摘要:
A GPS-Based ADS for determining attitude and heading of a moving body comprises a GPS receiver, an inertial sensor unit, a blockage area calculator, a sensor anomaly detector and a monitor. The GPS-Based ADS provides information useful for making a judgment on appropriateness of installation sites and mounting conditions of a GPS antenna and inertial sensors based on blockage area information concerning each satellite signal blockage area obtained by the blockage area calculator and sensor signal anomaly information concerning each inertial sensor anomaly obtained by the sensor anomaly detector.
摘要:
A carrier phase-based relative positioning apparatus includes a plurality of antennas fixedly mounted on a moving body for receiving positioning signals from satellites, an inertial measurement unit (IMU) for measuring accelerations and angular velocities of the moving body, a reference attitude calculator for calculating attitude information about the attitude of the moving body from observables of the IMU at least before an integer ambiguity candidate is initially determined, an integer ambiguity estimator for estimating integer ambiguity candidates from the positioning signals received by the antennas, and an integer ambiguity validator for evaluating correctness of the integer ambiguity candidates estimated by the integer ambiguity estimator.
摘要:
An attitude sensing apparatus for determining the attitude of a mobile unit is provided that can reliably estimate an alignment angle between a GPS antenna coordinate system and an IMU coordinate system with good accuracy regardless of the magnitude of the alignment angle. Based on observation of the difference between a GPS angular velocity and an IMU angular velocity, an alignment angle estimating section estimates an alignment angle and sensor errors. An alignment angle adder and a sensor error adder cumulatively add and update the estimated alignment angle and sensor errors, respectively. The estimated alignment angle is fed back to an inertia data converter while the estimated sensor errors are fed back to an inertia data correcting section. The apparatus repeatedly performs estimation until the estimated alignment angle gradually approaches a true alignment angle by successively feeding back estimated values to a flow of alignment angle estimation process.
摘要:
A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.
摘要:
Providing an insulation cap, improving waterproofness of a wire joint of a joined electrical wire, the insulation cap includes a cap main body for receiving the wire joint being ‘formed by’ joining cores of a plurality of covered wires and an electro-conductive sleeve, and a flexible fastener provided on an inner wall of the cap main body for fastening the wire joint by contacting a rear end of the electro-conductive sleeve thereon. The flexible fastener is formed as an integral part of the cap main body by fastening a molding die through a hole provided at an opposite end of a joint insertion end of the cap main body. A plurality of flexible fasteners are provided axial symmetrically to extend toward a direction of inserting the wire joint from a base formed as an integral part of the inner wall of the cap main body.
摘要:
A connection method and structure of devices which need an electrical connection. A first device is provided with a fitting opening for fixedly fitting a second device thereinto and a circuit substrate on which a conductor extended from the periphery of the fitting opening to the inner periphery thereof to be a first terminal is printed, and a second device is provided with a second terminal on the outer periphery of a part which is fitted into the fitting opening. The first terminal is folded on the inner periphery of the fitting opening, and when the second device is fitted into the fitting opening, the first terminal of the fitting opening of the first device is connected electrically to the second terminal of the outer periphery of the second device.
摘要:
A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.
摘要:
In a waterproof connector 19 includes a housing main body 21 having a plurality of terminal receiving chambers, a plurality of terminal inserting portions 23 and 23 formed in the housing main body 21 and to which terminals 5 having waterproof plugs 3 are respectively inserted, a plurality of common wall portions 25 respectively sectioning between adjacent portions in the plurality of terminal inserting portions 23 and 23, and taper surfaces 27 respectively provided in opening edges of the plurality of terminal inserting portions 23 and 23, and in which maximum diameter portions 39 of the taper surfaces 27 in the adjacent terminal inserting portions 23 and 23 are at least in contact on the common wall portion 25, a damage preventing portion 29 and 30 for preventing the waterproof plug 3 from being damaged at a time of inserting the terminals 5 to the terminal inserting portions 23 and 23 is provided in a portion in which the taper surfaces 27 and 27 of the adjacent terminal inserting portions 23 and 23 on the common wall portion 25 are in contact with each other.
摘要:
In a waterproof connector 10 having a housing main body 11 having a plurality of terminal receiving chambers 12, a fitting portion 15 formed in the housing main body 11 and fitted to a mating housing main body, and a protecting portion 23 formed in an opposite side to the fitting portion 15 of the housing main body 11 and protecting a plurality of tube-shaped electric wire inserting portions 16 extended from the terminal receiving chamber 12, there is provided a molding sink preventing section 24 formed between the protecting portion 23 and the electric wire inserting portion 16 and all around an outer periphery of the electric wire inserting portion 16, and preventing a molding sink from being generated in the electric wire inserting portion 16 at a time of molding.
摘要:
A metal terminal (20) includes an post winding-around portion (23) which is connectable to an electrode post (2) to clasp from an outer side thereof. When a lock lever (25) is pressed down to a locking position, a clasp by the post winding-around portion (23) with respect to the electrode post (2) is set in a locked state. An insulating protective cover (30) is attachable to the metal terminal (20) so as to cover at least an entire connecting portion of the metal terminal (20), connected to the electrode post (2), when a distal end portion of the protective cover (30) is pressed down, while using as a fulcrum a proximal end portion of the protective cover (30) abutted against the post winding-around portion (23), and while causing the lock lever (25) to follow the protective cover (30) so that the lock lever (25) is pressed down to the locking position.