792results about "Angle measurement" patented technology

The invention relates to the technical field of data processing, and discloses a VICTS antenna attitude estimation and correction method and system based on satellite pointing feedback, and the method comprises the steps: constructing a tight coupling depth fusion system with extended Kalman filtering as a frame, introducing satellite communication antenna pointing information as a new observation source on the basis of traditional IMU / GNSS fusion, and carrying out the satellite communication antenna attitude estimation and correction. By deducing the Jacobian matrix of the carrier attitude, effective fusion of the observed quantity is realized, so that the attitude estimation precision and robustness of the carrier are reversely corrected and remarkably improved, the three-axis attitude error is estimated and corrected more comprehensively and steadily, and the problem of lack of roll angle observation is fundamentally solved. Observation information of different dimensions is unified into the same state estimation framework through accurate mathematical modeling, and the precision, autonomy and robustness in a complex environment of the system are greatly improved.

The invention relates to pipeline circumferential weld detection, and discloses a pipeline circumferential weld defect detection method and system based on deep learning, multiple sensors are arranged on the surface layer of a pipeline to collect multi-modal signals, an inertial measurement device is combined to carry out pose correction, and a multi-modal time sequence data matrix is constructed; performing preprocessing and segmentation, calculating to obtain a dynamic reference band, and outputting upper and lower bounds; performing broken line fitting on each segment to extract a phase change factor triple, and comparing with a reference band to screen event candidate segments; constructing a multi-segment time domain coupling relation graph based on the candidate segments, and generating a dominant response mode candidate set; inputting a multi-branch time sequence coding network to extract a three-mode feature and generate a time sequence fusion feature; and performing similarity matching with a defect prototype library to obtain a defect category probability sequence, performing single-mode ablation and time sequence playback verification to obtain a high-confidence index, mapping the high-confidence index to a spatial position, and outputting a defect category and severity in combination with a feature index. According to the method, high-precision defect detection and reliable classification under the trenchless condition can be realized.

The invention relates to a course axis drift suppression method and device, a holder and a medium, and the method comprises the steps: receiving original data of a current course, the original data comprising an absolute angle outputted by a course encoder, and an acceleration and an angular velocity outputted by an IMU module; the original data are converted into a unified coordinate system through a rotation matrix, and mechanical installation deviation is compensated; performing data fusion on the compensated original data through a preset fusion algorithm; and outputting the fused absolute angle to a servo mechanism of the holder, and by adopting the method, through real-time sensor data alignment, a dynamic compensation algorithm and a fusion algorithm, a course drift suppression mechanism which is resistant to dynamic interference and low in cost is constructed, and static drift lt can be realized; the dynamic tracking error is 1t, 0.01 degree / h and 1t; and the technical index is 0.05 degree.

The invention belongs to the technical field of space remote sensing surveying and mapping, and particularly relates to a monitoring system and method for a front and rear view visual axis included angle and absolute direction of a surveying and mapping camera. The method comprises the following steps: S1, through side sway of a satellite platform, taking a time for sky imaging calibration as a reference time; s2, calculating a rotation matrix from a front and rear view ground camera measurement coordinate system to a star camera coordinate system at a reference moment; s3, calculating respective thermal deformation matrixes of the star camera coordinate system, the front-view camera measurement coordinate system and the rear-view camera measurement coordinate system; s4, obtaining a real-time rotation matrix from the measurement coordinate system of the front-view camera to the coordinate system of the star camera and a real-time rotation matrix from the measurement coordinate system of the rear-view camera to the coordinate system of the star camera at the measurement moment; and S5, carrying out arc cosine calculation on the two absolute pointing vectors to obtain a visual axis included angle between the front-view camera and the rear-view camera at the measurement moment. According to the invention, while the geometric accuracy of the surveying and mapping camera is ensured, the real-time performance of measurement and the comprehensiveness of subsystem monitoring are realized at the same time.

