系留气球刚柔耦合系统应变集中效应仿真分析

Simulation Analysis of Strain Concentration Effect in Rigid-Flexible Coupling System of Tethered Balloon

邬军;罗海波;杨燕初;马子非;刘晓勇; WU Jun;LUO Haibo;YANG Yanchu;MA Zifei;LIU Xiaoyong;

针对系留气球与吊舱之间存在刚柔耦合连接而引起的应变集中问题，采用ABAQUS与理论模型相结合的方式对其进行力学分析，提出一种加强过渡层策略来降低结构连接处的应变集中效应，从而提高系留气球系统的安全性与实用性。首先，基于经典力学理论得到了系留气球囊体结构的应力分布理论解，并结合本构方程提出织物材料正交模量设计准则；然后，对刚柔耦合系统力学仿真模型的计算结果进行分析，提出等效应变集中因子，研究了附加重载质量、囊体内外压差及材料对应变集中效应的影响机理；最后，为缓解应变集中效应，提出一种局部加厚的囊体过渡层设计策略。仿真结果表明：对于无吊舱的系留气球，其环向应力约为轴向应力的2倍，因此采用正交方向模量比为2的各向异性织物材料更为合适；采用Vectran纤维复合材料作为囊体材料和碳纤维材料作为吊舱结构件材料时，其综合承载能力最佳；在承载1 t重载荷情况下，采用加强过渡层设计策略的系留气球刚柔耦合系统的应变集中因子下降11.3%，可有效提高系留气球的承载能力与结构可靠性，为未来新型浮空器系统的设计提供了理论参考，从而推动系留气球的安全应用。

To address the strain concentration caused by a rigid-flexible coupling connection between a tethered balloon and compartment, a mechanical analysis was conducted by combining ABAQUS with theoretical models. A strategy for strengthening the transition layer was proposed to effectively reduce the strain concentration at the structural connection, thereby enhancing the safety and practicality of the tethered balloon system. First, based on the classical mechanical theory, a theoretical solution for stress distribution of the bladder structure of the tethered balloon was obtained, and a design criterion for the orthogonal modulus of fabric materials was proposed in combination with constitutive equations. Subsequently, the calculation results of the mechanical simulation model of the rigid-flexible coupling system were analyzed, and an equivalent strain concentration factor was introduced. The influence mechanisms of additional heavy-load mass, internal-external pressure difference of the bladder, and material on the strain concentration effect were investigated. Finally, to alleviate the strain concentration effect, a locally thick-ened bladder transition layer design strategy was proposed. Simulation results show that for tethered balloons without compartment, the circumferential stress is approximately twice the axial stress, making anisotropic fabric materials with an orthogonal modulus ratio of two more suitable. Using Vectran fiber composites as the bladder base material and carbon fiber as the compartment structural components yields the best overall load-bearing capacity. Under a 1-ton heavy load, the strain concentration factor of the rigid-flexible coupling system of the tethered balloon with the reinforced transition layer design decreases by 11.3%, effectively improving the load-bearing capacity and structural reliability of the tethered balloon. The proposed optimization strategy can provide theoretical guidance for the design of new types of aerostat systems in future, and promote the safe application of tethered balloons.

新型低成本聚乙烯飞艇设计及应用前景分析

Design and Application Prospects of a Novel Low-Cost Polyethylene Airship

张航悦;赵荣;曹胜鸿;祝榕辰;杨燕初;蔡榕; ZHANG Hangyue;ZHAO Rong;CAO Shenghong;ZHU Rongchen;YANG Yanchu;CAI Rong;

为有效应对平流层织物飞艇“体积与重量发散、温压与囊体强度发散”的矛盾，提出以线性低密度聚乙烯薄膜为气囊的流线型飞艇架构。凭借聚乙烯飞艇在艇体重量、承受压差及成本等方面的优势，在设计上围绕耐超压结构、尾翼及发放方式展开研究。首先，建立正交加强筋-球膜耦合模型，以横向约束下的二维母线变形为输入，得到最优周向加强筋间距。取单幅球膜在施加对称约束后的整艇变形及局部鼓包变形进行分析，得出局部曲率半径减小后的鼓包外形及受力。其次，设计多气囊堆叠尾翼，通过横向、纵向与垂向三向加强筋实现聚乙烯尾翼耐超压结构。最后，针对聚乙烯飞艇不易实现非成形发放的难题，采用内部隔膜与外敷绳笼方案，并通过外场试验验证了其可行性。在应用方面，以未来实现平流层中上部飞行、组合气球、高空系留气球以及低空经济方面为例进行讨论，为相关应用提供了低成本、可扩展的技术路径。

