CN105910625A - Attitude simulation and networked attitude measurement and verification device of moving object - Google Patents
Attitude simulation and networked attitude measurement and verification device of moving object Download PDFInfo
- Publication number
- CN105910625A CN105910625A CN201610308572.5A CN201610308572A CN105910625A CN 105910625 A CN105910625 A CN 105910625A CN 201610308572 A CN201610308572 A CN 201610308572A CN 105910625 A CN105910625 A CN 105910625A
- Authority
- CN
- China
- Prior art keywords
- attitude
- unit group
- loop bar
- processing equipment
- linear motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses an attitude simulation and networked attitude measurement and verification device of a moving object. The attitude simulation and networked attitude measurement and verification device comprises a network terminal unit set, an attitude measurement carrying platform, a linear motion unit set, an adapter, a programmable controller and memory processing equipment, wherein the network terminal unit set is used for acquiring and processing network information and transmitting the information to the adapter and the memory processing equipment; the attitude measurement carrying platform is used for simulating an attitude and a position of a carried object; the linear motion unit set is used for driving the attitude measurement carrying platform; the adapter is used for signal modulation and circuit switching between a programmable motion unit set and a programmable motion controller; the programmable motion controller is used for providing instruction information to the linear motion unit set; the memory processing equipment is used for storing the instruction information and received/transmitted data in real time and outputting a real-time attitude of the carried object. A closed-loop simulation system of networked carrier attitude measurement can be used for carrying out attitude measurement evaluation and demonstration verification under attitude common simulation and networked information source backgrounds of a carrier.
Description
Technical field
The present invention is under the jurisdiction of navigator fix and networked system field, especially relates to a kind of attitude-simulating being applicable to moving object
Device is verified with networking attitude measurement.
Background technology
The attitude information of moving object is that carrier carries out the basic exercise parameter of the tasks such as navigation, guidance, trajectory planning, especially
In the three-dimensional motion of carrier, the attitude information of carrier is mutually coupled with the position of carrier and velocity information, therefore its degree of accuracy,
Reliability and seriality directly affect the task of carrier and complete.In recent years, both at home and abroad in attitude measurement and the estimation of motion carrier
Direction achieves plentiful and substantial achievement in research, and emerging efficient attitude measurement/algorithm for estimating emerges in an endless stream；But, emerging attitude is surveyed
Amount scheme or algorithm for estimating rest on theoretical research stage mostly, and But most of algorithms cannot take into full account actual application in research process
Engineering constraint under background and all kinds of interference, this has seriously blocked the theoretical result popularization to engineer applied.Therefore, motion carrier
The generic validation device of attitude measurement/estimation scheme becomes the important tie connecting theoretical result with engineer applied the most naturally.
The attitude-simulating of moving object includes the simulation of athletic posture and the measurement of attitude information with networking attitude measurement checking device
/ estimate two parts.The simulation of athletic posture is the premise carrying out and surveying appearance scheme performance verification, and the core of simulation is excitation and drives mould
Intending the accurate reference athletic posture needed for platform realizes, the design of main flow includes electrichydraulic control formula six-freedom motion attitude
Analog systems, water-bed attitude-simulating device servo-control system, aircraft attitude-simulating device (turntable), vibration environment attitude mould
Plan system etc., be widely used in vehicle balance detection, the simulation of individual soldier's virtual training, flight attitude, motion attitude control and emulation,
The fields such as satellite gravity anomaly.Based on the reference information of this athletic posture analog systems, it is possible to achieve appearance under half prototype system
Measurement/the estimation of state information, the relevant attitude measurement/estimation scheme of checking and algorithm close to the actual property under the conditions of engineering background
Can, the result of more credibility is provided for the engineer applied of this type of algorithm.
At present conventional attitude-simulating system is many with universal rotating shaft with lift platform as main member, and investment is big, and cost is high, moves
Inconvenience, and the volume of measurand and all having is limited largely, it is difficult to meet the attitude-simulating need under multiple applied environment
Ask；Especially wireless network information source and long attitude measurement scene under transmission environment, for the outdoor utility of attitude-simulating system
Diversified requirement is had with carrying platform volume.Therefore design more general, easy to loading and unloading, adjust flexibly, cost is fitted
Degree, it is adaptable to the attitude-simulating of moving object just seems the most urgent with networking attitude measurement checking device.
