This paper is concerned with a third order in time linear Moore-Gibson-Thompson equation which describes the acoustic velocity potential in ultrasound wave program.Influenced by the work of Kaltenbacher,Lasiecka and M...This paper is concerned with a third order in time linear Moore-Gibson-Thompson equation which describes the acoustic velocity potential in ultrasound wave program.Influenced by the work of Kaltenbacher,Lasiecka and Marchand(Control Cybernet.2011,40:971-988),we establish an observability inequality of the conservative problem,and then discuss the equivalence between the exponential stabilization of a dissipative system and the internal observational inequality of the corresponding conservative system.展开更多
Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous....Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.展开更多
This paper proposes an optimal maneuver strategy to improve the observability of angles-only rendezvous from the perspective of relative navigation.A set of dimensionless relative orbital elements(ROEs)is used to para...This paper proposes an optimal maneuver strategy to improve the observability of angles-only rendezvous from the perspective of relative navigation.A set of dimensionless relative orbital elements(ROEs)is used to parameterize the relative motion,and the objective function of the observability of anglesonly navigation is established.An analytical solution of the optimal maneuver strategy to improve the observability of anglesonly navigation is obtained by means of numerical analysis.A set of dedicated semi-physical simulation system is built to test the performances of the proposed optimal maneuver strategy.Finally,the effectiveness of the method proposed in this paper is verified through the comparative analysis of the objective function of the observability of angles-only navigation and the performances of the angles-only navigation filter under different maneuver schemes.Compared with the cases without orbital maneuver,it is concluded that the tangential filtering accuracy with the optimal orbital maneuver at the terminal time is increased by 35%on average,and the radial and normal filtering accuracy is increased by 30%on average.展开更多
The aim of this paper is to study the notion of the gradient observability on a subregion w of the evolution domain W and also we consider the case where the subregion of interest is a boundary part of the system evol...The aim of this paper is to study the notion of the gradient observability on a subregion w of the evolution domain W and also we consider the case where the subregion of interest is a boundary part of the system evolution domain for the class of semilinear hyperbolic systems. We show, under some hypotheses, that the flux reconstruction is guaranteed by means of the sectorial approach combined with fixed point techniques. This leads to several interesting results which are performed through numerical examples and simulations.展开更多
With a pair of antennas spaced apart, an airborne passive location system measures phase differences of emitting signals. Regarded as cyclic ambiguities, the moduli of the measurements traditionally are resolved by ad...With a pair of antennas spaced apart, an airborne passive location system measures phase differences of emitting signals. Regarded as cyclic ambiguities, the moduli of the measurements traditionally are resolved by adding more antenna elements. This paper models the cyclic ambiguity as a component of the system state, of which the observability is analyzed and compared to that of the bear- ings-only passive location system. It is shown that the necessary and sufficient observability condition for the bearings-only passive location system is only the necessary observability condition for the passive location system with phase difference measurements, and that when the system state is observable, the cyclic ambiguities can be estimated by accumulating the phase difference measurements, thereby making the observer able to locate the emitter with high-precision.展开更多
The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and ...The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and complete observability of the system are presented, respectively. Because of Markov characteristic of the network-induced delay, in terms of stochastic theory, a sufficient and necessary condition for completely mean value controllability of networked control systems is obtained. Further, the conditions that the controllability and observability of networked control systems are equivalent to the initial time-invariant system are given. Controllability and observability realization indexes are also discussed, respectively. The numerical example demonstrates the effectiveness of the proposed theory.展开更多
This study explored the impact of coastal radar observability on the forecast of the track and rainfall of Typhoon Morakot （2009） using a WRF-based ensemble Kalman filter （EnKF） data assimilation （DA） system. Th...This study explored the impact of coastal radar observability on the forecast of the track and rainfall of Typhoon Morakot （2009） using a WRF-based ensemble Kalman filter （EnKF） data assimilation （DA） system. The results showed that the performance of radar EnKF DA was quite sensitive to the number of radars being assimilated and the DA timing relative to the landfall of the tropical cyclone （TC）. It was found that assimilating radial velocity （Vr） data from all the four operational radars during the 6 h immediately before TC landfall was quite important for the track and rainfall forecasts after the TC made landfall. The TC track forecast error could be decreased by about 43% and the 24-h rainfall forecast skill could be almost tripled. Assimilating Vr data from a single radar outperformed the experiment without DA, though with less improvement compared to the multiple-radar DA experiment. Different forecast performances were obtained by assimilating different radars, which was closely related to the first-time wind analysis increment, the location of moisture transport, the quasi-stationary rainband, and the local convergence line. However, only assimilating Vr data when the TC was farther away from making landfall might worsen TC track and rainfall forecasts. Besides, this work also demonstrated that Vr data from multiple radars, instead of a single radar, should be used for verification to obtain a more reliable assessment of the EnKF performance.展开更多
