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World Scientific Research Journal 2022年第11期8卷 224-233页

作者： Jiaqi Cui

The speed and power of quadcopter can be controlled by controlling the motor speed and pulse number. There are four important parts of designing the quadcopter: The mechanical structure、MCU hardware circuit、the control of the four motors、attitude algorithm. Besides, the visual analysis can be realized by deep learning. In recent years, the intelligent navigation technology of aircraft, multi‐aircraft formation control and other new technologies are based on the control of quadcopter. And after combining the visual analysis, quadcopter can be used in a variety of scenarios, community danger inspection, home intelligent elderly monitoring, workshop inspection and so on. This article will expound how to use the quadcopter which combine the visual analysis in the elderly people assistance part.

关键词： STM32 Quadcopter attitude algorithm deep learning

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A New Compressed-Structure-Based Coning algorithm for Fiber Optic Strapdown Inertial Navigation Systems

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2021年 70卷

作者： Ding, Peng Cheng, Xianghong Southeast Univ Key Lab Microinertial Instrument & Adv Nav Techno Minist Educ Sch Instrument Sci & Engn Nanjing 210096 Peoples R China

For strapdown inertial navigation systems (SINSs) equipped with high-precision fiber optic gyroscope whose outputs are angular rate signals, the attitude calculation accuracies of traditional angular-rate-based rotation vector algorithms are limited when the vehicle is in a highly dynamic environment due to the fact that only the compensation of the second-order noncommutativity error is considered. Although the attitude algorithms based on polynomial iteration have higher accuracy, the computational complexity is too large. In order to fully tap the accuracy of the inertial measurement unit (IMU) to reduce the attitude errors, the third-, fourth-, and fifth-order Picard solutions for the equivalent rotation vector differential equation are derived in this article. A new method with a compressed structure to calculate the rotation vector for real-time processing systems is proposed to further reduce the noncommutativity error. In a classical coning motion environment, the frequency-series-based Taylor expansions are utilized for error analysis and design of the new algorithm's coefficients. The effectiveness of the proposed coning algorithm with eighth-order accuracy is validated by digital simulation and initial alignment experiments in the turntable. In comparison with the traditional algorithms, the proposed algorithm improves the yaw alignment accuracy by 78.5%, the pitch alignment accuracy by 73.8%, and the roll alignment accuracy by 66.9% on average.

关键词： attitude algorithm fiber optic gyroscope (FOG) noncommutativity error strapdown inertial navigation systems (SINSs)

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Design of Motorcycle Positioning System

International Core Journal of Engineering

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International Core Journal of Engineering 2021年第1期7卷 175-180页

作者： Kai Chen Bichuan An Xuan Cai

The problem of motorcycle theft emerges one after another. This paper proposes the design of motorcycle positioning system. Through embedded, wireless communication, satellite positioning, attitude calculation and oth... 详细信息

关键词： GPS attitude algorithm GSM

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Mobile attitude Transmission and Aircraft Control Strategies Based on WIFI 1

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2nd EAI International Conference on Industrial IoT Technologies and Applications (Industrial IoT)

作者： Li, Chenlong Liu, Tao Dou, Yi-wen Qiang, Jun Anhui Ploytech Univ Sch Comp & Informat Wuhu Anhui Peoples R China

ISBN: (数字)9783319607535

ISBN: (纸本)9783319607535;9783319607528

Four rotor aircraft controlled by remote controller has obvious disadvantages which including high cumulative error, and poor portability and low dynamic response and those decrease the user's sense of substitution and result in poor touch experiences. This paper proposes a set of control strategies and applies them in flight control and mobile phone terminal. Firstly, STM32 is used to solute the attitude of aircraft by DMP based on MPU6050 and communicates with the Smartphone by wireless WIFI communication module based on ESP8266. Secondly, the attitude solution of Smartphone is calculated by JAVA development kit and the adjusted Euler angle will be sent to flight control terminal so as to follow the phone attitude. Simulation and the actual test results show that our proposed strategies have good stability and portability.

关键词： STM32 ESP8266 MPU6050 Quaternion attitude algorithm

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Strapdown Inertial Navigation System attitude algorithm with Gibbs Oscillation Removal in Gyro Signal Reconstruction

Strapdown Inertial Navigation System Attitude Algorithm with...

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3rd International Conference on Measuring Technology and Mechatronics Automation (ICMTMA 2011)

作者： Qin, Fangjun Xu, Jiangning Li, An Hu, Baiqing Naval Univ Engn Elect Engn & Informat Engn Coll Wuhan 430033 Peoples R China

In order to improve integration precision in attitude algorithm of Strapdown Inertial Navigation System (SINS), reconstruction method for gyro angular rate signals using Fourier orthogonal function bases is adopted. Because values of gyro angular rate on reconstruction interval ends are usually not equal, signal reconstruction will induce obvious Gibbs oscillations. In a view of function transformation, a new method to remove the oscillations is proposed, which doesn't extend signal length, and is convenient for integration calculation. Under condition of typical coning motion, the attitude algorithm with signal reconstruction and Gibbs oscillation removal is simulated compared with regular three-sample algorithm and optimized three-sample algorithm. Results show that our method has advantage of better precision.

