48results about How to "Easy to calculate in real time" patented technology

The invention relates to an information fusion navigation method for detecting a fixed-point soft landing process in a deep space. An autonomous navigation system of a lander is provided with an inertia measurement unit, a distance measurement sensor, a velocity measurement sensor, an optical imaging sensor and other navigation sensors, and on the basis, in the whole soft landing process, the angular velocity and the non-gravitation acceleration of the lander are measured by the inertia measurement unit, and integration and extrapolation are carried out to provide position and velocity information for the navigation system; slope distance information output by the distance measurement sensor, relative velocity information output by the velocity measurement sensor and feature point pixel coordinate information output by the optical imaging sensor are all processed by Kalman subfilters independent of one another, and the status and error covariance is locally estimated; the local estimation result is subjected to information fusion by a covariance crossing method to obtain the unified position and velocity estimated value of the lander at present, and the unified position and velocity estimated value is fed back to the subfilters for next navigation updating. The method is high in position and velocity estimation precision and good in real-time performance, has fault-tolerant capability and is easy to realize.

The invention discloses a traffic accident identification method and system; the identification method comprises the following steps: obtaining a first time sequence of traffic data in a period, and inputting same to a traffic parameter prediction model; enabling the traffic parameter prediction model to predict traffic parameters according to the first time sequence; determining whether or not atraffic accident has happened and/or the traffic accident type according to the traffic parameters. The method can determine and identify the traffic accidents according to the traffic data acquired by car data recorders and various types of sensors. Compared with the prior art, the method uses a massive data and machine learning method to improve the determination identification efficiency and accuracy; the method is more suitable for real time calculation.

The invention discloses a self-adaptive feedback protection dynamic surface controller structure and a design method. The structure comprises n stages of sub controllers, wherein an output end alpha2 of a first-stage sub controller is connected with an input end of a second-stage sub controller, and the like, an output end alpha i of the (i-1)th-stage sub controller is connected with an input end of the i-th-stage sub controller, until an output end alpha n of the (n-1)-th sub controller is connected with an input end of the n-th-stage sub controller; the i-th-stage sub controller comprises a filter unit, a comparator unit, a linear control unit, an approximating machine unit, a feedback protection unit and a summer unit. The feedback protection unit is added on the basis of the dynamic surface control, so that on one hand, the input transient performance of the controller can be remarkably improved, and the design method is more helpful for practical engineering application, and on the other hand, the limitation that frequency band of control input signal cannot be regulated by regulating time of the filter in the dynamic surface control design method is overcome.

The invention discloses a networked under-actuated unmanned boat distributed formation controller and a design method thereof. A controller comprises a communication network and a plurality of controller units, and the plurality of controller units communicate with the communication network. Each controller unit includes a distributed cooperative guidance module, a neurodynamic optimization module, a command regulator, a speed control module, a dimensionality-reduction disturbance observer, and an under-actuated unmanned boat. The distributed control method of the invention is more flexible, can realize effective control of large-scale formation clusters, and has the advantages of strong anti-individual failure, small communication overhead, and good expansibility; and the formation controller is more advantageous for practical application. The networked under-actuated unmanned boat distributed formation controller minimizes the control input in the transient control process while satisfying the physical constraints of the under-actuated unmanned boat, and improves the performance of the controller. The computational load of the control algorithm is effectively reduced, thereby improving the overall control performance of the controller.

The invention discloses a ship dynamic positioning system and a design method thereof. The system comprises N ships, N individual controllers and a communication network; the N ships are in one-to-one correspondence with the N individual controllers, and the N ships are respectively in bidirectional connection with the N individual controllers; the output end of the communication network is connected with the N individual controllers, and the input end of the communication network is connected with the N ships; the individual controller comprises a first-level comparison unit, a second-level comparator unit, a virtual controller, a filter, an adaptive unit and a control unit. The invention provides a multi-ship relative dynamic positioning system, which can guarantee that multiple ships can keep set relative positions and jointly track the given position of a virtual navigator. In comparison with the conventional single-ship positioning control system, the ship dynamic positioning system has wider mission area, higher efficiency and improved system performance, and is suitable for being used in a larger-scale ship control system for a larger number of ships.

The invention discloses a radar detection capability analysis method in a complex mountain environment. The radar detection capability analysis method comprises the steps of: reading inherent parameters of a radar, carrying out the hybrid sampling of an azimuth angle and a pitch angle of the radar according to terrain resolution, and forming an azimuth angle and pitch angle sampling data set; acquiring an unviewable point set of each azimuth profile by adopting an LOS intervisibility analysis algorithm; performing pairwise aggregation on the unviewable point sets of the adjacent profiles to form a spatial polygon point set; and carrying out spatial polygon drawing in a three-dimensional geographic information system to obtain a single-radar spatial detection range. The radar detection capability analysis method comprehensively considers the radar detection precision and calculation efficiency, determines the radar sampling data sets through adopting the hybrid sampling method, and seeks balance in two aspects of computer execution efficiency and radar detection precision.

