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Survey of autonomous guidance methods for powered planetary landing Review

Zheng-yu Song, Cong Wang, Stephan Theil, David Seelbinder, Marco Sagliano, Xin-fu Liu, Zhi-jiang Shao,zycalt12@sina.com

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 649-808 doi: 10.1631/FITEE.1900458

Abstract: This paper summarizes the s (AGMs) for on celestial surfaces. We first review the development of guidance methods, focusing on their contributions for dealing with constraints and enhancing computational efficiency. With the increasing demand for reusable launchers and more scientific returns from space exploration, has become a basic requirement. Unlike the kilometer-level precision for previous activities, the position accuracy of future planetary landers is within tens of meters of a target respecting all constraints of velocity and attitude, which is a very difficult task and arouses renewed interest in AGMs. This paper states the generalized three- and six-degree-of-freedom optimization problems in the phase and compares the features of three typical scenarios, i.e., the lunar, Mars, and Earth landing. On this basis, the paper details the characteristics and adaptability of AGMs by comparing aspects of analytical guidance methods, numerical optimization algorithms, and learning-based methods, and discusses the convexification treatment and solution strategies for non-convex problems. Three key issues related to AGM application, including physical feasibility, model accuracy, and real-time performance, are presented afterward for discussion. Many space organizations, such as those in the United States, China, France, Germany, and Japan, have also developed free-flying demonstrators to carry out related research. The guidance methods which have been tested on these demonstrators are briefly introduced at the end of the paper.

Keywords： 自主制导方法；定点软着陆；动力下降；非线性规划    

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Synthesis of Bi-planar Vertical Guidance and Control for Cruise Missile

Sun Mingwei,Liu Li,Yang Ming

Strategic Study of CAE 2007, Volume 9, Issue 9,   Pages 52-57

Abstract:

]To meet the cruise missile's air-to-surface attack requirement,  specified impact angle guidance law is presented based on line of sight (LOS) information framework.  Theoretical analysis proves its property.  Considering the missile autopilot's dynamics,  a simple engineering version of integrated guidance and control synthesis is deduced to improve performance.  Mid-course trajectory characteristic is utilized to obtain smooth and low-delay vertical velocity to calculate trajectory angle.  Finally mathematical simulation demonstrates their effectiveness.

Keywords： cruise missile     line of sight (LOS)     constrained guidance     integrated guidance and control    

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A new field of weapons—smart munitions

Yang Shaoqing

Strategic Study of CAE 2009, Volume 11, Issue 10,   Pages 4-7

Abstract:

This paper presented the technical meaning,characteristics,recent success, futrue development of a new field of weapons──smart munitions, and some suggestions on developing smart munition of China.

Keywords： smart munition     sensor fuzed munition     terminally guided munition     guided munition     trajectory corrected munition    

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Independent Development：The Way to Build up the Strength of a Country

Jin Lüzhong

Strategic Study of CAE 2005, Volume 7, Issue 7,   Pages 1-6

Abstract:

The paper expounds the significance of independent development in the fields of politics, military affairs, economy, security, science and technology, etc. It suggests that most of industries in China be provided with the capability of independent development and international competitiveness within 10〜15 years. It analyzes the possibility for achieving this goal. The paper also suggests that the environment favorable to independent development be created in the aspects of ideology, spirit, laws and regulations, policies, system as well as dissemination and public opinion.

Keywords： independent development     goal     possibility    

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Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic cars Article

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 1,   Pages 122-138 doi: 10.1631/FITEE.1601873

Abstract: Most state-of-the-art robotic cars’ perception systems are quite different from the way a human driver understands traffic environments. First, humans assimilate information from the traffic scene mainly through visual perception, while the machine perception of traffic environments needs to fuse information from several different kinds of sensors to meet safety-critical requirements. Second, a robotic car requires nearly 100% correct perception results for its autonomous driving, while an experienced human driver works well with dynamic traffic environments, in which machine perception could easily produce noisy perception results. In this paper, we propose a vision-centered multi-sensor fusing framework for a traffic environment perception approach to autonomous driving, which fuses camera, LIDAR, and GIS information consistently via both geometrical and semantic constraints for efficient selflocalization and obstacle perception. We also discuss robust machine vision algorithms that have been successfully integrated with the framework and address multiple levels of machine vision techniques, from collecting training data, efficiently processing sensor data, and extracting low-level features, to higher-level object and environment mapping. The proposed framework has been tested extensively in actual urban scenes with our self-developed robotic cars for eight years. The empirical results validate its robustness and efficiency.

