15results about How to "Effective compensation" patented technology

The invention discloses a robot vision inertial navigation method and device and a storage medium, and belongs to the technical field of mobile robot navigation, and the navigation method comprises the following steps: measuring motion information of a mobile robot by using an IMU sensor; collecting image data of the mobile robot by using a camera; inputting the feature points and the descriptors into a LightGlue network model to obtain a local feature point matching relation of the image; calibrating the offset of the gyroscope by optimizing and recovering visual scale information, and estimating the IMU coordinate system speed, the gravitational acceleration and the offset of the IMU; introducing a visual feature re-projection error, an IMU pre-integration error and marginalized residual constraint, and then integrally converting into a target function to obtain a nonlinear optimization result; further repositioning is carried out to obtain a repositioning result; and optimizing the global pose map to obtain a final global pose map optimization result, and carrying out navigation operation according to the global pose map optimization result. The method can improve the positioning precision and operation efficiency under view angle change and illumination change, and is high in practicality.

The invention relates to the technical field of off-grid photovoltaic disturbance rejection, in particular to a method for enhancing off-grid photovoltaic disturbance rejection capability based on an intelligent filtering technology. Firstly, known disturbances such as illumination, temperature and load abrupt change in the system are analyzed, and a model is established. Designing an intelligent filter, monitoring and estimating unknown disturbance by using a self-adaptive algorithm, obtaining direct current and harmonic disturbance observation values, and fusing the direct current and harmonic disturbance observation values; and then an active disturbance rejection controller based on intelligent filtering is constructed, unknown disturbance and known disturbance are added to obtain a concentrated disturbance observation value, and parameters are designed to respond to suppression disturbance. And finally, obtaining a voltage preliminary control instruction, and combining with a filter observation value construction instruction to suppress current harmonic disturbance. Through the steps, the stability and reliability of the off-grid photovoltaic system are improved.

The invention relates to the technical field of hearing loss analysis, in particular to a hearing loss treatment sound generation method and a hearing loss treatment system.The hearing loss treatment sound generation method comprises the following steps that hearing loss data of a patient are obtained, the hearing loss data comprise pure tone hearing threshold, hearing loss frequency range and auditory nerve electrophysiological reaction, and hearing loss characteristics of the patient are generated based on the hearing loss data; based on the hearing loss characteristics of the patient, distributed treatment sound frequency points are obtained, and treatment sound is generated after modulation through the distributed treatment sound frequency points; according to the generated treatment sound, time domain optimization is performed on the treatment sound signal, the audio signal is optimized in the time domain, phase optimization is performed on each frequency component in the treatment sound signal by using a phase compensation technology, and phase interference or phase distortion caused by frequency compensation is eliminated. According to the invention, the treatment sound of each frequency point can be dynamically adjusted according to the individualized hearing loss characteristics of the patient, so that the sound treatment effect is optimized to the greatest extent.

The invention relates to the technical field of underwater target detection, and discloses an underwater environment real-time lightweight target detection method and a readable storage medium, and the method comprises the steps: improving a standard YOLOv11n model, employing a C3-CPMSFA module, fusing global context information and multi-scale local features, and combining with a partial convolution strategy to achieve efficient feature extraction; feature processing is expanded to a frequency domain by using a C2SFA module, space-frequency joint adaptive sensing is realized by using a dynamic frequency domain mask, and back scattering noise is accurately filtered out; and semantic noise reduction and small target enhancement are realized through multi-scale feature progressive fusion and depth separable convolution by using an auxiliary head. According to the method, the accuracy and robustness of underwater small target detection are remarkably improved while light weight and real-time performance are kept.

A rotating magnet magnetic field vector interference compensation method based on adaptive spectrum tracking, comprising: establishing a reference digital model of a rotating magnetic component, obtaining a raw magnetic measurement vector signal sequence of a three-component magnetic sensor at a preset observation point, and constructing a time-domain observation vector; establishing a finite harmonic model of each axial component; establishing a spatial modulation function; combining the finite harmonic model with the spatial modulation function to obtain a modulated time-domain signal; performing fast Fourier transform on the modulated time-domain signal, adaptively updating second-order IIR notch filter parameters under candidate frequency point set constraints, and then performing inverse fast Fourier transform to obtain a noise-reduced time-domain magnetic field signal; obtaining a non-stationary magnetic field signal across rotating speeds based on the noise-reduced time-domain magnetic field signal; performing vector fusion and coordinate unification on the non-stationary magnetic field signal to output a final dynamic magnetic vector signal mapping after interference compensation. The present application can improve the filtering effect on noise frequency points and improve the interference compensation effect.

The application discloses a satellite navigation signal time delay stability control method and system, and the system comprises a reference time-frequency unit, a navigation signal generation unit, a navigation signal broadcasting system, a load management unit, a switch matrix, a navigation signal receiving unit and a constant temperature control unit; by establishing high-stable-state navigation signal receiving capability in the satellite load, real-time measurement of the time delay of the navigation signal is realized, and closed-loop time delay adjustment is formed with the navigation signal generation, so that the control of the navigation signal time delay stability is achieved.

The invention relates to the technical field of aberration compensation, and discloses an aberration compensation device for an optical system, the aberration compensation device has a first direction, a second direction and a third direction which are vertically intersected pairwise, the aberration compensation device comprises two optical devices, the two optical devices are oppositely arranged along the third direction, and the curved surface profiles of the two optical devices are T (x, y); in the intersecting plane of the first direction and the second direction, the relative displacement distance of the two optical devices is delta l, the included angle between the relative displacement direction of the two optical devices and the first direction is alpha, the included angle between the relative position direction of the two optical devices and the second direction is beta, and cos2alpha + cos2beta = 1; the equivalent surface type of the two optical devices is # imgabs0 # imgabs1 #, so that aberration of different types and different amplitudes can be compensated, and meanwhile, the two optical devices are well compatible with an existing optical system.

