Transcript 11月29日分

第10回
11月29日
略語と日本語訳
 The European Geostationary Navigation Overlay Service
(EGNOS)
 静止衛星を利用したナビゲーション精度向上サービス
 the European Organisation for the Safety of Air
Navigation (Eurocontrol)
 欧州航空航法安全機構
 European Space Agency (ESA)
 欧州宇宙機関
Satellite navigation - How does it work ?(1)
Since time immemorial, people have looked to the
heavens to find their way. Today, satellite navigation is
continuing this tradition, while offering, thanks to leadingedge technology, an accuracy far beyond that possible by
simply observing the sun and the stars. This technology,
which has been developed over the last thirty years or so,
essentially for military purposes originally, enables anyone
with a receiver capable of picking up signals emitted by a
constellation of satellites to instantly determine their
position in time and space very accurately.
Satellite navigation - How does it work ?(2)
The operating principle is simple: the satellites in the
constellation are fitted with an atomic clock measuring time
very accurately. The satellites emit personalized signals
indicating the precise time the signal leaves the satellite. The
ground receiver, incorporated for example into a mobile
phone, has in its memory the precise details of the orbits of
all the satellites in the constellation. By reading the incoming
signal, it can thus recognize the particular satellite, determine
the time taken by the signal to arrive and calculate the
distance from the satellite. Once the ground receiver
receives the signals from at least four satellites
simultaneously, it can calculate the exact position.
• Advanced Driver Assistance will include also functions for
and mobility
improvements
road traffic,
such as for
•safety
Advanced
Driver Assistance
willin
include
also functions
collision
warning,
vision
enhancement,
low speed
safety and
mobility
improvements
in road
traffic, such as
manoeuvring
aid, etc.vision enhancement, low speed
collision warning,
manoeuvring（maneuvering） aid, etc.
Transport, At sea
• Given that 80% of accidents at sea are due to human error,
provide
an answer
byare
providing
constant
and
•GALILEO
Given thatwill
80%
of accidents
at sea
due to human
error,
very
precise information
a vessel's
position and
route,
GALILEO
will provideabout
an answer
by providing
constant
while
increasing
efficiency about
of search
and rescue
facilities,
and very
precisethe
information
a vessel's
position
and
whether
for commercial
or recreational
route, while
increasingshipping
the efficiency
of search craft.
and rescue
facilities, whether for commercial shipping or recreational
craft.
井出
Unquestionable economic
viability
確かな経済の存続
The PricewaterhouseCoopers study, based on updated
forecasts for a period of twenty years, shows a benefit/cost
ratio of 4.6.
池田（拓）
Safety
GALILEO will provide new possibilities to motorists and
public authorities in the following fields:
navigation and of guidance systems, based on digital maps,
enriched by safety information transmitted to the drivers on
the static dangers that he will encounter (dangerous curves
etc.) and the dynamic dangers (icy roads, traffic jams or
accidents that only just occurred);
木場
翻訳における注意点
• 訳文には数詞を入れること
– 人、ユーロ、件
• 極力日本語に訳すこと
– Estimated availability date is late November.
– 入手は１１月末になる見込みです。
• 前置詞の意味を理解すること
– should be operational in 2004
– 2004年までに
２．２
例題２
• 図はフレーム｛A}に対して Ẑ 軸まわりに30°
回転し、X̂A 方向に10、 ŶA方向に５だけ並進
移動したフレーム｛B}を示したものである。
B
P  3.0 7.0 0.0 であるとき、A P を求めよ。
0.866  0.500 0.000 10.0
0.500 0.866 0.000 5.0 
A


T

B
0.000 0.000 1.000 0.0 


0
0
0
1


A
P ABT BP
3.0
B
P  7.0
0.0
0.866  0.500 0.000 10.0 3.0  9.098 
0.500 0.866 0.000 5.0  7.0 12.562
   


0.000 0.000 1.000 0.0  0.0  0.000 

   1 
0
0
1 1 

 0
２．５
例題３
• 図はフレーム｛A}に対して Ẑ 軸まわりに30°
回転し、 X̂A方向に４、ŶA 方向に３だけ並進移
A
動したフレーム｛B}を示したものである。 BT
B
の記述がわかっているとして AT を求めよ。
0.866  0.500 0.000 4.0
0.500 0.866 0.000 3.0
A


T

B
0.000 0.000 1.000 0.0


0
0
1
 0
 0.866 0.500 0.000  4.964
 0.500 0.866 0.000  0.598
B


T

A
 0.000 0.000 1.000
0.0 


0
0
0
1


同次変換行列の特徴
• 変換によって大きさは変わらない。
• 合同変換とも言う。
• 回転行列を正則行列にすれば同次変換行列
はアフィン変換になる。
姿勢の表現
1. ロール・ピッチ・ヨー角；基準座標系を回転
2. オイラー角；回転された座標系を回転
3. 方位ベクトル（回転軸）と回転角