67 results about "Linear acceleration" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention discloses a three-axis differential implementation method based on cross symmetry of double inertial sensors, and the method comprises the following steps: S1, a sensor is an MEMS inertial measurement unit, i.e., an IMU, the IMU uses a right-hand Cartesian coordinate system to define the directions of three sensitive axes of the IMU, and the IMU is used for defining the positive direction of an angular velocity and also used for defining the positive direction of a linear acceleration; s2, in order to realize three-axis difference, rotating the sensor around the y axis by 180 degrees; s3, a result obtained in the step S2 is rotated by 90 degrees around the z axis; and S4, after the step S3, realizing symmetry of the x axis and the y axis through crossing, and realizing three-axis difference through double IMUs by applying a three-axis symmetry principle of an inertial sensor.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention discloses a linear acceleration environment test platform and a test method. The test platform comprises a platform body, a control system, and a guide rail assembly, an equipment assembly tool, a spring assembly, a spring stretching assembly and a detection unit which are arranged on the platform body, the equipment assembling tool is arranged on the guide rail assembly and is used for installing tested equipment; the spring assembly comprises a plurality of springs which are symmetrically distributed on the two sides of the guide rail assembly. The spring stretching assembly is used for stretching the spring assembly to a preset stretching position, the equipment assembling tool abuts against the spring stretching assembly, and the spring stretching assembly is released to drive the equipment assembling tool to do linear accelerated motion. The invention further comprises a test method of the linear acceleration environment test platform. The device is simple in structure and low in manufacturing cost, can effectively simulate the real dynamic response of the tested device under the action of the linear acceleration, carries out refined evaluation on the independence performance of the tested device, and is especially suitable for batch test requirements of inertial navigation devices, low-cost whole aircrafts and the like.

The invention discloses an IMU (Inertial Measurement Unit) visual fusion motion analysis method which comprises the following steps: a multi-source data synchronous acquisition step: acquiring three-dimensional linear acceleration and angular velocity original data through an inertial measurement unit, and acquiring a visual image sequence at the same time; a dynamic zero offset compensation step: executing a preset action on the inertial original data to calculate a zero offset compensation value; a time-space synchronization triggering step: generating a synchronization signal when detecting that the calibration inertial data reaches a preset threshold value, and establishing a mapping relationship between the timestamp and the visual frame sequence; a motion attitude fusion step: taking an attitude derived from calibration inertial data as prediction input, taking a joint coordinate extracted from a visual image sequence as observation input, and updating a fusion state through Kalman filtering; and a quantitative index extraction step: calculating a joint motion range, a motion instantaneous rate and a coherence coefficient. The method solves the technical realization problem of multi-source data acquisition and fusion, improves the accuracy and real-time performance of motion analysis, and is suitable for the fields of motion teaching and rehabilitation training.

The invention provides a multi-agent collaborative surrounding tracking method and system for a dynamic target. The method comprises the steps that S1, the number of surrounding agents, the expected surrounding radius, the expected angular spacing, the expected relative surrounding speed and the communication topology between the agents are determined according to the surrounding requirement; s2, designing a distributed fixed time observer based on a communication topological relation to realize estimation of a target state; s3, acquiring an azimuth angle between the surrounding agent and the target, and constructing a radial unit vector, a tangent vector and an angular spacing coordination error pointing to the target; constructing an estimated azimuth angle change rate, an estimated relative speed, an estimated relative distance and an estimated relative speed tangential component; constructing a radial acceleration control item, a tangential acceleration control item and a dynamic target tracking item; and S4, according to the current linear velocity and course angle of the intelligent agent, calculating linear acceleration and angular velocity in a feedback linearization mode, and realizing multi-layer adjustable angular spacing circular surrounding tracking of the multi-intelligent-agent dynamic target.

A method for biomechanical motion tracking records accelerometer and rate gyroscope data from a single inertial measurement unit mounted on the sacrum of a runner. Recorded resultant linear acceleration measurements and recorded angular velocity measurements about the anterior-posterior axis are processed to identify right foot impact events and left foot impact events. Impact events are identified using crackle, the third derivative of the resultant linear acceleration measurements. Left and right impact events are distinguished using the angular velocity measurements.

