42results about How to "Avoid low positioning accuracy" patented technology

The embodiment of the invention discloses a positioning method and device, belonging to the field of positioning. The method includes: according to the positioning of the base stations, obtaining the signal arrival time of each base station arriving at the terminal and the position information of each base station; Distance error correction coefficient: calculate the position information of the terminal to correct the base station positioning result according to the arrival time of the signals from the base stations to the terminal, the position information of the base stations, and the non-line-of-sight error correction coefficient between the current corresponding base stations . In the embodiment of the present invention, the base station positioning error in the satellite blind area is calculated by a seamless positioning method of the satellite blind area of ​​the fusion satellite and the base station. This makes it possible to obtain higher-precision terminal location information only through base station positioning when satellite signals cannot be received, avoiding positioning in a cellular network environment and the situation of low positioning accuracy caused by various interference factors.

A position-finding system is comprised of a terminal having a global positioning system (GPS) for finding a position thereof, and a server which calculates altitude data, based on terrain data in an area in which the terminal is. The terminal includes a controller which selects one of three-dimensional position-finding in which a position is calculated through the use of four or more satellites and two-dimensional position-finding in which a position is calculated in a circumference in which only three satellites can be captured, in accordance with the altitude data provided from the server.

The invention provides an ultrasonic wave based underground personnel positioning and structure monitoring integrated method. The method is characterized in that ultrasonic wave positioning nodes discover personnel objects by monitoring frequency band ultrasonic wave signals and achieve communications with mobile terminals via the ultrasonic wave signals with communication frequency bands after discovering the objects; the mobile terminals send corresponding identification codes to the ultrasonic wave positioning nodes in response operating processes; the ultrasonic wave positioning nodes send the identification codes to an upper computer after receiving the identification codes; and the upper computer completes positioning and identification of the underground personnel according to the established positions of the ultrasonic wave positioning nodes and the identification codes. The method has the beneficial technical effects that monitoring, positioning and identification of the underground personnel are achieved by utilizing the ultrasonic wave signals, thus solving the problem that electromagnetic wave based positioning systems have low positioning precision; and meanwhile, the structure deformation online monitoring functions are integrated, and synchronous positioning and real-time monitoring of multipoint personnel and structures are supported.

The invention discloses an indoor online positioning method based on combination of a PDR and a hidden Markov model. The indoor online positioning method comprises the following steps: S1, acquiring aPDR step length deviation maximum value and a gyroscope angle deviation maximum value at each moment; S2, dividing the area to be positioned into a plurality of small grids; S3, determining a PDR initial position; S4, drawing an original walking track of the user; S5, determining an area with the maximum PDR positioning probability on the grid map; S6, obtaining a plurality of positions with themaximum WiFi positioning probability and a final positioning area; S7, constructing a hidden Markov model and determining parameters of the hidden Markov model; S8, determining a final positioning position; S9, redrawing a final positioning track of the PDR and determining the current positioning position; According to the invention, the problem of low positioning precision caused by accumulated errors of sensors or unstable WiFi signals in PDR and WiFi positioning technologies based on smart phones in the prior art is solved.

The invention provides a transformer substation foot-type robot, an inspection system and an inspection method, a plurality of rotatable supporting legs are arranged under a robot platform to bear and drive the robot platform to move, the robot platform is provided with a connecting part, and the connecting part is detachably connected with a detection assembly or / and a mechanical arm. The mechanical arm is used for executing an overhaul operation task, and the detection assembly is used for executing a detection operation task; each rotatable supporting leg is provided with an independent driving piece, and the control unit controls the actions of all the driving pieces or / and the mechanical arms according to the situation of on-site obstacles and adjusts the posture of the robot platform or / and the mechanical arms so as to meet the walking requirements of different tasks. And intelligent inspection and light-weight maintenance operation tasks in the open-type transformer substation can be completed.

