针对目前室内定位系统技术成本高、使用环境要求高和算法复杂等问题,设计了一种基于被动式移动架构(passive mobile architecture,PMA)的定位系统。在同一平面内共安装5个超声波节点,机器人充电桩安装2个发送节点(2 transmitting nodes,...针对目前室内定位系统技术成本高、使用环境要求高和算法复杂等问题,设计了一种基于被动式移动架构(passive mobile architecture,PMA)的定位系统。在同一平面内共安装5个超声波节点,机器人充电桩安装2个发送节点(2 transmitting nodes,2T),机器人安装3个接收节点(3 receiving nodes,3R),建立2T3R-PMA测量模型,利用到达时间差(time difference of arrival,TDOA)方法测量各发送节点与接收节点间距离,通过测量模型计算得到机器人在机器人充电桩二维坐标系中的位置信息(x,y,θ)T。分析了定位系统的误差来源,并采用分段抛物线插值与温度补偿算法对误差进行了修正。实验结果表明,测量平均定位误差不超过2 cm,验证了系统的实用性。展开更多
Since the 20 thcentury,the time intervals of M ≥6.7 strong earthquakes in the SichuanYunnan region show obvious regularity.Using the years of the strong events,a twodimensional time coordinate system is generated,bas...Since the 20 thcentury,the time intervals of M ≥6.7 strong earthquakes in the SichuanYunnan region show obvious regularity.Using the years of the strong events,a twodimensional time coordinate system is generated,based on which,the time prediction model is constructed for strong earthquakes in the Sichuan-Yunnan region.Prediction analysis shows that there is risk of generating four earthquakes with M ≥ 6.7 in the Sichuan-Yunnan region in the future 16 years,and there are strong signals for M ≥6.7earthquakes for periods 2012-2021 and 2025-2029.The strong earthquakes may occur around 2014-2015,2019 and 2027.展开更多
文摘Since the 20 thcentury,the time intervals of M ≥6.7 strong earthquakes in the SichuanYunnan region show obvious regularity.Using the years of the strong events,a twodimensional time coordinate system is generated,based on which,the time prediction model is constructed for strong earthquakes in the Sichuan-Yunnan region.Prediction analysis shows that there is risk of generating four earthquakes with M ≥ 6.7 in the Sichuan-Yunnan region in the future 16 years,and there are strong signals for M ≥6.7earthquakes for periods 2012-2021 and 2025-2029.The strong earthquakes may occur around 2014-2015,2019 and 2027.
