Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation...Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based methods proposed by Horn(1987) and Su, et al.(1989). Solution’s uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of our method is satisfactory.展开更多
面向水电站电缆管廊高温高湿环境,提出模块化巡检机器人系统及其关键技术。采用三级模块化架构,运动控制层实现闭环调速;导航层融合激光雷达与惯性测量单元(inertial measurement unit, IMU)紧耦合的同步定位与地图构建技术,结合轨迹跟...面向水电站电缆管廊高温高湿环境,提出模块化巡检机器人系统及其关键技术。采用三级模块化架构,运动控制层实现闭环调速;导航层融合激光雷达与惯性测量单元(inertial measurement unit, IMU)紧耦合的同步定位与地图构建技术,结合轨迹跟踪完成位姿解算;巡检层依托5G与内网实现远程监控;利用IMU预积分辅助激光雷达时序插值消除点云运动畸变,设计联合优化模型,通过IMU重力约束抑制16线激光雷达地面点稀疏导致的z轴漂移。试验结果表明,所提技术可提升定位鲁棒性,使高程误差累积降幅约55%、俯仰角波动约束在±0.8°。所提方案有效提升了机器人在复杂地形的定位精度与稳定性,具有工程应用价值。展开更多
Inertial measurement unit (IMU) is a standard motion sensor in modern airborne SAR systems. But how to remove its systematic error is a difficult problem, which impacts the improvement of resolution in azimuth. The te...Inertial measurement unit (IMU) is a standard motion sensor in modern airborne SAR systems. But how to remove its systematic error is a difficult problem, which impacts the improvement of resolution in azimuth. The technique of motion compensation presented in this paper, uses the GPS as a reference system to estimate and correct the systematic error of the IMU on the concept of linear unbiased minimum variance (LUMV). This new and effective method achieves very accurate position measurement (both high and low frequency) of the APC in not only short but also long terms, so that it can satisfy the requirement of high resolution airborne SAR. In the last section of the paper, some experimental simulations from raw data are given.展开更多
基金"863"High Technology Research and Development Program of China under Grant 863-306-03-01
文摘Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based methods proposed by Horn(1987) and Su, et al.(1989). Solution’s uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of our method is satisfactory.
文摘面向水电站电缆管廊高温高湿环境,提出模块化巡检机器人系统及其关键技术。采用三级模块化架构,运动控制层实现闭环调速;导航层融合激光雷达与惯性测量单元(inertial measurement unit, IMU)紧耦合的同步定位与地图构建技术,结合轨迹跟踪完成位姿解算;巡检层依托5G与内网实现远程监控;利用IMU预积分辅助激光雷达时序插值消除点云运动畸变,设计联合优化模型,通过IMU重力约束抑制16线激光雷达地面点稀疏导致的z轴漂移。试验结果表明,所提技术可提升定位鲁棒性,使高程误差累积降幅约55%、俯仰角波动约束在±0.8°。所提方案有效提升了机器人在复杂地形的定位精度与稳定性,具有工程应用价值。
文摘Inertial measurement unit (IMU) is a standard motion sensor in modern airborne SAR systems. But how to remove its systematic error is a difficult problem, which impacts the improvement of resolution in azimuth. The technique of motion compensation presented in this paper, uses the GPS as a reference system to estimate and correct the systematic error of the IMU on the concept of linear unbiased minimum variance (LUMV). This new and effective method achieves very accurate position measurement (both high and low frequency) of the APC in not only short but also long terms, so that it can satisfy the requirement of high resolution airborne SAR. In the last section of the paper, some experimental simulations from raw data are given.