This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessa...This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessary and sufficient conditions are given to guarantee controllability and observability of such composite systems. Then we prove that the stability problem of such composite systems can be reduced to judging whether a fractional degree polynomial is stable. Finally, the stability analysis result is applied in the supervisory control of fractional-order multi-agent systems, and an example is provided to illustrate the effectiveness of the proposed methods.展开更多
Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot ...Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.展开更多
To study the parameter estimating effects of a free-floating tumbling space target,the extended Kalman filter(EKF)scheme is utilized with different high-nonlinear translational and rotational coupled kinematic&dyn...To study the parameter estimating effects of a free-floating tumbling space target,the extended Kalman filter(EKF)scheme is utilized with different high-nonlinear translational and rotational coupled kinematic&dynamic models on the LIDAR measurements.Applying the aforementioned models and measurements results in the situation where one single state can be estimated differently with varying accuracies since the EKFs based on different models have different observabilities.In the proposed EKFs,the traditional quaternions based kinematics and dynamics and the dual vector quaternions(DVQ)based kinematics and dynamics are used for the modeling of the relative motions between a chaser satellite and an uncooperative target.In the non-contact estimating scenarios,only highly nonlinear relative attitude and range measurements:the grapple fixture on the target measured from the chaser satellite via vision-based sensors,can be used.By evaluating the results of the EKFs,the observability properties of each EKF are studied analytically and numerically with the the Observability Gramian matrices(OG)and the standard deviations for every estimated parameters.The analysis of observability perform intensive studies and reveal the intrinsic factors that affect the accuracy and stability of the parameters estimation of an uncooperative space target.Finally,the analytical and numerical results show the optimal composition of the kinematic&dynamic models and measurements.展开更多
Most existing studies about passive radar systems are based on the already known illuminator of opportunity(IO)states.However,in practice,the receiver generally has little knowledge about the IO states.Little research...Most existing studies about passive radar systems are based on the already known illuminator of opportunity(IO)states.However,in practice,the receiver generally has little knowledge about the IO states.Little research has studied this problem.This paper analyzes the observability and estimability for passive radar systems with unknown IO states under three typical scenarios.Besides,the directions of high and low estimability with respect to various states are given.Moreover,two types of observations are taken into account.The effects of different observations on both observability and estimability are well analyzed.For the observability test,linear and nonlinear methods are considered,which proves that both tests are applicable to the system.Numerical simulations confirm the correctness of the theoretical analysis.展开更多
Necessary and sufficient conditions for the exact controllability and exact observability of a descriptor infinite dimensional system are obtained in the sense of distributional solution.These general results are used...Necessary and sufficient conditions for the exact controllability and exact observability of a descriptor infinite dimensional system are obtained in the sense of distributional solution.These general results are used to examine the exact controllability and exact observability of the Dzektser equation in the theory of seepage and the exact controllability of wave equation.展开更多
An efficient observability analysis method is proposed to enable online detection of performance degradation of an optimization-based sliding window visual-inertial state estimation framework.The proposed methodology ...An efficient observability analysis method is proposed to enable online detection of performance degradation of an optimization-based sliding window visual-inertial state estimation framework.The proposed methodology leverages numerical techniques in nonlinear observability analysis to enable online evaluation of the system observability and indication of the state estimation performance.Specifically,an empirical observability Gramian based approach is introduced to efficiently measure the observability condition of the windowed nonlinear system,and a scalar index is proposed to quantify the average system observability.The proposed approach is specialized to a challenging optimizationbased sliding window monocular visual-inertial state estimation formulation and evaluated through simulation and experiments to assess the efficacy of the methodology.The analysis result shows that the proposed approach can correctly indicate degradation of the state estimation accuracy with real-time performance.展开更多
Feature aided design of estimators and guidance laws can significantly improve the interception performance of the terminal guidance system. The achieved enhancement can be effectively assessed by observability analys...Feature aided design of estimators and guidance laws can significantly improve the interception performance of the terminal guidance system. The achieved enhancement can be effectively assessed by observability analysis methods. This paper first analyzes and discusses the existing assessment methods in a typical endgame scenario with target orientation observations. To get over their deficiencies, a novel singular value decomposition（SVD） method is proposed. Employing both theoretical analysis and numerical simulation, the proposed method can represent the degree of state observability which is enhanced by integrating target features more completely and quantitatively.展开更多