Summary of the invention
For solving above-mentioned one or more problems, the invention provides a kind of attitude-simulating being applicable to moving object and networking
Attitude measurement checking device, it is therefore an objective to for attitude-simulating and the general demonstration of networking attitude measurement offer integration of moving object
Verification platform.
According to an aspect of the invention, it is provided a kind of attitude-simulating being applicable to moving object is verified with networking attitude measurement
Device, it is characterised in that include network temination unit group (1), survey appearance carrying platform (2), linear motion unit group (3),
Adapter (4), Programmable Multi-Axis Controller (5) and storage (6) six parts of processing equipment, wherein:
Linear motion unit group (3) at least four, by moving slide block (31), rigid straight slideway (32) and relevant cables
Forming, pedestal is fixed in rigid straight slideway (32) one end, and the other end is connected with moving slide block (31).
Survey appearance carrying platform (2) by the loop bar molectron (21) of suitable geomery, rigid platfor (22) and riveting assembly (23)
Composition, rigidity loop bar (21) is connected with moving slide block (31) by riveting assembly (23)；Moving slide block (31) is along rigidity
Rigidity loop bar (21) is driven to move by riveting assembly (23) during linear ramp (32) vertical movement, rigidity loop bar (21)
Drive rigid platfor (22) motion；Loop bar molectron (21) includes rigidity loop bar (211) and loop bar bar core (212), rigidity
Loop bar (211) and loop bar bar core (212) by riveting assembly (23) respectively from the motion of different linear motion units (3)
Slide block (31) connects, and loop bar bar core (212) is connected to the inwall of rigidity loop bar (211) by nested mode.
Network temination unit group (1) at least seven, by serial communication interface (11), radio transmitting device (12) and state
Indicating module (13) forms, and is fixed on rigid platfor (22), four network temination unit groups (1) of at least a part of which by connector
It is arranged in the surrounding of linear motion unit group (3), as network positions beacon, sends beacon message according to Networking protocol, additionally
At least three network temination unit group (1) is fixed on rigid platfor (22) according to the principle of coplanar not conllinear, puts down as rigidity
The characteristic point of platform (22) attitude, at least three network temination unit group (1) is respectively by receiving the letter from network positions beacon
Breath calculates respective location information, and location information is sent to storing processing equipment (6) by wireless channel, at storage
In reason equipment (6), real-time resolving goes out the 3 d pose of rigid platfor (22).
Adapter (4) is turned by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/modulus
Changing unit (44) composition, front end is connected with linear motion unit group (3) by cable, and cable and programmable movements are passed through in rear end
Controller (5) connects.
Programmable Multi-Axis Controller (5) by processor plate (51), field-bus interface plate (52), feedback transducer group (53),
Motion trajectory module (54), built-in power module (55) form, and front end is connect by the cable of cable with adapter (4)
Mouth (41) connects, and rear end is connected with storage processing equipment (6) by cable；Simulation, I/O for measurand kinestate
Change, export and feed back.The control instruction signal of Programmable Multi-Axis Controller (5) is after the process of adapter (4), logical
Cross associated cable and be transferred to moving slide block (31), drive moving slide block (31) to be in vertical motion along rigid straight slideway (32),
Multiple motion module (31) are according to the vertical movement of control instruction signal, by riveting assembly (23) and rigid platfor (22)
Form linkage, until rigid platfor (22) arrives the attitude angle specified.
Processor plate (51), for measurand kinestate excitation information and the resolving of feedback information and process.
Motion trajectory module (54), the kinestate of built-in measurand and the mathematical model of interference factor, for tested right
The trajectory planning of elephant, the skimulated motion attitude excitation of the controlled device under output planned trajectory and excitation of drifting along.
Feedback transducer group (53), for reception and the correction of described linear motion unit group (1) vertical movement feedback signal.
Built-in power module (55), the excitation for skimulated motion attitude and the signal that drifts along generates, and feedback signal/correction letter
Number excitation generate, and be processor plate (51), field-bus interface plate (52), feedback transducer group (53), movement locus
Planning module (54) provides reference power supply.