The invention discloses a motion sensing game linear acceleration anti-drifting method fusing space anchor points, and belongs to the technical field of motion sensing game pose tracking. The method comprises the following steps: synchronously acquiring IMU (Inertial Measurement Unit) original data and a space anchor point absolute pose; the method comprises the following steps: preprocessing IMU data, resolving an attitude matrix in real time by utilizing the angular velocity of a gyroscope, estimating attitude, velocity and displacement, and constructing a state vector; by taking the anchor point pose as observation, through fusion of extended Kalman filtering and state estimation, the optimal estimation is corrected, and the sensor error is calibrated on line; the six-degree-of-freedom pose and the linear acceleration are output to drive a game role to interact with an object, meanwhile, the correction state is fed back to a filter to form a closed loop, integral drift is remarkably restrained, and long-term precision and robustness are improved.

The invention relates to the technical field of ship control and navigation simulation, in particular to a ship trajectory visualization method and system based on combination of STM32 and Simulink, and the method comprises the following steps: an inertial measurement module and an ultra wide band positioning module collect attitude position information of a ship; the attitude position information is transmitted to an STM32 chip, the STM32 chip fuses the three-axis angular velocity, the three-axis linear acceleration and the three-axis geomagnetic data through a quaternion fusion algorithm to obtain a quaternion calculation result, and the quaternion calculation result and the position information in the three-dimensional space are fused to obtain fused data; the STM32 chip is used for fusing data, the fused data are packaged into data frames, the STM32 chip is used for transmitting the data frames to a ship model in a Simulink platform through a MAVLink protocol, the ship model is used for extracting the attitude angle and space coordinate information of the ship based on the data frames, and the visual motion trail of the ship is generated based on the attitude angle and space coordinate information of the ship. According to the invention, visual display and control algorithm verification are realized, and a semi-physical simulation closed-loop process is completed.

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

The embodiment of the invention provides an optical axis stability control method and system based on linear acceleration feed-forward compensation, and the method comprises the steps: introducing a feed-forward compensation path based on a linear acceleration measurement value into a disturbance path from online disturbance to angular disturbance; the feedforward compensation path executes the following steps: acquiring a linear acceleration signal measured by a linear accelerometer arranged on the optoelectronic equipment in real time; multiplying the linear acceleration signal by a preset feed-forward compensation coefficient to generate a feed-forward compensation torque instruction; and the feedforward compensation torque instruction and a feedback torque instruction output by a servo control system speed ring controller are superposed to form a composite torque instruction, and a motor is driven to suppress angular disturbance generated by coupling of external line vibration through an equipment mechanical structure. According to the technical scheme, on the premise that an existing mechanical structure and a main feedback control framework are not changed, disturbance is actively predicted and counteracted by introducing a feed-forward compensation path, and the optical axis stability precision of the photoelectric equipment in a main vibration frequency band is improved.

The invention provides a high-precision positioning method and system for a logistics storage unmanned vehicle. The method comprises the following steps: respectively acquiring initial distance data between an ultra-wideband tag and each ultra-wideband base station and inertial measurement data of the unmanned vehicle based on the ultra-wideband tag and an inertial measurement unit configured on the storage unmanned vehicle; based on angular velocity data and linear acceleration data in the inertial measurement data, determining a relative pose variable quantity of the unmanned vehicle between two adjacent distance measurement periods and an instantaneous movement velocity vector of the unmanned vehicle in the current ultra-wideband distance measurement period; based on the initial distance data and the deployment position of each ultra wide band base station, determining the initial position coordinate of the unmanned vehicle, and fusing the initial position coordinate and the relative pose variable quantity to obtain the predicted position coordinate at the current moment. According to the invention, the precision and stability of the positioning result of the storage unmanned vehicle are improved, and the high-frequency and high-precision positioning requirements in a complex environment are met.

