由于载体姿态的变化和海浪等因素的影响,海洋浮标成像系统所获得的图像不稳定或者模糊,如何改变现状是人们不断探讨和研究的课题。结合陀螺传感器MPU6050和磁力计HMC5883L设计一套基于ARM11的云台稳定控制系统,通过S3C6410的I2C接口读取...由于载体姿态的变化和海浪等因素的影响,海洋浮标成像系统所获得的图像不稳定或者模糊,如何改变现状是人们不断探讨和研究的课题。结合陀螺传感器MPU6050和磁力计HMC5883L设计一套基于ARM11的云台稳定控制系统,通过S3C6410的I2C接口读取MPU6050和HMC5883L的数据,采用卡尔曼滤波算法对其进行处理,然后解算出载体的航向角和俯仰角,实现云台摄像机姿态的反向调整。当云台摄像机与PC相连时,对Ulead Video Studio软件进行简单的配置,便可看到云台摄像机所拍摄的视频信息。实验结果表明:云台将以水平速度280°/s、垂直速度100°/s完成反向偏转,最长反馈调整时间为0.38 s,满足工程上的应用需求;该系统电路结构简单、成本低、可视化且稳定,可以移植到无人机及船舶监控等场合,具有一定的实用性。展开更多
This paper proposes an event-triggered active disturbance rejection control framework to achieve the simultaneous position and attitude control of a satellite in proximity operations.Firstly,to facilitate the satellit...This paper proposes an event-triggered active disturbance rejection control framework to achieve the simultaneous position and attitude control of a satellite in proximity operations.Firstly,to facilitate the satellite motion description,we derive the relative kinematics and dynamics in terms of dual quaternions with the considerations of internal uncertainties and external disturbances.Then,two kinds of event-triggered mechanisms in the sensor/observer and controller/actuator channels are proposed to reduce the utilization of onboard communication resources and to improve control performance,respectively.The observation error and tracking error of both the attitude and orbit systems are theoretically proven to be asymptotically bounded.Finally,the simulation results show that the proposed method can achieve simultaneous position and attitude tracking between target and chaser satellites with satisfactory control performance and reduced communication rates.展开更多
In this work, we create a new mathematical formula that computes the power of a quaternion number raised to a positive integer by reducing the real matrix of order 4 × 4 that we take to represent this quaternion ...In this work, we create a new mathematical formula that computes the power of a quaternion number raised to a positive integer by reducing the real matrix of order 4 × 4 that we take to represent this quaternion number to a matrix that makes the process of multiplying this quaternion number by itself simpler. We also present a new method for computing the power of a real matrix of order 2 × 2 as an application of this formula.展开更多
In this paper, by means of an isomorphism, we express the Clifford algebra Cl<sub>5,3</sub> as hyperquaternion algebra H ⊗H ⊗H ⊗H (a four-fold tensor product of quaternion alg...In this paper, by means of an isomorphism, we express the Clifford algebra Cl<sub>5,3</sub> as hyperquaternion algebra H ⊗H ⊗H ⊗H (a four-fold tensor product of quaternion algebras) and we provide the hyperquaternionic approach to the inner product null space (IPNS) representation of conic sections.展开更多
文摘由于载体姿态的变化和海浪等因素的影响,海洋浮标成像系统所获得的图像不稳定或者模糊,如何改变现状是人们不断探讨和研究的课题。结合陀螺传感器MPU6050和磁力计HMC5883L设计一套基于ARM11的云台稳定控制系统,通过S3C6410的I2C接口读取MPU6050和HMC5883L的数据,采用卡尔曼滤波算法对其进行处理,然后解算出载体的航向角和俯仰角,实现云台摄像机姿态的反向调整。当云台摄像机与PC相连时,对Ulead Video Studio软件进行简单的配置,便可看到云台摄像机所拍摄的视频信息。实验结果表明:云台将以水平速度280°/s、垂直速度100°/s完成反向偏转,最长反馈调整时间为0.38 s,满足工程上的应用需求;该系统电路结构简单、成本低、可视化且稳定,可以移植到无人机及船舶监控等场合,具有一定的实用性。
文摘This paper proposes an event-triggered active disturbance rejection control framework to achieve the simultaneous position and attitude control of a satellite in proximity operations.Firstly,to facilitate the satellite motion description,we derive the relative kinematics and dynamics in terms of dual quaternions with the considerations of internal uncertainties and external disturbances.Then,two kinds of event-triggered mechanisms in the sensor/observer and controller/actuator channels are proposed to reduce the utilization of onboard communication resources and to improve control performance,respectively.The observation error and tracking error of both the attitude and orbit systems are theoretically proven to be asymptotically bounded.Finally,the simulation results show that the proposed method can achieve simultaneous position and attitude tracking between target and chaser satellites with satisfactory control performance and reduced communication rates.
文摘In this work, we create a new mathematical formula that computes the power of a quaternion number raised to a positive integer by reducing the real matrix of order 4 × 4 that we take to represent this quaternion number to a matrix that makes the process of multiplying this quaternion number by itself simpler. We also present a new method for computing the power of a real matrix of order 2 × 2 as an application of this formula.
文摘In this paper, by means of an isomorphism, we express the Clifford algebra Cl<sub>5,3</sub> as hyperquaternion algebra H ⊗H ⊗H ⊗H (a four-fold tensor product of quaternion algebras) and we provide the hyperquaternionic approach to the inner product null space (IPNS) representation of conic sections.
