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�Ʊ�1, ������1, ������1, ������2*
1. װ��ָ�Ӽ���ѧԺ �����о�����, ���� 101416;
2. 61081����, ���� 100094
Design intelligent carrier tracking loop based on software GPS receiver
Tang Bin1, Yu Xiaqiong1, Dong Xurong1, Zhao Xinshu2*
1. Navigation Research Center, Academy of Equipment Command & Technology, Beijing 101416,China;
2. 61081 Troop, Beijing 100094, China

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Abstract�� Minimal invasive surgery assisted robot was developed in Robotics Institute in Beijing University of Aeronautics and Astronautics. Based on the requirement of neurological stereotactic surgery, dexterity of the robot was analyzed. Using concept of service sphere and service section, definition of dexterity was proposed at any point inside the workspace of the five degree-of-freedom robot, then, analysis method of workspace dexterity was proposed. Dexterity distribution within the workspace was given using numerical analysis and graphical display, and the result was verified through experiment on the robot physical prototype. With the help of dexterity distribution in workspace, reliable reference can be supplied for surgery operation planning.
Keywords�� software global position system receivers   fuzzy logic controller   carrier tracking loop     
Received 2006-03-30;
About author: �� ��(1978-),��,���մ����,��ʿ��,tangbinfriend@yahoo.com.cn.
�Ʊ�, ������, ������, ������.����GPS������ջ��ز����ٻ�·���[J]  �������պ����ѧѧ��, 2007,V33(07): 807-810
Tang Bin, Yu Xiaqiong, Dong Xurong, Zhao Xinshu.Design intelligent carrier tracking loop based on software GPS receiver[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(07): 807-810
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