64results about How to "Eliminate systematic errors" patented technology

The invention discloses a weather detection method and system based on a weather rainfall radar and a storage medium. The system comprises the weather rainfall radar, a weather data centralized control management center and a radar time sequence chart neural network detection algorithm arranged in the weather data centralized control management center. According to the method, different cloud layer characteristic weathers are collected through a meteorological rain detection radar, and obtained electromagnetic wave scattering parameters of the different cloud layer characteristic weathers are input into a radar time sequence chart neural network detection algorithm for analysis and calculation, so that polarization phase differences corresponding to the different cloud layer characteristic weathers are obtained to detect the height and vertical distribution of cloud layers; and when the height and the vertical distribution of the cloud layer exceed boundary threshold values, sending out risk early warning information of different weather types, and automatically detecting spectral widths of different cloud layer characteristic weather and corresponding polarization phase differences. And the weather detection precision and efficiency are improved.

The invention discloses a projector automatic focusing method based on a spectrum sensor and related equipment, and the method comprises the steps: carrying out the wavelength decomposition of a reflected light signal, and obtaining a light intensity value; calculating an initial distance value between the projector and the projection surface; carrying out integral operation on the acceleration data and the angular velocity data to obtain a position offset and an attitude angle offset; determining a compensation distance, and calculating an actual projection distance; controlling a stepping motor to drive a lens assembly to move to a focusing position corresponding to the target focal length value; controlling a stepping motor to drive a lens assembly to reciprocate; a new reflected light signal is collected again after each reciprocating motion; processing the new reflected light signal based on a preset mapping model to obtain a current measurement distance; and when the deviation value between the current measurement distance and the preset optimal imaging distance is smaller than a preset threshold value for the first time, determining the focusing position corresponding to the final measurement distance as a final focusing position. The automatic focusing precision of the projector is improved, and the definition of a projection picture is further improved.

The invention relates to the technical field of semiconductor detection, and discloses an ATE equipment high-speed AC signal calibration system and method, and the system comprises at least one FPGA module which is provided with a plurality of channels for bidirectional signal transmission; each PE module is correspondingly positioned on one channel of the FPGA and is used for receiving the driving signal output by the FPGA and an external input signal and sending a feedback signal to the FPGA module according to the driving signal; the signal calibration module is located in the FPGA and used for receiving the feedback signals and comparing time delays between the feedback signals input from different channels; the delay compensation module is positioned in the FPGA and is configured to adjust the time delay of each channel based on the comparison result of the signal calibration module so as to realize the synchronization of the signals of the plurality of channels; and when a plurality of FPGAs exist, the system also comprises a PLL module, and the PLL module is configured to provide synchronous clock signals with the same frequency and fixed phase to the plurality of FPGAs at the same time, so as to ensure that the internal clocks of the FPGAs are synchronous.

The invention relates to the technical field of lubricating oil analysis, in particular to a method and system for quantitative analysis of a lubricating oil additive. The method comprises the following steps: acquiring base oil data and lubricating oil additive data; performing mixed oil treatment based on the base oil data and the lubricating oil additive data to generate mixed lubricating oil additive data; performing mixed oil concentration detection on the mixed lubricating oil additive data to generate mixed oil concentration detection data; performing chromatographic column selection on the mixed lubricating oil additive data based on the mixed oil concentration detection data to generate chromatographic column selection data; and performing boiling point heating on the chromatographic column selection data to obtain mixed oil boiling point heating data. By optimizing data acquisition, chromatographic separation, component identification and quantitative analysis as well as result analysis and visualization, the accuracy of quantitative analysis of the lubricating oil additive is improved.

