Table of Content

29 March 2019, Volume 40 Issue 3

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Contents

Contents

2019, 40(3):  0. 

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Paper

Anti-DRFM Jamming Method Using Dual-channel Harmonic Correlation Detection for Variable Chirp Rate FM Fuze

CHEN Qile, HAO Xinhong, YAN Xiaopeng,WANG Xiongwu

2019, 40(3):  449-455.  doi:10.3969/j.issn.1000-1093.2019.03.001

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The failure mechanism of frequency modulation(FM) Doppler fuze under the frequency-shifting digital radio frequency memory (DRFM) jamming is analyzed, and an anti-jamming method of dual channel harmonic correlation detection based on the variable chirp rate transmitting signal is proposed to enhance the anti-jamming performance of FM fuze against the type of DRFM jamming. The chirp rate of the transmitting signal is changed alternately in the same period, the envelope peaks of two channel harmonic signals are extracted based on fast Fourier transform, and then put into an instantaneous correlation detection unit to get the ranging information and depress the jamming signal. The ranging and anti-jamming performances of the proposed method were verified through the hardware-in-the-loop simulation. The simulated results show that the proposed method has better anti-DRFM jamming performance and higher ranging resolution compared to the traditional FM Doppler fuze. Key

Research on Trajectory Tracking of Unmanned Tracked Vehicles Based on Model Predictive Control

HU Jiaming, HU Yuhui, CHEN Huiyan, LIU Kai

2019, 40(3):  456-463.  doi:10.3969/j.issn.1000-1093.2019.03.002

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Trajectory tracking control of unmanned tracked vehicle is challenged by complex system uncertainties and external disturbances. A kinematic model based on the instantaneous steering center is developed by studying the interaction between track and ground. Considering the fact that the reference path is a series of discrete waypoints, an adaptive reference path fitting method, which utilizes the third-order Bezier curve, is presented for path smoothing while providing road curvature information. Taking the unavoidable system uncertainty and external disturbance into account, a model predictive control based trajectory tracking controller with feedback correction is designed to systematically handle the modeling errors, environmental constraints, and actuator saturations. Real vehicle tests demonstrate that the proposed control scheme can be used effectively to restrain the effects of system uncertainties and external disturbances, while achieves the satisfying trajectory tracking performance of unmanned tracked vehicle. Key

Analysis of In-bore Magnetic Field in Electromagnetic Railgun Considering the Realistic Armature-rail Contact Status

YIN Qiang， ZHANG He， LI Haojie， YANG Yuxin

2019, 40(3):  464-472.  doi:10.3969/j.issn.1000-1093.2019.03.003

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The distribution characteristics of railgun in-bore magnetic field under the realistic armature-rail contact status is studied. For a small caliber C-shaped armature railgun, the numerical calculation and finite element simulation are used to analyze the magnetic flux density of the investigated points along the central axes of armature front endbased on the armature current density distribution produced by the actual contact of armature-rail under static state. The analyzed results are in good agreement with the experimental values. On this basis, the distribution characteristics of in-bore magnetic field under motion state are analyzed by using the scaling method. The results show that the approximate scaling of armature velocities and magnetic fields of different caliber railguns can be realized on the basis of satisfying certain scaling relations. The peak magnetic flux density of each investigated point decreases rapidly with the increase in the distance from point to armature, and the magnetic flux density of the investigated point at the distance of two calibers from the armature curvature center is about 27.4% of that of the point at the one caliber distance. The results are helpful to the electromagnetic shielding design of intelligent ammunition. Key

Analysis of Forging Penetration of Barrel Rifling in Precision Radial Forging Process

ZHANG Xue, FAN Lixia, ZHANG Heci

2019, 40(3):  473-479.  doi:10.3969/j.issn.1000-1093.2019.03.004

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The precision forging technology of barrel rifling is an advanced manufacturing process, and the machining quality of barrel bore is an important factor to ensure the initial velocity and firing accuracy of barrel weapon. The defect of precision forging rifled bore is mainly that the material in therifling lands is not full. This state of the defect is commonly referred to as non-penetration. In the actual processing, it is difficult to detect the forging state of barrel. Therefore, it is of great significance to study the forging penetration of barrel and formulate the reasonable process parameters. The precision forging of 5.8 mm rifled barrel is studied. A three-dimensional finite element model of radial forging of barrel is established by using the finite element software Abaqus. The contact status between bore and mandrel, contact normal stress, and variation of plastic strain of bore during the forging process are analyzed in detail. The criteria of forging penetration are established according to the expressive form of the unpenetrated defect. The criteria are that the change rate of the circumferential plasticity strain at each point on the rifling lands should be zero and the radial plasticity strain should be less than zero. According to the judging criteria, the forging limit diagram of barrel characterized by the forging ratio and diameter ratio of blank is obtained, and the accuracy of the limit diagram is verified through experiment. The test results show that the proposed judging criteria can be used to study the penetration of barrel. Key

