647results 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.

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 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 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.

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.

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 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 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 relates to a rotating magnet unit and a self-checking method thereof, and a field emitter and a self-checking method thereof, and the rotating magnet unit comprises a driving assembly, a magnet and a self-checking assembly. The driving assembly is connected with the magnet and used for driving the magnet to rotate; and the self-checking assembly is used for detecting a magnetic field signal generated in the rotating process of the magnet and is fixed relative to the position of the magnet. The rotating magnet unit provided by the invention has a self-checking effect, can perform self-checking through the self-checking assembly before use each time, can timely discover own problems through self-checking, prevents a field emitter from generating a time-varying magnetic field with offset standard during working, and can finally ensure the positioning precision of a magnetic sensor. The problem that when an existing rotating magnet unit is abnormal, a time-varying magnetic field deviating from a standard is generated when a field emitter works, and finally the positioning precision of a magnetic sensor is reduced is solved.

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.

An apparatus that may be a wireless device. The apparatus configured to obtain an indication of a location of the wireless device, measure a magnetic field at the location of the wireless device, and output, for a network device, information regarding the location of the wireless device and the measured magnetic field at the location of the wireless device. An apparatus that may be a network device. The apparatus configured to obtain one or more sets of information regarding one or more magnetic field measurements at one or more wireless devices, generate, based on the one or more sets of information, a mapping of positions in space to magnetic field information, and output, for at least one wireless device, mapping information based on the mapping of the positions.

The invention discloses an underground target positioning method based on a rotary permanent magnet type magnetic beacon, and belongs to the field of navigation, guidance and control. According to the invention, the problem of low precision of an existing positioning method caused by attitude errors in an underground positioning scene is solved. The method specifically comprises the following steps of: 1, respectively placing four same rotary permanent magnet type magnetic beacons at four points with known spatial positions, and respectively rotating the four magnetic beacons around a fixed shaft at a set rotating speed; 2, placing a magnetic sensor at an underground target point, and collecting mixed alternating magnetic field data under a sensor coordinate system by using the magnetic sensor; step 3, filtering the acquired mixed alternating magnetic field data by using a designed band-pass filter to obtain an alternating magnetic field vector of each rotating permanent magnet type magnetic beacon at the underground target point; constructing a positioning model according to the alternating magnetic field vector; and 4, obtaining an estimated target point position according to the positioning model. The method can be applied to underground target positioning.

The invention relates to a field emitter, a driving control method and device thereof and a storage medium, and the field emitter comprises a plurality of rotating magnet units; a reference axis is defined in the rotating magnet unit, the rotating magnet unit comprises a magnet capable of rotating around the reference axis, and the magnetic moment direction of the magnet is perpendicular to the reference axis; the reference axes of the at least two rotating magnet units are perpendicular to each other. The field emitter provided by the invention is formed by at least two rotating magnet units, and the magnetic moment combination of the magnets of the two rotating magnet units can sweep over three orthogonal space directions, so that the use requirements of the field emitter are met. Therefore, the invention provides a simple and effective field emitter configuration, and solves the problems that the conventional field emitter is not provided with a simple and effective specific configuration, so that a technician needs to construct the field emitter according to own experience, and the field emitter configuration is complicated and does not meet the use standard.

A method and apparatus for determining pose of a transmitter, and by extension the pose of one or more receivers, in an electromagnetic tracking system when the transmitter is allowed to move freely in the physical environment. The method operates in a system that incorporates two separate tracking technologies and an Inertial Measurement Unit, one determining the pose of a device relative to a global reference frame and another determining the pose of the same device relative to a local reference frame, thereby avoiding the latency problem and resulting inaccuracy of pose determinations of known prior approaches.

The invention relates to the technical field of automatic orientation, and discloses an automatic orientation technology which comprises the following steps: integrating a global navigation satellite system receiver, a geomagnetic field sensor and an inertial measurement unit, and calculating three-dimensional coordinates and direction angles to obtain equipment position data; and preprocessing the equipment position data by adopting a Kalman filtering algorithm to obtain preprocessed equipment position data. According to the automatic orientation technology, by integrating a global navigation satellite system receiver, a geomagnetic field sensor and an inertial measurement unit, calculation of high-precision three-dimensional coordinates and direction angles is achieved, the accuracy of equipment position data is ensured, the equipment position data is preprocessed through a Kalman filtering algorithm, and the accuracy of the equipment position data is improved. Noise is effectively removed, data accuracy is improved, follow-up analysis is more reliable, a prediction model is constructed based on a machine learning algorithm, time sequence analysis and an environment perception technology are combined, and the pointing path of the holder can be accurately predicted.

The invention belongs to the technical field of ocean engineering equipment and underwater detection, and particularly discloses a far-field sensing and positioning method for a submarine cable of a cable laying robot based on a multi-modal sensor, electronic equipment and a readable storage medium. The method comprises the following steps: S1, acquiring acoustic, optical, magnetic and electric field original data of the submarine cable by using a multi-mode sensor array; s2, constructing an original data set with time-space synchronization, ensuring that timestamps and space coordinates of acoustics, optics, magnetic force and electric field data are consistent, and forming a standardized four-dimensional tensor data set; s3, performing space-time registration and joint noise reduction processing on the original data to generate standardized sensing data; s4, constructing a dynamic environment fusion model for fusing the real-time sea condition parameters and the prior knowledge base to generate environment constraint conditions; s5, iteratively calculating the position of the cable by adopting a prediction-correction mechanism based on a particle filtering and model prediction control algorithm; and S6, outputting cable positioning coordinates and cable laying robot adaptive path planning parameters.

The disclosure is directed to a system for determining a geographic location of device. The system includes at least one antenna and a controller. The at least one antenna is configured to detect magnetic field signals. The controller is configured to identify a first set of magnetic field signals including one or more magnetic field signals having a change in angle of arrival less than or equal to a predetermined angle of arrival threshold value or a change in the location of a source less than or equal to a predetermined location threshold value. The controller is further configured to identify a second set of magnetic field signals including one or more magnetic field signals having signal strength range within a predefined signal strength range. The controller is further configured to determine a geographic location of a device based on the identified second set of magnetic field signals.