在飞行中

The common method, that all strong-correlation terms of the model are eliminated, can bring the loss in the engineering application, so the new method is proposed that the identified model reserves some correlation. The augmented matrix A is constructed by the outputΔW and the matrix S. The"determinating order based on ratio of determinant"is brought out to screen the strong-correlation terms in the structure identification. The latent root estimation is improved in screening the eigenvalues and eigenvectors. Thus the estimation precision is improved greatly.The consistence check of guidance instrument error coefficients of flight test and ground test is the purpose of flight experiment. The causes of inconsistency of the two models are analyzed. The hypothesis test of linear regression model based on F statistics is proposed to check the consistence.Finally, the instability of error coefficients is probably caused by the change of the flight environments, therefore, the relation between the error coefficients and flight environment is analyzed. The approach is presented to identify SINS guidance instrument error models and compensate the error in the segmented sections corresponding to the change of vertical acceleration of aircraft.

在结构辨识中，常用的方法由于将模型中的强相关项全部剔除而给工程应用带来损失，因此，本文提出了新的有益思想，即在保留一定相关性的基础上进行辨识：将输出向量ΔW与环境函数矩阵S构成增广矩阵A，然后采用"比定阶行列式"来剔除相关向量的方法，这样既可以尽可能多地保留了对落点影响大的强相关参数，又可以对落点影响小的强相关参数给予剔除；在参数估计中，改进了特征根估计中特征根和特征向量的筛选方法，提出"近零"准则，从而大大提高了参数估计的精度；再者，鉴于天地模型"一致性"检验是飞行试验和SINS制导工具误差系数分离的主要目的，因此，本文又深入分析了造成天地模型不一致的原因，提出了采用基于F统计的线性回归模型假设检验方法来进行捷联制导工具误差模型的天地"一致性"检验；最后，鉴于飞行环境剧烈变化可能会对惯性仪表误差系数稳定性带来一定的影响，因此本文深入地分析了SINS制导工具误差系数与外界环境的关系，提出了基于过载变化大小的分段辨识和分段实时补偿的算法。

Honey is a widely known natural food. Bees gathered the nectar in flowers and take it back, then process and condense it into this translucence, sticky and thick sweet liquid. It's a tough job to gather nectar. A bee can only get 20mg nectar per time. To get 1kg nectar, the worker bee need to fly 500,000-600,000 times and to produce 1kg honey, a worker bee needs to gather the nectar from 1500-1600 flowers. If a bee gathers nectar just in a place one kilometer away from its comb, then it needs to fly 3 kilometers to fulfill a honey bursa. And to produce 1kg honey, it needs to fly 360,000-450,000 kilometers, which equals to fly around the earth for 8.5-11 circles. So it's not exaggerated to say each drop of honey is a crystal of hard working.

蜂蜜是大家熟悉的天然食品，系蜜蜂采集植物花朵内的花蜜，带回巢内经酿制加工浓缩而成的半透明黏稠甜液，蜜蜂采花蜜工作非常辛苦，一只蜜蜂一次只能携品20毫克的花蜜，采集1公斤的花蜜，工蜂要飞行50-60万次，而生产1公克的蜂蜜，工蜂要采集约1500-1600朵花的花蜜，如果蜜蜂在离开蜂巢1公里的地方采集花蜜，每采满一个蜜囊，而要飞行3公里，制造1公斤的蜂蜜需飞行36-45万公里，等于绕地球8.5-11周，可见瓶中蜜滴滴皆辛苦。

A clear image of what might be an alien or ET in a space suit can be seen in one cave painting along with a classical flying saucer shaped UFO that appears to be either beaming something down or beaming something up, in what might be an ancient UFO abduction scenario. A force-field or trail of some sort is seen at the rear of the UFO.

一个清晰的影像可能是一个外星人或ET，著住太空装能在一洞穴画作中被看到，沿着有一只古典的飞碟形状的不明飞行物，它像在以光束射低或射高东西，可能是一幅古代的不明飞行物绑架景况，一力场或某种东西的曳被见在不明飞行物的后方。

A clear image of what might be an alien or ET in a space suit can be seen in one cave painting along with a classical flying saucer shaped UFO that appears to be either beaming something down or beaming something up, in what might be an ancient UFO abduction scenario.

一个清晰的影像可能是一个外星人或ET，著住太空装能在一洞穴画作中被看到，沿着有一只古典的飞碟形状的不明飞行物，它像在以光束射低或射高东西，可能是一幅古代的不明飞行物绑架景况，一力场或某种东西的曳被见在不明飞行物的后方。

G- F A clear image of what might be an alien or ET in a space suit can be seen in one cave painting along with a classical flying saucer shaped UFO that appears to be either beaming something down or beaming something up, in what might be an ancient UFO abduction scenario.

