75results about How to "Eliminate cumulative errors" patented technology

This invention provides a method for rapid assembly of a modular tubular beam car body. The car body is divided into several independent modules, which are manufactured in parallel at independent workstations or assembly lines. Corresponding connections between different independent modules are fitted with interlocking mortise and tenon structures for coarse positioning and fastening. The manufactured independent modules are then automatically transferred to an assembly station, where a robot grasps and rapidly assembles them. After assembly, bolts and / or structural adhesive are used to fasten the mortise and tenon joints. Compared to traditional assembly line production processes, this method significantly improves efficiency and economy, effectively reduces floor space, and overcomes the limitation of existing "unpacking processes" that are only suitable for single-model production, thus facilitating flexible manufacturing and rapid iteration across multiple models.

The invention discloses a multi-source fusion continuous positioning method in combination with a prior feature map, and aims to solve the problem that an existing vision-inertial odometer easily generates accumulative errors in a GNSS denial environment, the method comprises the following steps: constructing a prior feature map comprising key frame poses, feature point descriptors and 3D coordinates based on an open source algorithm; a track displacement difference alignment strategy is adopted to complete visual-inertial system and GNSS joint initialization, and ESIKF is used to replace EKF to improve fusion precision; robust alignment of a local coordinate system and a map coordinate system is achieved through a single-frame geometric constraint accumulation-batch manifold alignment strategy; based on the reverse PnP, the current 3D point cloud and the historical 2D observation constraint are utilized to resolve the relative pose, the map matching result is used as observation to be fused with the GNSS or replace GNSS observation, the ESIKF loose coupling is utilized to eliminate accumulative errors, and continuous high-precision positioning in the GNSS failure scene is achieved.

The invention relates to the technical field of water conservancy project automation control, and discloses a water conservancy facility operation state monitoring system based on digital twinning, and the system comprises a data collection unit which is used for collecting a basic control instruction and an actual measurement state response of an execution mechanism in real time; the generalized impedance observation unit is used for calculating the state deviation between the actually measured state response and the theoretical reference trajectory and mapping the state deviation into an equivalent disturbance quantity; the track time base modulation unit is used for establishing a load-time base association rule of the equivalent disturbance quantity and the time scaling factor; the nominal model simulation unit is used for generating a theoretical reference trajectory under the constraint of a time scaling factor, the generation rate of the theoretical reference trajectory is actively reduced through a load time base association rule when it is detected that the system resistance is increased, and the safety space of an execution mechanism is replaced by time; and the contradiction between the execution capability decline of the aged water conservancy facility and the rigid control target is solved.

The application discloses a reflection type volume grating uniformity improving device and method, which adopts a double-system cooperative structure of axial exposure dose compensation and double-beam interference exposure. The axial exposure dose compensation system compensates the non-uniform axial exposure dose distribution caused by energy attenuation through laser irradiation of a photosensitive wave band of a recording medium and multi-axis rotation of the recording medium. The double-beam interference exposure system generates two collimated coherent lights with adjustable polarization states and powers by using laser of a high-transmittance wave band of the recording medium and a polarized beam splitter, and accurately controls the interference angle by adjusting the mirror posture, so that the high-contrast grating structure is written in the recording medium subjected to the axial exposure dose compensation. The application can effectively solve the non-uniform exposure dose distribution problem caused by laser energy attenuation in the traditional preparation process, thereby guaranteeing the consistency of the axial performance of the volume grating, and effectively promoting the development of the fields of high-performance laser beam combination, pulse compression and optical communication filter which need high-uniformity volume grating.

This utility model provides a modular tooling fixture mechanism for machining triple eccentric butterfly valve bodies, belonging to the technical field of fixture mechanisms. This modular tooling fixture mechanism for machining triple eccentric butterfly valve bodies includes a floating clamping module and a quick-change flange positioning base plate. The floating clamping module is disposed above the quick-change flange positioning base plate and is used to float and clamp the triple eccentric butterfly valve body placed on the quick-change flange positioning base plate. The quick-change flange positioning base plate is used to position the triple eccentric butterfly valve body and realize overall transfer between multiple processes. The floating clamping module includes a main frame and a pneumatic auxiliary locking assembly. The main frame adopts a three-way eccentric adjustment mechanism, which has a built-in adjustable wedge block, and the adjustable wedge block is connected to a screw. This solves the problems of eccentric deformation, cumulative positioning errors in multiple processes, and poor tooling versatility in the machining of triple eccentric butterfly valve bodies, eliminates repeated clamping errors, and improves accuracy and efficiency.

