基于格型递归最小二乘算法的船舶运动极短期预报

在最小二乘方法(RLS,recursive least square)的基础上,提出利用格型递归最小二乘(LRLS,lattice recursive least square)算法对AR模型参数进行自适应估计.该算法为模块式的多极格型结构,降低了一般RLS算法的计算复杂度.利用实测的动态数据结合AIC准则建立自适应AR预报模型,并将该模型应用于船舶运动预报中,仿真结果表明,相对于最小二乘算法,基于LRLS算法的AR预报模型可有效提高船舶运动预报精度.     

基于最小二乘和广义最小二乘的系统偏差估计研究

多传感器数据融合首先要解决误差配准问题,来估计系统偏差并消除它.把最小二乘理论运用于多传感器数据融合,能够得到系统偏差估计.分析最小二乘(LS)和广义最小二乘(GLS)的原理,并对两种算法进行了比较.     

基于IDMA的水声通信自适应Turbo迭代接收机技术研究

有效的多用户多址接入方式一直是水声通信网络研究的重点与难点;在十分有限的水声可用带宽条件下常规的基于频分技术的多址接入方式并不适用;而基于CDMA的码分多址接入方式则又存在着严重的难以克服的远近效应问题,且水声信道的多途效应使接收信号产生严重的码间窜扰(ISI)。针对以上问题,本文提出了基于交织分多址接入(IDMA)的自适应Turbo迭代接收机技术的研究。接收机采用联合均衡过程和译码过程的Turbo迭代接收机,通过迭代的方式获得反馈的外信息从而提高系统性能。针对未知参数的信道,采用递归最小二乘(RLS)自适应均衡算法对信道参数迭代估计,从而指导均衡器消除码间窜扰(ISI)。RLS算法利用每次迭代译码器反馈的外信息再次估计信道参数,直接的增加了除训练序列外的可利用数据长度,从而提高估计精度。通过仿真得出在未知信道条件下接收机的性能比已知信道系统接收机的性能降低0.4 d B。     

基于QR分解的低复杂度RLS算法研究

为避免RLS算法在迭代过程中的数值发散现象,研究了复数域下基于QR分解的RLS估计算法,推导了基于Givens旋转的免开方、免除法的逆QR-RLS算法,通过变换可直接得到滤波系数更新所需增益向量,避免了QR-RLS算法的回代运算,同时消除了逆QR-RLS算法在每次迭代时的N次开方、2N次除法运算,有效降低了运算量。     

基于多传感器递推总体最小二乘融合的水下机器人动力学模型参数辨识

对于水下机器人动力学模型辨识问题,如果其观测方程的系数矩阵包含随机扰动,则其最小二乘估计一般是有偏的。为此,该文提出一种基于多传感器递推总体最小二乘融合的水下机器人动力学模型辨识算法(RTLS_F)。首先,给出了集中式总体最小二乘融合的算法;然后,在总体最小二乘框架下,推导出多传感器递推融合估计算法。通过仿真实验对RTLS_F与其它水下机器人动力学参数辨识算法进行了比较。实验结果表明,在系数矩阵和观测向量都含有误差的情况下,最小二乘融合是有偏估计且难以提高估计精度,而RTLS_F算法可以有效改善参数辨识性能。     

变遗忘因子稀疏正则化TLS算法MIMO信道线性均衡

针对稀疏MIMO信道系统模型线性均衡过程中输入信号,输出信号都含有噪声的情况提出了一种变遗忘因子的稀疏正则化总体最小二乘算法(VFF-SRTLS)。本算法中采用总体最小二乘(TLS)的代价函数即瑞利商加入正则化的l_1范数和l_0范数作为其代价函数,并利用次梯度下降法产生的迭代式用以更新均衡滤波器系数,使均衡过程中代价函数最小;同时为了使算法能够适应信道快变环境而采用变遗忘因子(VFF),并且根据最速下降法得到遗忘因子的迭代式。仿真结果表明,在信噪比为10 d B的2×2 MIMO线性均衡过程中VFF--RTLS算法的收敛MSE值比RLS算法低约2 d B,VFF-l_0-RTLS算法的收敛MSE值比RLS算法低约1.5 d B。     

