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Online Task Planning Method of Anti-Ship Missile Based on Rolling Optimization 基于滚动优化的反舰导弹在线任务规划方法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-04 DOI: 10.23919/jsee.2024.000059
Faxing Lu, Qiuyang Dai, Guang Yang, Zhengrong Jia
Based on the wave attack task planning method in static complex environment and the rolling optimization framework, an online task planning method in dynamic complex environment based on rolling optimization is proposed. In the process of online task planning in dynamic complex environment, online task planning is based on event triggering including target information update event, new target addition event, target failure event, weapon failure event, etc., and the methods include defense area reanalysis, parameter space update, and mission re-planning. Simulation is conducted for different events and the result shows that the index value of the attack scenario after re-planning is better than that before re-planning and according to the probability distribution of statistical simulation method, the index value distribution after re-planning is obviously in the region of high index value, and the index value gap before and after re-planning is related to the degree of posture change.
在静态复杂环境下波浪式攻击任务规划方法和滚动优化框架的基础上,提出了一种基于滚动优化的动态复杂环境下在线任务规划方法。在动态复杂环境下的在线任务规划过程中,在线任务规划基于事件触发,包括目标信息更新事件、新目标添加事件、目标失效事件、武器失效事件等,方法包括防区再分析、参数空间更新和任务再规划。针对不同事件进行仿真,结果表明,重新规划后的攻击场景指标值优于重新规划前,且根据统计仿真方法的概率分布,重新规划后的指标值分布明显处于高指标值区域,重新规划前后的指标值差距与态势变化程度有关。
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引用次数: 0
Kinematic Calibration Under the Expectation Maximization Framework for Exoskeletal Inertial Motion Capture System 外骨骼惯性运动捕捉系统期望最大化框架下的运动学校准
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-04 DOI: 10.23919/jsee.2024.000050
Weiwei Qin, Wenxin Guo, Chen Hu, Gang Liu, Tainian Song
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift. In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79% and 7.16% respectively in comparison to the traditional calibration method.
本研究提出了一种考虑到陀螺仪漂移等随机彩色噪声的外骨骼惯性运动捕捉(EI-MoCap)系统运动学校准方法。在该方法中,首先使用传统校准方法校准几何参数。然后,为了校准受随机彩色噪声影响的参数,引入了期望最大化(EM)算法。通过使用传统校准方法校准的几何参数,减少了 EM 框架下的迭代次数,提高了拟议方法在嵌入式系统上的效率。将所提出的运动学校准方法的性能与传统校准方法进行了比较。此外,还在 EI-MoCap 系统上验证了所提方法的可行性。模拟和实验结果表明,与传统校准方法相比,运动捕捉精度分别提高了 16.79% 和 7.16%。
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引用次数: 0
Relative Orbit Determination Algorithm of Space Targets with Passive Observation 利用被动观测确定空间目标相对轨道的算法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-07-04 DOI: 10.23919/jsee.2024.000051
Chenchao Dai, Hongfu Qiang, Degang Zhang, Shaolei Hu, Baichun Gong
Angles-only relative orbit determination for space non-cooperative targets based on passive sensor is subject to weakly observable problem of the relative state between two spacecraft. Previously, the evidence for angles-only observability was found by using cylindrical dynamics, however, the solution of orbit determination is still not provided. This study develops a relative orbit determination algorithm with the cylindrical dynamics based on differential evolution. Firstly, the relative motion dynamics and line-of-sight measurement model for near-circular orbit are established in cylindrical coordinate system. Secondly, the observability is qualitatively analyzed by using the dynamics and measurement model where the unobservable geometry is found. Then, the angles-only relative orbit determination problem is modeled into an optimal searching frame and an improved differential evolution algorithm is introduced to solve the problem. Finally, the proposed algorithm is verified and tested by a set of numerical simulations in the context of high-Earth and low-Earth cases. The results show that initial relative orbit determination (IROD) solution with an appropriate accuracy in a relative short span is achieved, which can be used to initialize the navigation filter.