Keywords： Visual perception     Self-localization     Mapping     Motion planning     Robotic car    

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European Union Puts Teeth in Right to Repair

Sean O´Neill

Engineering 2021, Volume 7, Issue 9,   Pages 1197-1198 doi: 10.1016/j.eng.2021.07.007

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Studies on Autonomous Navigation Techniques for Navigation Constellations

Shuai Ping,Qu Guangji,Chen Zhonggui

Strategic Study of CAE 2006, Volume 8, Issue 3,   Pages 22-30

Abstract:

If the autonomous navigation techniques are applied to a navigation constellation, the number of the ground control stations, the message injecting frequency from the ground stations to satellites and system maintenance cost may be reduced significantly. Meanwhile, the integrity of navigation messages can be monitored in the real-time mode and the survivability of the navigation system also enhanced. The autonomous navigation will be gradually a main research subject for the next generation navigation satellite system. Firstly, the information processing flow of the autonomous navigation constellation is described systematically in this paper. Secondly, the key techniques to realize the autonomous navigation for the navigation constellation, including the long-term prediction of the ephemerides and clock parameters, establishment and maintenance for the cross measurement and communication links, autonomous time synchronization, autonomous ephemeris updating, robust filtering, establishment of the constellation rotation models, long-term prediction of the earth rotation and polar drift parameters, are presented as an important part of the paper. Moreover, the approaches to actualize the key techniques are analyzed and the relative mathematic models are also demonstrated in detail. Finally, the autonomous time synchronization and ephemeris updating are simulated. It is clearly shown from the simulated results that by processing the inter-satellite measurement data with the on-board Kalman filters and updating continually the clock parameters and ephemerides, the time synchronization and ephemeris updating among the satellites can be implemented autonomously and highly-accurately. Therefore, the reasonability and feasibility of the information processing flow and key technical algorithms for the autonomous navigation constellation are validated preliminarily.

Keywords： navigation constellation     autonomous navigation     information processing flow     system simulation    

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Building Chinese Brand Parts System to Consolidate the Foundation of Automobile Power

Li Kaiguo,Deng Xiaozhi,Shen Bin and Wu Shengnan

Strategic Study of CAE 2018, Volume 20, Issue 1,   Pages 133-138 doi: 10.15302/J-SSCAE-2018.01.019

Abstract:

The automobile parts industry is the foundation of automobile power and is the main driving force promoting the development of the automobile industry. All automobile power countries have a strong parts industry. Now China is in a critical period of growing from a large automobile to automobile power, but it is difficult for the development of the parts industry to support the development of the automobile industry. Through the analysis of problems and opportunities for the development of China’s parts industry, we suggest building a complete independent parts system through strengthening the industrial base, expanding the scale of independent support, and cultivating leading companies to consolidate the development foundation and support the development of automobile power.

Keywords： automobile power     component system     independent     suggestion    

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Innovation self, Technology Learning and Elevation of Industry Competence — Case of Taiwan IC Industry

Lu Rui,Sheng Zhaohan

Strategic Study of CAE 2007, Volume 9, Issue 8,   Pages 35-39

Abstract:

Following Taiwan IC industry development,  the paper analyzes its technology innovation and its elevation of industry competence by technology learning and innovation-self.  Moreover,  the paper advance some suggestions for chinese mainland.

