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惯性传感器技术及发展 总被引:6,自引:2,他引:6
论述了惯性传感器的发展过程和其在惯性导航系统中的地位 ,对新型惯性传感器 :壳体谐振陀螺仪、微机械电子系统惯性传感器、光纤陀螺仪的原理、性能和研究现状作了分析 ,最后指出了惯性传感器的发展方向。 相似文献
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Wireless, battery-powered camera networks are becoming of increasing interest for surveillance and monitoring applications. The computational power of these platforms is often limited in order to reduce energy consumption. In addition, many embedded processors do not have floating point support in hardware. Among the visual tasks that a visual sensor node may be required to perform, motion analysis is one of the most basic and relevant. Events of interest are usually characterized by the presence of moving objects or persons. Knowledge of the direction of motion and velocity of a moving body may be used to take actions such as sending an alarm or triggering other camera nodes in the network.We present a fast algorithm for identifying moving areas in an image. The algorithm is efficient and amenable to implementation in fixed point arithmetic. Once the moving blobs in an image have been precisely localized, the average velocity vector can be computed using a small number of floating point operations. Our procedure starts by determining an initial labeling of image blocks based on local differential analysis. Then, belief propagation is used to impose spatial coherence and to resolve aperture effect inherent in texture less areas. A detailed analysis of the computational cost of the algorithm and of the provisions that must be taken in order to avoid overflow with 32-bit words is included. 相似文献
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为满足随钻测量仪器在小口径油井、高频振动、强冲击等环境中的应用需求,使用光纤陀螺与石英挠性加速度计作为传感器组件,设计加速度计信号采样电路,小型化导航计算模块采用SOPC+SDRAM+FLASH,完成传感器信号采集、误差补偿、导航解算以及与上位机通信等功能。惯性测量单元( IMU)集成了电源模块、传感器组件和导航计算机,最终制作成38 mm的随钻测量仪器。实验结果表明:当井斜角不小于5°时,样机能够达到系统姿态解算精度要求(井斜角误差小于±0.2°,方位角误差小于±2°,工具面角误差小于±0.2°)。 相似文献
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邹永义 《自动化与仪器仪表》2012,(3):152-155
介绍了惯性测量组件常用的动态误差模型,讲解了对动态误差系数进行标定常用的恒速试验和角振动试验,在此基础上,重点讲述了优化改进的正交三轴匀角速率试验,对惯性测量组件的动态误差进行了较好的补偿。 相似文献
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MEMS传感器的惯性测量模块的设计与初始校准 总被引:4,自引:0,他引:4
设计了一种基于微机电系统(MEMS)传感器的惯性测量模块,它包括三轴加速度计、三轴陀螺和三轴磁阻传感器。这种惯性测量模块具有体积小、功耗低、成本低的优点,可以方便地用在微小机器人定位系统以及空中机器人控制系统中。详细分析了模块的误差来源,提出了模块中三轴加速度计的非正交误差模型。并运用基于Newton迭代的方法实现了一种自动初始校准算法。实验结果表明:这种自动初始校准算法可以有效地消除该模块的固定偏差、比例误差和非正交误差。 相似文献
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采用惯性测量单元的移动机器人轨迹跟踪方法研究 总被引:4,自引:0,他引:4
对于非完整移动机器人的轨迹跟踪控制已有很多方法提出,但是这些方法或者是基于动力学模型或者是采用复杂的运动学模型,对于缺少强大计算设备且需要实时控制的工程应用是不适合的.本文针对非完整移动机器人提出了一种基于比例微分(proportional-differential,PD)控制器的实时轨迹跟踪控制方法.该方法运行在40 MHz的嵌入式控制器上的控制周期只有1~2 ms.通过将一个用于直流电机控制的非线性PID速度控制器与提出的轨迹控制器进行集成,实现了一个轮式移动机器人的运动控制.机器人轨迹跟踪实验系统中采用微机电系统(micro electro-mechanical system,MEMS)惯性测量单元检测轮式移动机器人的偏航角,实验结果验证了提出方法的有效性. 相似文献
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Although various logical story unit (LSU) segmentation methods based on visual content have been presented in literature, a common ground for comparison is missing. We present a systematic evaluation of the mutual dependencies of segmentation methods and their performances. LSUs are subjective and cannot be defined with full certainty. To limit subjectivity, we present definitions based on film theory. For evaluation, we introduce a method measuring the quality of a segmentation method and its economic impact rather than the amount of errors. Furthermore, the inherent complexity of the segmentation problem given a visual feature is measured. Also, we show to what extent LSU segmentation depends on the quality of shot boundary segmentation. To understand LSU segmentation, we present a unifying framework classifying segmentation methods into four essentially different types. We present results of an evaluation of the four types under similar circumstances using an unprecedented amount of 20 hours of 17 complete videos in different genres. Tools and ground truths are available for interactive use via the Internet. 相似文献