The invention relates to a stabilization and stop control method in the launching and recovery process of an underwater robot. The method comprises the following steps: estimating position coordinates of a portal support point in a ship coordinate system; based on the position coordinates, the course angle, the pitch angle and the roll angle of the mother ship and the coordinate position of the mother ship in the geodetic coordinate system, the motion state of the portal support point in the geodetic coordinate system is calculated; acquiring the linear acceleration and the linear velocity of the underwater robot in the robot coordinate system, and projecting the linear acceleration and the linear velocity to the geodetic coordinate system to obtain the motion state of the underwater robot in the geodetic coordinate system; calculating a transverse swing angle and a longitudinal swing angle of the underwater robot relative to a portal support point based on the motion state; according to the transverse swing angle and the longitudinal swing angle, a control instruction is generated to drive the oscillation stopping device to conduct motion compensation in the transverse direction and the longitudinal direction, and stabilization and oscillation stopping control is achieved; according to the method, fundamental transformation from passive follow-up to active stabilization is achieved, and the safety and reliability of laying and recovery operation are greatly improved.

The invention discloses a motor smooth linear acceleration and deceleration system and a control method, which are applied to the fields of robots, industrial automation, machine tool processing, transportation, metering detection, aerospace, energy production, industrial manufacturing and elevators. The problems that an existing S-shaped acceleration and deceleration algorithm cannot respond quickly, overshoot oscillation exists in a linear control algorithm, and obvious grading echelon acceleration and deceleration are not smooth due to existing fixed grading grade acceleration and deceleration are solved. Fixed-period linear smooth acceleration and deceleration parameters are obtained through scanning period optimization calculation, a driver receives precise control pulse signals of a control system in each scanning period, the driver drives a motor, the control system precisely collects motor encoder information and the motor through an encoder, and according to set target speed data and target acceleration and deceleration time data, the acceleration and deceleration parameters of the motor are calculated according to the set target speed data and target acceleration and deceleration time data. Scanning cycles are collected, reliable scanning cycles are optimized, ideal graded acceleration and deceleration parameters based on reliable scanning cycle data are judged, and speed control of each scanning cycle is accurately achieved.

An apparatus and a corresponding method for determining mapping data relating to a feature of a parcel region. The apparatus comprises: a measurement apparatus comprising: a plurality of inertial sensors for acquiring motion data representing a position of the measurement apparatus based on a linear acceleration and an angular velocity of the measurement apparatus; a distance measurer for acquiring, during use, distance data representative of a distance from the measuring device to the ground of the parcel area; and a measurement device computer processor to: obtain first motion data from the plurality of inertial sensors while the measurement device is stationary at a first mapping position associated with the feature; obtaining second motion data from the plurality of inertial sensors, the second motion data indicating that the measurement device is moving from the first mapping position to a second mapping position; when the measuring device is moving from the first surveying and mapping position to the second surveying and mapping position, controlling the distance measurer to acquire distance data once or multiple times based on the second motion data; the apparatus further comprises a processing device comprising a processing device computer processor for: determining X, Y, and Z positions of the first surveying position based on the first motion data; determining X, Y and Z positions of the measuring equipment based on the second motion data; determining a distance from the measuring device to the ground based on the acquired distance data; and generating mapping data for the feature based on the determined X, Y and Z positions of the first mapping position, the determined X, Y and Z positions of the measurement device, and the determined distance.

A gradio-gravimeter comprising at least two vehicles (V1, V2), each with an inertial measurement unit (IMU1, IMU2) and a control unit (COM1, COM2) for guiding the vehicles along trajectories with separate segments for performing IMU flips and coupled segments for exchanging inertial measurements. At least one of the electronic control units is configured to determine, notably from the exchanged measurements: a transition matrix between inertial frames, a correction of linear acceleration measurements using an observed accelerometric model, a correction of angular velocity measurements using an observed gyrometric model, and a gravitational field gradient. Navigation system comprising such a gradio-gravimeter. FIGURE IN ABRIDGED DIAGRAM: Fig. 1

1. The name of the design product: micro-inertial measurement combined sensor. 2. The use of the design product: for measuring three-axis angular velocity and three-axis linear acceleration of an object. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: design 1 perspective view 1. 5. Design 1 is designated as the basic design.

The application provides an unmanned surveying ship control method, system and circuit board based on attitude adaptive compensation, relates to the technical field of unmanned surveying ship control, and the method comprises the following steps: receiving an attitude compensation measurement trigger signal; collecting original angular rate and linear acceleration data of a ship body in real time according to the attitude compensation measurement trigger signal; and obtaining real-time three-dimensional space attitude parameters of the ship body according to a preset rigid body kinematics differential equation, the original angular rate and the linear acceleration data. The application improves the depth operation precision of the unmanned ship in a complex hydrological environment.

