With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range ...With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment.The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function,which mainly uses the ranging function in UWB positioning technology,uses the TOF ranging principle and embedded basic knowledge,and changes the positioning algorithm to a following algorithm.The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance,and the distance information is transmitted through the serial port.By writing an algorithm,the distance information is converted to the driving information of the trolley,and the driving information is sent to the trolley to control the trolley,thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.展开更多
Firstly, the Earth＇s gravitational field from the past Challenging Minisatellite Payload （CHAMP） mission is determined using the energy conservation principle, the combined error model of the cumulative geoid heigh...Firstly, the Earth＇s gravitational field from the past Challenging Minisatellite Payload （CHAMP） mission is determined using the energy conservation principle, the combined error model of the cumulative geoid height influenced by three instrument errors from the current Gravity Recovery and Climate Experiment （GRACE） and future GRACE Follow-On missions is established based on the semi-analytical method, and the Earth＇s gravitational field from the executed Gravity Field and Steady-State Ocean Circulation Explorer （GOCE） mission is recovered by the space-time-wise approach. Secondly, the cumulative geoid height errors are 1.727 × 10^-1 m, 1.839 × 10^-1 m and 9.025 × 10^ -2 m at degrees 70,120 and 250 from the implemented three-stage satellite gravity missions consisting of CHAMP, GRACE and GOCE, which preferably accord with those from the existing earth gravity field models involving EIGEN-CHAMP03S, EICEN-GRACE02S and GO_CONS GCF 2 DIR R1. The cumulative geoid height error is 6.847 × 10 ^-2 m at degree 250 from the future GRACE Follow-On mission. Finally, the complementarity among the four-stage satellite gravity missions including CHAMP, GRACE, GOCE and GRACE Follow-On is demonstrated contrastively.展开更多
文摘With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment.The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function,which mainly uses the ranging function in UWB positioning technology,uses the TOF ranging principle and embedded basic knowledge,and changes the positioning algorithm to a following algorithm.The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance,and the distance information is transmitted through the serial port.By writing an algorithm,the distance information is converted to the driving information of the trolley,and the driving information is sent to the trolley to control the trolley,thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.
基金supported by the Main Direction Program of Knowledge Innovation of Chinese Academy of Sciences for Distinguished Young Scholar(KZCX2-EW-QN114)the National Natural Science Foundation of China(41004006,41131067,11173049 and 41274041)+7 种基金the Merit-based Scientific Research Foundation of the State Ministry of Human Resources and Social Security of China for Returned Overseas Chinese Scholars(Z01101)the Open Research Fund Program of the Key Laboratory of Geospace Environment and Geodesy,Ministry of Education,China(11-01-02)the Open Research Fund Program of the Key Laboratory of Geo-Informatics of National Administration of Surveying,Mapping and Geoinformation of China(201322)the Open Research Fund Program of the State Key Laboratory of Geoinformation Engineering,China(SKLGIE2013-M-1-5)the Main Direction Program of Institute of Geodesy and Geophysics,Chinese Academy of Sciences(Y309451045)the Research Fund Program of State Key Laboratory of Geodesy and Earth's Dynamics,China(Y309491050)the Research Fund of the National Civilian Space Infrastructure Project(Y419341034)the Research Fund of the Lu Jiaxi Young Talent and the Youth Innovation Promotion Association of Chinese Academy of Science(Y305171017)
文摘Firstly, the Earth＇s gravitational field from the past Challenging Minisatellite Payload （CHAMP） mission is determined using the energy conservation principle, the combined error model of the cumulative geoid height influenced by three instrument errors from the current Gravity Recovery and Climate Experiment （GRACE） and future GRACE Follow-On missions is established based on the semi-analytical method, and the Earth＇s gravitational field from the executed Gravity Field and Steady-State Ocean Circulation Explorer （GOCE） mission is recovered by the space-time-wise approach. Secondly, the cumulative geoid height errors are 1.727 × 10^-1 m, 1.839 × 10^-1 m and 9.025 × 10^ -2 m at degrees 70,120 and 250 from the implemented three-stage satellite gravity missions consisting of CHAMP, GRACE and GOCE, which preferably accord with those from the existing earth gravity field models involving EIGEN-CHAMP03S, EICEN-GRACE02S and GO_CONS GCF 2 DIR R1. The cumulative geoid height error is 6.847 × 10 ^-2 m at degree 250 from the future GRACE Follow-On mission. Finally, the complementarity among the four-stage satellite gravity missions including CHAMP, GRACE, GOCE and GRACE Follow-On is demonstrated contrastively.
