误差补偿

The common method, that all strong-correlation terms of the model are eliminated, can bring the loss in the engineering application, so the new method is proposed that the identified model reserves some correlation. The augmented matrix A is constructed by the outputΔW and the matrix S. The"determinating order based on ratio of determinant"is brought out to screen the strong-correlation terms in the structure identification. The latent root estimation is improved in screening the eigenvalues and eigenvectors. Thus the estimation precision is improved greatly.The consistence check of guidance instrument error coefficients of flight test and ground test is the purpose of flight experiment. The causes of inconsistency of the two models are analyzed. The hypothesis test of linear regression model based on F statistics is proposed to check the consistence.Finally, the instability of error coefficients is probably caused by the change of the flight environments, therefore, the relation between the error coefficients and flight environment is analyzed. The approach is presented to identify SINS guidance instrument error models and compensate the error in the segmented sections corresponding to the change of vertical acceleration of aircraft.

在结构辨识中，常用的方法由于将模型中的强相关项全部剔除而给工程应用带来损失，因此，本文提出了新的有益思想，即在保留一定相关性的基础上进行辨识：将输出向量ΔW与环境函数矩阵S构成增广矩阵A，然后采用"比定阶行列式"来剔除相关向量的方法，这样既可以尽可能多地保留了对落点影响大的强相关参数，又可以对落点影响小的强相关参数给予剔除；在参数估计中，改进了特征根估计中特征根和特征向量的筛选方法，提出"近零"准则，从而大大提高了参数估计的精度；再者，鉴于天地模型"一致性"检验是飞行试验和SINS制导工具误差系数分离的主要目的，因此，本文又深入分析了造成天地模型不一致的原因，提出了采用基于F统计的线性回归模型假设检验方法来进行捷联制导工具误差模型的天地"一致性"检验；最后，鉴于飞行环境剧烈变化可能会对惯性仪表误差系数稳定性带来一定的影响，因此本文深入地分析了SINS制导工具误差系数与外界环境的关系，提出了基于过载变化大小的分段辨识和分段实时补偿的算法。

On the basis of direct modelling method by using extended Kalman filter, a new method combining extended Kalman filter with adaptive extended Kalman filter is presented to model gyro drift directly from rotate angle of turntable. Extended Kalman filter has great estimation error, what is more, may be divergent if the model and noise statistic are not accurate or wrong. The new method solves the problem of general extended Kalman filter by using fictious noise with timevarying statistic to compensate the linearized model error of extended Kalman filter. The parameter estimators of single-axis and double-axis servo test are designed from it.

本文深入研究了根据伺服试验数据进行陀螺仪漂移误差模型建模的方法，在应用广义Kalman滤波器直接建模的方法基础上，针对广义Kalman滤波器对于不精确或错误的模型和噪声统计，估计误差较大，甚至滤波发散的缺陷，借助于用带时变噪声统计的虚拟噪声补偿广义Kalman滤波的线性化模型误差的新思想，提出了用广义Kalman滤波和自适应广义Kalman滤波算法相结合的方法由转台的转角数据直接建模陀螺仪漂移误差模型，并设计了陀螺仪单轴伺服和双轴伺服测试时参数估计的滤波器。

The inverse kinematic calculation is not required by the procedure given in this paper. With the interval method and simulation, the conclusion has been reached that, in most cases, robot calibration can be carried out in the nominal working space.

文中采用了参数误差的线性补偿方法，不仅不需要计算逆向运动学，而且可以利用参数误差识别部分求解的雅可比方程直接用来补偿计算，提高了效率。

On ultra precision lathe, author propose the principle of error in-process measurement and compensation of cylinder, end and contour, and use adjusted straightedge and sensor to build error on-line measurement and compensation control system of end turning.

