649 results about "Euler angles" patented technology

A micro-electrical-mechanical system (MEMS) vibrating structure includes a carrier substrate, a first anchor, a second anchor, a single crystal piezoelectric body, and a conducting layer. The first anchor and the second anchor are provided on the surface of the carrier substrate. The single-crystal piezoelectric body is suspended between the first anchor and the second anchor, and includes a uniform crystalline orientation defined by a set of Euler angles. The single-crystal piezoelectric body includes a first surface parallel to and facing the surface of the carrier substrate on which the first anchor and the second anchor are formed and a second surface opposite the first surface. The conducting layer is inter-digitally dispersed, and is formed on the second surface of the single-crystal piezoelectric body. The first surface of the single-crystal piezoelectric body is left exposed.

An apparatus and method employing principles of stereo vision for determining one or more orientation parameters and especially the second and third Euler angles θ, ψ of an elongate object whose tip is contacting a surface at a contact point. The apparatus has a projector mounted on the elongate object for illuminating the surface with a probe radiation in a known pattern from a first point of view and a detector mounted on the elongate object for detecting a scattered portion of the probe radiation returning from the surface to the elongate object from a second point of view. The orientation parameters are determined from a difference between the projected and detected probe radiation such as the difference between the shape of the feature produced by the projected probe radiation and the shape of the feature detected by the detector. The pattern of probe radiation is chosen to provide information for determination of the one or more orientation parameters and can include asymmetric patterns such as lines, ellipses, rectangles, polygons or the symmetric cases including circles, squares and regular polygons. To produce the patterns the projector can use a scanning arrangement or a structured light optic such as a holographic, diffractive, refractive or reflective element and any combinations thereof. The apparatus is suitable for determining the orientation of a jotting implement such as a pen, pencil or stylus.

The invention comprises a survey pole having a survey pole bottom end, with a position-transducer coupled to a survey pole top end. A ground contact spike is on the bottom end. The survey pole uses an AINS as a combined tilt and heading sensor. The AINS provides heading and Euler angle outputs characterizing the tilt of the survey pole. The heading and Euler angle outputs are used by a computer and program to perform position transfers from a position-transducer at the pole top end to the GCZVI switch or spike on the ground using a set of position offset or transfer equations. The position-transducer is either a GNSS or an RTS serving as a position-transducer. The transfer of the position data from the position of the position-transducer provides the earth referenced or grid referenced position of the spike at the survey pole survey bottom end.

The invention discloses a human body movement reconstruction and analysis system and method based on inertial sensing units. The system comprises a pose information acquisition system, a WIFI wireless router and a central computer. The pose information acquisition system is composed of the inertial sensing units. The inertial sensing units are installed on multiple parts of a human body respectively to collect accelerated velocities, angular velocities and magnetic information of all the parts in real time and fuse the accelerated velocities, the angular velocities and the magnetic information to obtain pose information such as pose angles, quaternions and Euler angles; next, the collected information and the fused information are sent to the central computer through the WIFI wireless router in a WIFI mode; the central computer fuses pose information data of all the inertial sensing units to complete human body movement reconstruction and extracts movement parameters such as positions, velocities, angles, the accelerated velocities and angular accelerated velocities, and the movement parameters are used for biomechanical analysis and kinematic analysis of human body movement. By means of the human body movement reconstruction and analysis system and method, influences on the movement of a subject are reduced to the maximum extent, the requirements for capturing the movement of the whole body of the subject and the special movement of a specific part of the subject are both met, and the system and method are suitable for various application occasions.

The invention discloses a high-precision three-dimensional posture inertia measurement system and method based on MEMS (Micro Electro Mechanical Systems), which relate to a high-precision three-dimensional posture inertia measurement method. The system and the method disclosed by the invention aim for solving the problems that the existing three-dimensional posture inertia measurement equipment is low in cost and low in precision due to adoption of a sensor. A three-axis gyroscope sensor is used for sending measured angular speed data to an ARM (Advanced RISC Machines) processor; a three-axis accelerometer sensor is used for sending measured acceleration data to the ARM processor; a three-axis magnetometer sensor is used for sending measured magnetic strength data to the ARM processor; a temperature sensor is used for measuring and sending obtained temperature excursion data of the three-axis gyroscope sensor to the ARM processor; the ARM processor is used for processing the received data by means of front low-pass digital filtration, front-end data processing and expansion Kalman filtration respectively so as to obtain Euler angle three-dimensional posture inertia data or quaternion three-dimensional posture inertia data. The system and the method disclosed by the invention can be applied to the field of navigation control.

