共查询到20条相似文献,搜索用时 62 毫秒
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针对四旋翼无人飞行器姿态测量问题,提了一种基于无迹卡尔曼滤波的飞行器姿态估计算法.采用欧拉角法描述了飞行器的姿态解算模型,并在此基础上建立了飞行器的系统状态方程和观测方程;采用无迹卡尔曼滤波算法实现飞行器姿态角的解算.理论分析和仿真表明:与采用扩展卡尔曼滤波算法获得的飞行器姿态角信息相比较,虽然无迹卡尔曼滤波算法的计算时间稍有增加,但无迹卡尔曼滤波算法的计算精度和收敛速度比扩展卡尔曼滤波算法有显著的提高. 相似文献
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科学级CCD相机在星敏感器中的设计与应用 总被引:4,自引:3,他引:1
星敏感器通过探测天球上不同位置的恒星来确定航天器的姿态。星相机是星敏感器的成像系统。虽然近年来CMOS成像技术快速发展,但在科学级成像领域,特别是星敏感器应用中,CCD技术较成熟。本文的研究目的是研究一种探测能力强、数据更新快的用于星敏感器的成像系统。文中主要研究了基于TH7888A科学级CCD传感器的星相机的设计和应用,说明了CCD工作原理,详细分析了该种CCD传感器的星等探测灵敏度,论述了CCD星相机的设计方案。并用成像实验、动态范围测试、星等探测能力实验等实验验证了所设计的相机的性能。设计的星相机可以用给定的小型光学系统在60 ms以内的积分时间探测6等星,相机可达到10帧/秒的图像数据更新频率,满足短积分时间进行快速星光成像的要求。 相似文献
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姿态估计是多旋翼飞行控制的基础,为实现多旋翼三轴姿态估计,构建了基于MEMS陀螺、加速度计和磁力计的低成本姿态测量系统.该系统采用STM32F103作为控制器,集成加速度计和陀螺仪MPU6050,磁强计HMC5883作为测量传感器.针对多旋翼飞行器单一传感器无法准确测量姿态信息的问题,提出了基于无迹卡尔曼滤波信息融合的姿态估计算法.以陀螺仪为状态矢量,加速度计和磁强计解算的姿态角为观测矢量,无迹卡尔曼滤波器将陀螺的良好动态性能与加速度计、磁强计的良好静态性能结合起来,提高姿态测量精度,具有良好的动态跟踪性能.通过飞行测试,与高性能成品飞行器的姿态信息做对比,验证和分析该低成本姿态测量系统的有效性.实验结果表明,基于无迹卡尔曼滤波的姿态测量系统实现了动态环境下低成本多旋翼的精密姿态测量,为无人机自主飞行控制奠定了基础. 相似文献
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采用单目视觉系统的人体三维姿态恢复 总被引:1,自引:0,他引:1
提出了至少存在一个点深度值已知的约束条件下,基于单目视觉系统恢复人体三维姿态的方法.该算法简化了CCD相机的标定过程,实现了人体三维姿态的恢复.避免了多目视觉系统在实际应用中对空间和光照等的限制,以及在对应特征点匹配上的弱点.给出了上述方法的实验过程及计算结果,验证了在上述约束条件下基于单目视觉恢复人体三维姿态算法的可行性. 相似文献
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《International journal for numerical methods in engineering》2018,113(9):1488-1506
In this paper, we present a new method for inserting several triangulated surfaces into an existing tetrahedral mesh generated by the meccano method. The result is a conformal mesh where each inserted surface is approximated by a set of faces of the final tetrahedral mesh. First, the tetrahedral mesh is refined around the inserted surfaces to capture their geometric features. Second, each immersed surface is approximated by a set of faces from the tetrahedral mesh. Third, following a novel approach, the nodes of the approximated surfaces are mapped to the corresponding immersed surface. Fourth, we untangle and smooth the mesh by optimizing a regularized shape distortion measure for tetrahedral elements in which we move all the nodes of the mesh, restricting the movement of the edge and surface nodes along the corresponding entity they belong to. The refining process allows approximating the immersed surface for any initial meccano tetrahedral mesh. Moreover, the proposed projection method avoids computational expensive geometric projections. Finally, the applied simultaneous untangling and smoothing process delivers a high‐quality mesh and ensures that the immersed surfaces are interpolated. Several examples are presented to assess the properties of the proposed method. 相似文献
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A flow calorimeter for enthalpy increment measurements on condensed gases is presented. A better knowledge of the properties of the liquefied natural gas is needed, and therefore a liquid loop has been designed for our flow calorimeter. The fluid loop in the calorimeter is designed in order to avoid the two-phase region, since two phases would give compositional disturbances in the measurements. The avoidance of the two-phase region is made possible by increasing the pressure of the test fluid after the measurement section, then heating the fluid at super-critical pressure past the critical point. Finally, the fluid is throttled to the low-pressure gas state at the inlet condition of the compressor that circulates the fluid. To perform the pressure increase, a new cryogenic pump has been designed. To evaluate the new equipment, measurements were taken on liquid ethane over the temperature range 146–256 K at pressure between 0.9 and 5.1 MPa. 相似文献
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On November 30, 2007, the China Association for Standardization (CAS) held a press conference at Beijing Diaoyutai State Guest House. Leaders from the China Household Electric Appliance Research Institute, the China Household Electric Appliance Association, and the China Consumers' Association attended and made speeches.…… 相似文献
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Standards are the basis for production enterprises to organize production ex-factory inspection trade 《中国标准化(英文版)》2008,25(1):24-25
Standards are the basis for production enterprises to organize production, ex-factory inspection, trade (delivery) and technical exchanges, product certification, quality arbitration and supervision.…… 相似文献
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C. Qihong W. Zhan‐Wen J. Yi J. Yehua L. Fei F. Hanguang 《Materialwissenschaft und Werkstofftechnik》2014,45(7):582-590
