基于IMU标定补偿的列车组合定位优化方法

GNSS/INS组合方式是下一代列控系统定位技术的发展趋势,但由于惯导系统累计误差较大,使得列车处于卫星信号失锁环境下定位性能降低。为解决这个问题,针对微机械惯性测量单元IMU确定性误差的3个主要误差项:非正交误差、零偏误差、刻度因数,建立加速度计和陀螺仪的误差模型,在此基础上详细推导标定原理并提出标定方案。将误差补偿结果应用于京沈高速铁路试验现场并由试验结果分析可知:该方法能有效提高IMU的测量精度,相较于补偿前测量误差降低80%以上;补偿之后的惯导系统在40s时间内的导航速度误差小于1m/s,位置误差在10m之内,满足定位需求,具有实际意义的工程应用价值。     

青藏铁路综合视频监控系统室外摄像机抖动频率特征分析

青藏铁路沿线多处区段常年多风,导致安装在铁塔高处的长焦摄像机产生抖动引起图像模糊,因此使用的长焦摄像机应具有防抖功能。而多个摄像机、镜头等生产厂家,均无法提供其电子防抖性能的具体参数指标,或无法给出光学/机械防抖性能参数指标来源。通过提出采用SURF算法提取匹配图像的特征点,介绍算法原理和算法实现过程,并开展算法验证和试验分析,得出大风天气条件下,青藏铁路沿线室外摄像机主要抖动频率区间为2~10 Hz。研究成果对标定摄像机的防抖性能指标具有重要参考意义。     

复合盾构土舱可视化实时监测系统研究

为了在复合盾构掘进过程中实时监测土舱的情况,获得刀盘的旋转状态、刀具的磨损状况、开挖地层的图像信息和渣土的流动特性,建立一套土舱可视化实时监测系统,该系统通过上位机监控系统实时监测前端设备的工作状态,并将摄像机采集的信号实时传输到视频采集系统。介绍该系统方案,重点探讨其结构设计、硬件设计、软件设计,并通过室内和现场试验进行验证该系统的有效性。结果表明,该系统可实现土舱的实时视频监控、录像、回放以及系统温度、湿度和压力的监测。     

通过三峡升船机的船舶排水量校验技术

受三峡升船机船厢结构强度的限制以及防止船舶发生触底,通过升船机的船舶排水量不能超过3 000 t,但目前行业内暂无相应的船舶排水量快速校验方法。通过分析不同类型船舶三维尺度与排水量的对应关系,以船舶方形系数为关键点,得出快速计算船舶总排水量的经验公式,并通过实例验证,从而提出校验三峡过坝船舶排水量的校验方法。结果表明,船舶排水量计算经验公式精度符合要求,提出的校验方法快速、准确。     

新型负阶跃动态扭矩校准装置

针对扭矩传感器静态校准无法完全满足实际需要的难题,设计一种新型100 N·m负阶跃动态扭矩校准装置,并阐述该装置的工作原理和关键技术。校准装置由扭矩产生装置、连接系统、制动系统、信号处理控制系统和空气轴承系统组成,利用火工拔销器产生负阶跃动态扭矩,较大程度上降低负阶跃动态扭矩的下降时间,并采用空气轴承的支承方式提高动态扭矩的传递精度。通过对试验数据进行分析和处理,结果表明该装置负阶跃扭矩产生时间低于0.1 ms。不确定度分析结果显示,该装置的扩展不确定度U为4.22%,扩展因子k为2。     

基于粒子群算法的水下多元线阵阵形有源校正方法

针对存在阵元位置误差的水下多元线阵,提出一种基于粒子群优化算法的远场有源阵形校正方法.该方法选用2个辅助源分时工作方式,利用无条件最大似然方位估计算法构建目标函数,并通过粒子群算法对阵元位置进行寻优.利用该方法对均匀线阵进行性能仿真实验.结果表明:该方法稳健性好、校正精度高,具有一定的应用前景.     

A methodology for evaluating the performance of model-based traffic prediction systems

Model-based traffic prediction systems (mbTPS) are a central component of the decision support and ICM (integrated corridor management) systems currently used in several large urban traffic management centers. These models are intended to generate real-time predictions of the system’s response to candidate operational interventions. They must therefore be kept calibrated and trustworthy. The methodologies currently available for tracking the validity of a mbTPS have been adapted from approaches originally designed for off-line operational planning models. These approaches are insensitive to the complexity of the network and to the amount and quality of the data available. They also require significant human intervention and are therefore not suitable for real-time monitoring. This paper outlines a set of criteria for designing tests that are appropriate for the mbTPS task. It also proposes a test that meets the criteria. The test compares the predictions of the mbTPS in question to those of a model-less alternative. A t-test is used to determine whether the predictions of the mbTPS are superior to those of the model-less predictor. The approach is applied to two different systems using data from the I-210 freeway in Southern California.     

Validation of an extended discrete first-order model with variable speed limits

This paper validates the prediction model embedded in a model predictive controller (MPC) of variable speed limits (VSLs). The MPC controller was designed based on an extended discrete first-order model with a triangular fundamental diagram. In our previous work, the extended discrete first-order model was designed to reproduce the capacity drop and the propagation of jam waves, and it was validated with reasonable accuracy without the presence of VSLs. As VSLs influence traffic dynamics, the dynamics including VSLs needs to be validated, before it can be applied as a prediction model in MPC. For conceptual illustrations, we use two synthetic examples to show how the model reproduces the key mechanisms of VSLs that are applied by existing VSL control approaches. Furthermore, the model is calibrated by use of real traffic data from Dutch freeway A12, where the field test of a speed limit control algorithm (SPECIALIST) was conducted. In the calibration, the original model is extended by using a quadrangular fundamental diagram which keeps the linear feature of the model and represents traffic states at the under-critical branch more accurately. The resulting model is validated using various traffic data sets. The accuracy of the model is compared with a second-order traffic flow model. The performance of two models is comparable: both models reproduce accurate results matching with real data. Flow errors of the calibration and validation are around 10%. The extended discrete first-order model-based MPC controller has been demonstrated to resolve freeway jam waves efficiently by synthetic cases. It has a higher computation speed comparing to the second-order model-based MPC.     

基于双轴位置转台的捷联惯导系统级标定技术

本文研究一种基于双轴位置转台的激光陀螺捷联惯导系统的系统级标定方法。建立了附加约束条件的陀螺和加速度计标定模型,从捷联惯导系统的误差方程出发,建立30维Kalman滤波标定模型,以速度和位置作为观测量,并设计双轴位置旋转路径,对惯性仪表标定参数进行激励与辨识。仿真实验结果表明,该方法能够准确估计出陀螺和加速度计的15个标定误差参数,具有一定的参考价值。     

双塔双索面稀索斜拉桥加固设计

以南阁大桥的主桥斜拉桥加固为工程背景,基于将挂梁与主跨相邻35m工字梁作为整体来计算桥梁结构损伤程度校验系数的研究现状,考虑将挂梁作为单独受力的简支梁置于两侧斜拉桥框架上来计算校验系数,并据此校验系数判定桥梁的损伤程度,对旧桥进行加固设计。