The invention discloses an offshore small target radar detection method and system, and relates to the technical field of radio detection. The method comprises the following steps: acquiring radar echo data, a visible light image, an infrared image, an AIS signal and navigation attitude data in real time; performing sea clutter suppression and pre-filtering on the radar echo data, and correcting target plots in combination with a historical radar plot set to obtain a radar single-source target track set; performing target detection on the visible light image and the infrared image to obtain an optical target detection set and an infrared target detection set; the radar single-source target track set, the optical target detection set, the infrared target detection set, the AIS signals and the navigation attitude data are associated and fused, and finally deception feature recognition and consistency verification are performed to obtain an updated fused target track set; according to the method, man-made confrontation and cheating behaviors on the sea can be accurately identified, and reliable support is provided for safety monitoring on the sea, maritime affair supervision and emergency response.

The invention relates to the technical field of automatic control, in particular to a detection equipment attitude real-time correction system which comprises an attitude trajectory extraction module, a trajectory stability evaluation module, an interference area recognition module, a light spot trajectory reconstruction module and an attitude correction control module. According to the invention, through comprehensive extraction of the direction change trend, the angle difference and the trajectory overlapping condition in the light spot image sequence, the trajectory trend of the attitude change between continuous frames is established, so that the identification of the attitude offset evolution process is more detailed, the attitude change stability analysis is realized in the time sequence dimension, and the accuracy of the attitude change is improved. Interference area identification is carried out by means of luminance continuity and spatial distribution consistency of light-emitting pixels, real light spots and lagging residual signals can be effectively distinguished, a light spot track path is reconstructed on the basis of interference removal, and real-time calculation of a track dynamic offset direction and an angle change amplitude is combined with track correction rule setting, so that the accuracy of track correction is improved. And the specific correction action matching of the deviation state is realized.

The invention relates to the technical field of bionic navigation orientation and positioning, in particular to a carrier course angle measuring method based on polarized light imaging in a non-Rayleigh atmosphere. Comprising the steps of real-time sky polarized light imaging, atmospheric polarization mode resolving based on Mueller matrix imaging, non-Rayleigh polarization information interference removal, polarization orientation resolving based on Rayleigh scattering, space projection conversion and sun position information resolving. Alignment information of the sun in a carrier coordinate system is obtained by utilizing a Rayleigh scattering model and actual sky polarization imaging, and then a carrier course angle is obtained according to the orientation of the sun in a local geographic coordinate system, so that an orientation function is realized; meanwhile, the error influence caused by image registration and time-sharing rotation measurement of the multi-view-field polarization detector and the interference of environmental factors on a single point are avoided, the method can adapt to sunny and cloudy weather, is also applicable to cloudy and other non-Rayleigh weather, and is wide in application range.

The invention relates to a heading machine pose measurement and control method and system based on visual direction finding and communication distance measurement. The system comprises a base station end measuring system in a roadway, a mobile end measuring system on a heading machine body and a motion control module. The method comprises the following steps: S1, establishing a base station end coordinate system; s2, establishing a mobile terminal coordinate system; s3, the base station side identifies and measures the vector information of the characteristic light source of the mobile terminal through a visual sensor; s4, the base station end and the mobile end measure the distance between the base station end and the mobile end through communication ranging equipment; s5, calculating the three-dimensional position of the mobile terminal in the coordinate system of the base station terminal based on the vector information and the distance information; s6, according to the three-dimensional position and the inertial measurement data of the mobile terminal, carrying out combined navigation calculation based on an EKF algorithm; and S7, performing pose control based on a combined navigation calculation result. According to the invention, a means of combining visual direction finding, communication distance measurement and inertial measurement is adopted, so that the position measurement precision is improved.

