In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension ...In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.展开更多
To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the ste...To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the steering vectors with amplitude and phase errors,assuming that mmWR works in the time-sharing mode.Then,approximate relationship between the near-field calibration steering vector and the far-field calibration steering vector is analyzed,which is used to accomplish the mapping between the two of them.Finally,simulation results verify that the proposed method can effectively improve the angle measurement accuracy of mmWR with existing amplitude and phase errors.展开更多
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced...In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced, and a fundamental of multi-cameracalibration based on the large scale calibration target is provided.To avoid the shortcomings of the method, the vector differencesof reprojection error with the presence of the constraint conditionof the constant rigid body transformation is modelled, and mini-mized by the Levenberg-Marquardt （LM） method. Results of thesimulation and observation data calibration experiment show thatthe accuracy of the system calibrated by the proposed methodreaches 2 mm when measuring distance section of 20 000 mmand scale section of 7 000 mm × 7 000 mm. Consequently, theproposed method of multi-camera calibration performs better thanthe fundamental in stability. This technique offers a more uniformerror distribution for measuring large scale space.展开更多
The exact radar cross-section （RCS） measurement is difficult when the scattering of targets is low. Ful polarimetric cali-bration is one technique that offers the potential for improving the accuracy of RCS measurem...The exact radar cross-section （RCS） measurement is difficult when the scattering of targets is low. Ful polarimetric cali-bration is one technique that offers the potential for improving the accuracy of RCS measurements. There are numerous polarimetric calibration algorithms. Some complex expressions in these algo-rithms cannot be easily used in an engineering practice. A radar polarimetric coefficients matrix （RPCM） with a simpler expression is presented for the monostatic radar polarization scattering matrix （PSM） measurement. Using a rhombic dihedral corner reflector and a metal ic sphere, the RPCM can be obtained by solving a set of equations, which can be used to find the true PSM for any target. An example for the PSM of a metal ic dish shows that the proposed method obviously improves the accuracy of cross-polarized RCS measurements.展开更多
A novel polarimetric calibration method for new target property measurement radar system is presented. Its applica- tion in the real radar system is also discussed. The analysis indicates that instantaneous polarizati...A novel polarimetric calibration method for new target property measurement radar system is presented. Its applica- tion in the real radar system is also discussed. The analysis indicates that instantaneous polarization radar （[PR） has inherent cross-polarization measurement error. The proposed method can effectively eliminate this error, and thus enhance the polarization scattering matrix （PSM） measurement precision. The phase error caused by digital receiver＇s direct IF sampling and mixing of two orthogonal polarization channels can be removed. Consequently, the inherent error of target polarization scattering measurement of the instantaneous polarization radar system is well revised. It has good reference value for further ploarimetric calibration and high practical application prospect.展开更多
The blackbody calibration targets applied for microwave radiometer＇s prelaunch calibration are optimized with its electromagnetic and thermal characteristics. Based on the method of emissivity optimization with radar...The blackbody calibration targets applied for microwave radiometer＇s prelaunch calibration are optimized with its electromagnetic and thermal characteristics. Based on the method of emissivity optimization with radar cross section （RCS） simulation and the method of subgrid finite difference time domain （FDTD）, the following design rules are summarized： that the round wedge is better than the square one, the best ratio from height to bottom radius is 4：1, for wide band calibration, the multilayer absorbing material coating is efficient to increase the emissivity, and the gradual thickness absorbing material coating is helpful to guarantee the uniform distribution of surface temperature even as it keeps a higher emissivity. Finally following the above conclusions, a new type of blackbody calibration target with the cellular array is preferred to improve the uniformity of polarization, which will increase the performance of the calibration targets further.展开更多
A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensor...A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensors method （ISM）, two well-calibrated sensors are added into the original array. By applying the principle of estimation of signal parameters via rotational invariance techniques （ESPRIT）, the direction-of-arrivals （DOAs） and uncertainties can be estimated simultaneously through eigen-decomposition. Compared with the conventional ones, this new method has less computational complexity while has higher estimation precision, what＇s more, it can overcome the problem of ambiguity. Both theoretical analysis and computer simulations show the effectiveness of the proposed method.展开更多
Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model ba...Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model based on grey relation degree analysis to calibrate risk coefficients of DSF model. To solve the optimum solution, a genetic algorithm is employed. Finally, the DSF model is verified through a real-world driving experiment. Results show that the DSF model is consistent with driver's hazard perception and more sensitive than TTC. Moreover, the proposed DSF model offers a novel way for criticality assessment and decision-making of advanced driver assistance systems and intelligent connected vehicles.展开更多
The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and wi...The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design.展开更多
