CN105910625B - The attitude-simulating and networking attitude measurement of moving object verify device - Google Patents
The attitude-simulating and networking attitude measurement of moving object verify device Download PDFInfo
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- CN105910625B CN105910625B CN201610308572.5A CN201610308572A CN105910625B CN 105910625 B CN105910625 B CN 105910625B CN 201610308572 A CN201610308572 A CN 201610308572A CN 105910625 B CN105910625 B CN 105910625B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of attitude-simulatings of moving object and networking attitude measurement to verify device.Including network temination unit group, survey appearance carrying platform, linear motion unit group, adapter, programmable controller and storage processing equipment, in which: network temination unit group is sent to adapter and storage processing equipment for acquiring and handling the network information；Survey posture and position simulation that appearance carrying platform is used to carry object；Linear motion unit group is used to survey appearance carrying platform and provide driving；Adapter is for the signal modulation and circuit switching between programmable movements unit group and Programmable Multi-Axis Controller；Programmable Multi-Axis Controller is used to provide command information for linear motion unit group；The data that processing equipment is used for real-time storage command information and transmitting-receiving are stored, and export the real-time attitude for carrying object.The closed-loop simulation system of networking attitude of carrier measurement can be used for attitude measurement estimation and demonstration and verification under the posture generalization simulation and networking information source background of carrier.
Description
Technical field
The present invention is under the jurisdiction of navigator fix and networked system field, more particularly, to a kind of appearance suitable for moving object
Morphotype is quasi- to verify device with networking attitude measurement.
Background technique
The posture information of moving object is that carrier carries out the basic exercise parameters of the tasks such as navigation, guidance, trajectory planning, especially
It is in the three-dimensional motion of carrier, and the posture information of carrier and the position and speed information of carrier are mutually coupled, therefore its essence
The task that exactness, reliability and continuity directly affect carrier is completed.In recent years, both at home and abroad in the attitude measurement of motion carrier
Plentiful and substantial research achievement is achieved with estimation direction, emerging efficient attitude measurement/algorithm for estimating emerges one after another；But it is emerging
Attitude measurement scheme or algorithm for estimating rest on theoretical research stage mostly, But most of algorithms is unable to fully examine in the course of the research
Consider the Engineering constraint under actual application background and all kinds of interference, this has seriously blocked popularization of the theoretical result to engineer application.Cause
This, motion carrier attitude measurement/estimation scheme generic validation device just becomes naturally connects theoretical result and engineer application
Important tie.
Attitude-simulating and networking attitude measurement the verifying device of moving object include that the simulation of athletic posture and posture are believed
The measurement of breath/estimation two parts.The simulation of athletic posture is the premise for carrying out and surveying appearance scheme performance verification, and the core of simulation is sharp
It is accurate with reference to athletic posture needed for encouraging and analog platform being driven to realize, the design scheme of mainstream include electrichydraulic control formula six from
By degree athletic posture simulation system, water-bed attitude-simulating device servo-control system, aircraft attitude-simulating device (turntable), vibration
Environment attitude-simulating system etc. is widely used in vehicle balance detection, the simulation of individual soldier's virtual training, flight attitude, athletic posture
The fields such as control and emulation, satellite gravity anomaly.Based on the reference information of the athletic posture simulation system, half may be implemented
Measurement/estimation of posture information under prototype system, the related attitude measurement/estimation scheme of verifying and algorithm are carried on the back close to engineer application
Actual performance under the conditions of scape provides the verification result of more confidence level for the engineer application of such algorithm.
Currently used attitude-simulating system mostly using universal shaft and lifts platform as main member, and investment is big, at high cost,
It is mobile inconvenient, and volume to measurand and having largely limits, it is difficult to meet the posture under a variety of application environments
Simulation demand；Especially wireless network information source and length is away from the attitude measurement scene under transmission environment, for attitude-simulating system
Outdoor utility and carrying platform volume have diversified requirement.Therefore design is more general, easy to loading and unloading, adjustment is clever
Living, cost appropriateness, attitude-simulating and networking attitude measurement the verifying device suitable for moving object just seem especially urgent.