To effectively address the contradiction between the volume versus weight divergence and temperature versus strength divergence of stratospheric fabric airships, a streamlined airship architecture with linear low-density polyethylene membrane was proposed. Based on the advantages of polyethylene airships in terms of lightweight, pressure tolerance, and low cost, researches focused on the design of super-pressure resistant structures, tail fins and launching methods. First, an orthogonal tendons-membrane coupled model was established to consider the twodimensional generatrix deformation under lateral constraints as input, to obtain the optimal circumferential tendons spacing. The global deformation and local bulge of a single gore after applying symmetrical constraints were analyzed to obtain the bulge shape and stress after the local curvature radius reduction. Subsequently, a multi-airbag stacked tail fin was designed to achieve a super-pressure-resistant polyethylene structure through transverse, longitudinal, and vertical tendons. Finally, an internal interlayer and external rope cage scheme were adopted to address the difficulties of achieving non-forming launching of polyethylene airships, and its feasibility was verified through field flight experiments. Future research can focus on the realization of mid-to-upper stratosphere flight, combination balloons, high-altitude tethered balloons, and low-altitude economy, providing low-cost and scalable technological paths for related applications.

短纤维增强复合材料热膨胀系数预测方法

Prediction Method of the Coefficients of Thermal Expansion of Short-Fiber-Reinforced Composites

管涛;刘全秀;郭方亮;李元庆;付绍云; GUAN Tao;LIU Quanxiu;GUO Fangliang;LI Yuanqing;FU Shaoyun;

为准确评估短纤维增强复合材料的热膨胀性能，以热力学理论推导的单向层压板热膨胀系数解析公式为基础，结合取向概率密度函数与长度概率密度函数，建立了适用于该类材料的热膨胀系数（coefficient of thermal expansion,CTE）预测模型。首先，基于该模型，系统分析了纤维平均取向角、平均长度及体积分数等纤维分布特征对CTE的影响规律。然后，分别通过挤出-注塑、溶液-注塑和悬浮液-注塑工艺制备短纤维增强复合材料，利用图像分析法统计纤维取向分布，采用热解法统计纤维长度分布。最后，将所得数据代入模型后，把预测值与实验结果进行对比验证。结果表明：纵向CTE随纤维平均长径比和体积分数的增加而降低，随平均取向角的增大而升高；横向CTE随平均取向角和体积分数的增加而下降，随平均长径比的增大而上升；纤维平均取向角和体积分数对短纤维增强复合材料CTE的影响显著大于纤维平均长径比；纤维平均取向角和平均长度均随纤维体积分数的提高而减小。挤出-注塑工艺制备的复合材料平均纤维长度为107.9μm，而溶液-注塑工艺和悬浮液-注塑工艺制备的复合材料的平均纤维长度分别为139.0μm和206.6μm。所提模型的理论预测与实验数据间具有良好的一致性，说明其可为短纤维增强复合材料的优化设计提供有效建议。

To accurately evaluate the thermal-expansion property of short-fiber-reinforced composites, a predictive model for the coefficient of thermal expansion(CTE)was developed.The model was based on an analytical solution for unidirectional laminates derived from thermodynamic theory and incorporated orientation and length probability density functions. First, the effects of fiber distribution characteristics, such as mean orientation angle, mean length, and volume fraction, on the CTE were systematically investigated using this model. Subsequently, shortfiber-reinforced composites were fabricated using extrusion injection, solution injection, and suspension injection moldings. The fiber orientation distribution was quantified using image analysis,and the fiber length distribution was determined via pyrolysis. Finally, the resulting data were input into the model, and the predicted CTE values were validated using experimental data. The results show that the longitudinal CTE decreases with increasing mean aspect ratio and volume fraction but increases with increasing mean orientation angle, whereas the transverse CTE decreases with increasing mean orientation angle and volume fraction yet increases with increasing mean aspect ratio. The mean orientation angle and volume fraction exert significantly stronger influences on the composite CTE than the mean aspect ratio. Both the mean orientation angle and mean fiber length decrease as the fiber volume fraction increases. The mean fiber length of the extrusion injection-molded specimen is 107.9 μm, while those of the solution injection and suspension injection molded specimens are 139.0 μm and 206.6 μm, respectively. The excellent agreement between the theoretical predictions of the proposed model and the experimental results demonstrates the reliability of the model and provides effective guidance for the optimal design of short-fiber-reinforced composites.