Storage processing equipment (6) is by storage device (61), processing equipment (62), keyboard/mouse assembly (63), display device
(64) form with wireless transmitting-receiving equipments (65), the command information of processing equipment (62) built-in programmable motion controller (5),
The transmitting-receiving activation bit of network temination unit group (1), carry the motion model of object and Disturbance Model and procotol and survey
Appearance related algorithm, the real-time attitude information of object is carried in output.For described Programmable Multi-Axis Controller (5), network terminal list
The storage of excitation, collection and the feedback signal of tuple (1) etc., process, show and feed back.
The attitude-simulating of moving object of the present invention and networking attitude measurement checking device has a following beneficial effect:
(1) present invention realizes modeling and the instruction generation of attitude of carrier by Programmable Multi-Axis Controller, by multiple linear motions
Unit realizes the Command Resolution to Programmable Multi-Axis Controller, eventually through the reality that is synchronized with the movement of linear motion unit Yu carrying platform
The dynamic analog of existing attitude of carrier；
(2) information is assisted by independent acquisition and the process networked beacons of multiple network temination units on carrying platform, it is achieved carry
The distributed synchronization perception of the multiple crucial anchor point of platform, this synchronization perception information can online resolution through parallel processing and information fusion
Go out the attitude information of carrying platform；
(3) carrying platform size and geometric configuration can be adjusted by practical measurement requirement, to meet the various of different motion platform
Change demand；The position of network temination unit freely can be adjusted by the diverse requirements of tested carrier, it is easy to deletes, favorable expandability.
Accompanying drawing explanation
Fig. 1 is the attitude-simulating schematic diagram with networking attitude measurement checking device of embodiment of the present invention moving object；
In figure:
1-network temination unit group 11-serial communication interface
12-radio transmitting device 13-state indicator module
2-surveys appearance carrying platform 21-loop bar molectron
22-rigid platfor 23-rivets assembly
3-linear motion unit group 31-moving slide block
32-rigid straight slideway 4-adapter
41-cable interface 42-signal modulation board
43-circuit switching section 44-digital-to-analogue/AD conversion unit
5-Programmable Multi-Axis Controller 51-processor plate
52-field-bus interface plate 53-feedback transducer group
54-Motion trajectory module 55-power module
6-stores processing equipment 61-storage device
62-processing equipment 63-keyboard/mouse assembly
64-display device 65-wireless transmitting-receiving equipments
Fig. 2 is that the attitude-simulating of embodiment of the present invention moving object is former with the athletic posture simulation of networking attitude measurement checking device
Reason flow chart；
Fig. 3 is the attitude-simulating networking attitude measurement with networking attitude measurement checking device of embodiment of the present invention moving object
Principle flow chart.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to illustration,
The present invention is described in more detail.Although the demonstration of the parameter comprising particular value can be provided herein, it is to be understood that parameter without
Definite equal to corresponding value, but described value can be similar in acceptable error margin or design constraint.
Fig. 1 is the attitude-simulating schematic diagram with networking attitude measurement checking device of embodiment of the present invention moving object.Such as Fig. 1
Shown in, the attitude-simulating of moving object includes network temination unit group (1) with networking attitude measurement checking device, surveys appearance lift-launch
Platform (2), linear motion unit group (3), adapter (4), Programmable Multi-Axis Controller (5) and storage processing equipment (6)
Six parts.Wherein: described network temination unit group (1), it is used for gathering and processing network-assist information, and by network assistance
The result of information sends to adapter (4) and storage processing equipment (5)；Described survey appearance carrying platform (2), is used for combining
The network temination unit group (1) being connected and the attitude carrying object of Programmable Multi-Axis Controller (5) and position are simulated, for net
Network terminal unit group (1) provides command information and environmental information；Described linear motion unit group (3), is used for combining fortune able to programme
The command information of movement controller (5), the simulation of attitude and position for surveying appearance carrying platform (2) provides and drives and perform device；
Described adapter (4), for linear motion unit group (3) or network temination unit group (1) and Programmable Multi-Axis Controller (5)
Between signal modulating equipment and circuit switching section；Described Programmable Multi-Axis Controller (5), for according to the fortune carrying object
Dynamic mathematical model, provides command information for linear motion unit group (3)；Described storage processing equipment (6), for real-time storage
The command information of Programmable Multi-Axis Controller (5) and receiving and sending messages of network temination unit group (1), and combine lift-launch object
Motion model and Disturbance Model and procotol and survey appearance related algorithm, the real-time attitude information of object is carried in output.
