32results about "Navigation by terrestrial means" patented technology

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.

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 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.

A computer-implemented procedure comprises: (i) determining a user's current location using location data, (ii) determining, using location data, a user device's starting point based on the current location and a user device's destination based on user input, (iii) identifying, via a pedestrian route planner of a route planning application communicating with a navigation system, a pedestrian route between the starting point and the destination, (iv) identifying, via the navigation system, waypoints between the starting point and the destination, (v) transmitting the pedestrian route to the user device, (vi) outputting, via the route planning application, i) a haptic feedback protocol and / or ii) an acoustic feedback protocol associated with the waypoints.are, (vii) receiving pedestrian route data from the user device, and (viii) processing the pedestrian route data to determine user behavior.

The invention relates to a method for determining the position of a motor vehicle (1) in a workshop environment (9). The motor vehicle (1) downloads a digital map (K) from a central server (4). During the journey, a camera (2) captures image data of the environment, which is divided into static workshop infrastructure elements (5) and dynamic inventory items (6) using semantic segmentation. The position of the motor vehicle (1) is determined by comparing the detected static elements (5) with the map. Based on this, the positions of the dynamic items (6) are determined. If position changes of these items (6) are detected, an update is sent to the central server (4) to update the digital map. The method according to the invention enables precise and infrastructure-free localization of the vehicle in dynamic environments.

The present disclosure provides a physical information neural network-based pose estimation method, device and equipment, relating to the technical field of computer, the method comprising: collecting an original sensor sequence and preprocessing the original sensor sequence to obtain a time-frequency representation; determining a multi-scale feature and a residual attention weight based on the time-frequency representation; inputting the multi-scale feature and the residual attention weight into a physical information neural network model to obtain an angular velocity estimation and a pose quaternion update term; calculating a physical residual loss according to the angular velocity estimation and the pose quaternion update term and a physical kinematics constraint, and constructing a total loss function based on the physical residual loss and a measurement consistency loss; optimizing network parameters of the physical information neural network model based on the total loss function to obtain a trained pose estimation model; compressing and deploying the pose estimation model, and generating a pose estimation result based on real-time collected sensor data through the pose estimation model. Low-cost and high-precision pose estimation can be achieved.

This invention discloses an intelligent biomimetic navigation method and system under sparse magnetic maps, belonging to the field of geophysical geomagnetic field biomimetic navigation research technology. The method constructs a magnetic field characteristic vector of a target point by comprehensively utilizing six types of vector information and defines an objective function to quantify the difference between the current position and the target point; loads a sparse geomagnetic reference map to provide a global magnetic field reference; calculates the total azimuth function of the current position and uses a Gaussian distribution to generate an initial population to simulate biological tropism; evaluates, replicates, eliminates, and mutates the population samples through a biomimetic evolutionary mechanism to generate a new generation of optimized solution sets; and iteratively updates the position using a fixed step-size strategy until a preset termination condition is met. This invention enables autonomous and precise navigation of aircraft in sparse geomagnetic environments, overcomes the dependence on high-precision geomagnetic maps, and has strong anti-interference capabilities and good environmental adaptability.

The application discloses a sensing device for a trans-medium aircraft, which comprises a hydrophone, an accelerometer and a magnetic sensor, wherein the hydrophone is used for collecting underwater acoustic signals; the accelerometer is used for measuring acceleration changes of the trans-medium aircraft in three-dimensional space; the magnetic sensor is used for detecting changes of an external magnetic field; the hydrophone, the accelerometer and the magnetic sensor are all adapted to be in communication connection with a controller of the trans-medium aircraft. By setting the hydrophone, the accelerometer and the magnetic sensor and making them all in communication connection with the controller, the trans-medium aircraft can collect underwater acoustic signals, and the accelerometer and the magnetic sensor can provide basic data such as acceleration for dynamic attitude adjustment of the trans-medium aircraft, simultaneously detect changes of the external magnetic field and assist navigation and positioning of the trans-medium aircraft, so that the trans-medium aircraft has improved concealment and anti-interference capability, and the trans-medium aircraft can realize information data acquisition in different media, high-precision positioning and stable navigation.