The development processes and the application achievements of space-borne microwave sounder pre-launch calibration technologies in China are introduced briefly. Then, the general project plan for pre-launch calibratio...The development processes and the application achievements of space-borne microwave sounder pre-launch calibration technologies in China are introduced briefly. Then, the general project plan for pre-launch calibration, the latest research achievements on the optimization and development of the microwave wide band calibration targets, emissivity measurement technologies and the system level uncertainty analysis of the laboratory, and the thermal/vacuum microwave sounder calibration system for ＂FY-3＂ meteorological satellite are reported, respectively. Finally, the key technological problems of the calibration technologies under researching are analyzed predictively.展开更多
Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their d...Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).展开更多
An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to...An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.展开更多
Calibration is a processing procedure for across-track interferometric synthetic aperture radar （InSAR） to achieve an accurate three-dimensional location. A calibration technique, called weighted joint calibration, ...Calibration is a processing procedure for across-track interferometric synthetic aperture radar （InSAR） to achieve an accurate three-dimensional location. A calibration technique, called weighted joint calibration, for the generation of wide-area geocoded digital elevation models （DEMs） is proposed. It cali- brates multiple InSAR scenes simultaneously, and allows reducing the number of required ground control points （GCPs） by using tie points （TPs）. This approach may ensure the continuity of three- dimensional location among adjacent scenes, which is necessary for mosaic and fusion of data coming from different scenes. In addition, it introduces weights to calibration to discriminate GCPs and TPs with different coherences and locations. This paper presents the principles and methodology of this weighted joint calibration technique and illustrates its successful application in airborne In- SAR data.展开更多
The bentonite-water mixture was selected as the substitute of seabed sediments according to the in-situ measurement data of sediments 15-20 cm deep in China's ocean poly-metallic mining contract area and the soft ...The bentonite-water mixture was selected as the substitute of seabed sediments according to the in-situ measurement data of sediments 15-20 cm deep in China's ocean poly-metallic mining contract area and the soft seabed sediments could be simulated with certain proportion of the bentonite and water; besides, based on the theory on the interaction between the vehicle and ground and referenced to Bekker's apparatus and related experimental methods, a scenario on the experimental system of the pressure-sinkage characteristics of interaction between the track of tracked vehicle and soft seabed sediments was designed. The pressure-sinkage experiments were performed with different dimensions of penetration plates. The "pressure-sinkage" model based on Bekker's formula and correlation parameters were obtained to describe the corresponding characteristics of the seabed sediments and a smart calibration model on the pressure-sinkage characteristic of the track was established based on the function chain neural network, which could provide boundary loading conditions for simulation analysis of the tracked vehicle moving on the seabed.展开更多
Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.Howe...Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.展开更多
The direction of arrival(DOA) estimation problem in the presence of sensor location errors is studied and an algorithm based on space alternating generalized expectation-maximization(SAGE) is presented. First, the nar...The direction of arrival(DOA) estimation problem in the presence of sensor location errors is studied and an algorithm based on space alternating generalized expectation-maximization(SAGE) is presented. First, the narrowband case is considered.Based on the small perturbation assumption, this paper proposes an augmentation scheme so as to estimate DOA and perturbation parameters. The E-step and M-step of the SAGE algorithm in this case are derived. Then, the algorithm is extended to the wideband case. The wideband SAGE algorithm is derived in frequency domain by jointing all frequency bins. Simulation results show that the algorithm achieves good convergence and high parameter estimation precision.展开更多
To address the eccentric error of circular marks in camera calibration,a circle location method based on the invariance of collinear points and pole–polar constraint is proposed in this paper.Firstly,the centers of t...To address the eccentric error of circular marks in camera calibration,a circle location method based on the invariance of collinear points and pole–polar constraint is proposed in this paper.Firstly,the centers of the ellipses are extracted,and the real concentric circle center projection equation is established by exploiting the cross ratio invariance of the collinear points.Subsequently,since the infinite lines passing through the centers of the marks are parallel,the other center projection coordinates are expressed as the solution problem of linear equations.The problem of projection deviation caused by using the center of the ellipse as the real circle center projection is addressed,and the results are utilized as the true image points to achieve the high precision camera calibration.As demonstrated by the simulations and practical experiments,the proposed method performs a better location and calibration performance by achieving the actual center projection of circular marks.The relevant results confirm the precision and robustness of the proposed approach.展开更多
基金supported by the National Natural Science Foundation of China(42276199).
文摘In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.
文摘To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the steering vectors with amplitude and phase errors,assuming that mmWR works in the time-sharing mode.Then,approximate relationship between the near-field calibration steering vector and the far-field calibration steering vector is analyzed,which is used to accomplish the mapping between the two of them.Finally,simulation results verify that the proposed method can effectively improve the angle measurement accuracy of mmWR with existing amplitude and phase errors.
