姿态

ABSTRACT Three-axis flying posture simulator is a set of precise and sophisticated equipment with important significance of economy and national defence. TFPS is a kind of powerful instrument used to reproduce the flying posture of flying weapons in laboratory. TFPS, together with equipment producing infrared target, simulates the attacked target and flying missile, which can really simulate the various flying postures in space and dynamic characteristics. Thus, the performances of sensors, control system and actuator and so on can be tested and evaluated, which provides various reference bases for developing, improving and redesigning flying weapons.

三轴飞行姿态仿真转台是具有重大经济价值和国防战略意义的高精尖试验设备，它是在实验室条件下复现飞行器或导弹在空中飞行姿态的有力工具，它和红外目标发生装置组合在一起模拟袭击目标和飞行导弹，可以真实地模拟出导弹等飞行器在空间的各种姿态和动力学特性，从而对其传感器件、控制系统和执行机构等硬件设备的性能加以测试和评价，为飞行器的研制、改进和再设计提供各种参考依据。

First,the feature subspaces are formed from different pose images using ICA and PCA.Then the pose image is transformed into its corresponding frontal face image using the transformation matrix predetermined by learning.Based on this foundation,the wavelet transform is applied to face images,and the authors compare the frontal face feature coefficients directly which are obtained by using the transformation matrix with the feature coefficients of the original face images,the recognition rate is improved greatly.

首先利用ICA和PCA提取不同姿态人脸的特征子空间，然后利用通过训练得到的姿态转换矩阵合成其相对应的正面人脸图像，实验表明ICA人脸识别算法要优于PCA人脸识别算法，并在此基础上用小波对人脸图像进行预处理，据姿态转换矩阵得到的正面人脸特征系数直接进行分类比较，识别率得到了很大的提高。

The stratospheric nacelle attitude control system is the key technology in keeping position stabilization and posture adjustment.

气球吊篮姿态控制系统是吊篮在空中保持姿态稳定、进行姿态调整的关键部件。

The attitude error equation for the polar gyro is linear time-invariant, and that for the equator gyro is linear and time varying. Furthermore, they are independent of each other.

极轴陀螺的姿态误差方程是线性定常的，赤道陀螺的姿态误差方程是线性时变的，并且极轴陀螺与赤道陀螺的姿态误差方程是相互独立的。

In this paper,pose representation by quaternions are researched.With the basic quaternion algebra,the "quaternion based rotations combination theorem" is introduced and proved theoretically.On the basis of this theorem,a method for compute of pose nonliear state transfer function and its linearization is purposed.Then,the computing of the measurement function and the linearization is studied.With the Extended Kalman Filter,the pose is tracked and estimated.

研究用四元数表示物体的姿态，在四元数基本运算法则基础上提出并证明了"基于四元数的多个旋转运动合成规则"，然后将此规则为依据，推导出一种用来计算姿态非线性状态方程系数的方法，对非线性状态转移函数进行线性化，并且研究了测量方程函数的确定及线性化，借助扩展Kalman滤波实现了对姿态的跟踪。

A method about space object pose measurement by high-speed TV measurement system is introduced in which measurement rack,collimator and graphics plates with different angle are used to simulate space locomotory object.

介绍了利用高速电视姿态测量系统对目标姿态进行交汇测量的原理，使用检测架、平行光管以及图形板（刻有不同角度的目标刻线）室内模拟无穷远目标姿态。

Dual-manipulator coordination motion planning based satellite attitude control and path optimization strategy and algorithms are proposed. According to the function of two manipulators, four kinds of coordination modes of stabilizing function, counterbalancing function, adjusting function and cooperative operation are defined. Common motion planning algorithm for the four kinds of coordination modes is proposed.

在讨论卫星姿态控制的重要性和实现方法的基础上，指出了通过机械臂运动进行卫星姿态控制的可行性及优越性，提出了基于双臂协调运动规划的机器人卫星姿态控制及路径优化的策略和算法，定义了稳定作用、平衡作用、调节作用和协同作业等四种双臂协调方式，并给出了四种协调方式下统一的运动规划算法。

Sometimes the leaders may have moments, especially after abusive episodes, when they appear to humble themselves and confess their faults, and the contrast of these moments of vulnerability with their usual pose of being all-powerful endears them to members and gives hope for some open communication.

有时候，特别是在统治者发飙完，他们可能会短暂地显现谦卑姿态并自承过失，跟平时不可一世的姿态对照，这样的低姿态让成员喜爱并对公开沟通抱持希望。

In another set of works of the same series《Chairman》, Mao's statue on a pedestal assumes exactly the same waving posture. This posture is a classic image of Mao in the Nation's visual memory - as though he still stood on the Tiananmen Tower, proclaiming the establishment of People's Republic of China, or receiving thousands of red guards during the Cultural Revolution. But the artist tries to plot a difference in this iconic gesture. Mao's palm is painted in the shape of a hand gun. By doing so, he also instils a sense of violence in a solemn and imposing spiritual symbol. The replaced gesture evokes different kinds of historical memories - memories of civil war, memories of class struggles, as well as memories of total destruction.

他那挥手的姿态已经在有意无意之间模拟了领袖的举动；在这个系列的另一组作品《主席》之中，站立在雕像基座上的毛泽东正是一个挥手致意的姿态，这个姿态可以说是他留给整个中国的经典性的视觉记忆，仿佛他仍然站在天安门城楼上宣告中华人民共和国的成立，或者在文化大革命期间接见着从各地赶来的红卫兵们，而画家在这个手势中找茬，他将毛的手掌换成了一个手枪的样式，某种安详、伟大的精神象征被暴力感替换了，这个手势唤起的是另一种历史的记忆：内战的记忆，阶级斗争的记忆，打倒与毁灭一切的记忆。

While by introducing the spherical simplex UT, a better-behaved sigma point selection strategy, the number of sigma points required to the same transformation accuracy can be dramatically reduced, and accordingly, the computation burden can be avoided.

在有陀螺模式下，设计了基于误差修正罗德里格参数的SUKF姿态估计算法，在计算过程中同时能够保证四元数始终归一化。在无陀螺模式，基于MRPs的姿态表示和卫星刚体动力学方程，实现了SUKF姿态估计算法。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。