国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

The bionic fin is the core movement mechanism of the bionic machine fish. In order to improve its motion control precision, a bionic fin attitude measurement system with high quality, small volume and high precision MEMS gyroscope ADXRS290 and ADXRS453 was designed for its light weight, tiny structural features, which could real-time realize measurement of yaw angle, pitch angle and roll angle of bionic fins. According to the characteristics of random error in the measurement of bionic fins, a posture error algorithm based on Allan variance has been given. Then, the error of the motion attitude was analyzed quantitatively by experimentally collecting the measured data. The experimental results showed that the angular rate random walk and the zero partial instability were the main error items of the attitude measurement. The follow-up error treatment can improve the accuracy of the attitude measurement and improve the efficiency of the movement of the bionic fin.