The invention relates to the technical field of perception fusion, and discloses a tug fusion enhanced perception method based on target tracking and obstacle recognition, which comprises the following steps: processing an AIS, an optical fiber compass, a Beidou RTK, a laser radar, a millimeter wave radar and a panoramic camera on a tug to establish a ship coordinate system; and collecting message data of the AIS and combining with the MMSI information to screen the target ship to obtain the initial position of the target ship. And predicting the state sequence of the target ship to obtain the position, speed and heading information of the target ship. And carrying out target identification on the image, outputting identification results of semantic levels of the ship, the buoy and the quay wall, and carrying out space projection alignment with radar data. And fusing the processed results to obtain a fusion result, and performing early warning according to the fusion result. According to the method, the target ship relative pose resolving precision and the obstacle recognition reliability are improved, the sensing link time delay is shortened, and the driver blind area risk is reduced.

The invention discloses a single-satellite target sight atmospheric refraction correction method and system based on multi-spectral range finding, and relates to the field of atmospheric refraction processing, and the method comprises the steps: determining a target radiation intensity ratio based on two radiation intensities on different wavebands at the same moment; obtaining observation sight lines of the satellite on the measured target on different wave bands at the same moment, and carrying out light trace tracking to obtain a light ray tracking trajectory; determining a target grid through which each ray tracing trajectory passes from the atmosphere gridding model, determining an extinction coefficient of each target grid, and constructing a target function of a radiation intensity ratio with respect to the height of the target from the ground in combination with a radiation intensity calculation formula; determining a target height from the measured target to the ground based on a target function and a target radiation intensity ratio, determining the position of the measured target according to a track point matched with the target height in each light ray tracing track, and determining a sight line vector after atmospheric refraction correction by combining the position of a satellite, therefore, high-precision atmospheric refraction correction under a single-star observation condition is realized.

The invention discloses an autonomous positioning and navigation method and system for a ground mobile robot. The method comprises the following steps: S1, multi-source asynchronous environment perception and initial positioning; s2, carrying out adaptive fusion on multi-source data of time-space association; step S3, global pose optimization under semantic constraint; s4, decision planning driven by the dynamic risk field; and S5, automatically recovering the abnormal state and updating the map. According to the invention, through environmental response type sensor fusion, multi-modal semantic constraint modeling and entropy-driven intelligent decision-making mechanism synergistic effect, industrial pain points of positioning drift, low planning efficiency and insufficient long-term operation reliability in a complex dynamic scene are systematically solved; the centimeter-level positioning precision and the smooth motion trail are kept under the extreme conditions of severe illumination change, dense obstacle disturbance and repeated structure path, the passive operation and maintenance mode that a traditional navigation system depends on manual intervention is thoroughly changed, and a full-autonomous navigation capability closed loop is provided for industrial logistics and commercial service scenes.

The invention relates to an AR (Augmented Reality) space true north calibration method, device and equipment and a medium. The method comprises the following steps: acquiring fixed solution positioning data in a moving process by utilizing RTK (Real-Time Kinematic) equipment; based on the fixed solution positioning data, selecting a first positioning point and a second positioning point, calculating a coordinate azimuth angle between the two positioning points by using Gaussian positive and negative calculation, and calculating a meridian convergence angle at the first positioning point; calculating an included angle between a connecting line of the first positioning point and the second positioning point and the true north direction based on the coordinate azimuth angle and the meridian convergence angle to obtain a geographic true north direction angle; and continuously monitoring data of a gyroscope of the RTK equipment and a gyroscope on the AR running equipment, and dynamically adjusting the true north direction angle in the AR space by adopting a double-loop control structure based on the geographic true north direction angle, so as to ensure that the AR space is consistent with the true geographic direction. Compared with the prior art, the method has the advantages that the AR space direction precision is improved from + / -5 degrees to + / -0.1 degrees, and the surveying and mapping standard is achieved.