The application discloses a micro device pose visual positioning method for a semiconductor substrate, a flexible magnetic positioning subsystem composed of a coil array and a magnetic sensor array arranged on the same flexible substrate is used to perform global six-degree-of-freedom coarse positioning on a magnetic carrier integrated with a permanent magnet mark; then, an imaging probe is guided to reach a target neighborhood based on the coarse positioning pose, and improved YOLO-Pose neural network is used to complete sub-pixel detection of key points of the micro device, the improved network takes CSPDarknet53 as a backbone, embeds deformable convolution and scale self-adaptive modulation, is matched with a dynamic receptive field adjustment module and a hierarchical key point regression head containing multi-scale Fourier feature coding, and finally, six-degree-of-freedom fine positioning pose of the micro device is solved through an EPnP algorithm. The application effectively overcomes the defects of insufficient positioning accuracy, susceptibility to visual interference and easy loss of micro target features of the traditional positioning.

One or more Lorentz force velocimeters are provided. Each Lorentz force velocimeter is configured to sense electric field strength. Each Lorentz force velocimeter measures electric field strength due to a magnetic Lorentz force. Lorentz electric field is derived from alternating measurements of the ambient electric field and a sum of the ambient electric field and the Lorentz electric field. To accomplish this, optionally, a magnetic shield shutter alternatively (a) encloses, at least partially, the electric field sensor and diminishes the Earth's magnetic field strength at the electric field sensor and (b) does not enclose the electric field sensor and does not diminish the Earth's magnetic field strength at the electric field sensor.

This invention belongs to the field of underwater positioning and navigation technology, and relates to an underwater auxiliary navigation method for measuring the velocity of a carrier using a multi-order magnetic gradient tensor. The method includes: velocity observation generation based on the multi-order magnetic gradient tensor: raw data acquisition of the multi-order magnetic gradient tensor, tensor time differential processing, and tensor velocity observation calculation; adaptive fusion navigation of multi-source information: system state quantity definition, dual observation channel design, state prediction and measurement update; robustness enhancement and failure handling: online evaluation of observation quality, adaptive weight adjustment and smooth switching. This invention achieves highly robust multi-source information fusion based on the dual observation channel design using extended Kalman filtering, combined with adaptive noise covariance adjustment. This invention constructs a complete failure handling mechanism to ensure continuous and stable operation of the navigation system in complex underwater environments. This method significantly improves the autonomy and mission reliability of long-endurance underwater navigation and achieves true functional redundancy within the system.

A precise positioning system for a construction robot, which system comprises a measurement turntable module, a visual recognition module, a data processing and calculation module, and a control module. By means of a special algorithm and a positioning process, the precise positioning system for a construction robot is suitable for being mounted on a non-horizontal robot, and can precisely find a position and pose relationship between the robot and a measured point, and precisely find the position and pose of the robot by means of any three points in a space, thereby achieving stronger adaptability compared with conventional construction robot positioning systems.

In one embodiment, a robot control device (100) has a memory (120) which stores a computer-executable instruction (122) and a processor (110), wherein the processor (110) is configured to: generate a target map based on the reception of at least one elementary map (310, 320, 330, 340), determine at least one waypoint which corresponds to the at least one elementary map (310, 320, 330, 340) present in the target map, and generate a robot path based on a connected graph (820, 920) which is determined based on the at least one waypoint.

10. A method for determining the position of industrial trucks in a defined storage environment, comprising the following steps: • Recording odometry data on a change in vehicle pose, • Determining a successor pose using a filter unit that calculates a successor pose from an initial pose using the acquired odometry data, whereby • a prediction step is performed to determine the subsequent pose, taking into account the odometry data and • in addition, a correction step is performed in which the subsequent pose is corrected towards an orientation of zero or a multiple of π / 2 using a virtual measurement function.

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.

A detection device (10) includes a receiver (14), an inertial-measurement-unit (20), an electronic-compass (24), and a controller-circuit (30). The receiver (14) determines intensity (16) of a homing-signal (18) transmitted from a vehicle (12) and received at the device (10). The inertial-measurement-unit (20) determines a distance (22) the device (10) is moved. The electronic-compass (24) determines a heading (26) in which the device (10) is moving. The controller-circuit (30) is in communication with the receiver (14), the inertial-measurement-unit (20), and the electronic-compass (24). The controller-circuit (30) determines a first-range (36A) between a first-position (28A) of the device (10) and the vehicle (12). The controller-circuit (30) determines that that the device (10) has moved to a second-position (28B) based on a first-distance (22A) and a first-heading (26A). The controller-circuit (30) determines a second-range (36B) between the second-position (28B) and the vehicle (12). The controller-circuit (30) determines that the device (10) has moved to a third-position (28C) based on a second-distance (22B) and a second-heading (26B). The controller-circuit (30) determines a third-range (36C) between the third-position (28C) and the vehicle (12). The controller-circuit (30) determines a travel-distance (46) and a travel-direction (48) from the device (10) to the vehicle (12).