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金supported by the National Natural Science Foundation of China(61473100)
文摘In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced, and a fundamental of multi-cameracalibration based on the large scale calibration target is provided.To avoid the shortcomings of the method, the vector differencesof reprojection error with the presence of the constraint conditionof the constant rigid body transformation is modelled, and mini-mized by the Levenberg-Marquardt （LM） method. Results of thesimulation and observation data calibration experiment show thatthe accuracy of the system calibrated by the proposed methodreaches 2 mm when measuring distance section of 20 000 mmand scale section of 7 000 mm × 7 000 mm. Consequently, theproposed method of multi-camera calibration performs better thanthe fundamental in stability. This technique offers a more uniformerror distribution for measuring large scale space.
基金supported by the National Basic Research Program of China(973 Program)(2010CB731905)
文摘The exact radar cross-section （RCS） measurement is difficult when the scattering of targets is low. Ful polarimetric cali-bration is one technique that offers the potential for improving the accuracy of RCS measurements. There are numerous polarimetric calibration algorithms. Some complex expressions in these algo-rithms cannot be easily used in an engineering practice. A radar polarimetric coefficients matrix （RPCM） with a simpler expression is presented for the monostatic radar polarization scattering matrix （PSM） measurement. Using a rhombic dihedral corner reflector and a metal ic sphere, the RPCM can be obtained by solving a set of equations, which can be used to find the true PSM for any target. An example for the PSM of a metal ic dish shows that the proposed method obviously improves the accuracy of cross-polarized RCS measurements.
基金supported by the National Natural Science Priority Foundation of China(60736006)National Natural Science Foundation of China for Youth(60802078)+1 种基金National Basic Research Program(973 Program)(51314)Hunan Provincial Innovation Foundation for Postgraduate
文摘A novel polarimetric calibration method for new target property measurement radar system is presented. Its applica- tion in the real radar system is also discussed. The analysis indicates that instantaneous polarization radar （[PR） has inherent cross-polarization measurement error. The proposed method can effectively eliminate this error, and thus enhance the polarization scattering matrix （PSM） measurement precision. The phase error caused by digital receiver＇s direct IF sampling and mixing of two orthogonal polarization channels can be removed. Consequently, the inherent error of target polarization scattering measurement of the instantaneous polarization radar system is well revised. It has good reference value for further ploarimetric calibration and high practical application prospect.
基金supported by the National Key Laboratory of Metrology and Calibration Technologythe Second Academy Institute of China Aerospace Science & Industry Corp
文摘The blackbody calibration targets applied for microwave radiometer＇s prelaunch calibration are optimized with its electromagnetic and thermal characteristics. Based on the method of emissivity optimization with radar cross section （RCS） simulation and the method of subgrid finite difference time domain （FDTD）, the following design rules are summarized： that the round wedge is better than the square one, the best ratio from height to bottom radius is 4：1, for wide band calibration, the multilayer absorbing material coating is efficient to increase the emissivity, and the gradual thickness absorbing material coating is helpful to guarantee the uniform distribution of surface temperature even as it keeps a higher emissivity. Finally following the above conclusions, a new type of blackbody calibration target with the cellular array is preferred to improve the uniformity of polarization, which will increase the performance of the calibration targets further.
文摘A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensors method （ISM）, two well-calibrated sensors are added into the original array. By applying the principle of estimation of signal parameters via rotational invariance techniques （ESPRIT）, the direction-of-arrivals （DOAs） and uncertainties can be estimated simultaneously through eigen-decomposition. Compared with the conventional ones, this new method has less computational complexity while has higher estimation precision, what＇s more, it can overcome the problem of ambiguity. Both theoretical analysis and computer simulations show the effectiveness of the proposed method.
基金Projects(51475254,51625503)supported by the National Natural Science Foundation of ChinaProject(MCM20150302)supported by the Joint Project of Tsinghua and China Mobile,ChinaProject supported by the joint Project of Tsinghua and Daimler Greater China Ltd.,Beijing,China
文摘Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model based on grey relation degree analysis to calibrate risk coefficients of DSF model. To solve the optimum solution, a genetic algorithm is employed. Finally, the DSF model is verified through a real-world driving experiment. Results show that the DSF model is consistent with driver's hazard perception and more sensitive than TTC. Moreover, the proposed DSF model offers a novel way for criticality assessment and decision-making of advanced driver assistance systems and intelligent connected vehicles.
基金Project(51090385) supported by the Major Program of National Natural Science Foundation of ChinaProject(2011IB001) supported by Yunnan Provincial Science and Technology Program,China+1 种基金Project(2012DFA70570) supported by the International Science & Technology Cooperation Program of ChinaProject(2011IA004) supported by the Yunnan Provincial International Cooperative Program,China
文摘The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design.
基金the National Key Laboratory of Metrology and Calibration Technology,the Second Academy Institute of China Aerospace Science & Industry Corp.
