Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Qu, Chunyu; Li, Jianli; Zhang, Wu

doi:10.1088/1361-6501/ac7380

Cited by 4 publications

(3 citation statements)

References 20 publications

(24 reference statements)

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“…The torsion spring of a flexible manipulator may produce errors during the manufacturing and assembly process, which affect the initial state of the flexible manipulator. 21 The stiffness coefficients and initial angles of torsion springs are obtained through measurement, as shown in Table 3.…”

Section: Control System Of Double-finger Flexible Manipulatormentioning

confidence: 99%

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Li,

Chen

2024

Science Progress

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Aiming at the flexible manipulator grasping complex target parts of different shapes, a double-finger flexible manipulator model is proposed. The manipulator is composed of a flexible mechanical finger, a driving component and a position compensation mechanism. It imitates the motion characteristics of human finger joints and follows the principle of double-fingered grasping. According to the structural characteristics of the target contour, the grasping features of the target contour are extracted. Through the motion principle of the flexible manipulator, the kinematic model of the envelope clamping process of the manipulator target is carried out. Finally, the flexible manipulator experimental platform is built to verify the grasping characteristics of the flexible manipulator target. The results show that the manipulator can realize the adaptive grasping of cylinder and cuboid parts, which have high grasping reliability and stability.

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Section: Control System Of Double-finger Flexible Manipulatormentioning

confidence: 99%

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Li,

Chen

2024

Science Progress

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show abstract

“…For the first way, the forward velocity needs to exceed 2.0 m s −1 , and the accuracy of the yaw angle will remarkably reduce as the decrease of velocity [37]. For the GNSS baseline, its accuracy is immune to the carrier's motion state [38]. Therefore, the dual-antenna GNSS will be selected to obtain the yaw angle in this work.…”

Section: Introductionmentioning

confidence: 99%

Dual-antenna GNSS-aided robust MEMS IMU initial alignment under the earth-centered-earth-fixed frame

Zhang,

Tang,

Deng

et al. 2023

Meas. Sci. Technol.

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The micro-electro-mechanical system (MEMS), with its small size, low cost and low power, has attracted widespread attentions in recent year, and the initial alignment of the inertial measurement unit (IMU) is an indispensable step before the navigation computation. In the traditional alignment methods with only the velocity measurements, the yaw angle is subject to divergence under low dynamic scenarios, and the measurements are also susceptible to the external environments. Furthermore, the navigation frame (n frame) is usually chosen as the reference frame. Although intuitive, it is more computationally complex compared with the earth-centered-earth-fixed frame (e frame). Therefore, to improve the alignment performance and computational efficiency, a robust MEMS IMU initial alignment method with yaw assistance under the e frame is proposed. In this method, to address the issues of the yaw divergency and computational inefficiency in the traditional methods, the relationship between the yaw angle, derived from dual-antenna GNSS baseline solution, and IMU error is derived and incorporated into the state space model with e frame as the reference frame. Besides, a robust extend Kalman filtering (REKF) is adopted to further improve the system’s performance of outlier resistance, whose robust factors are determined by Institute of Geodesy and Geophysics (IGG)-Ⅲ model. To validate the performance of the proposed method, two field experiments with the velocity of about 0.7 m s-1 and 1.5 m s-1 was conducted, and the collected data were processed for contrastive analysis. The results show that the effectiveness of the proposed method at suppressing yaw angle divergence and improving the alignment accuracy by resisting outliers under low dynamic scenarios compared with the traditional method. Moreover, the elapsed time is reduced by about 11% when the reference frame in data processing is switched from the n frame to the e frame.

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“…Inertial navigation system (INS) can provide relative acceleration and angular velocity at high frequency as well as an error accumulating over time [4]. Therefore, GNSS is often frequency, as combined with INS owing to its complementary characteristics using Kalman filter (KF) and its variants [5,6].…”

Section: Introductionmentioning

confidence: 99%

An improved GNSS/INS navigation method based on cubature Kalman filter for occluded environment

Liu¹,

Shi²,

Liu³

et al. 2022

Meas. Sci. Technol.

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GNSS/INS (Global Navigation Satellite System and Inertial Navigation System) based on CKF (Cubature Kalman Filter) can provide an effective land vehicle navigation and positioning solution. The accuracy of CKF depends mainly on the prior Probability Density Function (PDF), which is inaccurate when the GNSS signal is temporarily blocked in an urban environment. Although the ICKF (Improved Cubature Kalman Filter) can reduce cubature point errors by using the historical information obtained iteratively, the generation of cubature points is still related to measurement noise. To obtain a more accurate PDF, adjustment off the sensor measurement noise is necessary. In this paper, an adaptive improved cubature Kalman filter for GNSS/INS system based on the Mahalanobis distance called MD-ICKF is proposed, which expands the usability of the micro-electronic mechanical system (MEMS) based integrated navigation system in an urban environment. Two lower triangular matrices obtained by Cholesky decomposition are used to adjust the cubature point errors during each iteration. Furthermore, the measurement noise will be inflated to obtain a more accurate PDF when it exceeds the threshold calculated by the Mahalanobis distance and Chi-square test. The field experiment results show that the proposed method has better positioning accuracy and performance than CKF and ICKF in an occluded environment

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Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Cited by 4 publications

References 20 publications

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Dual-antenna GNSS-aided robust MEMS IMU initial alignment under the earth-centered-earth-fixed frame

An improved GNSS/INS navigation method based on cubature Kalman filter for occluded environment

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