310results about "Navigation by terrestrial means" patented technology

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.

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.

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 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 belongs to the technical field of data processing and analysis, and particularly relates to a geomagnetic and inertial navigation fused glasses guide direction identification and content triggering system, which comprises a sensing compensation component, a calculation storage component, a guide resource component and a display component, the sensing compensation assembly comprises an inertial measurement unit, a geomagnetic sensor, an active magnetic compensation coil and a coil driving module; the calculation storage assembly comprises a control processor and a memory, and the control processor is used for driving the active magnetic compensation coil to obtain a coil compensation geomagnetic vector according to a phase coding zero-returning sequence, executing attitude propagation based on the inertial measurement unit, and executing course updating on the coil compensation geomagnetic vector based on Huber anti-outlier loss to obtain a head attitude. According to the invention, the influence of magnetic disturbance and attitude jitter on direction identification and content triggering can be effectively reduced, and the stability, consistency and practicability of the glasses guide system in a real use scene are improved.

The invention provides an indoor local magnetic field modeling method and device based on a magnetic source equivalence principle, and belongs to the technical field of indoor localization, and the method comprises the steps: collecting the data of a three-axis magnetometer in a space range through an array type magnetic sensor, and obtaining the original measurement information of an indoor magnetic field; based on a magnetic source equivalence principle, an indoor magnetic field is modeled into an equivalent magnetic dipole model consisting of a plurality of equivalent magnetic dipoles, and a magnetic field generated by the model is consistent with a real magnetic field in an observation area by setting magnetic moment and position parameters of the magnetic dipoles; according to the measured value of the array type magnetic sensor, an observation model is established in combination with an equivalent magnetic dipole model and used for describing the relation between the measured value and model parameters; through a nonlinear least square optimization method, parameters of the equivalent magnetic dipole model are solved according to the observation model, the equivalent magnetic dipole model of the indoor magnetic field is obtained, and the parameters comprise the magnetic moment and the position of the magnetic dipole. The precision and the reliability of the model are remarkably improved.

The invention provides an inertia / geomagnetic integrated navigation method based on a factor graph, which comprises the following steps of: constructing a geomagnetic graph, matching current geomagnetic information with the geomagnetic graph, and further acquiring positioning information and a geomagnetic matching function of a current navigation object; constructing an inertial measurement error based on an inertial pre-integration result between the two geomagnetic key frames, and constructing a geomagnetic positioning error according to a geomagnetic matching function; obtaining an inertia / geomagnetic error optimization function by combining the inertia measurement error and the geomagnetic positioning error; constructing a map optimization model according to the inertia / geomagnetic error optimization function, and obtaining an optimized geomagnetic state estimation state quantity and an optimized inertia state estimation state quantity through iterative solution; according to the geomagnetic state estimation state quantity and the inertial state estimation state quantity, motion compensation is carried out on inertial navigation data at historical moments, a geomagnetic pose is corrected, and inertial / geomagnetic integrated navigation of a navigation object is realized. According to the invention, inertial / geomagnetic data resolving and positioning in a typical environment can be completed.

The invention relates to a robot advancing method and system based on an inertial sensor, and belongs to the technical field of robot autonomous navigation and inertial guidance control. The method comprises the following steps: acquiring advancing parameter data of a robot, and analyzing a track generation mode in the advancing process of the robot to obtain autonomous advancing track data; constructing a marching analysis model, inputting the robot marching parameter data into the marching analysis model to analyze inertial navigation information, and outputting a robot marching instruction; the stability of the posture state in the advancing process is verified, a robot advancing instruction is optimized through a path optimization protocol, and an instruction optimization set of an advancing path is generated; and constructing an offset compensation mechanism, selecting an instruction optimization parameter according to the advancing path when the advancing path is detected to deviate, re-inputting the instruction optimization parameter into the advancing analysis model, and re-matching a newly selected advancing path.