The invention discloses a system and a method for automatically measuring pipe network parameters based on three-dimensional scanning of a wellhead of an inspection well, and belongs to the technical field of municipal engineering measurement. The system comprises a wellhead fixing assembly, a three-dimensional laser scanning assembly, a posture sensing assembly, a distance measuring assembly, a coordinate input assembly, a control processing assembly and a telescopic rod assembly. According to the method, through system deployment leveling, coordinate reference establishment, working condition judgment, point cloud acquisition, data processing and result output, automatic measurement of inspection well depth, pipe network pipe diameter, pipeline trend and pipe orifice center coordinates is realized. The system is fixed at a wellhead, does not need to descend, and adapts to scenes such as shallow wells / deep wells and good / weak signal areas; based on a high-density point cloud and an automatic algorithm, the measurement precision is high, the efficiency is improved, and output data can be directly used for pipe network modeling. The method solves the problems of low efficiency, strong manual dependence and poor safety of traditional measurement, and is suitable for parameter measurement of various inspection wells and pipe networks.

The invention discloses a battery pack special-shaped part accurate positioning method and system fusing a disassembly topological relation, and belongs to the technical field of power battery disassembly positioning. The method comprises the following steps: acquiring a global point cloud of a battery pack by using a global camera, and registering with a preset CAD model to obtain a transformation matrix; a graph neural network assembly relation scene graph is constructed based on the matrix and a CAD model analysis result, and semantic association recognition of the parts is achieved; performing difference detection by comparing the registered CAD model with the global point cloud, and marking the state of the part; and planning an optimal recognition view angle of the local camera according to a sheltered or uncertain state, controlling the local camera to obtain a local point cloud and performing fine positioning, and updating pose information in the scene graph. The method is mainly used for accurate positioning of special-shaped parts in the power battery disassembling process, data support is provided for robot disassembling operation, the positioning robustness under the severe working condition is improved, and meanwhile the positioning problem caused by shielding is effectively solved.

The invention relates to the technical field of automobile fault detection, and discloses a self-adaptive optimization method and system of an automobile fault detection system and a storage medium. The method comprises the following steps: performing real-time detection on attitude data based on a preset inclination angle threshold value and steering signal delay, and generating angular velocity sensing data and a vibration interference identification result; performing characteristic decomposition on the attitude data stream, identifying abnormal fluctuation, judging whether a potential fault signal exists or not, updating the calibration frequency of the vehicle-mounted sensor, and obtaining adjusted parameter configuration information; a fusion result of the attitude data is analyzed, an evaluation index of deviation correction precision is calculated, a real-time feedback mechanism is constructed based on the evaluation index, and a fault signal correction scheme is generated; and constructing a continuous detection cycle, analyzing the matching effect of the calibration frequency and the steering signal delay, and if the deviation correction precision does not reach a first preset standard, iteratively processing the attitude data. According to the invention, the precision and response speed of adaptive optimization of the automobile fault detection system are improved.

The utility model provides an underwater robot for bridge detection, which relates to the technical field of bridge detection, and comprises a robot main body, a floating component for providing floating force is arranged at the upper part of the robot main body; the propeller set comprises two side propellers and two tail propellers, the two side propellers are located on the front face of the robot body, and the two tail propellers are located at the same end of the buoyancy assembly and symmetrically arranged front and back; and the two symmetrical walking mechanisms are arranged on the robot main body through mounting structural members. The beneficial effects of the utility model are that through the reasonable layout of the propeller group and the cooperative work of the propellers at the two sides and the tail part, accurate water surface positioning and movement are realized, and the robot is ensured to smoothly approach and fit a pile foundation from the water surface; the posture of the whole machine does not need to be adjusted when the pile foundation is close to the pile foundation, and the pile foundation can be directly adsorbed and attached through the propellers on the two sides; a tensioning mechanism in the walking mechanism has self-adaptability, and an elastic support is matched with a connecting frame connected in a sliding mode.

The invention provides an AIS position information detection method and device, equipment and a medium, is used for the technical field of ship detection, and can solve the problem of low accuracy of existing AIS information detection. Comprising the following steps: receiving AIS position information, and determining a first azimuth angle corresponding to the AIS position information according to a target position coordinate and a ship coordinate in the AIS position information; determining phases and amplitudes corresponding to the AIS signals according to the signal receiving equipment and the AIS signals corresponding to the multiple pieces of AIS position information in the preset time period, and calculating a second azimuth angle corresponding to the AIS position information according to the phases and the amplitudes; determining a deviation angle between the first azimuth angle and the second azimuth angle, and comparing the deviation angle with a preset angle threshold value to obtain a comparison result; determining a detection result corresponding to the AIS position signal according to a comparison result; therefore, the detection accuracy of the AIS position information is improved.

