改进的IMU传感器安装误差正交补偿方法

针对传统的正交补偿方法难以保证惯性测量单元具有较高的正交补偿精度的问题,提出了一种改进的适用于大角度和小角度安装误差角情形的正交补偿方法,该方法分别建立三轴加速度计和三轴光纤陀螺传感器的安装误差方程,对惯性测量单元进行速率标定和多位置静态标定,并利用最小二乘法求解惯性测量单元的安装误差方程参数.仿真和实验结果表明:该方法较传统的正交补偿方法具有较高的正交补偿精度和传感器标定精度,且回避了静态标定时在较大安装误差角下利用转位机构获得零偏存在较大误差的问题,大大地提高了标定效率.     

一种新的无陀螺惯性测量组合标定方法

无陀螺惯性测量组合在角速率解算过程中不仅需要知道加速度计标定因数、零偏及实际安装方向向量,还需要准确获取加速度计的实际安装位置.针对上述特点,以加速度计输出模型为基础,提出并建立了一种广泛适用于各种无陀螺惯性测量组合的标定方法.该方法经转台位置和速率实验验证可以准确得到加速度计标度因数、零偏及安装误差,进一步提高了载体线加速度和角速率解算精度,从而为后续的姿态解算奠定基础.     

一种微惯性测量单元标定补偿方法

在介绍微惯性测量单元组成与结构的基础上,根据MEMS惯性器件的输出特性,建立了微惯性测量单元中加速度计和陀螺仪的数学标定模型,提出并推导了一种适用于微惯性测量单元的标定方法,该方法可以得到微惯性测量单元中惯性传感器的零位、标度因数、安装误差系数及g值敏感项等33个参数;然后,具体介绍了通过加速度计重力场静态翻滚试验和陀螺仪恒角速率试验对MIMU中参数标定的方法和步骤,并对实验室自研的MIMU进行了标定;最后利用得到的标定参数对测试结果进行了误差分析与补偿;实验结果表明,该方法使MIMU的测量精度提高了1～2个数量级,能够满足姿态解算及导航计算的精度要求。     

旋转弹用三轴加速度计安装位置误差标定补偿技术

针对旋转弹用捷联惯性导航系统中三轴加速度计在高转速下,由于安装位置不在一个点,三个加速度计测量的不是一点的比力,在角运动环境下姿态解算时产生动态误差的问题,提出了一种标定补偿三轴加速度计安装位置误差的方法。分析了动态误差产生的原因,在常规静态标定的基础上推导了动态标定的模型,高转速下的转台试验表明本方法能够很好的补偿三轴加速度计在高转速下产生的误差,有效地提高惯性测量单元姿态测量的精度,具有很好的工程应用性。     

基于多位置的MEMS加速度计快速自标定

针对MEMS加速度计输出信息受自身误差项(如零偏、标度因数、非正交误差等)干扰而影响器件自身测量精度的问题,提出一种不依赖转台设备的快速24位置标定方法.在分析MEMS加速度计输出特性基础上建立MEMS加速度计输出误差模型,设计并展开连续转停标定,利用重力特征实现加速度计误差修正.基于器件零偏、标度因数、非正交误差9个误差参数建立MEMS加速度计标定模型后,提出基于牛顿法对误差参数最优值进行估计.加速度计标定补偿实验结果表明,多位置标定方法能有效补偿自身误差并提高输出加速度信息的精度.     

一种加速度计的标定补偿方法研究

针对微惯性测量组合(MIMU)中的三轴加速度计因为安装误差的缘故,会在恶劣的锥运动环境下出现误差发散问题,本文提出一种基于三轴位置速率转台的静态旋转多位置补偿标定方法.本文通过分析误差角补偿模型来设计相应的标定试验流程,然后利用非线性拟合的数据处理方法,准确计算出标度因数矩阵和加速度计电压.最后,经过标定试验和误差计算,与十二位置标定法对比发现,本文所设计的标定补偿方法能够将误差小一个数量级,能有效提高加速度计输出精度,具有重要的工程实践意义.     

MEMS加速度计二阶非线性补偿方法研究

微惯性集成测量组合(MIMU)中的惯性传感器,陀螺仪和加速度计的标定补偿研究大多集中在安装误差角补偿和一阶线性常数的计算上,对二阶非线性系数的测量、计算研究的不多不深.通过分析含二次非线性系数的加速度计输出模型,提出一种补偿二次非线性系数的方法,并进行了完善的理论分析和试验.最终通过计算能有效补偿MIMU的输出精度,为后续的导航信息解算奠定了基础,具有重要的工程应用价值.     

激光捷联惯性组件精确标定方法研究

建立激光捷联惯性组件(SIMU)的输出模型;研究双轴位置转台下高精度激光SIMU的多位置标定方法,通过正、反向转动和四位置对消标定出激光陀螺的脉冲当量、安装偏差和常值漂移;应用多元回归分析法标定出加速度计的脉冲当量、安装偏差和零偏;分析了地球自转角速率、转台角位置基准偏差对陀螺标定的影响;阐述了提高陀螺组件标定精度的方法。对某型激光SIMU(陀螺漂移稳定性0.007°/h,加速度计零漂5×10-5g)进行标定与实时补偿,静态导航1 h最大纬度误差0.13海里(n mile),经度误差0.24海里(n mile);动态车载实验1 h定位误差0.7723海里(CEP)。     

无陀螺惯性测量组合模型方案设计

无陀螺惯性测量组合(GFIMU)是利用线加速度计在空间的组合解算出载体的角速度,同时测量载体的轴向加速度,构成惯性测量组合.提出了GFIMU十二加速度计配置方案,该方案直接得出角速度数值表达式,有效避免了求解微分方程组带来的积分误差.在推导导航参数计算数学模型的基础上,设计了实物结构模型和数据采集电路,并进行了系统标定实验.提出了基于三维转台的接近gn值点和0点的多位置标定方法,可以有效地减小在加速度计标定中方位误差带来的影响.     

飞行仿真环境中惯性测量单元建模

准确的惯性测量单元(IMU)模型对飞行仿真至关重要,模型的准确性直接影响仿真试验的可靠性.为了在飞行仿真试验中能够提供有效的角速度和线加速度数据,需要建立准确的惯性测量单元仿真模型.在推导陀螺和加速度计数学模型的基础上,提出了建立陀螺及加速度计的仿真模型方法.为提高模型准确性,考虑了IMU误差影响.通过模拟AD公司的M...     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.     

The Distributed Time-Triggered Simulation Scheme: Core Principles and Supporting Execution Engine

Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs.     

Software-Konfigurationsmanagement in großen Softwareprojekten

Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel.     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and     

Editorial:Brain-machine interface(BMI) and cyborg intelligence

正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate     

SCIENCE CHINA Information Sciences SUBJECT INDEX TO VOLUME 57(2014)

正~~     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate