64results about How to "Derivation is simple" patented technology

The present invention provides an image motion compensation method for a space optical remote sensor, relating to an image motion compensation method and solving the problem that the current image motion velocity vector calculation method used in image motion compensation cannot satisfy complex imaging tasks and the calculation result is not accurate. The process of the image motion compensation method is as follows: creating five coordinate systems starting from ground targets to image points, transferring the coordinates for a plurality of times according to the rotation and translation principles among vectors, describing the positions of the targets and the image points in the camera coordinate systems, obtaining the image motion velocity vector calculation formula and the calculation method when the satellite forms images of the targets, then obtaining the image motion velocity vector used in the image motion compensation of the space optical remote sensor. The image motion compensation method overcomes the deficiency in the prior art, dependently calculates the target positions needed in the image motion velocity vector calculation and integrally considers the orbit and attitude parameters, besides. The image motion compensation method is suitable for complex imaging tasks and general satellite orbit, and is used in the fields such as atmospheric environment monitoring, resources exploration, disaster prevention and the like.

The invention relates to an inertia/vision integrated navigation method for a deep-space detection patrolling device. The method comprises the steps that a state model of inertia/vision integrated navigation of the patrolling device is established according to a serial inertial navigation mechanical arrangement in a fixed coordinate system of a planet; a binocular vision camera is used for shooting a surrounding environment of the patrolling device; a stereoimage sequence is obtained; pixel coordinates of characteristic points are obtained by an image characteristic extraction algorithm; a measurement model by taking the pixel coordinates of the characteristic points as measurement vectors is established; and a position, a speed and a state of the deep-space detection patrolling device are estimated by using Unscented kalman filter. The method can effectively correct a position error of inertial navigation and improve the navigation accuracy, is very applicable to autonomous navigation of the deep-space detection patrolling device, belongs to the technical field of space navigation, can provide high-precision navigational parameters for the deep-space detection patrolling device, and can provide references for the design of an autonomous navigation system of the deep-space detection patrolling device.

An target vertical trajectory for a flight plan is produced using aircraft performance characteristics taking into account only the altitude constraints, but ignoring any speed and time constraints. The target vertical trajectory is evaluated for violations of altitude, speed, and time constraints and on the basis of other criteria. An alternative vertical trajectory is generated by randomly changing parts of the target vertical trajectory, and this alternative is likewise evaluated. If the child vertical trajectory has a more robust evaluation, it becomes to new target vertical trajectory; otherwise the previous target vertical trajectory remains in place. The alternative vertical trajectory generation process is performed repeatedly and over time the target vertical trajectory evolves toward an optimum trajectory solution.

The invention discloses a multi-camera calibration and alignment fitting method. A posture of a target object is observed by using a first camera group; a posture of a fitting object is observed by using a second camera group; and rotating coordinate systems of the two camera groups coincide. A calibration process comprises a first calibration stage, a second calibration stage and a third calibration stage. In the first calibration stage, internal parameters and a camera mounting angle of each camera in the camera groups are calibrated; in the second calibration stage, the position, in an output coordinate system of each camera in the camera groups, of a rotating center of a correction platform is calibrated and the rotating coordinate systems are established according to the condition that the rotating center of the correction platform is a fixed point after returning to zero; and in the third calibration stage, mapping and calibration are performed: the first camera group is mapped and calibrated by the second camera group according to the condition that the rotating coordinate systems of the first camera group and the second camera group coincide.

The invention relates to the field of traditional Chinese medicine information search and discloses a traditional Chinese medicine data mining method based on an LDA (Latent Dirichlet Allocation) topic model. The method comprises the following specific steps: 1) determining two groups of priors, namely prescription-topic and topic-medicament, in the LDA model, and conducting priori assumptions to the two groups of priors by an AS (Asymmetry Symmetry) method, wherein the prescription-topic and the topic-medicament are determined respectively by Alpha and Beta; 2) determining the number of topics in the LDA model; 3) solving the LDA model by a Gibbs sampling method; 4) generating a semantic RDF (Resource Description Framework) document of the LDA model, mapping the result of the LDA model to a tetrad, and expressing the result with the semantic RDF document; 5) associating medicaments with prescriptions to build a prescription-topic-medicament with visual structure network G. The method has the advantages of being suitable for handling and mining a great quantity of traditional Chinese medicine prescriptions and capable of obtaining visual structure models.