Bore Damage Characteristics of a Machine Gun Barrel

HU Chundong, DONG Han, ZHAO Hongshan, QIAO Ziping, LI Junsong

2019, 40(3):  480-487.  doi:10.3969/j.issn.1000-1093.2019.03.005

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The shooting experiments were conducted to investigate the bore damage characteristics of a machine gun barrel and analyze the failure mechanisms. Optical microscrope, scanning electron microscrope (SEM), endoscrope, and guage are used for observation and measurement of barrel bore. Results show that the main failure mode of Cr layer along the gun barrel transits from spalling to wear. According to this characteristic, the spalling, transitional, and wear zones are identified along the axial direction of gun barrel. From spalling zone to wear zone, the initial damage location of rifling moves from the groove to the land. The damage rates in both spalling and wear zones are relatively higher, and the damage rate in the transitional zone is relatively lower. In the spalling zone, at 27% lifetime, the Cr layer peels off with large pieces; at 55% lifetime, the Cr layer peels totally off. In the wear zone, for only 7% lifetime, obvious wear occurs in the turn guide side of the land; when the lifetime is increased from 7% to 14%, the bore inner diameter is enlarged from 12.69 to 12.75 mm. Key

Numerical Investigation of Combustion and Flow Characteristics of Combustion Gas in Rapid Depressurization Process of Base Bleed Unit

MA Longze, YU Yonggang

2019, 40(3):  488-499.  doi:10.3969/j.issn.1000-1093.2019.03.006

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The combustion gas flow characteristics of propellant and the transient combustion characteristics of igniter during the ejection of base bleed unit (BBU) from the muzzle are studied. A semi-closed bomb is used to simulate the rapid depressurization process during the ejection of base bleed projectile from the muzzle, and the development behavior of near-nozzle exhaust plume is recorded by using a high-speed camera, hereby verifying the validity of the numerical model. Based on the experiment, a two-dimensional axisymmetric model for interaction between propellant combustion gas and igniter jet during depressurization is set up by using high-resolution upwind scheme AUSM⁺, two-equation Realizable k-ε turbulence model and finite-rate chemical model. The coupling characteristics of two high temperature gas jets are simulated and analyzed by using the cell-centered finite volume method. The results show that, during depressurization of BBU, the exhaust plume changes from highly underexpanded supersonic jet to subsonic flow, and the wave structure undergoes the transformation from Mach reflection to regular reflection, resulting in the formation of periodic shock diamond and rhombus flame string, eventually the exhaust plume becomes a continuous flame. While the exhaust plume becomes a subsonic flow, the radial heat convection and thermal diffuse downstream the combustion flame of igniter are more intense than those upstream in BBU. Therefore the temperature at the backward position of base bleed propellant is the highest, and gives rise to fire firstly. Key

Study of Burning Performance of Pyrotechnic Composition of Impulsive Thruster

JIANG Xinguang，ZHANG Changfu，YAN Zhenghu，YU Hongtao

2019, 40(3):  500-505.  doi:10.3969/j.issn.1000-1093.2019.03.007

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The burning rate of pyrotechnic composition of implosive thruster is measured by optical fiber speed-measuring technique, and the effects of the proportion of components and the main charge density on burning rate are studied. The pressure exponent of burning rate is measured by closed-bomb test. The results show that the burning rates of pyrotechnic compositions with different proportions are different at initial stage and are tend to be the same at later stage, and the burning rate increases first and then decreases with the increase in main charge density. The maximum burning rate of pyrotechnic composition can reach 800 m/s at the density of 1.45 g/cm³. The pressure exponent of burning rate is 0.736 4 in the test pressure range. It shows that the pyrotechnic composition can burn stably in a certain pressure range and can satisfy impulsive thrust requirement. Key

