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z6bfxbg3%2%YwKusg#!$C;DX`-O&^qb9^om%B@aQQs#iN3VyouW%QkNZ1|e|49V!vp zAuYgTrQjeNxX!$1CV3yeth}{4FHTMvhGo-&{QOYp@AoU4g6vNwnJCs`E9WK++R9Ke zpZ#iE7(BZ@#db)1&iT)$BmYcC1D}Vt&W4_!*7oz%3=p*$`kwX8{A$Nam-z!&tMY{? z_ARWley5hMIF=C8uR-SK>AAEAvexjR-YM(Jf|q|@ZG1x+@iZGLD7!u7xO@8)y9)Ye G>AwJWMKBKl literal 0 HcmV?d00001 diff --git a/Docs/2024-09-15/README.md b/Docs/2024-09-15/README.md new file mode 100644 index 0000000..a52429f --- /dev/null +++ b/Docs/2024-09-15/README.md @@ -0,0 +1,44 @@ +# 2024-09-15 组会汇报 + +## 一、科研项目 + +1. 开发了`UWB`的标签,用于搭建真值参考环境。 + + ![](./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: +$$ +loss_{uwb} = max(abs(x_t-x_{t-1})^2 + abs(y_t -y_{t-1})^2) +$$ + +​ 修改后代码已经[提交](http://logzhan.ticp.io:30000/logzhan/Example-Research-COAT/commit/8349611e2f92aefe5907a89242d2b4eaea4fb5cd): + +## 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); +``` +