38 results about "Linear acceleration" patented technology

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.

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 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.

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 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.

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.

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.

The invention belongs to the technical field of satellite navigation and positioning, and discloses a satellite navigation and positioning optimization method and system based on inertial behaviors. The method comprises the following steps: acquiring inertial measurement data and satellite navigation observed quantity, and performing time alignment and preprocessing to form a synchronous observation sequence; inertial behavior characteristics such as angular velocity, linear acceleration and change rate thereof are extracted, behavior recognition is performed, and behavior categories and confidence coefficients are output; carrying out online change point detection based on an identification result, determining a behavior switching change point and dividing behavior segments; the process noise covariance of an inertia pre-integration factor is set in the factor graph according to behavior segments, the weights of a satellite navigation observation factor and a behavior constraint factor are adaptively adjusted according to confidence, and the behavior constraint factor is controlled to be enabled and disabled according to behavior categories; and performing incremental optimization by adopting an incremental smoothing algorithm iSAM2 to output the position of each epoch. According to the scheme, estimation lag, overshoot and error amplification in a behavior mutation scene can be reduced, and the positioning precision and robustness are improved.

This invention relates to a predetermined-time fuzzy backstepping control method for a fractional-order decoupled dual-mass MEMS gyroscope with delay constraints and actuator faults, belonging to the field of MEMS gyroscope control technology. The method includes: S2: establishing a fractional-order motion equation for the decoupled dual-mass MEMS gyroscope with actuator faults based on the Lagrange equations to eliminate the influence of linear acceleration and vibration at the same frequency; S3: constructing a β-cut 2 type fuzzy logic system to address the uncertainties and nonlinear terms of the system model; superimposing a delay error function on a specified time function to ensure that the error does not violate the constraints after a finite time; using a fractional-order hyperbolic tangent tracking differentiator in the controller design to handle direct fractional derivatives and repeated derivatives; and finally, combining the β-cut 2 type fuzzy logic system to establish a control law with an adaptive law for fault parameters.

The invention discloses a three-dimensional laser scanner signal emission control method based on dynamic parameter self-adaption, and the method comprises the following steps: initializing a sensor and a control module after a system is powered on, configuring an initial laser emission frequency and a target rotation speed, grating signals from a grating encoder, angular velocity and linear acceleration data from an inertial measurement unit (IMU) and current laser emission frequency are collected at the same time; the real-time rotating speed of the scanning rotating mirror is calculated according to grating signals collected in real time, and a dynamic theoretical point cloud included angle is calculated based on the real-time rotating speed and the current laser emission frequency; generating a fusion subdivision angle count value through data fusion processing based on the grating signal and the angular velocity data of the IMU, and monitoring the vibration state based on the linear acceleration data of the IMU; calculating a laser trigger reference value according to the dynamic theoretical point cloud included angle and the fusion subdivision angle count value; and controlling laser emission according to the vibration state monitoring result and the laser triggering reference value.

The application discloses a beam-linear integrated acceleration structure, which comprises multiple pairs of electrode rods and multiple ring bodies arranged in sequence along the beam motion direction, the axial direction of the ring body is consistent with the beam motion direction, and the through holes of the ring body are arranged corresponding to the beam motion path; two adjacent ring bodies form an acceleration gap; the length direction of the electrode rod is consistent with the beam motion direction; every two pairs of electrode rods are limited in an acceleration gap and are fixedly connected with two adjacent ring bodies respectively; and the two pairs of electrode rods in each acceleration gap are distributed orthogonally; along the beam motion direction, the acceleration stages of the beam-linear integrated acceleration structure are as follows: in a first stage, the electrode rods in each acceleration gap form a transverse focusing quadrupole field; in a second stage, the surface of the electrode rod is modulated with a wave surface; in a third stage, along the beam motion direction, the multiple electrode rods are gradually shortened, and the multiple ring bodies are gradually lengthened; and in a fourth stage, the electrode rods disappear, the multiple ring bodies form multiple complete drift tubes and are gradually lengthened. The application can make the linear acceleration device more compact and efficient.