The invention relates to the technical field of non-networked indoor autonomous positioning and navigation, in particular to a smart phone positioning and navigation method and system in a non-networked indoor scene, and the method comprises the steps that a smart phone receives data returned by a Bluetooth AOA positioning base station through point-to-point communication, and an AOA position estimation result is obtained through calculation of a single-base-station AOA fusion positioning model; the smart phone collects real-time data of an IMU and a magnetometer, and user coordinates and course angles are recursively estimated through a pedestrian dead reckoning (PDR) method; according to an AOA base station deployment condition of an actual indoor space, multi-base station centroid positioning, AOA fusion positioning and PDR positioning are automatically switched, so that a position result can effectively cover a whole space scene; the method comprises the following steps: constructing an obtained binary grid map through an indoor map model, carrying out position post-processing based on map matching on positioning coordinates to obtain pedestrian coordinates, and carrying out digitization on a map model to realize map display and finally realize pedestrian position display. The method can be reliably operated in a scene lacking network coverage.

The invention provides a multi-source heterogeneous sensor adaptive fusion positioning and mapping method and device, and relates to the technical field of automatic driving and mobile robots. The method comprises the following steps: for a mobile robot in an indoor environment, acquiring sensor data through a sensor data acquisition module, inputting the sensor data into a front-end data processing module to obtain processed sensor data, and inputting the processed sensor data into an environment scene recognition module to obtain an environment scene type recognition result; and inputting the result into a back-end state estimation and optimization module to obtain a map construction and pose estimation result. Through innovative front-end feature extraction, a rear-end optimization mechanism and a multi-sensor fusion strategy, the problems in the prior art are solved. By introducing a low-cost magnetometer, the robustness of the system in a GPS signal missing or complex electromagnetic environment is enhanced, meanwhile, the calculation efficiency and precision in different environments are improved through a self-adaptive optimization mechanism, and finally, high-precision and high-robustness autonomous positioning and mapping functions are achieved.

The invention provides a course information determination method and device, and the method comprises the steps: obtaining geomagnetic data collected by a geomagnetic sensor at a current moment, and obtaining gyroscope data collected by an inertial measurement unit in a vertical direction at the current moment; under the condition that positioning data acquired by a global positioning system is not acquired, or the positioning data is acquired and the positioning data is smaller than or equal to a first threshold value, determining course angle variation of the current moment relative to the target moment based on gyroscope data in the vertical direction of the current moment and a time difference between the current moment and the target moment; the target moment refers to a moment when the positioning data is greater than a first threshold value for the last time before the current moment; obtaining a geomagnetic course angle at the current moment based on the geomagnetic data at the current moment; and obtaining the final course angle at the current moment based on the final course angle at the target moment in the preset storage space, the course angle variable quantity and the geomagnetic course angle at the current moment.

The invention relates to the technical field of navigation and positioning, in particular to a pedestrian dead reckoning optimization method based on improved wave crest detection and CNN-LSTM, comprising the following steps: S1, data acquisition: acquiring pedestrian motion sensor data including acceleration, angular velocity and magnetic field intensity through an accelerometer, a gyroscope and a magnetometer; s2, on the basis of an improved wave crest detection algorithm, real-time monitoring and analysis are carried out on the acceleration signal by setting a dynamic threshold value, and an effective gait cycle is extracted; s3, extracting reference features of the step length from the pedestrian motion sensor data, training a step length prediction model of the CNN-LSTM network, and optimizing the step length prediction model; and S4, obtaining a pedestrian course angle based on quaternion attitude calculation, realizing gait cycle segmentation and step length prediction in combination with an improved wave crest detection algorithm and a CNN-LSTM model, and finally calculating the position of the pedestrian at the next moment through the course angle and the step length so as to complete continuous navigation positioning. The method can achieve the dynamic extraction and fusion of the spatial-temporal features of multiple sensors, improves the gait detection robustness and step length estimation precision in a complex scene, remarkably optimizes the overall positioning performance of a PDR, and solves a problem that the positioning precision is reduced because a signal is affected by sensor noise, behavior diversity and the like.

A travel assistance system includes a route creator including an input interface to receive slope information relating to a sloping ground, and a processor configured or programmed to determine a first boundary direction by rotating a sloping direction of the sloping ground determined from the slope information by a predetermined angle leftward relative to the sloping direction, and a second boundary direction by rotating the sloping direction by the predetermined angle rightward relative to the sloping direction, determine a prohibiting zone of the sloping ground extending downward from the boundary directions, and a limiting zone of the sloping ground extending upward from the boundary directions, and create a turn-route-portion-for-sloping-ground for a working vehicle to turn on the sloping ground such that a centrifugal force toward the prohibiting zone does not act on the working vehicle and a centrifugal force toward the limiting zone acts on the working vehicle.