The application discloses a kind of coronary angiography three-dimensional reconstruction method and system, it is related to medical image processing technical field, including: obtaining multi-angle coronary DSA angiography projection image and executing pre-processing, extract blood vessel initial center line and both sides initial contour, calculate each section contrast agent relative concentration, combined with blood vessel local curvature, concentration difference sign change and anatomical feature adaptive segmentation blood vessel section, filter reliable reference side and generate mirror virtual contour, calculate three kinds of contour deviation, construct multi-constraint objective function and correct center line section by section, integrate corrected center line and fit lumen parameter, solve blood vessel feature point three-dimensional coordinate and complete three-dimensional reconstruction.The application has the advantages that: effectively suppress the center line deviation caused by contrast agent concentration uneven, consider correction accuracy and blood vessel form continuity, the size of three-dimensional model output is accurate, topological correct, can be directly used for clinical quantitative diagnosis and interventional operation planning.

This invention discloses an automatic cutting, folding, and grouping machine, comprising a longitudinal folding mechanism, a hole-cutting mechanism, an edge-trimming mechanism, a cutting and folding mechanism, and a grouping mechanism through which the mother roll passes in sequence. The longitudinal folding mechanism is used to fold and press the mother roll along its length; the hole-cutting mechanism is used to cut and form eyelets and collect the waste material after cutting; the edge-trimming mechanism is used to cut and form mouth holes; the cutting and folding mechanism is used to cut the mother roll into multiple sheet-like units and fold the sheet-like units along their width; the grouping mechanism is used to group and stack multiple sheet-like units in a fixed number; the hole-cutting process integrates an automatic waste collection system of negative pressure adsorption and positive pressure blowing, which can remove cutting waste material in a timely and effective manner; the integrated cutting and folding design, through the synergistic effect of pre-folding and adsorption transfer, eliminates the cumulative error of multi-process positioning, significantly improving folding accuracy and product neatness; the fully automatic fixed-number grouping and stacking mechanism achieves precise grouping through mechanical timing control.

This invention relates to the field of intelligent warehouse management technology, specifically an intelligent warehouse cargo identification and inventory system. The system synchronously collects multi-dimensional signals caused by cargo removal or replenishment actions through a multi-dimensional sensing unit; extracts signal feature components representing the current cargo removal or replenishment action from each dimension signal, and merges them to form a multi-dimensional joint signal feature vector; pre-establishes an indirect sensing mapping model for deeply obscured storage locations; inputs the multi-dimensional joint signal feature vector into the indirect sensing mapping model, outputs a joint posterior probability distribution of the change in cargo quantity in the target deeply obscured storage location, obtains the cargo quantity change with the highest probability in the joint posterior probability distribution and the corresponding target deeply obscured storage location, and updates the baseline inventory data of the target deeply obscured storage location in real time to form inventory change details; thus achieving real-time identification of cargo quantity changes in deeply obscured storage locations and dynamic and accurate updating of inventory data.

This invention discloses a wide-width defect detection system and operating method for sandpaper preparation, relating to the technical field. The invention includes a base plate, with a mounting frame fixedly connected to the top center of the base plate. A marking mechanism is provided on the right side of the mounting frame, and an air blowing mechanism is provided on the mounting frame. The invention uses a first motor to drive a first lead screw, moving the moving frame to the lateral position of the defect. Subsequently, a second motor drives a second lead screw, precisely moving the first moving seat directly above the defect for secondary confirmation by a secondary camera. During this process, the first and second moving seats are rigidly connected via a connecting rod. Therefore, when the first moving seat is positioned directly above the defect, the second moving seat is naturally and synchronously positioned directly below the defect, without the need for additional coordinate conversion or secondary positioning. This rigid connection structure ensures that the position of the punch assembly and the center of the secondary camera's field of view always maintain a strict vertical correspondence, achieving the goal of marking exactly what is captured.

