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本文针对车载环境下单位置激光陀螺寻北仪的输出信号进行了分析处理,设计了FIR低通数字滤波器抑制高频扰动,设计了一种利用加速度计进行陀螺误差补偿的低频扰动的抑制算法。Matlab仿真结果表明,本文的方法能够有效地抑制扰动.提高寻北仪寻北精度。 相似文献
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传统提高陀螺寻北仪精度的方法主要是选用高精度陀螺、提高转位精度、增加转位数、通过数字滤波消除外界干扰等,这些方法大多针对寻北仪的某方面误差因素进行改进,而对寻北仪整体的误差特性研究较少。通过对陀螺寻北仪综合误差特性的分析,提出了基于快速傅立叶变换(FFT)的寻北仪误差补偿方法。该方法首先测量出寻北仪的整周误差,然后通过求取FFT系数完成对寻北仪的系统级误差补偿,该方法尤其对寻北仪制造过程中的结构误差和测量元件的常值漂移残差具有良好的补偿效果。经产品验证可以在保持现有陀螺和转位精度不变的情况下,提高寻北精度3倍以上,具有良好的工程实用价值。 相似文献
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针对光纤陀螺动态寻北仪实际应用中存在的转位误差以及高频测量噪声问题,对寻北仪转位机构引入低通滤波和反馈回路,设计出了一种新的转位控制系统,有效地减小了由于光纤陀螺和转位机构的误差带来的系统误差,从而提高了动态寻北仪的寻北精度;实验结果表明,相同条件下该控制系统能有效缩短寻北时间,提高定位精度至4″,具有较好工程实用前景。 相似文献
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陀螺寻北仪是一种精确、快速测定真北方位的仪器.主要特点是:定向精度高、测量时间短、在任何时间和地点(高纬度地区除外)都可以自主定向.然而,陀螺寻北仪易受异常因素影响,而使定向观测值产生异常.采用旋转调制方法,研究了以动调陀螺为角速率传感器的全姿态寻北仪.为了削弱动调陀螺的噪声对寻北精度的影响,基于抗差估计原理构造了高崩溃污染率的初值辅以IGGⅢ方案迭代解算的混合算法.计算结果表明:基于可靠初值和稳定均方差因子估值的抗差估计可以有效削弱异常干扰的影响.测试结果显示,在4 min之内系统的寻北精度优于1.5 ',远高于最小二乘估计得到的精度. 相似文献
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In this paper, we present a tutorial report of the literature on the damped-least squares method which has been used for computing velocity inverse kinematics of robotic manipulators. This is a local optimization method that can prevent infeasible joint velocities near singular configurations by using a damping factor to control the norm of the joint velocity vector. However, the exactness of the inverse kinematic solution has to be sacrificed in order to achieve feasibility.The damping factor is an important parameter in this technique since it determines the trade-off between the accuracy and feasibility of the inverse kinematic solution. Various methods that have been proposed to compute an appropriate damping factor are described.Redundant manipulators, possessing extra degrees of freedom, afford more choice of inverse kinematic solutions than do non-redundant ones. The damped least-squares method has been used in conjunction with redundancy resolution schemes to compute feasible joint velocities for redundant arms while performing an additional subtask. We outline the different techniques that have been proposed to achieve this objective. In addition, we introduce an iterative method to compute the optimal damping factor for one of the redundancy resolution techniques. 相似文献
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提出一种相似矩阵迭代修正并聚类算法, 分为偏振定理的谱分离数据和球极平面逆投影的几何分离数据两步. 首先将数据谱分解, 得到低维距离矩阵; 然后投影到双随机矩阵, 隐式进行一次球极平面逆投影, 几何对称分离数据; 最后解算投影后坐标, 得到新相似矩阵. 实验在人工合成数据和自然数据上进行, 结果表明所提出算法修正了数据的相似度, 并获得了正确的聚类个数, 对尺度参数变化有较强的鲁棒性, 聚类性能比修正前有较大提升.
相似文献13.