基于被动传感器的空间非合作目标的仅角度相对轨道确定受制于两个航天器之间相对状态的弱可观测问题。此前,利用圆柱动力学找到了仅角度可观测性的证据,但仍未提供轨道确定的解决方案。本研究开发了一种基于微分演化的圆柱动力学相对轨道确定算法。首先,在圆柱坐标系下建立了近圆轨道的相对运动动力学和视线测量模型。其次,利用动力学和测量模型对可观测性进行定性分析,发现了不可观测的几何形状。然后,将纯角相对轨道确定问题建模为最优搜索框架,并引入改进的微分进化算法来解决该问题。最后,在高地和低地情况下,通过一组数值模拟对所提出的算法进行了验证和测试。结果表明,在相对较短的时间跨度内实现了具有适当精度的初始相对轨道确定(IROD)解,可用于初始化导航滤波器。
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引用次数: 0
Computational Intelligence Interception Guidance Law Using Online Off-Policy Integral Reinforcement Learning 利用在线非政策积分强化学习的计算智能拦截指导法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-06 DOI: 10.23919/jsee.2024.000067
Qi Wang, Zhizhong Liao
Missile interception problem can be regarded as a two-person zero-sum differential games problem, which depends on the solution of Hamilton-Jacobi-Isaacs (HJI) equation. It has been proved impossible to obtain a closed-form solution due to the nonlinearity of HJI equation, and many iterative algorithms are proposed to solve the HJI equation. Simultaneous policy updating algorithm (SPUA) is an effective algorithm for solving HJI equation, but it is an on-policy integral reinforcement learning (IRL). For online implementation of SPUA, the disturbance signals need to be adjustable, which is unrealistic. In this paper, an off-policy IRL algorithm based on SPUA is proposed without making use of any knowledge of the systems dynamics. Then, a neural-network based online adaptive critic implementation scheme of the off-policy IRL algorithm is presented. Based on the online off-policy IRL method, a computational intelligence interception guidance (CIIG) law is developed for intercepting high-maneuvering target. As a model-free method, intercepting targets can be achieved through measuring system data online. The effectiveness of the CIIG is verified through two missile and target engagement scenarios.
导弹拦截问题可以看作是一个两人零和微分博弈问题,它取决于汉密尔顿-雅各比-艾萨克(Hamilton-Jacobi-Isaacs,HJI)方程的解。由于 HJI 方程的非线性,已被证明不可能得到闭式解,因此提出了许多迭代算法来求解 HJI 方程。同步策略更新算法(SPUA)是求解 HJI 方程的一种有效算法,但它是一种策略上的积分强化学习(IRL)。要在线实现 SPUA,干扰信号需要可调,这是不现实的。本文提出了一种基于 SPUA 的非策略 IRL 算法,该算法无需使用任何系统动态知识。然后,提出了一种基于神经网络的非策略 IRL 算法的在线自适应批判实现方案。基于在线非策略 IRL 方法,开发了用于拦截高机动目标的计算智能拦截制导(CIIG)法则。作为一种无模型方法,拦截目标可以通过在线测量系统数据来实现。通过两个导弹和目标交战场景验证了 CIIG 的有效性。
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引用次数: 0
A Function-Based Behavioral Modeling Method for Air Combat Simulation 基于函数的空战模拟行为建模方法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-06 DOI: 10.23919/jsee.2024.000068
Tao Wang, Zhi Zhu, Xin Zhou, Tian Jing, Wei Chen
Today's air combat has reached a high level of uncertainty where continuous or discrete variables with crisp values cannot be properly represented using fuzzy sets. With a set of membership functions, fuzzy logic is well-suited to tackle such complex states and actions. However, it is not necessary to fuzzify the variables that have definite discrete semantics. Hence, the aim of this study is to improve the level of model abstraction by proposing multiple levels of cascaded hierarchical structures from the perspective of function, namely, the functional decision tree. This method is developed to represent behavioral modeling of air combat systems, and its metamodel, execution mechanism, and code generation can provide a sound basis for function-based behavioral modeling. As a proof of concept, an air combat simulation is developed to validate this method and the results show that the fighter Alpha built using the proposed framework provides better performance than that using default scripts.
