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![](./Image/fig1.png) + +2. 调研了现有的`UWB`的融合定位方案,挑选了一些可行的优化方向。 + +3. 优化了融合定位的神经网络的损失函数 + +4. 修改损失函数: + + 修改前损失函数: + +$$ +loss_{uwb} = max(abs(x_t-x_{t-1}) + abs(y_t -y_{t-1})) +$$ + +​ 修改后损失函数: +$$ +loss_{uwb} = max(abs(x_t-x_{t-1})^2 + abs(y_t -y_{t-1})^2) +$$ + +## 二、工程项目 + +2.1 机器人安卓客户端优化 + +​ 新增了两个功能页面,修复了上一版本点击按钮后页面崩溃的问题。 + +2.2 机器人驱动修复 + +​ 修复了数据类型导致定位精度的问题。 + +```c++ +// 原先有问题的代码 +int32_t d = (int32_t)(lighthouse_d - uwb_d); +// 修改后代码 +float d = (float(lighthouse_d - uwb_d); +``` + diff --git a/README.md b/README.md new file mode 100644 index 0000000..b8a2a90 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +XXX组会汇报仓库 \ No newline at end of file