This utility model discloses a mechanical push-pull digital display clock device, belonging to the field of electronic clock technology. It includes a time acquisition module, a control module, a drive execution unit, and a segmented mechanical display unit. It aims to solve the problems of existing electronic clocks having a single display form, insufficient positioning accuracy, and limited functionality. The core innovations are: 1. Push-pull segmented display: The drive execution unit (stepper motor + crank / electromagnetic component) controls the protrusion / retraction of multiple rigid telescopic segments, dynamically combining them into a digital display; 2. Closed-loop calibration mechanism: The position calibration module establishes a zero-position reference for the telescopic segments during initialization; 3. Universal control architecture: It does not rely on specific hardware models and covers both mechanical transmission and electromagnetic drive schemes. It solves the problems of traditional electronic clocks lacking mechanical interactivity and having low precision, breaking through traditional display forms and combining creative decoration with practical functionality. It is suitable for artistic time display scenarios, smart homes, creative decorations, electronic teaching, public spaces, and barrier-free facilities.

The application discloses a joint control method and system of multiple servo motors, which comprises the following steps: collecting real-time working parameters, load feedback data and target feature information of multiple servo motors, and performing space-time alignment and noise filtering processing, simultaneously extracting dynamic response parameters corresponding to each servo motor, and determining the load coupling coefficients between the servo motors; constructing a collaborative task matrix and generating an initial collaborative control strategy; determining different working process stages corresponding to the multiple servo motors, calculating the corresponding collaborative priority weights, and constructing a phased collaborative control model; obtaining corresponding working state parameters and the current state of the target, dynamically adjusting the collaborative coefficients corresponding to each servo motor, substituting into the phased collaborative control model to generate real-time control instructions corresponding to each servo motor, and performing joint control iterative optimization to generate a closed-loop adaptive joint control mechanism. The application can improve the joint control efficiency of multiple servo motors.

The invention provides a milling assembly for a generator rotor processing machine tool, and relates to the technical field of generator rotor processing equipment, the milling assembly comprises a rotating disc, the middle part of the rotating disc is provided with an axis hole connected with a power shaft of the generator rotor processing machine tool, and the peripheral surface of the rotating disc is provided with a plurality of assembling grooves; the multiple machining cutter sets are sequentially arranged in the circumferential direction of the rotating disc, each machining cutter set comprises a grooving cutter clamp, a fillet cutter clamp and a polishing cutter clamp which are sequentially arranged, and the grooving cutter clamps, the fillet cutter clamps and the polishing cutter clamps are all detachably installed in the assembling grooves; and the machining cutter set is made to sequentially conduct grooving, notch chamfering and grinding on the engine rotor along with rotation of the rotating disc. According to the milling assembly for the generator rotor machining tool, the core problems that the machining process is tedious, the efficiency is low, and the precision is out of control due to multiple times of clamping are solved.

The utility model discloses a kind of multi-axis layered linkage blade lever for small circuit breaker, comprising: lever body, it is the special-shaped plate member of integrated molding;Main pivot hole, the lever body can rotate around the main pivot hole;First lateral transmission column, for cooperating with circuit breaker handle or superior linkage member;Second lateral transmission column, set in the middle pivot area;Third lateral transmission column;Wherein, the first lateral transmission column, the second lateral transmission column and the third lateral transmission column are layered arrangement along the lever body height direction, and form stepped overhanging structure in the lever body thickness direction, so that handle linkage member, blade driving member and spring energy storage member can be respectively located in different movement level.This multi-axis layered linkage blade lever for small circuit breaker integrates multiple components on a special-shaped plate lever body, with the characteristics of high part integration, good assembly precision and small movement interference.

The invention relates to the technical field of vehicle navigation, and discloses an airborne closed cabin vehicle path dynamic navigation planning method, which comprises the following steps: S1, navigation initialization, S2, real-time perception data acquisition and correction, and upward navigation reference based on a target established in the step S1, S3, map-free error correction and fusion, S4, dynamic path planning, and S5, accurate correction before landing. And S6, outputting a navigation control instruction based on the real-time navigation track in the step S4. Complete autonomous navigation of an airborne closed cabin vehicle in the whole process is achieved, dependence on external visual reference, a pre-built map or a ground guide signal is not needed, an absolute direction anchor point is provided through a target upward navigation benchmark, multi-source sensor decoupling correction and adaptive Kalman filtering fusion are combined, airflow disturbance compensation is synchronously brought in, and the navigation precision is improved. The inertial navigation accumulative error is effectively eliminated, the method can be adapted to an extreme airborne environment without reference, map and signal, and the independence and reliability of the navigation process are guaranteed.

