Contour moments can effectively describe the objects' shape.Different from global moments the contour moments scan all the pixels on the perimeter of object with a lower time and space complexity but the process of derivation is very complicated.We tried to simplify the procedure by describing the contour curve section with parameter equation.Based on the Green theorem binomial theorem was used only once while calculating the contour moments.Taking the ship projection images as examples general expressions of contour moments were calculated.The experiments showed that it operated faster than area moments and the centroid error was less than 2%.

A new route planning method is proposed which adopts the quantum genetic algorithm based on the Voronoi Diagram(VD).Firstly the Voronoi diagram space of the aircraft was established by building up the Voronoi diagrams of start point target point and threats.Secondly some improvements was made to the traditional quantum genetic algorithm such as introducing dynamic changing mechanism of quantum gate rotating adding quantum crossover operation and quantum mutation operation to make it had better searching efficiency.Simulation was made and the results of route planning using the Improved Quantum Genetic Algorithm(IQGA) were given.The simulation results show that the IQGA-VD has better convergence speed and searching efficiency than the GA-VD algorithm.

Traditional vision-based UAV formation control law have less capability of considering constraints.A new formation control law which can explicitly consider constraints on states and control inputs was designed for vision-based formation flight based on Model Predictive Control (MPC).Control inputs of the follower UAV at each sampling instant were obtained by solving a finite horizon optimization control problem.To estimate the acceleration of the leader UAV an estimation algorithm was proposed based on the difference between predicted states and measured states in the framework of MPC.Simulation results show that the designed formation control law can drive UAVs to achieve the prescribed formation quickly and maintain the configuration in the presence of leader maneuvers.The proposed acceleration estimation algorithm is effective and has low estimation error.

A dynamic clustering method of wireless sensor network for target tracking was proposed considering residual energy and received signal energy intensity of nodes.Because the residual energy of the nodes was considered when choosing cluster heads the fail of tracking caused by shortage of node's energy could be avoided.The method can not only make each node play the role of cluster head evenly but also avoid the cluster heads switching too frequently.Therefore the life of network can be prolonged tremendously.The results of simulations show that:to satisfy the energy requirement of cluster head and guarantee that most of the nodes of cluster can sense the target the energy threshold should be as small as possible and the distance threshold should be as big as possible.

For the situation that the controller's expression in a nonlinear closed loop system is a nonlinear function we constructed a linear affine function of the output data based on the parameter estimation iterative method by using the virtual reference feedback tuning control design principle.Through minimizing the approximation error we could seek the adjustable weights in the linear affine function by using the parameter estimation method of system identification theory.Then we could approximate the former nonlinear controller using a linear affine function which included some adjustable weights.Finally the efficiency and possibility of the proposed strategy was verified by the simulation results.

To solve the problem of fighter's autonomous attack with air-to-air missile in air combat an Iterative Optimization Aiming Guidance (IOAG) method was proposed.Firstly the problems in autonomous interception attack were analyzed.Then the basic idea about IOAG was introduced and the equations of aiming error were deduced.And subsequently the model of IOAG was established and the process of IOAG was designed.Finally simulation was made for comparing it with the method of proportional navigation control and the robustness experiment was performed.The results show that the method of IOAG is very effective for the problems of autonomous interception attack.

A method of target assignment in multi-aircraft cooperative air combat based on distributed calculation was put forward according to the characteristics of the present air combat.Referring to the present three-level command system of air force we built up the corresponding hierarchical structure of decomposed task and Multi-Agent System (MAS) target assignment model.Then simulation was made for the air combat of typical multi-formation against multi-target which proved the effectiveness of this method.Finally the virtues of this method in improving air combat efficiency and reducing assignment time were analyzed.