The invention relates to the field of basketball teaching, and discloses a basketball teaching feedback system and method based on action recognition, and the method comprises the steps: employing a multi-sensor cooperative collection mechanism to carry out the partition sampling of body key points and a basketball moving track in a fixed-point shooting training process of a student, and obtaining an original signal set for depicting detailed actions; the original signal set is mapped into a multi-stage time sequence model, and modeling is conducted on the nonlinear coupling relation between the wrist rotation amplitude and the elbow joint stretching angle; based on the multi-dimensional feature tensor, constructing a multi-scale sliding window to dynamically slice the angle track at the moment of hand release; generating a grading heat map according to the influence degree of the key abnormal segment on the shooting precision, and respectively endowing different priority weights to the hand-out angle stability, the elbow joint control force and the follow-up coherence; and based on the feedback priority queue, carrying out dynamic evolution deduction on the chain abnormity formed in the training period. The method has the advantage of improving the pertinence of teaching.

The invention discloses a turnout space structure parameter intelligent detection device and a method thereof, which utilize laser scanning and multi-sensor fusion technology and integrate a mechanical-electrical integrated structure, realize effective detection of turnout space structure parameters, meet the rapid and comprehensive detection requirements of common single-open turnouts, and improve the detection efficiency. The defects of low efficiency and more missed judgment of manual patrol are overcome, the detection efficiency is greatly improved, and automatic and intelligent detection equipment and technical means are provided for a railway engineering site.

The invention provides a cable-stayed bridge cross brace hoisting monitoring and early warning method, and the method comprises the steps: building a finite element model based on the design parameters of a cable-stayed bridge and a cross brace, and calculating the safety envelope of the displacement, rotation angle and stress of a control point; displacement, strain and cable force sensors and industrial cameras are arranged in a cross brace and an anchoring area, and data and images are collected. Inputting the image into a first convolutional neural network model, extracting attitude parameters such as vertical and lateral offsets and torsion angles of each control point, and adapting to different imaging scales through a scale adaptive convolution module; and aligning and splicing the attitude parameters with sensor displacement, strain and cable force indexes according to time to form a feature sequence, inputting the feature sequence and safety envelope parameters into a second convolutional neural network risk assessment model, outputting a comprehensive risk index reflecting deviation from safety envelope, and generating construction treatment instructions such as hoisting speed reduction and hoisting point stress adjustment. According to the monitoring and early warning method, the construction safety is greatly improved, and monitoring and early warning of the whole process of cross brace hoisting are achieved.

The invention discloses a configurable low-power-consumption six-axis inertial sensor sampling method suitable for livestock and poultry, and belongs to the technical field of animal behavior recognition and intelligent breeding. According to the method, by setting an intermittent sampling strategy and combining low-frequency period awakening and a short-time high-frequency data sampling window, behavior recognition data collection of the six-axis inertial sensor under the low-power-consumption condition is achieved. Meanwhile, a sampling template mechanism based on a behavior target is introduced, various sampling parameters can be configured according to the growth stage of the animal, the monitoring requirement and the variety difference, and multi-scene switching application such as oestrus recognition, parturient monitoring and night energy-saving guarding is supported. In addition, the system has an edge recognition capability, and can automatically trigger temporary recollection when detecting that the attitude angle is abnormal, so that the integrity of key behavior data is guaranteed. The method has the advantages of low power consumption, accurate recognition, flexible configuration, high adaptability and the like, and is widely applied to behavior monitoring scenes of bred animals such as dairy cows, pigs, sheep, chickens, ducks, geese and the like.