An elastic wave device making use of an SH plate wave propagating in LiNbO3 substrates includes a LiNbO3 substrate, IDT electrodes located on at least one surface of the LiNbO3 substrate, and a support which is bonded to the LiNbO3 substrate such that the support is located outside a region provided with the IDT electrodes and supports the LiNbO3 substrate, wherein θ of the Euler angles (0°, θ, 0°) of the LiNbO3 substrate ranges from about 92° to about 138° and the thickness of the LiNbO3 substrate ranges from about 0.05λ to about 0.25λ, where λ is the wavelength determined by the pitch between electrode fingers of the IDT electrodes.

A pedometer navigator system is carried by a pedestrian, the pedometer system providing present position data as the pedestrian walks across terrain to be surveyed. The body frame is coupled to the pedestrian. An Euler Angle Measuring Subsystem (EAMS) coupled to a body frame measures and outputs the Euler angles of a fixed coordinate system with respect to an earth fixed navigational coordinate system. A left and right sensor is mounted on the pedestrian's respective left and right foot. An SBPMS (short baseline position measuring subsystem) is coupled to the body frame and has a position measuring coordinate system. The SBPMS measures and provides a respective left vector {right arrow over (rho)}leftp and a right vector {right arrow over (rho)}rightp characterizing the position of the left and right sensors with respect to the position measuring coordinate system origin. A computer and algorithm means responds to the Euler angles of the body frame coordinate system with respect to the earth fixed navigational coordinate system and the left vector and the right vector by determining an interval during which the left or right foot is stationary and for providing a transition vector referenced to the earth fixed navigational coordinate system characterizing the movement of the SBPMS origin during the interval the respective foot is stationary. A navigation algorithm adds each transition vector to the previous present position of the navigation reference system to obtain a next present position of the position measuring subsystem.

An elastic wave device includes a support layer with a through-hole or a recess opened at an upper surface thereof, a piezoelectric thin film arranged on the support layer to extend above the recess or the through-hole of the support layer, and an IDT electrode defined on at least one of upper and lower surfaces of the piezoelectric thin film in a region of the piezoelectric thin film, the region extending above the recess, or the through-hole. A secondary mode of a plate wave, which contains a U1 component as a main component, is utilized. The piezoelectric thin film is made of LiTaO3, and Euler angles (φ, θ, ψ) of the LiTaO3 fall within specific ranges.

An apparatus and method employing principles of stereo vision for determining one or more orientation parameters and especially the second and third Euler angles θ, ψ of an elongate object whose tip is contacting a surface at a contact point. The apparatus has a projector mounted on the elongate object for illuminating the surface with a probe radiation in a known pattern from a first point of view and a detector mounted on the elongate object for detecting a scattered portion of the probe radiation returning from the surface to the elongate object from a second point of view. The orientation parameters are determined from a difference between the projected and detected probe radiation such as the difference between the shape of the feature produced by the projected probe radiation and the shape of the feature detected by the detector. The pattern of probe radiation is chosen to provide information for determination of the one or more orientation parameters and can include asymmetric patterns such as lines, ellipses, rectangles, polygons or the symmetric cases including circles, squares and regular polygons. To produce the patterns the projector can use a scanning arrangement or a structured light optic such as a holographic, diffractive, refractive or reflective element and any combinations thereof. The apparatus is suitable for determining the orientation of a jotting implement such as a pen, pencil or stylus.

