With respect to the problem of 3D path planning of Unmanned Aerial Vehicles (UAV) under uncertain environments when the target is movinga method of fast 3D path planning was designed based on the improved D*Lite algorithm.By use of the improved cost evaluating function and the realtime information of unanticipated threats and moving targetsand based on the constraints together with the improved search algorithma method of 3D path planning for UAVs was given.The simulation results demonstrated that the algorithm can not only meet the realtime path planning demandsavoid the unanticipated threats and attack the moving targetsbut also reduce the search spaceimprove the search efficiency and optimizing capabilitywhich is a good method for path planning of UAV under uncertain environments.

Attribute information has great potential to improve the performance of data association algorithmand has become one of the research tendencies on information data association for multipassivesensor.The application of attribute information in data association problems for multipassivesensor was summarized.The research development of data association problems based on attribute information was analyzed.The problem models of attribute information application were formulatedand association rules based on the statistic method and uncertainty reasoning were given.Then processing structure models of attribute information applied in multipassivesensor data association were summarizedand their advantages and disadvantages were presented as well.Finallyseveral key issues to be solved in the future were pointed out.

Since the objective existence of errors and interference in guided bomb practical delivery processthe accessible region calculated by the ideal trajectory model cannot ensure the necessary hit probability. The influence of some typical errors and interference to the hit probability of guided bomb was studiedthe substaintial characteristic of accessible region was described in the view of hit probability distribution via MonteCarlo target practice simulation in integrated interference.A quantitative reduction method was proposedwhich could increase the hit probability of guided bomb in practical delivery environment. Simulation showed that the method is simple and has high generality and feasibility.

When conformal antennas array perform angle measurement based on the approach of conventional adaptive monopulsethe curve of monopulse ratio may be seriously distorted if there is mainlobe jamming.Consequentlythe precision of the angle measurement is poor.In this paperwe propose a method of adaptive monopulse angle measurement for conformal antennas array.The conventional adaptive sum beam is formed first.Then monopulse ratio restraint is posedand the adaptive difference beam is formed.Finallythe outputs of the sum beam and difference beam are used to measure the angle.Simulation demonstrated that the proposed method can suppress the mainlobe jamming and guarantee good measurement precision of azimuth and evaluation angles.

A sensor management algorithm is presented based on Renyi entropy for Gaussian nonlinear multitarget tracking system.Firstthe target tracking accuracy requirement was analyzed based on the prediction error and the filtering error calculated by using UKF.Thenthe approximate estimation of probability density function was implemented by using Renyi entropy together with Parzen window functionand the target information gain was obtained.The target priorityi.e.the threats degreewas introducedand the efficiency function was obtained.Finallythe efficiency function was used to distribute the sensors.The simulation results show that:1) the use of Renyi entropy can represent the high order characteristics of nonlinear system;and 2) Combined with Parzen window functionit can not only maintain accuracy but also reduce the calculation costand can measure the uncertainty of the information in the tracking wellreduce the tracking errorand optimize the tracking performance of the system.

As the development of electronic reconnaissance equipmentthe radars are facing more and more threats in battlefieldthe technology of netted firecontrol radar can protect radar from the threats to some extent.In order to simulate the effect of this technologythe interactive simulation method is used to simulate the netted firecontrol radar target tracking system.Firstthe technology of netted firecontrol radar is introduced.Thena simulation method of netted firecontrol radar target tracking system is proposed based on High Level Architecture (HLA)and the federate abilitythe parametersand the publish / subscribe relationship of simulation system is given.The main flow chart of simulation system is also given.

To solve the problem of maneuvering target detecting and tracking in a low SNR environmenta Track Before Detect (TBD) algorithm combining the auxiliary particle filtering with multiplemodel particle filtering (APFMMPF) was studied.Predict particles in the multiplemodel particle filtering processwhich contained target existence and moving mode variableswere directly used to produce auxiliary variable for conducting auxiliary particle filtering and realizing the detection and tracking of maneuvering target.It could be seen from the simulation result of APFMMPF algorithm and pure MMPF algorithm that: with higher detection probability and smaller tracking errorthe detecting and tracking performance of APFMMPF algorithm was superior to that of MMPF algorithm.Due to the usage of current measurements in the process of sampling particlesthe APFMMPF algorithm can improve the performance of detecting and tracking the maneuvering target.