In the present study a high‐boron high speed steel (HSS) roll material was designed. Many expensive alloy elements have been substituted by cheap boron alloy, and high‐boron high speed steel roll has been manufactured by centrifugal casting method. The microstructures, mechanical properties and wear resistance of centrifugal casting high‐boron high speed steel roll have been investigated by optical microscopy (OM), scanning electron microscopy (SEM), and X‐ray diffraction (XRD) analysis, hardness test, impact test and wear test. The results indicated that the solidification microstructures of high‐boron high speed steel roll consisted of M2(B,C), (W,Mo)2(B,C), M3(B,C), M23(B,C)6 type borocarbides and martensite, a small amount of retained austenite. Borocarbides were continuously distributed over the grain boundary. After quenching from 1050 °C, local broken network appeared in partial borocarbides, and fine secondary borocarbide precipitated from the matrix. After tempering from 525 °C, the amount of precipitated borocarbide increased significantly. After heat treatment, the hardness of high‐boron high speed steel roll excelled 60 HRC, and its impact toughness excelled 8.0 J/cm2. The single groove steel rolling amount of high‐boron high speed steel rolls increases by 500% than that of bainite cast iron roll, when the rolls are used in K1 mill housing of bar mill. 相似文献
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A four-ball tester was used to evaluate the anti-wear performance of three kinds of organomolybdemun compounds in the engine oils, i. e., molybdenum dialkyldithiophosphate (MoDDP), molybdenum dialkyldithiocarbamate ( MoDTC), and sulphur and phosphorus freeorganomolybdeum (Molybdate). The results indicate that a low concentration of MoDDP doesn' t improve the anti-wear properties of the commercial engine oils, but a high concentration of MoDDP can obviously improve the anti-wear properties and the load-carrying capacity of the engine oils. MoDTC doesn' t improve the antiwear properties of the engine oils, but worsens the anti-wear properties of the oils. Signifi can timprove ment of frictional and wear characteristics is obtained with Molybdate added in the commercial engine oils and the formulated oils. 相似文献
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Dimiter Hadjistamov 《材料科学与工程:中英文B版...》2019,(2):56-65
The definition of the thixotropy is a decrease in viscosity with time in shear and a subsequent recovery of viscosity after the shear deformation is removed.We ... 相似文献
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Kyo-Hong CHOI Kwon-Koo CHO Gyu-Bong CHO Hyo-Jun AHN Ki-Won KIM Yoo-Young KIM 《材料科学与工程学报》2007,25(6):886-891
Several researches have been reported about the characteristic of β-Ga2O3 nanowires which was synthesized on nickel oxide particle. But indeed, recent researches about synthesis of β-Ga2O3 nanowires on oxide-assisted transition metal are limited to nickel or cobalt oxide catalyst. In this work, Gallium oxide (β-Ga2O3 ) nanowires were synthesized by a simple thermal evaporation method from gallium powder in the range of 700 - 1000℃ using the iron, nickel, copper, cobalt and zinc oxide as a catalyst, respectively. The β-Ga2O3 nanowires with single crystalline without defects were successfully synthesized at the reaction temperature of 850, 900 and 950℃ in all the catalysts. But optimum experimental condition in synthesis of nanowires varied with the kind of catalyst. As increasing synthesis temperature,the morphology of gallium oxide nanowires changed from nanowires to nanorods, and its diameter increased. From these results, we could be proposed that the growth mechanism of β-Ga2O3 nanowires was changed with synthesis temperature of nanowires. Microstructure and morphology of Synthesized nanowire was characterized by HR-TEM, FE-SEM, EDX and XRD. 相似文献
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Cubic boron nitride(c-BN) film was deposited on a Si (100) substrate by the RF-magnetron sputtering.The mainly problems for fabrication of c-BN films are the low purity and high intrinsic compressive stress. In order to solve the two problems, the c-BN film with the buffer interlayer was deposited on the substrate which had been implanted with nitrogen and/or boron ions. The results show: the implantation of nitrogen ions can obviously increase c-BN content and reduce the internal stress slightly; while the implantation of boron shows no obvious improvement to the content of c-BN, which can reduce the internal stress in the film obviously. In addition, it is suggested that the implantation of nitrogen and boron shows the best result, which not only can increase the content of c-BN, but also reduce the internal stress in the c-BN film obviously. 相似文献