The invention relates to the technical field of parking space detection and vehicle control, and discloses a micropower geomagnetic parking space detection method and device, and the method comprises the steps: fusing the vector intensity and direction angle according to pre-obtained empty parking space geomagnetic vector data and real-time geomagnetic vector data, constructing a geomagnetic reference map, and calculating a real-time geomagnetic rotation angle; comparing and analyzing the geomagnetic reference map and the real-time geomagnetic rotation angle, generating a high-frequency sampling signal, acquiring high-frequency geomagnetic vector data of high-frequency sampling, and constructing a dynamic feature set; the adjacent vehicle interference condition is analyzed, a dynamic parking space state monitoring mechanism is configured, and the real-time state of a parking space is obtained; in response to a real-time vehicle moving task, planning and optimizing a vehicle moving path in real time to obtain an optimized path, and controlling the vehicle to move; the parking space state is adjusted in real time in combination with the adjacent vehicle interference condition, the accuracy of the parking space state detection result is improved, the optimal vehicle moving path is planned, the vehicle locating time is shortened, and the vehicle moving efficiency is improved.

This invention discloses a design method for a deep-sea in-situ fine-scale detection framework based on acoustic-optical remote sensing and VR technology. The main steps include: (1) studying the structure of the photon-counting lidar scanning system and the dynamic geometric relationship between the mother ship and the submersible, and constructing a calculation model for the lidar bathymetry point coordinates in the WGS84 spatial rectangular coordinate system; (2) considering the submersible's attitude, and based on the ray-tracking model and the geometric relationship between the mother ship and the submersible, constructing a calculation model for the multibeam bathymetry point coordinates in the WGS84 spatial rectangular coordinate system; (3) fusing the lidar and multibeam bathymetry points to construct a seabed topographic map; (4) proposing a development scheme and detection method for a deep-sea functional imaging spectrometer; and (5) constructing a VR environment for the deep-sea target survey area using a three-dimensional seabed topography model, rendering technology, and binocular stereo imaging technology. Through these steps, deep-sea in-situ fine-scale detection based on acoustic-optical remote sensing technology and the construction of a VR environment for the survey area can be achieved.

The invention belongs to the technical field of positioning and navigation, and provides a geomagnetic sequence positioning method based on BiLSTM and multi-head attention. The method comprises the following steps: firstly, acquiring data of geomagnetism, an accelerometer, a gyroscope and other sensors by using a smart phone, and dividing a geomagnetism sequence into a plurality of subsequences to enhance the time sequence modeling capability; then constructing a multi-scale feature extraction model: extracting deep time sequence features of each sub-sequence by adopting a bidirectional long-short term memory network (BiLSTM), and constructing global representation through splicing; a self-adaptive multi-head attention mechanism is introduced, magnetic signal key features are captured from multiple dimensions, feature weights are dynamically adjusted in combination with a gating mechanism, and important information enhancement is achieved. And the fused multi-scale features output initial position estimation through a full connection layer. In order to further improve the positioning precision, data of a magnetometer and a gyroscope are fused through complementary filtering to correct a course angle, a geomagnetic positioning result serves as an observation value, a pedestrian track plotting result serves as a state prediction value, and final fusion positioning is achieved through particle filtering.

The invention provides a magnetic map drawing system and method based on multi-data fusion, and the system comprises a hardware collection layer, a data processing layer, a core algorithm layer and an output layer. The hardware collection layer is used for obtaining magnetic field data and optical positioning base station data in a target magnetic field scene, and transmitting the obtained data to the data processing layer; the data processing layer is used for receiving the magnetic field data and the optical positioning base station data of the hardware acquisition layer and normalizing the acquired data; the core algorithm layer is used for receiving the magnetic field data and the optical positioning base station data normalized by the data processing layer, and generating a magnetic field map and evaluating the quality of the magnetic field map based on the magnetic field data and the optical positioning base station data; and the output layer is used for receiving the magnetic field map output by the core algorithm layer, performing visualization processing, and performing magnetic field navigation positioning of the target area according to the magnetic field data. The invention also provides a drawing method realized by the system. According to the invention, the precision of the drawn magnetic map can be improved.

