7 results about "Holonomic constraints" patented technology

The invention discloses a vehicle-mounted Beidou positioning deviation self-calibration system fused with inertial navigation information, and relates to the technical field of navigation and positioning. The method is used for solving the problems of positioning deviation accumulation and signal failure in a complex environment. The system realizes space-time alignment of inertial navigation and Beidou observation data through timestamp interpolation and coordinate system conversion, and constructs a multi-source synchronous data stream. A difference value between an inertial navigation calculation speed and a Beidou Doppler speed is analyzed based on a vehicle incomplete constraint model, and a weight factor is generated in combination with a confidence threshold to suppress abnormal observation. A geometric matching error is calculated through a high-precision lane map curvature and a vehicle steering angle, and candidate tracks are screened to generate transverse calibration parameters. The noise covariance is dynamically adjusted through a tight coupling filtering algorithm, the mode is switched to a lane constraint calibration mode when a Beidou signal is interrupted, inertial navigation errors are compensated through error boundary constraint, and stable output is achieved. Multi-source data deep fusion and adaptive robust calibration are realized, and system robustness and positioning continuity are improved.

The invention belongs to the technical field of airplane nonlinear system control, and discloses a deicing vehicle hierarchical control method and system under an airplane idling condition. According to the method, a deicing vehicle overall dynamic model under incomplete constraint is constructed based on a Lagrange equation, a vehicle-arm combined trajectory tracking error state model is constructed, a cost function of a model prediction controller is designed according to a control target of deicing vehicle combined trajectory tracking, a quadratic programming problem is constructed on an upper layer to solve an optimal virtual control quantity, and the optimal virtual control quantity is calculated. And the lower layer analyzes the virtual control quantity into control input which can actually act on an execution mechanism by designing a self-adaptive fuzzy logic strategy so as to realize trajectory tracking control. According to the invention, a hierarchical control strategy is provided by combining model predictive control and an adaptive fuzzy logic system (FLS), the stability and high efficiency of system operation are ensured, and the deicing vehicle is ensured to always maintain a stable operation state in a complex and changeable operation environment.

The invention provides a non-integrity constraint assisted vehicle laser inertial odometer optimization method and device. The method comprises the following steps: acquiring laser radar data, inertial measurement unit data and vehicle movement speed data in a vehicle movement process; inputting the inertial measurement unit data into a non-integrity constraint pseudo observation model to obtain a non-integrity constraint predicted value; constructing a laser speedometer constraint based on the laser radar data, constructing an inertial measurement unit pre-integration constraint based on the inertial measurement unit, and constructing a non-integrity pseudo observation constraint based on the non-integrity constraint prediction value; and constructing a factor graph model based on the laser odometer constraint, the inertial measurement unit pre-integration constraint and the non-integrity pseudo-observation constraint, and optimizing the pose of the vehicle by using the factor graph model. According to the method, the reliability and precision of vehicle pose estimation are improved while the non-integrity constraint of the vehicle is accurately predicted.

The invention belongs to the technical field of robot control, and relates to a trajectory tracking method of a front and rear wheel independent drive robot suitable for a pipeline environment, which comprises the following steps: step 1, analyzing geometric constraints of a pipeline cylindrical surface structure on the robot according to geometric structures of a pipeline and robot wheels, and obtaining a robot motion representation form in a two-dimensional plane; 2, according to the kinematics principle of the incomplete constraint wheeled robot, a nonlinear model of a robot motion system is established; 3, a control target of robot trajectory tracking is determined according to the actual working condition; and 4, designing a kinematics controller by using a Lyapunov direct method in combination with the nonlinear model of the robot motion system and a trajectory tracking control target, and finally raising the dimension of an output result of the controller into a pipeline space to realize trajectory tracking of the mobile robot. According to the invention, rapid and accurate control of the wheeled pipeline robot with disturbance and uncertain items is realized, and the stability of the robot tracking process is ensured.

There is provided an information processing apparatus, an information processing method, and a program capable of estimating an azimuth of a mobile object that is moving by an inertial measurement unit (IMU) alone with high accuracy. At least one of an acceleration and a velocity of a mobile object in a reference coordinate system is calculated on the basis of inertial navigation calculation, at least one of an acceleration and a velocity of the mobile object coordinate system that is a coordinate system of the mobile object is calculated from at least one of the acceleration and the velocity of the reference coordinate system, and a rotation component or an absolute azimuth is specified on the basis of at least one of the acceleration and the velocity of the mobile object coordinate system and reference information of at least one of an acceleration and a velocity serving as a non-holonomic constraint condition that constrains a degree of freedom of at least one of six axes related to an attitude and a velocity of the mobile object. The present disclosure can be applied to an inertial navigation system.

This invention discloses an online estimation method and system for the installation angle of a combined navigation system based on BeiDou PPP-B2b, belonging to the field of navigation and positioning services. The method includes: constructing a high-precision position increment using carrier phase time difference observations and converting it into velocity observations; introducing a combined navigation filtering model and combining it with non-holonomic constraints to achieve online estimation and dynamic compensation of the installation angle; designing a sliding window data storage and convergence state discrimination method to analyze the convergence of the installation angle; and correcting the original IMU data after updating. This effectively improves the positioning accuracy and continuity in environments with limited or intermittent GNSS availability, such as tunnels, mountains, and deserts. This invention is applicable to vehicle navigation and unmanned system positioning scenarios in areas with no network coverage or weak infrastructure, effectively overcoming the limitations of traditional methods in terms of strong dependence on installation angle, constraint failure, and insufficient adaptability to weak infrastructure environments.

This invention belongs to the field of integrated navigation technology, specifically relating to a non-holonomic constraint-assisted SINS / EML integrated navigation method, program, device, and storage medium. This invention utilizes measurement information from accelerometers and strapdown inertial navigation systems to calculate the ship's lateral acceleration and determine its motion state. For ships in a straight-ahead state, it fully leverages the strapdown inertial navigation calculation information and non-holonomic constraint methods to extract electromagnetic log measurement information, expanding the ship's bow-stern one-dimensional velocity to three dimensions before performing integrated navigation filtering, thus improving the accuracy of the electromagnetic log-assisted strapdown inertial navigation system. For ships in a maneuvering state, it reconstructs the measurement equations based on the electromagnetic log measurement characteristics, reducing the impact of ship sideslip on navigation accuracy. This invention requires no additional equipment, has certain engineering application value, and is applicable to the field of electromagnetic log speed-assisted strapdown inertial navigation technology.