approximate prior knowledge method proposed...

Based on theory of equivalent mechanics, a model which consists masses and springs is built to represent dynamical effect propellant sloshing. In the deducing process, problem solved by constructing an elastic structure running modal analysis in finite element structural codes. The process ensures approach more applicable than analytical methods takes less computation duration numerical hydromechanics. validation cases, calculated results are found be good agreement with published...