The invention discloses a display screen flat field correction method, device and system and a storage medium, which are used for improving the uniformity of a display screen image after flat field correction. Acquiring a plurality of frames of initial bright field images through acquisition equipment; performing gray average processing on the plurality of frames of initial bright field images to generate an average bright field image; selecting an ROI region on the average bright field image according to the gray level uniformity of the average bright field image; generating an ROI region mean value according to the pixel point information of the ROI region; generating a flat field correction coefficient graph according to the average bright field image and the ROI mean value; and collecting a to-be-corrected display screen through the collection device, and carrying out flat field correction processing on the collected to-be-corrected image according to the flat field correction coefficient graph.

The application relates to the technical field of standard gas preparation, and discloses a pressure method for preparing carbon dioxide and carbon stable isotope standard gas, and a system thereof. The method comprises the following steps: obtaining basic parameters for gas preparation, calculating core pressure control parameters of gas preparation operation based on the mass conservation of carbon dioxide and the mass conservation of carbon stable isotopes, and sequentially completing the steps of filling decarburization atmosphere through an adsorption tube, filling high-concentration raw material gas through a quantitative ring, and supplementing the final pressure with ambient atmosphere, so as to complete the preparation of standard gas. The method can accurately control the carbon dioxide concentration and the carbon stable isotope value simultaneously, is suitable for a conventional pressure method gas preparation device, has high preparation precision and strong repeatability, and meets the high-precision standard gas use requirements of atmospheric observation, equipment calibration and the like.

The invention discloses a fish and shellfish polyculture experiment system and a verification method, and the system comprises at least two groups of experiment units which operate independently, an intelligent water distribution unit, a water quality on-line monitoring unit, a waste automatic collection unit and a central control unit. Wherein the experiment module comprises a fish culture area, a shellfish culture area, an adjustable mainstream circulation channel and a bypass circulation loop. The verification method comprises the steps of system initialization and experiment grouping, biological putting and feeding calibration, breeding operation under a controlled condition, multi-processing-group synchronous monitoring and sampling and data analysis and efficiency comprehensive evaluation. According to the method, the experimental platform which can accurately simulate the material circulation process of the fish-shellfish polyculture system, realize synchronous comparison of multiple treatment groups and quantitatively evaluate the nutrient interstage material coupling mechanism is constructed, and a scientific basis is provided for an ecological culture mode with low emission and high resource utilization rate.

The utility model discloses a sewage outlet water quality monitoring device based on full spectrum, comprising a water sample processing mechanism, the water sample processing mechanism comprises a water sample collection device and a pretreatment device, the water sample collection device collects a water sample of a sewage outlet, and the pretreatment device pretreats the collected water sample; a light source that generates a light beam covering a full spectral range; the optical system is arranged opposite to the light source, and the optical system guides the light beam generated by the light source to the pretreated water sample and collects a spectrum reflected, scattered or transmitted by the water sample; the spectrograph is used for receiving a spectral signal after the light beam passes through the water sample and converting the spectral signal into a digital signal; the wireless communication module is connected with the spectrograph and used for sending the digital signals to a cloud server, and the cloud server receives the digital signals and analyzes the digital signals to extract water quality parameter information.

This utility model discloses a dual-mode hydrological radar measurement device based on closed-loop attitude adjustment, belonging to the field of hydrological monitoring technology. It includes a sealed electronic cabin and an attitude adjustment mechanism. A pitch angle adjustment component is located between a bottom fixed base and a rotating base, used to drive the bottom fixed base to pitch and swing horizontally. An azimuth angle adjustment component is connected between the rotating base and the top fixed base, used to drive the rotating base to rotate horizontally vertically. Through a periodic task scheduling mechanism and pre-emptive closed-loop attitude adjustment, it can automatically and cyclically switch between water level measurement mode and flow velocity measurement mode under unattended conditions. Before each measurement, the radar beam is precisely adjusted to the optimal incident angle of the corresponding mode. Simultaneously, the "attitude adjustment first, measurement later" execution logic ensures that each data acquisition is performed under optimal physical conditions, fundamentally improving the measurement accuracy of water level and flow velocity parameters and realizing fully automated continuous hydrological monitoring.