文摘The development processes and the application achievements of space-borne microwave sounder pre-launch calibration technologies in China are introduced briefly. Then, the general project plan for pre-launch calibration, the latest research achievements on the optimization and development of the microwave wide band calibration targets, emissivity measurement technologies and the system level uncertainty analysis of the laboratory, and the thermal/vacuum microwave sounder calibration system for ＂FY-3＂ meteorological satellite are reported, respectively. Finally, the key technological problems of the calibration technologies under researching are analyzed predictively.
基金Projects(61533021,61321003,61273185)supported by the National Natural Science Foundation of ChinaProject(2015CX007)supported by the Innovation-driven Plan in Central South University,ChinaProject(13JJ8003)supported by the Joint Fund of Hunan Provincial Natural Science Foundation of China
文摘Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).
基金Project(2008AA04Z203) supported by the National High Technology Research and Development Program of China
文摘An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.
基金supported in part by the National High-Tech Research and Development Program of China(863 Program)(2007AA120302)the National Basic Research Program of China(973 Program)(2009CB724003)
文摘Calibration is a processing procedure for across-track interferometric synthetic aperture radar （InSAR） to achieve an accurate three-dimensional location. A calibration technique, called weighted joint calibration, for the generation of wide-area geocoded digital elevation models （DEMs） is proposed. It cali- brates multiple InSAR scenes simultaneously, and allows reducing the number of required ground control points （GCPs） by using tie points （TPs）. This approach may ensure the continuity of three- dimensional location among adjacent scenes, which is necessary for mosaic and fusion of data coming from different scenes. In addition, it introduces weights to calibration to discriminate GCPs and TPs with different coherences and locations. This paper presents the principles and methodology of this weighted joint calibration technique and illustrates its successful application in airborne In- SAR data.
基金Project(11JJ3059) supported by Natural Science Foundation of Hunan Province, ChinaProject(2010GK3091) supported by Science and Technology Industrial Support Program of Hunan Province, China+1 种基金Project(10B058) supported by Excellent Youth Foundation of Education Department of Hunan Province, ChinaProject(51105386) supported by the National Natural Science Foundation of China
文摘The bentonite-water mixture was selected as the substitute of seabed sediments according to the in-situ measurement data of sediments 15-20 cm deep in China's ocean poly-metallic mining contract area and the soft seabed sediments could be simulated with certain proportion of the bentonite and water; besides, based on the theory on the interaction between the vehicle and ground and referenced to Bekker's apparatus and related experimental methods, a scenario on the experimental system of the pressure-sinkage characteristics of interaction between the track of tracked vehicle and soft seabed sediments was designed. The pressure-sinkage experiments were performed with different dimensions of penetration plates. The "pressure-sinkage" model based on Bekker's formula and correlation parameters were obtained to describe the corresponding characteristics of the seabed sediments and a smart calibration model on the pressure-sinkage characteristic of the track was established based on the function chain neural network, which could provide boundary loading conditions for simulation analysis of the tracked vehicle moving on the seabed.
基金Project(61174002)supported by the National Natural Science Foundation of ChinaProject(200897)supported by the Foundation of National Excellent Doctoral Dissertation of PR China+1 种基金Project(NCET-10-0900)supported by the Program for New Century ExcellentTalents in University,ChinaProject(131061)supported by the Fok Ying Tung Education Foundation,China
文摘Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.
文摘The direction of arrival(DOA) estimation problem in the presence of sensor location errors is studied and an algorithm based on space alternating generalized expectation-maximization(SAGE) is presented. First, the narrowband case is considered.Based on the small perturbation assumption, this paper proposes an augmentation scheme so as to estimate DOA and perturbation parameters. The E-step and M-step of the SAGE algorithm in this case are derived. Then, the algorithm is extended to the wideband case. The wideband SAGE algorithm is derived in frequency domain by jointing all frequency bins. Simulation results show that the algorithm achieves good convergence and high parameter estimation precision.
基金supported by the Aerospace Science and Technology Joint Fund(6141B061505)the National Natural Science Foundation of China(61473100).
文摘To address the eccentric error of circular marks in camera calibration,a circle location method based on the invariance of collinear points and pole–polar constraint is proposed in this paper.Firstly,the centers of the ellipses are extracted,and the real concentric circle center projection equation is established by exploiting the cross ratio invariance of the collinear points.Subsequently,since the infinite lines passing through the centers of the marks are parallel,the other center projection coordinates are expressed as the solution problem of linear equations.The problem of projection deviation caused by using the center of the ellipse as the real circle center projection is addressed,and the results are utilized as the true image points to achieve the high precision camera calibration.As demonstrated by the simulations and practical experiments,the proposed method performs a better location and calibration performance by achieving the actual center projection of circular marks.The relevant results confirm the precision and robustness of the proposed approach.