A head of an output shaft of a linear actuator is modified so as to absorb vibrations that may be transmitted between the output shaft and a moving object. A linear actuator has an output shaft with a leading end to which a head is fixed. The head has an O-ring that is fitted thereto, and a part of the O-ring outwardly projects from the head. The O-ring is made of rubber that is softer than the material of the head. The head is contained in a containing space in an attachment, and in this condition, the O-ring contacts an inner circumferential surface of the containing space by deforming.

The invention discloses a cylinder fitting based lower limb tibia mechanical axis determination method. The method includes: acquiring a tibia three-dimensional image; fitting the tibia three-dimensional image to obtain a fitted cylinder; acquiring a center line of the fitted cylinder; acquiring a protuberance point at the upper end of tibia; and translating the center line of the fitted cylinderto make it pass through the protuberance point at the upper end of tibia, thus obtaining the lower limb tibia mechanical axis. The method provided by the invention acquires three-dimensional CT tomographic data, fits out the cylinder most similar to the tibial marrow cavity, and then acquires the center line of the cylinder, i.e. a straight line parallel to the mechanical axis of tibia, and then translates the center line to obtain the position of the mechanical axis of tibia, so that the mechanical axis of tibia can be obtained without acquiring the center of ankle joint, and the problems ofpositioning deviation and low positioning accuracy caused by human determination of the center of ankle joint, and by means of image recognition algorithm, a three-dimensional model of the tibial marrow cavity can be worked out automatically, so that the precision can be higher and the positioning is more reliable.

A head of an output shaft of a linear actuator is modified so as to absorb vibrations that may be transmitted between the output shaft and a moving object. A linear actuator has an output shaft with a leading end to which a head is fixed. The head has an O-ring that is fitted thereto, and a part of the O-ring outwardly projects from the head. The O-ring is made of rubber that is softer than the material of the head. The head is contained in a containing space in an attachment, and in this condition, the O-ring contacts an inner circumferential surface of the containing space by deforming.

The invention belongs to the field of robots, and provides a transformer substation legged robot posture adjusting method, a controller, a transformer substation legged robot posture adjusting system and a transformer substation legged robot. The transformer substation legged robot posture adjusting method comprises the steps that when the legged robot advances, a same-speed retreating method is adopted so that the moving speed of a swing leg relative to a trunk can be the same as the moving speed of a supporting leg relative to the trunk, and it is guaranteed that the swing leg is vertically lifted; after the legged robot stands stably, initial coordinates of the foot ends in a shoulder joint coordinate system are calculated based on posture information and geometric information existing after stable standing, new coordinates of the foot ends in the shoulder joint coordinate system are obtained by combining the trunk posture adjustment amount and the distance between the left foot and the right foot, and standing posture adjustment is conducted; in the advancing and standing posture adjusting process of the legged robot, on the basis of the current motion working condition, under the condition that pose constraints are met, active posture adjustment of a mechanical arm on a legged movement platform is utilized to assist a legged movement platform control system in the control over the platform posture, so that the legged movement platform keeps the stress and torque balance states.

A positioning apparatus controls a relative position between a first member and a second member. The apparatus includes an electromagnet fixed to the first member, an attraction target fixed to the second member so as to be attracted by the electromagnet, a magnetic flux sensor which detects a magnetic flux value generated by the electromagnet, and a driving unit which drives the electromagnet in accordance with an error between the magnetic flux value detected by the magnetic flux sensor and a corrected magnetic flux command value obtained by correcting a magnetic flux command value in accordance with a size of a gap between the electromagnet and the attraction target.

The present invention relates to a driving motor. The problem to be settled is that the value of mechanical angle of each electrical angle diminishes proportionally to polar number. The mechanical angle diminishes if the allowed electrical angel is certain. Thererfore the installation accuracy of bracket of Hall integrated circuit which is used for detecting magnetic pole requires to be greatly increased, but simultaneously the installation accuracy is not sufficient. The Hall integrated circuit bracket installing structure according to the invention is divided to an installation mechanism executed with mounting screws, a first positioning mechanism which is installed at the same circumference at the periphery side of stator iron, and a second positioning mechanism which is installed at the front of teech part of stator iron.