利用逆矩阵的Neumann级数形式,将在线性二次优化问题中遇到的含未知矩阵之逆的离散时间代数Riccati矩阵方程(DTARME)转化为高次多项式矩阵方程,然后采用牛顿算法求高次多项式矩阵方程的对称解,并采用修正共轭梯度法求由牛顿算法每一步迭代计算导出的线性矩阵方程的对称解或者对称最小二乘解,建立求DTARME的对称解的双迭代算法。双迭代算法仅要求DTARME有对称解,不要求它的对称解唯一,也不对它的系数矩阵做附加限定。数值算例表明双迭代算法是有效的。 相似文献
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When navigating in virtual environments by using real walking, the correct auditory step feedback is usually ignored, although this could give more information to the user about the ground he is walking on. One reason for this is time constraints that hinder a replay of a walking sound synchronous to the haptic step feedback when walking. In order to add a matching step feedback to virtual environments, this paper introduces a calibration‐free system, which can predict the occurrence time of a step‐down event based on an analysis of the user's gait. For detecting reliable characteristics of the gait, accelerometers and gyroscopes are used, which are mounted on the user's foot. Because the proposed system is capable of detecting the characteristic events in the foot's swing phase, it allows a prediction that gives enough time to replay sound synchronous to the haptic sensation of walking. In order to find the best prediction regarding prediction time and accuracy, data gathered in an experiment is analyzed regarding reliably occurring characteristics in the human gait. Based on this, a suitable prediction algorithm is proposed. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
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This article presents an iterative design technique to calculate the optimal position of transmission zeros in dual‐bandpass filters. In the proposed design technique, the characteristic function of the filter is linearized around the displacement of the transmission zeros. A linear system is then obtained and solved in combination with a damping technique used to guarantee the convergence. Design examples which demonstrate the efficiency of the proposed method are presented and an experimental verification at 4 GHz using open‐loop resonators validates the methodology. © 2009 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2009. 相似文献
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针对无线通信网络能耗日益增加与用户体验质量(quality of experience,QoE)难以得到保证的问题,提出一种LTE-A系统基于QoE能效的资源分配算法。首先,给出联合优化QoE和能效的数学模型,特别的考虑了用户最小QoE要求;其次,根据约束条件提出了一种迭代算法进行用户资源块(resource block,RB)分配,然后利用分数规划的性质并采用凸优化方法求得最优的发射功率来优化目标函数。仿真结果表明,相较现有基于能效的资源分配算法,该算法在提高系统性能的同时有效的保证了用户QoE。 相似文献
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This paper presents a detailed model for possible vibration effects on MEMS degenerate gyroscopes represented by vibratory ring gyroscopes. Ring gyroscopes are believed to be relatively vibration-insensitive because the vibration modes utilized during gyro operation are decoupled from the modes excited by environmental vibration. Our model incorporates four vibration modes needed to describe vibration-induced errors: two flexural modes (for gyro operation) and two translation modes (excited by external vibration). The four-mode dynamical model for ring gyroscopes is derived using Lagrange's equations. The model considers all elements comprising a ring gyroscope, namely the ring structure, the support-spring structures, and the electrodes that surround the ring structure. Inspection of this model demonstrates that the output of a ring gyroscope is fundamentally insensitive to vibration due to the decoupled dynamics governing ring translation versus ring flexure, however, becomes vibration-sensitive in the presence of non-proportional damping and/or capacitive nonlinearity at the sense electrodes. 相似文献
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能效优化是5 G通信领域的一个研究热点.首先针对单小区多用户上行大规模MIMO通信系统,在满足用户QoS需求和系统可容忍的信道有效噪声条件下,建立关于发射功率、导频序列长度、基站天线数的能效优化模型;其次,不同于传统利用迭代算法求解使系统能效最佳的基站天线数,提出了采用Lambert W函数分析得到最佳基站天线数的闭式表达式;最后根据分式规划理论,采用迭代优化算法联合优化系统导频序列长度、发射功率、基站天线数.仿真结果表明,该算法较现有算法能效提高了11.2%,说明该算法能有效提高系统性能. 相似文献
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Prof. Dr. M. S. Petković 《Computing》1990,45(1):39-50
Using the iterative method of Newton's type in circular arithmetic, introduced in [14], a new iterative method for finding a multiple complex zero of a polynomial is derived. This method can be regarded as a version of classical Schröder's method. Initial conditions which guarantee a safe convergence of the proposed method are stated. The increase of the computational efficiency is achieved by a combination of the complex approximation methods of Schröder's type with some interval methods. The presented algorithms are analysed in view of their efficiency and illustrated numerically in the example of a polynomial equation. 相似文献