当今的空战已经达到了高度不确定的程度,在这种情况下,连续或离散变量的清晰值无法用模糊集来正确表示。模糊逻辑使用一组成员函数,非常适合处理这种复杂的状态和行动。但是,没有必要对具有明确离散语义的变量进行模糊化。因此,本研究的目的是从功能的角度出发,提出多层次的级联分层结构,即功能决策树,从而提高模型的抽象程度。该方法用于表示空战系统的行为建模,其元模型、执行机制和代码生成可为基于功能的行为建模提供良好的基础。作为概念验证,我们开发了一个空战仿真来验证这种方法,结果表明,与使用默认脚本相比,使用提出的框架构建的战斗机阿尔法具有更好的性能。
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引用次数: 0
CBA: Multi Source Fusion Model for Fast and Intelligent Target Intention Identification CBA:用于快速智能识别目标意图的多源融合模型
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-14 DOI: 10.23919/jsee.2024.000023
Shichang Wan, Qingshan Li, Xuhua Wang, Nanhua Lu
How to mine valuable information from massive multi-source heterogeneous data and identify the intention of aerial targets is a major research focus at present. Aiming at the long-term dependence of air target intention recognition, this paper deeply explores the potential attribute features from the spatiotemporal sequence data of the target. First, we build an intelligent dynamic intention recognition framework, including a series of specific processes such as data source, data preprocessing, target space-time, convolutional neural networks-bidirectional gated recurrent unit-atteneion (CBA) model and intention recognition. Then, we analyze and reason the designed CBA model in detail. Finally, through comparison and analysis with other recognition model experiments, our proposed method can effectively improve the accuracy of air target intention recognition, and is of significance to the commanders' operational command and situation prediction.
如何从海量多源异构数据中挖掘有价值的信息,识别空中目标的意图是当前研究的重点。针对空中目标意图识别的长期依赖性,本文深入挖掘了目标时空序列数据中潜在的属性特征。首先,我们构建了一个智能动态意图识别框架,包括数据源、数据预处理、目标时空、卷积神经网络-双向门控递归单元-注意力(CBA)模型和意图识别等一系列具体流程。然后,我们对所设计的 CBA 模型进行了详细分析和推理。最后,通过与其他识别模型实验的对比分析,我们提出的方法能有效提高空中目标意图识别的准确性,对指挥员的作战指挥和态势预测具有重要意义。
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引用次数: 0
Track Correlation Algorithm Based on CNN-LSTM for Swarm Targets 基于 CNN-LSTM 的蜂群目标轨迹相关算法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-14 DOI: 10.23919/jsee.2024.000033
Jinyang Chen, Xuhua Wang, Xian Chen
The rapid development of unmanned aerial vehicle (UAV) swarm, a new type of aerial threat target, has brought great pressure to the air defense early warning system. At present, most of the track correlation algorithms only use part of the target location, speed, and other information for correlation. In this paper, the artificial neural network method is used to establish the corresponding intelligent track correlation model and method according to the characteristics of swarm targets. Precisely, a route correlation method based on convolutional neural networks (CNN) and long short-term memory (LSTM) Neural network is designed. In this model, the CNN is used to extract the formation characteristics of UAV swarm and the spatial position characteristics of single UAV track in the formation, while the LSTM is used to extract the time characteristics of UAV swarm. Experimental results show that compared with the traditional algorithms, the algorithm based on CNN-LSTM neural network can make full use of multiple feature information of the target, and has better robustness and accuracy for swarm targets.
无人机群这一新型空中威胁目标的快速发展给防空预警系统带来了巨大压力。目前,大多数航迹关联算法仅利用目标位置、速度等部分信息进行关联。本文根据蜂群目标的特点,采用人工神经网络方法建立相应的智能航迹关联模型和方法。具体来说,本文设计了一种基于卷积神经网络(CNN)和长短期记忆(LSTM)神经网络的路径关联方法。在该模型中,CNN 用于提取无人机群的编队特征和编队中单个无人机航迹的空间位置特征,LSTM 用于提取无人机群的时间特征。实验结果表明,与传统算法相比,基于 CNN-LSTM 神经网络的算法能充分利用目标的多种特征信息,对蜂群目标具有更好的鲁棒性和准确性。
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引用次数: 0
Adaptive Admittance Tracking Control for Interactive Robot with Prescribed Performance 具有规定性能的交互式机器人的自适应导纳跟踪控制
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-14 DOI: 10.23919/jsee.2024.000038
Qingrui Meng, Yan Lin
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights, demonstrating the viability of the control scheme proposed in this paper.