间歇通信条件下双层编队四旋翼无人机集群跟踪控制

Two-Layer Formation Tracking Control of Quadrotor Unmanned Aerial Vehicle Swarms under Intermittent Communication

高久安;李冰;席建祥;王乐;王成; GAO Jiuan;LI Bing;XI Jianxiang;WANG Le;WANG Cheng;First Military Representative Office of the Rocket Force Equipment Department in Mianyang;

针对四旋翼无人机集群编队跟踪控制过程中的复杂通信约束问题，提出间歇通信条件下多领导者双层编队四旋翼无人机集群跟踪控制方法。首先，对间歇通信条件进行了数学描述并建立了四旋翼无人机的动力学模型，给出了四旋翼无人机集群可实现双层时变编队跟踪控制的条件；其次，构建了间歇型双层时变编队跟踪控制器，基于线性矩阵不等式提出间歇通信条件下的双层时变编队设计与分析判据；最后，基于一个由3架领导者和6架跟随者组成的多领导者四旋翼无人机集群系统开展仿真试验。结果表明：该集群系统可实现间歇通信条件下的双层时变编队跟踪控制，在多无人机之间的通信连通时，领导者和跟随者可分别形成各自期望的时变编队队形，并且跟随者可跟踪到由所有领导者决定的编队中心；在多无人机之间的通信断开时，控制器中的自反馈项使无人机受控，仿真结果展现出较好的编队性能和跟踪性能。

A dual-layer time-varying formation tracking control method for quadrotor unmanned aerial vehicle(UAV)swarms under intermittent communication was proposed to address the challenges posed by complex communication constraints among UAVs. First, the intermittent communication condition was mathematically described, and a quadrotor UAV model was established. The conditions for achieving dual-layer time-varying formation-tracking control in quadrotor UAV swarms were then derived. Subsequently, an intermittent dual-layer time-varying formation-tracking controller was designed, and a design and analysis criterion under intermittent communication was introduced based on linear matrix inequalities. Finally, simulation experiments were conducted using a multi-leader quadrotor UAV swarm system comprising three leaders and six followers. The results demonstrate that the swarm system can achieve a dual-layer time-varying formation-tracking control under intermittent communication. When communication is connected, both leaders and followers can form their desired time-varying formations, with followers tracking the formation center determined by the leaders. When the communication is interrupted,the self-feedback term of the controller ensures that the UAVs remain controllable. The simulation results verify strong formation and tracking performance of the proposed method.

联合灰色模型与一阶加权局域法的卫星钟差中短期预报

Short and Medium-Term Prediction of Satellite Clock Bias Combining Grey Model and First-Order Weighted Local Method

于烨;杨朝攀;金国栋;赵建伟; YU Ye;YANG Chaopan;JIN Guodong;ZHAO Jianwei;

为提高单一模型卫星钟差预报的精度和稳定度，提出了一种灰色模型与一阶加权局域法组合的卫星钟差预报方法。首先，采用db1小波对卫星钟差进行三层多尺度分解和单支重构，得到一项近似分量和三项细节分量；然后，采用灰色模型对近似分量和一阶加权局域法对细节分量分别进行预报；最后，将各分量的预报结果对应相加即可得到卫星钟差的最终预报值。采用武汉大学GNSS分析中心发布的精密卫星钟差产品，随机选取10颗Galileo卫星的钟差数据进行预报实验。结果表明：在2、4、6 h预报时，该模型相比于灰色模型的预报精度分别提高了50.00%、64.66%、60.48%，稳定度分别提高了18.07%、23.19%、32.51%；在改变建模数据量和预报长度时，该模型的预报精度和稳定度均显著高于其他单一模型，其预报精度和稳定度最大可以提高85.67%和89.28%，验证了该组合模型在卫星钟差预报方面的有效性和可行性。

