An identification method of LBL underwater positioning systematic error with optimal selection criterion.

Unlike the space targets such as satellites whose observation distance is about the order of 100 km, the measurement distance of long baseline (LBL) underwater positioning system is much shorter. If the noncoincidence between the multiple beacons and the target center is not considered, this systematic error will cause a little larger positioning error. Therefore, aiming at the situation that multiple beacons are installed outside the target and the distance between the beacons and the target center is significant, a multi-beacon positioning model of the LBL underwater system is constructed in this paper. Furthermore, for the sound speed systematic error and the time of arrival (TOA) systematic error in the multi-beacon LBL system positioning measurement data, three identification models of systematic error are constructed. According to the positioning process of the LBL underwater system, the expression of the optimal test statistic D is derived based on the TOA residual. Finally, the optimal selection criterion is given, and the underwater target position and systematic error can be accurately estimated. Both of the numerical simulation and the underwater positioning test show that the appropriate identification model of systematic error in the measurement data can be selected according to the optimal selection criterion, and the underwater target positioning accuracy of the LBL system can be improved.

Bearing Fault Diagnosis Method Based on Improved Singular Value Decomposition Package.

The singular value decomposition package (SVDP) is often used for signal decomposition and feature extraction. At present, the general SVDP has insufficient feature extraction ability due to the two-row structure of the Hankel matrix, which leads to mode mixing. In this paper, an improved singular value decomposition packet (ISVDP) algorithm is proposed: the feature extraction ability is improved by changing the structure of the Hankel matrix, and similar signal sub-components are selected by similarity to avoid having the same frequency component signals being decomposed into different sub-signals. In this paper, the effectiveness of ISVDP is illustrated by a set of simulation signals, and it is utilized in fault diagnosis of bearing data. The results show that ISVDP can effectively suppress the model-mixing phenomenon and can extract the fault features in bearing vibration signals more accurately.

Bearing Fault Feature Extraction and Fault Diagnosis Method Based on Feature Fusion.

Bearing is one of the most important parts of rotating machinery with high failure rate, and its working state directly affects the performance of the entire equipment. Hence, it is of great significance to diagnose bearing faults, which can contribute to guaranteeing running stability and maintenance, thus promoting production efficiency and economic benefits. Usually, the bearing fault features are difficult to extract effectively, which results in low diagnosis performance. To solve the problem, this paper proposes a bearing fault feature extraction method and it establishes a bearing fault diagnosis method that is based on feature fusion. The basic idea of the method is as follows: firstly, the time-frequency feature of the bearing signal is extracted through Wavelet Packet Transform (WPT) to form the time-frequency characteristic matrix of the signal; secondly, the Multi-Weight Singular Value Decomposition (MWSVD) is constructed by singular value contribution rate and entropy weight. The features of the time-frequency feature matrix obtained by WPT are further extracted, and the features that are sensitive to fault in the time-frequency feature matrix are retained while the insensitive features are removed; finally, the extracted feature matrix is used as the input of the Support Vector Machine (SVM) classifier for bearing fault diagnosis. The proposed method is validated by data sets from the time-varying bearing data from the University of Ottawa and Case Western Reserve University Bearing Data Center. The results show that the algorithm can effectively diagnose the bearing under the steady-state and unsteady state. This paper proposes that the algorithm has better fault diagnosis capabilities and feature extraction capabilities when compared with methods that aree based on traditional feature technology.

Fault Detection Based on Multi-Dimensional KDE and Jensen-Shannon Divergence.

Weak fault signals, high coupling data, and unknown faults commonly exist in fault diagnosis systems, causing low detection and identification performance of fault diagnosis methods based on T2 statistics or cross entropy. This paper proposes a new fault diagnosis method based on optimal bandwidth kernel density estimation (KDE) and Jensen-Shannon (JS) divergence distribution for improved fault detection performance. KDE addresses weak signal and coupling fault detection, and JS divergence addresses unknown fault detection. Firstly, the formula and algorithm of the optimal bandwidth of multidimensional KDE are presented, and the convergence of the algorithm is proved. Secondly, the difference in JS divergence between the data is obtained based on the optimal KDE and used for fault detection. Finally, the fault diagnosis experiment based on the bearing data from Case Western Reserve University Bearing Data Center is conducted. The results show that for known faults, the proposed method has 10% and 2% higher detection rate than T2 statistics and the cross entropy method, respectively. For unknown faults, T2statistics cannot effectively detect faults, and the proposed method has approximately 15% higher detection rate than the cross entropy method. Thus, the proposed method can effectively improve the fault detection rate.

Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform.

As a new information provider of autonomous navigation, the on-orbit landmark observation offers a new means to improve the accuracy of autonomous positioning and attitude determination. A novel autonomous navigation method based on the landmark observation and the inertial system is designed to achieve the high-accuracy estimation of the missile platform state. In the proposed method, the navigation scheme is constructed first. The implicit observation equation about the deviation of the inertial system output is derived and the Kalman filter is applied to estimate the missile platform state. Moreover, the physical observability of the landmark and the mathematical observability of the navigation system are analyzed. Finally, advantages of the proposed autonomous navigation method are demonstrated through simulations compared with the traditional celestial-inertial navigation system and the deeply integrated celestial-inertial navigation system.

SINS/CNS/GNSS Integrated Navigation Based on an Improved Federated Sage-Husa Adaptive Filter.

Among the methods of the multi-source navigation filter, as a distributed method, the federated filter has a small calculation amount with Gaussian state noise, and it is easy to achieve global optimization. However, when the state noise is time-varying or its initial estimation is not accurate, there will be a big difference with the true value in the result of the federated filter. For the systems with time-varying noise, adaptive filter is widely used for its remarkable advantages. Therefore, this paper proposes a federated Sage-Husa adaptive filter for multi-source navigation systems with time-varying or mis-estimated state noise. Because both the federated and the adaptive principles are different in updating the covariance of the state noise, it is required to weight the two updating methods to obtain a combined method with stability and adaptability. In addition, according to the characteristics of the system, the weighting coefficient is formed by the exponential function. This federated adaptive filter is applied to the SINS/CNS/GNSS integrated navigation, and the simulation results show that this method is effective.

SINS/Landmark Integrated Navigation Based on Landmark Attitude Determination.

Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.

Dynamics and pattern formation of ring dark solitons in a two-dimensional binary Bose-Einstein condensate with tunable interactions.

We investigate the dynamics and pattern formation of two ring dark solitons in a two-dimensional binary Bose-Einstein condensate with tunable intercomponent interaction via numerical simulation of the time-dependent Gross-Pitaevskii equation. Both the black and gray ring dark solitons are considered for cases where the modulation frequency of the intercomponent interaction is resonant or nonresonant with the one of the trapping potential. Our results show that in the presence of periodic modulation of the intercomponent interaction not only are the lifetimes of the ring dark solitons largely extended but also their decaying dynamics are dramatically affected. Before snaking instability sets in, new ring dark solitons are formed, and both the numbers and depths of the ring dark solitons exhibit collective oscillations. With the development of instability, the system exhibits different decaying processes, and a variety of decay profiles, such as vortex necklace, distorted octagon, vortex-antivortex ring, and cross, are formed, showing a strong dependence on the modulation frequency of the intercomponent interaction and the initial depth of the ring dark soliton.

Fault Identification for a Closed-Loop Control System Based on an Improved Deep Neural Network.

Fault identification for closed-loop control systems is a future trend in the field of fault diagnosis. Due to the inherent feedback adjustment mechanism, a closed-loop control system is generally very robust to external disturbances and internal noises. Closed-loop control systems often encourage faults to propagate inside the systems, which may lead to the consequence that faults amplitude becomes smaller and fault characteristics difference becomes more inapparent. Hence, it has been challenging to achieve fault identification for such systems. Traditional fault identification methods are not particularly designed for closed-loop control systems and thus cannot be applied directly. In this work, a new fault identification method is proposed, which is based on the deep neural network for closed-loop control systems. Firstly, the fault propagation mechanism in closed-loop control systems is theoretically derived, and the influence of fault propagation on system variables is analyzed. Then deep neural network is applied to find fault characteristics difference between different data modes, and a sliding window is used to amplify the fault-to-noise ratio and characteristics difference, with an aim to increase the identification performance. To verify this method, the simulations that are based on a numerical simulation model, the Tennessee industrial system and the satellite attitude control system are conducted. The results show that the proposed method is more feasible and more effective in fault identification for closed-loop control systems compared with traditional data-driven identification methods, including distance-based and angle-based identification methods.

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode.

Strap-down inertial navigation system/celestial navigation system ( SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.