一种单站纯方位跟踪中的非线性最小二乘方法

对纯方位跟踪问题进行了描述,通过建立模型,设计求解算法,提出了一种解纯方位跟踪问题的非线性最小二乘方法,并将它与解纯方位跟踪问题的线性最小二乘方法进行了比较与仿真分析。仿真结果表明,非线性最小二乘方法具有较高的估计精度,是一种有效的算法,对潜艇实施隐蔽探测与跟踪具有重要意义。     

水声纯方位目标跟踪快速收敛算法

基于EKF的纯方位目标状态滤波器的性能依赖状态初值的选取,为了有效地提高估计的收敛速度,提出了一种滤波器状态初始化方法.首先,简要阐述了修正极坐标系下的推广卡尔曼滤波算法(EKF).然后,基于非线性最小二乘法的思想,推导了一种滤波器状态初始化方法.针对实际应用背景,提出一种组合滤波器结构并进行了仿真验证.结果表明,该算法收敛速度快,滤波精度与EKF相当.     

快速卡尔曼滤波算法在目标跟踪中的应用

介绍一种快速卡尔曼滤波算法,对于一般的递归最小二乘自适应算法(RLS算法)来说有着更快的计算速度,同最小均方自适应算法(LMS算法)相比计算量差不多,该算法用统计模型(时间序列)来代替状态方程,大大减少了算法的复杂度,在速度估计的时候采用时间序列模型方法进行速度估计,通过Matlab仿真,证明在一定情况下此方法有效、可行。     

参数辨识在船舶运动控制中的研究与应用

本文以系统辨识的方法,对船舶运动模型--KT方程的参数进行辨识.通过分别研究最小二乘法和遗传算法在船舶运动方程参数辨识中的应用,提出了一种结合最小二乘法和间接模型参考自适应法的混合辨识算法,并经仿真实验数据的辨识结果分析,有力地证明了本方法的可行性和合理性.     

Method for improving RLS algorithms

The recursive least-square (RLS) algorithm has been extensively used in adaptive identification, prediction, filtering, and many other fields. This paper proposes adding a second-difference term to the standard recurrent formula to create a novel method for improving tracing capabilities. Test results show that this can greatly improve the convergence capability of RLS algorithms.     

神经网络在组合导航定位算法中的应用研究

针对无源北斗1号/惯导组合导航系统滤波定位算法,文章提出并设计了神经网络及其训练算法RLS,用其输出修正组合导航滤波输出结果,提高组合导航系统的定位精度。通过仿真验证了此方案的可行性,并能有效提高北斗1号组合导航系统的定位精度。     

基于线性预测方法的水声信道最小均方误差盲均衡

The problem of blind adaptive equalization of underwater single-input multiple-output (SIMO) acoustic channels was analyzed by using the linear prediction method.Minimum mean square error (MMSE) blind equalizers with arbitrary delay were described on a basis of channel identification.Two methods for calculating linear MMSE equalizers were proposed.One was based on full channel identification and realized using RLS adaptive algorithms,and the other was based on the zero-delay MMSE equalizer and realized using LMS and RLS adaptive algorithms,respectively.Performance of the three proposed algorithms and comparison with two existing zero-forcing (ZF) equalization algorithms were investigated by simulations utilizing two underwater acoustic channels.The results show that the proposed algorithms are robust enough to channel order mismatch.They have almost the same performance as the corresponding ZF algorithms under a high signal-to-noise (SNR) ratio and better performance under a low SNR.     

波浪运动补偿平台广义升沉位移的实时预报

具有波浪运动补偿功能的稳定平台可有效减少船舶在风浪中的摇摆和升沉运动对某些海上作业和设备的影响.为了有效地进行波浪运动补偿,需要对该平台的广义升沉位移(横摇、纵摇以及升沉的耦合作用结果)进行极短时预报.本文采用时间序列分析理论中的自回归(AR)模型作为预报模型,对波浪运动补偿平台的广义升沉位移进行极短时预报.在以往的研究中,通常采用递推最小二乘法AR模型进行在线参数估计.但是采用递推最小二乘法进行参数估计容易引起参数爆发,从而影响AR模型的稳定性.针对该问题,本文采用阻尼递推最小二乘法对AR模型进行在线参数估计,并结合实验获得的平台控制点的广义升沉位移数据进行实时建模预报.仿真结果表明,采用阻尼递推最小二乘法进行参数估计能抑制参数爆发,并能提高AR模型实时预报精度.     