The invention relates to a flexible satellite locus linearization attitude control method based on a disturbance observer. The invention aims at solving problems that a single locus linearization control method is poor in capability of inhibiting interference, is poorer in robustness, and does not consider external interference and the impact from flexible accessories. The method comprises the steps: employing Euler angles for describing attitudes of a spacecraft, employing an idea of equivalent disturbance, and building a flexible spacecraft dynamics and kinetics equation; solving the pseudo-inverse of a controlled object under the condition of neglecting equivalent disturbance, designing a quasi-differentiator of a specific type, and obtaining the nominal control of an expected locus; and designing a linear time varying adjuster through proportion-integration control. The method gives consideration to the influence of equivalent disturbance, designs the disturbance observer, and guarantees the asymptotic convergence of a tracking error of a flexible spacecraft. The method improves the anti-interference capability of a system, and improves the robustness of the system. The method is used in the attitude control field of flexible satellites.

This invention relates to a system for estimating the position, speed and orientation of a vehicle (10), comprising means for determining the components of two noncollinear constant unit vectors b, b according to vehicle body axes; means for determining the components of said noncollinear constant unit vectors {right arrow over (g)}t, {right arrow over (e)}t according to Earth's axes; means for determining the three components of angular velocity b of the vehicle in body axes; means for correcting said angular velocity b with a correction uω and obtaining a corrected angular velocity {circumflex over (ω)}b=b+uω; a control module (14) implementing a control law to calculate said correction uω, where said control law is: uω=σ(b×ĝb+<?img id="custom-character-00007" he="3.13mm" wi="1.78mm" file="US20070213889A1-20070913-P00901.TIF" alt="custom character" img-content="character" img-format="tif" ?>b×êb)  [1]where σ is a positive scalar, such that upon using said corrected angular velocity {circumflex over (ω)}b=b+uω as input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (Φ)} is bounded.

The invention relates to the technical field of unmanned aerial vehicles and discloses a pan-tilt attitude detection method and a pan-tilt attitude detection device. The method comprises the following steps: acquiring data of a pan-tilt inertia measurement unit, wherein the data of the inertia measurement unit includes angular velocity data of a gyro and accelerometer data; performing quaternion integral operation on the data of the inertia measurement unit; changing the data of the inertia measurement unit from quaternion expression into rotation matrix expression; and changing the data of the inertia measurement unit from the rotation matrix expression into eulerian angle expression, wherein the step of performing the quaternion integral operation on the data of the inertia measurement unit comprises the following sub-steps: by taking the rotation matrix expression as feedback, performing feedback correction on the quaternion expression, acquiring pan-tilt attitude data through an attitude heading system, performing pan-tilt attitude expression by adopting different algorithms and compensating and correcting the pan-tilt attitude. Therefore, the accuracy of the pan-tilt attitude detection is improved.

This invention relates to a system for estimating the position, velocity and orientation of a vehicle, by determining the components of two noncollinear constant unit vectors b,b according to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)}t,{right arrow over (e)}t according to Earth's axes. The system further determines the three components of angular velocity b of the vehicle in body axes; corrects the angular velocity b with a correction uω and obtains a corrected angular velocity {circumflex over (ω)}b=b+uω; a control module implementing a control law to calculate the correction uω, where the control law is:uω=σ(b×ĝb+b×êb)  [1]where σ is a positive scalar,such that upon using the corrected angular velocity {circumflex over (ω)}b=b+uω as input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (φ)} is bounded.

The invention puts forward an image registration method based on an inertial sensor and a camera. The camera and the inertial sensor are synchronously controlled to operate to simultaneously acquire the color image and depth image of the same scene and the three-axis motion angular velocity and three-axis motion acceleration of the camera; Kalman filtering is utilized to carry out filtering on the three-axis motion angular velocity and the three-axis motion acceleration, the Eulerian dynamics equation is used for converting the three-axis acceleration into a Eulerian angle, the uniformly accelerated motion formula is used for converting the three-axis angular velocity into three-axis displacement, and thereby an external reference matrix of the camera is obtained; by utilizing the affine transformation relation between the color image and the depth image and the proportional relation between depth image grey value and pixel depth information, the depth information of angular points in the depth image is solved; an OFCM (Orthogonal Frequency-division Multiplexing) model is used for calculation to obtain image background optical flow; the RANSAC (Random Sample Consensus) algorithm is used for completing image registration. The calculation load of the method is low, both the real-timeness and the precision are high, and the method is applicable to hand-held devices and mobile devices.