The invention discloses an enhanced recognition method for a facial expression image, and the method comprises the following steps: 1), carrying out the face positioning through an Adaboost cascade detector based on Haar features, framing a face part, carrying out the cutting, carrying out the image preprocessing of a cut image, and storing the image; 2) establishing a mapping relationship betweenthe human face appearance and the human face shape by using a cascade regression tree algorithm in the regression model, and extracting facial feature points; 3) calculating a corresponding Euclideandistance by using the facial expression representation model to obtain a six-element array representing facial expression features; and 4) training a classification model by using a random forest algorithm, and inputting the six-element array into the trained model to realize classification and identification. According to the invention, the facial expression image with certain head deflection can be well recognized on the basis of recognizing the standard posture facial expression image, the recognition efficiency is high, the operation speed is high, the actual application requirements aremet, and the method is more suitable for actual scenes.

Embodiments of the invention provide a hard disk drive base adapted to prevent release of a strain due to the difference in thermal expansion between the voice coil motor and the base and thereby prevent a degradation in the positioning accuracy of the magnetic head. In one embodiment, a hard disk drive base is provided which comprises: a plurality of contact surfaces to which a lower yoke of a voice coil motor is fixed; and thin portions each formed around a respective one of said plurality of contact surfaces and having a thickness smaller than that of other portions of the base.

A navigation signal processing device includes circuitry configured to perform positioning of an antenna based on navigation signals received by the antenna from navigation satellites, set an elevation angle mask that causes inhibition of utilization of the navigation signals that are received from a specific angle range as viewed from the antenna in the positioning of the antenna, and obtain three-dimensional point cloud position data that includes data of multiple points of the surroundings as viewed from the antenna. The multiple points are obtained by a laser scanner or a stereoscopic camera and have determined three-dimensional coordinates. The circuitry is further configured to set the elevation angle mask that causes inhibition of utilization of the navigation signals that are received from a straight line direction connecting the antenna and each of the multiple points of the three-dimensional point cloud position data as viewed from the antenna.

The invention discloses a road condition preview method suitable for integrated control of a vehicle chassis. The method is used for carrying out online real-time scanning, estimation and measurementon information such as elevation, slope, inclination, unevenness and the like of a road surface, and comprises the following steps: firstly, realizing elevation information extraction and 2.5 D reconstruction of the road surface in front of a vehicle by installing a plurality of sensors; secondly, designing point cloud motion compensation of timestamp synchronization, establishing feature point matching of a local map and a global map, and then, improving terrain scanning precision; next, realizing map fusion and update by utilizing Kalman filtering; and finally, extracting an elevation data sequence of the terrain grid at the tire, and completing extraction of slope, inclination and unevenness by combining the elevation data sequence and elevation information of the road surface in frontof the vehicle. According to the invention, the adaptability and matching performance of vehicle chassis integrated control to road conditions are improved, the problems of failure, instability and slow updating of GPS signals are solved, and the scanning precision and stability of the terrain in front of the vehicle are improved.

The invention discloses a precise shearing blanking device. The precise shearing blanking device comprises a base, a stepping feed mechanism, a locking mechanism and a shearing mechanism. The stepping feed mechanism is fixedly arranged in the position, at the rear end of a material path, of the base. The locking mechanism comprises a clamping head seat, a clamping power part, an upper clamping head and a lower clamping head; the clamping head seat is connected with a movable rod of the stepping feed mechanism so that the clamping head seat can be pushed to move in the extending direction of the material path; the upper clamping head is fixedly arranged on the clamping head seat above the material path between the stepping feed mechanism and the shearing mechanism; the lower clamping head is arranged below the material path corresponding to the upper clamping head; and the clamping power part is fixedly arranged on the clamping head seat, and a driving rod is connected with the lower clamping head so that the lower clamping head can be pushed to move in the direction perpendicular to the material path. The shearing mechanism is fixedly arranged on the base above the front end of the material path and used for shearing a material. According to the precise shearing blanking device, the material is located through the locking mechanism and is precisely fed and positioned through the stepping feed mechanism, and finally, blanking is completed. The precise shearing blanking device has the characteristics of being simple in structure, precise and reliable in shearing positioning, high in production efficiency and flexible and convenient to adjust.