Particle Filter based on Particle Swarm Optimization algorithm (PSO-PF) has high calculation complexity and is easily trapped in local optimum.To solve these problems a novel particle filter based on chaos particle swarm was proposed.On the basis of PSO this algorithm introduced chaos sequence by use of the ergodicity and randomness of chaos the quality of the original sample was improved.In the meanwhile chaos perturbation was utilized to avoid the search being trapped in local optimum.Therefore the algorithm had faster convergence speed and better global search capability.UNGM model was used for simulation to compare the algorithm with Particle Filter (PF) and PSO-PF and Bearings-only tracking (BOT)model was used to verify the effectiveness of the algorithm.The simulation results show that this algorithm not only reduces the local optimization but also improves the velocity and precision so it has a high application value.

The terminal virtual proportional navigation law can improve the damage effect of guided glide bombs greatly by attacking the target at different impact angles for different ground targets. The method may calculate the coordinates of the virtual target according to the distance and angle limits and guide the glide bomb to fly to the target by using proportional navigation law. The distance limit guarantees that the glide bomb the virtual target and the target coincidence in the impact time and the angle limit guarantees that the glide bomb approaches the virtual target in the set impact angle which ensure the satisfied miss distance and impact angle. According to the simulation result the maximum impact angle is larger than 80° and the error is less than 5°. This method only needs the coordinates of the bomb and target and the bomb's speed which is easy to realize in engineering and has less computation cost.

In accordance with the strict demand of Performance Based Navigation (PBN) on navigation performance monitoring a set of integrity monitoring algorithm for integrated GNSS/SINS system was presented for increasing the fault detection efficiency.Based on which a combined parallel filtering algorithm was used for fault exclusion.The simulation results showed that by using the algorithm both GNSS and Inertial Measurement Unit (IMU) failure can be detected and the detecting efficiency for Slowly Growing Errors (SGEs) was improved.In addition the algorithm is adaptable to multiple measurement failures.

Attitude and momentum control for agile satellite was investigated.In the presence of the saturation singularity of Double Gimbaled Control Momentum Gyroscope(DGCMG) we proposed an attitude and momentum controller based on the theory of Lyapunov.Firstly the satellite dynamic model with 2 DGCMGs in parallel configuration was constructed and the singularity visualization analysis of the DGCMGs based on the torque equation was given.There are two kinds of singularity type inner singularity and saturation singularity.The former can be avoided by using steering law and the later can only be solved by using the desaturation method.In order to avoid the problem caused by desaturation method the attitude and momentum controller was given.Besides sigmoid function was used to modify the controller parameter selection for the purpose of shortening the stabilization time.The controller can accomplish the assignment of rapid maneuver and quick stability while keeping the tradeoff between the attitude control and momentum management.Simulation results are given to show the validity of the proposed controller.

A video transmission system based on 3G WCDMA wireless network used in Micro Air Vehicle (MAV) was designed and implemented in order to improve the quality of video transmission and extend the transmission distance.The overall design and hardware architecture of the system were given using TI DaVinci processor TMS320DM355 as the core processor.The method for accessing WCDMA network using PPP dial-up was described.Video capture module based on V4L2(Video For Linux Two) was analyzed and designed，using embedded Linux operating system as the software development platform.The MPEG-4 compression and encoding process was implemented by calling Codec Engine API provided by TI.Real-time Transport Protocol (RTP) and Real-time Transport Control Protocol (RTCP) were used for the real-time video transmission requirement.The RTP packet strategy for MPEG-4 videos was described in detail and the real-time video transmission was implemented based on JRTPLIB library.Experiments showed that the system can satisfy the requirements for video transmission in clarity and real-time performance.

Considering the disadvantages of particle swarm optimization algorithm in aerial target tracking stochastic dominance elite fission algorithm was proposed. After the fission of the parent body weight value particle individual space was formed which covered with small weight particle. Then the elitist strategy was adopted for calculating the probability of an individual being selected made the most of fine individuals participate in evolution. The crowding distance was calculated out with minimum Euclidean distance and the distribution function was used to determine the sampling data of stochastic dominance relation. Finally the aerial target motion model was given. The experimental simulation showed that: 1) the filtering trajectoriy is approximate to the aerial target moving trajectory; and 2) the tracking effect is satisfactory during the entire observation area.