It is shown in this paper that any state space realization （A, b, c） of a given transfer function T（s） =β（s）/α（s）with α（s）monic and dim（A）=deg（α（s））,satisfies the identity β（A）=Qe（A,b）Sα Qo（...It is shown in this paper that any state space realization （A, b, c） of a given transfer function T（s） =β（s）/α（s）with α（s）monic and dim（A）=deg（α（s））,satisfies the identity β（A）=Qe（A,b）Sα Qo（A,c）where Qc （A,b）and Qo（A, c） are the controllability matrix and observability matrix of the matrix triple （A, b, c）, respectively, and S,~ is a nonsingular symmetric matrix. Such an identity gives a deep relationship between the state space description and the transfer function description of single-input single-output （SISO） linear systems. As a direct conclusion, we arrive at the well-known result that a realization of any transfer function is minimal if and only if the numerator and the denominator of the transfer function is coprime. Such a result is also extended to the SISO descriptor linear system case. As an applications, a complete solution to the commuting matrix equation AX --- XA is proposed and the minimal realization of multi-input multi-output （MIMO） linear system is considered.展开更多
To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eig...To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system＇s observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.展开更多
The observability problem of switched linear singular（SLS） systems is studied in this paper. Based on the observability definition, the unobservable subspaces of given switching laws are investigated under the condi...The observability problem of switched linear singular（SLS） systems is studied in this paper. Based on the observability definition, the unobservable subspaces of given switching laws are investigated under the condition that all subsystems are regular. A necessary condition and a sufficient condition for observability of SLS systems are given. It is shown that the observability and controllability are dual for some special SLS systems with circulatory switching laws. The method developed here is applicable to the observability analysis of normal switched linear systems.展开更多
The definitions of controllability, observability and stability were presented for fractional-order linear systems. Using the Cayley-Hamilton theorem and Mittag-Leffler function in two parameters, the sufficient and n...The definitions of controllability, observability and stability were presented for fractional-order linear systems. Using the Cayley-Hamilton theorem and Mittag-Leffler function in two parameters, the sufficient and necessary conditions of controllability and observability for such systems were derived. In terms of Lyapunov’s stability theory, using the theorems of Mittage-Leffler function in two parameters this paper directly derived the sufficient and necessary condition of stability for such systems. The results obtained are useful for the analysis and synthesis of fractional-order linear control systems.展开更多
The state space representations of fractional order linear time- invariant（LTI） systems are introduced, and their solution formulas are deduced hy means of Laplace transform. The stability condition of fractional or...The state space representations of fractional order linear time- invariant（LTI） systems are introduced, and their solution formulas are deduced hy means of Laplace transform. The stability condition of fractional order LTI systems is given, and its proof is deduced by means of using linear non - singularity transform and the derivative property of Mittag-Leffler function. The controllability condition of fractional m＇der LTI systems is given, and its proof is deduced by means of using its characteristic polynomial and the Cayley-Hamilton theorem. The observability condition of fractional order LTI systems is given, and its proof is deduced by means of their solution formulas. Finally an example is given to prove the correctness of the stability, controllability, and observability conditions mentioned above, s are deduced by means of Laplace transform. Their stability, controllability and observability conditions are given as well as their proofs.展开更多
A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradati...A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradation or degeneracy in state estimator performance.The proposed approach leverages efficient numerical techniques in nonlinear observability analysis and motion primitive-based planning technique to realize the local observability prediction with real-time performance.The degradation of the state estimation performance can be readily predicted with the local observability evaluation result.The proposed approach is specialized to a representative optimization-based monocular visual-inertial state estimation formulation and evaluated through simulation and experiments.The experimental results demonstrated the ability of the proposed methodology to correctly anticipate the potential state estimation degradation.展开更多
基金Supported by the National Natural Science Foundation of China(11771216)the Key Research and Development Program of Jiangsu Province(Social Development)(BE2019725)the Qing Lan Project of Jiangsu Province。
文摘This paper is concerned with a third order in time linear Moore-Gibson-Thompson equation which describes the acoustic velocity potential in ultrasound wave program.Influenced by the work of Kaltenbacher,Lasiecka and Marchand(Control Cybernet.2011,40:971-988),we establish an observability inequality of the conservative problem,and then discuss the equivalence between the exponential stabilization of a dissipative system and the internal observational inequality of the corresponding conservative system.
