scholarly journals A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control

Sensors ◽  
2020 ◽  
Vol 20 (1) ◽  
pp. 294
Author(s):  
Bo Shi ◽  
Fan Zhang ◽  
Fanlin Yang ◽  
Yanquan Lyu ◽  
Shun Zhang ◽  
...  
Keyword(s):  
Measurement System ◽  
Error Compensation ◽  
Point Cloud ◽  
Satellite System ◽  
Compensation Method ◽  
Positioning Error ◽  
Signal Loss ◽  
Middle Point ◽  
Existing Building ◽  
Mobile Measurement

Global navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing satellite signals to experience loss-of-lock. At this time errors of INS independent navigation accumulate rapidly, so it cannot meet the needs of the mobile measurement system. In this paper, a positioning error compensation method based on plane control is proposed by analyzing the error characteristics of position and orientation caused by satellite signal loss-of-lock in the urban environment. This method control uses planar features and the laser point cloud positioning equation to establish an adjustment model that ignores the influence of the attitude error and finds the positioning error at the middle point of the GNSS signal loss-of-lock time period, and then compensates for the error at other points by using the characteristics of the positioning error. The experimental results show that the accuracy of the compensated laser point cloud has been significantly improved, and the feasibility of the method is verified. Meanwhile, the method can rely on the existing building plane so the method is adaptable and easy to implement.

scholarly journals Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2428 ◽  
Author(s):  
Qian Deng ◽  
Shuliang Zou ◽  
Hongbin Chen ◽  
Weixiong Duan
Keyword(s):  
Coordinate System ◽  
Coordinate Transformation ◽  
Error Compensation ◽  
Compensation Method ◽  
Positioning Error ◽  
Nuclear Facility ◽  
Reference Coordinate System ◽  
Accuracy Requirement ◽  
Docking Accuracy ◽  
Changing Process

Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot’s quick-hitch equipment to the dock spot of the attachment, and realized error compensation. Through calculation and experimentation, it was shown that the error compensation method proposed in this study reduced the level of error in attachment changing from the centimeter to millimeter scale, thereby meeting the accuracy requirements for attachment changing. This method can be applied to the remote-controlled attachment changing process of demolition robots, which provides the basis for the subsequent automatic changing of attachments. This has the potential to be applied in nuclear facility decommissioning and dismantling, as well as other radioactive environments.

A new phase error compensation method of 3-D shape measurement system using DMD projector

2008 ◽  
Author(s):  
Haihua Cui ◽  
Xiaosheng Cheng ◽  
Ning Dai ◽  
Tianran Yuan ◽  
Wenhe Liao
Keyword(s):  
Measurement System ◽  
Error Compensation ◽  
Phase Error ◽  
Compensation Method ◽  
Shape Measurement ◽  
New Phase

Error Compensation of Measurement System Based on Magnetoresistive Sensors

2012 ◽  
Vol 466-467 ◽  
pp. 854-858
Author(s):  
Wei Wang ◽  
Kai Qu ◽  
Xiong Xing Zhang ◽  
Ying Guo
Keyword(s):  
Measurement Error ◽  
Measurement System ◽  
Error Compensation ◽  
Simple Approach ◽  
Compensation Method ◽  
New Method ◽  
Sensor Output ◽  
Maximum Angle ◽  
Resistive Sensor ◽  
Magnetoresistive Sensors

A measurement system based on the magneto-resistive sensor is described and its error factors and influences are analyzed as well. A reasonable and simple approach is presented to compensate the measurement error from Magneto-resistive Sensor output. Firstly, the principle of the new method is illustrated. Secondly, the steps of the error compensation are introduced. Finally, the test is carried out, results are shown that the maximum angle value of deviation is no more than 2° and compensation method can be used in common measurement system based on magneto-resistive sensors.

Error Compensation Method of Harmonic Analysis for Time Grating Sensor

2011 ◽  
Vol 121-126 ◽  
pp. 3850-3854
Author(s):  
Zi Ran Chen ◽  
Dong Lin Peng ◽  
Yong Zheng ◽  
Fang Yan Zheng ◽  
Tian Heng Zhang
Keyword(s):  
Harmonic Analysis ◽  
High Precision ◽  
Measurement System ◽  
Error Compensation ◽  
Production Cost ◽  
Measurement Accuracy ◽  
Compensation Method ◽  
Precision Time ◽  
Error Tracing ◽  
Mechanical Machining

Due to the complexity of measurement system, it is hard correct errors by using traditional error separation and error tracing technology. To reduce the production cost and improve the measurement accuracy, a novel error compensation method based on harmonic analysis is presented in this paper. In this way, high precision time grating sensors can be manufactured with low precision mechanical machining method. The experiment results prove that errors can be reduce within ±2″.

scholarly journals Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Yingjie Li ◽  
Guanbin Gao ◽  
Fei Liu
Keyword(s):  
Error Compensation ◽  
Compensation Method ◽  
Industrial Robots ◽  
Radial Deformation ◽  
Positioning Error ◽  
Axial Deformation ◽  
Element Analysis ◽  
Positioning Accuracy ◽  
Positioning Errors ◽  
Deformation Error

Insufficient stiffness of industrial robots is a significant factor which affects its positioning accuracy. To improve the positioning accuracy, a novel positioning error compensation method based on the stiffness modelling is proposed in this paper. First, the positioning errors considering the end load and gravity of industrial robots due to stiffness are analyzed. Based on the results of analysis, it is found that the positioning errors can be described by two kinds of deformation errors at joints: the axial deformation error and the radial deformation error. Then, the axial deformation error is modelled by the differential relationship of kinematics equations. The model of radial deformation error is deduced through the recurrence method and rotation transformation between joints. Finally, these two models are transformed into a Cartesian coordinate system, and a positioning error compensation method based on these two models is presented. Simulations based on the finite element analysis are implemented to verify the positioning error compensation method. The results show that the suggested method can efficiently predict the positioning error according to the gravity and loads, so that the positioning accuracy of industrial robots can be improved with the proposed method.

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