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Kinematics is the description of motion. The kinematics of rotational motion discusses the relationships between rotation angle, angular velocity, angular acceleration, and time. One can describe many things with great precision using kinematics, but kinematics does not consider causes. For example, a large angular acceleration describes a very rapid change in angular velocity without any consideration of its cause. Thus, rotational kinematics does not represent the laws of nature.
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If angular acceleration is constant, then we can simplify equations of rotational kinematics, similar to the equations of linear kinematics. This simplified set of equations can be used to describe many applications in physics and engineering where the angular acceleration of a system is constant.
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In the site survey of a four-sided traverse, internal angles are essential to ensure geometric accuracy. The survey revealed that the sum of the measured internal angles was 359 degrees and 48 minutes, which is 12 minutes less than the expected 360 degrees. This discrepancy signals an error likely arising from measurement inaccuracies during the fieldwork.To rectify this error, the adjustment process involved distributing the 12-minute shortfall equally across the four internal angles. By...
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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
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Un método para medir la orientación angular con la compensación adaptativa de los errores dinámicos

Dimitar Dichev1,2, Iliya Zhelezarov1,2, Borislav Georgiev1,2

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Este estudio introduce un nuevo método para medir la orientación del objeto, utilizando un filtro de Kalman adaptativo para corregir errores dinámicos en tiempo real. Este sistema determina con precisión la rotación y la inclinación de los objetos en movimiento, validados con las normas internacionales.

Palabras clave:
Sensores MEMS y sus derivadosFiltración adaptativa de KalmanMedición de la orientación angularEvaluación de la incertidumbre de medición en mediciones dinámicas

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Área de la Ciencia:

  • Ingeniería
  • Ciencias de la medición
  • La robótica

Sus antecedentes:

  • La medición precisa de la orientación angular es crítica para los sistemas dinámicos.
  • Los métodos existentes a menudo luchan con errores instrumentales y dinámicos.
  • La estabilización de elementos inerciales puede ser compleja y propensa a errores.

Objetivo del estudio:

  • Desarrollar un método integrado para medir la orientación angular de objetos en movimiento.
  • Para reducir los errores instrumentales a través de una estructura mecánica simplificada.
  • Para lograr la compensación adaptativa de los errores dinámicos utilizando una plataforma de hardware y software.

Principales métodos:

  • Se empleó una estructura Kalman adaptativa para la corrección de errores en tiempo real, evitando la estabilización del elemento inercial.
  • Se utilizó un modelo de medición de dos canales con señales independientes y sensores MEMS.
  • Se desarrolló una metodología basada en la metrología para la evaluación cuantitativa, incluidas las teorías de error e incertidumbre.

Principales resultados:

  • Se desarrolló e implementó un sistema para medir el rollo y el paso.
  • La validación experimental confirmó la precisión del sistema en los modos estático y dinámico frente a un sistema de referencia de alta precisión.
  • La metodología desarrollada proporciona una evaluación objetiva, reproducible y trazable.

Conclusiones:

  • El método integrado ofrece una solución robusta para la medición de la orientación angular de objetos dinámicos.
  • El enfoque adaptativo de Kalman compensa efectivamente los errores dinámicos.
  • La exactitud del sistema y la metodología de evaluación están validadas y son rastreables según las normas internacionales.