Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS). One method is based on the Kalman filter (KF), and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.     

Comparison of robust H<Subscript>∞</Subscript> filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system （SINS）. One method is based on the Kalman filter （KF）, and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.     

基于自适应平方根 CKF 的多传感器混合融合算法(英文)

In the normal operation condition, a conventional square-root cubature Kalman filter (SRCKF) gives sufficiently good estimation results. However, if the measurements are not reliable, the SRCKF may give inaccurate results and diverges by time. This study introduces an adaptive SRCKF algorithm with the filter gain correction for the case of measurement malfunctions. By proposing a switching criterion, an optimal filter is selected from the adaptive and conventional SRCKF according to the measurement quality. A subsystem soft fault detection algorithm is built with the filter residual. Utilizing a clear subsystem fault coefficient, the faulty subsystem is isolated as a result of the system reconstruction. In order to improve the performance of the multi-sensor system, a hybrid fusion algorithm is presented based on the adaptive SRCKF. The state and error covariance matrix are also predicted by the priori fusion estimates, and are updated by the predicted and estimated information of subsystems. The proposed algorithms were applied to the vessel dynamic positioning system simulation. They were compared with normal SRCKF and local estimation weighted fusion algorithm. The simulation results show that the presented adaptive SRCKF improves the robustness of subsystem filtering, and the hybrid fusion algorithm has the better performance. The simulation verifies the effectiveness of the proposed algorithms.     

Application of H~∞ control in rudder/flap vector robust control of a ship's course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

Application of H∞ control in rudder/flap vector robust control of a ship＇s course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The ＂2-Riccati＂ equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.     

Research on integrated navigation method for AUV

The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS （Strapdown inertial navigation systems） and DVL （doppler velocity log） is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV （autonomous underwater vehicle） is in motion.     

Numerical method of electromagnetic pulse response of conductor with complex load北大核心CSCD

[Objectives]Electromagnetic pulse can seriously affect and even destroy naval shipborne electronic information systems, weapons, equipment and so on. Due to the complexity of the antenna port load circuit, it is necessary to formulate a numerical method which can easily obtain the antenna load current. [Methods]The induced current of the terminal is obtained on the basis of the finite-difference time-domain (FDTD) and Holland model. According to the Thévenin equivalent circuit, the conductor is equivalent to the voltage source to realize decoupling between the conductor and load end, and the load circuit is solved using Simulink software.[Results]Compared with the traditional terminal model, this method is simple and feasible for high-order circuit processing. The effectiveness of the model is verified using non-linear elements and parallel capacitors and resistors as the load respectively. The results show that the calculation results of this method are consistent with those of the traditional methods. Finally, the antenna of the end-connected protect- or is calculated. The results show that the lead inductance caused by the installation of the protector is an important factor affecting the protection performance.[Conclusions]The method proposed in this paper can greatly reduce the simulation complexity of the coupling current of an antenna with a complex load, giving it useful reference value for the field of ship electromagnetic pulse protection design. © 2023 Editorial Department of Chinese Journal of Ship Research. All Rights Reserved.     

A dual measurement method of strain and temperature

With the rapid development of China's foreign trade, the coastal and inland waterway transport has been increased rapidly. The potential market for marine engines is more and more obvious. The measurement of the engine temperature and strain becomes very important. The fluorescence fiber sensors are broadly used to measure temperature, concentration, and pH value, etc. The fluorescence sensing systems are based on different principles, namely fluorescence intensity, fluorescence intensity ratio, and fluorescence lifetime. The fluorescence lifetime is an effective parameter for sensing purpose, because it is independent of the intensity of the pumping source and does not need expensive narrow-band filters. An experiment system has been established, in which some samples were produced to measure the fluorescence lifetime and temperature characteristics and the relationship of the strain and temperature versus the fluorescence lifetime was achieved at the same time. The experiment result was fitted and analyzed. The test results show that the fluorescence lifetime decreases with the increasing of temperature. The change of fluorescence lifetime with the strain is inconspicuous comparing to that with the temperature.     

