Experimental research on the muzzle response characteristics of small unmanned ground vehicles with small arms

2021 ◽  
pp. 095440622110570
Author(s):  
Yugang Ding ◽  
Kedong Zhou ◽  
Lei He ◽  
Haomin Yang
Keyword(s):  
High Speed ◽  
Threshold Function ◽  
Measurement Unit ◽  
Unmanned Ground Vehicles ◽  
Vehicle Speed ◽  
Ground Vehicles ◽  
Small Arms ◽  
Inertial Measurement ◽  
Variable Threshold ◽  
Response Characteristics

The muzzle response is the main feature affecting the firing accuracy of weapons. To research the muzzle response characteristics of small unmanned ground vehicles with small arms (SUGVsSA) during shooting, this paper designs a test method that combines an inertial measurement system (IMS) with a high-speed photogrammetric system (HSPS) to measure the muzzle response. That is, an inertial measurement unit (IMU) is fixed onto the gun body to record the three-dimensional angular motion of the barrel; meanwhile, a high-speed camera is used to capture the characteristic markers of the unmanned ground vehicle from the side. After data processing, the muzzle response curves during four consecutive firings when the vehicle is running at different speeds and firing angles are obtained. Considering the presence of noise in muzzle response signals, the wavelet threshold de-noising (WTD) algorithm based on a novel variable threshold function is used to de-noise the test signal. The processing results demonstrate that the WTD algorithm based on the novel variable threshold function can not only suppress noise in the muzzle response signal but also retain the local details of the signal. The combination of the IMS and HSPS complements the muzzle response data and can comprehensively and accurately reflect the muzzle response characteristics of SUGVsSA. As the vehicle speed and firing angle increase, the muzzle vibration intensifies, only when the vehicle speed is 0.3 m/s, and the muzzle maximum elevation angle displacement after each firing decreases when it is stationary. The results presented in this paper may provide a workable reference for understanding the muzzle response characteristics of SUGVsSA and evaluating the firearm compatibility of other unmanned systems.

Study of Zero Velocity Update for Both Low- and High-Speed Human Activities

2012 ◽  
pp. 65-84
Author(s):  
R. Zhang ◽  
M. Loschonsky ◽  
L.M. Reindl
Keyword(s):  
Human Activities ◽  
High Speed ◽  
Inertial Sensor ◽  
Stair Climbing ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Fast Walking ◽  
Zero Velocity ◽  
Wide Range ◽  
Algorithm Implementation

Previous studies show that inertial sensor-based personal positioning benefited from Zero Velocity Update (ZUPT) method by resetting the foot speed at every foot step. However, only the solution for normal pedestrian movement with small velocity like walking was given. This paper presents a novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit (IMU) modules. One is attached on the centre of the human body for human activities’ classification and recognition. The other one is mounted on the foot for ZUPT algorithm implementation based on the result of activities’ recognition. Test cases include stair climbing by walking and running, walking, fast walking, and running. In all cases, most of the steps are able to be detected and the new ZUPT system can be successfully implemented.

New method to evaluate three-dimensional push-off angle during short-track speed skating using wearable inertial measurement unit sensors

2019 ◽  
Vol 233 (4) ◽  
pp. 476-480 ◽  
Author(s):  
Kyungsoo Kim ◽  
Jun Seok Kim ◽  
Tserenchimed Purevsuren ◽  
Batbayar Khuyagbaatar ◽  
SuKyoung Lee ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Inertial Measurement Unit ◽  
High Speed ◽  
Three Dimensional ◽  
Analysis Data ◽  
New Method ◽  
Measurement Unit ◽  
Angle Estimation ◽  
Inertial Measurement ◽  
Speed Skating

The push-off mechanism to generate forward movement in skating has been analyzed by using high-speed cameras and specially designed skates because it is closely related to skater performance. However, using high-speed cameras for such an investigation, it is hard to measure the three-dimensional push-off force, and a skate with strain gauges is difficult to implement in the real competitions. In this study, we provided a new method to evaluate the three-dimensional push-off angle in short-track speed skating based on motion analysis using a wearable motion analysis system with inertial measurement unit sensors to avoid using a special skate or specific equipment insert into the skate for measurement of push-off force. The estimated push-off angle based on motion analysis data was very close to that based on push-off force with a small root mean square difference less than 6% when using the lateral marker in the left leg and the medial marker in the right leg regardless of skating phase. These results indicated that the push-off angle estimation based on motion analysis data using a wearable motion capture system of inertial measurement unit sensors could be acceptable for realistic situations. The proposed method was shown to be feasible during short-track speed skating. This study is meaningful because it can provide a more acceptable push-off angle estimation in real competitive situations.