A method for satellite clock bias(SCB)prediction combining the grey model and first-order weighted local method was proposed to improve the accuracy and stability of SCB prediction based on a single model. First, a db1 wavelet was used to perform a three-layer multiscale decomposition and single-branch reconstruction of the SCB, obtaining an approximate component and three detailed components. Subsequently, the grey model was adopted to predict the approximate components, and the first-order weighted local method was used to predict the detailed components, respectively. Finally, the predicted values of all components were added to obtain the final predicted value of the SCB. The clock bias data of ten Galileo satellites were randomly selected for prediction experiments using precision SCB products released by the GNSS Analysis Center of Wuhan University. The results show that in the 2 h, 4 h and 6 h predictions,the prediction accuracy of this combined model increases by 50.00%, 64.66% and 60.48%, respectively, while the stability increases by 18.07%, 23.19% and 32.51%, respectively, compared with those of the grey model. When the amount of modeling data and prediction length were changed, the prediction accuracy and stability of the combined model are significantly improved compared with those of other single models. Its prediction accuracy and stability can be increased by up to 83.12% and 86.28%, respectively. Thus, the effectiveness and feasibility of the combined model for SCB prediction are verified.

无人机航迹规划智能算法研究综述

Review of Intelligent Algorithms for Unmanned Aerial Vehicle Trajectory Planning

鲜勇;郭靖;任乐亮;李少朋; XIAN Yong;GUO Jing;REN Leliang;LI Shaopeng;

针对传统无人机航迹规划算法计算效率低、适应性差的问题，从算法改进的角度出发，系统地梳理了国内外在无人机航迹规划领域的研究进展。从全局优化能力、动态适应性、计算效率以及鲁棒性等方面，阐述了无人机航迹规划智能算法具有的显著优势；同时，对航迹规划智能算法进行了详细分类和总结，从智能优化算法与机器学习算法的几种典型算法改进策略出发，对比分析了每种典型航迹规划智能算法的优缺点、应用场景以及改进方向；最后，结合当前无人机航迹规划所面临的多重挑战，对无人机航迹规划智能算法未来的研究趋势和潜在应用方向进行了展望，强调了航迹规划智能算法在提升算法性能、适应复杂环境、满足多样化任务需求以及智能算法融合等方面的重要性，为无人机航迹规划智能算法的研究与发展提供了参考。

To address the problems of low computational efficiency and poor adaptability of conventional unmanned aerial vehicle(UAV)trajectory planning algorithms, progress in domestic and international research in this field was reviewed from the perspective of algorithm improvement. First, the substantial advantages of intelligent algorithms for UAV trajectory planning were elaborated based on global optimization capability, dynamic adaptability, computational efficiency,and robustness. Subsequently, a detailed classification and summary of intelligent algorithms for trajectory planning were presented. Furthermore, the advantages, disadvantages, application scenarios, and improvement directions of each typical intelligent algorithm were comparatively analyzed according to typical algorithm improvement strategies of intelligent optimization and machine learning algorithms. Finally, combined with the multiple challenges currently encountered in UAV trajectory planning, future research trends and potential application directions of intelligent algorithms for UAV trajectory planning were discussed. Additionally, the importance of intelligent algorithms for trajectory planning in improving algorithm performance, adapting to complex environment, meeting diverse task requirements, and integrating intelligent algorithms were emphasized. The review provides a reference for the research and development of intelligent algorithms for UAV trajectory planning.

高温后钢纤维混凝土的力学性能与微观结构

Mechanical Properties and Microstructure of Elevated Temperature-processed Steel Fiber Reinforced Concrete

董婧;杨进良;王炜;刘渊;杜娟; DONG Jing;YANG Jinliang;WANG Wei;LIU Yuan;DU Juan;

为研究不同温度作用对钢纤维混凝土力学性能与微观结构的影响，对比了经25℃、200℃、400℃、600℃温度处理后自然冷却的普通混凝土与体积掺量为1%的钢纤维混凝土的力学性能与微观结构。首先，通过混凝土立方体抗压试验及劈裂抗拉试验获取了试件的破坏形态、抗压强度、劈裂抗拉强度；然后，使用霍普金森压杆装置开展了4种冲击气压下试件的动态冲击压缩试验，获取了动态抗压强度与动态压缩增长因子，并运用扫描电镜观察了不同处理温度条件下试件的微观结构。研究结果表明：随着处理温度的升高，普通混凝土与钢纤维混凝土的颜色、表观裂纹、质量以及微观结构上均会产生变化，抗压强度与劈裂抗拉强度均呈降低趋势，且在400～600℃时出现了骤降；钢纤维的加入可以在一定程度上降低混凝土的高温后质量损失率，有效改善混凝土的动静态力学性能。此外，钢纤维的桥接作用可在一定程度上抑制混凝土裂纹的扩展。

