利用结构分析与设计语言AADL(Architecture Analysis and Design Language)对无线传感器网络进行建模,并对其中一个节点进行了详细的分析。介绍AADL语言以及它在嵌入式系统中建模的优势,展示了无线传感器网络的特征和关键技术。结合AADL,针对温度传感器案例,对温度传感器的结构及功能进行了详细描述,充分体现了此传感器节点的工作原理与内部结构,有助于提高其结构上的可改进性和扩展性,以进一步应用到传感器网络中。
The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.
