934results about "Navigation by terrestrial means" patented technology

The invention discloses a map navigation method and system based on integrated navigation, and particularly relates to the field of integrated navigation, comprising compass data acquisition, magnetic declination correction, map integration, navigation system data acquisition, navigation system data analysis and integrated navigation. According to the method, the precision and robustness of the navigation system are remarkably improved, different environments can be dynamically adapted, and the error influence is reduced; rich geographic information support is provided by presetting an electronic map and POI marks; the real-time navigation service provides visual road condition information and path planning, the user experience is enhanced, and on the whole, more accurate, reliable and convenient navigation service is provided for the user.

The invention provides a tunneling equipment autonomous navigation positioning method and system based on multi-source data, and relates to the technical field of inertial navigation, the method comprises the following steps: connecting multi-source monitoring equipment, obtaining a multi-source data set, carrying out space-time alignment, and establishing a monitoring data network; butting the transparent geologic model, and fusing the transparent geologic model with a monitoring data network to construct a virtual model; fitting the physical structure parameters and the operation state parameters of the tunneling equipment to the virtual model, positioning the tunneling equipment, and performing tunneling path optimization search; performing attitude and inertia analysis in the virtual model based on the planned path to obtain a path attitude strategy; and carrying out operation navigation control on the tunneling equipment. According to the method and the device, the technical problem of high difficulty in long-time navigation and positioning in a complex environment due to lack of autonomous navigation of the tunneling equipment is solved, and accurate positioning of the tunneling equipment in the complex environment is realized through fusion of multi-source monitoring and the virtual model, so that the tunneling efficiency and safety are improved.

The invention discloses a vehicle navigation positioning method and system when a navigation signal is lost, and relates to the technical field of vehicle autonomous localization, and the method comprises the steps: carrying out the tight coupling matching based on a geomagnetic feature map, obtaining the geomagnetic sequence similarity through a sliding window dynamic time warping algorithm, and generating a fusion positioning track; extracting a road network topology connection relation from the high-precision map, constructing a road connection graph Laplacian matrix with a weight, and obtaining a topology constraint correction coefficient through a graph convolutional network in combination with the fusion positioning track; and constructing a joint optimization function based on the topological constraint correction coefficient, and solving an optimal positioning coordinate by adopting an asymmetric Gaussian-Newton iterative algorithm. According to the method, the defects of topology modeling stiffness and non-linear optimization instability of a traditional method are overcome, so that high-precision and high-robustness vehicle continuous positioning is realized in a GNSS signal loss scene.

The invention relates to the technical field of control systems, in particular to an unmanned aerial vehicle flight control multi-sensor attitude confidence calculation method, which comprises the steps of multi-source sensor data acquisition, sensor independent attitude calculation, confidence coefficient dynamic evaluation, multi-modal data fusion, attitude error compensation and optimization and real-time verification and fault-tolerant processing. Compared with a fixed weight distribution scheme in the prior art, the method has the advantages that the attitude calculation precision is limited possibly, and particularly when the sensor data quality is influenced by environmental factors, the scheme adopts a strategy of checking the data quality in real time, judging the environmental state and dynamically distributing the weight; the validity of sensor data is effectively identified by verifying whether the acceleration modulus length is close to the gravitational acceleration or not and whether the magnetic field intensity is stable or not; meanwhile, the weight of each sensor is flexibly adjusted according to different environment states such as static, maneuvering or magnetic interference of the unmanned aerial vehicle, so that the self-adaptive capability and accuracy of attitude calculation are remarkably improved.

In one embodiment, a method includes accessing magnetic data from a magnetic-measurement device. The magnetic data corresponds to one or more locations of the magnetic-measurement device. The method includes accessing geofencing data corresponding to an area; comparing the magnetic data with the geofencing data; based on the comparison, determining that the locations correspond to the area; and, based on the determination, authenticating the magnetic-measurement device for access to one or more resources.