Owing to the embodiment of the present invention uses at least seven network temination unit group (1), wherein three are fixed on rigid platfor (22)
On the position of upper coplanar not conllinear, independently gather and process other at least four network temination unit group (1) and location letter is provided
Mark information, and then calculate the location measurement information at three network temination unit group (1) places, thus by storage processing equipment (6)
Real-time resolving goes out to survey the 3 d pose of appearance carrying platform (2).
Survey appearance carrying platform (2) to be connected with linear motion unit group (3) by loop bar molectron (22), four linear motions
Unit group (3) is connected with adapter (4) by connection cable respectively, and adapter (4) is by connecting cable and programmable movements
Controller (5) connects, and Programmable Multi-Axis Controller (5) is connected with storage processing equipment (6) by connecting cable.Each net
Network terminal unit (1) is Ad-hoc node apparatus, i.e. use Ad-hoc node apparatus as the means being wirelessly transferred, but,
As long as being capable of being interconnected of network temination unit (1), Programmable Multi-Axis Controller (5) and storage processing equipment (6),
Other wireless transmission means such as Zigbee, WiFi, bluetooth can also be used.
As it is shown in figure 1, network temination unit (1) is referred to by serial communication interface (11), radio transmitting device (12) and state
Show that module (13) forms.Serial communication interface (11) includes SO-DIMM 200 interface, power-switching circuit and UART
Interface；State indicator module (13) includes arm processor, SDRAM memory and NAND FLASH memory.
As in figure 2 it is shown, during attitude-simulating, the command information of Programmable Multi-Axis Controller (5) is by measurand
The priori characteristics of motion and interference factor abstract modeling obtain, and are loaded in the memory element of motion controller；Its command information is with number
Word signal form is by connection cable transmission to adapter (4)；In adapter (4), digital to analog conversion cell translation is simulation letter again
Number；After built-up circuit distributes, it is loaded into four linear motion unit groups (3) through connection cable simultaneously, drives respective motion sliding
Block (31) carries out vertical sliding motion in respective linear motion slideway (32) respectively.Four connected with sliding block (31)
Riveting assembly (23), by the riveting with rigidity loop bar (211), drives and is connected in the carrying platform on rigidity loop bar (211)
(2) motion on each limit, finally realizes the carrying platform (2) carrier according to the command information of Programmable Multi-Axis Controller (5)
Attitude-simulating.
As it is shown on figure 3, during attitude measurement, first by three network temination units being fixed on rigid platfor (22)
(1) receive the beacon location information of other at least four network temination units (1) according to TDMA timing synchronization, be fixed on
Three network temination units (1) on rigid platfor (22) calculate respective radio transmitting device (12) distance beacon parallel and save
The relative distance of point, resolves the positional information drawing present networks terminal unit (1), respectively through string through state indicator module (13)
Row communication module (11), is processed to storage through connection cable transmission after analog to digital conversion to adapter (4) by connection cable transmission
Equipment (5), the positional information of three network temination units (1) being fixed on rigid platfor (22) is in data processing unit
Fused algorithm resolves the Attitude estimation result drawing carrying platform (2).So far, above-mentioned attitude-simulating process and attitude measurement mistake
Journey constitutes the attitude-simulating of moving object and verifies two major functions of device with networking attitude measurement.
According to the system structure illustrated by the present invention and attachment structure, construct attitude-simulating and the networking appearance of a moving object
State measures checking device.Radio transmitting device (12) uses remote UWB wireless transport module, its maximum line-of-sight transmission away from
From for 2.5 kms, working frequency range 2.380GHz～2.500GHz；State indicator module (13) uses processor ATmega128；
Survey appearance carrying platform (2) and use the combination of PVC+ aluminum alloy frame；Linear motion slideway (32) uses THK line slideway,
Slide rail is high 2.5 meters；Moving slide block (32) uses THK LS1027 guide rail straight-line rolling unit；Programmable Multi-Axis Controller (5)
Use U.S. UMAC eight axle control system；Storage processing equipment uses industrial computer or other high performance operation station equipments.According to sending out
Bright described, obtain this device after the corresponding layout of various piece.
Particular embodiments described above, is further described the purpose of the present invention, technical scheme and beneficial effect,
Be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all in the present invention
Spirit and principle within, any modification, equivalent substitution and improvement etc. done, should be included in protection scope of the present invention it
In.