基金supported by the National Key R&D Program of China (2020YFA0713502)the Special Fund Project for Guiding Local Scientific and Technological Development (2020ZYT003)+1 种基金the National Natural Science Foundation of China (U20B2055,61773021,61903086)the Natural Science Foundation of Hunan Province (2019JJ20018,2020JJ4280)。
文摘Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.
基金supported by the China Aerospace Science and Technology Corporation 8th Research Institute Industry-University-Research Cooperation Fund(SAST 2020-019)。
文摘This paper proposes an optimal maneuver strategy to improve the observability of angles-only rendezvous from the perspective of relative navigation.A set of dimensionless relative orbital elements(ROEs)is used to parameterize the relative motion,and the objective function of the observability of anglesonly navigation is established.An analytical solution of the optimal maneuver strategy to improve the observability of anglesonly navigation is obtained by means of numerical analysis.A set of dedicated semi-physical simulation system is built to test the performances of the proposed optimal maneuver strategy.Finally,the effectiveness of the method proposed in this paper is verified through the comparative analysis of the objective function of the observability of angles-only navigation and the performances of the angles-only navigation filter under different maneuver schemes.Compared with the cases without orbital maneuver,it is concluded that the tangential filtering accuracy with the optimal orbital maneuver at the terminal time is increased by 35%on average,and the radial and normal filtering accuracy is increased by 30%on average.
文摘The aim of this paper is to study the notion of the gradient observability on a subregion w of the evolution domain W and also we consider the case where the subregion of interest is a boundary part of the system evolution domain for the class of semilinear hyperbolic systems. We show, under some hypotheses, that the flux reconstruction is guaranteed by means of the sectorial approach combined with fixed point techniques. This leads to several interesting results which are performed through numerical examples and simulations.
文摘With a pair of antennas spaced apart, an airborne passive location system measures phase differences of emitting signals. Regarded as cyclic ambiguities, the moduli of the measurements traditionally are resolved by adding more antenna elements. This paper models the cyclic ambiguity as a component of the system state, of which the observability is analyzed and compared to that of the bear- ings-only passive location system. It is shown that the necessary and sufficient observability condition for the bearings-only passive location system is only the necessary observability condition for the passive location system with phase difference measurements, and that when the system state is observable, the cyclic ambiguities can be estimated by accumulating the phase difference measurements, thereby making the observer able to locate the emitter with high-precision.
基金supported by the National Natural Science Foundation of China(60574011).
文摘The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and complete observability of the system are presented, respectively. Because of Markov characteristic of the network-induced delay, in terms of stochastic theory, a sufficient and necessary condition for completely mean value controllability of networked control systems is obtained. Further, the conditions that the controllability and observability of networked control systems are equivalent to the initial time-invariant system are given. Controllability and observability realization indexes are also discussed, respectively. The numerical example demonstrates the effectiveness of the proposed theory.
基金sponsored by the Special Fund for Meteorological Research in the Public Interest from the Ministry of Science and Technology of China(Grant No.GYHY201306004)the National Key Basic Research Program of China(Grant No.2013CB430104)+1 种基金the National Natural Science Foundation of China(Grant Nos.41461164006,41375048 and 41425018)supported by the Ministry of Science and Technology of Taiwan(Grant No.MOST103-2111-M-002-011-MY3)
文摘This study explored the impact of coastal radar observability on the forecast of the track and rainfall of Typhoon Morakot （2009） using a WRF-based ensemble Kalman filter （EnKF） data assimilation （DA） system. The results showed that the performance of radar EnKF DA was quite sensitive to the number of radars being assimilated and the DA timing relative to the landfall of the tropical cyclone （TC）. It was found that assimilating radial velocity （Vr） data from all the four operational radars during the 6 h immediately before TC landfall was quite important for the track and rainfall forecasts after the TC made landfall. The TC track forecast error could be decreased by about 43% and the 24-h rainfall forecast skill could be almost tripled. Assimilating Vr data from a single radar outperformed the experiment without DA, though with less improvement compared to the multiple-radar DA experiment. Different forecast performances were obtained by assimilating different radars, which was closely related to the first-time wind analysis increment, the location of moisture transport, the quasi-stationary rainband, and the local convergence line. However, only assimilating Vr data when the TC was farther away from making landfall might worsen TC track and rainfall forecasts. Besides, this work also demonstrated that Vr data from multiple radars, instead of a single radar, should be used for verification to obtain a more reliable assessment of the EnKF performance.