The invention discloses a geomagnetic adaptive region positioning method and device for geomagnetic navigation, and the method specifically comprises the steps: determining a geomagnetic feature map corresponding to a target region according to a geomagnetic information map corresponding to the target region; and inputting the geomagnetic feature map into a scale division model, and generating a geomagnetic feature map corresponding to the geomagnetic information map under each image resolution through the scale division model. And for each scale feature map, determining a to-be-selected geomagnetic adaptive region in the target region under the corresponding image resolution. And determining the geomagnetic adaptation area of the target area according to each to-be-selected geomagnetic adaptation area. Compared with the prior art of manually and actively determining the geomagnetic adaptation area, the method is more intelligent and higher in automation degree, the determination efficiency and accuracy of the geomagnetic adaptation area are improved, consumption of manpower resources and time cost is saved to a great extent, and the method is suitable for popularization and application. Therefore, the execution efficiency of geomagnetic route planning based on the geomagnetic adaptive area is improved.

The invention relates to a laser ranging method and device based on an attitude sensor, and the method comprises the steps: S1, carrying out the measurement of a first distance value at a first transmitting point when the linear distance between a first to-be-measured point and a second to-be-measured point is measured; s2, obtaining first space coordinate information and first angle information through an attitude sensor; s3, after moving from the first transmitting point to a second transmitting point, measuring at the second transmitting point to obtain a second distance value; s4, obtaining second space coordinate information and second angle information through an attitude sensor; s5, according to the first space coordinate information, the first angle information and the first distance value, space coordinate information of the first to-be-measured point is obtained through calculation by means of a space pose angle conversion algorithm, and space coordinate information of the second to-be-measured point is obtained through calculation; s6, the linear distance value between the first to-be-measured point and the second to-be-measured point is obtained through calculation, laser ranging does not need to be conducted on one of the two to-be-measured points, and the efficiency and convenience of the laser ranging process are improved.

The invention discloses a fusion filtering attitude estimation method based on EKF and Mahony, and the method comprises the steps: firstly obtaining the original data information of an IMU sensor at the current moment, carrying out the normalization of the attitude information of an accelerometer and a magnetometer, carrying out the error calculation, and compensating the error to the angular velocity of a gyroscope through a PI controller, the method comprises the following steps: performing Mahony filtering correction on an angular velocity and a corrected attitude quaternion to obtain an angular velocity subjected to Mahony filtering correction and a corrected attitude quaternion, constructing a state equation of an EKF by using the corrected attitude quaternion and a gyroscope zero offset value, and constructing an observation equation by using data of an accelerometer and a magnetometer so as to obtain an optimally estimated attitude quaternion and a gyroscope zero offset value; and finally, compensating the optimally estimated zero offset value of the gyroscope to the angular velocity correction process in the Mahony filtering process.

The invention relates to the technical field of geomagnetic navigation, and particularly discloses a geomagnetic navigation method and system based on vector data, which adopts a data processing and analysis algorithm based on artificial intelligence and deep learning to analyze a magnetic observation matrix and calibrated magnetic observation data. And unknown parameter estimation of the linear magnetic observation model is carried out based on cross-modal joint interactive coding representation between the space and time sequence characteristics of the magnetic observation semantics. Therefore, the unknown parameters of the linear magnetic observation model can be automatically speculated based on the cross-modal joint semantics between the spatial features and the time features of the magnetic observation data, so that the inaccuracy of unknown parameter estimation and linear magnetic observation model fitting in a traditional mode is avoided; the interference magnetic field generated by the aircraft can be more effectively separated, so that the precision and reliability of geomagnetic navigation and positioning are improved.

The invention provides an indoor positioning method and system based on vision, geomagnetism and inertial navigation, and the method comprises the steps: obtaining inertial navigation data, and determining a local region where a target object is located in an indoor space according to the inertial navigation data; wherein the inertial navigation data is obtained by a positioning device carried by a target object; obtaining a visual image of the local area, and determining the position of the target object in a pre-constructed spatial model according to the visual image to obtain a first position; determining a target range according to the first position, and simulating an environment magnetic field around the target object under the condition that the magnetic disturbance object exists in the target range; real-time magnetic field data is obtained, the real-time magnetic field data is obtained through measurement of magnetic field measurement equipment carried by the target object, the real-time magnetic field data is matched with the environment magnetic field, the specific position of the target object in the local area is determined, and a second position is obtained. According to the invention, multiple positioning technologies are fused, and the indoor positioning accuracy can be further improved.