Claims (4)
1. the attitude-simulating of moving object verifies device with networking attitude measurement, it is characterised in that include network temination unit group
(1), survey appearance carrying platform (2), linear motion unit group (3), adapter (4), Programmable Multi-Axis Controller (5) and deposit
Storage processing equipment (6), wherein:
Linear motion unit group (3) is made up of moving slide block (31), rigid straight slideway (32) and relevant cables, and rigidity is straight
Pedestal is fixed in line slideway (32) one end, and the other end is connected with moving slide block (31)；
Survey appearance carrying platform (2) by the loop bar molectron (21) of suitable geomery, rigid platfor (22) and riveting assembly (23)
Composition, rigidity loop bar (21) is connected with moving slide block (31) by riveting assembly (23)；Moving slide block (31) is along rigidity
Rigidity loop bar (21) is driven to move by riveting assembly (23) during linear ramp (32) vertical movement, rigidity loop bar (21)
Drive rigid platfor (22) motion；
Network temination unit group (1) is by serial communication interface (11), radio transmitting device (12) and state indicator module (13)
Composition, is sent location information to storing processing equipment (6) by radio transmitting device (12)；
Adapter (4) is turned by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/modulus
Changing unit (44) composition, front end is connected with linear motion unit group (3) by cable, and cable and programmable movements are passed through in rear end
Controller (5) connects；
Programmable Multi-Axis Controller (5) by processor plate (51), field-bus interface plate (52), feedback transducer group (53),
Motion trajectory module (54), power module (55) form, and front end is by the cable interface (41) of cable with adapter (4)
Connecting, rear end is connected with storage processing equipment (6) by cable；
Storage processing equipment (6) is by storage device (61), processing equipment (62), keyboard/mouse assembly (63), display device
(64) form with wireless transmitting-receiving equipments (65), processing equipment (62) loads the instruction of Programmable Multi-Axis Controller (5)
Information, the transmitting-receiving activation bit of network temination unit group (1), the motion model carrying object and Disturbance Model and network association
Negotiate peace and survey appearance related algorithm.
2. verify device according to the attitude-simulating of the moving object described in right 1 with networking attitude measurement, it is characterised in that: institute
State linear motion unit group (3) and be at least four.
3. verify device according to the attitude-simulating of the moving object described in right 2 with networking attitude measurement, it is characterised in that institute
State loop bar molectron (21) and include rigidity loop bar (211) and loop bar bar core (212), rigidity loop bar (211) and loop bar bar core
(212) connected from the moving slide block (31) of different linear motion units (3) respectively by riveting assembly (23), loop bar
Bar core (212) is connected to the inwall of rigidity loop bar (211) by nested mode.
4. verify device according to the attitude-simulating of the moving object described in right 1 with networking attitude measurement, it is characterised in that net
Network terminal unit group (1) at least seven, at least three of which network temination unit group (1) is fixed on rigid platfor (22)
On, additionally at least four network temination unit group (1) is arranged in the surrounding of linear motion unit group (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308572.5A CN105910625B (en) | 2016-05-10 | 2016-05-10 | The attitude-simulating and networking attitude measurement of moving object verify device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308572.5A CN105910625B (en) | 2016-05-10 | 2016-05-10 | The attitude-simulating and networking attitude measurement of moving object verify device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105910625A true CN105910625A (en) | 2016-08-31 |
| CN105910625B CN105910625B (en) | 2019-10-15 |
Family
ID=56749026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610308572.5A Active CN105910625B (en) | 2016-05-10 | 2016-05-10 | The attitude-simulating and networking attitude measurement of moving object verify device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105910625B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592854A (en) * | 2013-11-14 | 2014-02-19 | 哈尔滨工程大学 | Synchronous virtual inference device for underwater unmanned vehicle observation tasks |
| CN103941592A (en) * | 2013-01-22 | 2014-07-23 | 中国科学院沈阳自动化研究所 | Online modeling method of flying robot dynamics model |
| WO2015069329A2 (en) * | 2013-08-13 | 2015-05-14 | The Regents Of The Unversity Of California | Angularly unbounded three-axes spacecraft simulator |