Method and system for monitoring the gait of a user with a leg prosthesis (1, 2), comprising: a sensor device (3) configured to be inserted into a lower section of the prosthesis, wherein the sensor device comprises a force sensor (5), an inertial sensor (6) to obtain measurements of angular velocity, linear acceleration and orientation of the prosthesis while walking, and a control module (7) to process the measurements from the sensors and send them to a processor module; and a processor module to receive the measurements processed by the control module, compare them with reference information about the user's gait, determine whether the comparison exceeds a predetermined threshold and, if so, generate a warning signal.

The invention provides an integrated navigation positioning method and device based on an IMU (Inertial Measurement Unit) and a monocular downward-looking camera. The method comprises the following steps: S1, based on angular velocity and linear acceleration data acquired by an inertial measurement unit in real time, calculating the position of a carrier through inertial solution; s2, through visual feature matching of the real-time image and the image at the previous moment, a relative motion measurement value is obtained, and measurement noise is calculated; s3, updating a system state and a covariance; s4, judging whether scene matching is needed at present, and if not, executing S7; s5, scene matching is carried out on the real-time image and the offline map, absolute position measurement is obtained, and measurement noise is calculated; s6, correcting the system state and covariance according to absolute position measurement and measurement noise; and S7, judging whether the task is finished or not, and if not, returning to S1.

Example implementations are for tracking an artificial reality input device by receiving, for the input device, video tracking data and inertial motion unit (“IMU”) data based on motion input. Example implementations generate, from the video tracking data, a video tracking position and a video tracking velocity; generate, from the IMU data, an IMU orientation and an IMU linear acceleration; and generate, from the IMU orientation and the IMU linear acceleration, an IMU linear velocity. Example implementations determine if the video tracking position and the video tracking velocity is reliable and determine, by a Kalman filter for the input device, a current bias, a current velocity and a current position.

1. The name of the design product: measuring instrument. 2. The use of the design product: for measuring the rotation angular velocity and linear acceleration of three 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: perspective view 1.

The present application belongs to the technical field of multiple variable measurement, and particularly relates to a forklift structure health state evaluation method and system. The method comprises: symmetrically installing multiple strain force sensors at left and right fork root portions of a forklift, the strain force sensors being used for real-time collection of force signal of the left and right forks in a three-dimensional space; and real-time collection of six-degree-of-freedom motion state data of the forklift by an inertial measurement unit installed on a main vehicle body of the forklift, the six-degree-of-freedom motion state data comprising linear acceleration along three orthogonal axes and angular velocity around three orthogonal axes. The system deploys a high-bandwidth strain sensor array at the fork root portions and synchronously acquires six-degree-of-freedom motion state of the whole vehicle, constructs an online decoupling mechanism based on a rigid-flexible coupling dynamics model, and fundamentally breaks through the dependence of traditional weighing technology on static working conditions.

A landing platform control method, system, medium, and product for an unmanned transport vehicle are disclosed. The method involves acquiring the vehicle's linear acceleration and angular velocity, as well as the relative position and velocity of the unmanned aerial vehicle (UAV), in the vehicle's coordinate system. A dynamic spatial mapping function, eliminating the influence of inertial forces, is constructed to map the UAV's relative position to a virtual pure inertial coordinate system. A descent trajectory is planned in the virtual coordinate system, and the origin tangential vector is extracted. The physical reference normal vector in the vehicle's coordinate system is obtained through inverse mapping. The dynamic sink rate of the UAV is calculated based on the relative velocity, and the attitude compensation angle is determined accordingly. The physical reference normal vector is then deflected to generate the final landing reference vector. The landing platform is driven to move, ensuring that its surface normal is collinear with the final landing reference vector. This application aims to reduce the risk of attitude instability during dynamic landing of UAVs, improve the smoothness and safety of landing while in motion, and thus enhance the overall operational efficiency of the air-ground cooperative transportation system.