The invention relates to a method for the real-time online calculation and the measurement of the separation efficiency of a separator. The method comprises the following steps: directly collecting ormeasuring the values of pressure in the middle and at the upper part of a boiler hearth; acquiring the material concentration of a separator inlet by the difference value of the pressure in the middle and at the upper part of the boiler hearth; utilizing a flying ash quotient or the starting number of an ash bin under an electrostatic dust collector to acquire a flying ash flow; and utilizing a gas flow practically measured or calculated at a separator outlet to acquire a material concentration of the separator outlet, wherein the separation efficiency of the separator satisfies an equation:eta cyc=100*(1-rho out /rho in). The method utilizes a prior measuring point of a circulating fluidized bed boiler (or equipment with the separator) to conveniently calculate the efficiency of the separator in real time without additionally arranging auxiliary measuring equipment, ensures the accuracy and the reliability of a measuring result and realizes real-time calculation or measurement of the efficiency of the separator.

The invention discloses an energy-saving control-oriented hybrid electric vehicle energy and heat integrated model, and belongs to the technical field of hybrid electric vehicle modeling. The invention aims to provide the energy-saving-control-oriented hybrid electric vehicle energy and heat integrated model of each power transmission node module in a power chain from a power driving device such as an engine and a motor to wheels. A model establishing method comprises the steps of determining power chain input, describing an energy flow state in the power chain, establishing a battery model, establishing an engine energy consumption and temperature model, establishing an air conditioner heat transfer model, receiving a heat chain input instruction and establishing a cockpit temperature model. According to the method, the coupling relation among the cab heat supply requirement, the driver power requirement and the vehicle energy consumption under the high and cold weather condition is established, the soft measurement of part of important thermodynamic variables is achieved, and support is provided for driver comfort evaluation.

The invention discloses a dynamics control method and system of space non-cooperative target navigation acquisition. For the problem of navigation acquisition of a space robot for on-orbit grabbing ofa rotating or turning non-cooperative target, the dynamics control method of space non-cooperative target navigation acquisition is put forward in the description. The method includes the steps of firstly, establishing kinetic energy analytic type description of a space robot system; secondly, establishing a kinematics equation of the space robot; thirdly, establishing an analytic type space robot system kinematics and dynamics model through a second-kind lagrange equation and a pseudo-coordinative equation. The method is obtained by deducing a vector mechanics theoretical method, the matrixand vector calculation is adopted, the equation is an analytic type expression, and the physical meanings are clear. By means of the method, the coupling analysis can be conveniently conducted for thekinematics and dynamics of the space robot system, a dynamics control algorithm based on the model can be conveniently obtained, the calculation amount is small, and the real-time calculation of thecontrol algorithm is convenient.

The invention discloses a wrong wave prevention method for an ultrasonic flowmeter and the ultrasonic flowmeter. The method comprises the steps that an initial threshold value is set; according to the initial threshold value, a steady-state sine wave peak value and amplitudes of a plurality of continuous waveforms which exceed the initial threshold value and are before the steady-state sine wave are obtained from the first echo signal, and the amplitudes comprise a head wave and an adjacent waveform after the head wave; according to the steady-state sine wave peak value of the first echo signal and the amplitudes of the plurality of waveforms, calculating to obtain a first preset value; obtaining a second preset value of the second echo signal according to the initial threshold value; obtaining a second threshold value according to the ratio of the second preset value to the first preset value; and obtaining the head wave of the third echo signal according to a second threshold value. The ratio of the first preset value of the first echo signal to the second preset value of the second echo signal is calculated, the initial threshold is adjusted according to the ratio to obtain the second threshold, logic is simple, real-time calculation is facilitated, the influence of wrong waves can be avoided, the influence of interference on a metering result is reduced, and metering precision is improved.

The invention relates to a greenhouse environment cloud control system and a control method thereof. According to the system, a cloud control end operates a control algorithm and stores data information; a controlled process end carries out remote communication with the cloud control end and performs data collection and control functions of the whole control system; a client monitoring end installs a mobile terminal with APP monitoring software and accesses a remote cloud control end through the mobile Internet; a management end accesses the remote cloud control end through the Internet and realizes cloud management of the whole system; and the control method is an interval control algorithm of a non-square control system. According to the system and the method, a control algorithm library and a database are arranged in remote cloud to form a cloud controller; rapid computing, non-disturbance rapid switching and the like of a complex control algorithm are finished through utilization of the strong computing capability of the cloud; large-scale data storage is realized; the controlled process end only needs to send filed collection data and receive a remote control signal through a high-speed remote communication channel; system costs of the system are clearly reduced; and the flexibility of the control system is improved.

