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>3D attitude measurement by means of spread spectrum modulated ultrasonic wave
3D attitude measurement by means of spread spectrum modulated ultrasonic wave
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摘要
Local position and attitude measurement methods are necessary for the navigation of autonomous robots and the other applications. In this paper, a 3D attitude measurement method is proposed. This method uses the spread spectrum modulated ultrasonic wave for the measurement of the pseudo-distance of each pathway between transmitter and receiver elements that are arranged in an array. The relative attitude between transmitter and receiver unit could be calculated from the relationship between these pseudo-distances. The use of spread spectrum modulation enables the high accuracy, noise tolerance, and coexistence of multiple transmitter devices by code division multiple access (CDMA) between transmitter and receiver elements. A pair of transmitter and receiver prototype for proposed method was manufactured, and the fundamental performance was examined in experiments. As a result, accuracy of σ=0.78 mm in the pseudo-distance measurement of each pathway between transmitter and receiver elements was confirmed, and about 0.01 rad resolution in the attitude measurement was also confirmed.
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机译:Comments on, Xuan Li, Shanghong Zhao, Zihang Zhu, Bing Gong, Xingchun Chu, Yongjun Li, Jing Zhao and Yun Liu 'an optical millimeter-wave generation scheme based on two parallel dual-parallel Mach-Zehnder modulators and polarization multiplexing', Journal of Modern Optics, 2015