Distributed Cooperative Guidance of Multiple Missiles with Heterogeneous Constraints of Field-of-view

YE Pengpeng， ZHANG Jiao， LI Yinya， QI Guoqing， SHENG Andong

2019, 40(3):  506-515.  doi:10.3969/j.issn.1000-1093.2019.03.008

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Distributed cooperative guidance is proposed for the missiles with heterogeneous constraints of field-of-view. Communication among missiles is periodic, and only the information of range-to-go is exchanged among the neighboring missiles in the network to generate a consensus error. Based on the missile’s field-of-view and the lead angle, a saturation function is used, and a distributed consensus protocol is developed by the consensus error so that the coordination variables can reach consensus. Multiple missiles are disconnected to the communication network and are guided to a target independently when they approach a target and their coordination variables are consistent. Based on feedback linearization, graph and matrix theories, the sufficient conditions are established to make the multiple missiles realize the cooperative attack under the cooperative guidance law. Compared with the conventional cooperative guidance of multiple missiles, the proposed cooperative guidance law can satisfy each missile’s constraints of heterogeneous field-of-views, and the communication effort is easy. Simulated results show that the salvo attack of multiple missiles is achieved, and the target is locked on during each missile’s flight. Key

Theoretical Analysis about Interaction Parameters of Detonation Waves Based on Jones-Wilkins-Lee Equation of State

LI Rui, LI Weibing, JIN Hongzhong, WANG Guilin, HONG Xiaowen, ZHU Jianjun, LI Wenbin, WANG Xiaoming

2019, 40(3):  516-521.  doi:10.3969/j.issn.1000-1093.2019.03.009

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The regular oblique reflection and Mach reflection of detonation waves in condensed explosive after their interaction are investigated using the three-wave theory and the Whitham's method on the basis of Jones-Wilkins-Lee (JWL) equation of state (EOS). The JWL EOS-based calculation model of regular oblique reflection, reflection pressure and Mach stem height is derived. A theoretical calculation method is proposed for the slowly changed function k(ξ) in the modified Whitham's method. The calculation model was verified with the experimental data of PBX 9501 and JH-2 explosives. The calculated results are in good agreement with the experimental results, which means that the calculation model based on JWL EOS can be used accurately to predict the detonation parameters distribution and propagation process of regular oblique reflection and Mach reflection. Key

Image Restoration Algorithm for Rotary Motion Blur Based on Adaptive Gradient Priori Regularization

WANG Xinchun， WANG Longlong， MO Bo， LIU Fuxiang， QI He

2019, 40(3):  522-529.  doi:10.3969/j.issn.1000-1093.2019.03.010

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When the missile-borne infrared imaging system rotates with missile at a high speed rotation, a serious rotation blurring exists in the image acquired during the exposure, which causes a great confusion for subsequent target recognition and image tracking. A novel rotational blur restoration algorithm based on adaptive gradient priori regularization is proposed. In the proposed algorithm, the adaptive gradient priori regularization term is used for the deconvolution operation of the one-dimensional vectors extracted along the blurred fuzzy path from the image in the frequency domain. An adaptive median filtering algorithm using look-up table is designed to solve the problem about the hole points generated by the pixel extraction method using Bresenham algorithm. The experimentally simulated results show that, compared with improved Wiener filtering, constrained least square filtering, and gradient loading filtering, the proposed algorithm can effectively adapt to low SNR interference environment， and has strong ability to suppress noise and weaken the ringing-effect. Key

A Method Based on Probability Definition with Extended Samples to Generate Spatial-temporal Correlated Sea Clutter forAirborne Radar

MAO Huihuang, XIE Wenchong, XU Peng, LIU Chang

2019, 40(3):  530-538.  doi:10.3969/j.issn.1000-1093.2019.03.011

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Target detection performance in the background of sea clutter is one of the important indicators of airborne early-warning radar. The sea clutter with actual distribution characteristics and correlation are simulated to provide data sources for the effective design of airborne radar sea clutter suppression schemes. For the significant temporal correlation and spatial correlation of measured sea clutter data, a new method is proposed for generating sea clutter data. The proposed method is based on the definition of probability density and the nature of correlation. Monte Carlo method and Cholesky decomposition are used to generate spatial-temporal correlated sea clutter. The proposed method can be used to simplify the generation process of sea clutter data and improve the amplitude and correlation of sea clutter. The effectiveness of the proposed method is verified by using the measured and simulated data. Key

