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排序方式: 共有626条查询结果,搜索用时 15 毫秒
481.
针对移动机器人基于超声波传感器的地图创建,提出了一种双重环境模型。该模型同时包涵以直线段表示的几何模型和以概率形式表示的栅格模型,结合了几何模型与栅格模型的优点。给出了该模型的建立及更新算法,并基于该模型提出了一种主动探测策略,在保证探测效率的同时减小了超声波传感器的镜面反射产生的不良影响。在室内环境下进行移动机器人实验,验证了基于双重环境模型的探测策略的有效性。 相似文献
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Antonio G.V. de Brum Hauke Hussmann Kai Wickhusen Alexander Stark 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2021,67(1):648-661
In cooperation with Russia, the Brazilian deep space mission ASTER plans to send a small spacecraft to investigate the triple asteroid 2001-SN263. The nearest launch opportunities for this project include June 2022 and June 2025. One main exploration campaign is being planned with focus on the largest asteroid (Alpha). Among the instruments under development, a laser altimeter (named ALR) was preliminarily designed and presented in 2010–2011. Many studies to define mission and instruments requirements were performed aiming at the characterization of important issues for the successful realization of the mission. Among them, the identification of a suitable trajectory that could be followed by the ASTER spacecraft in the encounter phase, when the main campaign will take place. This paper describes the effort undertaken with focus on the laser altimeter operation. Possible encounter trajectories were modelled and simulated to identify suitable approach parameters and conditions allowing the accomplishment of the intended investigation. The simulation also involves the instrument operation, considering approach geometry, attitude, relative motion, time/date, and the dynamics of the main asteroid. From the laser altimeter point of view, keeping in mind the desired coverage results (50% minimum surface coverage of asteroid Alpha, complying with horizontal and vertical resolution requirements), results point out crucial features for the encounter trajectory, like the need for a small inclination (10-6 degrees; with respect to the asteroid's orbit), the most favourable spacecraft positioning (between the Sun and the asteroid) and pointing condition (back to the Sun), the minimum amount of achievable surface coverage (58%, focused on central areas), and the most proper time to conduct the main campaign (January 2025). Concerning the instrument, results offer refined values for divergence angle (500 to 650 μrad, half-cone), pulse repetition frequencies (from 1/20 to 1 Hz), and consequent data generation rates. A simulation tool that can use any 3D generated trajectories as input data was created for the analyses presented here. Although created for the ALR in this mission, this simple analysis tool can be adapted to other instruments in this or other missions. 相似文献
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为了满足我国首次火星探测任务的需要,确保探测器有效载荷科学数据的顺利下传,将采用天线组阵的方式进行数据接收。天线组阵数据接收技术在航天工程中的应用国内尚属首次,为此开展了信号合成方法和处理流程的研究,提出了利用模型计算和基于科斯塔斯环的搜索估计相结合的初始时延和多普勒频差快速估计方法。利用现有的密云站50 m天线和昆明站40 m天线,以嫦娥3号着陆器数传信号为实验对象,开展了天线组阵与数据接收技术检验实验。研究和实验结果表明,全频谱合成方法优于符号流合成方法,其合成损耗小于等于 0.45 dB ,可用于我国首次火星探测任务天线组阵的信号合成;初始时延和多普勒频差快速估计方法可提高广域组阵信号互相关的搜索效率;所确定的信号合成技术流程和数据处理方法可用于后续信号合成软硬件设备的研制和开发。 相似文献
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Abdollah Sheikhrahimi Amin Beiranvand Pour Biswajeet Pradhan Basem Zoheir 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2019,63(10):3315-3332
The Sanandaj-Sirjan Zone (SSZ) is considered as an important region for gold exploration in the western sector of Iran. Its mountainous topography and unpaved routes make its study challenging for researchers and raise the costs for mining companies strating new exploration plans. Gold mineralization mainly occurs as irregular to lenticular sulfide-bearing quartz veins along shear zones in deformed mafic to intermediate metavolcanic and metasedimentary rocks. In this investigation, ASTER data are used for mapping hydrothermal alteration minerals and to better discriminate geological structural features associated with orogenic gold occurrences in the area. Image transformation techniques such as specialized band ratioing and Principal Component Analysis are used to delineate lithological units and alteration minerals. Supervised classification techniques, namely Spectral Angle Mapper (SAM) and Spectral Information Divergence (SID) are applied to detect subtle differences between indicator alteration minerals associated with ground-truth gold locations in the area. The directional filtering technique is applied to help in tracing along the strike the different linear structures. Results demonstrate that the integration of image transformation techniques and supervised classification of ASTER data with fieldwork and geochemical exploration studies has a great efficiency in targeting new prospects of gold mineralization in the SSZ. The approach used in this research provides a fast, cost-efficient means to start a comprehensive geological and geochemical exploration programs in the study area and elsewhere in similar regions. 相似文献
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