The UAVs have become a huge threat in the battlefield. The excellent maneuverability makes them competent for the actual combat operations such as investigation and strike. Therefore, accurate tracking of UAVs is critical. Centralized radar/IR fusion system has been widely concerned to track the UAVs because of the complementary characteristics between these two sensors. The appearance of non-Gaussian measurement noise produces a negative impact on tracking accuracy. This paper proposes a novel IMM-CMCSCKF algorithm which can improve the tracking accuracy of radar/IR fusion system for maneuvering target under non-Gaussian measurement noise. The heterogeneous measurements from radar and IR are firstly fused. Then, CMCSCKF algorithm is presented based on MCC to deal with non-Gaussian measurement noise. To improve maneuvering target tracking accuracy, CMCSCKF is embed into IMM algorithm. Numerical simulation verifies the effectiveness of the proposed IMM-CMCSCKF.
This paper introduces a new kind of flexible wing with embedded piezoelectric actuator as framework for Micro Air Vehicles (MAV), which was fixed spar in the previous flexible wing. This made it a controllable flexible wing because the new flexible wing can not only works as previous model without control, but also can change its wing profiles in our purpose by using the embedded piezoelectric actuator when its necessary. The mathematical model of the deformation of piezoelectric actuator under control has developed. with which the structure of the flexible wing was designed. The simulation of dynamic characteristic of the flexible wing with embedded piezoelectric actuator has been done with ANSYS software.
In this study, the disadvantage that adhesive layer of piezoelectric bimorph actuator was ignored when model of actuator was developed by predecessors is indicated, according to the actual structure of actuator. Based on the thickness of adhesive layer and substrate, the improved model of adhesive layer that substrate and adhesive layer are combined as one layer called mid layer is proposed. Mathematical model of mid layer can be obtained with theory of composite material, which is then used to develop the model of actuator under electrical load. Another model of actuator is developed as a reference in the same way except with model of adhesive layer used by predecessors, and experiment is also presented later. Performance predicted by these two models of actuator and result measured in the experiment are compared, which comes to a conclusion that model of actuator developed with the improved model of adhesive layer conform to the physical model and is more precise in performance prediction.
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