To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,a...To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.展开更多
This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than...This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than 60dB. A novel technique is also proposed in this letter to automatically adjust the variation of the time constant. The advantages of the proposed method are its high precision and simplicity. Using 5bits control words, the tuning error is less than ±1.6%.展开更多
To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transfo...To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations for A and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.展开更多
The action of N on l^2(N) is studied in association with the multiplicative structure of N. Then the maximal ideal space of the Banach algebra generated by N is homeomorphic to the product of closed unit disks indexed...The action of N on l^2(N) is studied in association with the multiplicative structure of N. Then the maximal ideal space of the Banach algebra generated by N is homeomorphic to the product of closed unit disks indexed by primes, which reflects the fundamental theorem of arithmetic. The C*-algebra generated by N does not contain any non-zero projection of finite rank. This assertion is equivalent to the existence of infinitely many primes. The von Neumann algebra generated by N is B(l^2(N)), the set of all bounded operators on l^2(N).Moreover, the differential operator on l^2(N,1/n(n+1)) defined by ▽f = μ * f is considered, where μ is the Mbius function. It is shown that the spectrum σ(▽) contains the closure of {ζ(s)-1: Re(s) > 1}. Interesting problems concerning are discussed.展开更多
基金Project(60604011) supported by the National Natural Science Foundation of China
文摘To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.
基金Supported by the Key Project of the National Natural Science Foundation of China (No.60437030) the Tianjin Natural Science Foundation (No.05YFJMJC01400).
文摘This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than 60dB. A novel technique is also proposed in this letter to automatically adjust the variation of the time constant. The advantages of the proposed method are its high precision and simplicity. Using 5bits control words, the tuning error is less than ±1.6%.
基金Project (No. 60703002) supported by the National Natural Science Foundation of China
文摘To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations for A and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.
基金supported by National Natural Science Foundation of China (Grant Nos. 11371290 and 11701549)Natural Science Basic Research Plan in Shaanxi Province of China (Grant No. 2017JM1045)
文摘The action of N on l^2(N) is studied in association with the multiplicative structure of N. Then the maximal ideal space of the Banach algebra generated by N is homeomorphic to the product of closed unit disks indexed by primes, which reflects the fundamental theorem of arithmetic. The C*-algebra generated by N does not contain any non-zero projection of finite rank. This assertion is equivalent to the existence of infinitely many primes. The von Neumann algebra generated by N is B(l^2(N)), the set of all bounded operators on l^2(N).Moreover, the differential operator on l^2(N,1/n(n+1)) defined by ▽f = μ * f is considered, where μ is the Mbius function. It is shown that the spectrum σ(▽) contains the closure of {ζ(s)-1: Re(s) > 1}. Interesting problems concerning are discussed.
