Based on the structural characteristics of the double-differenced normal equation, a new method was proposed to resolve the ambiguity float solution through a selection of parameter weights to construct an appropriate...Based on the structural characteristics of the double-differenced normal equation, a new method was proposed to resolve the ambiguity float solution through a selection of parameter weights to construct an appropriate regularized matrix, and a singular decomposition method was used to generate regularization parameters. Numerical test results suggest that the regularized ambiguity float solution is more stable and reliable than the least-squares float solution. The mean square error matrix of the new method possesses a lower correlation than the variancecovariance matrix of the least-squares estimation. The size of the ambiguity search space is reduced and the search efficiency is improved. The success rate of the integer ambiguity searching process is improved significantly when the ambiguity resolution by using constraint equation method is used to determine the correct ambiguity integervector. The ambiguity resolution by using constraint equation method requires an initial input of the ambiguity float solution candidates which are obtained from the LAMBDA method in the new method. In addition, the observation time required to fix reliable integer ambiguities can he significantly reduced.展开更多
This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) ...This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.展开更多
文摘Based on the structural characteristics of the double-differenced normal equation, a new method was proposed to resolve the ambiguity float solution through a selection of parameter weights to construct an appropriate regularized matrix, and a singular decomposition method was used to generate regularization parameters. Numerical test results suggest that the regularized ambiguity float solution is more stable and reliable than the least-squares float solution. The mean square error matrix of the new method possesses a lower correlation than the variancecovariance matrix of the least-squares estimation. The size of the ambiguity search space is reduced and the search efficiency is improved. The success rate of the integer ambiguity searching process is improved significantly when the ambiguity resolution by using constraint equation method is used to determine the correct ambiguity integervector. The ambiguity resolution by using constraint equation method requires an initial input of the ambiguity float solution candidates which are obtained from the LAMBDA method in the new method. In addition, the observation time required to fix reliable integer ambiguities can he significantly reduced.
基金supported in part by the National Science Foundation(IIS1318638 and IIS1426752)the Shenzhen Science and Technology Project(ZDSY20120617113312191)
文摘This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