The effects of different temperatures on the mechanical properties and microstructure of steel fiber reinforced concrete(SFRC)was investigated by conducting a comparative study of the mechanical properties and microstructure of normal concrete(NC)that wasnaturally cooled after elevated-temperature treatment at 25 ℃, 200 ℃, 400 ℃ and 600 ℃, and SFRC with a volume proportion of 1%. First, the failure mode, compressive strength, and splitting tensile strength were obtained by compression and splitting tensile tests of a concrete cube. Second, the dynamic compressive strength and dynamic compression growth factors were obtained through dynamic impact compression tests, which were conducted on the specimens under four different impact pressures using Split Hopkinson Pressure Bar. The micro-structures of the specimens under different temperature treatments were observed using scanning electron microscope. Results showed that with an increase in temperature, both NC and SFRC change in terms of color, surface cracks, mass, and microstructure. Simultaneously, the compression and splitting tensile strengths show a decreasing trend, with a sudden drop at 400～600 ℃. However, the addition of steel fibers can reduce the mass-loss rate of concrete after high-temperature treatment, and effectively improve the dynamic and static mechanical properties of concrete. Additionally, the bridging effect of the steel fibers can inhibit the propagation of concrete cracks to some extent.

重型车辆高级驾驶辅助系统研究综述

Review on ADAS Technologies for Heavy-Duty Vehicles

张志利;祝慧鑫;周召发;赵军阳;张克凡; ZHANG Zhili;ZHU Huixin;ZHOU Zhaofa;ZHAO Junyang;ZHANG Kefan;

针对高级驾驶辅助系统（Advanced Driving Assistance System,ADAS）重型车辆视野盲区大、反应要求高、制动时间短的安全特征，论述了重型车辆ADAS技术的发展历程以及目前ADAS技术的涵盖范围，重点论述了重型车辆ADAS的环境感知技术（包括基于视觉类图像、雷达类点云、多模态融合的目标检测技术）以及定位定向技术（囊括局部高精地图构建和多模态融合定位定向方案研究）。展望了重型车辆ADAS技术的发展趋势。

Considering safety characteristics of heavy-duty vehicles such as large blind spots,high reaction requirements and short braking time, the development courses of heavy-duty vehicle ADAS technologies and the current coverage of ADAS technologies were reviewed. First, environment sensing technologies of heavy-duty vehicle ADAS, including target detection technologies based on vision-like images, radar-like point clouds and multimodal fusion were discussed respectively. Second, the localization and orientation technology of heavy-duty vehicle ADAS,encompassing the construction of local high-precision maps and the research of multimodal fusion localization and orientation scheme were described. Finally, the trend of further development of ADAS technologies for heavy-duty vehicles were predicted.

偏振探测成像技术研究进展及其军事应用

Progress and Military Applications of Polarization Detection Imaging Technology

李林;张国清;周战荣;耿燚; LI Lin;ZHANG Guoqing;ZHOU Zhanrong;GENG Yi;

对代表性的偏振探测技术及其在军事领域中的主要应用给出了总结。首先,介绍了利用琼斯矩阵和穆勒矩阵进行偏振探测的基本原理；其次，就4种常见的偏振探测技术的实现方法及其优缺点进行了讨论，包括分时偏振成像技术和同时偏振成像技术（包括分振幅偏振成像、分孔径偏振成像、分焦平面偏振成像技术）；然后，介绍了偏振探测技术在目标探测、图像去雾、导航、地雷探测等军事方面的典型应用；最后,指出了偏振探测技术目前存在的难点问题以及未来发展展望。

Representative polarization detection technologies and its applications in military were summarized. Firstly, the basic principles of polarization detection using Jones matrix and Muller matrix were introduced. Secondly, four common polarization detection techniques, including the division-of-time polarization imaging as well as the division-of-amplitude polarization imaging, the aperture-divided polarization imaging and the division-of-focal-plane polarization imaging of the simultaneous polarization imaging, and their advantages and disadvantages were discussed. Then, typical applications of polarization detection technology in the military field, such as target detection, image dehazing, navigation and landmine detection, were introduced. Finally,the current difficulties and an outlook on the development of polarization detection technology were provided.