The invention relates to a high-strength aluminum alloy residual stress testing device and method in the technical field of material mechanical property testing, the high-strength aluminum alloy residual stress testing device comprises a rack, a clamping assembly used for clamping a sample and a cutting assembly used for cutting the sample are arranged on the rack, and a plurality of strain gauges are arranged in the middle of the bottom face of the sample at intervals in the cutting direction; according to the invention, the second jacking piece is arranged to apply accurate jacking force at the trisection position of the sample in the length direction, so that static deformation of the sample caused by self weight is effectively compensated, and systematic errors of the gravity on a measurement result are eliminated from the source; compared with a mode depending on follow-up algorithm compensation or tedious early-stage calibration in the prior art, the method does not need complex calculation or manual intervention, the operation process is simplified, the technical requirements for operators are reduced, a detector system is simpler and more reliable, and the repeatability and accuracy of testing are improved.

The application discloses a microseismic event positioning method based on a microseismic signal, and is characterized by comprising the following steps: S1, collecting the microseismic signal by using a microseismic collection device; the microseismic collection device comprises a plurality of three-component microseismic detectors which are arranged at equal intervals in a long drill hole and are used for collecting the microseismic signal generated by a microseismic event in a deep coal seam; the P wave and the S wave of the microseismic signal are collected simultaneously by using the microseismic collection device, and the time difference between the P wave and the S wave is used to directly provide the absolute distance from each receiver to the seismic source, so that the positioning process is converted into a spherical surface intersection problem with each receiver as a spherical center and with a calculated distance as a radius. The method not only eliminates systematic errors caused by the uncertainty of the time of earthquake occurrence, but also provides a large amount of redundant data for cross verification, so that the accuracy and reliability of the positioning result are greatly improved. The accuracy and comprehensiveness of signal collection are improved.

The invention discloses a device and a method for measuring the off-axis degree of a cluster jumper wire. The device comprises a light beam quality analyzer, an assembler and a guide rail, the assembler is provided with an assembling interface matched with the light-emitting end sleeve of the cluster jumper, the assembler is matched with the guide rail to enable the axial direction of the assembling interface to be parallel to the guide rail, and the middle axis of the light-emitting end sleeve of the cluster jumper assembled on the assembling interface is parallel to the guide rail; the detection surface of the light beam quality analyzer is vertical to the guide rail; and the light beam quality analyzer and the assembler move along the guide rail to change the distance between the light beam quality analyzer and the assembler. According to the method for measuring the off-axis degree of the bunched jumper wire, the single light-passing optical fiber serves as a test item, instrument errors caused by the fact that the light beam quality analyzer exceeds the linear response range due to the fact that the light power of full-light-passing test is too large are avoided, the measurement error is further reduced, and meanwhile the labor cost and the time cost are saved.

A microfluidic control CSTR reaction and detection system provided by the present invention includes: a precision injection module: the module is a first precision injection pump whose number corresponds to the type of reaction reagent; a CSTR module: including a magnetic stirrer and a first reaction pool, which includes an inner pool and an outer pool, the outer pool is surrounded by the periphery of the inner pool, a covering plane is arranged on the top of the inner pool, a first channel is arranged between the inner wall of the outer pool and the outer wall of the inner pool, and the first channel is a cavity structure; the side of the outer pool is provided with a first inlet, a second inlet and a first outlet at intervals, and the top or bottom of the inner pool is provided with a second outlet; and a microfluidic detection window: the window is a square structure, one of the opposite sides is provided with an optical second channel, and the top is provided with a third inlet and a third outlet; the first precision injection pump is connected to the first inlet, the second outlet and the third inlet through a first pipeline. The system can not only carry out a variety of experiments, but also can perform indication, detection and microfluidic control.