驱逐舰烟气排放过程数值仿真及同模型试验比较研究(英文)

The exhaust smoke dispersion for a generic frigate is investigated numerically through the numerical solution of the governing fluid flow, energy, species and turbulence equations. The main objective of this work is to obtain the effects of the yaw angle, velocity ratio and buoyancy on the dispersion of the exhaust smoke. The numerical method is based on the fully conserved control-volume representation of the fully elliptic Navier-Stokes equations. Turbulence is modeled using a two-equation(k-ε) model. The flow visualization tests using a 1/100 scale model of the frigate in the wind tunnel were also carried out to determine the exhaust plume path and to validate the computational results. The results show that down wash phenomena occurs for the yaw angles between ψ =10° and 20°. The results with different exhaust gas temperatures show that the buoyancy effect increases with the increasing of the exhaust gas temperature. However, its effect on the plume rise is less significant in comparison with its momentum. A good agreement between the predictions and experiment results is obtained.     

Research on vibration and near-field soundradiation of ring-ribbed cylindrical shell coated deadening and decoupling materials

The research on structural vibration and sound radiation of underwater ring-ribbed cylindrical shell, which is coated with a kind of deadening and decoupling materials, becomes a focus in recent years. This paper analyzes the problem on two aspects: model experiment and numerical calculation. The model experiment is carried out including three cases firstly, in which the structural vibration response and radiating acoustic field are measured respectively, and the results gained in these three cases are analyzed to discuss the effect of reducing structural vibration and radiating noise of the deadening and decoupling materials. The coupling FEM/BEM and the SEA methods are both used in numerical calculation, i.e. the arithmetic of the coupling FEM/BEM method is adopted to calculate the low frequency characteristics and the SEA method is adopted to calculate the medium-high frequencies characteristics of the model. By comparing experimental results with numerical calculation results, it is proved that the algorithm adopted in this paper is reasonable.     

Numerical modeling of exhaust smoke dispersion for a generic frigate and comparisons with experiments

The exhaust smoke dispersion for a generic frigate is investigated numerically through the numerical solution of the governing fluid flow, energy, species and turbulence equations. The main objective of this work is to obtain the effects of the yaw angle velocity ratio and buoyancy on the dispersion of the exhaust smoke The numerical method is based on the fully conserved control-volume representation of the fully elliptic Navier-Stokes equations. Turbulence is modeled using a two-equation （k-ε） model The flow visualization tests using a 1/100 scale model of the frigate in the wind tunnel were also carried out to determine the exhaust plume path and to validatc the computational results. The results show that down wash phenomena occurs for the yaw angles between ψ=10° and 20°. The results with different exhaust gas temperatures show that the buoyancy effect increases with the increasing of the exhaust gas temperature. However, its effect on the plume rise is less significant in comparison with its momentum. A good agreement between the predictions and experiment results is obtained.     

Application of large eddy simulation in the performance study of wave blocker

The configuration and aerodynamic performance of the inlet system are important aspects in the process of installing a gas turbine on a naval vessel. Under the requirements, large eddy simulation （LES） is used to simulate the three-dimensional fluid flow in the wave blocker of a marine inlet filter. The Smagorinsky-Lilly sub-grid model was used to model motions of small-scale structures. During numerical simulation, the SIMPLE algorithm was applied. The central-differencing spatial discretization scheme and the second order accuracy finite difference for the temporal discretization were used. Simulation gives satisfactory distribution of the vorticity fields and turbulent kinetic energy. Compared with the k-ε turbulent model, the results of LES are better for the distribution of parameters. The results of experimental study in a small-scale wind tunnel indicate that numerical calculation has higher accuracy. Therefore, the methods used are worthy of reference and introduction for the design of an inlet system.     

A nonlinear model reference adaptive inverse control algorithm with pre-compensator

In this paper, the reduced-order modeling （ROM） technology and its corresponding linear theory are expanded from the linear dynamic system to the nonlinear one, and H∞ control theory is employed in the frequency domain to design some nonlinear system＇ s pre-compensator in some special way. The adaptive model inverse control （AMIC）theory coping with nonlinear system is improved as well. Such is the model reference adaptive inverse control with pre-compensator （PCMRAIC）. The aim of that algorithm is to construct a strategy of control as a whole. As a practical example of the application, the nunlerical simulation has been given on matlab software packages. The numerical result is given. The proposed strategy realizes the linearization control of nonlinear dynamic system. And it carries out a good performance to deal with the nonlinear system.     

