A self-organizing framework is proposed for collaborative multi-UAV teams working with a small group of human operaters to execute a range of military missions under dynamic environment.The combat system is consisted of a two-layer hierarchical control architecture and a five-layer function architecture which facilities the autonomous cooperative control of UAV groups at different levels and insures the unity of command the flexibility of control and the expandability of system.A flexible communication structure is adopted to respond to the uncertainty of battlefield.The optimal configuration of resources is driven by the emergent behaviors resulted from local interactions among the unmanned assets and the distributed task planning among functional formations from bottom to top while dynamic adaptive optimization of C2 organization structure is realized from top to bottom thus can optimize the C2 structure and integrate the battlefield resources effectively.

The design problem of the terminal guidance law for intercepting high-speed maneuvering target considering the second-order dynamic characteristics of the autopilot was discussed.A local stability theory was proposed and was used in analysis of the system state variables.According to the influence of variables on the guidance effect the system was divided into two subsystems.Then we designed the Lyapunov function for the subsystems and proved their stabilities and launched the global stability from the local stability.Throughout the whole design process only the change of line-of-sight rate was taken into consideration which simplified the design process greatly.The design of the guidance law could effectively overcome the impact of the autopilot dynamic delay on guidance accuracy.The simulation results show that when the target is making maneuver and there is a large lag in the autopilot the guidance law still has a high guidance precision.

Considering the fact that the target tracking problems are always modeled by a linear system equation and a non-linear measurement equation we proposed a Reduced Square-root Cubature Kalman Filter (RSCKF) to improve the estimation accuracy and the real-time performance.The simplified algorithm utilizes state transition matrix to calculate one-step prediction value of state variable and covariance matrix in time update step which avoids the complex process of the original algorithm.According to theoretical derivation the value of time update step in the simplified SCKF is the same as that of the one-step prediction of the Kalman filter.Finally the two algorithms were used in bearing-only tracking experiment and the complexity was analyzed quantitatively.Simulation results show that the new algorithm can reduce the operation time effectively and improve the tracking accuracy.

Based on analyses to the key sections of the process of warship formation collaborative air defense the models of collaborative detection collaborative guidance collaborative command and control and collaborative times of interception were built up.The interception effectiveness of warship formation air defense was obtained through simulation which verified the correctness of the effectiveness evaluation model.

To solve the problems of low yaw observability low attitude estimation precision and easily diverged estimated angles in the integrated navigation a low-cost attitude estimation algorithm based on the integrated navigation aided by the yaw of the single baseline GPS is proposed.The model adopts integrated navigation estimation model with 9 states as the system states.A method of conversion between the quaternion and the Rodrigues parameters is adopted to avoid the weighted average calculation of the quaternion and the single covariance.A method of assisted GPS track angle is proposed to improve the observability of yaw angle and the performance of the algorithm.An adaptive UKF is proposed to improve the applicability of the algorithm and overcome the low precision and easily diverging problems of the EKF.As a result accurate and real-time attitude estimation is eventually realized.The precision of the algorithm is higher than that of the EKF.The maximum estimation error is within 0.5°, and the RMS of attitude estimation values are less than 0.36° which meets the requirement of the beam alignment for Mobile Satellite Communications.

Once an actuator fault happens on a multi-rotor Unmanned Aerial Vehicle (UAV) the safety of the multi-rotor UAV the ground crew and the surroundings would be under threat.Fault reconstruction for actuator faults of multi-rotor UAV is beneficial to realize the fault-tolerant control and can improve the UAV safety and reliability.Firstly the actuator faults of the multi-rotor UAV is classified two kinds of faults such as actuator stuck and failing are analyzed and mathematical model of hexa-copter under actuator faults is built up.Secondly fault reconstruction based on adaptive observer is designed.By selecting suitable adaptive law the nonlinear observation parameters can be regulated automatically and the reconstruction to the fault information can be achieved accurately.The simulation validates the accuracy of the fault reconstruction methods.

It is difficult to detect a target with a low speed since it may drop into main lobe clutter in both time domain and frequency domain. A multi-channel SAR-GMTI algorithm was proposed to solve this problem which can suppress the clutter with Displaced Phase Center Antenna (DPCA) estimate the parameters of moving target with Fractional Fourier Transform (FrFT) and acquire the scene image by constructing the azimuth compression function. The proposed approach takes full advantages of the abundant information of three channels makes use of the ideal clutter cancellation capability of DPCA technique and the fine energy focusing ability of the FrFT which can estimate the parameter of moving target accurately including radial acceleration. The results of the simulation indicate the effectiveness of the methods.