| CN105182770A (en) * | 2015-08-27 | 2015-12-23 | 北京控制工程研究所 | System and method for spacecraft semi-physical simulation experiment based on rotor craft |
| CN105397797A (en) * | 2015-12-03 | 2016-03-16 | 上海交通大学 | Symmetric decoupling parallel mechanism with two degrees of rotational freedom and one degree of movement freedom |
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN205619940U (en) * | 2016-05-10 | 2016-10-05 | 中国人民解放军海军航空工程学院 | Gesture simulation and real -time measuring device suitable for motion carrier |
-
2016
- 2016-05-10 CN CN201610308572.5A patent/CN105910625B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103941592A (en) * | 2013-01-22 | 2014-07-23 | 中国科学院沈阳自动化研究所 | Online modeling method of flying robot dynamics model |
| WO2015069329A2 (en) * | 2013-08-13 | 2015-05-14 | The Regents Of The Unversity Of California | Angularly unbounded three-axes spacecraft simulator |
| CN103592854A (en) * | 2013-11-14 | 2014-02-19 | 哈尔滨工程大学 | Synchronous virtual inference device for underwater unmanned vehicle observation tasks |
| CN105182770A (en) * | 2015-08-27 | 2015-12-23 | 北京控制工程研究所 | System and method for spacecraft semi-physical simulation experiment based on rotor craft |
| CN105397797A (en) * | 2015-12-03 | 2016-03-16 | 上海交通大学 | Symmetric decoupling parallel mechanism with two degrees of rotational freedom and one degree of movement freedom |
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN205619940U (en) * | 2016-05-10 | 2016-10-05 | 中国人民解放军海军航空工程学院 | Gesture simulation and real -time measuring device suitable for motion carrier |
Non-Patent Citations (3)
| Title |
|---|
| 柴延泽: "无线传感器网络节点的三维定位算法研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 许毅: "《无线传感器网络技术原理及应用》", 30 September 2015 * |
| 陈小亮: "基于VxWorks的船舶运动半物理仿真系统平台的设计与实现", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105910625B (en) | 2019-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114063474B (en) | Simulation method of semi-physical simulation system based on unmanned aerial vehicle cluster | |
| CN106342197B (en) | A kind of for laser equipment being carried out to the system of far and near distance dynamic accuracy index test | |
| CN109115211B (en) | High-precision personnel positioning method and positioning system for factory | |
| CN106568444A (en) | Satellite navigation carrier indoor realtime closed-loop feedback testing method | |
| CN107992035A (en) | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization | |
| CN106197413B (en) | A kind of airborne distributed location attitude measurement system | |
| CN106197406A (en) | A kind of based on inertial navigation with the fusion method of RSSI wireless location | |
| CN102122171A (en) | Multi-micronano detector networking joint demonstration verification system based on intelligent mobile robot | |
| CN103434609A (en) | Automatic marking device for ship hull section outer plate | |
| EP2927771B1 (en) | Flying drone trajectory synchronization | |
| CN106595608B (en) | The general surveying instrument of distributed interactive | |
| CN110044357B (en) | Indoor high-precision three-dimensional wireless positioning method | |
| CN106060781B (en) | Spatial positioning method based on BIM and Zigbee technology fusion | |
| CN106123895A (en) | A kind of inertial navigation original point position method and system based on UWB range finding | |
| WO2015169474A1 (en) | Flying drone and method for controlling the same | |
| CN103995537B (en) | Aircraft indoor and outdoor mixes autonomous cruise System and method for | |
| CN106525007A (en) | Distributed interactive surveying and mapping universal robot | |
| CN205619940U (en) | Gesture simulation and real -time measuring device suitable for motion carrier | |
| CN104525424A (en) | Optical measurement device for setting spraying path of spraying robot | |
| CN106325268A (en) | Mobile control device and mobile control method | |
| CN105910625A (en) | Attitude simulation and networked attitude measurement and verification device of moving object | |
| CN104260908B (en) | A kind of cross-platform earth observation satellite associating demonstration and verification system | |
| CN112379343B (en) | Radar target simulator motion platform equipment and control method thereof | |
| CN213847024U (en) | Accurate three-dimensional positioning equipment based on UWB technique | |
| CN110753303B (en) | Multi-sensor fusion-based indoor positioning system and method for service robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190912 Address after: 264001 Research and Academic Department, 188 Erma Road, Zhifu District, Yantai City, Shandong Province Applicant after: Naval Aviation University of PLA Address before: 264001 Yantai City, Zhifu Province, No. two road, No. 188, Department of research, Applicant before: Naval Aeronautical Engineering Institute PLA |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |