This paper proposes a method of seam tracking monitoring during high-power fiber laser welding. A visual sensor system was employed to capture the infrared images of molten pools and the surroundings in the laser welding process. A weld seam position variable was extracted by the image difference and centroid algorithms. The state and measurement equations for weld seam position were established based on an eigenvector derived from the weld seam position variable. A Sage-Husa adaptive Kalman filter (AKF), as an estimator of the noise statistical characteristics, was applied in order to enhance the filtering precision. By embedding an Elman neural network into the AKF, an error estimator was used to compensate for the filtering errors. The results of the welding experiments have demonstrated the effectiveness of the proposed method to improve the accuracy of weld detection.

Seam Tracking Monitoring Based on Adaptive Kalman Filter Embedded Elman Neural Network During High-Power Fiber Laser Welding

IUKF neural network modeling for FOG temperature drift

In this paper, an improved Central divided-Difference Kalman Filter (CDKF) algorithm for the satellite that adopts three-axis magnetometer (TAM) and a fiber optic gyroscope (FOG) as attitude sensors is proposed. First, to overcome the disadvantages of Extended Kalman Filter (EKF), which is widely used as the attitude determination technique of satellites at the present, we present Central divided-Central Kalman Filtering (CDKF) algorithm applicable on the basis of the discretization kinematics equation of satellite, and applicable to attitude determination of this type of satellite. Then, considering the uncertainties and external disturbances on the system, we utilize RBF neural network to adjust the filtering gain online. Finally, a comparative simulation experiment is provided to show that our RBF-CDKF algorithm is able to achieve greater estimation performance than EKF and CDKF.

An improved CDKF algorithm based on RBF neural network for satellite attitude determination

X-ray pulsar navigation ground test system

Improved sensing devices are provided for determining the spatial disposition of a movable object. In one aspect, an apparatus for determining a spatial disposition of a movable object comprises: a support base configured to be carried by a movable object; one or more accelerometers coupled to the support base via a first damping element configured to damp motion of the one or more accelerometers; and one or more gyroscopes coupled to the support base via a second damping element configured to damp motion of the one or more gyroscopes, wherein an amount of motion damping provided by the first damping element is greater than an amount of motion damping provided by the second damping element.

Inertial sensing device

The invention provides a position signal damping method of an inertial navigation system based on variable damping coefficient. The method mainly comprises the steps of determining the introduction position of a signal damping network, treating the signal damping network and introducing a signal treatment network into the inertial navigation system. The method has the advantages and the characteristics that the introduction of parameters of a position damping network can realize the effective damping of periodic oscillation errors of the earth and greatly improve the precision of the system; although the introduction of the three-order position damping network increases the realization difficulty, the performances thereof are better than those of the first-order and the second-order damping networks; and the introduction of the position damping network with the variable damping coefficient can greatly improve the adaptability to the motion of ships and lead the method to be more applicable to a variety of motorized motion states of the ships.

Position signal damping method of inertial navigation system based on variable damping coefficient

Temperature is the main factor that influences the output characters of fiber optic gyroscope (FOG), and high accuracy FOG is special the same. In order to reduce the influence of gyro accuracy, a small temperature control system is designed in the paper. In the system, platinum resistor is used as measuring element, semiconductor refrigerator is used as new temperature control element, realizing high accuracy temperature control. The experiments show that high accuracy temperature control of FOG can improve the heat environment of inertial instrument, improving synthesis performance of FOG. This system also provides a practical method for FOG system entering stable working status rapidly, also supplying good reference for similar inertial measuring combination of temperature control system.

Research on the high accuracy temperature control box of FOG

Based on traditional satellite attitude determination simulator, the paper studies a state estimation method to determine the satellite attitude, which is simulated in computer. This simulator is mainly composed by two parts: sensor model library and determination algorithm library. The sensor model library contains several sensor models which are implemented in C/C++, so as the determination algorithms library. In order to realize high accuracy measurement, hybrid extended Kalman filter(HEKF) has been used to estimate attitude parameters in the combination of gyro and star sensors. The simulation results show that HEKF can estimate high accuracy attitude parameters, the estimation errors of angles and angular rates are at 10−2 (° or °/s) level, and the estimation errors of gyro drifts can be in 10−3 (°/s) level.

Study on satellite attitude determination based on hybrid extended Kalman

ZHAO Lin, HUANG Chen, DING Ji-cheng, WANG Xin-zhe College of Automation Harbin Engineering University Harbin, Heilongjiang, 150001, China morning30@126.com Abstract—Double-difference carrier-phase relative positioning can realize GPS high-precision positioning. In the designing and implementation of post-processing technique, the key is resolving integer ambiguities. Applying with VC++ combining with MATCOM, the transformation from two dimension array to matrix has been realized, and matrix calculation is implemented in MATCOM, in which the LAMBDA algorithm has been realized. The influence brought in by the time of resolving integer ambiguities has been emphatically analyzed. By studying on practical examples, it is known that if integer ambiguities are fixed correctly, the positioning accuracy of double-difference carrier-phase relative positioning can attain centimeter-level.

Implementation of GPS High-Precision Positioning Post-Processing Technique

When satellite is running, it may be influenced by external factors, and the measurement models of gyro and star sensor are changing with time uncertainly. This situation may lead extended Kalman filter(EKF) divergent. So new adaptive filter can be used in this situation, and it can estimate process noise and measuring noise on-time. This paper has applied Sage-Husa adaptive filter in satellite attitude determination. This adaptive filter algorithm can estimate satellite attitude parameters and gyro drift on-time with high accuracy reaching 10-3 level, and stability of the algorithm is also very good.

Research on satellite attitude determination with adaptive filter

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