52results about How to "Difficult to diverge" patented technology

The invention discloses an online calibrating method of a ship-based rotary strapdown inertial navigation system. The method comprises the following steps: establishing an inertial component output error model and an inertial navigation system error equation, and researching the calibration of inertial component parameter errors and determining the quantity of state and the quantity of measuration; determining the position and weight of a cubature point according to dimension of the quantity of state, deducing a state equation and a one-step state prediction and state prediction covariance matrix related to the cubature point, and introducing a multiple time-varying fading factor modified state prediction covariance matrix; and deducing a measuring equation related to the cubature point and the fading factors, a self-correlated covariance matrix, a cross-correlated covariance matrix, a gain matrix, a state estimated value and a state error covariance estimated value, and designing a strong tracking volume Kalman filtering method with strong tracking performance and strong robustness. The method disclosed by the invention estimates the inertial component parameter errors by a filtering algorithm and carries out online calibration and compensates the inertial component parameter errors, so that the navigation precision is effectively improved. The method has strong parameter-varying robustness.

The invention discloses a combined navigation method based on earth-moon satellite united distance measurement and an ultraviolet sensor. The combined navigation method comprises the following steps of: obtaining earth-moon satellite united distance measurement information through a satellite link between an earth satellite and a lunar satellite, and obtaining satellite-light angular distance metrical information through the ultraviolet sensor; adopting an extension kalman filter algorithm, and obtaining an estimated value of navigational earth satellite and the position and speed of the satellite through processing an observed quantity order by recurrence calculation. The method provided by the invention can be used for a satellite autonomous navigation task with higher precision requirement, the dependence severity of the satellite to ground measurement and control is reduced, and the autonomous viability of a satellite system is strengthened in emergency.

The invention discloses a laser radar mapping method in an indoor scene. Parameters of all positions of a vehicle are collected, calculated and corrected through UWB and a laser radar odometer. The indoor positioning precision of the UWB positioning technology is not reduced along with the increase of time, the UWB positioning technology has the characteristics of being high in positioning precision, good in reliability, not prone to divergence and the like, but the positioning continuity of data is poor, the error of the attitude and position precision of the laser odometer is gradually increased along with the increase of time, and the positioning continuity is good. The UWB positioning technology is high in positioning precision, so that the positioning precision of the laser odometer can be remarkably improved through image optimization and fusion of the UWB positioning technology and the laser odometer, and then the indoor mapping precision is improved. In addition, the inventionalso provides a laser radar mapping device in an indoor scene , and equipment and a computer scale storage medium, which have the above beneficial effects.

An illumination system is prepared for using the first bias-polarized light source to provide the first light beam with the first polarization direction and using the second one to provide the second light beam with the second polarization direction, making two said polarization directions be orthogonalized to each other, setting polar biased spectral element at light path cross point of two said light beams to reflect the first light beam and to let the second light beam pass then making reflected first light beam be overlapped with passed second light beam. The projection device applying said system is also disclosed.

The invention relates to equipment for depositing optical fiber preforms by an OVD (Outside Vapor Deposition) process. The equipment comprises a deposition chamber, wherein a row of equidistantly-spaced blast lamps are vertically placed at one side of the deposition chamber and are connected with an inlet air flow guiding chamber, an upper rotary collet and a lower rotary collet are correspondingly arranged at the upper and lower sides of the middle part of the deposition chamber, and an air outlet is formed in the other side of the deposition chamber. The equipment is characterized in that upper and lower reciprocating mobile tables are arranged at the upper and lower sides of the middle part of the deposition chamber, horizontal shifting seats are arranged on the upper and lower reciprocating mobile tables, and the upper and lower rotary collets are connected with the horizontal shifting seats. According to the equipment, the deposition of etching powder sticks is more uniform; the blast lamps stay still during blasting, so that the state of flame and air flow in the deposition chamber is kept stable, and the improvement on the accuracy and quality of deposition of the preforms is facilitated; the deposition can achieve a relatively good thermal up-welling effect; and stable advection wind inside the deposition chamber is maintained, and the flame and the advection wind in the chamber are consistent in direction, so that a relatively good shape for the flame can be maintained, divergence is difficult, and the increase of efficiency of deposition is facilitated.