The invention relates to the technical field of multi-agent cooperation, provides a multi-agent cooperative unmanned aerial vehicle cluster simulation training method, system and device, and a storage medium, and solves the problems of low penetration success rate and poor formation cooperation efficiency of an unmanned aerial vehicle cluster. The method comprises the following steps: collecting pigeon flock biological motion data, cluster trajectory data when an unmanned aerial vehicle cluster executes a historical penetration task, and magnetic field gradient data of a simulation environment; constructing a three-dimensional path library, and calculating geomagnetic course angle deviation; on the basis of the geomagnetic course angle deviation and the three-dimensional path library, a multi-target collaborative path is generated in combination with a swarm intelligent optimization model; generating a flight control instruction based on the multi-target cooperation path in combination with the real-time state data of the unmanned aerial vehicle cluster; and loading the flight control instruction to a simulation model of the unmanned aerial vehicle cluster, and driving the unmanned aerial vehicle cluster to carry out cooperative defense penetration training in a simulation environment. According to the invention, the penetration success rate and formation cooperation efficiency of the unmanned aerial vehicle cluster in a complex electromagnetic environment are improved.

The invention relates to the technical field of path planning, in particular to a path planning and optimizing system for offshore wind power mine sweeping operation, which comprises a magnetic anomaly data processing module, a target identification and classification module, a path planning and optimizing module and a path simulation verification module. According to the method, accurate magnetic field data processing and spatial correlation analysis are realized by detecting the magnetic field intensity of the operation area in real time and eliminating interference of environmental noise, abnormal points are identified through a gradient analysis method, and magnetic dipole feature extraction and physical property comparison are performed, so that the target identification accuracy is improved, the classification process is optimized, and the classification efficiency is improved. On the aspect of path planning optimization, by analyzing the spatial characteristics of the metal mine explosion device and combining real-time environment data such as the water flow speed and the wind speed, path planning is dynamically adjusted, dual optimization of cost and efficiency is achieved, and by means of the method of comprehensively considering data analysis and environment factors, the efficiency of the metal mine explosion device is improved. And the operation risk is effectively reduced, and the mine clearance operation efficiency is improved.

The invention discloses a high-precision well deviation and azimuth measurement method based on a multi-axis sensor, and the method comprises the steps: 1, building a local navigation coordinate system of an underground environment in consideration of the influence of the earth curvature and the earth rotation, and obtaining a reconstruction signal; 2, based on the sensor mass of the four-axis sensor, considering the Coriolis force influence caused by earth rotation, and calculating a Coriolis force compensation vector; 3, calculating the projection of the geomagnetic field in the local navigation coordinate system to obtain a geomagnetic field projection vector; and 4, according to the gravity compensation value, the Coriolis force compensation vector and the geomagnetic field projection vector, in combination with the reconstruction signal, calculating a corrected hole drift angle and a corrected azimuth angle. According to the invention, the precision of well deviation and azimuth measurement is obviously improved.

In one embodiment, a method includes accessing a first series of first magnetic values that represents a first magnetic recording that includes a first set of first magnetic measurements. Each of the first magnetic values represents one of the first magnetic measurements. The method includes accessing a second series of second magnetic values that represents a second magnetic recording that includes a second set of second magnetic measurements. Each of the second magnetic values represents one of the second magnetic measurements. The method includes approximately aligning the first and second series with each other; calculating a difference between the first and second series as aligned with each other; and determining a similarity between the first and second series based on the difference.

In one embodiment, a method includes generating navigation or localization information based on a combination of first data that are based on first measurements of a magnetic field by one or more magnetic sensors and second data that are based on second measurements by one or more other sensors. The method includes determining an anomalousness of a magnetic field and, based on the determined anomalousness of the magnetic field, at least temporarily adjusting a weight of the first measurements relative to the second measurements in the generation of the navigation or localization information.

The invention relates to the technical field of intelligent transportation, and particularly discloses a multi-sensor data fusion method based on adaptive Kalman filtering, which is suitable for vehicle trajectory tracking in a tunnel scene. The method comprises the steps of sensor deployment and data acquisition, data preprocessing and anomaly detection, multi-target data association, adaptive filtering fusion and state estimation. By introducing an anomaly detection mechanism and dynamically adjusting a filtering estimation error covariance, the influence of abnormal data such as a multipath effect and electromagnetic interference is effectively suppressed, and the tracking precision and stability of the position, speed and trajectory of the vehicle are improved. The method is remarkably superior to a traditional filtering algorithm in a complex tunnel environment, has the technical advantages of high-precision tracking, high robustness, high adaptability, high real-time performance, comprehensive functions and the like, and can remarkably improve the reliability and performance of a tunnel vehicle monitoring system; the method is suitable for multiple key fields of tunnel safety early warning, accident prevention, traffic flow optimization, emergency response and the like.

The invention relates to the technical field of magnetic detection, in particular to a target positioning method based on geomagnetic anomaly and an axis frequency magnetic field. Comprising the following steps: S1, preparing before entering water; s2, approaching a target; s3, target detection: when no target appears, an observation signal is composed of an environment magnetic field, and the energy value of the part is very small; once the target appears, the energy of the observation signal can be continuously and obviously increased, when the energy value is greater than a preset judgment threshold, the target point is judged as a suspected target point, and if the suspected point is continuously detected for a specified time, the existence of the target is confirmed; s4, combined positioning: under a Kalman filtering framework, enabling the target to be equivalent to a magnetic dipole and an electric dipole, and correcting a position predicted by a target state equation by combining measurement equations of the two models, thereby realizing combined positioning of the target and obtaining more accurate target position information; and S5, verifying and outputting a positioning result. The method has the advantages of improving the positioning precision, enhancing the anti-interference capability and the like.

The invention discloses a geomagnetic diurnal variation data forecasting method, system, equipment, medium and product, and relates to the technical field of geomagnetic navigation, and the method comprises the steps: collecting and preprocessing global geomagnetic station data, carrying out the fast Fourier transform of geomagnetic field diurnal variation data, solving to obtain a trigonometric function coefficient, and carrying out the calculation of the trigonometric function coefficient; according to the method, geomagnetic daily variation data of any region in the world are obtained through geomagnetic daily variation, then an association Legendre coefficient is obtained through solving, an internal source field Gaussian coefficient and an external source field Gaussian coefficient are obtained through solving according to the Gaussian theory, finally daily variation model forward modeling can be carried out according to the internal source field Gaussian coefficient and the external source field Gaussian coefficient, and geomagnetic daily variation data of any region in the world are output. According to the method, coefficient solution and model forward modeling related to spherical harmonic analysis are utilized, the problems that in the prior art, the control range of a virtual terrestrial magnetism daily variation station is limited, and data are prone to being polluted are solved, and the forecasting precision of terrestrial magnetism daily variation data is improved.

In various examples, a technique for generating a path between a current location and a destination waypoint is disclosed, including receiving a route plan associated with a plurality of waypoints representing locations in a physical environment. The technique also includes identifying a search space containing the route plan and identifying a destination waypoint from the plurality of waypoints, wherein the destination waypoint is located in a portion of the search space between a current location of a mobile robot and an end waypoint of the route plan. A path may then be generated between the current location of the mobile robot and the destination waypoint.

The invention discloses a geomagnetic matching navigation algorithm based on an improved ant colony algorithm, and belongs to the field of geomagnetic navigation, control and guidance. The algorithm is implemented by the following steps: acquiring initial position information, detecting a magnetic measurement value of data by a geomagnetic sensor, and resolving a magnetic course angle; initializing parameters of the ant colony algorithm; putting the ant at an initial position, and transferring the ant to a next node according to a state transition probability formula until the ant reaches a magnetic measurement sequence; calculating and recording a global similarity measurement function of each ant, and updating pheromones; when the maximum number of iterations is reached, the optimal ant path is output, and the optimal geomagnetic navigation trajectory can be obtained. According to the method, approaching to the optimal solution is realized by utilizing the search randomness and positive feedback behavior of the ant colony algorithm, the optimal track is obtained through the algorithm, and the improvement of the geomagnetic navigation matching precision is realized.