本文介绍了一种自适应控制方法,用于跟踪交互式机械手的理想轨迹。控制器设计采用了规定性能函数 (PPF),以提高动态性能。值得注意的是,输出误差的性能被限制在一个以指数收敛为特征的包络线内,最终收敛为零。这一特点确保了导纳控制的快速响应,并为相互作用建立了可靠的安全框架。仿真结果提供了实用的见解,证明了本文提出的控制方案是可行的。
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引用次数: 0
Novel Method for Extraction of Ship Target with Overlaps in SAR Image via EM Algorithm 通过 EM 算法提取 SAR 图像中重叠船舶目标的新方法
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-14 DOI: 10.23919/jsee.2023.000170
Rui Cao, Yong Wang
The quality of synthetic aperture radar (SAR) image degrades in the case of multiple imaging projection planes (IPPs) and multiple overlapping ship targets, and then the performance of target classification and recognition can be influenced. For addressing this issue, a method for extracting ship targets with overlaps via the expectation maximization (EM) algorithm is proposed. First, the scatterers of ship targets are obtained via the target detection technique. Then, the EM algorithm is applied to extract the scatterers of a single ship target with a single IPP. Afterwards, a novel image amplitude estimation approach is proposed, with which the radar image of a single target with a single IPP can be generated. The proposed method can accomplish IPP selection and targets separation in the image domain, which can improve the image quality and reserve the target information most possibly. Results of simulated and real measured data demonstrate the effectiveness of the proposed method.
在多个成像投影面(IPP)和多个重叠舰船目标的情况下,合成孔径雷达(SAR)图像的质量会下降,进而影响目标分类和识别的性能。为解决这一问题,本文提出了一种通过期望最大化(EM)算法提取重叠船舶目标的方法。首先,通过目标检测技术获得船舶目标的散射体。然后,应用 EM 算法提取具有单个 IPP 的单个舰船目标的散射体。然后,提出一种新颖的图像振幅估计方法,利用这种方法可以生成具有单一 IPP 的单一目标的雷达图像。所提出的方法可以在图像域中完成 IPP 选择和目标分离,从而提高图像质量并最大限度地保留目标信息。模拟和实际测量数据的结果证明了所提方法的有效性。
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引用次数: 0
Classification of Aviation Incident Causes using LGBM with Improved Cross-Validation 使用改进的交叉验证 LGBM 对航空事故原因进行分类
IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-14 DOI: 10.23919/jsee.2024.000035
Xiaomei Ni, Huawei Wang, Lingzi Chen, Ruiguan Lin
Aviation accidents are currently one of the leading causes of significant injuries and deaths worldwide. This entices researchers to investigate aircraft safety using data analysis approaches based on an advanced machine learning algorithm. To assess aviation safety and identify the causes of incidents, a classification model with light gradient boosting machine (LGBM) based on the aviation safety reporting system (ASRS) has been developed. It is improved by k-fold cross-validation with hybrid sampling model (HSCV), which may boost classification performance and maintain data balance. The results show that employing the LGBM-HSCV model can significantly improve accuracy while alleviating data imbalance. Vertical comparison with other cross-validation (CV) methods and lateral comparison with different fold times comprise the comparative approach. Aside from the comparison, two further CV approaches based on the improved method in this study are discussed: one with a different sampling and folding order, and the other with more CV. According to the assessment indices with different methods, the LGBM-HSCV model proposed here is effective at detecting incident causes. The improved model for imbalanced data categorization proposed may serve as a point of reference for similar data processing, and the model's accurate identification of civil aviation incident causes can assist to improve civil aviation safety.
航空事故是目前造成全球重大伤亡的主要原因之一。这促使研究人员使用基于先进机器学习算法的数据分析方法来研究飞机安全问题。为了评估航空安全并找出事故原因,我们开发了一种基于航空安全报告系统(ASRS)的轻梯度提升机(LGBM)分类模型。该模型通过混合采样模型(HSCV)的 k 倍交叉验证进行了改进,从而提高了分类性能并保持了数据平衡。结果表明,采用 LGBM-HSCV 模型可以显著提高准确率,同时缓解数据不平衡问题。比较方法包括与其他交叉验证(CV)方法的纵向比较以及与不同折叠时间的横向比较。除了比较之外,还讨论了基于本研究改进方法的两种进一步的 CV 方法:一种是采用不同的采样和折叠顺序,另一种是采用更多的 CV。根据不同方法的评估指数,本文提出的 LGBM-HSCV 模型能有效检测事件原因。所提出的不平衡数据分类改进模型可作为类似数据处理的参考,该模型对民航事故原因的准确识别有助于提高民航安全。
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引用次数: 0
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Journal of Systems Engineering and Electronics
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