In order to solve the problem that HRGs output may not satisfy the stability requirement of time series analysis an improved time series-grey prediction method based on empirical mode decomposition was proposed.This method combined empirical mode decomposition with time series modeling and grey prediction.First the empirical mode decomposition was used for preprocessing the original signals of the gyro and separating the trend part from random part.Then the stability of the signals was analyzed and time series analysis and grey prediction were used to model and predict the data according to the result of analysis.At last the final prediction result was obtained by reconstructing the prediction result.Simulation results demonstrate that the prediction effect of this method is better than the one using time series analysis alone.

Most sea-land segmentation algorithms may result in wrong segmentations or lots of isolated areas due to the use of single feature for image processing which makes it difficult for subsequent processing.To solve the problem an improved algorithm for different kinds of land is proposed which combines the features of gray level gradient and texture together.First suitable features are selected to segment the sea and land generally which is followed by morphology processes.Then pixel labeling and texture clustering are used to make the result of sea-land segmentation better by removing the isolated areas.Finally land is shielded by using histogram statistics method.The algorithm proposed makes the detection rate and accuracy higher than 99%.The time spent is only half of the other algorithms.The results show that this algorithm can segment the sea and land and shield the land exactly and effectively and can also make it convenience for subsequent processes.

Traditional approaches for detecting the changes in remote sensing images are mainly based on spectral information of the original images without utilizing other derived features thus may result in low detection accuracy and low integrity.To solve this problem we proposed an algorithm for detecting the changes of remote sensing images based on object-oriented idea and adaptive multi-features fusion.First the eCognition was used to realize image segmentation and extract the spectral textural feature and space characteristics.A neural network was built up to realize adaptive multi-features fusion and the final detection results were obtained.The experimental results show that adaptive multi-feature fusion method can reduce the probability of missing detection and false detection and improve the accuracy and integrity of the detection result.

Aiming at the dynamic characteristics of topological structure for wireless sensor network and the fault-tolerant requirement of target detection by means of demand analysis to the network node characteristics network model and the wireless channel model some definitions and related mathematical model are given.On which basis a fault tolerant target detection and localization strategy in the presence collaborative sensor network is proposed which is composed of 3 phases as target region monitoring target monitoring and positioning and base station communication positioning.The principle of the method is that the target signal intensity received by sensor node is taken as the observation value and the average of observation value sequence of the surrounding nodes as local observation through local information exchange.Thus the qualified and excellent sensor nodes and the base station node communication are selected.Finally the target is localized precisely through two types of sensor node with good fault-tolerant performance and positioning accuracy.The simulation results verify the correctness and effectiveness of the proposed method from fault-tolerant ability evaluation and positioning accuracy.

Considering the high complexity of traditional camera calibration process and the low accuracy of three-dimensional measurement we proposed a kind of binocular visual 3D measurement method based on projection line and a calibration method based on Neural Network.According to the characteristics of camera imaging the projection straight line equation was calculated by two points on the calibration plane.To the complex distorted model of camera imaging the powerful ability of BP neural network for fitting the complicated nonlinear mapping relation was used for left and right cameras implicit calibration at the far and near distance calibration planes and mapping relationship between two-dimensional physical coordinates of plane template and pixel coordinates of image was obtained.A test platform was designed and established, and grid template training samples were obtained by using the manual assisted method.This calibration method is fully applicable to the large field-of-view close range high-precision binocular vision sensor.Test results show that the measuring error of known length in the space is about 0.109 mm and the system has a high measuring accuracy.

Wave Division Multiplexing (WDM) technologies may be adopted as integrated interconnection in avionics systems especially as real-time network in their sensor front-end signal processing.In term of the structure of wave-length router which is a key part in airborne WDM network the real-time communication traffic characteristics and priority-queuing were modeled with corresponding methods to calculate parameter features such as burstiness and service latency.A kind of network calculus method for computing event-triggered traffic flows’ end-to-end delays in the worst case was presented under the pressure of higher priority-queuing time-triggered messages.The calculation result obtained could be used in analysis of the time-deterministic performance in airborne multi-hop WDM networks.It was found that the changing of the worst case analysis results was coincided with that of the software simulation result through comparison which proves the effectiveness of the method.