H 一个清晰的影像可能是一个外星人或ET，著住太空装能在一洞穴画作中被看到，沿着有一只古典的飞碟形状的不明飞行物，它像在以光束射低或射高东西，可能是一幅古代的不明飞行物绑架景况，一力场或某种东西的曳被见在不明飞行物的后方。；

Armstrong August 5, 1930 Wa Pake was born in Ohio in the United States reached the city of his childhood learning seriously, when the ideal is to grow the pilot, 14-year-old began to receive flight training, 16-year-old pilot certificate to obtain ,1949-1952, he became the Navy The youngest pilots. Armstrong in July 1953 expiry of the service backward Pardew Aviation University of Technology, after graduating from Edwards Air Force Base in any test pilot, later took part in the X-15 rocket plane's flight plan had been 6 flight, highest altitude reached 60,000 meters. In September 1962, a rigorous selection process, Armstrong became the first civilian from the pilot in the selection of one of the 2 astronauts, space industry and from forged a bond.

阿姆斯特朗1930年8月5日生于美国俄亥俄州瓦帕科内达市，他从小学习认真，理想是长大当飞行员，14岁即开始接受飞行训练，16岁获得飞行员证书，1949—1952年成为海军中最年轻的飞行员。1953年7月阿姆斯特朗服役期满后进帕杜大学学习航空技术，毕业后在爱德华兹空军基地任试飞员，后参加过X—15火箭飞机的飞行计划，曾进行过6次试飞，最高飞行高度达到6万米。1962年9月，经过严格挑选，阿姆斯特朗成为首批从文职飞行员中征选的2名宇航员之一，从此与航天事业结下了不解之缘。

ICARUS did it with feathers glued together with wax; he flew too near the sun and plummetted into the sea. Giovanni Battista Danti tried it with pinions of iron and feathers in 15th-century Perugia hurtling over the piazza and crash-landing on the church. Charles Bernouin in 1672 in Regensburg strapped a rocket to himself as well as calico wings.

希腊神话中的伊卡罗斯曾经把蜂蜡和羽毛粘到一起进行飞行，的但是他飞得离太阳太近坠海而亡。15世纪意大利佩鲁贾的乔瓦尼·巴蒂斯·但丁用铁翼和羽毛尝试飞行，他擦过广场摔落在教堂顶上。1672年查尔斯·贝尔努安在雷根斯堡把火箭炮和布质的翅膀绑在自己身尝试飞行。

ICARUS did it with feathers glued together with wax; he flew too near the sun and plummetted into the sea. Giovanni Battista Danti tried it with pinions of iron and feathers in 15th-century Perugia, hurtling over the piazza and crash-landing on the church. Charles Bernouin in 1672 in Regensburg strapped a rocket to himself, as well as calico wings.

希腊神话中的伊卡罗斯曾经把蜂蜡和羽毛粘到一起进行飞行，的但是他飞得离太阳太近坠海而亡。15世纪意大利佩鲁贾的乔瓦尼·巴蒂斯·但丁用铁翼和羽毛尝试飞行，他掠过广场摔落在教堂顶上。1672年查尔斯·贝尔努安在雷根斯堡把火箭炮和布质的翅膀绑在自己身尝试飞行。

ICARUS did it withfeathers glued together with wax; he flew too near the sun and plummetted intothe sea. Giovanni Battista Danti tried it with pinions of iron and feathers in15th-century Perugia,hurtling over the piazza and crash-landing on the church. Charles Bernouin in1672 in Regensburgstrapped a rocket to himself, as well as calico wings.

希腊神话中的伊卡罗斯曾经把蜂蜡和羽毛粘到一起进行飞行，的但是他飞得离太阳太近坠海而亡。15世纪意大利佩鲁贾的乔瓦尼·巴蒂斯·但丁用铁翼和羽毛尝试飞行，他掠过广场摔落在教堂顶上。1672年查尔斯·贝尔努安在雷根斯堡把火箭炮和布质的翅膀绑在自己身尝试飞行。

According to the function of distributed emulator, optical information processing and image multi-object tracking system, the following three aspects were emphasized in this dissertation. Firstly, a vast virtual terrain, ground radar models and canyons were created for the distributed emulator with modeling software Creator. The radars were driven to scan during emulating and the real time terrain code was sent to Radar module. Secondly, an optics channel simulating the optics camera of a virtual aircraft was implemented with simulating software Vega. The 2-D information got from the channel was translated and sent to multi-sensor information fusion system as an optics information source. Thirdly, the dissertation studied some motion estimation methods and analyzed the factors which influence the speed and the precision of the block matching algorithms. Then an improved block matching method was proposed for image multi-object tracking system and applied in the system combined with frame difference method.

论文根据多传感信息融合实验系统中的分布式飞行仿真系统、光学信号处理器和图像多目标跟踪系统三个子系统的功能要求，具体完成了以下三方面的工作：首先利用建模软件Creator创建分布式飞行仿真系统中的大面积地形、场景中的地面雷达模型和峡谷地形，并在仿真过程中实时驱动雷达模型的扫描，同时为后续雷达仿真模块提供实时地形编码；其次利用仿真软件Vega，在分布式仿真系统中为光学信号处理器设计实现了光学通道，模拟飞行器的光学摄像机的功能，并且对由此通道获得的目标二维光学信息进行转化处理，作为光学信息源发送给后续的多传感信息融合器；最后针对图像多目标跟踪系统，在研究图像分割运动估计算法的基础上，通过分析影响块匹配算法速度和精度的因素，改进了块匹配运动估计算法，结合差分法可应用到目标跟踪系统中。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。