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MEMS微惯性测量组合标定技术研究 总被引:5,自引:1,他引:4
在介绍MEMS微惯性测量组合组成结构的基础上,根据MEMS陀螺和MEMS加速度计的输出模型,提出并推导了一种MEMS微惯性测量组合标定方法。利用该方法标定微陀螺的基本思路是:设置转台以速率方式运行,并且确定合适的旋转角速率间隔,使微惯性测量组合每个轴向的陀螺仪分别敏感不同的角速率,然后通过一系列计算,求解出待标定的零点偏置电压、刻度因子、交叉耦合系数及其对应的安装误差角。标定加速度计的方法类似,不同之处是设置转台以位置方式运行。理论分析和实验结果表明,利用本文所介绍的这种标定方法能够准确地将MEMS微惯性测量组合的输出电压值转化为对应的角速度和比力信息,为后续精确的姿态解算和导航计算奠定基础。 相似文献
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无陀螺惯性测量技术是利用加速度计代替传统的陀螺,构成无陀螺惯性测量组合(NGIMU)实现制导的.首先,基于NGIMU九加速度计配置方案,根据加速度计的动态特性,推导了模型的动态导航方程,然后通过对加速度计进行动态补偿达到提高系统导航精度的目的,最后进行了系统三个方向角度运算的仿真验证.仿真结果表明,当加速度计输入信号的动态特性越强,NGIMU的导航误差越大,在动态补偿后系统的导航精度得到了有效提高. 相似文献
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从工程实际出发,给出了一种基于新型Cortex-M3内核ARM和MEMS惯性传感器的低成本、高性能微型惯性测量单元的结构框架。详细介绍了采用三轴MEMS陀螺、三轴MEMS加速度计和三轴磁阻传感器研制的微惯性测量单元硬件设计方案,分析了陀螺和加速度计的信号噪声,利用均值滤波法对信号进行预处理,对预处理后的信号采用FIR滤波器进行滤波,对陀螺和加速度计进行了标定。该测量单元已应用于某小型无人机的姿态测量,达到预期效果。 相似文献
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提出一种基于微惯性测量装置/多卜勒测速系统的无人机组合导航新方法,并采用非线性滤波-Unscented卡尔曼滤波(UKF)来解决系统状态方程和量测方程的非线性问题.首先,采用低精度的微陀螺和微加速度计作为惯性测量器件构成MIMU,将其与多卜勒测速系统(DVS)构成MIMU/DVS组合导航系统;然后,以MIMU和DVS的系统误差作为状态,利用各子系统输出的速度信息构造量测,设计卡尔曼滤波器,采用UKF法对导航系统误差进行估计,进而对系统进行误差校正.仿真结果表明,基于非线性滤波的MIMU/DVS无人机组合导航新方法具有较高的导航精度,同时有效地降低了系统成本,具有良好的工程应用价值. 相似文献
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一种小型惯性测量单元的精确标定技术 总被引:2,自引:1,他引:1
研究了一种基于MEMS陀螺和加速度计的惯性测量单元(IMU)的系统标定技术,建立了陀螺和加速度计的温度漂移和非线性误差模型,采用逐步线性回归法对以上模型进行了简化,并设计了补偿算法;实时补偿效果表明,在-40℃~60℃的温度变化范围内,惯性测量单元的零位偏值、偏值稳定性和非线性度都达到较高精度,这种误差标定方法可有效解决MEMS-IMU惯性器件误差的标定与补偿问题。 相似文献
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本文针对硅微机械结构振动幅度由于封装难以计算机视觉测量及电学测量中的精度受接口电路参数影响的问题,在对静电梳齿驱动、平板电容检测的硅微谐振结构进行建模分析后,提出基于单边带电压比的电学测量振动幅度的方法并分析了测量方法的原理。实验表明研制的某硅微机械谐振加速度计在受迫振动下的振动幅度为0.25um,频谱分析还表明存在上电噪声引起的振动幅度,该测试方法还能应用于硅微谐振结构的谐振频率测量,同时为高品质因数的硅微机械谐振结构的可静电自激驱动提供了依据。 相似文献
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杨斌 《小型微型计算机系统》1993,14(12):59-62
本文介绍了一种用单片机构成的并行计算机结构,主要用于实时图像数据的采集和处理。该结构由16个以8031为核心的处理单元组成。每个处理单元将并行处理一幅图像的16分之一。 相似文献
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This paper describes an active catheter with flexible polyimide-based integrated CMOS interface circuits for communication and control (C&C IC) to be used for applications in biomedicine. The active catheter has a multilink structure. Distributed micro shape memory alloy (SMA) coils are utilized as actuators for multidegree of freedom movement. The C&C IC's, which are incorporated on the links, require three common lead wires to address all the links and control the selected SMA actuators in the active catheter. An MOS transistor with large channel width is used for switching the SMA actuator. To reduce the system size and simplify the assembly work, the C&C circuit and three lead wires are fabricated on the same substrate using CMOS-compatible polyimide-based process. The outer diameter of the fabricated active catheter is approximately 2.0 mm. The fabricated active catheter has a four-link structure and six degrees of freedom of movement per one link. A simple bending model of one unit is presented and compared with the experiments. The fabricated C&C IC measures 1.0 mm×3.35 mm×0.2 mm. The link addressing and the actuator switching functions of the fabricated chip were confirmed. The minimum access time for addressing and actuating a single unit was 6.4 μs. The active catheter was actuated by the fabricated C&C IC chip with flexible interconnect leads in response to the C&C signals from the outside controller 相似文献
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提出并研制了一种二维电场检测传感芯片,将四个电场测量微型单元和旋转式驱动微结构集成在3. 5 mm ×3. 5 mm的敏感结构上,实现了单芯片的电场二维测量.介绍了传感器的工作原理、敏感结构的设计,以及基于绝缘体上硅( SOI)工艺的单芯片微型二维电场传感器制备工艺技术.成功研制出传感器原理样机,研究了微型二维电场传感器的标定方法,开发了用于电场二维标定的测试装置,并在室温常压下对传感器进行了二维标定.实验结果表明:该传感器能够有效减小电场的轴间耦合干扰,测量误差优于7. 04%,线性度可达到1. 25%. 相似文献