Summary of the invention
It is above-mentioned one or more to solve the problems, such as, the present invention provides a kind of attitude-simulating suitable for moving object with
Networking attitude measurement verify device, it is therefore an objective to for moving object attitude-simulating and networking attitude measurement provide it is integrated
General demonstration and verification platform.
According to an aspect of the invention, there is provided a kind of attitude-simulating suitable for moving object and networking posture are surveyed
Amount verifying device, which is characterized in that including 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, in which:
Linear motion unit group (3) is at least four, by moving slide block (31), rigid straight slideway (32) and relevant cables
Pedestal is fixed in composition, rigid straight slideway (32) one end, and the other end is connect with moving slide block (31).
Appearance carrying platform (2) are surveyed by the loop bar sub-assembly (21) of suitable shape size, rigid platfor (22) and riveting component
(23) it forms, rigid loop bar (21) is connect by riveting component (23) with moving slide block (31)；Moving slide block (31) is straight along rigidity
Rigid loop bar (21) is driven to move by riveting component (23) when line slideway (32) moves vertically, rigid loop bar (21) drives rigidity
Platform (22) movement；Loop bar sub-assembly (21) includes rigid loop bar (211) and loop bar bar core (212), rigid loop bar (211) and set
Bar bar core (212) is connected from the moving slide block (31) of different linear motion units (3) respectively by riveting component (23), loop bar
Bar core (212) is connected to the inner wall of rigid loop bar (211) by nested mode.
Network temination unit group (1) is at least seven, by serial communication interface (11), radio transmitting device (12) and state
Indicating module (13) composition, is fixed on rigid platfor (22), wherein at least four network temination unit group (1) cloth by connector
The surrounding in linear motion unit group (3) is set, as network positions beacon, beacon message is sent according to Networking protocol, in addition extremely
Few three network temination unit groups (1) are fixed on rigid platfor (22) according to coplanar not conllinear principle, as rigid platfor
(22) characteristic point of posture, at least three network temination unit groups (1) are respectively by receiving the information from network positions beacon
Respective location information is calculated, and location information is sent to storage processing equipment (6) by wireless channel, is handled in storage
Real-time resolving goes out the 3 d pose of rigid platfor (22) in equipment (6).
Adapter (4) is turned by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/modulus
Unit (44) composition is changed, front end is connect by cable with linear motion unit group (3), and rear end passes through cable and programmable movements control
Device (5) connection processed.
Programmable Multi-Axis Controller (5) is by processor plate (51), field-bus interface plate (52), feedback transducer group
(53), Motion trajectory module (54), built-in power module (55) composition, front end passes through the cable of cable and adapter (4)
Interface (41) connection, rear end are connect by cable with storage processing equipment (6)；Simulation, I/O for measurand motion state
Conversion, output and feedback.The control instruction signal of Programmable Multi-Axis Controller (5) passes through phase after the processing of adapter (4)
Cable transmission is closed to moving slide block (31), moving slide block (31) is driven to be in vertical motion along rigid straight slideway (32), it is multiple
Vertical movement of the motion module (31) according to control instruction signal is formed by riveting component (23) and rigid platfor (22) and is joined
It is dynamic, until rigid platfor (22) reach specified attitude angle.
Processor plate (51), resolving and processing for measurand motion state excitation information and feedback information.
Motion trajectory module (54), the motion state of built-in measurand and the mathematical model of disturbing factor, are used for
The trajectory planning of measurand exports the skimulated motion posture excitation of the controlled device under planned trajectory and excitation of drifting along.
Feedback transducer group (53), for the linear motion unit group (1) vertical movement feedback signal reception with repair
Just.