The invention relates to a high and low orbit satellite tracking method based on geomagnetic correction. The method comprises the following steps: constructing a geomagnetic model, calculating an azimuth angle and carrying out magnetic field interference analysis; carrying out factory calibration by utilizing a three-dimensional geometric calibration mode, including horizontal correction and vertical correction; the current azimuth angle and pitch angle are continuously corrected based on the carrier coordinate system by using the signal intensity, and the deviation is obtained so as to continuously approach the real angle; utilizing the known coordinates of the three-dimensional space to inversely calculate the current position; and the current data is corrected by using the big data, so that the current data meets the use requirements. The current attitude angle and the satellite signal receiver are used for tracking the target satellite, and then the known azimuth angle is used for correcting the geomagnetic data, so that the azimuth angle precision is improved, the cost of a phased-array antenna or a mechanical antenna is reduced, the tracking precision is improved, and the tracking speed is improved.

Example computer-implemented methods and systems for estimating geophysical fields for magnetic navigation. One example computer-implemented method includes storing, at a navigation object, an offline baseline estimation model. Online geophysical field model data not stored on the navigation object are received at various times at the navigation object. Control logic is used to select at least one of (1) the offline baseline estimation model and (2) the online geophysical field model data to use to estimate geophysical fields for the navigation object at a variety of specified times.

The application belongs to the technical field of magnetic field navigation, and particularly relates to a three-axis magnetic sensor positioning and pose determination method and system based on a magnetic beacon. Step 1: the distribution of the magnetic field generated by the magnetic beacon at any position in space is expressed by a spherical harmonic function; Step 2: based on the position of the magnetic beacon, the relative position of the magnetic beacon and the magnetic sensor is confirmed; Step 3: based on the relative position of Step 2, a positioning and pose determination equation of the magnetic sensor is established; Step 4: the equation of Step 3 is solved by using a particle swarm algorithm to obtain spherical coordinates; Step 5: the spherical coordinates solved in Step 4 are converted into Cartesian coordinates, and the positioning and pose determination of the magnetic sensor are completed. The spatial coordinates and the attitude of the magnetic sensor are accurately calculated through the magnetic field generated by the magnetic beacon at the magnetic sensor to be measured, thereby supporting the technical development in the related field.

The invention discloses a passive underwater maneuvering target state estimation method based on a long short-term memory network, a program, equipment and a storage medium, and belongs to the technical field of underwater acoustics. The method comprises the following steps: simulating a maneuvering track of a target by adopting a coordinated turning state space model to generate a motion state; performing normalization and time step sampling on the passive acoustic measurement data acquired by the multiple observers, and constructing a time sequence input sequence; inputting the time sequence data into a multi-layer LSTM network to capture a time dependency relationship and nonlinear characteristics of target motion; and training the network through a time back propagation algorithm, and minimizing a mean square error between a state estimation value and a true value. According to the method, verification is carried out in a complex maneuvering scene, and comparison with an interactive multi-model extended Kalman filter and an interactive multi-model unscented Kalman filter is carried out. Results show that the time sequence learning capability of the tracking system can be improved, and the robustness and accuracy of state estimation are enhanced in noise interference and dynamic change environments.

An agricultural work vehicle (10) cooperates with an aircraft (100, 100') equipped with a sensor (106) for surveying a field, the signals of which can be transmitted to the agricultural work vehicle (10). The work vehicle (10) is equipped with a device for transmitting electrical energy to the aircraft (100, 100').

A management system comprising multiple autonomous machines and an information processing device. Each of the multiple autonomous mobile machines has an autonomous movement control unit configured to control autonomous movement and a receiving unit configured to receive a signal from a satellite in a satellite positioning system. The information processing device includes an operational plan creation unit configured to create an operational plan for the multiple autonomous mobile machines.The operational plan creation unit is configured to select as a first autonomous mobile machine an autonomous mobile machine designed to select an operational plan from several autonomous mobile machines during a first predetermined time period and to create the operational plan such that the first autonomous mobile machine moves to a predetermined geographical position and remains stationary for at least part of the first predetermined time period.

The invention relates to a method for providing a navigation map for off-road driving, wherein a map provisioning device (10) provides map data for the predetermined area (S1); receives an off-road information signal (S2) from an input device via a wireless data communication link (32), which describes location-based, location- and / or driving-related information for a section of terrain in the predetermined area; checks whether location-based, location- and / or driving-related information is already present in the provided map data (S6); if the new information differs from information already described in the map data, it replaces the latter and thereby adapts the map data to the new information (S6), or enters the new information into the map data and thereby adapts it (S6);an output signal describing the adapted map data is generated (S8), and the generated map data signal is transmitted to an output device of at least one motor vehicle (20, 26, 28) (S9). The invention also relates to the map provisioning device (10), a server device (12) with the map provisioning device (10), as well as a motor vehicle (20) and a mobile terminal device (24).

The invention belongs to the technical field of positioning navigation, and discloses an initial course alignment method and device based on geometric constraint type filtering, and the method comprises the steps: calculating a magnetic course angle and estimating the GNSS driving distance and orientation according to received GNSS original observation data, earth magnetic field information, and accelerometer data and gyroscope data obtained based on an IMU array; based on an unscented Kalman filtering algorithm under a Gaussian progressive framework, correcting accelerometer data in combination with geometric constraints, and identifying an IMU with a fault in the IMU array for isolation to obtain filtered accelerometer data and gyroscope data; calculating to obtain a GNSS-IMU course angle by combining the filtered accelerometer data and gyroscope data and the GNSS driving distance and direction; and according to the loss duration of the GNSS original observation data, synthesizing the magnetic course angle and the GNSS-IMU course angle to obtain a final initial course angle. The initial alignment time of the integrated navigation system is effectively shortened, and the robustness of the system is enhanced.

Improved method for simultaneous localization and mapping; associated computer system and program. This method, performed by a computer (40) mounted on board a vehicle (1), consists of: acquiring a set of points at the current time, provided by a Doppler radar system (30) of the vehicle; acquiring the attitude at the current time of the vehicle, provided by an inertial measurement unit (20) of the vehicle; orienting the set of points at the current time with respect to a ground reference frame (X0Y0Z0), taking into account the attitude at the current time; processing the radial velocities of the points to calculate an estimated velocity at the current time of the vehicle (1); calculating a position at the current time of the vehicle (1) from the estimated velocity at the current time; and executing a simultaneous localization and mapping algorithm from the position at the current time of the vehicle over a plurality of successive times. Figure for the abstract: Figure 1

The embodiment of the invention provides an interactive multi-model factor graph integrated navigation method based on tight coupling attitude constraint. In a specific embodiment, the method comprises the following steps: constructing an integrated navigation system; constructing an inertial measurement unit factor pre-integrated by the inertial navigation system; constructing a direct celestial navigation factor and a refraction celestial navigation factor which are respectively and tightly coupled with an inertial measurement unit factor based on the star sensor observation condition of the celestial navigation system; constructing a horizontal radio navigation factor and a vertical radio navigation factor based on the position information of the land-based radio navigation system; acquiring height measurement data of the barometric altimeter to construct barometric altimeter factors; dynamically adjusting the weight ratio of the height measurement data of the vertical radio navigation factor to the height measurement data of the barometric altimeter factor through an interactive multi-model algorithm; and carrying out global state estimation of the integrated navigation system on a factor graph framework formed by the factors.

The present application relates to a kind of mine personnel vital signs monitoring and early warning bracelet, relate to mine personnel vital signs monitoring and early warning technical field.The main body rear cover is externally fixedly arranged rubber ring, the inside of the rubber ring is opened gas storage cavity, located in body, is equipped with the gas supply mechanism for the gas storage cavity in rubber ring inflation;Second gas leakage passage leading to the space surrounded by rubber ring is opened on the gas storage cavity, the notch independent of gas storage cavity is opened in the bottom of rubber ring;Switching component for opening or closing second gas leakage passage is provided in the gas storage cavity.The present application is provided with the rubber ring that can inflate and deflate on bracelet, when wearing bracelet, utilize the rubber ring that inflates and expands and skin close adhesion, form closed loop sealing surface, to avoid external coal dust, rock dust into sensor sensing area, ensure the monitoring effect of sensor;Again, the inflation of rubber ring improves the comfort of wearing.