基于目标HSV（色调-饱和度-亮度）空间图像自适应分割的直线检测算法

Straight Line Detection Algorithm Based on Adaptive Segmentation of Target HSV Space Images

尉金强;杜文正;孙晓艳;聂婷;唐圣金; WEI Jinqiang;DU Wenzheng;SUN Xiaoyan;NIE Ting;TANG Shengjin;

针对现阶段利用数字图像进行半挂车倒车辅助过程中，存在辅助地标线检测效果鲁棒性差和实时性不高等问题，提出了一种基于目标色调-饱和度-亮度（Hue-SaturationValue,HSV）空间图像自适应分割的直线检测算法。首先，对不同场景下的直线目标进行分割提取，通过统计不同场景下目标HSV空间图像直方图确定图像分割的初始阈值，并基于初始阈值提出一种基于目标HSV空间的图像自适应分割算法。然后，对图像进行预处理及边缘检测，提取目标边缘点。最后，采用基于中位数绝对偏差的最小二乘直线检测方法剔除边缘点中的离群值以提高地标直线目标的检测精度。实验结果表明：该算法能够在不同背景、不同光照条件下对目标进行准确检测，具有良好的鲁棒性；与Hough变换算法相比，该算法的运算速度更快，直线检测的准确率更高，并且对不同颜色地标线的检测也具有良好的适用性。

To solve problems in exisiting digital images processing-based semi-trailer reversing assistant system development, such as poor robustness and low real-time of landmark line detection, a straight line detection algorithm based on adaptive segmentation of target Hue-Saturation-Value(HSV) space images was proposed. First, line targets in various scenes were segmented and extracted. Simultaneously, histograms of target images in the HSV space across different scenes were used to determine the initial threshold for image segmentation, based on which an image adaptive segmentation algorithm according to target HSV space images was proposed.Subsequently, the preprocessing and edge detection of images were conducted to extract edge points of targets. Finally, outliers of edge points were eliminated by using a median absolute deviation-based least squares straight line detection method to improve the detection accuracy of landmark line targets. Experimental results showed that the proposed algorithm is able to accurately detect targets under different backgrounds and lighting conditions with good robustness.Compared to the Hough transform algorithm, the algorithm has faster operation speed, higher accuracy of straight line detection, and good applicability to the detection of landmark lines of different colors.

无人机航迹规划智能算法研究综述

Review of Intelligent Algorithms for Unmanned Aerial Vehicle Trajectory Planning

鲜勇;郭靖;任乐亮;李少朋; XIAN Yong;GUO Jing;REN Leliang;LI Shaopeng;

针对传统无人机航迹规划算法计算效率低、适应性差的问题，从算法改进的角度出发，系统地梳理了国内外在无人机航迹规划领域的研究进展。从全局优化能力、动态适应性、计算效率以及鲁棒性等方面，阐述了无人机航迹规划智能算法具有的显著优势；同时，对航迹规划智能算法进行了详细分类和总结，从智能优化算法与机器学习算法的几种典型算法改进策略出发，对比分析了每种典型航迹规划智能算法的优缺点、应用场景以及改进方向；最后，结合当前无人机航迹规划所面临的多重挑战，对无人机航迹规划智能算法未来的研究趋势和潜在应用方向进行了展望，强调了航迹规划智能算法在提升算法性能、适应复杂环境、满足多样化任务需求以及智能算法融合等方面的重要性，为无人机航迹规划智能算法的研究与发展提供了参考。

To address the problems of low computational efficiency and poor adaptability of conventional unmanned aerial vehicle(UAV)trajectory planning algorithms, progress in domestic and international research in this field was reviewed from the perspective of algorithm improvement. First, the substantial advantages of intelligent algorithms for UAV trajectory planning were elaborated based on global optimization capability, dynamic adaptability, computational efficiency,and robustness. Subsequently, a detailed classification and summary of intelligent algorithms for trajectory planning were presented. Furthermore, the advantages, disadvantages, application scenarios, and improvement directions of each typical intelligent algorithm were comparatively analyzed according to typical algorithm improvement strategies of intelligent optimization and machine learning algorithms. Finally, combined with the multiple challenges currently encountered in UAV trajectory planning, future research trends and potential application directions of intelligent algorithms for UAV trajectory planning were discussed. Additionally, the importance of intelligent algorithms for trajectory planning in improving algorithm performance, adapting to complex environment, meeting diverse task requirements, and integrating intelligent algorithms were emphasized. The review provides a reference for the research and development of intelligent algorithms for UAV trajectory planning.