The invention relates to an equipment positioning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a first time difference of positioningdata packets sent by target equipment to be positioned and received by a master positioning base station and a first slave positioning base station in a positioning base station system, wherein the positioning base station system comprises the master positioning base station and at least two slave positioning base stations; based on the first time difference and the historical time difference, the numerical value fluctuation amplitude of the first time difference relative to the historical time difference is determined, and the historical time difference is the time difference when the main positioning base station and the first slave positioning base station receive historical positioning data packets sent by the target equipment in the historical time period; if the numerical fluctuation amplitude is greater than the abnormal fluctuation threshold value, indicating the master positioning base station and the first slave positioning base station to measure and report the distance between the master positioning base station and the target equipment; and positioning the target device based on the reported measurement result. By adopting the method, the positioning precision of thetarget equipment can be improved.

A recording and reproducing apparatus includes: a magnetic head in which a servo band having a servo pattern and a data band having data tracks are alternately arranged along a width direction, the magnetic head including a recording and reproducing element that records or reproduces data with respect to the data track, and at least two servo reproducing elements that read servo patterns adjacent to each other in the width direction of the magnetic tape; a selection unit that selects a servo reproducing element from the servo reproducing elements according to a position of the data track, as a target of recording or reproducing of data in the data band, along the width direction; and a controller that controls positioning of the magnetic head along the width direction by using a result of reading of the servo patterns by the servo reproducing element selected by the selection unit.

The invention provides a power distribution network fault positioning method and device, and the method comprises the steps: obtaining three-phase current sampling data of each node of a line, and carrying out the feature extraction of the sampling data; inputting the extracted feature data into a pre-trained adaptive convolutional neural network model, and outputting a fault line phase between fault nodes; performing double-end fault positioning on the fault line to obtain a fault position of the fault line between the fault nodes; wherein the adaptive convolutional neural network model is obtained by training according to the known fault line phase as a sample label and the characteristic data of the three-phase current sampling data of each node as sample input. According to the method, the online diagnosis time can be shortened through the adaptive convolutional neural network model, and the phase of the fault line does not need to be evaluated through frequency, fault position and transition resistance, so that the influence of factors such as system frequency, fault position and transition resistance is small. The problem of low positioning precision in complex power transmission fault detection by only adopting a fault distance measurement method can be avoided.

The invention provides a standing pose adjusting method and system for a foot type inspection robot. The standing pose adjusting method comprises the steps that pose information and geometric information of the foot type inspection robot after standing stably are obtained; obtaining an initial coordinate of the foot end in a shoulder joint coordinate system according to the obtained attitude information and geometric information; new coordinates of the foot ends in a shoulder joint coordinate system are obtained by combining the initial coordinates, the body posture adjustment amount and the distance between the left foot and the right foot, and posture adjustment is conducted according to the new coordinates; the position precision and the angle precision of final standing are improved through in-situ trunk translation and in-situ trunk torsion after standing is stable.

The invention belongs to the field of robots, and provides a posture adjustment method, a controller, a system and a robot for a substation legged robot. Wherein the method comprises that when the legged robot is advancing, adopting the method of withdrawing at the same speed so that the moving speed of the swing leg relative to the torso is the same as that of the supporting leg relative to the torso, so as to ensure that the swinging leg is lifted vertically; After the robot stands stably, calculate the initial coordinates of the foot in the shoulder joint coordinate system based on the posture information and geometric information after standing stably, and then combine the trunk posture adjustment and the distance between the left and right feet to obtain the foot in the shoulder joint coordinate system In the new coordinates and adjust the standing posture; in the process of moving forward and standing posture adjustment of the footed robot, based on the current motion conditions and satisfying the pose constraints, the posture of the robotic arm on the footed motion platform is used to actively adjust, Assist the foot motion platform control system to control the platform attitude, so that the foot motion platform maintains a balanced state of force and torque.