Built-in power module (55), the excitation for skimulated motion posture and the signal that drifts along generates and feedback signal/repair
The excitation of positive signal generates, and is processor plate (51), field-bus interface plate (52), feedback transducer group (53), movement rail
Mark planning module (54) provides reference power supply.
Processing equipment (6) are stored by storage equipment (61), processing equipment (62), keyboard/mouse component (63), display equipment
(64) it is formed with wireless transmitting-receiving equipments (65), command information, the network of processing equipment (62) built-in programmable motion controller (5)
The transmitting-receiving activation bit of terminal unit group (1), the motion model for carrying object and Disturbance Model and network protocol and survey appearance phase
Algorithm is closed, the real-time attitude information of object is carried in output.For the Programmable Multi-Axis Controller (5), network temination unit group
(1) excitation, acquisition and the storage of feedback signal, processing, display and the feedback such as.
The attitude-simulating of moving object of the present invention and networking attitude measurement verifying device have it is following the utility model has the advantages that
(1) present invention realizes that the modeling of attitude of carrier and instruction generate by Programmable Multi-Axis Controller, by multiple straight
Line moving cell realizes to the Command Resolution of Programmable Multi-Axis Controller, eventually by the same of linear motion unit and carrying platform
The dynamic analog of attitude of carrier is realized in step movement；
(2) real by the independent acquisition of multiple network temination units on carrying platform and processing networked beacons auxiliary information
The distributed synchronization perception of the existing multiple crucial anchor points of carrying platform, which can through parallel processing and information fusion
Online resolution goes out the posture information of carrying platform；
(3) carrying platform size and geometric configuration can need to adjust by actual measurement, to meet different motion platform
Diversified demand；The position of network temination unit can freely be adjusted by being tested the diverse requirements of carrier, be easy to delete, be expanded
Malleability is good.
Detailed description of the invention
Fig. 1 is the attitude-simulating of moving object of the embodiment of the present invention and the schematic diagram of networking attitude measurement verifying device；
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 sub-assembly
22- rigid platfor 23- rivets component
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- and stores equipment
62- processing equipment 63- keyboard/mouse component
64- shows equipment 65- wireless transmitting-receiving equipments
Fig. 2 is the attitude-simulating of moving object of the embodiment of the present invention and the athletic posture of networking attitude measurement verifying device
Principle of simulation flow chart；
Fig. 3 is the attitude-simulating of moving object of the embodiment of the present invention and the networking appearance of networking attitude measurement verifying device
State measuring principle flow chart.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Example diagram, the present invention is described in more detail.Although can provide the demonstration of the parameter comprising particular value herein, it is to be understood that ginseng
Number is equal to corresponding value without definite, but can be similar to described value in acceptable error margin or design constraint.
Fig. 1 is the attitude-simulating of moving object of the embodiment of the present invention and the schematic diagram of networking attitude measurement verifying device.
As shown in Figure 1, the attitude-simulating of moving object and networking attitude measurement verifying device 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 processing equipment
(6) six parts.Wherein: the network temination unit group (1), for acquiring and handling network-assist information, and network is auxiliary
The processing result of supplementary information is sent to adapter (4) and storage processing equipment (5)；The survey appearance carrying platform (2), for combining
The posture and position simulation of the carrying object of connected network temination unit group (1) and Programmable Multi-Axis Controller (5), are network
Terminal unit group (1) provides command information and environmental information；The linear motion unit group (3), for combining programmable movements
The command information of controller (5) provides driving and executive device to survey the simulation of posture and position of appearance carrying platform (2)；Institute
Adapter (4) are stated, between linear motion unit group (3) or network temination unit group (1) and Programmable Multi-Axis Controller (5)
Signal modulation equipment and circuit switching section；The Programmable Multi-Axis Controller (5), for according to the movement number for carrying object
Model is learned, provides command information for linear motion unit group (3)；The storage processing equipment (6) is programmable for real-time storage
The command information of motion controller (5) and receiving and sending messages for network temination unit group (1), and combine the motion model for carrying object
With Disturbance Model and network protocol and survey appearance related algorithm, the real-time attitude information of object is carried in output.
