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Space debris positioning method based on space-based optical two-satellite observation

Journal of Beijing Institute of Technology 2016年第S2期25卷 175-179页

作者：张景晖曾国强高玉东 School of Aerospace Science and Engineering National University of Defense Technology

When space debris is observed,a space-based optical observer can get bearing-only measurements,which causes low precision for space debris *** response to this issue,a space debris positioning method based on space-based optical two-satellite observation is proposed in this *** stereoscope-based observation,the position and the velocity of space debris are estimated in real time based on unscented Kalman filter(UKF).The calculations demonstrate that this method can estimate the position and velocity of space debris effectively and meet the requirements of initial orbit determination,of which the estimation precision of position and velocity is superior to 100 m and 0.5 m/s,when errors of two-satellite are considered.

关键词： space-based optical two-satellite observation space debris positioning method unscented Kalman filter

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Welding robot positioning method based on machine vision and laser ranging

Welding robot positioning method based on machine vision and...

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第32届中国控制与决策会议

作者： Bangwang Hou Yiding Zhao School of Control Engineering and Northeastern University

In order to solve the problem of the accurate positioning of the welding robot in the automatic bar production, this paper proposes a positioning method of the welding robot based on machine vision and laser ranging. The traditional positioning method of welding robot mainly adopts the Hand-eye calibration mode, however, the essence of Hand-eye calibration is to obtain the conversion relationship from camera coordinate system to robot end actuator coordinate system through complex matrix operation. The calculation process of this method is too lengthy, and it is difficult to achieve the required accuracy of welding. The precise positioning of welding robot mainly includes plane coordinate positioning and depth positioning. First of all, this paper is based on the principle that the distance between the camera and the object to be photographed and the size of the camera image are proportional to the size of the object, the pixel coordinates obtained from the image processing are transformed into the plane coordinates of the final target point to be welded by the method of machine vision. At the same time, in view of the distortion caused by the camera in the imaging process, this paper uses the Zhang calibration method to correct the distorted image. Finally, the resistance detection circuit proposed is used to determine the final welding position. The experimental results show that the positioning method of the welding robot has the advantages of easy realization and high positioning accuracy, which can fully meet the welding requirements and improve the efficiency of automatic welding of the label.

关键词： positioning method Welding robot Laser ranging sensor machine vision

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Multipath Suppressing method Based on Pseudorange Model Using Modified Teaching-Learning Based Optimization Algorithm

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Chinese Journal of Electronics 2022年第5期31卷 821-831页

作者： CHENG Lan ZHANG Jing NI Zihang YAN Gaowei Taiyuan University of Technology Xi'an Branch of China Telecom Co.Ltd.

Satellites based positioning has been widely applied to many areas in our daily lives and thus become indispensable, which also leads to increasing demand for high-positioning accuracy. In some complex environments(such as dense urban, valley), multipath interference is one of the main error sources deteriorating positioning accuracy, and it is difficult to eliminate via differential techniques due to its uncertainty of occurrence and irrelevance in different instants. To address this problem,we propose a positioning method for global navigation satellite systems(GNSS) by adopting a modified teachinglearning based optimization(TLBO) algorithm after the positioning problem is formulated as an optimization problem. Experiments are conducted by using actual satellite data. The results show that the proposed positioning algorithm outperforms other algorithms, such as particle swarm optimization based positioning algorithm,differential evolution based positioning algorithm, variable projection method, and TLBO algorithm, in terms of accuracy and stability.

关键词： global navigation satellite systems satellite navigation particle swarm optimisation optimization problem Global positioning System pseudorange model optimisation modified teaching-learning based optimization algorithm high-positioning accuracy positioning method particle swarm optimization position control evolutionary computation actual satellite data satellites based positioning dense urban valley variable projection method main error sources positioning problem positioning algorithm TLBO algorithm

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一种新的战略定位方法：ISTP3

企业管理研究

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企业管理研究 2011年第7期

作者：唐拥军蒋艺

定位是营销管理和战略管理的核心，但始终没有一种简洁有效的找出定位的方法。本文首先分析了价值准则定位框架、与众不同的区分四步骤、STP等现存影响较大的定位方法，指出它们的缺陷在于只适用于终端消费产品(服务)、实操性差。随后... 详细信息

定位是营销管理和战略管理的核心，但始终没有一种简洁有效的找出定位的方法。本文首先分析了价值准则定位框架、与众不同的区分四步骤、STP等现存影响较大的定位方法，指出它们的缺陷在于只适用于终端消费产品(服务)、实操性差。随后，在现代营销之父菲利普·科特勒的STP方法的基础上，提出了一种STP升级的定位方法——ISTP3，其较STP的改进主要在于两点：一是对市场细分、目标市场选定和市场定位，都必须区分企业的产品是属于产业链市场的上、中、下游的哪一环节来进行；二是定位包含三个层次，分别是满足购买(基层定位)、满足功能(中层定位)与享受体验(高层定位)。最后，结合几个著名案例对ISTP3运用及其要则进行了示范性介绍。

关键词：战略定位定位方法 ISTP3 strategic positioning positioning method ISTP3

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