关键词： Reconstruction Integration Gibbs Oscillation attitude algorithm

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Justification of general procedure of optimizing algorithms under pure coning motion

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2016年第1期88卷 117-127页

作者： Li, Qian Gao, Wei Tan, Jiubin Harbin Inst Technol Inst Nav Instrument Harbin 150006 Peoples R China Harbin Inst Technol Ctr Ultra Precis Optoelect Instrument Harbin 150006 Peoples R China

Purpose - The purpose of this paper is to justify the algorithm optimization based on a consideration of its accuracy characteristics in a pure coning motion, which is widely used in optimizing strapdown attitude algorithms to describe the special angular motion of a vehicle. Design/methodology/approach - Two more general angular motions of a vehicle were given: generalized vibration describing periodical motions and benign dynamic describing aperiodical motions. The algorithm performances were evaluated in these two motions. Findings - The theoretical analysis and numerical results show that errors of the algorithm optimized in pure coning motion are null or neglectable in these two motions, and performance of the optimized algorithm in a pure coning motion is superior to that of the non-optimized algorithm. Originality/value - The value of the paper lies in that the authors justify the concept optimizing strapdown attitude algorithms in a pure coning motion.

关键词： attitude algorithm Coning motion Strapdown

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Research on Rotation Vector algorithm in Untypical Conic Motion

Research on Rotation Vector Algorithm in Untypical Conic Mot...

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International Conference on Manufacturing Science and Technology (ICMST 2011)

作者： Dong, Ming-jie Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

ISBN: (纸本)9783037852958

This paper made a detailed analysis to calculate equivalent rotation vector of vehicle in untypical conic motion, and put forward a method to imitate the real motion of vehicle. The paper first studied comprehensively the influence on vehicle information such as attitude angle, speed, position, etc, calculated by angle-increment attitude algorithm with different samples in untypical conic motion. The general result is figured out. And this paper provided reference for choosing attitude algorithm in practical projects.

关键词： attitude algorithm conic motion rotation vector motion simulation

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The Analysis on Rotation Vector algorithm of Atypical Conic Motion in Pseudo Orthogonal Coordinate

The Analysis on Rotation Vector Algorithm of Atypical Conic ...

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IEEE International Conference on Electronics, Communications and Control (ICECC)

作者： Guo Zi-wei Miao Ling-juan Shen Jun Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

ISBN: (纸本)9781457703218

This paper makes a detailed analysis on calculating equivalent rotation vector of vehicle in atypical conic motion in pseudo orthogonal coordinate, and puts forward a method to imitate the real motion of vehicle. The paper first studies comprehensively the influence on attitude angle, speed, position, etc. Vehicle information by angle-increment attitude algorithm with different samples in atypical conic motion, moreover, the general result is figured out and then provides reference for choosing attitude algorithm in practical projects.

关键词： attitude algorithm conic motion rotation vector pseudo orthogonal coordinate

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Optimization on attitude algorithm for RLG dither demodulation way 14

Optimization on attitude algorithm for RLG dither demodulati...

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14th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2007

作者： Pan, Xianfei Wu, Wenqi Wu, Meiping Huang, Xinsheng Laboratory of Inertial Technology College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

ISBN: (纸本)9785900780672

In dither ring laser gyro (RLG) strapdown inertial system, gyro outputs are often filtered in advance to eliminate dither bias. Because the filter is not ideal, the frequency characteristics of gyro outputs that are filtered are changed and bring the additional coning algorithms error. The additional error characteristics are analyzed and the optimization coning algorithm is designed to match the signal processing methods of gyros. The analyses and attitude drift simulations illustrate that the additional errors of the filter are alleviated obviously and the algorithms accuracy is increased remarkably.

关键词： attitude algorithm Dither demodulation Lowpass filter Strapdown system

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New Coning Error Compensation Method Using Direct Signal Estimation

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IFAC Proceedings Volumes 2010年第15期43卷 500-504页

作者： Chul Woo Kang Chan Gook Park Nam Ik Cho Mechanical and Aerospace Engineering Department Seoul National University Seoul Korea Electrical Engineering Department Seoul National University Seoul Korea

Abstract This paper proposes new coning mitigation algorithm based on the signal processing technique. For accurate attitude calculation of inertial navigation system, the coning error mitigation is a key part of attitude computation. Many researchers have used gyro outputs to calculate higher-order correction terms. But these results have a performance limit because they assume the signals to be polynomials. The proposed algorithm detects and estimates the sinusoidal components from gyro measurements. If coning signals occur in gyro measurements, a sinusoidal signal can be estimated using adaptive notch filtering, and higher-order correction terms can be calculated from parameters of this estimated signal. The proposed algorithm can properly operate on a vehicle with continuous and steady oscillations. Simulation results show that the direct compensation algorithm worked efffectively.

关键词： INS inertial navigation attitude algorithm coning error adaptive notch filter.

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