The application relates to the technical field of medical detection, in particular to a kit, a method and a system for predicting bacterial infection. The application provides a kit for predicting bacterial infection, which comprises an antibody combination for specifically recognizing CD64, CD14 and CD14, and the antibodies are respectively labeled with mutually distinguishable fluorescent dyes. Meanwhile, the application provides a method for predicting bacterial infection, which comprises obtaining the counts of neutrophils, lymphocytes and monocytes in a to-be-detected sample, and the fluorescent intensities of CD64 and CD14 on the cell subgroups, and calculating four characteristic parameters IDXNLR, IDXLMR, IDXCD64 and IDXCD14; and then inputting the parameters into a pre-trained infection diagnosis model to output a risk score for judging the infection state (especially bacterial infection). The model significantly improves the accuracy and specificity of distinguishing bacterial infection from non-bacterial infection (such as viral infection or healthy state) by comprehensively integrating immune parameters in multiple dimensions.

This invention discloses a method for evaluating the accuracy of surveying results based on a vehicle-mounted mobile measurement system, comprising the following steps: receiving surveying result data, determining the data acquisition area and acquisition route, and acquiring raw 3D laser point cloud data and position data; processing the raw 3D laser point cloud data and position data to obtain point cloud data and position files in the target coordinate system; constructing trajectory reference line one based on the processed position files, forming trajectory reference line two based on time interval segmentation, and forming trajectory reference line three after trajectory quality screening; loading the vector data, point cloud data, and trajectory reference lines of the surveying result sample to be inspected, automatically extracting the relative accuracy detection side length and absolute accuracy detection points, calculating the offset value with the corresponding side length and corresponding point in the surveying result to be inspected, and statistically analyzing the mean square error to achieve the mathematical accuracy evaluation of the surveying result to be inspected. This invention is highly efficient; based on the integrated acquisition of a vehicle-mounted mobile measurement system, efficiency is improved; and accuracy is reliable.

The application discloses a kind of laser calibration devices of thin-walled shell axial compression test, it is related to the technical field of axial compression test, including laser calibration instrument system, control unit, servo motor, screw adjusting mechanism and clamping mechanism;Laser calibration instrument system is integrated with clamping mechanism, control unit is respectively connected with laser calibration instrument system, servo motor, screw adjusting mechanism and clamping mechanism, realizes closed-loop control, laser calibration instrument system and clamping mechanism adopt same reference coordinate system;Clamping mechanism is used for the nondestructive positioning and locking of thin-walled shell;The clamping end surface of clamping mechanism is embedded with pressure sensor;Laser calibration instrument system is used for real-time monitoring thin-walled shell displacement and positioning deviation, cooperates control unit, servo motor and screw adjusting mechanism to complete dynamic calibration.The application can realize the high-precision positioning and calibration of composite thin-walled shell in axial compression test process, and can avoid stress concentration when the shell is clamped and fixed, realize the nondestructive clamping and locking of shell.

The invention provides a kidney transplantation rejection reaction serum polypeptide detection device and method, and the method comprises the steps: obtaining a kidney transplantation serum sample, and extracting a polypeptide characteristic signal group of the serum sample from a polypeptide mass spectrum of the serum sample in a preset mass-to-charge ratio range; the polypeptide characteristic signal group comprises three characteristic polypeptide peak signals corresponding to different protein fragments, and further determining the mass-to-charge ratio of each protein fragment and the relative intensity value of each characteristic polypeptide peak in the polypeptide characteristic signal group; carrying out fusion judgment on the rejection risk of the serum sample according to the mass-to-charge ratio of each protein fragment and the relative intensity value of each characteristic polypeptide peak in the polypeptide characteristic signal group to obtain a risk index representing the rejection state in the serum sample; and comparing the risk index with a rejection risk threshold value of the serum sample so as to make multi-level judgment on the rejection risk level to which the serum sample belongs. Based on the scheme, rejection reaction monitoring based on kidney transplantation serum polypeptide fingerprints can be realized.