In order to make full use of the advantages of microwave landing system (MLS) on widerange landing guidancean MLS lateral autolanding control law with automatic path definition was designedwhich could generate an approaching trajectory according to the aircrafts initial position and attitude and control the aircraft towards the runway centerline.Three approaching modes were proposed:single circularS shape and direct centerline approaching.The control laws for the three approaching modes were designed.Simulation shows that the control laws can guide the aircraft towards the centerline of runway under different initial conditions.

An advanced sliding mode control with unidirectional auxiliary surfaces was studied together with exponential approach law.Firstthe switching surfaces were designed for nonlinear systemand unidirectional auxiliary surfaces were designed taking state constraints into account.Then a sliding mode controller with unidirectional auxiliary surfaces (UASSMC) was designed based on the exponential approach law.It was noted that the system states would converge to the switching surfaces in a finite timeand the formula of the convergence time was presented.The simulation results demonstrated that:compared with ordinary UASSMCthe controller based on the exponential approach law can effectively suppress the chatteringand has higher convergence speed.

Shipboard dualaircraft cooperative locating becomes more and more important in modern antisubmarine war(ASW).In this papera proper method based on Euler equation and differential equation is proposed for computing the position of submarine and estimating the locating error for absolute locating and relative locating problems.It solves the error estimation problem well when two antisubmarine helicoptersthe lead and the wing planecooperate with each other for locating submarines.The processes for cooperative locating and its error calculation are presentedwhich is of great significance for ASW.

Aiming at the problems of large calculation amount and obvious error association when traditional plot fusion methods are used for point data association processing in dense clutter environmentwe proposed a new data association method based on point state image processing.Firstlythe imagination of the point measuring was implemented according to sensor detection performance and the estimated target speed rangeand the image of point state was obtained.Secondlythe clutter points were eliminated by using image morphologic processing such as neighborhood connectivity discrimination and so on.Based on the time information included in the points corresponding to the pixel pointsthe classification of the points of different targets was realized by connected component labeling processing.Simulation result shows that the algorithm can avoid the combinatorial explosion in theoryreduce the amount of computationsolve the problem of error associationand improve the accuracy of the data association processing.

Towards discretetime systems with model uncertainty and external disturbancean indirect adaptive fuzzy sliding mode control scheme was developed.Firstlya discretetime exponential reaching law was used to obtain the ideal sliding mode control law.Thentwo fuzzy systems and a third one were used to approximate unknown functions of the system and the switchtype control in the ideal control law respectivelywherein the consequent parameters were adjusted by an online adaptation law with parameter projection.It is proved that the proposed scheme can guarantee that the signals in the closeloop system are bounded and the tracking error may converge to a small neighborhood of the origin.Simulations results showed the effectiveness of the algorithm and the alleviation of the chattering phenomena.

A lowcost attitude estimation method using Extended Kalman Filter (EKF) was proposed for satcomonthemove (SOTM)which taking Quaternion as state variablesand the attitude information was estimated by fusing the angular output of gyrosthe acceleration output of accelerometers and the position and velocity output of twoantenna GPS.The GPSmeasured velocity was used to compensate for the maneuvering accelerationand the sideslip angle was used to further correct the maneuvering acceleration when the vehicle was turning.Experiment results show that the proposed method can combine together the good shortterm accuracy of gyrosthe good longterm stability of accelerometersand the precise position and velocity of GPSwhich is feasible for attitude stabilization of SOTM with the dynamic estimation error controlled within ±0.5°.

Lightguide Optical Element (LOE) based on waveguide principle is a new generation collimation display technique.The advantages of optical waveguide in transmission are integrated into LOE techniqueand collimation display is implemented by modulating incident optical waves and demodulating emergent optical waves.The principle and the development of LOE are introduced in this paper.