Since the embodiment of the present invention uses at least seven network temination unit groups (1), wherein three are fixed on rigid platfor
(22) it on coplanar not conllinear position, independently acquires and the offer of other at least four network temination units groups (1) is provided
Localizer beacon information, and then the location measurement information at three network temination unit groups (1) is calculated, to be handled by storage
Equipment (6) real-time resolving goes out to survey the 3 d pose of appearance carrying platform (2).
It surveys appearance carrying platform (2) to connect by loop bar sub-assembly (22) with linear motion unit group (3), four linear motions
Unit group (3) is connect by connection cables with adapter (4) respectively, and adapter (4) passes through connection cables and programmable movements control
Device (5) connection processed, and Programmable Multi-Axis Controller (5) is connect by connection cables with storage processing equipment (6).Each network terminal
Unit (1) is Ad-hoc node apparatus, i.e. the means using Ad-hoc node apparatus as wireless transmission, still, as long as energy
It enough realizes being interconnected for network temination unit (1), Programmable Multi-Axis Controller (5) and storage processing equipment (6), can also adopt
With other wireless transmission means such as Zigbee, WiFi, bluetooth.
As 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) form.Serial communication interface (11) includes 200 interface of SO-DIMM, power-switching circuit and UART interface；Shape
State indicating module (13) includes arm processor, SDRAM memory and NAND FLASH memory.
As shown in Fig. 2, the command information of Programmable Multi-Axis Controller (5) passes through to tested pair during attitude-simulating
The priori characteristics of motion and disturbing factor abstract modeling of elephant obtain, and are loaded in the storage unit of motion controller；It instructs letter
Breath is transmitted to adapter (4) by connection cables with digital signal form；It is through digital to analog conversion cell translation in adapter (4) again
Analog signal；Through connection cables while four linear motion unit groups (3) are loaded into after built-up circuit distributes, driven respective
Moving slide block (31) carries out vertical sliding motion in respective linear motion slideway (32) respectively.Four to be connected with sliding block (31)
A riveting component (23) drives the carrying platform being connected on rigid loop bar (211) by the riveting with rigid loop bar (211)
(2) movement on each side finally realizes carrying platform (2) according to the carrier appearance of the command information of Programmable Multi-Axis Controller (5)
Morphotype is quasi-.
As shown in figure 3, three network terminal lists during attitude measurement, first by being fixed on rigid platfor (22)
First (1) receives the beacon location information of other at least four network temination units (1) according to TDMA timing synchronization, is fixed on just
Three network temination units (1) on mild-natured (22) calculate respective radio transmitting device (12) apart from beaconing nodes parallel
Relative distance resolves the location information for obtaining present networks terminal unit (1) through state indicator module (13), respectively through serial communication
Module (11) is transmitted to adapter (4) by connection cables, is transmitted to storage processing equipment through connection cables after analog to digital conversion
(5), the location information for being fixed on three network temination units (1) on rigid platfor (22) is fused in data processing unit
Algorithm resolves the Attitude estimation result for obtaining carrying platform (2).So far, above-mentioned attitude-simulating process and attitude measurement process are constituted
The attitude-simulating and networking attitude measurement of moving object verify device two major functions.
Illustrated system structure and connection structure according to the present invention, construct the attitude-simulating and net of a moving object
Network attitude measurement verifies device.Radio transmitting device (12) uses remote UWB wireless transport module, maximum line-of-sight transmission
Distance is 2.5 kms, working frequency range 2.380GHz~2.500GHz；State indicator module (13) uses processor ATmega128；
Appearance carrying platform (2) are surveyed to combine using PVC+ aluminum alloy frame；Slideway (32) are moved along a straight line using THK linear guide, sliding rail is high
2.5 rice；Moving slide block (32) uses THK LS1027 guide rail straight line rolling unit；Programmable Multi-Axis Controller (5) uses the U.S.