The invention provides a co-primer array non-grid DOA estimation method under a non-negative sparse Bayes learning framework, and belongs to the field of research on a high-resolution direction finding method in signal processing. The method includes the steps that firstly, a co-primer array received data covariance matrix is vectorized, a virtual received signal model is established, then a non-negative sparse Bayes model is established based on the characteristic that virtual incident signal elements in the model are not negative, hyper-parameters and a grid point set are iteratively updatedthrough an expectation-maximization algorithm, finally, a signal power spectrum is established according to the finally-updated grid point set and the finally-updated hyper-parameters, and then an estimated DOA is determined through spectrum peak searching. By means of the method, the operation process is converted to a real number field from a complex number field, and therefore the computationcomplexity can be reduced to a certain degree. In addition, by the application of a co-primer array, undetermined DOA estimation can be achieved, the limitation of the number of array elements in themaximum estimable information source number is broken through, thus, the hardware cost can be reduced to a certain degree, and certain engineering application value is achieved.

A method and apparatus for three-dimensional video coding and multi-view video coding are disclosed. Embodiments according to the present invention derive a unified disparity vector (DV) based on neighboring blocks of the current block or depth information associated with the current block and locate a single corresponding block in a reference view according to the unified DV. An inter-view motion vector prediction (MVP) candidate is then derived for both list0 and list1 from the single corresponding block. List0 and list1 MVs of the inter-view MVP candidate are derived from the single corresponding block located according to the unified DV.

The invention discloses a flux linkage analysis method for determining doubly fed induction generator-containing three-phase short circuit current. According to the method, an electromagnetic transient model of a doubly fed induction generator (DFIG) and fault transient characteristics of stator and rotor flux linkage are analyzed, after a grid is failed, the DFIG stator flux linkage direct current component induces alternating current flux linkage in reverse direction of the revolving speed direction at a rotor winding, the alternating current flux linkage cannot be described in three-phase stator coordinate axis (static coordinate axis), the DFIG stator flux linkage forced component needs to be treated by reduction to a stator side and stator flux linkage direct current component needs to be treated by reduction to a rotor side so as to form a static equivalent circuit, thus, in the case of fault, influence of rotor resistance on dynamic attenuation of the stator flux linkage direct current component and induction process of the stator flux linkage direct current component and the rotor winding is analyzed, and an analytical expression of DFIG stator short circuit current in the case of grid three-phase short circuit is deduced.

The invention discloses a modularized roll surface for moving an article on a conveying line or a base of a processor or for other application. The modularized roll surface comprises a support framework (10) preferably made of metal elements, and a roll bracket (11) with rolls (21) is buckled and inserted into the support framework. The grouped rolls of the bracket are arranged in the support framework, the disassembly operation of the rolls can be easily and elastically executed by using the structure of the framework, and the maintenance of the roll surface and the structural operation of anchoring the framework to the conveying line are convenient. Assembly of the grouped rolls of the bracket actually is easily realized through the specific configuration of the bracket and materials for manufacturing the rolls. Modularity of the roll surface is obtained by using specific connecting elements of the framework with the bracket; and the bracket with any proper length can be obtained.

The invention belongs to the field of robot modeling and provides a kinematics modeling method for an articulated robot. The method comprises the following steps that the slant angle of a tail end actuator relative to the horizontal face of a pedestal coordinate system is input; according to the lengths and slant angles of all mechanical arms and through a kinematic inverse solution, the rotating angles of all joints and a pedestal of each mechanical arm are obtained; and according to the rotating angles of all the joints and the pedestal of each mechanical arm and through a forward kinematics solution, a transformational matrix of the tail end actuator relative to the pedestal coordinate system is obtained. According to the kinematics modeling method for the articulated robot, through the slant angle of the tail end actuator relative to the horizontal face of the pedestal coordinate system and the lengths of the mechanical arms, the rotating angles of all the joints and the pedestal of each mechanical arm are obtained through the kinematic inverse solution, and the pose and position of the tail end actuator relative to the pedestal coordinate system are obtained through the forward kinematics solution; and the derivation process of the modeling method is easy and pellucid, popular and easy to understand, convenient to program and suitable for reality.