To ensure the time determinability of avionics applications based on Commercialofftheshelf (COTS) platform when accessing into AFDX (Avionics Full Duplex switched ethernet) networkan AFDX realtime flow middleware was designed.Using protocol conversion function based on filtering mechanism of intermediate driverthe middleware achieved communications between networks running with different protocol.Core code of frame sequence number (SN) insertion was described.A time scheduling algorithm which has the minimum jitter aimed at VLMultiplexing was proposedby distributing the sendingtime of visual links(VL)it is able to avoid contention on a rate limited physical link.Finallyexperiments were made to test the performance of AFDX realtime flow middleware and the results showed that:the middleware model achieved the format mutual conversion between TCP/ IP protocol and AFDX protocoland the time scheduling algorithm can decrease jitter caused by VL multiplex apparentlywhich ensured the time determinability of AFDX communication.

As to the strategy of penetration against the MissileDefenceSystem for Hypersonic Glide Vehicle (HGV)an approach of lateral weaving maneuver based on threat timewindow was proposed.A damage probability model was established based on the combination of radarmissile and HGV.The exposed Radar Cross Section (RCS) of HGV was controlled by lateral weaving maneuver.The optimal penetration trajectory was designed based on the minimax theorywhich minimized the maximal damage probability of HGV for all the threat timewindows.Simulation was madeand the result demonstrated that this approach can reduce HGVs probability of being damagedand improve its survivability during penetration effectively at the cost of more voyage and time.

The main purpose of this paper is to study Active Disturbance Rejection Control (ADRC) in the present of measurement noise.Estimation error is analyzed for some types of noiseand a filter is designed to reduce the effect of noise.Finallysimulation results demonstrate the main conclusions.

In order to satisfy the requirement of authority and reusability of simulation scenariowe put forward a standardized scenario developing method which is based on two standards. One is abstraction standard of simulation scenario conceptual models based on Conceptual Models of the Mission Spacewith which developers can get simulation scenario conceptual models no bias with military information and establish scientific and authoritative simulation scenario constraint mechanism.The other one is description standard of simulation scenario based on XMLwith which developers can get simulation scenario that has a standard format accepted by simulation industry in order to achieve the goal of reusability. An example is given in simulation applicationwhich proves that the method is rational and efficacious.

The application fields of space camera have extended from earth surveying to planet exploration.As a resulthigher demands are put forward on antiradiation abilityweightpower dissipation and reliability.A space camera controller was designedin which radiationtolerant FPGA RT54SX72S and TSC695F.RT54SX72S were used to realize camera control functions such as row period signals generationOC instruction latchaddress decodingand A/D conversion control latch.In this waythe reliability of the system could be improvedand the weightcubage and power dissipation could be reduced.Realization methods of each module in FPGA and partial VHDL sources were presented.Results of experiments indicated that realization methods of each module were correct and feasibleand the camera controller worked reliablywhich could meet the demand of qualification.

It is difficult to make stereo matching in distance measurement based on binocular visionand the efficiency is low.To solve the problemswe proposed a new method based on corner detecting and manual matching.The basic theory of binocular vision based distance measurement was presented.The cameras were calibratedand stereo rectification of binocular vision system was realized d by using arithmetic of Bouguet.Then the method proposed by J.Shi and C.Tomasi was used to extract the subpixel corner pointswhich belonged to the same featurepoint of the target in the left and right images.Finallythe coordinates of the matched corner points and distancemeasuring formula were used to implement the distance measurement.

Considering the engineering requirement to infrared target simulator of the airborne photoelectricity detection simulation systemwe proposed an implementation scheme based on PID control method by using Single Chip Microcomputer (SCM) and brushless DC motor.The method of the PID parameters adjusting was also studiedand design of the motion control system of the infrared target simulator was realized.The application result showed that the simulator is reliable in operationwhich can satisfy the simulation requirements of infrared target.

It is always hard to derive Jacobian matrix of some kind of nonlinear measurement functions in nonlinear filtering problems.Thusthe application of the iterated extended Kalman filter (IEKF) is much limited.The IEKF is derived through the GaussNewton method in this paperand a new filtering method called derivative free extended Kalman filter (DFIEKF) is presented through introducing secant method into IEKF.In the new method Jacobian matrix is substituted by the secant slope matrixwhich makes it more applicable.The results of digital simulations validate that the precision of DFIEKF is better than EKF and UKFand is slightly better than IEKF.