The invention provides an impervious wall joint pipe drawing monitoring device based on frictional resistance monitoring and a use method, the impervious wall joint pipe drawing monitoring device comprises a plurality of joint pipes which are lowered to the end part of a groove section of an impervious wall, and a detection device is fixedly arranged at the end part of the lowest joint pipe; the frictional resistance detection device comprises a control device, a side wall friction cylinder and a plurality of side resistance sensors, and a tilt angle sensor is further arranged in the detection device and used for monitoring the tilt angle of the connector pipe in real time and guaranteeing the lowering precision of the connector pipe. The method comprises the following steps: establishing a relationship between the frictional resistance of the end part of a joint pipe and the concrete strength in a concrete diaphragm wall pouring process through an indoor test, calculating the stress condition of the concrete at the end part of the joint pipe in the concrete diaphragm wall pouring process by using a finite element method, and determining a relationship between the concrete critical strength and the pipe drawing critical frictional resistance; therefore, the pipe drawing time is guided according to the frictional resistance measured by the detection device.

The invention belongs to the technical field of attitude change detection, and particularly relates to a real-time monitoring system and method for attitude change of a front-rear view surveying and mapping camera. The method comprises the following steps: firstly carrying out ground calibration, then determining a reference moment as a moment when the real-time monitoring system starts to start, then constructing a monitoring link at the reference moment, measuring a corresponding matrix obtained at a working moment, finally confirming the monitoring link at the working moment, and deducing a transformation matrix of the front-view camera and the rear-view camera under a J2000 coordinate system. According to the method, the real-time performance of the measurement process and the comprehensiveness of system monitoring can be considered while the geometric accuracy of the surveying and mapping camera is ensured.

The invention relates to a hybrid speed reduction transmission equatorial telescope based on a crossed roller bearing. The equatorial telescope comprises a shell, a right ascension axis hybrid speed reduction transmission assembly, a declination axis speed reduction transmission assembly, the crossed roller bearing, a laser beam parallelism adjusting mechanism and a base. The right ascension shaft mixed speed reduction transmission assembly comprises a right ascension shaft motor, a right ascension first-stage speed reducer and a right ascension second-stage speed reducer, the right ascension first-stage speed reducer is a harmonic speed reducer, and the right ascension second-stage speed reducer is a worm and gear transmission pair; the declination axis speed reduction transmission assembly comprises a declination axis motor and a declination axis speed reducer; an outer ring of the crossed roller bearing is fixed on the rear shell, one end face of an inner ring is fixed with the output end of the right ascension shaft mixed speed reduction transmission assembly, and the other end face of the inner ring is fixed with the right ascension shaft output seat; and the declination shaft speed reduction transmission assembly is fixed on the right ascension shaft output seat. The equatorial telescope has the advantages of being high in degree of freedom, small in size, light in weight and high in bearing capacity, and the equatorial telescope is high in reduction ratio, stable in tracking, high in tracking precision and low in power consumption.

The invention discloses a method for measuring hydrological flow through amphibious equipment, and relates to the field of hydrological flow monitoring, the method comprises the steps that an amphibious platform with a ship body at the bottom and multiple rotor wings additionally arranged at the top is utilized, an ADCP, a GNSS / IMU, an environment sensor and the like are integrated, and the interference trend and the threat level are pre-judged by means of a prediction model by sensing water flow, waves, wind power and the posture of the ship body in real time. An active stability control algorithm is adopted, power output of an underwater propeller and an air rotor wing is dynamically coordinated and distributed, a ship body is restrained from moving to a measurement allowable error range, and the core of the method is that an operation mode is intelligently switched, and underwater power contact measurement is relied on in medium and low water; the system lifts off in high water or flood, GNSS positioning is adopted for non-contact hovering measurement, the industrial problems that traditional cableway flow measurement is likely to be broken, and sailing ADCP is likely to be out of control and lose efficacy in torrent are thoroughly solved, full-scale, high-precision and full-automatic hydrological flow online monitoring is achieved, and a reliable technical means is provided for flood control, disaster reduction and water resource management.