The invention discloses an energy-saving optimization control method and system of an air compression station building, a medium and a product, and belongs to the field of air compression station building energy-saving control, and the method comprises the steps: collecting multi-source operation data of the air compression station building in a current sampling period; based on the multi-source operation data, the real gas consumption of the user in the current sampling period is calculated through the mass conservation relation among the gas supply amount, the gas storage variable amount and the gas consumption; inputting the real gas consumption of the user into a preset gas consumption prediction model, outputting gas consumption prediction data in future preset time, and solving to obtain gas supply distribution of each air compressor based on the gas consumption prediction data and a preset power-gas supply relation model of each air compressor; and on the basis of all the air supply distributions, an operation instruction is generated, all the air compressors are controlled to operate, and energy-saving optimization control is completed. By implementing the method, the problem that in the prior art, due to the fact that the outlet flow of the air compressor is directly adopted as the user gas consumption, gas consumption requirement recognition is not accurate can be solved.

The invention discloses an electronic terminal transfer function test system and method based on analog-to-digital conversion. Relates to the technical field of electrical testing and automatic control, in particular to an electronic terminal transfer function testing system and method based on analog-to-digital conversion. Input and output signals of a controlled object are synchronously acquired and processed, and high-precision extraction of amplitude and phase is realized by combining sine frequency sweep excitation with parameter fitting calculation, so that frequency response characteristics of a system in a target frequency band are obtained. The system comprises a main control board, an upper computer and a controlled object, one end of the main control board is connected with the upper computer, and the other end is connected with a controlled object; the upper computer is used for generating a test instruction and sending the test instruction to the main control board; the main control board is used for synchronously acquiring a test excitation signal output by the main control board and a response signal output by a controlled object; and the controlled object receives the test excitation signal output by the main control board and outputs a response signal. And the upper computer generates frequency response characteristics according to the synchronously acquired signals.

The invention relates to the technical field of medical monitoring and intelligent nursing, in particular to a cardiology department patient home nursing monitoring system and method, and the system comprises a dynamic collection module, an intelligent processing module, a safety storage module, a dynamic calibration module and an application service module. The dynamic acquisition module dynamically acquires physiological and behavior parameters of a patient and transmits the acquired parameters to the intelligent processing module; the intelligent processing module performs feature extraction, abnormity identification and illness state trend prediction, and synchronizes a processing result to the secure storage module and the application service module; the safety storage module encrypts and stores the health data of the patient, and the dynamic calibration module adjusts the calibration period of the equipment, performs automatic calibration and feeds back the calibration result to the dynamic acquisition module; and the application service module generates hierarchical intervention information and dynamically adjusts a personalized nursing scheme. Through dynamic acquisition and processing, dynamic calibration, security encryption storage and dynamic adjustment nursing, comprehensive and effective cardiology home monitoring, accurate data and reliable, accurate and safe nursing are realized.

This invention provides a method for simulating and predicting the bonding performance of an underfill adhesive, comprising: (1) modeling and optimizing the substrate material; (2) modifying the surface of the optimized substrate material; (3) modeling the monomer mixture; (4) constructing and restrictively optimizing the relaxation of a "substrate-monomer mixture-substrate" sandwich structure; (5) performing a crosslinking reaction on the sandwich structure to obtain a kinetic calculation model box; (6) acquiring kinetic data; (7) establishing a thermodynamic calculation model; (8) optimizing and relaxing the thermodynamic calculation model to obtain thermodynamic data; (9) constructing a crosslinking unit model of coupling agent, epoxy resin, and curing agent; (10) obtaining the minimum bond breaking energy; and (11) simulating and predicting the bonding performance of the underfill adhesive based on the data obtained above. The simulation and prediction method of this invention has the characteristics of high precision and high efficiency, overcoming the problems of incompleteness, low precision, and narrow applicability of existing technologies.