The invention provides a method for timely computing the unfixed-point interpolation of a switch within step size. The method comprises the following steps of: computing an electromagnetic transient first step size point status value, and discovering that the switch can move within the step size; carrying out the interpolated value computation on a switch action point status value; computing the next step point size status value from the switch action point; and computing the next whole step size point from the current step size point extrapolated value. When the method is used for computing the switch characteristic circuit, the computing speed of a switch subnet can be improved, and the real-time computation can be preferably carried out. Therefore, the time margin can be provided for improving the computing precision of the switch, the method can be used for the electromagnetic transient simulation computation of the switch characteristic circuit by means of real time, faster-than-real-time and offline, and the whole step size computation can be compatible with various electromagnetic transient switch algorithms and can not limited to the trapezoidal rule, the backward eulerian method, the trapezoidal rule with damp or the modification change assembly of the trapezoidal rule, the backward eulerian method and the trapezoidal rule with damp, so that the computation speed and precision of the simulation can be effectively improved, and the electromagnetic transient real-time computation performance can be optimized.

The invention discloses a system and a method capable of displaying combined display graphs of various transaction targets on a client. The method comprises the following steps of selecting a plurality of transaction targets from the transaction types of a security transaction system; performing combination calculation on the transaction data of the plurality of transaction targets to obtain combined transaction data; displaying the combined transaction data through a coordinate graph, wherein the composition of the coordinate graph is as follows that the abscissa is a time dimension, and theordinate is a transaction price dimension, and particularly, a K line diagram is provided. According to the present invention, the problem that an existing client can only display a graph of a singletransaction object is solved, and particularly combined display of the transaction state can be achieved after the transaction object is combined at will by the client.

The invention relates to a multi-frame image rapid reconstruction method on a microsatellite platform. The method comprises the following steps of: a, establishing a load observation jitter model according to a power spectrum of the satellite platform; b, acquiring a short-exposure image in combination with a jitter model, and registering the image; c, performing multi-frame superposition reconstruction on the registered image; and d, carrying out noise reduction and filtering on the reconstructed image. According to the method, the problem of restoration of multiple frames of images with relative movement in an actual scene observed on a microsatellite platform can be accurately and quickly solved, the focal plane imaging blurring phenomenon caused by load pointing jitter in the imaging process is effectively removed, and the system imaging resolution is improved. Moreover, the method is low in calculation complexity, has the capability of on-satellite real-time operation, and is suitable for observation of different scenes such as astronomical imaging and earth observation based on microsatellites or similar spacecrafts.

The invention discloses an allowable control set construction method for spacecraft orbit transfer. The method comprises the steps of firstly, obtaining initial and final positions and speeds; obtaining all possible pulse orbit transfer control quantities according to the initial state, and constructing an orbit transfer section allowable control set according to all possible pulse orbit transfercontrol quantities; and constructing an allowable control set of power descending according to the position of the initial point in the power descending section. Each stage of the orbit does not needto be completely calculated once under each condition, so that the calculation time is shortened under the same calculation force, and the on-orbit real-time calculation is easy. The method of constructing the allowable control set is adopted to facilitate offline calculation of multi-stage tasks, and the allowable control set can be used as a plan to realize rapid acquisition of a guidance law inan emergency state.

The invention discloses a real-time junction temperature calculation method of a servo driver power module. The method comprises the following steps: S10) adopting a loss calculation module to calculate in real time to obtain instantaneous turn-on loss, instantaneous turn-off loss and instantaneous turn-on loss; S20) x judging the gate pole real-time state of the servo driver power module by a gas-insulated metal-enclosed power transmission line; S30) selectively outputting, by a loss selection module, instantaneous turn-on loss, instantaneous turn-off loss and instantaneous turn-on loss of the servo driver power module to the accumulated loss module; S40) accumulating and calculating all instantaneous losses in the target calculation period by an accumulated loss module to obtain accumulated losses; and S50) calculating real-time junction temperature of the power module of the servo driver by adopting a junction temperature calculation module. According to the method, real-time calculation of the junction temperature of the power module is achieved, the junction temperature calculation process is simple and reliable, no extra hardware circuit needs to be arranged, the implementation cost is low, and the method has great theoretical research and actual popularization significance in the application field of servo driving systems.