基金supported by Foundation of Shanxi Scholarship Council(2016-075)Natural Science Foundation of Shanxi Normal University(ZR1601)Fund Program for the Scientific Activities of Selected Returned Overseas Professionals in Shanxi Province(2018-25)
文摘This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessary and sufficient conditions are given to guarantee controllability and observability of such composite systems. Then we prove that the stability problem of such composite systems can be reduced to judging whether a fractional degree polynomial is stable. Finally, the stability analysis result is applied in the supervisory control of fractional-order multi-agent systems, and an example is provided to illustrate the effectiveness of the proposed methods.
基金supported by the National Defense PreResearch Foundation of China(51309030102)
文摘Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.
文摘To study the parameter estimating effects of a free-floating tumbling space target,the extended Kalman filter(EKF)scheme is utilized with different high-nonlinear translational and rotational coupled kinematic&dynamic models on the LIDAR measurements.Applying the aforementioned models and measurements results in the situation where one single state can be estimated differently with varying accuracies since the EKFs based on different models have different observabilities.In the proposed EKFs,the traditional quaternions based kinematics and dynamics and the dual vector quaternions(DVQ)based kinematics and dynamics are used for the modeling of the relative motions between a chaser satellite and an uncooperative target.In the non-contact estimating scenarios,only highly nonlinear relative attitude and range measurements:the grapple fixture on the target measured from the chaser satellite via vision-based sensors,can be used.By evaluating the results of the EKFs,the observability properties of each EKF are studied analytically and numerically with the the Observability Gramian matrices(OG)and the standard deviations for every estimated parameters.The analysis of observability perform intensive studies and reveal the intrinsic factors that affect the accuracy and stability of the parameters estimation of an uncooperative space target.Finally,the analytical and numerical results show the optimal composition of the kinematic&dynamic models and measurements.
基金This work was supported by the National Natural Science Foundation of China(61803379)the China Postdoctoral Science Foundation(2017M613370,2018T111129).
文摘Most existing studies about passive radar systems are based on the already known illuminator of opportunity(IO)states.However,in practice,the receiver generally has little knowledge about the IO states.Little research has studied this problem.This paper analyzes the observability and estimability for passive radar systems with unknown IO states under three typical scenarios.Besides,the directions of high and low estimability with respect to various states are given.Moreover,two types of observations are taken into account.The effects of different observations on both observability and estimability are well analyzed.For the observability test,linear and nonlinear methods are considered,which proves that both tests are applicable to the system.Numerical simulations confirm the correctness of the theoretical analysis.
基金This work was supported by the National Natural Science Foundation of China(11926402,61973338).
文摘Necessary and sufficient conditions for the exact controllability and exact observability of a descriptor infinite dimensional system are obtained in the sense of distributional solution.These general results are used to examine the exact controllability and exact observability of the Dzektser equation in the theory of seepage and the exact controllability of wave equation.
文摘An efficient observability analysis method is proposed to enable online detection of performance degradation of an optimization-based sliding window visual-inertial state estimation framework.The proposed methodology leverages numerical techniques in nonlinear observability analysis to enable online evaluation of the system observability and indication of the state estimation performance.Specifically,an empirical observability Gramian based approach is introduced to efficiently measure the observability condition of the windowed nonlinear system,and a scalar index is proposed to quantify the average system observability.The proposed approach is specialized to a challenging optimizationbased sliding window monocular visual-inertial state estimation formulation and evaluated through simulation and experiments to assess the efficacy of the methodology.The analysis result shows that the proposed approach can correctly indicate degradation of the state estimation accuracy with real-time performance.