The application discloses a land use change detection system based on remote sensing cloud computing. The system comprises a remote sensing data acquisition module, a spectral shift compensation module, a response field construction module, a confidence evaluation module, a multi-scale segmentation optimization module and a sub-pixel boundary optimization module. The application firstly realizes accurate spectral alignment by using invariant ground feature spectral reference, then establishes a spatial confidence evaluation model through change direction consistency and amplitude dispersion analysis to filter core change pixels; and based on boundary stability and internal homogeneity, the optimal segmentation scale is automatically determined, and the change area boundary is accurately corrected through sub-pixel spectral decomposition technology, which significantly improves the reliability and accuracy of land use change detection, greatly reduces the false change detection rate, effectively enhances the boundary positioning accuracy, adapts to complex change scenes and improves the processing efficiency.

The application relates to the technical field of semiconductor detection, and provides a semiconductor temperature field detection method and device. The method comprises the following steps: point-by-point scanning of a wafer surface to obtain radiation information of each spatial position point on the wafer surface; radiation energy of different wavelengths is separated from each spatial position point in sequence according to the radiation information; radiation data of each spatial position point under multiple wavelengths is generated based on the radiation energy of each wavelength; the time sequence of the point-by-point scanning and the separation of the radiation energy of each wavelength is coordinated, so that each spatial position point matches corresponding multi-wavelength radiation data; the multi-wavelength radiation data is obtained, a radiation equation group is constructed based on the multi-wavelength radiation data of the same spatial position point, and the temperature value of each point on the wafer surface is calculated by synchronous inversion according to the radiation equation group. The application is used for the semiconductor manufacturing process, and can realize self-adaption and high-reliability non-contact detection of the surface temperature field without relying on preset parameters of emissivity.

The invention discloses a satellite stereo image flutter detection and elimination method comprising the following steps: S1, carrying out original image block adjustment and DSM extraction; s2, calculating a column direction flutter error sequence of a non-NAD image based on a stereo image; s3, carrying out flutter saliency detection on the non-NAD image; s4, calculating a row and column flutter error sequence of the non-NAD image based on the same-view-angle image; s5, calculating a row direction flutter error sequence of the non-NAD image based on the stereo image; and S6, eliminating flutter errors of the non-NAD image. The method has the advantages that the flutter value obtained by the same-view-angle image and the flutter value obtained by the three-dimensional image are comprehensively utilized, and image flutter error elimination is achieved.

The invention discloses a method and a system for positioning blockage of a detector in a pipeline based on array sound wave layered inversion, and belongs to the technical field of buried pipeline detection. The method comprises the following steps: performing high-precision global synchronization on an internal detector clock; the blocking state is intelligently judged, and sound wave emission is triggered; the comprehensive sound velocity of an axial pipe soil medium is inversed by using a ground axial double-point receiving signal, and coarse positioning of a blocking axial interval is realized; searching and determining a ground projection center through an energy peak value of a mobile probe; a linear receiving array perpendicular to the pipeline is arranged, and sound wave travel time data propagating in the radial direction is collected; and finally, through a linearized hyperbolic travel time equation and by utilizing least square parameter estimation, the local soil sound velocity above the blockage point and the buried depth of the inner detector are subjected to combined inversion, so that accurate three-dimensional space coordinates are obtained. According to the method, through physical layering and parameter joint inversion, the influence of nonuniform soil sound velocity uncertainty is eliminated, and sub-meter-level precision blocking positioning of the detector in the pipeline is achieved in a complex geological environment.

The invention provides a power transmission line tower grounding resistance unwiring-free measurement method and system, and belongs to the technical field of power transmission line operation maintenance and detection, and the method comprises the steps: constructing a tower equivalent loop model, employing a non-contact transformer to synchronously inject a test signal, and collecting multi-path response data, and establishing a multi-parameter complex equation set based on the Kirchhoff voltage law for solving, and finally judging the grounding resistance of the tower according to the order of magnitude relationship between the equivalent impedance and the grounding resistance. According to the invention, through the measurement method without wire releasing and auxiliary electrode bonding, the operation steps are simplified, the working efficiency is improved, personnel are prevented from working in a high-risk environment, and the working safety is improved; meanwhile, the portable design provides effective support for data real-time monitoring, online analysis and operation and maintenance decision on the basis of guaranteeing functionality, and the accuracy, efficiency and safety of power transmission line grounding resistance measurement are comprehensively optimized.