The invention relates to a load flow calculation method for an AC/DC parallel serial system based on an improved LM algorithm. The method comprises the following steps: (1) acquiring a load flow calculation equation set F(X) of the AC/DC parallel serial system, setting an initial iteration point and an initial self-adaption factor, wherein iteration K=1; (2) acquiring a jacobian matrix of the iteration at k time according to F(x); (3) gaining a damping factor of the iteration at k time according to the self-adaption factor of the iteration at k time, thereby acquiring an iterative step length and an approximate iterative step length of the iteration at k time; (4) calculating a choice factor of the iteration at k time and adjusting the iteration point and the self-adaption factor according to the choice factor, thereby acquiring the iteration point at k+1 time and the self-adaption factor for the iteration at k+1 time; and (5) judging if an iteration ending condition is met, if so, acquiring the load flow calculation data of the AC/DC parallel serial system, otherwise, assigning k=k+1 and returning to the step (2). Compared with the prior art, the method provided by the invention has excellent convergence character.

The invention discloses a disturbance simulation method of an instrument landing system. The method comprises the following steps: S100, acquiring an actual simulation region of an airport and the site environment of the actual simulation region so as to construct an electromagnetic environment model of the airport; S200, constructing a parallel implicit local one-dimensional time domain finite difference mathematical model; S300, solving the parallel implicit local one-dimensional time domain finite difference mathematical model through a cloud computing platform to obtain the electric fieldvalue of the electromagnetic environment model; and S400, obtaining the difference in degree of modulation according to the electric field value. The disturbance simulation method of the instrument landing system, disclosed by the invention, lowers the complexity of computation, reduces the data transmission among nodes and reduces the bandwidth pressure, so that the instrument landing system canbe normally used on a cloud platform.

The invention relates to a double-channel combustor with thick pulverized coal and thin pulverized coal being separated and a use method thereof. The double-channel combustor with the thick pulverizedcoal and the thin pulverized coal being separated comprises a pulverized coal supplying mechanism, a transition channel, an internal secondary air guide duct, an external secondary air guide duct, acombustion stabilizing cavity and a rectifying cavity. The external secondary air guide duct, the combustion stabilizing cavity and the rectifying cavity are sequentially connected. The pulverized coal supplying mechanism comprises an air-pulverized coal pipe and a thick and thin pulverized coal separating device. The air-pulverized coal pipe communicates with the combustion stabilizing cavity. The thick and thin pulverized coal separating device is detachably connected to the air-pulverized coal pipe. The internal secondary air guide duct is coaxially arranged in the outer secondary air guideduct in a spaced manner. The transition channel is coaxially arranged in the internal secondary air guide duct in a spaced manner. The outlet end of the internal secondary air guide duct forms an expanded opening. The angle of the expanded opening is identical with the angle of the combustion stabilizing cavity. By the adoption of the double-channel combustor with the thick pulverized coal and the thin pulverized coal being separated, air can be divided into internal secondary air and external secondary air to respectively enter the combustor, the internal secondary air is combined with the transition channel to sufficiently mix pulverized coal and air, the external secondary air can form a cooling air layer flowing along the wall face of the combustion stabilizing cavity in the combustion stabilizing cavity, and the wall face of the combustion stabilizing cavity is protected against ash accumulation and coking.

The present invention discloses an earthquake resistant design system based on structural integrity. The system mainly comprises a structural component setting unit, a model generation unit and an earthquake movable simulation unit. The structural component setting unit comprises a surface ground foundation setting module, an upper structural component setting module and a lower structural component setting module. The surface ground foundation setting module, the upper structural component setting module and the lower structural component setting module set condition of surface ground foundation, a upper structural component parameter and a lower structural component parameter separately according to non-linear characteristic or structure elastic-plasticity. The model generation unit sets conditions and parameters of an unit according to the structural component based on a structural component model stored in a structural component database and performs numerical modeling on integrity of an upper structure and a lower structure to generate an engineering structure model with an integral structure; The earthquake movable simulation unit sets earthquake intensity, and generates an analog earthquake wave which enters in the lower structural component through the surface ground foundation and then is transmitted to the upper structural component.