FEA for designing of floating raft shock-resistant system

Choosing the equipment with good shock-resistant performance and taking shock protection measures while designing the onboard settings, the safety of onboard settings can be assured when warships, especially submarine subjected to non-contact underwater explosion, that is, these means can be used to limit the rattlespace (i. e. , the maximum displacement of the equipment relative to the base) and the peak acceleration experienced by the equipment. Using shock-resistant equipments is one of shock protection means. The shock-resistant performance of the shock-resistant equipments should be verified in the design phase of the equipments. The FEA (finite element analysis) software, for example, MSC. NASTRANw, can be used to verify the shock-resistant performance. MSC. PATRAN and MSC. NASTRAN are used for modeling and analyzing the floating raft vibration isolating equipment. The model of the floating raft and the floating raft vibration isolating system are theoretically analyzed and calculated, and the analysis results are in agreement with the test results. The transient response analysis of the system model follows the modal analysis of the floating raft vibration isolating system. And it is used to verify the shock-resistant performance. The analysis and calculation method used in this paper can be used to analyze the shock-resistant performance of onboard shock-resistant equipments.     

Flow resistance characteristics of water in narrow annulus during heat exchange

Considering the special resistance characteristics of fluids flowing through ducts with small gaps, experiments are per-formed to investigate the resistance characteristics of single-phase water, which is forced to flow through vertical annuli. The gap sizes are 0.9, 1,4 and 2.4ram, respectively. The experiments are conducted under condition of 1 atm. The water in the annuli is heated by high temperature water reversely flowing through the inner tube and the outer annulus. The results show that the flow pattern begin to change from laminar to turbulent before Reynolds number approaches 2000, the flow resistance in annulus has llttie relations with the temperature difference and ways of being heated, but mainly depends on the ratio of mass flux to the width of annulus.     

Analysis of ultimate uniaxial compressive strength of stiffened panel considering influence of shear load北大核心CSCD

［Objective］This study aims to explore the law of the critical compression stress of stiffened panels under the influence of in-plane shear load, and whether in-plane shear load combined with lateral pressure will introduce a strong coupling effect. ［Method ］ To this end, nonlinear finite element (FE) software ABAQUS is used to perform numerical simulation analysis under combined loads on a group of FE models. A limit state equation/curve is then derived from the dimensionless calculation results based on the minimum square error method. ［Results］The results show that the influence law of in-plane shear load on the critical compression stress of stiffened panels is clarified, and a limit state equation of stiffened panels that considers the effect of shear load is obtained. ［Conclusion］The limit state equation in this paper can provide references for modifying the ultimate strength of stiffened panels under the influence of in-plane shear load. © 2023 Chinese Journal of Ship Research. All rights reserved.     

An Experimental Investigation on the Stability of Foundation of Composite Vertical Breakwaters

A series of 2D model tests were conducted to assess the foundation stability of composite vertical breakwaters. In this paper, the results from the experimental study are presented conjointly with a formula to estimate the stability number of foundation, which is the most important parameter for evaluation of foundation stability of such structures. The influences of wave height, wave period and the berm width on the stability of composite breakwaters with different armor stone sizes were investigated. Forty-five tests were performed to cover the influences of these parameters. According to the present research, berm width is a significant parameter concerning erosion of armor foundation. As the berm width increases, the amount of berm erosion decreases. Comparisons are made between results of present study and the estimated stability number proposed by Kimura et al.(1994), which is extension of Tanimoto formula. Results show that the later formula underestimates the stability number. However, by applying an enhancement factor about 1.7 meters to Kimura et al. formula, results correlated with the present experimental results..     

Robust autopilot with wave filter for ship steering

Research was done to overcome traditional problems associated with automatic steering systems of a ship in a seaway. A ship＇ s dynamic model with wave disturbances was built and a wave filter was designed by means of an extended states observer （ESO）. The model estimated the low frequency motion component from a heading measurement corrupted by colorednoise, so back-and-forth steering caused by high frequency wave disturbances was avoided. At the same time, a robust autopilot system, designed by variable structure control theory, was presented. Simulation results achieved in dangerous sea status show that the wave filter works very well and the autopilot has strong robustness to environmental disturbances and model perturbation, and more importantly, the frequency of rudder adjustments is reduced noticeably.