The application discloses a long-distance tunnel control through-accuracy measurement and verification system, and relates to the technical field of tunnel construction measurement. The system comprises a measurement control point, an observation traverse, a traverse stake, a traverse measurement network, the observation traverse being arranged on the traverse stake, one end of the observation traverse being connected with the measurement control point, the other end of the observation traverse being connected with the traverse measurement network, a first ground control network; the system further comprises a pilot hole, a verification traverse, a through tunnel, a horizontal drill hole and a second ground control network; the structure of the second ground control network is the same as that of the first ground control network, the verification traverse is arranged in the pilot hole and along the length direction of the pilot hole, the verification traverse is installed on the traverse stake of the second ground control network, one end of the verification traverse is connected with the measurement control point of the second ground control network, and the other end of the verification traverse is connected with the traverse measurement network through the horizontal drill hole. The application has the effect of verifying the through-accuracy measurement result of the first ground control network.

This invention discloses an integrated intelligent grinding device for processing the inner and outer rings of deep groove ball bearings, relating to the field of grinding-related technologies. The device includes a frame fixed to a base, a top plate fixed to the frame, and a support cylinder. A connecting plate is fixed to the top of the support cylinder via a transmission rod. The connecting plate is mounted on the bottom of the top plate via a drive mechanism. Two synchronous rings are slidably mounted on the support cylinder, and two sets of grinding discs are fixed between the two synchronous rings. The two sets of synchronous rings are located on the inner and outer walls of the support cylinder, respectively. An adjustment mechanism is installed on the support cylinder, which drives the two grinding discs to move relative to each other, causing the grinding discs to deform and conform to the rolling tracks of the bearing's outer and inner rings. This allows for simultaneous grinding of five key surfaces—the outer wall of the bearing's outer ring, the inner wall of the bearing's inner ring, the rolling tracks of both rings, the top surface, and the bottom surface—in a single clamping operation, eliminating the cumulative errors caused by multiple clamping operations.

This utility model provides a three-head aluminum profile dual traction machine, relating to the technical field of aluminum traction equipment. It includes a transmission machine and three traction mechanisms, which are slidably connected to one side of the transmission machine. A roller conveyor belt is installed on the transmission machine. A main shaft box is located at the rear end of one side of the transmission machine, and three drive shafts extend from the main shaft box. Each drive shaft is connected to and installed with a traction mechanism at its end. The machine employs a mechanical linkage drive method using a planetary gear differential and a servo motor, enabling the three traction mechanisms to automatically adjust torque distribution during traction, eliminating accumulated errors caused by response delays or speed deviations in the electronic control system. Simultaneously, the design of the universal joint coupling and spline telescopic drive shaft ensures stable power transmission even when the traction mechanism moves on the slide rail, avoiding profile twisting or surface scratches caused by speed differences.

This utility model provides an oil channel support strip pressing device, which includes a conveyor belt, a winding machine, and a conveying mechanism. A pressure plate is transversely mounted on the conveyor belt, which transports insulating paperboard. The pressure plate is lifted and lowered on the conveyor belt to press the support strips onto the insulating paperboard. Two winding machines are located at opposite ends of the conveyor belt for unwinding and rewinding the insulating paperboard. The conveying mechanism is located at one end of the conveyor belt, on the side of the winding machine that outputs the insulating paperboard, and is used to place the support strips onto the insulating paperboard. This utility model's oil channel support strip pressing device, through its integrated design of continuous unwinding, feeding, and pressing, eliminates the cumulative errors caused by pauses, resulting in good consistency in the bonding position. The rigid system formed by the support frame and hydraulic cylinder ensures stable lifting of the pressure plate, uniform pressing force, and reduces bonding defects. Double-sided auxiliary rods guide and suppress pressure plate sway, preventing support strip displacement during the pressing process.

This utility model relates to a molding die for the lower piece of an automotive front axle assembly. At each processing station of the lower die, a positioning groove is formed by the cooperation of a first positioning block and a second positioning block. The first positioning block includes an integrally formed fixed seat and a conical positioning post. A shaped positioning protrusion extends radially outward from the side wall of the fixed seat. The conical positioning post is located above the shaped positioning post, and its central axis is parallel to the central axis of the fixed seat. The upper die has a conical positioning groove for the conical positioning post to enter. The second positioning block has an L-shaped structure, and its other side wall has a positioning plane. This utility model uses first and second positioning blocks of different shapes for dual positioning, achieving high-precision positioning in multiple directions. By utilizing the conical positioning post in cooperation with the conical positioning groove of the upper die, relative positioning between the upper and lower dies is achieved, thus maintaining the balance of the punches within the upper die during multi-angle punching.