The invention discloses a methane emission flux analysis method, device and equipment and a storage medium, and belongs to the technical field of atmosphere remote sensing monitoring, and the method comprises the following steps: obtaining methane vertical spectrum data and auxiliary observation data under a target area; based on the methane vertical spectrum data and the auxiliary observation data, separately calculating a source methane concentration field in a target height range; performing spatial-temporal characteristic analysis on the source methane concentration field to obtain a plurality of groups of spatial-temporal orthogonal characteristics, the spatial-temporal orthogonal characteristics being used for representing methane column concentration background change characteristics in a target area and dynamic difference of methane column concentration on a transmission path; and performing energy emission source analysis on the multiple groups of space-time orthogonal characteristics to obtain methane emission intensity distribution of the target area. According to the method, the analysis of the methane concentration can be realized through the statistical relationship, and the accurate analysis of the methane emission flux and the emission attribution can be realized.

The invention belongs to the technical field of bridge engineering, and particularly relates to an analysis method for intelligently sensing a hanging basket of a corrugated steel web box girder bridge, a terminal and a storage medium, and the method comprises the steps: obtaining deformation data of a plurality of measurement points installed on the hanging basket of the corrugated steel web box girder bridge in an actual asynchronous method construction process; establishing an initial finite element model based on the geometric information of the hanging basket structure, and setting an elastic constraint condition at each support position of the initial finite element model; according to the invention, the static level gauge, the inclinometer and the strain gauge are arranged at the key positions of the hanging basket to construct a multi-source sensing monitoring network, so that the cooperative sensing of the vertical displacement, the inclination attitude and the structural strain is realized, and the comprehensiveness and accuracy of the state sensing in the construction process are effectively improved. Secondly, a vertical spring unit is introduced into the finite element model to serve as elastic constraint, the vertical compression deformation behavior of the corrugated steel web under the load effect is truly simulated, and the physical authenticity of boundary conditions is remarkably improved.

The invention discloses a method for calculating the posture of a berth airplane in rainy and snowy weather. The method comprises: acquiring an aircraft cleaning point cloud; performing coarse registration on the aircraft cleaning point cloud and the target point cloud, and outputting a registered aircraft pose; and carrying out Kalman pose prediction on the aircraft pose at the next moment by utilizing the aircraft pose and adding aircraft kinematics model constraint. According to the method, the posture of the aircraft at the next moment can be accurately predicted by establishing the nonlinear kinematics model and performing state estimation by adopting the extended Kalman filtering. By weighting key areas such as a machine head and an engine, accurate alignment of the important areas is guaranteed preferentially in the registration optimization process, and the precision and robustness of a registration algorithm under severe conditions are effectively improved. Kalman prediction provides a high-quality initial value for the ICP, and the accurate result of the ICP updates the state of Kalman filtering in turn. When the ICP fails, Kalman prediction takes over seamlessly, and a set of complete fault-tolerant mechanism is formed.

The invention discloses a map construction and path planning method of a four-footed robot dog, and belongs to the technical field of intelligent navigation of four-footed robot dogs. The method comprises the following steps: acquiring environment original data through a preset multi-dimensional sensor, and determining a terrain structure, a terrain material, a terrain bearing capacity and a space dynamic obstacle probability of an environment according to the environment original data; constructing a multi-dimensional topological map according to the terrain structure, the terrain material, the terrain bearing capacity and the space dynamic obstacle probability; the method comprises the following steps: acquiring kinematics parameters of a four-footed robot dog, generating a motion path according to the kinematics parameters and a multi-dimensional topological map, and controlling a moving track of the four-footed robot dog according to the motion path, so that parameters such as terrain materials, terrain bearing capacity and space dynamic obstacle probability are supplemented in dimensions of a traditional grid map; the dimension information of the grid map is improved, and the accurate three-dimensional grid map is provided for the robot, so that the task execution capability of the robot in a dynamic complex environment is ensured.