The invention relates to a method for creating a three-dimensional environment map (2) for a 360° view in a motor vehicle (1). The method comprises capturing the environment around the motor vehicle (1) using sensors (3) of the motor vehicle (1), wherein the sensors (3) comprise at least environment cameras (4), and outputting a textured, rendered, and virtual road surface (8) together with an applied optical highlighting (9) to a user together with preprocessed and / or segmented and / or rendered image data as a three-dimensional environment map (2) via a display device of the motor vehicle (1). The invention also relates to a motor vehicle (1).

The application provides a planar magnetic direction angle detection method, system, medium and device, and the method comprises the following steps: in a magnetic field space, obtaining the output impedance of a magnetic protein modified ring-shaped microelectrode array placed on a detection plane; and obtaining a planar magnetic direction angle based on the output impedance. The planar magnetic direction angle detection method, system, medium and device can realize the detection of the planar magnetic direction angle based on the magnetic protein modified ring-shaped array sensor, and have high accuracy and strong practicability.

Method for operating a vehicle in which a navigation system of the vehicle receives a destination for a journey and determines a route of the vehicle to the specified destination, a control unit of the vehicle at a starting point of the journey determines the energy required to reach the specified destination and compares the determined required energy with energy stored in the vehicle at the starting point, and an infotainment system of the vehicle displays a warning to the driver at the starting point if the energy stored in the vehicle at the starting point is insufficient to reach the specified destination, as well as a control unit for a vehicle and a vehicle.

The invention relates to a method for communication between a data module of a motor vehicle (12) and at least one network (14a, 14b, 14c) via a server address, wherein communication with the network (14a, 14b, 14c) is enabled by means of an eSIM card (20) arranged on the data module (18), wherein server addresses of the networks (14a, 14b, 14c) in whose area the motor vehicle (12) is moving are detected depending on map data from a navigation system (22) of the motor vehicle (12), and communication between the data module and the respective networks (14a, 14b, 14c) is provided. The invention further relates to a network system (10).

The application belongs to the technical field of indoor positioning, and discloses a robust indoor positioning heading angle estimation method, which comprises the following steps: acquiring IMU data and magnetometer data in the process of pedestrian movement, determining the length of the straight path of the pedestrian under the assistance of a classical step model; obtaining coarse positioning information, combining the length of the straight path of the pedestrian to determine the scene information corresponding to the type of the scene area where the pedestrian is currently located; comparing the magnetometer data with a local magnetic field model to eliminate the coarse error of magnetic interference; obtaining the average magnetic angle of the pedestrian when walking in a straight line based on the pedestrian movement information, and eliminating the coarse error of the magnetic heading angle; combining the pedestrian movement information and the scene information to perform building map angle matching to obtain a first heading angle; and correcting the first heading angle by using the average magnetic angle of the pedestrian when walking in a straight line to obtain a final heading angle. The application solves the problems of low precision and poor reliability of the indoor positioning heading angle in the prior art, and can effectively improve the robustness of the heading angle estimation.

One example includes a magnetic-inertial global positioning system mounted on a platform. The system includes an inertial system configured to determine an approximate latitude associated with an approximate global position of the global positioning system. The system also includes a magnetometer system configured to determine an ambient magnetic field at the approximate global position. The system further includes a location processor configured to compare the ambient magnetic field with a predetermined magnetic field profile to determine an approximate longitude along the determined approximate latitude to determine the approximate global position of the platform.