研究了基于模糊数和插值原理的模糊控制算法，并用该算法实现了压电陶瓷微动刀架伺服系统的闭环控制，使其控制精度达到了±0.01μm；在超精密车床上，提出了圆柱面、端面和轮廓加工的误差在线测量与补偿原理，并利用标定的直尺和传感器建立了端面车削误差在线测量和补偿控制系统。

The method comprises the steps of: constructing a testing system which inputs digital codes and outputs simulated values of the analog-digital converter; obtaining a comparison table which is output through inputting responded simulated values of different digital codes from 0 to 2N-1 of the analog-digital converter; calculating to obtain an integration non-linear error comparison table corresponding to different digital code input of the analog-digital converter; compensating integration non-linear errors of the analog-digital converter through a hardware compensating method of adding a subtracter; and obtaining accurate analog-digital converter output.

搭建数模转换器的数字码输入-模拟值输出的测试系统；获得数模转换器从0到2 N -1的不同数字码输入响应的模拟值输出的对照表；计算得到数模转换器相应于不同数字码输入的积分非线性误差的对照表；通过加入减法器的硬件补偿方法，补偿数模转换器的积分非线性误差，获得准确的数模转换器输出。

Data pre-processing technologies such as singular points elimination, registration and radius compensation are studied. Base on chord high difference algorithm, a new one called chord high difference-ratio algorithm is proposed to improve veracity and robusticity of singular points elimination. Then, a registration algorithm based on local surface reconstruction is proposed, which avoids infaust influence coming from single reference point error.

在弦高差法的基础上，提出了全新的弦高差—比法，提高了异常点剔除的准确性和柔韧性；提出了一种基于局部图形重构的重定位方法，该方法通过对特征球的最小二乘拟合，消除了单一参考点的精度对重定位的影响；在此基础上对重定位的误差进行了详细的分析，给出了精确的误差值，从数学的角度保证了重定位的精度；在三角网格法的基础上提出了基于Delaunay三角剖分的半径补偿新方法，有效改善了补偿矢量的计算效率和准确性。

The adaptive compensation term of the optimal approximation error and a new robust term are adopted to minify the influence of modeling error and parameter estimation error.

该方案通过引入最优逼近误差的自适应补偿项和新的鲁棒项，削减建模误差和参数估计误差的影响，从而在稳定性分析中取消了要求逼近误差平方可积或逼近误差的上确界已知的条件。

Fully considered the structure and process characteristics of strip mill shape detection equipment,through plenty of field experiments and theory study,a set of error analysis model fit for strip mill shape detection equipment has been set up for the first time with combining theory of the classical mechanics and modern computer technology,which will create the right complex error compensation scheme and put it into the productive practice.

充分考虑板带轧机板形检测设备的结构与工艺特点，经过大量的现场试验与理论研究，将经典力学理论与现代计算技术有机结合，首次建立了一套适合于板带轧机板形检测设备系统误差分析模型，给出了相应的误差综合补偿方案，并将其应用到生产实践，对不同张力下检测辊的挠曲、倾斜、磨损等因素进行了综合补偿，大大降低了现场的板形封锁率，给企业取得了较大的经济效益，具有进一步推广应用的价值。

Position transformation error is a important part in research of north seeking scheme, the thesis analyses position transformation bringing error of north seeking in two-position scheme and brings forward the method of position transformation error measurement and compensation.

在寻北方案的研究中，转位误差是一个不可忽视的部分，文中以二位置为例分析了转位误差引起的寻北误差和转位误差的关系，并提出了测量和补偿方法。

operation process and arithmetic of the two-position gyro-based north seeker are introduced.

文章介绍了二位置陀螺寻北仪工作过程及算法原理，它采用陀螺仪在相差180°的两点上采样相互对消陀螺常值漂移的方法，提高寻北精度；其突出特点是结构简单，实现方便，精度较好；为了提高寻北精度和缩短寻北时间，文章找出误差源中的转位误差，并分析了转位误差对寻北误差的影响，推导了误差公式，得出转位误差引起的寻北误差是一个常量的结论，同时提出了转位误差的测量与补偿方法。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。