The invention discloses a curved surface normal measuring device and a curved surface normal measuring method, wherein the curved surface normal measuring device comprises: a laser for emitting at least one cross laser line; The camera module of the image; the control processing module connected with the laser and the camera module respectively; wherein, the control processing module is used to: obtain the image of the measured curved surface irradiated by the laser through the camera module, on the projection plane of the laser and on the camera On the image plane of the module, the cross laser line is analyzed through visual geometry, and the normal direction of the intersection point of the cross laser line on the measured surface is realized. The technical solution provided by the invention can effectively realize the automatic measurement of the normal direction of the curved surface and improve the accuracy of the normal direction measurement of the curved surface.

The invention relates to a downhole multi-sensor fusion low-power wireless positioning system with a self-correction function. The system is characterized in that a preset number of UWB ranging base stations are arranged on the same side of an underground coal mine roadway at equal intervals according to the communication distance a between the UWB ranging base stations and UWB tags and a size smaller than or equal to 1 / 2 of the communication distance a; each RFID base station is arranged at a middle position between every two UWB ranging base stations, and the distance between every two adjacent RFID base stations is larger than the communication distance b between the RFID base stations and the RFID tags; each UWB ranging base station and the RFID base stations on the two sides of the UWB ranging base station are connected with the same embedded hardware platform through a network; the RFID tags and the UWB tags are configured on one side, close to the arrangement direction of the UWB ranging base station, of a downhole auxiliary transport vehicle to be positioned; an IMU module is arranged on the downhole auxiliary transport vehicle to be positioned; and a upper computer is connected with the embedded hardware platform network and the IMU module network. The positioning precision is improved through fusion positioning of the IMU and the UWB.

A recording and reproducing apparatus includes: a magnetic head in which a servo band having a servo pattern and a data band having data tracks are alternately arranged along a width direction, the magnetic head including a recording and reproducing element that records or reproduces data with respect to the data track, and at least two servo reproducing elements that read servo patterns adjacent to each other in the width direction of the magnetic tape; a selection unit that selects a servo reproducing element from the servo reproducing elements according to a position of the data track, as a target of recording or reproducing of data in the data band, along the width direction; and a controller that controls positioning of the magnetic head along the width direction by using a result of reading of the servo patterns by the servo reproducing element selected by the selection unit.

The invention discloses an indoor cooperative positioning method based on spatial analysis, belonging to the indoor positioning field. The method comprises: improved ray-tracing algorithm for positioning space analysis; indoor space region decision algorithm based on improved ray tracking technology; two-stage cooperative localization algorithm based on spatial analysis. According to the characteristics of stable space structure in indoor environment, based on ray tracing technology, the space environment is analyzed, different locating regions are divided and the number of locating referencesignals in each region is counted, then the direct locating region and the cooperative locating region are judged. According to the spatial partition, the target nodes which need or do not need cooperative localization are judged, and an indoor cooperative localization method based on spatial analysis is proposed. This indoor cooperative positioning method effectively avoids the problem of lowering the positioning accuracy caused by the moving reference node with large error and improves the positioning accuracy of the whole system.

The invention provides an ultrasonic wave based underground personnel positioning and structure monitoring integrated method. The method is characterized in that ultrasonic wave positioning nodes discover personnel objects by monitoring frequency band ultrasonic wave signals and achieve communications with mobile terminals via the ultrasonic wave signals with communication frequency bands after discovering the objects; the mobile terminals send corresponding identification codes to the ultrasonic wave positioning nodes in response operating processes; the ultrasonic wave positioning nodes send the identification codes to an upper computer after receiving the identification codes; and the upper computer completes positioning and identification of the underground personnel according to the established positions of the ultrasonic wave positioning nodes and the identification codes. The method has the beneficial technical effects that monitoring, positioning and identification of the underground personnel are achieved by utilizing the ultrasonic wave signals, thus solving the problem that electromagnetic wave based positioning systems have low positioning precision; and meanwhile, the structure deformation online monitoring functions are integrated, and synchronous positioning and real-time monitoring of multipoint personnel and structures are supported.