ID 原文 译文
48496 针对传统的航姿系统(attitude and heading reference system,AHRS)在微型无人飞行器、机器人等应用上所体现的成本高、体积大、功耗大的问题,提出了一种低成本高精度AHRS。 In view of the traditional navigation position system (attitude and heading reference system, the AHRS) on miniature unmanned aerial vehicles, robotic applications such as high cost, large volume, as reflected in the problem of large power consumption, this paper proposes a low cost and high precision AHRS.
48497 该系统以数字信号处理器为硬件平台,集成了陀螺仪、加速度计、磁罗盘等9自由度微机电系统传感器,采用了基于四元数的姿态估计方法,建立了传感器输出模型和系统状态空间模型,考虑了加速度对系统精度的影响,解决了四元数协方差奇异性问题,通过扩展卡尔曼滤波器进行数据融合以获得姿态的准确输出。 With digital signal processor as the hardware platform, this system integrates the gyroscope, accelerometer and magnetic compass, 9 degrees of freedom such as mems sensor adopted the attitude estimation method based on the quaternion, the sensor output model is established and the system state space model, considering the acceleration effect the precision of the system, solve the quaternion covariance singularity problem, through the extended kalman filter data fusion to get the accurate output attitude.
48498 经数值仿真分析和三轴飞行转台测试,姿态角的静态精度优于0.5°、动态精度优于2°,并在微型无人飞行器上进行了飞行验证,结果表明其能够满足小型无人飞行器等的应用需求。 By the numerical simulation analysis and three-axis turntable flight test, the static accuracy of attitude Angle is better than that of 0.5 °, dynamic accuracy is better than 2 °, and on the miniature unmanned aircraft flight verification, the results show that it can meet the application requirements of small unmanned aerial vehicles, etc.
48499 针对多重信号分类(multiple signal classification,MUSIC)算法、旋转不变子空间(estimation of signal parameters via rotational invariance technique,ESPRIT)等大多数空间谱估计算法需要进行准确的信源数估计,且当信源数估计出现误差时性能易受影响的问题,提出了一种基于导向矢量信号的未知信源数波达方向(direction of arrival,DOA)估计算法。 For multiple signal classification (multiple signal classification, MUSIC) algorithm, rotation invariant subspace (estimation of signal parameters via rotational invariance technique, ESPRIT) most of the spatial spectrum estimation algorithm such as the need for accurate source number estimation, and when there is error source number estimation performance impressionable problem, put forward a kind of based on oriented vector signal on the number of unknown source DOA (direction of concatenated, DOA) estimation algorithm.
48500 该算法通过引入导向矢量信号,以自适应波束形成中最大信噪比准则下最优权矢量对应的准最大信噪比作为来波方向估计参数,从而避免了大多数空间谱估计算法中的信源数估计并实现了各个信号来向的准确估计。 By introducing direction vector signal, the algorithm for adaptive beamforming in the largest SNR criterion, the optimal weight vector quasi maximum signal-to-noise ratio as to wave direction estimation parameters, avoiding the most source number estimation of spatial spectrum estimation algorithm and implements the accurate estimation of each signal to.
48501 对该方法进行了计算机仿真验证,仿真实验结果表明该算法是有效的。 Computer simulation is carried out for the method validation, the simulation results show that the algorithm is effective.
48502 针对目前shepherding行为生成方法中,shepherd的运动方式缺乏速度和时间约束的缺陷,提出了一种改进的shepherding行为生成方法。 Aiming at shepherding behavior generation method, the lack of shepherd motion speed and the defect of time constraints, an improved method for generating shepherding behavior.
48503 通过在shepherd的路径规划中,把基于概率路径图(probabilistic roadmap,PRM)的多智能体解耦式规划方法和基于速度调节的时变规划算法相结合,使得shepherd的运动满足时间和速度的约束, By in the path planning of the shepherd, and the path chart based on probability (probabilistic roadmap, PRM) of decoupling planning method and multi-agent based on time-varying planning algorithm of speed regulation, the combination of such that the movement of the shepherd meet the constraints of time and speed,
48504 同时利用优先级策略实现shepherd之间的信息交互能力,因此产生的shepherding行为更加真实。 at the same time using the priority strategy to realize the information interaction between the shepherd ability, therefore the shepherding behavior more real.
48505 仿真结果表明,改进的shepherding行为更符合骚乱事件中真实人的运动特性。 The simulation results show that the improved shepherding behavior more in line with the movement characteristics of real people in the riots.