The invention discloses a laser night vision stable pan-tilt, which comprises a night vision camera shooting module and a self-stabilizing pan-tilt with inertial navigation, wherein the self-stabilizing pan-tilt with inertial navigation comprises a camera shooting equipment loading cabin, a load pan-tilt, a pan-tilt control board with an embedded operating system, a multi-channel control motor andan inertial sensor with an inertial measurement unit; the night vision camera shooting module comprises a star-level network camera, a high-power laser source, a laser focus length adjustment device,a laser drive power supply, an image control board with an image processing unit and an illuminance sensor. The invention aims to provide a laser night vision stable pan-tilt, which is connected witha computer through a network; the computer can view images through a webpage/client terminal manner and control the device, wherein the laser light source has high efficiency, small volume, small heat dissipation and better illumination intensity; and clear images can be obtained through illumination in different environments.

The invention discloses a three-dimensional space moving target tracking method based on a two-dimensional image and a related device. The method comprises: a camera obtains a current image of a target at a current moment; determining a first position of the target in the pixel coordinate system; determining the observation position of the target in a camera coordinate system according to the first position, the pixel size, the deflection angle of the optical axis of the camera and the height and focal length of the camera; the original point of the camera coordinate system is the optical center of the camera, the Z axis of the camera coordinate system is arranged along the optical axis of the camera, the X axis and the Y axis of the camera coordinate system are parallel to the X axis and the Y axis of the image coordinate system respectively, and the image coordinate system is located on the focal plane of the camera; updating each parameter in the volume Kalman filter by using the previous estimation position and the observation position, and obtaining the current estimation position of the target in the camera coordinate system; the last estimated position is an estimated position obtained by performing trajectory prediction on the target at the last moment. In this way, the accuracy of target tracking can be improved.

The invention discloses paint spraying equipment for automobile part production. The equipment comprises a bottom plate, a shell is fixedly connected to the upper surface of the bottom plate, a first mounting frame is fixedly connected to the inner bottom of the shell, and circular plates are rotatably connected to the two sides, close to the inner wall of the top, of the first mounting frame through pin shafts correspondingly; and elastic layers are fixedly connected to the opposite faces of the two circular plates, friction pads are fixedly connected to the opposite faces of the two elastic layers, a workpiece body is connected between the friction pads, wedge-shaped grooves are formed in the arc-shaped contours of the circular plates, and two opposite arc-shaped covers are rotatably connected between the inner walls of the first mounting frame. The two arc-shaped covers are both arranged on the lower surface of the workpiece body, and the inner wall of a second mounting frame is connected with a paint spraying structure. According to the paint spraying equipment, a vertical plate moves up and down, so that a cylindrical workpiece rotates in one direction, different surfaces of the cylindrical workpiece can be sprayed, and the working efficiency is greatly improved.

The invention relates to a multi-channel dense-thin separation type single cone burner and a using method thereof. The burner comprises a pulverized coal supply mechanism, a transition channel, a multi-stage air assembly, at least one deflector, a combustion stabilizing chamber and a rectifying chamber, wherein the multi-stage air assembly comprises N air ducts, the Nth air duct is connected withthe combustion stabilizing chamber and the rectifying chamber sequentially, the pulverized coal supply mechanism comprises an air and pulverized coal pipe and a reach-lean separator, the air and pulverized coal pipe communicates with the combustion stabilizing chamber, the reach-lean separator is detachably connected to the air and pulverized coal pipe, and the transition channel is arranged at aninterval in the first air duct; each air duct is of a double-layer hollow structure, and one end of at least one deflector is inserted into the corresponding air duct; and at least one direct flow channel is formed between each deflector and the combustion stabilizing chamber, a flare is formed at the other end of each deflector, and the angle of each flare is the same as that of the combustion stabilizing chamber. Air can be divided into N strands to enter a burner body, turbulence intensity at the airflow boundary is high, the mixing speed of air and pulverized coal is increased, the pulverized coal is stably ignited, and high-efficiency and low-nitrogen burning of the pulverized coal can also be ensured.