A Fast Acquisition Algorithm with DBZP Truncation Correlation for the Long Code Signal

FENG Yongxin, REN Jinjun, LIU Fang

2019, 40(3):  539-547.  doi:10.3969/j.issn.1000-1093.2019.03.012

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The acquisition speed and efficiency of military communication signal are limited as a result of using long-periodic pseudo noise code. A fast acquisition algorithm with double block zero padding (DBZP) truncation correlation for the long code signal is proposed. In the proposed algorithm, the spectral asymmetry of complex sequences is applied to the truncation pretreatment, and the block correlations are executed using DBZP and the circular shifting for less computational complexity and increased acquisition speed. The energy compensation technique is adopted to improve environment adaptability, which makes the algorithm effectively process two-dimensional fast acquisition. The simulated results show that the proposed algorithm has better performance in acquisition speed and environment adaptability compared to the traditional acquisition algorithms in time domain. Key

A Target Motion Filtering Method for On-axis Control of Electro-optical Tracking Platform

L Mingming, LIU Rongzhong, HOU Yuanlong, GAO Qiang, WANG Li

2019, 40(3):  548-554.  doi:10.3969/j.issn.1000-1093.2019.03.013

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Target motion estimation is the key factor of on-axis control of electro-optical-tracking platform. For the filtering accuracy of target motion, a fusion filtering method based on grey prediction model and Kalman theory is proposed. A grey prediction model is set up online in real time by using a small amount of target motion in the first few moments and replaces the target state prediction equation of Kalman filter，which avoids some filtering error due to presupposion of target motion model. A residual prediction model is also built online by using the residual sequence which is generated by the predicted and estimated data. The predicted residual value is used to modify the grey prediction value in real time. The simulated results show that the prediction accuracy of the grey model based on residual modification can be increased by 60%; compared with some other filtering methods, the proposed fusion filtering method has better filtering effect and more accurate estimation. Key

DOA Estimation of Muzzle Blast for an Embedded Microphone Array Using Low-rank and Geometric Constraints

WANG Xu， ZHAO Zhao， XU Zhiyong

2019, 40(3):  555-560.  doi:10.3969/j.issn.1000-1093.2019.03.014

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An estimation method for direction of arrival (DOA) of muzzle blast is proposed to solve the shell-induced deviation problem in target orientation estimation of a partially shaded microphone array embedded in a small-aperture gunshot detection system. The adverse effect of non-line-of-sight (NLOS) propagation on the time difference of arrival (TDOA) is analyzed, and a convex optimization algorithm with low-rank and geometric constraints is devised to correct TDOA matrix for simultaneously suppressing the influence from both diffraction propagation and random noise. The non-shaded microphone closest to the target is chosen as the reference microphone. The statistical mean and variance values of least squares DOA estimation error are obviously decreased. The experimental results obtained using a real embedded planar array system demonstrate that the proposed method provides superior muzzle blast DOA estimation performance compared with the conventional approach, by which the cumulative probability of estimation error meeting the requirement of practical products is improved from 0.86 to 0.94. Key

Modified Time Domain Interference Blocking Method Based on Guiding Signal

ZHENG Enming, CHEN Xinhua, LI Yi

2019, 40(3):  561-569.  doi:10.3969/j.issn.1000-1093.2019.03.015

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A modified time domain interference blocking method based on guiding signal is proposed for the beam distortion and detection blind zone due to time domain interference blocking. The proposed method is used to generate a guiding signal according to the frequency band of processing data, and process the guiding signal at the interference angle, thus obtaining a beam. Then Kalman filter is used to process the beam to obtain the attenuation curve of the beam after interference blocking. The attenuation curve is used to nonlinearly process the output beam, reduce the beam distortion and detection blind zone, and achieve the expected results of interferences block and detection. The numerically simulated and data processing results show that the proposed method can be used to attenuate the original attenuation interval to 5°, achieve the beam correction, reduce detection blind zone, and achieve the detection of weak targets in old attenuation interval. The proposed method is used to avoid the impact of “wide concave” or “convex” beam generated by the time domain interference blocking method on target. Key

Research on Detection Mechanism and Performance of Carbon Fiber Electrode for Ocean Electric Field