偏振探测成像技术研究进展及其军事应用

Progress and Military Applications of Polarization Detection Imaging Technology

李林;张国清;周战荣;耿燚; LI Lin;ZHANG Guoqing;ZHOU Zhanrong;GENG Yi;

对代表性的偏振探测技术及其在军事领域中的主要应用给出了总结。首先,介绍了利用琼斯矩阵和穆勒矩阵进行偏振探测的基本原理；其次，就4种常见的偏振探测技术的实现方法及其优缺点进行了讨论，包括分时偏振成像技术和同时偏振成像技术（包括分振幅偏振成像、分孔径偏振成像、分焦平面偏振成像技术）；然后，介绍了偏振探测技术在目标探测、图像去雾、导航、地雷探测等军事方面的典型应用；最后,指出了偏振探测技术目前存在的难点问题以及未来发展展望。

Representative polarization detection technologies and its applications in military were summarized. Firstly, the basic principles of polarization detection using Jones matrix and Muller matrix were introduced. Secondly, four common polarization detection techniques, including the division-of-time polarization imaging as well as the division-of-amplitude polarization imaging, the aperture-divided polarization imaging and the division-of-focal-plane polarization imaging of the simultaneous polarization imaging, and their advantages and disadvantages were discussed. Then, typical applications of polarization detection technology in the military field, such as target detection, image dehazing, navigation and landmine detection, were introduced. Finally,the current difficulties and an outlook on the development of polarization detection technology were provided.

基于三维高斯泼溅技术的航拍场景建模

3D Gaussian Splatting-based Aerial Video Scene Modeling

何天琪;宋佳洁;程景春;潘雄; HE Tianqi;SONG Jiajie;CHENG Jingchun;PAN Xiong;

针对航拍视频场景建模存在的数据匮乏、现有算法建模细节缺失等问题，提出了基于仿真引擎的飞行场景数据采集方法，并采用三维高斯泼溅（3D Gaussian Splatting,3DGS）算法实现航拍场景的建模与渲染。首先，利用仿真引擎实现城区、沙滩、江桥3种典型场景下不同飞行轨迹、不同飞行速度、不同环境条件下的数据集获取，并进行航拍视频帧采样；然后，通过运动恢复结构实现场景的稀疏建模，再利用3DGS算法进行场景的稠密建模及渲染；最后，进行了模型的定量对比与定性分析实验。结果表明：与经典的COLMAP算法相比，所提算法具有更好的建模效果以及更完备的图像细节；线性、网格、螺旋不同的飞行轨迹均能得到较高的图像质量，但螺旋轨迹具有更好的场景通用性；飞行速度在30 m/s以下时可以得到较高质量的建模效果，其中PSNR>32 dB,SSIM>0.93,LPIPS<0.13；在不同环境条件下均能得到较高的图像质量，且在晴天白天理想光照下质量最佳。该研究为具有位姿灵活、飞行速度较快、场景大等难点的航拍视频提供了高精度、高鲁棒性的建模方案。

To solve the problems of data scarcity and lack of modeling details in existing algorithms in the modeling of aerial video scenes, a flight scene data acquisition method based on simulation engines was proposed. The advanced 3DGS(3D Gaussian Splatting)algorithm was adopted to model and render aerial scenes. First, simulation engines were used to obtain datasets for different flight trajectories, speeds, and environmental conditions in three typical scenes(urban areas, beaches, and river bridges), and to obtain samples of aerial video frames. In addition, the sparse modeling of the scenes was realized through the motion recovery structure, and the 3DGS algorithm was used for dense modeling and rendering of the scenes. Finally, quantitative comparison and qualitative analysis experiments of the models were conducted. The results show that compared with the classical COLMAP algorithm, the proposed algorithm has better modeling results and more complete image details. Higher image quality can be obtained in different flight trajectories(linear, grid, and spiral), while achieving better scene universality in spiral trajectories. Higher-quality modeling results can be obtained when the flight speed is below30 m/s(PSNR>32 dB, SSIM>0.93, LPIPS<0.13). Furthermore, high image quality can be achieved under different environmental conditions, and the best quality is achieved under ideal light during the daytime of sunny days. A high-precision and high-robustness modeling solution for aerial videos with difficulties such as flexible positions, fast flight speeds, and large scenes is provided in this paper.