Eight axis control system of UMAC；It stores processing equipment and uses industrial personal computer or other high performance operation station equipments.According to described in invention, respectively
The device is obtained after a partial response layout.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (4)
1. the attitude-simulating of moving object and networking attitude measurement verify device, which is characterized in that including network temination unit
At group (1), survey appearance carrying platform (2), linear motion unit group (3), adapter (4), Programmable Multi-Axis Controller (5) and storage
It manages equipment (6), in which:
Linear motion unit group (3) is made of moving slide block (31), rigid straight slideway (32) and relevant cables, and rigid straight is sliding
Pedestal is fixed in road (32) one end, and the other end is connect with moving slide block (31)；
It surveys appearance carrying platform (2) to be made of loop bar sub-assembly (21), rigid platfor (22) and riveting component (23), loop bar sub-assembly
(21) it is connect by riveting component (23) with moving slide block (31)；Moving slide block (31) moves vertically along rigid straight slideway (32)
When by riveting component (23) drive loop bar sub-assembly (21) movement, loop bar sub-assembly (21) drive rigid platfor (22) movement；
Network temination unit group (1) is by serial communication interface (11), radio transmitting device (12) and state indicator module (13) group
At, location information is sent to by storage processing equipment (6) by radio transmitting device (12), it is real in storage processing equipment (6)
When calculate the 3 d poses of rigid platfor (22)；
Adapter (4) is by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/analog-to-digital conversion list
First (44) composition, front end are connect by cable with linear motion unit group (3), and rear end passes through cable and Programmable Multi-Axis Controller
(5) it connects；
Programmable Multi-Axis Controller (5) is by processor plate (51), field-bus interface plate (52), feedback transducer group (53), fortune
Dynamic rail mark planning module (54), power module (55) composition, front end is connected by cable and the cable interface (41) of adapter (4)
It connects, rear end is connect by cable with storage processing equipment (6)；
Processing equipment (6) are stored by storage equipment (61), processing equipment (62), keyboard/mouse component (63), display equipment (64)
It is formed with wireless transmitting-receiving equipments (65), command information, the network of Programmable Multi-Axis Controller (5) is loaded in processing equipment (62)
The transmitting-receiving activation bit of terminal unit group (1), the motion model for carrying object and Disturbance Model and network protocol and survey appearance phase
Close algorithm.
2. the attitude-simulating of moving object according to claim 1 and networking attitude measurement verify device, feature exists
In: the linear motion unit group (3) is to be at least four, and the control instruction signal of Programmable Multi-Axis Controller (5) is by suitable
After the processing of orchestration (4), by cable transmission to moving slide block (31), drive moving slide block (31) along rigid straight slideway (32)
It is in vertical motion, vertical movement of the moving slide block (31) according to control instruction signal is flat by riveting component (23) and rigidity
Platform (22) forms linkage, until rigid platfor (22) reach specified attitude angle.
3. the attitude-simulating of moving object according to claim 2 and networking attitude measurement verify device, feature exists
In the loop bar sub-assembly (21) for surveying appearance carrying platform (2) includes rigid loop bar (211) and loop bar bar core (212), rigid enclosure
Bar (211) and loop bar bar core (212) by riveting component (23) respectively from the moving slide block of different linear motion unit groups (3)
(31) it connects, loop bar bar core (212) is connected to the inner wall of rigid loop bar (211) by nested mode.
4. the attitude-simulating of moving object according to claim 1 and networking attitude measurement verify device, feature exists
In network temination unit group (1) is at least seven, and wherein at least three network temination unit group (1) is fixed on rigid platfor
(22) on coplanar not conllinear position, in addition at least four network temination unit groups (1) are arranged in linear motion unit group (3)
Surrounding.
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