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由于嵌入式处理器算力的限制,实时性差一直是视觉惯导同时定位与建图(VI-SLAM)走向实际应用的一个亟待解决的问题,因此提出一种利用惯导测量单元(IMU)确定关键帧的实时同时定位与建图(SLAM)算法,主要分为3个线程:跟踪、局部建图和闭环。首先由跟踪线程通过IMU预积分自适应地确定关键帧,而自适应阈值由视觉惯性紧耦合优化的结果得出;然后仅对关键帧进行跟踪,避免对所有帧进行特征处理;最后利用局部建图线程在滑动窗口中通过视觉惯导光束平差法得到更加精确的无人机位姿,利用闭环线程得到全局一致的轨迹和地图。在数据集EuRoC上的实验结果表明,该算法能在不降低精度和鲁棒性的情况下显著减少跟踪线程耗时,降低VI-SLAM对计算资源的依赖。在实际飞行测试中,该算法能够较实时准确地估计出具有尺度信息的无人机飞行真实轨迹。 相似文献
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针对加速度计和陀螺仪数据融合姿态测量方法在载体运动加速度较大时得到的角度误差逐渐增大的现象,提出一种基于加权时变的卡尔曼滤波算法。利用衡量运动加速度相对大小的权重参考概念,设置加速度计测量角度在观测量中所占的比重,使系统能够根据实际情况改变对加速度数据的参考程度。基于Arduino平台,选用MPU6050惯性测量传感器进行实时测量数据获取姿态信息的实验研究,实验结果表明,改进后的算法可以有效减小由于系统运动加速度导致的测量误差,获得更准确的姿态角数据。 相似文献
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为实现变截面纵剪机组的高精度控制,本文设计了采用NI运动控制器的剪刀盘控制系统,即以PXI控制器为硬件平台,以运动控制器为核心控制部件,利用多功能采集卡采集传感器信号,在软件平台LabVIEW上实现了对剪刀盘的运动控制。实验结果表明:该运动控制系统运行稳定,抗干扰能力强,对控制策略适应性强,具有易扩展、易维护等特点,适合广泛应用在运动控制领域中。 相似文献
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Ho-Quoc-Phuong Nguyen Hee-Jun Kang Young-Soo Suh 《International Journal of Control, Automation and Systems》2011,9(2):317-327
This paper introduces a robot visual-inertial tracking algorithm for a robot manipulator intended to track an object using
inertial sensors incorporated into the object. To create this algorithm, the inertial Jacobian is first newly defined in order
to show the relationship between an angle set velocity vector of the object and the angular velocity vector of the robot tip.
Then, the inertial Jacobian is combined with the conventional image Jacobian. Therefore, the proposed algorithm requires only
two landmarks with the help of an inertial measurement unit to track a moving object with six degrees of freedom, while at
least three landmarks are required in the conventional stereo visual servoing algorithm. Further, the possession of a multi-rate
controller allows the integration system to out-perform conventional systems in the tracking of an object’s attitude change.
A suggested application of the proposed method is tracking and selection of a container from a shipping vessel that is being
affected by large waves. Simulations and experiments were conducted to verify the feasibility of the proposed methodology. 相似文献
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Acquisition, analysis, and classification of repetitive human motion for the assessment of postural stress is of central importance to ergonomics practitioners. We present a two-threshold, multidimensional segmentation algorithm to automatically decompose a complex motion into a sequence of simple linear dynamic models. No a priori assumptions were made about the number of models that comprise the full motion or about the duration of the task cycle. A compact motion representation is obtained for each segment using parameters of a damped harmonic dynamic model. Event classification was performed using cluster analysis with the model parameters as input. Experiments demonstrate the technique on complex motion. 相似文献
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针对超深矿井提升装备需要增加提升容器横向偏移测量的问题,根据其小量程、高精度、抗干扰的测量要求,提出一种基于MEMS传感器的惯性测量方法.采用惯性测距原理进行横向偏移测量,分析了倾斜角、随机误差和速度残值三种主要误差源,提出了对应的动态均值、阈值设置和速度残值校正与补偿三种校正方法,结合提升容器的运行特点消除累积误差,并在液压移动平台上进行实验.结果表明:误差校正方法可有效抑制误差,横移测量精度在5 mm以内,惯性测量方法是一种超深矿井提升容器横向偏移测量的有效方法. 相似文献