A heading determination method and an electronic device. The heading determination method comprises: on the basis of data collected in real time by a magnetometer mounted on a terminal device within a set duration, obtaining a current magnetic field strength indicator; if a positioning signal from a navigation satellite system currently received by the terminal device does not satisfy an availability condition, determining, from a correspondence representing the relationship between historical headings and historical magnetic field strength indicators, a historical magnetic field strength indicator matching the current magnetic field strength indicator; and determining, as a current heading of the terminal device, the historical heading corresponding to the historical magnetic field strength indicator matched in the correspondence. In the method, when a GNSS signal is poor, a heading of a terminal device is determined by means of a correspondence between historical headings and historical magnetic field strength indicators, without requiring calibration of magnetometer data, thereby reducing overhead, overcoming the problem of the magnetometer being susceptible to external interference, and improving the accuracy of heading determination.

This invention discloses a geomagnetic interference suppression method, apparatus, device, and storage medium, applicable to smart wearable devices. The method includes: simultaneously acquiring geomagnetic sensor data, accelerometer data, and gyroscope sensor data from the smart wearable device; fusing and analyzing the accelerometer and gyroscope data with the geomagnetic sensor data to obtain a fusion analysis result; determining whether the geomagnetic sensor data is affected by magnetic field interference based on the fusion analysis result to obtain an interference judgment result; and correcting the geomagnetic sensor data according to the interference judgment result to obtain corrected geomagnetic data. Because this invention fuses and analyzes accelerometer and gyroscope data with geomagnetic sensor data, makes an interference judgment based on the fusion analysis result, and triggers corresponding correction processing based on the interference judgment result, it not only improves the accuracy of geomagnetic sensor measurements but also enhances the user experience.

The application discloses a kind of based on SOM network self-adapting screening unmanned ship cluster cooperative positioning method, belong to navigation and positioning field.The method includes: the output of GNSS, INS, GMNS and other heterogeneous navigation sources is modeled as Gaussian probability model;With the ranging and direction finding information between ships, the positioning information of cooperative ship is converted into indirect estimation of target ship, forming a complete positioning information set;Position data is input into SOM neural network for clustering, based on node density, the threshold is adaptively determined using the maximum between-class variance algorithm, and high-confidence positioning information is selected;Based on information geometry theory, the filtered information is regarded as a point on the Riemannian manifold, and the weighted geometric center is calculated to obtain the final fusion result;Feedback fusion result to optimize the cooperative observation parameters of next iteration cycle.The application can adaptively remove outliers and uniformly process heterogeneous data, significantly improving the robustness, accuracy and real-time performance of large-scale unmanned ship cluster cooperative positioning in complex dynamic sea areas.

This application provides a method and system for seamless indoor and outdoor navigation based on dynamic allocation of multi-source positioning weights. The seamless indoor and outdoor navigation system includes: a multi-source positioning data acquisition module for real-time acquisition and preprocessing of raw data from different positioning sources; a building structure big data engine for constructing a three-dimensional spatial constraint model; a positioning source reliability assessment module for quantifying the credibility of each positioning source in a specific scenario; a dynamic weight allocation decision module for real-time adjustment of positioning source weights based on a multi-factor decision model; a multi-source data fusion filtering module for fusing heterogeneous positioning data; and an indoor and outdoor scene switching control module for triggering and smoothing seamless switching between indoor and outdoor scenes. The above technical solution achieves efficient collaboration among multiple positioning sources, improving navigation accuracy and adaptability.

Systems and methods for automatic magnetic variation detection include receiving, from a magnetic variation database, first magnetic variation data associated with an airport; determining second magnetic variation data based on a published approach associated with the airport and one or more trajectory measurements as an aircraft flies along a centerline of a localizer signal of the airport; determining a difference between the first magnetic variation data and the second magnetic variation data; and if the difference satisfies a deviation threshold, updating the magnetic variation database based at least on the second magnetic variation data.

A wearable electronic device is provided. The wearable device includes a sensor module, a location measurement module, a communication module, memory storing one or more computer programs, and one or more processors communicatively coupled to the sensor module, the location measurement module, the communication module, and the memory, wherein the 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 to, when identifying execution of a location-based application, request an external wearable electronic device communication-connected through the communication module to calculate posture information about the external wearable electronic device, when identifying that a reception sensitivity of a location signal received from the location measurement module is equal to or less than a threshold level during detection of a movement direction of the wearable electronic device based on the location signal, request the posture information about the external wearable electronic device from the external wearable electronic device, and detect the movement direction of the wearable electronic device by applying the posture information received from the external wearable electronic device to pedestrian dead reckoning.