31results about How to "Guaranteed filtering accuracy" patented technology

The invention discloses an indoor positioning method based on improved square root unscented Kalman filtering. The method comprises the following steps of firstly, establishing a UWB positioning modeland a pedestrian dead reckoning PDR model in a fusion indoor positioning method; then, according to a residual identification method criterion, determining whether an NLOS criterion exists in a positioning result of the UWB positioning model; if the NLOS exists, using an improved square root unscented Kalman filtering algorithm to fuse a coordinate of inertial navigation dead reckoning with a positioning coordinate of UWB, and correcting a UWB solving coordinate data; and if the NLOS does not exist, using the UWB to analyze a current coordinate and completing real-time positioning. In the invention, the pedestrian dead reckoning PDR is used to compensate a UWB signal loss or non-line of sight condition, which improves the positioning accuracy of the system and the advantages of high precision and high robustness are possessed.

The invention belongs to the field of navigation and in particular relates to an MEMS strapdown inertial navigation initial alignment method for statistical property uncertainty of measurement noise. The method comprises the following steps: determining initial longitude and latitude of a carrier by utilizing GPS; acquiring the acceleration data output by an MEMS accelerometer and magnetic field intensity data output by a magnetometer; selecting the initial filter value; acquiring angular velocity output by an MEMS gyroscope and acceleration data output by the MEMS accelerometer; and estimating the platform misalignment angle, thus finishing accurate initial alignment. According to the method disclosed by the invention, a measurement noise variance matrix is estimated and adjusted in real time by monitoring the information sequence change during iteration each time, the adaptive ability of the system is improved, and the filtering stability is improved on the basis that the filtering precision is guaranteed.

The invention discloses a master-slave surgical robot trajectory prediction control method, which comprises the following steps: firstly, designing a Kalman vibration filtering algorithm of a least square support vector machine, and filtering a tremor signal of a hand to obtain a target trajectory signal; performing trajectory planning on the target trajectory signal through a linear trajectory planning method and a Chebyshev pseudo-spectral method to obtain a planned trajectory, and optimizing the planned trajectory through a quadratic programming method to obtain an actual trajectory signal;taking the actual trajectory signals as input through a master-slave pose mapping function, mapping the movement poses of the master hand and the slave hand, and achieving predictive control over thetrajectory of the master-slave surgical robot. According to the master-slave surgical robot trajectory prediction control method, the problems that the operation of the tail end of a master-slave surgical robot is delayed, and the precision is low are solved.

The present invention discloses a combination navigation method, which comprises: acquiring an attitude measurement value in a first speed interval range by using a first combination filtering, wherein the first combination filtering is the INS/GNSS combination filtering with an observation equation containing the INS and GNSS attitude angle measurement difference; acquiring an attitude measurement value in a second speed interval range by using a second combination filtering and an added attitude filtering, wherein the second combination filtering is the INS/GNSS combination filtering being not contain the INS and GNSS attitude angle measurement difference, and the added attitude filtering is used for carrying out attitude filtering on the filtering result of the second combination filtering; and acquiring an attitude measurement value in a third speed interval range by using the second combination filtering. The invention further discloses a combination navigation system. With the method and the system of the present invention, the attitude observability and the estimation precision are improved.

The invention provides a method for estimating an external ballistic flight state of a cannonball. The method comprises the steps of modeling a system, improving a filtering algorithm and selecting the number of sample points. The improved filtering algorithm is adopted for estimation of external ballistic parameters of the cannonball; a point-mass trajectory equation serves as a state model of the system; and a radar measurement equation serves as a measurement model of the system. The estimation method adopts an improved nonlinear filtering algorithm. According to the method for estimating the external ballistic flight state of the cannonball, a state estimation error can be kept near a certain steady-state range after filtering is started for 5s, so that the convergence effect is good.The estimation method has the advantages that a conventional estimation method is remarkably improved, the measurement precision of external ballistic parameters of a missile rocket is improved, the introduction of a linearization error is avoided under the condition of ensuring the filtering precision and the algorithm calculation amount, and the filtering precision is improved, so that an important basis is provided for performing accurate ballistic control on the cannonball.

The invention discloses a channel estimation method and device, a computer readable storage medium as well as a terminal. The channel estimation method comprises the following steps: performing preliminary channel estimation by using pilots on a frequency domain to obtain a plurality of initial channel estimated values; performing filtering processing on selected M initial channel estimated valuesby using a filter bank to obtain a plurality of filtering results, wherein the filter bank includes a plurality of filters of a plurality of passband widths, and M is the tap numbers of the filters in the filter bank; and selecting a filtering result having a minimum error value with the M initial channel estimated values from the plurality of filtering results to serve as a channel estimated value. Through the technical scheme of the invention, the accuracy of channel estimation can be improved, and the application range can be expanded.

The invention discloses a digital filter capable of configuring a coefficient and an implementation method. A fitting factor which is obtained by fitting a filter coefficient according to a certain algorithm is stored in a memory, and a great quantity of storage spaces for storing the filter coefficient are saved under the condition of ensuring the filtering accuracy. The digital filter capable of configuring the coefficient comprises a fitting factor memory, a coefficient calculation module and the digital filter; the digital filter is connected to the fitting factor memory through the coefficient calculation module; the fitting factor memory is used for storing the fitting factor for fitting the filter coefficient through a fitting algorithm; the coefficient calculation module is used for reading corresponding fitting factor in the fitting factor memory to calculate and obtain the required filter coefficient according to the input control information, and digital filter uses the filter coefficient calculated by the coefficient calculation module to filter the input digital signal.

The invention discloses an atomic current sensor, which belongs to the field of electronics. The atomic current sensor comprises a light source control circuit, a light source, an atom absorption foam assembly and a sensor signal processing circuit, wherein the light source is controlled by using the light source control circuit; the atom absorption foam assembly is used for receiving an optical signal transmitted by the light source; and the sensor signal processing circuit interacts with the atom absorption foam assembly. Through the setting, the defect that an electromagnetic sensor applied in the fields of engineering detection of high-accuracy current detection, current metering detection and the like cannot well met requirements is overcome; and the atomic current sensor is simple in structure, has high measuring accuracy, and is suitable for popularizing and using.

The invention discloses a DSP-based electroencephalogram digital filtering method and an electroencephalogram acquisition device. For requirement on the accuracy of signals when electroencephalogram signals are acquired, firstly, a differential amplifier circuit is utilized to amplify the electroencephalogram signals, a 16-bit AD with high accuracy is adopted so that the accuracy of the electroencephalogram signals is 0.5 uV, and on such a basis, a DSP performs signal processing. The DSP adopts a fixed-point signal processor of 5,000 series developed by the TI Company to perform the signal processing comprising band-pass filtering and wave trapping by adopting a Chebyshev best consistent approximation FIR filtering method to obtain the electroencephalogram signals of high quality. The method has the advantages of clear concept, the high accuracy and high speed. The invention provides a filtering algorithm with the high accuracy, which can be applied to the design of an electroencephalogram front-end amplifier and lay the foundation for the further analysis of the electroencephalogram signals.