The invention discloses a method for preparing a leather cleaning agent, and belongs to the field of cleaning agents. According to the method, protein extracted from seed melon seeds is added. Due tothe fact that the protein in the seed melon seeds is insoluble due to a large amount of hydrophobic groups on the protein surface, the hydrophobic groups can bind more aliphatic hydrocarbon chains, the retaining effect of the protein in the seed melon seeds on oil is improved, the leather can retain its own oil, the problem that a leather body is hard due to the destruction of the oil is solved, and a good maintenance and glazing effect on the leather is achieved. The method solves the problem that the existing leather cleaning agent only has a cleaning effect, cannot form a protective layer on the leather product surface, and has environment pollution due to the fact that the agent is mostly a chemical product.

The invention discloses an efficient broad-spectrum safe environment-friendly disinfectant capable of fumigation. The novel veterinary disinfectant disclosed by the invention is convenient and safe to use, has curative effect, has broad-spectrum anti-pathogen microbial activity, and does not pollute an environment. The disinfectant is mainly characterized in that the disinfectant can be applied to fumigation disinfection and comprises the following ingredients in percentage by weight: 65-75% of sodium dichloroisocyanurate, 4-6% of sodium carboxymethyl cellulose, 3-6% of sodium carbonate, 3-8% of anhydro sugar, and 5-25% of anhydrous sodium sulphate. The disinfectant has extremely strong killing capacity on pathogenic bacteria, spores, fungi, viruses and the like and can be applied to effective prevention and control of the occurrence and spread of infectious diseases of livestock, poultry and the like.

The invention discloses a passive target synchronous racemization capture operation method based on space multi-arm contact. The method comprises the following steps: step 1, making a service spacecraft enter an orbit of a space rolling target and synchronously moves along with the orbit of the space rolling target; step 2, obtaining the measurement information of a space rolling target by the service spacecraft; step 3, optimizing the base track of the service spacecraft and all joint tracks and driving force input of the mechanical arm in an offline mode, forming a track for contact racemization capture and serving as a reference track; step 4, generating an extended reference trajectory based on the reference trajectory obtained by optimization; and step 5, executing a task, tracking the expanded reference trajectory, and realizing contact racemization capture of the space rolling target. Aiming at a spatial non-cooperative rolling target, any capture point on the target is not needed, the target can be automatically racemized, and capture and operation of the target are achieved at the same time when racemization is completed.

Natural building interior paint is made by mixing raw materials including, by weight, 50-130 parts of white cement, 250-400 parts of lime putty, 4.2-6.9 parts of alums, 10-20 parts of original soil, 0.1-0.8 part of rubber tree sap and 60-90 parts of water. The preparation steps include: crushing the original soil and the alums; adding the white cement and the lime putty into an agitator after mixing, sequentially adding the crushed original soil and the alums into the agitator, adding the rubber tree sap, well mixing, and adding water into the dry mixed solid after mixing and discharging to obtain the finished natural building interior paint. The natural building interior paint has fine technical performance and low cost, the raw materials are natural, nontoxic and harmless, resources can be saved while environment is protected, and the natural building interior paint is widely applicable to painting engineering for interior walls of various buildings.

The invention discloses a light guide element for an optical mouse. The light guide element comprises a body provided with a cap plane, a first bevel positioned at the bottom of the body and a second bevel, wherein, the cap plane is provided with a sunken part, a first lens part is formed at the bottom of the sunken part, the first bevel is opposite to the first lens part, while the second bevel is opposite to the bottom of the sunken part; moreover, a second lens part is formed on the second bevel. In addition, a light source and an image sensing element are arranged above the sunken part and the light source provides a beam of light to the first lens part. The beam of light is converged by the first lens part and is refracted on the surface of the first bevel through the first bevel, while the surface is suitable for refracting the beam of light to the second lens part and an image of the beam of light is formed on the image sensing element by the second lens part.

The invention discloses a system and a method for intelligently focusing a video. The system comprises a first video frame data acquisition unit, a video detection unit, a focusing multiplying power generation unit, a second video frame generation unit and a second video frame rendering unit. The method comprises the following steps: acquiring first video frame data; performing video detection; generating a focusing multiplying power; and generating and rendering a second video frame. The method has the characteristics of more direct content information acquisition, clear focusing, good detailfidelity effect and better user interaction experience.