This invention provides an aircraft engine pylon template and its replacement method based on digital measurement and scanning. Support frame assemblies are symmetrically fixed to the top two sides of the bottom frame assembly, and a crossbeam assembly is fixed to the top of the support frame assemblies. An end frame positioning assembly is fixed to one end of the bottom frame assembly, and tie rod assemblies are arranged on both sides of the end frame positioning assembly. A middle frame positioning assembly is fixed to the top of the bottom frame assembly. Front suspension joint positioning assemblies are symmetrically arranged at the inner bottom end of the crossbeam assembly, and mounting bracket positioning assemblies are arranged between the front suspension joint positioning assemblies. Rear suspension joint positioning assemblies are symmetrically arranged on one side of the inner bottom end of the crossbeam assembly. This template uses a combination of theoretical and physical positioning. The template is coarsely adjusted using the theoretical coordinate values ​​of the design digital model, and finely adjusted using the physical positioning of the pylon product. This effectively eliminates accumulated errors during scanning modeling, parts manufacturing, and final assembly and debugging, improving the overall positioning accuracy of the template.

The present disclosure provides a control method of a radiographic imaging system, a radiographic imaging system and a medium, wherein the method is applied to a local processing unit included in the radiographic imaging system, and the method comprises: acquiring tube state data collected by a sensor assembly, wherein the sensor assembly is physically integrated with a radiographic tube; based on the tube state data, predicting predicted tube state data corresponding to a target scanning task performed by the radiographic tube; performing an adjustment operation on a preset scanning parameter of the target scanning task according to the predicted tube state data to generate a target scanning parameter; and controlling the radiographic tube to perform the target scanning task based on the target scanning parameter. By applying the embodiments of the present disclosure, the working state of the radiographic tube when performing the scanning task can be accurately predicted based on real-time tube state data, and the scanning parameter of the radiographic tube can be dynamically adjusted based on the prediction result, thereby realizing real-time sensing, accurate prediction and intelligent dynamic regulation and control of the running state of the radiographic tube.

The utility model relates to a kind of vehicle unmanned aerial vehicle airfield, including airfield, and gap exists between airfield and vehicle top;Lifting mechanism is located in gap, and is drivingly connected with vehicle top and airfield;Driving mechanism includes drive motor and screw rod, screw rod is set to the output end of drive motor, and is drivingly connected with lifting mechanism, screw rod is driven by drive motor and rotates forward or reversely, to drive lifting mechanism to drive airfield switch between retracted position and unfolded position;Controller is used to open or close drive motor;Sensor is electrically connected with controller, and is used to detect the position of lifting mechanism, and used to send first signal to controller when airfield moves to retracted position;Drive motor includes encoder electrically connected with controller, for detecting the number of turns of the output end of drive motor when airfield moves to unfolded position, and send second signal to controller when the number of turns is equal to preset number of turns.

This invention relates to the field of laser detection and navigation positioning technology, and discloses a real-time noise reduction and in-situ calibration system and method for laser ranging sensors. The system includes an acquisition module, an extraction unit, a mapping unit, a control unit, and a compensation unit. The system extracts the zero-position calibration pulse generated by reflection within the optical window, calculates the waveform asymmetry parameter to construct a timing compensation operator for the receiving link, and the control unit adjusts the measurement echo detection threshold according to the pulse energy distribution parameter. The compensation unit uses the operator to correct the target echo phase centroid and uses the real-time phase center of the pulse as the timing start anchor point. This invention converts the ranging reference from static setting to dynamic physical reconstruction, and synchronously eliminates clock temperature drift and circuit delay deviation caused by ambient temperature rise during the ranging cycle, thereby eliminating the cumulative error caused by spatiotemporal reference drift in long-distance navigation.

The application belongs to the technical field of medical image processing, and particularly relates to a three-dimensional reconstruction method of two-dimensional ultrasonic images based on deep learning. The application provides a new three-dimensional reconstruction method of two-dimensional ultrasonic images based on deep learning, which takes the constructed high-frame-rate two-dimensional ultrasonic image sequence as input data of a 3DCNN-LSTM network, then uses 3DCNN to extract the spatial pose information between B-ultrasonic image frames, and uses LSTM to statistically and predictively process the spatial pose information sequence, so that the inter-frame features of ultrasonic images and the space-time correlation of the pose information sequence are effectively utilized, the cumulative error is eliminated, and the accuracy of three-dimensional reconstruction is improved.