SONG Yusu， LI Hongxia， SHEN Zhen， WANG Yexuan

2019, 40(3):  570-575.  doi:10.3969/j.issn.1000-1093.2019.03.016

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A mechanism model of carbon fiber electrode for detecting the ocean electric field is established. Based on the proposed model, the stability of potential difference between carbon fiber electrodes is improved and its settling time is shorten by the parallel discharge resistances at both ends of signal amplifier. An uniform electric field was established to evaluate the influences of different parallel resistances on the detection performance of carbon fiber electrodes. The results show that the smaller the input resistance is, the smaller the potential difference is, and the faster the self-noise settling is. The settling time of potential difference between electrodes is not greater than 2 h, the potential difference after settling is not greater than 0.1 mV, and the self-noise level is in the range of 2-5 nV/[KF(]Hz[KF)] at 1 Hz. Key

Experiments on Internal Waves Excited by a Submarined Body in the Pycnocline with the Numerical Synthetic Schlieren

YIN Zheng， JIANG Xiaoqin

2019, 40(3):  576-582.  doi:10.3969/j.issn.1000-1093.2019.03.017

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Numerical synthetic schlieren technology is used to observe the internal wave fields created by a submarined body in triple-stratified fluid environment in order to find the ways to use the internal wave field in the ocean to explore a submarined body. In experiment, Froude number is Fr∈（0.6，4.0）. The internal wave field excited by the submerged body is observed to be a >-shaped Kelvin wave, the opening direction is opposite to the navigation direction, the line of wave crests is slightly curved, and the opening angle is increasing. Experimental results show that the wavelength λ_x in the drag direction is proportional to Fr at the same distance deviating from sea route，there is no significant difference in λ_x at the different distances deviating from sea route. In order to quantitatively describe the arc feature of >-shaped wave crest line of internal wave, the angle between the tangent line of the wave crest line and the navigation direction in the central and edge regions of the experimental image was measured. The measured results indicate that the opening angle increases with the span distance. When the deviating distance is given, the opening angle of >-shaped internal wave crest line decreases as Fr increases, and the opening angle decreases with the flow direction distance in the downstream direction. The results show that the vertical numerical synthetic schlieren technology is a high-efficiency non-interfering full-field measurement technique for measuring the target characteristics of the three-dimensional internal wave field excited by the submerged body. Key

Position Tracking Control of Autonomous Underwater Vehicles in the Disturbance of Unknown Ocean Currents

WANG Jinqiang， WANG Cong， WEI Yingjie， ZHANG Chengju

2019, 40(3):  583-591.  doi:10.3969/j.issn.1000-1093.2019.03.018

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An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory， which is used for the position tracking of a new class of underactuated underwater vehicles (AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles. Key

Research on Dynamic Response and Damage Characteristics of Fixed Supported One-way Stiffened Plates under Blast Loading

JAIO Liqi， HOU Hailiang， CHEN Pengyu， JIN Jian

2019, 40(3):  592-600.  doi:10.3969/j.issn.1000-1093.2019.03.019

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Based on the damage and protection of warship hull structure subjected to the internal blast of anti-ship missile, the deformation failure characteristics and laws of multiple one-way stiffened plate structures under blast loading are studied. The finite element software LS-DYNA is used to simulate and calculate the damage effect of blast shock wave on the one-way stiffened plate. The damage process of one-way stiffened plate under close-in explosion is analyzed. The deformation failure mode of one-way stiffened plates and the deformation law of stiffened plates under typical blast shock wave loading were obtained. The results show that the maximum dimensionless deflection has a clear linear relationship with the dimensionless impact load and the relative stiffness, respectively, under thet condition of overall shear or large plastic deformation. In the case of load determination, the failure mode of stiffened plate and the critical region of the transition between failure modes can be determined by changing the structural parameters (relative stiffness) of stiffened plate and the load parameters. Key

Research on Forming Limit of 1060 Aluminum Sheet in Ultrasonic Vibration-assisted Single Point Incremental Forming