The invention relates to an unmanned ship prediction tracking control method and system based on a GRU disturbance observer, and belongs to the field of ocean intelligent equipment control. The method comprises the following steps: constructing an unmanned ship kinematics model and an unmanned ship dynamics model; transmitting sensor data to the unmanned ship kinematics model and the unmanned ship dynamics model, and calculating an actual disturbance value; and obtaining an unmanned ship linearization model according to the constructed GRU disturbance observer model, and obtaining a target control quantity for the unmanned ship linearization model through a model prediction control strategy. The method solves the problems that the accuracy of tracking the expected path by the unmanned ship is reduced and the course error is increased due to low prediction precision of model prediction control.

The utility model discloses a hydrogen compensation device in the use process of a hydrogen fuel cell, which relates to the technical field of hydrogen compensation and comprises a tank body and the hydrogen fuel cell, one end of the tank body is provided with a pressure reducing valve; the pressure reducing valve is connected with the hydrogen fuel cell through a compensation assembly; the compensation assembly comprises a pipeline; one end of the pipeline is hermetically connected with the hydrogen fuel cell; an electromagnetic valve is fixedly mounted at one end of the pipeline; the end, provided with the electromagnetic valve, of the pipeline is connected with the pressure reducing valve through a connecting pipe. When fuel compensation is conducted, the spring in the pipeline is effectively controlled through the electromagnetic valve, power-on and power-off of the spring are achieved, the effect that the spring drives the compensation pipe to move is achieved, and when the compensation pipe moves, the fuel conveyed by the connecting pipe is discharged into a cavity in the pipeline through the exhaust hole in the end of the compensation pipe. And the sealing head is matched with the one-way conical head, so that the fuel in the inner cavity of the pipeline is conveyed into the hydrogen fuel cell, and the hydrogen fuel in the hydrogen fuel cell is effectively compensated.

The invention discloses a high-sensitivity remote bus alarm controller, which relates to the field of remote alarm and comprises a bus receiving module used for establishing a communication protocol with a sub-line point through a bus, receiving data and monitoring data flow on the bus in real time; the alarm notification module is used for receiving the alarm data and feeding back a detection result and early warning information to the bus receiving module; the signal processing unit is used for acquiring the initially received alarm signal, extracting a related transmission target and analyzing a floating coefficient in a target data transmission process in real time; through a high-sensitivity data processing algorithm, the controller can monitor and respond to an alarm signal in real time, reduce response delay, utilize machine learning and data analysis technologies to actively repair the occurred interruption and lagging conditions, and perform effective prediction and compensation under the condition of data interruption. And the integrity and accuracy of data transmission are ensured.

The present invention relates to the technical field of hearing loss analysis, and specifically to a method for generating hearing loss treatment sounds and a hearing loss treatment system, comprising the following steps: obtaining the hearing loss data of a patient, the hearing loss data including pure tone hearing threshold, hearing loss frequency range, and electrophysiological response of the auditory nerve, and generating the patient's hearing loss characteristics based on the hearing loss data; obtaining distributed treatment sound frequency points based on the patient's hearing loss characteristics, and generating treatment sounds after modulation through the distributed treatment sound frequency points; optimizing the treatment sound signal in the time domain according to the generated treatment sound, optimizing the audio signal in the time domain, and optimizing the phase of each frequency component in the treatment sound signal using phase compensation technology, thereby eliminating phase interference or phase distortion caused by frequency compensation. The present invention can dynamically adjust the treatment sound of each frequency point according to the individualized hearing loss characteristics of the patient, thereby maximizing the optimization of the sound treatment effect.

The invention relates to a frequency control method for a hydroelectric-dominated multi-energy isolated network system, and belongs to the technical field of frequency modulation of isolated network systems. According to the method, various power supplies such as hydroelectric power and wind power are connected to a centralized control platform, the centralized control platform overall optimizes control strategies of all the power supplies, and through an isolated network side AGC control method and a multi-energy load distribution strategy, part of main hydroelectric generating units serve as dominant frequency modulation units, and other power supplies assist in adjustment, frequency control of the multi-energy isolated network system dominant by hydroelectric power is achieved. According to the method, the phenomenon of disordered fluctuation of the system caused by load pulling, asynchronous adjustment and the like after various power supplies all participate in adjustment is prevented, a new control strategy is provided for stable control of the multi-energy isolated network system, and the method has engineering application value.

The invention relates to the technical field of water turbine generator sets, in particular to a water turbine set amplitude monitoring method and system based on a low-frequency vibration sensor, and the method comprises the steps: obtaining vibration signals of a top cover of a water turbine set in different induction directions through a three-axis acceleration sensor; performing digital filtering on the vibration signals in different induction directions based on a filter, and extracting target frequency characteristics; performing low-frequency compensation on the target frequency features based on an adaptive compensation algorithm, and extracting low-frequency-band feature signals; performing digital integration on the compensated signal based on Simpson rules, and extracting an amplitude monitoring result; and constructing a hydraulic turbine set top cover model, analyzing the amplitude monitoring result in real time, and outputting a fault result. The purpose of the invention is to improve the accuracy of amplitude monitoring of the hydro-generator, solve the problem of measurement instability of a traditional vibration sensor caused by low-frequency vibration impact of the top cover part of the hydro-generator, and realize stable measurement of the amplitude of the top cover of the hydro-generator.