基金supported by the National Natural Science Foundation of China(61101186)the Specialized Research Fund for the Doctoral Program of Higher Education(20134307110012)
文摘Feature aided design of estimators and guidance laws can significantly improve the interception performance of the terminal guidance system. The achieved enhancement can be effectively assessed by observability analysis methods. This paper first analyzes and discusses the existing assessment methods in a typical endgame scenario with target orientation observations. To get over their deficiencies, a novel singular value decomposition（SVD） method is proposed. Employing both theoretical analysis and numerical simulation, the proposed method can represent the degree of state observability which is enhanced by integrating target features more completely and quantitatively.
基金the Chinese Outstanding Youth Foundation(No. 69925308)Program for Changjiang Scholars and Innovative Research Team in University.
文摘It is shown in this paper that any state space realization （A, b, c） of a given transfer function T（s） =β（s）/α（s）with α（s）monic and dim（A）=deg（α（s））,satisfies the identity β（A）=Qe（A,b）Sα Qo（A,c）where Qc （A,b）and Qo（A, c） are the controllability matrix and observability matrix of the matrix triple （A, b, c）, respectively, and S,~ is a nonsingular symmetric matrix. Such an identity gives a deep relationship between the state space description and the transfer function description of single-input single-output （SISO） linear systems. As a direct conclusion, we arrive at the well-known result that a realization of any transfer function is minimal if and only if the numerator and the denominator of the transfer function is coprime. Such a result is also extended to the SISO descriptor linear system case. As an applications, a complete solution to the commuting matrix equation AX --- XA is proposed and the minimal realization of multi-input multi-output （MIMO） linear system is considered.
文摘To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system＇s observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.
基金the National Natural Science Foundation of China (No. 90405017, 60274021, 60334040)China Postdoctoral Science Foundation (No.20060400415)the 973 Program of China (No. 2002CB312205)
文摘The observability problem of switched linear singular（SLS） systems is studied in this paper. Based on the observability definition, the unobservable subspaces of given switching laws are investigated under the condition that all subsystems are regular. A necessary condition and a sufficient condition for observability of SLS systems are given. It is shown that the observability and controllability are dual for some special SLS systems with circulatory switching laws. The method developed here is applicable to the observability analysis of normal switched linear systems.
基金Shanghai Science and Technology Devel-opm ent Funds ( No.0 1160 70 3 3)
文摘The definitions of controllability, observability and stability were presented for fractional-order linear systems. Using the Cayley-Hamilton theorem and Mittag-Leffler function in two parameters, the sufficient and necessary conditions of controllability and observability for such systems were derived. In terms of Lyapunov’s stability theory, using the theorems of Mittage-Leffler function in two parameters this paper directly derived the sufficient and necessary condition of stability for such systems. The results obtained are useful for the analysis and synthesis of fractional-order linear control systems.
基金stability, coSponsored by the National High Technology Research and Development Program of China (Grant No.2003AA517020), the National Natural Science Foundation of China (Grant No.50206012), and Developing Fund of Shanghai Science Committee (Grant No.011607033).
文摘The state space representations of fractional order linear time- invariant（LTI） systems are introduced, and their solution formulas are deduced hy means of Laplace transform. The stability condition of fractional order LTI systems is given, and its proof is deduced by means of using linear non - singularity transform and the derivative property of Mittag-Leffler function. The controllability condition of fractional m＇der LTI systems is given, and its proof is deduced by means of using its characteristic polynomial and the Cayley-Hamilton theorem. The observability condition of fractional order LTI systems is given, and its proof is deduced by means of their solution formulas. Finally an example is given to prove the correctness of the stability, controllability, and observability conditions mentioned above, s are deduced by means of Laplace transform. Their stability, controllability and observability conditions are given as well as their proofs.
文摘A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradation or degeneracy in state estimator performance.The proposed approach leverages efficient numerical techniques in nonlinear observability analysis and motion primitive-based planning technique to realize the local observability prediction with real-time performance.The degradation of the state estimation performance can be readily predicted with the local observability evaluation result.The proposed approach is specialized to a representative optimization-based monocular visual-inertial state estimation formulation and evaluated through simulation and experiments.The experimental results demonstrated the ability of the proposed methodology to correctly anticipate the potential state estimation degradation.
