航位推算法 meaning in English
dead reckoning
Examples
- A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed , accordingly , the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived . utilizing the muir and newman convention , the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced . according to posture estimation , a more accurate method , dead reckoning algorithm , is developed for a specified configuration characterized by differential speed motorization , and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文对两轮差速驱动移动机器人的运动学及其本体缓冲设计进行了探讨，在对平面运动物体运动分析的基础上结合四种常用车轮的数学模型，推导出了一个通用的移动机器人堆积方程，在此基础上分析了移动机器人的移动能力、并针对两轮差速构型推导了速度正解与逆解；使用muir和newman的运动学建模方法，推导了移动机器人上点及连杆坐标系位姿、速度变换关系矩阵及求解方法；在移动机器人位姿识别方法中结合差速驱动构型对航位推算法进行了分析：推导了一种理论精度较高的航位推算算法，并使用matlab对其与传统的推算算法在跟踪圆弧轨迹情况下进行了仿真；最后针对本文所研究的机器人给出了一种比较系统、可靠的缓冲结构设计思路，较好地解决了移动机器人作业过程中外界因素及本身设计中引入的各种不确定误差问题；本论文研究成果已在本实验室所开发的样机上得到实现，经过应用与考核证明其中的分析与设计是切实可行的。