一种电荷灵敏前置放大器的设计与实现

Design and Implementation of a Charge Sensitive Preamplifier

王佳帅;秦晋;许鹏;卜洪涛;王道平; WANG Jiashuai;QIN Jin;XU Peng;BU Hongtao;WANG Daoping;Xi'an CNNC Nuclear Instrument Co.Ltd;

针对传统金硅面垒α谱仪所使用的电荷灵敏前置放大器存在电路结构复杂、损坏后维修周期长的问题，基于低噪声场效应管和集成运算放大器，使用电路仿真软件，设计了针对金硅面垒半导体探测器的电荷灵敏前置放大器，简化了电路结构。对该前置放大器参数进行了理论计算和实验测试。结果表明：自制的电荷灵敏前置放大器的电荷变换增益为5×10~12V/C，能量变换增益为222 mV/MeV，上升时间为200 ns；将其应用于金硅面垒α谱仪之中，能够测量~239Pu板状源的α能谱。

To cover shortages of the charge sensitive preamplifier used in the existing Au-Si surface barrier alpha spectrometer, such as complex circuit structure and long maintenance cycle after damage, a charge sensitive preamplifier for gold silicon surface barrier semiconductor detector was designed based on low noise field effect transistor and integrated operational amplifier.The proposed preamplifier was designed with circuit simulation software and its simpler circuit structure. Furthermore, parameters of the charge sensitive preamplifier was obtained by theoretical calculation and verified by experimental tests. Results showed that the charge conversion gain of the self-made charge sensitive preamplifier is 5×10~12V/C, energy conversion gain is 222 mV/MeV and rise time is 200 ns. When it was applied to the Au-Si surface barrier α spectrometer, it can measure the α energy spectrum of ~239Pu plated source.

基于目标HSV（色调-饱和度-亮度）空间图像自适应分割的直线检测算法

Straight Line Detection Algorithm Based on Adaptive Segmentation of Target HSV Space Images

尉金强;杜文正;孙晓艳;聂婷;唐圣金; WEI Jinqiang;DU Wenzheng;SUN Xiaoyan;NIE Ting;TANG Shengjin;

针对现阶段利用数字图像进行半挂车倒车辅助过程中，存在辅助地标线检测效果鲁棒性差和实时性不高等问题，提出了一种基于目标色调-饱和度-亮度（Hue-SaturationValue,HSV）空间图像自适应分割的直线检测算法。首先，对不同场景下的直线目标进行分割提取，通过统计不同场景下目标HSV空间图像直方图确定图像分割的初始阈值，并基于初始阈值提出一种基于目标HSV空间的图像自适应分割算法。然后，对图像进行预处理及边缘检测，提取目标边缘点。最后，采用基于中位数绝对偏差的最小二乘直线检测方法剔除边缘点中的离群值以提高地标直线目标的检测精度。实验结果表明：该算法能够在不同背景、不同光照条件下对目标进行准确检测，具有良好的鲁棒性；与Hough变换算法相比，该算法的运算速度更快，直线检测的准确率更高，并且对不同颜色地标线的检测也具有良好的适用性。

To solve problems in exisiting digital images processing-based semi-trailer reversing assistant system development, such as poor robustness and low real-time of landmark line detection, a straight line detection algorithm based on adaptive segmentation of target Hue-Saturation-Value(HSV) space images was proposed. First, line targets in various scenes were segmented and extracted. Simultaneously, histograms of target images in the HSV space across different scenes were used to determine the initial threshold for image segmentation, based on which an image adaptive segmentation algorithm according to target HSV space images was proposed.Subsequently, the preprocessing and edge detection of images were conducted to extract edge points of targets. Finally, outliers of edge points were eliminated by using a median absolute deviation-based least squares straight line detection method to improve the detection accuracy of landmark line targets. Experimental results showed that the proposed algorithm is able to accurately detect targets under different backgrounds and lighting conditions with good robustness.Compared to the Hough transform algorithm, the algorithm has faster operation speed, higher accuracy of straight line detection, and good applicability to the detection of landmark lines of different colors.