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Algorithm for space coordinate positioning through multi-sensor fusion
The invention discloses an algorithm for space coordinate positioning through multi-sensor fusion. A base is involved, the two ends of the base are movably connected with fixing supports through pin shafts respectively, the lower surfaces of the fixing supports are fixedly connected with fixing foot pads through bolts respectively, and the upper surface of the base is rotationally connected with avehicle body through a bearing; the other end of a big mechanical arm is movably connected with one end of a second mechanical arm through a pin shaft; and the other end of a third mechanical arm ismovably connected with a hammer through a pin shaft. According to the algorithm for space coordinate positioning through multi-sensor fusion, data of multiple sensors are fused to form a group of space coordinates, so that a whole available space is calibrated; the algorithm is more direct and convenient to control compared with other space calibration modes, each sensor value can be adjusted according to a specific control command, and finally, the purpose of calibrating the whole available space can be achieved; and the mechanical arms can be accurately controlled to reach designated positions, distance measurement results are stable and closer to true values, the positioning precision is improved, the response speed is high, the error rate is low, and operation is easy.
本发明公开了一种多传感器融合定位空间坐标的算法，包括底座，底座两端分别通过销轴与固定支架活动连接，固定支架下表面分别通过螺栓与固定脚垫固定连接，底座上表面通过轴承与车体转动连接，机械大臂另一端通过销轴与机械二臂一端活动连接，机械三臂另一端通过销轴与锤头活动连接。本多传感器融合定位空间坐标的算法，采用多种传感器的数据进行融合，成为一组空间坐标，以此标定整个可用空间，比其他空间标定方式更加直接和方便控制，每个传感器值都有特定的控制命令可以进行调节，最终达到不但能够标定整个可用空间的目的，还能够准确控制机械臂到达指定位置，使得测距结果稳定且更接近真值，提高定位精度，响应速度快，失误率低，操作简单。
Algorithm for space coordinate positioning through multi-sensor fusion
The invention discloses an algorithm for space coordinate positioning through multi-sensor fusion. A base is involved, the two ends of the base are movably connected with fixing supports through pin shafts respectively, the lower surfaces of the fixing supports are fixedly connected with fixing foot pads through bolts respectively, and the upper surface of the base is rotationally connected with avehicle body through a bearing; the other end of a big mechanical arm is movably connected with one end of a second mechanical arm through a pin shaft; and the other end of a third mechanical arm ismovably connected with a hammer through a pin shaft. According to the algorithm for space coordinate positioning through multi-sensor fusion, data of multiple sensors are fused to form a group of space coordinates, so that a whole available space is calibrated; the algorithm is more direct and convenient to control compared with other space calibration modes, each sensor value can be adjusted according to a specific control command, and finally, the purpose of calibrating the whole available space can be achieved; and the mechanical arms can be accurately controlled to reach designated positions, distance measurement results are stable and closer to true values, the positioning precision is improved, the response speed is high, the error rate is low, and operation is easy.
本发明公开了一种多传感器融合定位空间坐标的算法，包括底座，底座两端分别通过销轴与固定支架活动连接，固定支架下表面分别通过螺栓与固定脚垫固定连接，底座上表面通过轴承与车体转动连接，机械大臂另一端通过销轴与机械二臂一端活动连接，机械三臂另一端通过销轴与锤头活动连接。本多传感器融合定位空间坐标的算法，采用多种传感器的数据进行融合，成为一组空间坐标，以此标定整个可用空间，比其他空间标定方式更加直接和方便控制，每个传感器值都有特定的控制命令可以进行调节，最终达到不但能够标定整个可用空间的目的，还能够准确控制机械臂到达指定位置，使得测距结果稳定且更接近真值，提高定位精度，响应速度快，失误率低，操作简单。
Algorithm for space coordinate positioning through multi-sensor fusion
一种多传感器融合定位空间坐标的算法
TAN JIANZHONG (author) / ZHU WENLONG (author)
2021-03-26
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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