This invention discloses a high-precision method for reconstructing a directed distance field model in the field of solid rocket motor burnout calculation technology. The method includes: obtaining the directed distance field function based on a fixed mesh; reconstructing initial isosurfaces / lines using linear interpolation based on the type and spatial dimension of the fixed mesh, and marking isosurfaces / lines that make the directed distance field function zero; and obtaining and classifying the mesh nodes of the mesh cells intersecting the isosurfaces / lines obtained by searching using linear interpolation, resulting in directly adjacent nodes, a set of directly adjacent nodes, and a set of non-adjacent nodes. This invention constructs a reference base circle and uses a local optimization method to find isosurfaces / lines that are tangent to as many base circles as possible, ensuring that the directed distance field calculated based on the reconstructed isosurfaces / lines is consistent with the input directed distance field, avoiding non-physical offsets of the isosurfaces / lines, thereby eliminating systematic errors and improving calculation accuracy.

This invention discloses a rapid detection method and system for the reheating degree of meat dishes based on electrochemical sensing, belonging to the field of food testing technology. Addressing the problem of difficulty in rapidly and accurately evaluating the reheating degree of meat dishes in existing technologies, this invention first places the meat dish to be tested in a space, generating headspace gas at a preset equilibrium temperature and time. An electrochemical sensor unit collects the complete time-response curve of the interaction between the headspace gas and the sensitive layer, extracting dynamic characteristic parameters such as response rise time, peak response value, time to reach peak value, curve integral area, and half-life of the fall phase. Simultaneously, it acquires ingredient attribute parameters and reheating method parameters. These parameters are then input into a pre-trained deep learning prediction model, which outputs the reheating degree level and displays it on a display unit. This method can be used in the catering industry, food processing, and home cooking for rapid detection of the reheating degree of meat dishes, ensuring food quality and food safety.

The invention relates to a fusion positioning method and device in an open scene, electronic equipment and a storage medium, and is applied to the technical field of automatic driving, and the method comprises the steps: detecting whether a vehicle driving region is an open region or a non-open region based on point cloud data; if it is detected that the vehicle enters the open area from the non-open area, the positioning mode is switched to a positioning mode based on integrated navigation; processing the collected integrated navigation data by using the positioning mode to obtain an integrated navigation positioning result; compensating a combined navigation positioning result in real time according to a pre-counted positioning deviation between a point cloud map matching-based positioning mode and a combined navigation-based positioning mode, and taking the compensated positioning result as a final positioning result; and if it is detected that the vehicle drives from the open area to the non-open area, matching the compensated positioning result with the point cloud map, and if matching succeeds, switching the positioning mode to a positioning mode based on point cloud map matching. And stable high-precision positioning can be realized.

The application discloses a kind of based on LF-NMR combination's adsorption state and free state methane content fine characterization method, belong to unconventional natural gas exploration and development technical field.It solves the technical problem existing in the quantitative characterization means of unconventional natural gas (such as coalbed gas) reservoir methane phase state in prior art.The application utilizes the response characteristics of LF-NMR to hydrogen-containing fluid highly sensitive, real-time monitoring coal rock sample under different pressure drop gradient nuclear magnetic resonance T2 spectrum evolution characteristics, by analyzing the time-domain dynamic response of relaxation signal, constructs the kinetic response model of methane phase state division.Through setting different pressure drop rate gradient, the release signal of two phase states can be effectively separated in time domain, the application can realize the continuous, non-destructive and high-precision quantitative division of adsorbed state and free state methane content in complex reservoir, provide theoretical and technical support for accurate evaluation of deep coalbed gas reservoir gas content and efficient development scheme optimization.