This quantum sensor system comprises: a magnetic sensor module disposed spaced apart from a magnetic device to measure a magnetic field from the magnetic device and having a second temperature sensor; and a main circuit operably coupled to the magnetic sensor module and having a first temperature sensor. The main circuit is configured to measure the magnetic field in a specific frequency band on the basis of the temperature value difference between a first temperature value measured by the first temperature sensor and a second temperature value measured by the second temperature sensor.

The invention relates to a visual feature constrained inertial / geomagnetic positioning method, and belongs to the technical field of navigation positioning. The method has the advantage that the method does not depend on collection, updating and maintenance of a high-precision map. A traditional image matching method usually needs to consume a large amount of time and resources to construct and update an accurate indoor map, but according to the method, by deploying a small number of feature markers with known coordinates in an indoor environment, the map construction and maintenance process can be greatly simplified, and the deployment cost of a system is reduced. Meanwhile, real-time updating of the multi-source sensor is combined, and pose estimation can be dynamically adjusted according to actual movement and environmental changes, so that higher precision and reliability are provided in actual use.

A wearable electronic device including a magnetic strap is provided. The wearable electronic device includes a communication module, a geomagnetic sensor, a motion sensor, memory storing one or more computer programs, and one or more processors communicatively coupled to the communication module, the geomagnetic sensor, the motion sensor, and the memory, wherein one or more computer programs include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the wearable electronic device collect geomagnetic measurement values collected using the geomagnetic sensor, determine whether to update a reference magnetic field stored in the memory on the basis of offset update information of the geomagnetic sensor, when updating the reference magnetic field, designate, as reference data, geomagnetic measurement values satisfying a first condition collected within the effective time of the reference magnetic field, a second condition for collecting of magnetic field strengths within an average error range, and a third condition collected within a movement range through the motion sensor, and update the reference magnetic field based on the designated reference data.

The invention relates to the technical field of intelligent sensor technology and attitude monitoring, and provides a suspension type traction hanging seat three-dimensional attitude monitoring method based on multiple intelligent sensors. Comprising the following steps: acquiring and processing original sensor data to obtain sensor data; calculating attitude data by using the sensor data; generating an attitude data predicted value by constructing and training a multivariate autoregressive integral moving average model; calculating dynamic attitude data by using sensor data; fusing the attitude data predicted value and the data in the dynamic attitude data to obtain a comprehensive pitch angle, a comprehensive roll angle and a comprehensive yaw angle; further, obtaining a comprehensive attitude value; and based on the comprehensive attitude value, judging whether an early warning mechanism needs to be triggered, and starting an automatic adjustment operation or an emergency shutdown program. The problems that an existing attitude prediction method is low in prediction precision in a complex environment, potential risks are difficult to recognize in advance, and an enough accurate basis cannot be provided for safety monitoring and risk early warning are solved.

The invention provides a track correction method and device, electronic equipment and a readable storage medium, and the electronic equipment obtains a current user track according to the position of a user collected in a preset time window; in the historical tracks of the user, whether a target historical track exists or not is detected, and the target historical track is within a preset distance range of the current user track; if yes, obtaining the geomagnetic similarity between the geomagnetic feature of the current user track and the geomagnetic feature of the target historical track; and when the geomagnetic similarity is greater than or equal to the geomagnetic similarity threshold, correcting the current user trajectory according to the target historical trajectory. The electronic equipment does not need to establish a geomagnetic fingerprint database in advance, but collects geomagnetic data at any time in the daily movement process of a user to achieve instant use, and the electronic equipment can obtain a target historical track similar to the current user track based on the magnetic characteristics, and adopts the target historical track to correct the current user track, so that the user experience is improved. The accuracy of the user track can be improved.