Target missing and target re-capturing may happen in the terminal ballistic trajectory of terminal guidance projectile because of the factors as jamming and/or weather.To gain the relation between the terminal ballistic trajectory character and the time of target missing the terminal guidance projectile control model was set up according to small disturbance theory.The trajectory character when missing target and re-capturing under different target maneuvering conditions was simulated.The simulation result for the target at uniform motion and uniform varying motion was analyzed which demonstrated that the target missing during terminal trajectory has remarkable impact to projectile's terminal ballistic trajectory character especially when the target is in maneuvering.

This paper proposes a method based on improved SSDA waveform matching to forecast the zero-crossing point of primary current and to increase the output power of high-frequency power supply by controlling the opening and shut-off of high frequency source control circuit. First considering the noise in waveform sampling process a waveform database was established through the sampling low-pass filtering and arithmetic median filtering of primary current under different conditions.Then by using the improved SSDA waveform matching and according to the waveform in the database the zero-crossing of the target waveform was predicted to control the power switch.The experimental result showed that the method proposed here is feasible with high matching speed and matching precision.

Considering the requirements of integrated diagnostics to electronic equipment for test resource allocation we established the optimized allocation models of Built-In Test Equipment (BITE) and Automatic Test Equipment (ATE) based on test points' optimization.Taking the minimum test cost as the optimization object and with the constraint conditions of fault detection rate fault isolation rate and false alarm rate this model was solved by LINGO.The results indicated that this method can meet the testability indicators while reducing the test cost which is of great significance to hierarchy design and diagnostics of equipment for increasing logistic support efficiency as well as decreasing life-cycle cost.

In order to solve the complicated problem of decision-making in modern air combat a decision-making model based on receding horizon control was established considering a scenario of air combat involving two opposed fighters.Adopting the thought of Artificial Potential Field (APF) the air combat APF was built up and the establishment of artificial potential function and weight function was studied.A decision-making method for air combat maneuvering based on APF and Particle Swarm Optimization (PSO) was proposed.Simulation results show that this algorithm can avoid the trap of local minimum of APF improve the global optimization ability of PSO and can also prevent early maturity.

The horizontal wind speed and direction of each 10 meters vertical gap within 3000 meters above sea level are key factors affecting the accuracy of parachute landing.A parachute meteorological measurement system was proposed which was composed of 3~10 measuring nodes and 1 relay node.All of the nodes were dropped over the landing site.The wind speed and direction measured by 2-axis ultrasonic anemometer and pitch roll and azimuth angles measured by digital compass were used to compute horizontal wind speed and direction in the process of parachute landing.The construction schemes of measuring nodes and relay node were given.Star topology was applied to connect measuring bodes to relay node through wireless channel.CSMA/CA (carrier sense multiple access with collision avoidance) was employed to avoid the conflicts that may happen when multiple measuring nodes sending data to relay node.Prototype nodes were constructed on embedded development board.The MAC protocol was simulated by NS2.The results of experiment and simulation show that the proposed systematic scheme is capable of automatically organizing network and measuring meteorological parameters of different levels over landing area.

Terrain Awareness and Warning System (TAWS) is designed to prevent the Controlled Flight Into Terrain (CFIT) accidents and enhance the flight safety.Based on the alert principle of Mode 3 the models of nominal trajectories and avoidance trajectories were established for the aircraft losing altitude.Two statistical parameters of incident rate and un-alerting incident rate were accumulated for a large number of flight events to evaluate the performance of the thresholds.A method based on system operating characteristic(SOC) was presented to get the alert envelope for losing altitude.The simulation results are identical to the practical envelope which show the correctness and effectiveness of our models.

The continuous zooming optical system has become more and more important for an infrared system in target searching and detecting.One method is changing two or more lens's location in order to change focal length in optical system.Based on the optic design features of medium wave infrared system the guide mechanism and cam mechanism of the continuous zooming mechanism are discussed in detail.The key points and result of the design are given.The test result indicates that the mechanism can operate smoothly and reliably with higher precision，and the image quality of optical system is fine.