Keywords： technology learning     innovation-self     industry competence     IC industry    

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Pre-training with asynchronous supervised learning for reinforcement learning based autonomous driving Research Articles

Yunpeng Wang, Kunxian Zheng, Daxin Tian, Xuting Duan, Jianshan Zhou,ypwang@buaa.edu.cn,zhengkunxian@buaa.edu.cn,dtian@buaa.edu.cn,duanxuting@buaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 5,   Pages 615-766 doi: 10.1631/FITEE.1900637

Abstract: Rule-based autonomous driving systems may suffer from increased complexity with large-scale inter-coupled rules, so many researchers are exploring learning-based approaches. (RL) has been applied in designing autonomous driving systems because of its outstanding performance on a wide variety of sequential control problems. However, poor initial performance is a major challenge to the practical implementation of an RL-based autonomous driving system. RL training requires extensive training data before the model achieves reasonable performance, making an RL-based model inapplicable in a real-world setting, particularly when data are expensive. We propose an asynchronous (ASL) method for the RL-based end-to-end autonomous driving model to address the problem of poor initial performance before training this RL-based model in real-world settings. Specifically, prior knowledge is introduced in the ASL pre-training stage by asynchronously executing multiple processes in parallel, on multiple driving demonstration data sets. After pre-training, the model is deployed on a real vehicle to be further trained by RL to adapt to the real environment and continuously break the performance limit. The presented pre-training method is evaluated on the race car simulator, TORCS (The Open Racing Car Simulator), to verify that it can be sufficiently reliable in improving the initial performance and convergence speed of an end-to-end autonomous driving model in the RL training stage. In addition, a real-vehicle verification system is built to verify the feasibility of the proposed pre-training method in a real-vehicle deployment. Simulations results show that using some demonstrations during a supervised pre-training stage allows significant improvements in initial performance and convergence speed in the RL training stage.

Keywords： 自主驾驶；自动驾驶车辆；强化学习；监督学习    

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Novel robust simultaneous localization and mapping for long-term autonomous robots Research Articles

Wei WEI, Xiaorui ZHU, Yi WANG,weirui9003@gmail.com,xiaoruizhu@hit.edu.cn,wangyi601@aliyun.com

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 2,   Pages 234-245 doi: 10.1631/FITEE.2000358

Abstract: A fundamental task for mobile robots is . Moreover, is an important property for SLAM. When vehicles or robots steer fast or steer in certain scenarios, such as low-texture environments, long corridors, tunnels, or other duplicated structural environments, most SLAM systems might fail. In this paper, we propose a novel robust visual inertial navigation (VILN) SLAM system, including stereo visual-inertial LiDaR odometry and visual-LiDaR loop closure. The proposed VILN SLAM system can perform well with low drift after experiments, even when the LiDaR or visual measurements are degraded occasionally in complex scenes. Extensive experimental results show that the has been greatly improved in various scenarios compared to state-of-the-art SLAM systems.

Keywords： Simultaneous localization and mapping (SLAM)     Long-term     Robustness     Light detection and ranging (LiDaR)     Visual inertial LiDaR navigation (VILN)    

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The Way in Development of China's Auto Industry: Cooperation & Self-Reliance

Guo Konghui

Strategic Study of CAE 2004, Volume 6, Issue 8,   Pages 17-20

Abstract:

The paper gives an observation and review of serious arguments on the way in development of China's auto industry, presents some points on the way out for the auto industry, and explains that China will be able to march on the sustainable development path through balancing win-win cooperation against selfreliance.

Keywords： china's auto industry     way in development     cooperation & self-reliance    

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The research on the technology adrancement and construction management of China’s highway bridge

Feng Maorun

Strategic Study of CAE 2011, Volume 13, Issue 10,   Pages 93-98

Abstract:

With sustained development of economy, large scale highway bridge construction has been undertaken in the past three decades in China. Guided by the policy of "independent construction ,independent in novation", bridge construction technology has developed in a big stride and reached world advanced level. At the same time, the highway construction management system has been transformed from relying on administrative means to market mechanism and modern project management mode has been continuously explored in extra-large project construction. This paper discussed and analyzed project cases and historical experience of the bridge construction from the perspective of technological innovation, project management and sustainable development.

