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81.
北斗双星/SINS组合导航中的捷联惯导算法研究 总被引:1,自引:0,他引:1
摘要针对北斗双星/SINS组合导航系统,研究了捷联惯导的姿态和速度更新算法。将等效旋转矢量算法应用与姿态解算,消除了传统的四元数算法存在的不可交换性误差对导航精度的影响,并对速度解算中的划浆误差进行了补偿。将算法应用到北斗双星/捷联惯导组合导航系统,通过实际的跑车实验验证算法的有效性。 相似文献
82.
介绍矿用全断面硬岩快速掘进机及其姿态测量与控制方法.结合盾构机和悬挂掘进机姿态测量方法,提出基于激光指示仪和新型电子激光标靶的测量系统,对掘进机进行实时三维坐标测量.通过采集的俯仰角、滚动角以及水平偏航角,来推导出掘进机切口、尾部中心的坐标以及位置偏差,经过误差仿真实验表明在本测量系统下,测量精度符合施工要求.PLC根据掘进机水平和垂直偏差量对掘进机进行实时纠偏,并给出了纠偏程序实现流程和友好的人机界面设计,实现了对全断面硬岩快速掘进机姿态的准确测量与稳定控制. 相似文献
83.
针对固定翼无人机姿态和速度控制中系统存在模型不确定性和外界扰动的情况,本文设计了基于扩张状态观测器的反步控制器抑制系统扰动以提高无人机的控制性能.首先建立无人机速度误差模型和姿态误差模型,其中姿态误差模型采用四元数作为变量以避免欧拉角在描述姿态时存在的奇点问题和复杂三角运算;进而设计扩张状态观测器对系统中存在的扰动进行估计,并将扰动估计值与控制器设计相结合,分别设计出姿态控制器和速度控制器来抑制扰动的影响且使无人机姿态和速度收敛到期望值.最后基于李雅普诺夫理论证明系统的稳定性.仿真结果表明,本文所设计方法能够抑制系统中存在的扰动. 相似文献
84.
People involved in business are increasingly aware of the online social phenomenon and its potential as a marketing tool. Building upon the marketing, social psychology, and information system literature, this study empirically examines a set of functional determinants derived from the technology acceptance model and socio-psychological determinants drawn from the theory of reasoned action and social cognitive theory that may be responsible for the motivations of participants in online social networks. We propose a model by integrating functional, social, and psychological factors in predicting attitude and online social network usage. The survey outcomes from a cross-sectional study among 387 Facebook users in Malaysia support the hypothesised model. This study contributes by extending the cognitive learning theories in predicting online social networking usage. Particularly, this research presents a different perspective on online social networking by exploring the mediating effect of attitude and the moderating role of individual characteristics. This study demonstrates that desirable changes in the perception of functional benefits, self-efficacy, and need for cognition as well as perceptions of social pressure from significant others might lead to corresponding changes in attitude towards online social networking. Results of the study support the model efficacy and predictive ability of the proposed integrative model which may serve as a theoretical foundation for future researchers interested in examining other virtual community engagements such as blogging, online advertising, and online public relations activities. 相似文献
85.
This article addresses the high-precision coordinated control problem of spacecraft autonomous rendezvous and docking, which couple the relative position and attitude in the final approach phase. The coupled dynamics equations of the tracking-target spacecrafts is derived by using dual quaternions. Then, a cascade Active Disturbance Rejection Controller is proposed, by which the extended state observer and nonlinear error feedback law is designed, the virtual value on which the actual control volume tracking is calculated to ensure the finite time convergence of the relative position and attitude tracking errors in spite of parametric uncertainties and external disturbances. Finally, numerical simulations are performed to demonstrate that the proposed approaches, which can avoid the coupling effect and restrain the interference, can track the target spacecraft in a relatively short period of time, and the control precision can satisfy the requirements of docking. 相似文献
86.
In this study, a framework has been designed to guide institutions to better improve learner satisfaction and further strengthen their e-learning implementation. Undergraduate participants (n = 600) completed an online survey of 132 items. This article will first report on the development and validation of an instrument that attempts to reveal factors that affect user satisfaction, and then a multiple regression analysis and a path analysis help further investigate which factors can significantly predict learner satisfaction. The factor analysis identified 14 different factors. These factors were further categorized by the researchers into 6 dimensions i.e. learner dimension, instructor’s dimension, course dimension, technology dimension, design dimension, and the environment dimension. The multiple regression analysis showed that e-learners satisfaction can mostly be predicted by learner interaction with others. Findings of this research will help institutions by providing them with psychometric properties that add pedagogical value to e-courses. 相似文献
87.
This paper proposes an approach for Inertial Measurement Unit sensor fault reconstruction by exploiting a ground speed-based kinematic model of the aircraft flying in a rotating earth reference system. Two strategies for the validation of sensor fault reconstruction are presented: closed-loop validation and open-loop validation. Both strategies use the same kinematic model and a newly-developed Adaptive Two-Stage Extended Kalman Filter to estimate the states and faults of the aircraft. Simulation results demonstrate the effectiveness of the proposed approach compared to an approach using an airspeed-based kinematic model. Furthermore, the major contribution is that the proposed approach is validated using real flight test data including the presence of external disturbances such as turbulence. Three flight scenarios are selected to test the performance of the proposed approach. It is shown that the proposed approach is robust to model uncertainties, unmodeled dynamics and disturbances such as time-varying wind and turbulence. Therefore, the proposed approach can be incorporated into aircraft Fault Detection and Isolation systems to enhance the performance of the aircraft. 相似文献
88.
This paper investigates the relative attitude formation control problem for a group of rigid‐body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi‐strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
89.
构建了以低成本MEMS陀螺仪、加速度计和磁传感器组合的航姿参考系统,提出了一个乘性自适应扩展卡尔曼滤波算法.取乘性误差四元数和陀螺仪误差作为状态量,基于重力场和磁场构造了量测矢量,用于修正航姿数据.并采用准确量测法,给滤波器加入了四元数的归一化约束,最后给出了基于新息的估计量测噪声方差矩阵的公式.通过仿真和试飞验证,表明本文设计的低成本的航姿参考系统能够提供比较准确的航姿信息.与常规的扩展卡尔曼滤波器比较,本文设计的乘性自适应扩展卡尔曼滤波算法有效提高了系统的精度和稳定性,并且具有较好的鲁棒性. 相似文献
90.
在内窥镜临床检查中,医生往往依靠病理经验来判断内窥镜探头在人体内的姿态方位,具有较大的主观误差,影响病灶的诊断结果。虽然电磁跟踪技术EMT(Electro-MagneticTracing)可以对内窥镜的探头进行科学定位从而解决上述问题,但是在铁磁性医疗仪器的干扰下,磁场模型的畸变导致该方法的精度严重下降。提出一种基于多传感器的姿态收敛技术,在电磁定位的基础上增加IMU惯性测量单元,通过四元数微分方程以及双矢量误差收敛模型得到稳定的姿态输出结果;其中,收敛模型采用分离式收敛的FQA算法降低了三轴MEMS磁场传感器的误差发散性,并结合磁干扰阈值判断,保证了在磁干扰环境下内窥镜姿态解算的精度和鲁棒性,实验表明该系统的姿态定位误差小于1o且具有较强的抗干扰性。 相似文献