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基于ADS8568的八路数据采集系统设计 总被引:1,自引:0,他引:1
为了提高某惯性测量单元的精度,需对其输出信号进行大量采集以建立误差模型.该惯性测量单元不仅包含6路惯性传感器信号(3路陀螺和3路加速度计),还包括两路温度传感器输出以提供温度补偿,所以设计了基于ADS8568的八路数据采集系统.该系统采用AD芯片ADS8568,实现8路模拟信号的同步采集;以FPGA为主控芯片,控制信号的采集存储;以8G bit FLASH为存储芯片,实现大容量数据的实时存储.经实验验证,该采集系统可以正确采集传感器输出数据,采集到的数据正确有效,可用于误差建模的分析,具有一定的工程实用价值. 相似文献
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Vision-based mobile robots on highways 总被引:1,自引:0,他引:1
《Advanced Robotics》2013,27(4):417-427
Intelligent vehicles are mobile robots on highways. They are expected to improve the safety, efficiency and environmental impacts of the current highway traffic systems. Vision systems will play an important role as sensors for the intelligent vehicles. This paper first compares the vision sensors with other sensing methods from an application point of view and then describes two vision systems, one which we have developed and another which we are developing. Two important features are required for the vision systems applied to intelligent vehicles: three-dimensional (3D) measurement capability and real-time operation. We chose a trinocular stereo vision scheme among a number of 3D vision processing methods because it is suitable for real-time operations with dedicated processor architectures. The trinocular stereo algorithm requires a large number of operations, but all the operations are relatively straightforward and, therefore, they are suitable for custom architecture implementation. The system takes three images simultaneously by using three TV cameras installed on a single horizontal line at the front grill of the test car. Vertical edges are extracted from these images and the spatial offsets (or disparities) among the images are calculated for measuring the distances to the objects. The first version was developed and installed in a car for highway testing. Two custom digital processors were developed: one for edge detection and the other for stereo matching. The test results were encouraging and the architectures based on ASIC (Application Specific Integrated Circuits) are 800 and 550 times more efficient, respectively, compared with conventional microprocessors for edge detection and stereo matching. The second version is currently being developed in order to further reduce the silicon area size. It uses hybrid analog/digital circuit technology while the first version uses only digital circuits. We are developing a hybrid analog/digital array processor chip which includes a large number of processing elements. Each processing element includes a digital memory unit, a data flow control switch unit and an analog arithmetic/logic unit. The analog arithmetic/logic unit reduces the silicon area size significantly compared with the digital one. The data flows among multiple processing elements in the array chip in a form of analog voltage. The data flow is controlled by the data flow switches. The digital memory unit controls the set-up of the data flow control switch and arithmetic/logic units. 相似文献
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《Advanced Robotics》2013,27(6):591-602
A three-dimensional (3D) self-reconfigurable system made of identical units is proposed. Each unit has six arms on the surface of its base cube which can connect to neighboring units mechanically. By the connection, a cubic-lattice structure is formed. A unit can carry its neighbor unit from one node of the lattice to another by rotating its arm by 90°. Repeating this movement, the structure can reconfigure itself to realize various 3D structures. The general process of reconfiguration was proposed for this system. A prototype system including six units was made and basic motions of self- reconfiguration were verified. 相似文献