The present invention provides a motion capturing system and method based on a CAN bus and an inertial sensor, for tracking and capturing motion information of a human body in a real-time manner. The system comprises an inertial sensing node combination, a data aggregation node, and a central computer. The inertial sensing node combination contains 18 inertial sensing nodes, collects an accelerated speed, an angular speed, and geomagnetic information data of each bone point part in a real-time manner, and performs attitude estimation by using a complementary integration filtering algorithm, so as to obtain data, such as a quaternion and an euler angle, of an three-dimensional attitude of the current bone point. The data aggregation node is connected to the 18 inertial sensing nodes, is configured to collect, in a time-sharing manner, three-dimensional attitude data of each bone point obtained by the 18 inertial sensing nodes, and send the collected data to the central computer by using a wireless wifi module. A main task of the central computer is to complete functions of collecting motion data transmitted from the data aggregation node and driving a virtual 3D person model by using the motion data.

The invention provides a surgical robot adjustment system. Each mechanical arm is provided with an optical target lens, positions and Euler angles of the optical target lenses are measured by an optical tracking instrument, a calculation module calculates according to measured values to obtain a posture mapping relation of the optical target lenses, and a posture mapping relation of surgical instrument arms is obtained by calculation according to the posture mapping relation of the optical target lenses and a posture mapping relation between the surgical instrument arm of each mechanical arm and the optical target lens on the corresponding mechanical arm. A surgical robot controls postures of corresponding surgical instrument arms according to the posture mapping relation of surgical instrument arms, and accordingly movement control precision of the surgical robot is improved.

A surface acoustic wave device includes: a quartz substrate; and at least a single-type IDT electrode provided on a surface of the quartz substrate for exciting a Rayleigh surface acoustic wave in the upper limit mode of the surface acoustic wave stop band with the following relationships satisfied;φ=0, 110°≦θ≦140°, and 38°≦|ψ|≦44°, when the quartz substrate cut angles and the surface acoustic wave propagation direction are represented by Euler angles (φ, θ, ψ), and wherein the electrode thickness relative to wavelength set such thatH / λ≧0.1796η3−0.4303η2+0.2071η+0.0682, with the thickness of the IDT electrode defined as H, the width of an electrode IDT finger defined as d, the pitch between the electrode fingers of the IDT electrode as P, the wavelength of the surface acoustic wave as λ, and where η=d / P.

An elastic wave device includes a lithium niobate film, a supporting substrate, a high-acoustic-velocity film located on the supporting substrate and configured so that the acoustic velocity of a propagating bulk wave is higher than the acoustic velocity of an elastic wave that propagates on the lithium niobate film, a low-acoustic-velocity film stacked on the high-acoustic-velocity film and configured so that the acoustic velocity of the propagating bulk wave is lower than the acoustic velocity of the bulk wave that propagates in the lithium niobate film, the lithium niobate film being stacked on the low-acoustic-velocity film, and an IDT electrode located on either side of the lithium niobate film. When the lithium niobate film has Euler angles of (0°±5°, θ, 0°), θ is in the range of about 0° to about 8° and about 57° to about 180°.

The invention discloses a UAV autonomous landing control system and method for mobile platform, belongs to the crossing field of an aerial robots and computer vision, and relates to the autonomous landing technology of the UAVs. The system comprises the steps: a vision module disposed on a UAV, a landing target detection module, a UAV posture estimation module and a parameter comparison module. The method comprises the steps that when the UAV lands, the vision module obtains a real-time image, and carries out the threshold segmentation of the grayed image; a rotating matrix and a translation matrix of the UAV relative to a landing target are solved according to an image processing result, and the posture angle of the UAV is obtained through the correlation between the rotating matrix and an Euler angle; the posture information of the UAV is estimated in real time, and the flight of the UAV is judged and adjusted. The system combines the UAV technology and an image processing algorithm,achieves the precise landing of the UAV on the mobile platform, is higher in automation degree, is simpler in operation, improves the safety of the UAV, and reduces the accident rate of the UAV.

