猎人机器人通信跟瞄理论和系统研究

Theory and system research of communication with tracking and pointing function for hunter robot

首次提出眼孔波通信框架,建立通信跟瞄模型,开辟了短距离光通信的新阶段。进行了信标光捕获方法研究,计算了捕获时间;计算机模拟了二维瞄准误差正态、瑞利分布,模拟了目标瞄准抖动Rician分布,推算模拟了接收透镜光阑探测衰减损失公式;提出三维瞄准误差正态、瑞利分布,提出三维瑞利叠式抖动分布,并计算出仿真结果。仿真结果表明,眼孔波通信的概念已首次建立,跟瞄抖动二维、三维理论模型及衰减模型已建立或提出。

Eye-hole wave communication frame was proposed first time.Tracking and pointing model of communication was put forward.New era of short distance optical communication was pioneered.Acguisition method of beaconing light was researched and acquisition time was computed.Two dimension pointing error normal distribution and rayleigh dis-tribution were simulated.Dithering Rician distribution of target pointing was simulated.Attenuation losing formula of receiving len＇ diaphragm detection was calculated and simulated.Three dimension pointing error normal distribution and rayleigh distribution were proposed.Three dimension rayleigh fold dithering distribution was proposed.Simulation re-sults are computed and the results is shown.The concept of eye-hole wave communication is proposed first time.The two dimension and three dimension theory model of tracking/pointing dithering problem of robot are put forward and attenua-tion model is presented also.