Estimation of the surface and mid-depth currents from Argo floats in the Pacific and error analysis

With the large deployment, the Array for Real-time Geostrophic Oceanography program has great potential for measuring the ocean currents both on the surface and at mid-depth. However the positioning error of fixes in a trajectory varies from 150 m to 1000 m, and thus created difficulty for accurate estimations of the surface and mid-depth currents. Also the reliability of the estimated surface and mid-depth currents requires accurate error estimations.In this study a new sequential method of Argo float surface trajectory tracking and extrapolating is proposed based on Kalman Filter (KF), under the presumption that a surface trajectory of Argo float is dominated by a constant current plus inertial oscillation. This trajectory tracking and extrapolating method is able to reduce the positioning uncertainties of Argo surface trajectories and provides error estimations. When this method was applied to extrapolate the positions when float resurfacing and descending, the estimation error of the mid-depth currents can be reduced. Utilizing this method in the Pacific, surface and mid-depth currents were estimated from surface trajectories of Argo floats from 2001 to 2004, along with their detailed error estimations. The average error for surface currents is about 4.4 cm s^− 1 which is equivalent to the accuracy order (5 cm s^− 1) of the Surface Velocity Program drifters. The estimation error of the mid-depth currents at 1000 db is reduced to about 0.21 cm s^− 1 without considering the effect of vertical shear.This study shows that the surface trajectory from Argo float provides a new means to measure surface circulations in the global ocean at real time, and that the estimated mid-depth current could be one of the important sources to improve the understanding for ocean dynamic.     

Advantages of twin rudder system with asymmetric wing section aside a propeller

This study presents a new twin rudder system with asymmetric wing section, aside a propeller, as a new category energy saving device (ESD) for ships. The energy saving principle of the new ESD, which is called “Gate rudder”, is described and its applicability on a large bulk carrier is explored using experimental and numerical methods. The study makes emphasis on the cost-effectiveness of the proposed ESD and presents a potential energy saving up to 7–8 % with the new device as well as an attractive return investment in 0.37–0.9 year. These estimations are based on the conventional powering methods, whereas the accuracy of the ESD design method is confirmed by model test measurements.     

一种基于多波束测深声呐图像的水下地势辅助导航方法（英文）

Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map. This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge corner pixels are then defined and used to construct an edge corner histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m~2/pixel, the accuracy of localization is more than 10 meters.     

Influence of modelling on calculated sea loads on ships

Differences in numerical estimations introduced by various levels of approximations in the formulation of sea loads on ships are presented and commented. Twenty two levels are compared, they range from the rough approximation of the so-called “static wave” to a non-linear 3D time-domain code. The results mainly focus on extreme loads but direct consequences on fatigue loads are also tackled.     

箱形浮体在波浪上运动的特性计算方法及其应用

为了研究箱形浮体在波浪上运动的计算方法，工程界提出了一种称为修正切片法的计算方法，这是在引入三维修正以及引用试验结果的基础上发展起来的方法，具有计算快，能达到工程计算精度要求的优点。该方法采用了纵切片以及常规的横切片法，可以进行六个自由度的运动计算，并改进了横摇旋涡阻尼的计算方法，计入了三维及浅水影响。本文对此方法进行了探讨，并作了实例计算分析，认为此法采用纵横切片的思想，配合经验性的修正，既保持了传统切片理论简单易算的优点，又能达到工程计算精度的要求。尽管在理论上这一思想不很严密,但计算结果已足以在工程上的应用。箱形浮体受不规则海浪扰动而产生的运动通常可以作为平稳的线性随机过程进行处理，本文采用谱分析的方法对箱形浮体的海上运动及加速度的统计特性进行了预报。     

大型船舶船体变形对轴系校中的影响分析

针对某大型散货船,根据有、无尾管前轴承两种不同的轴系布置,分别进行轴系的校中计算,并估算极限状态下的船体变形,在校中计算过程中考虑船体变形的影响.分析结果表明,船体变形影响轴系中的轴承负荷分布,无尾管前轴承的轴系布置对船体变形的敏感程度相对较低。