The invention belongs to the technical field of crystal structure measurement through measuring back scattering, and relates to a method for measuring the orientation differences of orientation silicon steel crystal particles by utilizing an EBSD (Electron Back-Scattered Diffraction) technique. The method provided by the invention comprises the following steps of: measuring the euler angle of each crystal particle in a taken test sample by adopting the principle of detecting the crystal particle orientation by adopting the EBSD, and calculating the orientation differences of adjacent crystal particles and the orientation differences between the crystal particles and a standard goss texture, thereby obtaining the corresponding relationships between the magnetic induction intensity and the orientation differences. The method has the advantages of, rapid measurement speed, large measurement region, intuitive and understandable expression, typical obtained result and the like, and is simple to operate.

A SAW device 11 has an IDT which is provided on the principal surface of a quartz crystal substrate 12 having Euler angles (−1.5°≦φ≦1.5°, 117°≦θ≦142°, 42.79°≦|ψ|≦49.47°) and excites a SAW in a stopband upper end mode, and a pair of reflectors which are arranged on both sides of the IDT. Inter-electrode-finger grooves are recessed between the electrode fingers of the IDT, and inter-conductor-strip grooves are recessed between the conductor strips of the reflectors. The wavelength λ of the SAW and the depth G of the inter-electrode-finger grooves satisfy 0.01λ≦G. An IDT line occupancy η and the depth G of the inter-electrode-finger grooves satisfy a predetermined relational expression. The IDT line occupancy η and a reflector line occupancy ηr satisfy the relationship η<ηr. Therefore, an excellent frequency-temperature characteristic and a high Q value in an operation temperature range are realized simultaneously.

A reliable SAW device has excellent reflection and a small size, which is achieved by reducing the number of fingers defining reflectors, such that losses due to a large electromechanical coupling coefficient are small and the film thickness of electrodes has much less effect on frequencies of the device. In the SAW device having pluralities of first fingers and second fingers, disposed on a quartz substrate, constituting an IDT for exciting SH waves and reflectors for reflecting the SH waves, respectively, the first and second fingers made mainly from Al are disposed on the ST-cut 90° X-propagation quartz substrate with the Euler angles (0°, θ, 90°±2°), wherein the angle θ is within the range of about 110° to about 150°, and a normalized film thickness (H / λ) of the fingers is within in the range of about 0.025 to about 0.135.

A surface acoustic wave element is provided including an IDT and reflectors provided on both sides of the IDT that are on a surface of a quartz plate. The quartz plate is made from an in-plane rotated ST cut quartz plate whose cutting angle is expressed as (0°, 113°-135°, ±(40°-49°)) by defining and using Euler angle. The IDT and reflectors are arranged at a slant of PFA±3° with respect to a direction of a phase velocity of a surface acoustic wave in the quartz plate. If the cutting angle of the quartz plate is expressed by the Euler angle (φ°, θ°, Ψ°), the power flow angle PFA is expressed that the PFA=0.374 (θ°−90°)−10.0°.

The invention provides an attitude control method applied to a centroid transverse moving spacecraft. According to the method, quaternions are adopted to describe rotation of an engine spray pipe relative to a spacecraft body, and an expectation attitude of the spacecraft, meeting guidance requirements, is determined based on the guidance direction and the rotating quaternions; simulation eulerian angles describing attitude deviation of the spacecraft are brought in, and a variable structure attitude control law is built based on an attitude motion model of the simulation eulerian angles; and the spacecraft attitude is controlled to be in the expectation attitude, so orbital transfer thrust direction guidance can be guaranteed. The attitude control method solves the control law design problem that attitude control is carried out for the spacecraft with a centroid moving transversely through adoption of thrust vectors and an attitude control engine, the adopted attitude description avoids singularity owned by eulerian angle attitude description inherently, and three components of the attitude description have obvious physical significance; and the attitude control law based on the attitude description is simple in form and good in control effect.

The invention discloses an unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion. The method is characterized by, to begin with, reading sensor data and carrying out corresponding filtering on the data; then, carrying out self-adaption complementation fusion according to frequency-domain characteristics of different sensors to obtain aerial attitude information of a current aerial vehicle, and furthermore, obtaining an Euler angle needed by control; next, carrying mathematical modeling on the aerial vehicle and designing two controllers, wherein one controller is used for controlling the pitch angle and the roll angle, and the other controller is used for controlling the course angle; and finally, carrying out superposition on the outputs of the two controller to obtain a total output, and realizing stable control of the aerial vehicle by changing the rotation speed of a motor through a driver. The system and method realize attitude wide-range high-precision calculation, quicker data convergence and higher precision.