High-speed navigation of unmanned ground vehicles on uneven terrain using potential fields

Robotica ◽  
2007 ◽  
Vol 25 (4) ◽  
pp. 409-424 ◽  
Author(s):  
Shingo Shimoda ◽  
Yoji Kuroda ◽  
Karl Iagnemma
Keyword(s):  
Potential Field ◽  
High Speed ◽  
Longitudinal Velocity ◽  
Unmanned Ground Vehicles ◽  
Performance Bounds ◽  
Ground Vehicles ◽  
Computationally Efficient ◽  
Field Methods ◽  
Local Maxima ◽  
Natural Terrain

SUMMARYMany applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. In this paper, a potential field-based method is proposed for UGV navigation in such scenarios. In the proposed approach, a potential field is generated in the two-dimensional “trajectory space” of the UGV path curvature and longitudinal velocity. In contrast to traditional potential field methods, dynamic constraints and the effect of changing terrain conditions can be easily expressed in the proposed framework. A maneuver is chosen within a set of performance bounds, based on the local potential field gradient. It is shown that the proposed method is subject to local maxima problems, rather than local minima. A simple randomization technique is proposed to address this problem. Simulation and experimental results show that the proposed method can successfully navigate a small UGV between predefined waypoints at speeds up to 7.0 m/s, while avoiding static hazards. Further, vehicle curvature and velocity are controlled during vehicle motion to avoid rollover and excessive side slip. The method is computationally efficient, and thus suitable for onboard real-time implementation.

Experimental Research on Influence of Vehicle Running Conditions on Emissions

2012 ◽  
Vol 482-484 ◽  
pp. 173-178
Author(s):  
Wen Wei Huang ◽  
Qiang Zhang ◽  
Long Lin Sun ◽  
Mou Rong Gao
Keyword(s):  
High Speed ◽  
Emission Factors ◽  
Measurement Unit ◽  
Emission Characteristics ◽  
Vehicle Speed ◽  
Variable Rate ◽  
Low Speed ◽  
Inflection Points ◽  
Secondary City ◽  
Engine Capacity

Experiments were done to the same car with engine capacity of 1.6 liter on three typical road conditions in Shenzhen for emission characteristics of CO、HC and NOx with SEMTECH-DS manufactured by Sensors Company in USA. Through analysis on the experimental data it is indicated that emission factors with the measurement unit of g/km produced inflection points at the vehicle speed of 7.5～10 Km/h, and its variable rate is big at low speed interval and stable at high speed interval; average emission factors of CO and HC for car running in secondary city main roads is two or five times than those in city main roads; emissions of CO and HC of car at idle and low speed conditions take higher proportion.

A novel high precision inertial measurement scheme and its optimization method for high-speed rotating ammunition

2014 ◽  
Vol 228 (13) ◽  
pp. 2553-2566 ◽  
Author(s):  
Qingya Wu ◽  
Qingzhong Jia ◽  
Jiayuan Shan ◽  
Xiuyun Meng
Keyword(s):  
Angular Velocity ◽  
High Precision ◽  
High Speed ◽  
Single Channel ◽  
Dynamic Environment ◽  
Angular Acceleration ◽  
Measurement Unit ◽  
High Precision Measurement ◽  
Inertial Measurement ◽  
Information Vector

A novel inertial measurement unit scheme with five accelerometers and two gyros (5A2G) is proposed in this paper to achieve high precision measurement in high dynamic environment. The three channels are decoupled during the angular velocity calculation procedure to ensure the precision and efficiency. The yawing and pitching angular velocities are directly measured by gyros, while only the rolling angular velocity is inferred indirectly from the rolling angular information vector composed of rolling angular acceleration and quadratic component of rolling angular velocity. Based on the proposed scheme, the configuration ascertainment problem for acquiring the required installation parameters of accelerometers is transformed into a constraint optimization problem with the objective of minimizing the error of rolling angular information vector. A single channel rolling angular velocity calculation model is then established on the basis of the optimal configuration and the extended Kalman filter algorithm is utilized for state estimation. Simulations are implemented and results indicate that the optimal 5A2G scheme is feasible for high-speed rotating ammunition.

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