The invention discloses a substrate load calculation method suitable for crossing a composite stratum tunnel. The invention belongs to the technical field of tunnel construction, and relates to a composite stratum tunnel foundation load calculation method, which belongs to the technical field of tunnel construction and can accurately and quickly determine the width of a sliding area in a hard soillayer according to the position relation between boundary lines of soft and hard soil layers of a composite stratum and a tunnel center line by establishing a sliding line field mechanical model between the composite stratum tunnel and the composite stratum to realize calculation of the composite stratum tunnel foundation load. Deduction process is simple. The calculation of the substrate load when the tunnel structure crosses the composite stratum can be effectively realized. The method has the advantages that the calculation result of the tunnel base load is closer to the actual measurementvalue, the actual stress state of the tunnel in the composite stratum is met, an accurate and reliable calculation method is provided for the base load when the tunnel crosses the composite stratum to ensure construction and operation safety of the tunnel. The method is high in scientificity and good in application prospect and popularization value.

The invention discloses a gravity anomaly extended interpolation method of a nearspace large-range maneuverable trajectory.The method includes the following steps that firstly, a mathematical model of envelope lateral width and longitudinal range of the trajectory is built; secondly, a pole changing coordinate system is built; thirdly, an aircraft dynamic model in the pole changing coordinate system is built; fourthly, a trajectory envelope of the pole changing coordinate system is calculated; fifthly, whole airspace and spatial domain subdivision is conducted on the pole changing coordinate system; sixthly, a common coordinate system gravity anomaly whole airspace reconstructed model is built; seventhly, a gravity anomaly partial reconstructed model along the trajectory is built; eighthly, a subdomain partial curve coordinate system is built; ninthly, gravity anomaly extended interpolation calculation is conducted in the flight process.The method has the advantages of being high in interpolation precision, high in calculation speed and small in data storage amount, can meet the requirements for gravity anomaly quick calculation along any nearspace large-range maneuverable trajectory, and has the capacity of quick flight task responding and temporary changing.

The invention discloses a portable core gas logging permeability measuring device which comprises a core, a pressure sensor and a cylinder body, and further comprises a hand-operated hydraulic pump, a rubber sleeve, a piston, a piston drive device, a computing chip and a hydraulic display, and an emptying valve, wherein the core is placed in the cylinder body, the rubber sleeve is arranged between the core and the cylinder body, the hydraulic pump is arranged at the outer side of the cylinder body and connected with the rubber sleeve, the piston and the piston drive device are arranged in the cylinder body, an inner cavity is formed between one end face of the core and the piston, and the pressure sensor, the computing chip and the liquid crystal display as well as the emptying valve are arranged at the outer side of the cylinder body and connected with the inner cavity. The portable core gas logging permeability measuring device disclosed by the invention is small in volume, simple in structure, convenient to carry, and suitable for measuring permeability in field or well-drilling site.

The invention discloses a binary AB barcode. The design principle of one-dimensional codes of a product barcode is taken as the basis, and one one-dimensional code is extracted as a main code A. An auxiliary code B is derived from the main code A which is taken as the basis. The main code A and the auxiliary code B form the binary AB barcode. The relation expression between the main code A and the auxiliary code B is B=10*n+2-A, wherein n is the number of bits of the barcode. Through the combination of the main code A and the auxiliary code B, the main code A and the auxiliary code B depend on each other and compensate for each other, thereby greatly improving the readability and reading accuracy of the product barcode. The binary AB barcode is enabled to have false-proof, vacancy-filling and repairing functions, and a coding derivation process is simple and clear. Moreover, the coding is easy to achieve. The coding derivation process of a code system is suitable for other one-dimensional barcodes, so the binary AB barcode is wide in application range.