The tracking of the maneuvering spatial target was studied.A maneuvering spatial target tracking model applying bearing-only measurements was proposed with consideration of the influence of J2 perturbation and the system state model of the maneuvering target.The square-root version of the Cubature Kalman Filter (SCKF) was introduced for target tracking.According to the different maneuvering modes of the target the estimation accuracy of SCKF under different way of maneuvering was analyzed through computer simulation.The simulation result show that when the maneuverability of target is the same, coplanar orbital maneuvering is more easily to make the filter diffuse than non-coplanar orbital maneuvering.Comparison of four maneuvering modes show that SCKF is most sensitive to transverse maneuvering and the maneuvering along the path between detector and target is most likely to be tracked stably again.

Infrared focal plane array device inevitably exists bad pixels due to the impact of manufacturing materials technology and other factors which may reduce the image quality and affect the detection probability and false alarm rate of the system.In this article analysis is made to the characteristics of the bad pixels and their generating mechanism.An algorithm for detecting bad pixels by analyzing multiple frames of the image is presented.The simulation results show that this method is simple reliable and easy for implementation.Finally median filter is used to compensate the bad pixels detected.

In the laser inertial navigation system signal acquisition circuit is required to have high acquisition precision and small size.A simple method for designing data acquisition circuit with high precision and small size is presented here.FPGA is used in the method for acquiring laser gyro output signal and FIR filtering and I/F circuit is used to convert the quartz flexible accelerometer output current signal into frequency signal.The paper describes the design process of the circuit hardware and software of the signal acquisition circuit including I/F circuit design and FIR low-pass filter design.The correctness of the design is verified through a final experiment.

Aiming at the optical scanning of wide field-view with high speed a large angle electro-optic scanner was designed based on the deflecting property of the prism domains.It mainly consists of one parabola deflector and ten half-parabola deflectors with cascaded ferroelectric prism domains.By design optimization the structure parameters of scanner were given and the overall size of scanner is 130.0 mm×16.0 mm×0.5 mm.When the applying electric field is ±10.09 V/μm the deflecting range is ±30.6°.Using the beam propagation method (BPM) the capability of scanning was evaluated and the simulation results show that the deflector has good deflecting properties.The simulation analysis is consistent with the theoretical calculation.

Fuzzy interference was used to identify the parameters of Stribeck friction compensation model online and make it infinitely approximate to the real friction interruption in numerical value.A servo system friction compensation model was built up and simulation was made to verify the validity of the method.In addition a comparison was made to the tracking errors with and without friction compensation by using a highly accurate optical-electro tracking system and the friction compensation effect was further verified.Experiment result showed that:1) The wave aberration of zero passage basically disappeared and the tracking error was reduced to 20% of the original value;and 2) The low speed tracking performance was improved dramatically.

Sideslip angle is one of the important flight status parameters.Considering the true aircraft flight status a method for estimating the civil aircraft sideslip angle based on quick access recorder (QAR) data was proposed by selecting magnetic heading drift angle wind direction wind speed ground speed pitch and some other parameters from the QAR.The aircraft under the influence of westerly was taken as an example and the sideslip angle estimation procedure was derived by analyzing wind triangles of four kinds of heading and using the transform relationship among the earth-surface inertial reference frame body reference frame and wind coordinate frame.Finally a piece of QAR data was selected to estimate the sideslip angle.The result shows the effectiveness of this method.

In current civil aircrafts many cables are used in cabin lighting system which may result in too heavy weight and make it difficult for trouble-shooting and maintenance.To solve the problem dual-channel ARINC825 digital bus architecture was designed for the cabin lighting system of civil aircrafts. The rewired architecture was compared with the original hardwire architecture and the result showed that the architecture based on ARINC825 digital bus can greatly optimize the cabin lighting system.

Directional warhead is an important measure for improving the target damaging capability of air to air missiles.Analysis is made to the capability of eccentric initiation warhead deformable warhead and aimable warhead and the application of the three kinds of warheads on air-to-air missiles is studied from overall design viewpoint.The result shows that the eccentric initiation warhead and deformable warhead have high feasibility to be used on air-to-air missile from the aspects of overall design performance and flexibility.

Aircraft cockpit display system has developed from traditional 2D to multi-dimensional display mode. As a human-computer interface development tool VAPS XT can improve the design efficiency of cockpit display but does not support 3D display design directly. We proposed a scheme for second development of VAPS XT which supports basic 3D cockpit display simulation design with default VAPS XT configuration by use of OpenGL library and DEM elevation database thus to realize 3D cockpit display development with VAPS XT. This paper introduces the development process of 3D cockpit display with VAPS XT including the user development process data processing of 3D terrain database coordination transformation and foundation of rendering process. The whole process can be applied as new way for cockpit human-machine interface development. The simulation result shows that the process is an effective and convenient verification technology for 3D cockpit display design and simulation.