Keywords： highway bridge     self-construction     self-innovation     modern project management     integration     durability     maintenance management     social management    

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Establishment Regulations of Construction Planning of Eco-county, Eco-city and Eco-province

Bian Yousheng,He Jun,Zhang Wenguo

Strategic Study of CAE 2004, Volume 6, Issue 11,   Pages 1-7

Abstract:

The purpose of studying and establishing the regulations is to instruct and standardize the establishment of construction planning of eco-county, eco-city and eco-province. The regulations definitely point out that the essential of eco-county, eco-city and eco-province construction is the capacity construction of sustainable development. The main content includes four aspects： eco-economy, eco-environment, eco-society and eco-culture. Based on expatiating the meaning, significance and requirement of construction planning, the regulations put forward the contents of planning and the procedure, method, means and approval procedure of planning establishment. The regulations can be applied to instructing the establishment of construction planning of eco-county, eco-municipality and eco-province in China. Also the regulations can provide help for censoring construction planning and for examining and assessing construction efficiency.

Keywords： eco-province     eco-city     eco-county     planning     regulations    

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Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors Article

Ningbo Yu, Shirong Wang

Engineering 2019, Volume 5, Issue 1,   Pages 164-172 doi: 10.1016/j.eng.2018.11.014

Abstract:

The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate two-dimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.

Keywords： Autonomous exploration     Red/green/blue-depth     Sensor fusion     Point cloud     Partial map simulation     Global frontier search    

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Title Author Date Type Operation

Survey of autonomous guidance methods for powered planetary landing

Zheng-yu Song, Cong Wang, Stephan Theil, David Seelbinder, Marco Sagliano, Xin-fu Liu, Zhi-jiang Shao,zycalt12@sina.com

Journal Article

Synthesis of Bi-planar Vertical Guidance and Control for Cruise Missile

Sun Mingwei,Liu Li,Yang Ming

Journal Article

A new field of weapons—smart munitions

Yang Shaoqing

Journal Article

Independent Development：The Way to Build up the Strength of a Country

Jin Lüzhong

Journal Article

Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic cars

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Journal Article

European Union Puts Teeth in Right to Repair

Sean O´Neill

Journal Article

Studies on Autonomous Navigation Techniques for Navigation Constellations

Shuai Ping,Qu Guangji,Chen Zhonggui

Journal Article

Building Chinese Brand Parts System to Consolidate the Foundation of Automobile Power

Li Kaiguo,Deng Xiaozhi,Shen Bin and Wu Shengnan

Journal Article

Innovation self, Technology Learning and Elevation of Industry Competence — Case of Taiwan IC Industry

Lu Rui,Sheng Zhaohan

Journal Article

Pre-training with asynchronous supervised learning for reinforcement learning based autonomous driving

Yunpeng Wang, Kunxian Zheng, Daxin Tian, Xuting Duan, Jianshan Zhou,ypwang@buaa.edu.cn,zhengkunxian@buaa.edu.cn,dtian@buaa.edu.cn,duanxuting@buaa.edu.cn

Journal Article

Novel robust simultaneous localization and mapping for long-term autonomous robots

Wei WEI, Xiaorui ZHU, Yi WANG,weirui9003@gmail.com,xiaoruizhu@hit.edu.cn,wangyi601@aliyun.com

Journal Article

The Way in Development of China's Auto Industry: Cooperation & Self-Reliance

Guo Konghui

Journal Article

The research on the technology adrancement and construction management of China’s highway bridge

Feng Maorun

Journal Article

Establishment Regulations of Construction Planning of Eco-county, Eco-city and Eco-province

Bian Yousheng,He Jun,Zhang Wenguo

Journal Article

Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors

Ningbo Yu, Shirong Wang

Journal Article