The invention discloses a UUV inertial navigation-electromagnetic fusion positioning method and system based on a magnetic gradient tensor, and relates to the field of underwater navigation positioning, and the method comprises the steps: obtaining an electromagnetic beacon magnetic field signal, a UUV angular velocity signal and a linear acceleration signal, and carrying out the preprocessing; calculating an independent component of the magnetic gradient tensor by adopting a spatial difference method; calculating the motion state of the inertial navigation system to obtain the position, the speed, the attitude and the IMU error of the UUV; based on the magnetic dipole equivalent model, establishing a tight coupling fusion model of the magnetic gradient tensor and the motion state of the inertial navigation system; and performing state estimation on the tight coupling fusion model by using an unscented Kalman filtering algorithm, correcting the state of the inertial navigation system by using an independent component of a magnetic gradient tensor as an observed value, and outputting a fusion positioning result of the UUV. And the inertial navigation-electromagnetic fusion positioning performance is comprehensively improved.

The invention discloses an integrated navigation method based on a visual auxiliary IMU (Inertial Measurement Unit). By using the method, the tolerance to abnormal change of vision measurement can be effectively improved, the self-positioning precision is improved, and the adaptive capacity of the system to a nonlinear environment is improved. Motion information is integrated in a speed layer, so that the problem that IMU errors are excessively accumulated due to direct subtraction in a position layer in most loose coupling methods is solved; under the framework of the EKF, weighted fusion of a linear velocity layer and an angular velocity layer with algorithm time complexity O (n) is proposed, on one hand, error accumulation caused by linear acceleration quadratic integration is avoided, on the other hand, through weighted design, by adjusting the algorithm weight, the weight measured by the high-purity IMU is adjusted when the external environment is not beneficial to vision measurement, and on the other hand, the weight measured by the high-purity IMU is adjusted to be higher than the weight measured by the high-purity IMU when the external environment is not beneficial to vision measurement. And the flexibility of loose coupling is greatly improved.

The invention discloses a marine environment monitoring system based on inertial navigation, and the system comprises an inertial navigation system which is used for collecting three-dimensional attitude angle and three-dimensional linear acceleration data; the Doppler log is used for collecting moving speed data of the carrier relative to the seabed; the satellite navigation receiver is used for collecting a geographic position and a UTC time signal; and the temperature-salinity-depth instrument is used for collecting temperature, salinity and pressure data of seawater. And the acoustic Doppler flow velocity profiler is used for collecting relative velocity and direction data of water flows at different depths in a water column below the carrier. The inherent accumulated position drift error of the inertial navigation system is corrected in real time by comparing and fusing the real-time position, speed and attitude angle of the carrier provided by the inertial navigation system with the ground speed of the carrier provided by the Doppler log. And the existing residual position error is reset to zero by using the absolute geographic position, so that the problem of precision maintenance during long-endurance and long-distance operation of the carrier is thoroughly solved.

The invention discloses a GNSS / PDR seamless positioning method and device based on a factor graph. The method comprises the following steps: acquiring acceleration, angular velocity, magnetic field intensity and positioning observation data of wrist strap wearable equipment; extracting linear acceleration according to the acceleration; performing gait detection according to the linear acceleration and estimating the step length; according to the triaxial acceleration and the magnetic field intensity, a course angle is obtained based on attitude compensation; according to the step length and the course angle, carrying out wrist strap type PDR calculation to obtain a continuous relative track; and constructing a factor graph according to the continuous relative trajectory and the positioning observation data, and performing nonlinear optimization on the state sequence to obtain a continuous and stable fusion positioning trajectory in the indoor and outdoor environment. By adopting the technical scheme of the invention, seamless fusion positioning in a complex environment is realized.