A surface acoustic wave device includes: a quartz substrate; and at least a single-type IDT electrode provided on a surface of the quartz substrate for exciting a Rayleigh surface acoustic wave in the upper limit mode of the surface acoustic wave stop band with the following relationships satisfied;φ=0°, 110°≦θ≦140°, and 38°≦|ψ|≦44°, when the quartz substrate cut angles and the surface acoustic wave propagation direction are represented by Euler angles (φ, θ, ψ), and wherein the electrode thickness relative to wavelength set such thatH / λ≧0.1796η3−0.4303η2+0.2071η+0.0682, with the thickness of the IDT electrode defined as H, the width of an electrode IDT finger defined as d, the pitch between the electrode fingers of the IDT electrode as P, the wavelength of the surface acoustic wave as λ, and where η=d / P.

A surface acoustic wave resonator includes: an IDT which is disposed on a quartz substrate with Euler angles of (−1°≦φ≦1°, 117°≦θ≦142°, 42.79°≦|ψ|≦49.57°, which is made of Al or alloy including Al as a main component and which excites a surface acoustic wave in an upper mode of a stop band; and an inter-electrode-finger groove which is formed by recessing the quartz substrate between electrode fingers which form the IDT. Here, the following expression is satisfied:0.01λ≦G  (1),where λ represents a wavelength of the surface acoustic wave and G represents a depth of the inter-electrode-finger groove. The depth G of the inter-electrode-finger groove and a line occupancy η of the IDT satisfy the following expression:-2.5×Gλ+0.675≦η≦-2.5×Gλ+0.775(5)and a number of pairs N of the electrode fingers in the IDT is in the range of the following expression:160≦N≦220  (19).

The invention relates to a device for synchronously collecting a face image and a visual fixation and a method thereof. In the method, an image collecting device collects the face image of a collected person: step 1, the receiver of a position tracker is respectively arranged on the head of the collected person, a visual fixation device and the image collecting device; step 2, a launcher of the position tracker emits a signal and the receiver receives the signal and generates position data and direction data of the receiver corresponding to the launcher; step 3, the position data and the direction data are processed by a calculating device, and the visual fixation of the collected person is obtained; step 4, the calculating device stores the face image and the visual fixation. The device for synchronously collecting the face image and the visual fixation and the method thereof can ensure space positions of each part while images are collected and further obtain the sight fixation direction which is indicated by Euler angle in a Cartesian coordinate system of the image collecting device.

An interactive oral cleaning tool set comprises a toothbrush head used for cleaning teeth, a tongue coating brush head used for cleaning tongue coatings, a clearance brush head used for cleaning gaps of trigona where the teeth and gingiva are connected, a bacterial plaque brush head used for cleaning bacterial plaque on the teeth and a brush handle which is detachably connected with the four brush heads in a clamping mode, and the lower end of each four brush head is arranged on an insertion column of a base in an inserted mode; a DMP module integrates a three-axis accelerometer and six-axis data provided by a three-axis gyroscope into Euler angles so as to directly reflect a moving posture of a current brush head, brush head moving data collected by an MPU6050 chip are read in an STM32L0 ARM microprocessor, when a tooth brushing gesture is incorrect, the STM32L0 ARM microprocessor enables a vibration motor to vibrate, APP application software of a mobile terminal gives out corresponding prompt words, and brush moving data in the mobile terminal are transmitted to a developer cloud database through WIFI. The interactive oral cleaning tool set has the advantages of being capable of conducting cleaning guidance and error correction and saving energy and environmentally friendly.

The drone (10) comprises a camera with a hemispherical-field lens of the fisheye type pointing to a fixed direction (Δ) with respect to the drone body. A capture area (36) of reduced size is extracted from the image formed by this lens (42), the position of this area being function of the signals delivered by an inertial unit measuring the Euler angles characterizing the attitude of the drone with respect to an absolute terrestrial reference system. The position of this area is dynamically modified in a direction (44) opposite to that of the changes of attitude (38) of the drone detected by the inertial unit. The raw pixel data are then processed to compensate for the geometric distortions introduced by the fisheye lens in the image acquired in the region of the capture area.