The invention relates to a wind turbine generator blade attitude anomaly detection method, which comprises the following steps: acquiring measurement data of an MEMS accelerometer and an MEMS gyroscope deployed on a wind turbine blade, fusing the measurement data of the MEMS accelerometer and the MEMS gyroscope to carry out attitude calculation to obtain attitude information of the wind turbine blade, and determining the attitude anomaly of the wind turbine generator blade according to the attitude information and preset attitude threshold data. And judging whether a first abnormal state is triggered or not, judging whether a second abnormal state is triggered or not based on the attitude information of the previous moment and the measurement data of the current moment under the condition that the first abnormal state is triggered, and performing graded early warning according to the triggering conditions of the first abnormal state and the second abnormal state. According to the method and the device, the problem of poor accuracy of blade attitude anomaly detection of the wind turbine generator is solved, the linear acceleration data of the accelerometer and the angular motion data of the gyroscope are fused for attitude calculation, and short-term dynamic accuracy and long-term stability are achieved.

The application relates to the field of aircraft early warning technology and discloses a low-altitude aircraft early warning method and system. The method comprises the following steps: collecting battery state parameters, navigation quality parameters and inertial measurement parameters of a low-altitude aircraft; performing attitude solving based on the inertial measurement parameters to obtain a yaw angular velocity and a linear acceleration vector, and calculating a battery internal resistance change ratio based on the battery state parameters; integrating the yaw angular velocity, the linear acceleration vector, the battery internal resistance change ratio, the battery state parameters and the navigation quality parameters into a comprehensive feature set; performing online estimation of a running battery health state, navigation availability judgment and attitude anomaly detection according to the comprehensive feature set to obtain a comprehensive risk level and an alarm priority and driving a local sound-light alarm device and a 4G link to perform early warning. The application reduces the false alarm rate and improves the man-machine collaborative disposal efficiency in a multi-anomaly concurrent scene.

This invention belongs to the field of robot perception technology, specifically relating to a perception method for a magnetic quadruped robot based on binocular vision and elevation map fusion. The method includes the following steps: synchronously acquiring image data and angular velocity and linear acceleration data, and preprocessing them; extracting and tracking features from the images, and pre-integrating IMU data between consecutive keyframes to obtain relative motion increments; constructing a joint optimization objective function within a sliding window to solve for the robot's six-degree-of-freedom pose; using the pose to transform the current depth point cloud to the world coordinate system, and using probabilistic fusion to update the two-dimensional grid elevation map to obtain a local terrain map containing the elevation mean and uncertainty. This invention deeply integrates high-precision state estimation and terrain mapping, effectively solving the problems of positioning drift and inaccurate perception of small terrains in magnetic climbing robots on vertical curved surfaces and in environments with weak texture, significantly improving the robot's autonomous operation capability and safety.

The present disclosure relates to an electronic device and a control method, apparatus, terminal and medium thereof, the electronic device comprising a reel, a flexible screen, a reel motor, a movable housing and a fixed housing, the reel and the reel motor being arranged on the fixed housing side, the method comprising: obtaining a first acceleration of the movable housing movement and a second acceleration of the flexible screen movement from the fixed housing during the flexible screen movement; calculating a linear acceleration of the flexible screen movement according to the first acceleration and the second acceleration; calculating an angular acceleration of the reel motor driving the reel rotation according to the linear acceleration and a radius of the reel; and performing feedback control on the reel motor according to the angular acceleration to realize control on the flexible screen. Thus, the method of the present disclosure can accurately control the reel motor to realize smooth push-pull operation of the flexible screen.

This application provides a dynamic control method, device, electronic device, and position following system for a stepper motor. The dynamic control method includes: acquiring the target position of the stepper motor in the position following system during a target control cycle; controlling the stepper motor to run and recording the number of acceleration steps during the acceleration phase; calculating the remaining number of steps to the target position; and controlling the running state of the stepper motor according to the number of acceleration steps and the remaining number of steps, so that the stepper motor reaches the target position. Unlike traditional linear acceleration and deceleration, it does not require pre-calculation of acceleration steps, constant speed steps, and deceleration steps. Instead, it directly relies on the actual position fed back by the encoder to determine the running state of the motor, realizing the position following function in the dynamic system. It adjusts the acceleration and deceleration characteristics according to the motor characteristics, thereby achieving a good response speed.