The invention provides a visual inertial odometer model training method and device based on YTS, relates to the technical field of model training, and improves the calculation precision of a visual inertial odometer model. The method comprises the following steps: identifying a contact area between a tire and the ground through YTS based on a tire image acquired by an image acquisition device; detecting a plurality of corresponding different linear acceleration and angular velocity data and a plurality of different surrounding environment change images when the intelligent moving tool moves under the conditions of a plurality of different weight distribution condition data and a plurality of different non-fixed object weights; the method comprises the following steps of: determining a fixed self weight, various different weight distribution condition data, various different non-fixed object weights, linear acceleration and angular velocity data corresponding to each weight distribution condition data and non-fixed object weight conditions, a surrounding environment change image and an actual total weight as a training sample set; and training the initial visual inertial odometer model by using the training sample set.

1. The name of the design product: Inertial measurement instrument (LUA300C). 2. The use of the design product: For installation on vehicles, for measuring the rotation angular velocity and linear acceleration of vehicles in three orthogonal axes in the space coordinate system. 3. The design points of the design product: In shape. 4. The picture or photo that best shows the design points: Fig. 1.

The application provides a control method of a robot, which comprises the following steps: detecting the length L1 of a large arm of the robot, the length L2 of a small arm, a first motor arranged at a first joint to drive the large arm to rotate around the first joint, a second motor arranged at a second joint to drive the small arm to rotate around the second joint, a screw rod assembly connected to the end of the small arm, and detecting the current linear acceleration a of the screw rod assembly 总 ; judging the relationship between a 总 and a MAX , wherein a MAX is the maximum linear acceleration of the end of the screw rod under the condition of the service life of the screw rod; and controlling the robot to reduce the speed at a falling ratio of Ka if a 总 >a MAX , and maintaining the current state if a 总 ≤a MAX . According to the application, the situation that the screw rod is bent or even broken after long-term use can be avoided, the reliable and stable operation of the robot screw rod is ensured, and the service life of the robot is prolonged.

1. The name of the design product: inertial measurement instrument. 2. The use of the design product: for measuring the rotation angular velocity and linear acceleration of the aircraft in three axial directions in the space coordinate system. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

A linear acceleration environment test platform and a test method, the test platform comprising a platform body, a control system, a guide rail assembly, a device assembly tool, a spring assembly, a spring stretching assembly and a detection unit arranged on the platform body; the device assembly tool is arranged on the guide rail assembly and used for mounting a device under test; the spring assembly comprises a plurality of springs and is symmetrically distributed on both sides of the guide rail assembly; the spring stretching assembly is used for stretching the spring assembly to a predetermined stretching position; the device assembly tool abuts against the spring stretching assembly, and the device assembly tool is driven to move linearly by releasing the spring stretching assembly. The application also comprises a test method of the linear acceleration environment test platform. The application has simple structure, low manufacturing cost, can effectively simulate the real dynamic response of the device under test under the action of linear acceleration, finely evaluate the independent performance of the device under test, and is particularly suitable for batch test requirements of inertial navigation devices, low-cost aircrafts and the like.

The invention relates to a motion control method and device, processing equipment and a readable storage medium. The method comprises the following steps: acquiring a motion parameter constraint value, a jerk change proportionality coefficient and motion parameter planning values in a plurality of motion adjustment periods in a motion process; determining a motion parameter optimization value of the motion process according to the motion parameter constraint value, the jerk change proportionality coefficient and the motion parameter planning value; and according to the motion parameter optimization value, determining a motion control instruction in the motion process so as to adjust the acceleration change in the motion process. According to the method, smooth transition adjustment is carried out on acceleration changes in the movement process, the problem that too large vibration of a machine tool is likely to occur when a linear acceleration and deceleration model carries out deceleration processing is effectively solved, the accuracy and adjustability of movement control can be guaranteed while the movement control efficiency is guaranteed, and the method is suitable for popularization and application. Therefore, the higher requirement of the laser processing effect is met.

A custom-formed mesostructure for a helmet and process for designing the mesostructure are described. In one example, a process for designing a helmet for an individual can include generating a model of anthropometric aspects of a head of the individual using a scanning technique. The process can further include editing the model to generate a refined model of the anthropometric aspects of the head. The process can further include designing a mesostructure based on the refined model. The process can also include designing the mesostructure as a latticed structure having a thickness gradient that is relatively thinner along an inner periphery of the mesostructure and thicker along an outer periphery of the mesostructure, to reduce peak linear acceleration during an impact. The process can also include forming the mesostructure using an additive manufacturing technique. The mesostructure can be used independently as a helmet or combined with an outer shell.