A rocker arm transmission device of a small-angle side sewing machine comprises an arm body unit which is provided with a vertical rocker arm body, an oblique arm body, a rocker arm head and a rocker arm cover, the vertical rocker arm body is rotationally supported through a rocker arm fixing sleeve, and the oblique arm body is connected with the vertical rocker arm body; the synchronous belt wheel power unit is arranged in an inner cavity of the vertical rocker arm body, and a driven wheel piece drives the shuttle support transmission unit; the gear positioning unit is arranged in the vertical rocker arm body; the shuttle support transmission unit comprises a shuttle support ball head transmission shaft, a shuttle support transmission gear piece and a transition gear; the needle plate transmission unit comprises a needle plate ball head transmission shaft and a needle plate transmission gear piece, and the needle plate ball head transmission shaft is connected with the gear positioning unit; the shuttle support piece is mounted between the rocker arm cover and the rocker arm head; and the shuttle assembly comprises an inner side shuttle and an outer side shuttle which are respectively matched with the needle plate transmission gear piece and the shuttle support piece. The utility model has the advantages that the design of the arm body unit is optimized, the sewing requirements of high-upper shoe products are met, and the working efficiency is improved; a gear meshing transmission mode is innovated, and transmission stability and reliability are improved.

The invention relates to the technical field of motor manufacturing, in particular to a cutting and arranging method before cross welding of multi-turn leads, which comprises the following specific steps: S1, staggered cutting is performed on two groups of multi-layer stacked leads, an included angle theta is formed between the cutting surface and the axial direction of the leads, theta is not equal to 90 degrees k (k belongs to Z), and the angle theta is not equal to 90 degrees k (k belongs to Z); sequentially staggering the cut end parts of each layer of cut leads in each group along the overlapping direction of the leads, and monotonically changing the extension length of each layer of leads along the overlapping direction; s2, oppositely butting the two groups of lead wires cut in a staggered manner and overlapping the lead wires layer by layer in a crossed manner, wherein an insertion gap is formed between any two adjacent layers of overlapped lead wires; and S3, the connecting pieces are inserted into the inserting gaps, arrangement before cross welding is completed, efficiency is higher, head combining is neat, time consumed by operation is shorter, the welding quality is greatly improved, and the secondary correction procedure is reduced.

The invention relates to the technical field of bridge health monitoring, and discloses a steel pipe-ECC concrete bridge pier health state monitoring system, which comprises a multi-source sensing module, an ECC concrete bridge pier health state monitoring module, an ECC concrete bridge pier health state monitoring module and an ECC concrete bridge pier health state monitoring module, the data acquisition and transmission module is responsible for acquiring sensor data and uploading the sensor data to the cloud; and the health assessment model runs in the cloud, analyzes damage and outputs the health state of the pier by fusing the physical theory and the actually measured data. According to the method and system for monitoring the health state of the steel pipe-ECC concrete pier, the strain sensors, the distributed crack monitoring network and the specially-made miniature slippage displacement meter are arranged in a key area of a steel pipe-ECC interface in a targeted mode, a multi-physical-quantity coupled sensing array is constructed, interface micron-level slippage and concrete internal microcrack initiation can be synchronously captured in real time, and the monitoring accuracy of the health state of the steel pipe-ECC concrete pier is improved. The early monitoring sensitivity and spatial resolution of the specific interface damage evolution process of the composite material are improved, and the technical blind spot that an interface damage origin area is difficult to touch in a traditional monitoring technology is solved.

The invention relates to a dynamic radar map real-time feedback motion sensing game space position offset system, and belongs to the technical field of motion sensing game man-machine interaction. The system comprises a gait detection and mapping unit, a displacement estimation and radar scaling unit, a mobile phone orientation determination and coordinate system establishment unit and a system construction and conversion unit. Step-stepping actions of walking of the player are recognized, and steps are mapped into game radar fixed displacement units; on the basis of the previous result, non-walking movement displacement is estimated by fusing sensor data and is scaled to radar coordinates; integrating the data of the gyroscope and the magnetometer to determine the orientation of the mobile phone so as to establish a unified coordinate system; and constructing a relative displacement system, recording a zero reference and converting physical displacement into radar pixel displacement. The effects that complex external hardware is not needed, walking and non-walking actions are accurately matched, and physical-virtual space coordinates are unified are achieved, the problems of positioning deviation and feedback dislocation in the prior art are solved, and the real-time performance and immersion of a motion sensing game are improved.