YANG Mingshun, XIAO Xudong, YAO Zhiyuan, YUAN Qilong, LI Yan, LI Yuxi

2019, 40(3):  601-611.  doi:10.3969/j.issn.1000-1093.2019.03.020

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Deficiencies in formability and forming quality are the key factors to restrict the wide industrial application of single point incremental forming (SPIF) technology. Ultrasonic vibration is introduced into the single point incremental forming process to increase the forming limit of a material by changing its deformation mechanism. For 1060 aluminum sheet, the effects of vibration amplitude and frequency on the constitutive relation of material are analyzed. And the sidewall forming angle of a cone frustum part is taken as a measure standard. The influences of ultrasonic vibration parameters on the forming accuracy are studied through numerical simulation and experiment. The results show that the formability of 1060 aluminum sheet can be significantly changed by applying ultrasonic vibration, and the single point incremental forming limit and the forming quality can be improved under the conditions of 120 W and 25 kHz. Key

Uncertainty Analysis of Coordinate Measurement of Six-light-screen Array Sky Screen Vertical Target Based on Engineering Model

CHEN Rui， NI Jinping， LIU Jinlong

2019, 40(3):  612-620.  doi:10.3969/j.issn.1000-1093.2019.03.021

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Six-light-screen vertical target is an important equipment for the coordinate measurement of rapid-fire weapons. Since the measurement uncertainty analysis based on an ideal model cannot meet the requirement of engineering practice, the coordinate measurement uncertainty of double N-shaped six-light-screen array was considered in the engineering model. All the factors, such as the calibration uncertainty of structure parameters, the measurement uncertainties of target distance and height difference, the time extraction uncertainty, the uncertainty of light-screen verticality, the placement uncertainty of vertical target and the projectile incident angle, etc., are analyzed, respectively. The influence of each factor is evaluated by establishing evaluation function. The synthetic uncertainty is calculated, and the maximum distribution of measurement uncertainty in 1 m×1 m target area is simulated. The results show that the experimental results of live ammunition are in well agreement with the analyzed results. Key

Multi-objective Dynamic Scheduling with Accompanying Repair Tasks under Complex Constraints

LIU Yan, CHEN Chunliang, ZAN Xiang, CHEN Weilong, ZHANG Lijun

2019, 40(3):  621-628.  doi:10.3969/j.issn.1000-1093.2019.03.022

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The multi-objective dynamic scheduling issue with accompanying repair tasks is studied for heavy repair tasks, limited repair time and complex constraints in wartime. Equipment maintenance task scheduling with accompanying repair tasks is proposed by taking the complex constraints into account. A multi-objective dynamic scheduling model is established. The repair time windows and non-traversal constraints are introduced in the proposed model on the basis of repair capabilities and repair time constraints. The total number of equipment repairs, the sum of equipment importance degree, and the total time of secondary operations are regarded as scheduling targets in considering the changes in repair capabilities and the uncertainty of repair status. An improved multi-objective genetic algorithm based on non-dominated sorting genetic algorithm II(NSGA-II) is designed to solve the model. The rationality and effectiveness of the proposed model and algorithm are verified through the example simulation and analysis. Key

Confrontation-based Cooperative Fire Strike Decision-making Method of Assault Weapons and Support Weapons

KONG Depeng, CHANG Tianqing, HAO Na, ZHANG Lei, GUO Libin

2019, 40(3):  629-640.  doi:10.3969/j.issn.1000-1093.2019.03.023

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A decision-making method for the cooperative fire strike (CFS) of assault weapons and support weapons in confrontation is proposed. And a decision-making model for CFS is established based on the ratio of friend or foe's residual values by studying the “point to point” strike of assault weapons and the “area damage” of long-range firepower support weapons, and the optimization process of decision-making of fire strike is considered. The decision of the assault weapons attacking the targets, the decision of the targets attacking the assault weapons and the drop points of projectiles launched from supporting weapons are taken as the optimization variables in decision-making model. A two-level iterative optimization method based on artificial bee colony (ABC) algorithm is proposed to solve the CFS decision-making optimization model. The integer is used to encode the decision variables, and the penalty function method is used to deal with the constraints. The decision-making model is transformed into an unconstrained mixed integer optimization problem. In view of the implementation process of the proposed algorithm, the computational complexity of the two-level iterative ABC algorithm is analyzed. A CFS example is used to verify the rationality and effectiveness of the collaborative fire strike decision-making model and the solving algorithm.Key

Driving Algorithm for Replicating Linear Acceleration of Manned Lunar Rover on Moon under Earth Gravity