A method for operating a hydraulic braking system of a motor vehicle, including at least one hydraulically actuatable wheel brake, a brake pedal unit including an actuatable brake pedal for predefining a setpoint braking torque, and a pressure generator which is electrically actuated in order to generate a hydraulic pressure as a function of the setpoint braking torque, an electrical operating current of the pressure generator being limited to a first predefinable limiting value during normal operation. The brake pedal unit is monitored for the nature of actuation of the brake pedal, and the limitation of the operating current is canceled if highly dynamic actuation of the brake pedal is detected.

The invention discloses an unmanned aerial vehicle information monitoring method based on generalized tensor compression. The method comprises the following steps of 1, performing random initialization on a signal matrix and a channel matrix acquired by an unmanned aerial vehicle; 2, calculating least square method estimation of the Khatri-Rao product of the signal matrix and the coding matrix; 3, calculating a signal matrix by using inverse operation of the Khatri-Rao product; 4, solving a use-to-base-station channel matrix by using generalized expansion of the tensor of the received signal of the unmanned aerial vehicle and Khatri-Rao product inverse operation; 5, calculating least square method estimation of a channel matrix from the base station to the unmanned aerial vehicle; and 6, repeating the previous steps until the convergence condition is met, wherein the difference of the absolute values of the iterated cost function is smaller than the minimum value. According to the unmanned aerial vehicle information monitoring method based on generalized tensor compression, the use of a training sequence is effectively avoided, accurate information can be obtained, the convergence speed is high, and prior information is not needed.

The invention discloses a generator L2 robust comprehensive control method based on a square sum decomposition technique for improving the transient stability and the robustness of a power system. The method comprises steps of: firstly guaranteeing the satisfactory performance of the system by using a group of state-dependent inequalities: when the inequalities are positive semi-definite, the system is asymptotically stable and has L2 gain suppression performance to interference; then, converting the problem of determining whether the state-dependent inequalities are positive semi-definite into a problem of determining whether the state-dependent inequalities can be decomposed into a square sum (SOS) form; and finally, solving a SOS decomposition problem by using a SOSTOS toolbox to obtain a square sum L 2 robust comprehensive controller of the generator.

The invention provides an electricity-gas coupling network energy flow solving method considering energy collection station state variables. The method comprises the steps that an energy collection station model capable of reflecting the electricity and gas energy flow coupling and conversion relation is established; based on an energy station model, considering a gas turbine and electric compressor equipment in a network, on the basis of original subsystem state variables, adding electricity and gas input variables and electricity and heat output variables of an energy station, deducing a Jacobian matrix and an iteration relation of the energy station, establishing an IEGS multi-energy-flow unified solving model, and establishing an IEGS multi-energy-flow unified solving model; and solving to obtain voltage, phase angle, node pressure and flow calculation results of the system. According to the multi-energy flow solving algorithm considering the EH state quantity, interaction between energy flows is considered, derivation of the Jacobian matrix is simplified, rapid convergence can be achieved, the number of algorithm iterations is reduced, and the calculation efficiency is improved.

The invention discloses a method for a CSTR reactor time delay system based on state filtering and parameter estimation. The method comprises the following steps that 1, a time delay state space modelin a CSTR reactor is expressed in a double-input and double-output mode; decomposing the two-input and two-output model into two two-input and single-output subsystems on the basis of identificationmodel decomposition, enabling each subsystem to have a smaller dimension and a smaller variable, and calculating each subsystem; 2, estimating parameters of a system in the CSTR reactor; and 3, estimating the state of the system in the CSTR reactor. According to the method, highly accurate parameter estimation can be generated by fully utilizing all data, the derivation process of an identification model is simplified, the calculated amount of multivariable system identification is reduced, and the convergence rate is increased; the model can identify a multivariate/nonlinear model of colorednoise interference so as to obtain optimal identification parameters, and has practical value for industrial process modeling of processing state time delay.