The present invention belongs to the field of marine underwater positioning, navigation and timing. Disclosed are an underwater navigation and communication integrated position service system and method. The system comprises a buoy base station, a submerged buoy base station, a seabed base station and a shore-based operation and control unit, and the system utilizes a three-dimensional base station network observation mode combining the buoy base station, the submerged buoy base station and the seabed base station. The position service system and method in the present invention have the capabilities of underwater acoustic navigation and communication, satellite positioning and communication, atomic clock timekeeping, hydrological measurement and responding to instructions of a shore-based operation and control unit, have the functions of autonomous, real-time and online base station position and clock calibration and sound velocity field correction, have the functions of base station position and clock calibration, and sound velocity field correction and control based on the shore-based operation and control unit, and can expand the range and functions of underwater position services, and provide accurate positioning, navigation and timing services for water-surface / underwater users.

The invention discloses a magnetic positioning system, which relates to the technical field of magnetic field measurement and positioning and is used for realizing six-degree-of-freedom real-time tracking of a tracking target in a space range. A magnet is carried on a rotating bearing, a controller is adopted to drive a motor, a low-frequency magnetic field signal is generated, a magnetic sensor measures the generated magnetic signal, real-time rotating information output by an angle encoder for fixing a rotating shaft of the motor is combined, and space pose information of the sensor is solved through a calculation program. The system can realize instantaneous positioning of low-frequency periodic magnetic signals, solves the problems that a low-frequency magnetic field positioning technology is slow in speed and a high-frequency magnetic field positioning technology is easily interfered by metal, improves the convenience and stability of a magnetic positioning method, and reduces the cost of the magnetic positioning method.

The invention provides an indoor and outdoor seamless navigation method and system based on multi-source positioning weight dynamic allocation, and the system comprises a multi-source positioning data collection module which is used for obtaining and preprocessing original data of different positioning sources in real time; the building structure big data engine is used for constructing a three-dimensional space constraint model; the positioning source reliability evaluation module is used for quantifying the credibility of each positioning source in a specific scene; the dynamic weight distribution decision-making module is used for adjusting the weight of the positioning source in real time based on a multi-factor decision-making model; the multi-source data fusion filtering module is used for fusing the heterogeneous positioning data; the indoor and outdoor scene switching control module is used for performing seamless switching triggering and smooth transition on indoor and outdoor scenes; according to the technical scheme, efficient cooperation of multiple positioning sources is realized, and the navigation precision and adaptability are improved.

The invention relates to a field emitter and a self-calibration method, an interference detection method and an anomaly detection method thereof, and the field emitter comprises a field emission unit group and a magnetic detection assembly. The field emission unit group comprises field emission units, and the space poses of the field emission units in the field emitter are fixed; the magnetic detection assembly comprises a magnetic sensor, and the spatial pose of the magnetic sensor in the field emitter is fixed; when the magnetic detection assembly works, the magnetic sensor is used for detecting a calibration magnetic field generated by the field emission unit. Through the application, the calibration parameters of each field emission unit can be updated in the magnetic field model, so that the calculation result of the magnetic field model is more accurate, and the electromagnetic navigation precision can be improved. Therefore, the problem that the electromagnetic navigation precision of the electromagnetic navigation system is reduced after the initial calibration parameter of the field emitter is mismatched with the actual state in the prior art is solved.

The invention provides an indoor pedestrian trajectory prediction method based on multiple sensors, and relates to the technical field of data processing, and the method comprises the steps: measuring the magnetic field intensity of an environment where a pedestrian is located through two magnetometers disposed in front of and behind a safety helmet; according to an accelerometer, a gyroscope and a magnetometer at the front end of the safety helmet, measuring postures of the safety helmet in real time, including a roll angle, a pitch angle and a yaw angle, correcting magnetic field data of a Z axis of the magnetometer, and converting the magnetic field data to a Z axis of a navigation coordinate system; preprocessing the corrected Z-axis magnetic field intensity, including filtering and normalization, so as to obtain preprocessed data; and matching magnetic field waveform data in the processed data by using a dynamic time warping algorithm to obtain a magnetometer matching result. According to the invention, through multi-sensor fusion, accurate tracking and real-time updating of the pedestrian motion trail are realized, and the accuracy of position positioning is improved.