LIANG Zhongchao， WANG Yongfu

2019, 40(3):  641-650.  doi:10.3969/j.issn.1000-1093.2019.03.024

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Manned lunar rover is handled by an astronaut on the soft lunar terrain. To be familiar with the dynamic properties of manned lunar rover, the astronaut has to be trained and do the imitation experiments on the earth. However, if an imitation vehicle on the earth is used to replicate the linear acceleration running of manned lunar rover on the moon, same driving torques for each vehicle may cause different linear accelerations due to the difference between the earth and moon gravities. In terms of above issue, a linear acceleration model of manned lunar rover is established based on the terramechanics and forced-slip theory, and the traction force conditions for the linear acceleration imitation are analyzed. Then an imitation algorithm of driving torque for the wheels of the imitation vehicle is derived to replicate the linear acceleration of the manned lunar rover. The imitation algorithm is verified by using two different imitation vehicles with same mass and vertical load as the manned lunar rover on the moon. The calculated results show that the imitation vehicles on the earth driven by the imitation algorithm can produce the same linear acceleration as the manned lunar rover moving on the moon, but the imitation vehicles without using the imitation algorithm cannot produce the same linear acceleration. Key

Non-oscillation Path Planning Based on Virtual Obstacle Method

CHEN Tiande, HUANG Yanyan, SHEN Wei

2019, 40(3):  651-658.  doi:10.3969/j.issn.1000-1093.2019.03.025

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The artificial potential field method, as a path planning algorithm, is used for the path planning of clumsy mobile robots, agents and so on because it can provide a smooth route. Due to the inevitable existence of local minimum and discretization of algorithms during algorithm execution, the calculation of the route point may fall into the local minimum trap, which may result in the infinite loop of algorithmic program and the oscillation of path point. For local minimum trap, an improved virtual obstacle method is proposed to overcome this problem. The definition of threat area is introduced to determine the location of virtual obstacle, and a determining standard is put forward. A filtering oscillation point method is proposed to solve the problem of path point oscillation. The simulated results show that the route points which are stuck in local minimum trap can escape from the trap successfully using the improved virtual obstacle method. Additionally, the oscillation route points can be effectively eliminated to obtain a relatively smooth route by the filtering oscillation point method. Key

Research Notes

Research on Crew's Information Operation Performance with the Difference of Cognitive Behavior

FU Binhe, LIU Weiping, NIE Junfeng, LIU Xixia

2019, 40(3):  659-665.  doi:10.3969/j.issn.1000-1093.2019.03.026

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The difference of cognitive behavior has gradually become the main influencing factor of crew's information operation performance. To improve crew's information operation performance, the information operation performance of armored vehicle crew is studied with the difference of cognitive behavior. A cognitive behavior model of crew's information operation with channel dimension integrated is built based on task-network modeling technology. A predictive model of crew's information operation performance is built. The contrast experiment of crew's information operation performance is conducted for different levels of cognitive ability. The correlation and influence between crew's cognitive ability and information operation performance are obtained through the statistical analysis of performance data. The results show that the predicted data is in good agreement with the experimental data. Crew's cognitive ability has a significant positive correlation with operation performance. Cognitive behavior difference has a significant effect on information operation performance. The selection of armored vehicle crew is suggested to be combined with cognitive ability evaluation, as well as training and task assignment can be conducted accordingly, which helps to improve crew's operation performance and save training resource. Key

A method of Stitching Digital Camouflage Patterns on Different Planes Based on Texture Synthesis and Best Seam Line Algorithm

LI Zhonghua， YU Jun， HU Zhiyi， KANG Qinyu， GAO Shouyi， LIAN Zhichao， XIAO Feng

2019, 40(3):  666-672.  doi:10.3969/j.issn.1000-1093.2019.03.027

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A discontinuously transitional color appears in the connection part between different planes when 2D digital camouflage pattern is applied on a 3D target surface. To solve this problem, a digital camouflage stitching method is proposed based on texture synthesis and best seam line algorithm. The texture synthesis technology is used to create naturally transitional extended digital camouflage pattern, thus constructing a fake overlap region for digital camouflage pattern, and searching the best seam line in the overlap region. And then the patterns to be stitiched are tailored and stitched together to achieve the seamless stitching of digital camouflage pattern. The qualitative and quantitative methods are used to eva- luate the stitching result. Experimental results show that the proposed method can effectively eliminate the significant gaps in stitched camouflage pattern, and make it more natural. Key