3367results about How to "Guaranteed positioning accuracy" patented technology

The invention relates to a picking method and a device for spherical citrus fruits, combining various sensor information of force sense, temperature sense, sight and distance, etc., and sending information back promptly to realize that an executive component picks up fruits flexibly. A flexible picking device consists of a fruit picking hardware device and a software control system, and the fruit picking hardware device consists of a computer visual system, an industrial control system, a mechanical arm and an end executor; the picking device utilizes a solid visual system to detect and identify mature fruit that can be picked, calculates the specific position of the fruit under world coordinate, and carries out feature extraction for the information of the obtained fruit position and barrier position, after the picking device establishes a three-dimensional model and obtains the movement path of a robot in virtual environment, an industrial personal computer system controls the mechanical arm and paws to reach a designated position; at last, the end executor is controlled to extend out of a sucker for sucking and drawing the fruit, then the fruit is fixed by the paw, finally a cutting device is rotated to the designated position for cutting off the stems.

The invention relates to an indoor autonomous navigation method for a micro unmanned aerial vehicle, belonging to the technical field of autonomous navigation of micro unmanned aerial vehicles. The method comprises the following steps: estimating the motion state of the micro unmanned aerial vehicle based on an RGB-D camera and an MEMS inertial sensor; performing real-time three-dimensional environment modeling based on fusion of the RGB-D camera and the MEMS inertial sensor; and performing real-time trusted path planning and path tracking control, implementing position control and attitude control through the three steps, and guiding the unmanned aerial vehicle to track the preset path to fly. According to the method, the unmanned aerial vehicle positioning accuracy and the motion state estimation accuracy are improved; the indoor autonomous environmental perception capability of the micro unmanned aerial vehicle is improved; according to the generated path, the positioning accuracy can be effectively guaranteed on the basis that the path feasibility is met; and the autonomy capability of the micro unmanned aerial vehicle is effectively improved.

The invention discloses an ORB key frame closed-loop detection SLAM method capable of improving the consistency of the position and the pose of a robot. The ORB key frame closed-loop detection SLAM method comprises the following steps of, firstly, acquiring color information and depth information of the environment by adopting an RGB-D sensor, and extracting the image features by using the ORB features; then, estimating the position and the pose of the robot by an algorithm based on RANSAC-ICP interframe registration, and constructing an initial position and pose graph; and finally, constructing BoVW (bag of visual words) by extracting the ORB features in a Key Frame, carrying out similarity comparison on the current key frame and words in the BoVW to realize closed-loop key frame detection, adding constraint of the position and pose graph through key frame interframe registration detection, and obtaining the global optimal position and pose of the robot. The invention provides the ORB key frame closed-loop detection SLAM method with capability of improving the consistency of the position and the pose of the robot, higher constructing quality of an environmental map and high optimization efficiency.

The cerebral operating robot system based on optical tracking and closed-loop control for receiving medical image information, detecting and determining disease focus position, assisting operation plan and performing operation guidance is one closed-loop pose measuring and real-time feedback controlling robot system comprising one computer, one five-freedom robot, one optical tracking device and one passive marker. The passive marker is mounted in the end of the five-freedom robot, and the five-freedom robot includes one mechanical arm and one mechanical arm controller. The operation plan assisting and operation guiding software includes a digital image inputting and pre-treating module, a disease focus extracting and 3D reconstructing module, an operation planning module, and an operation executing module. The present invention has the advantages of raised precision, low cost, simplified calibration process, etc.

A autonomous navigation system of a navigational satellite based on X radial pulse satellite includes: an X radial detector, an atomic clock group on the satellite, a planet of our solar system parameter database, an X radial pulsar module and a characteristic parameter database, a computer on the satellite, a strap-down inertial navigation system SINS and an autonomous navigation algorithm module library; in the autonomous navigation method, the X radial photons radiated from the pulsar are used as the input of the external information; the pulse arrival time TOA and the angular position information are obtained; data is processed through a autonomous navigation filter; and the navigational parameters such as the position, the speed, the time and the pose of the navigational satellite; the navigational telegraph text and the control command are generated independently, and the independent running of the navigational satellite is realized. The present invention has the advantages of providing a long time and a high degree of accuracy autonomous navigation, and providing the fault-tolerance capacity of the autonomous navigation information processing. The autonomous navigation system is also be adequate for the high degree of accuracy autonomous navigation of the near earth orbit, the deep space, the interplanetary flight space vehicle, the a celestial body lander without thickset atmosphere and the surface peripatetic machine.

The invention discloses a sending method for reference signals, which comprises the steps of determining different time frequency resources for target cells in the resource block pair of a subframe and sending the reference signal of the target cell corresponding to the time frequency resource in the time frequency resource of the subframe. The sending method of the invention is a method for sending reference signals in the target cells, which ensures that the time frequency positions for sending the positioning reference signals are different in the target cells, thereby reducing the interference among cells, ensuring the accurate positioning of the terminal, and improving the integral performance of the system.

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

The invention discloses a positioning method based on indoor positioning. The method comprises the following steps: (a) receiving data packets sent by at least two Bluetooth base stations so as to obtain signal intensity value included in the data packets; (b) according to the signal intensity value, calculating distance value from at least two Bluetooth base stations and a mobile terminal; (c) according to the calculated distance value, obtaining a positioning point coordinate of a user holding with the mobile terminal in relative to the Bluetooth base stations; (d) obtaining the moving distance of the user according to an acceleration sensor, and obtaining the moving direction of the user according to a geomagnetic sensor, so as to obtain an inertial navigation positioning point coordinate corresponding to relative displacement of the user; (e) judging if the user is moving at present; if it is, executing step (f); or, executing step (g); (f), performing the dynamic compensation for many times on the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations; (g) alternating the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations, and compensating the inertial navigation positioning point coordinate one time.

The invention relates to an automatic sanding and polishing device for an industrial robot, wherein the industrial robot is served as the core of the device; the device comprises the industrial robot, an automatic shifting fixture, a polishing machine, and a force control program; and the device can be used for sanding and polishing the parts having complex exteriors, and is especially suitable for processing faucet, ironware, blade, and the like. A method for automatically sanding and polishing by using the device comprises the following steps: the automatic shifting fixture arranged on the tail end of the industrial robot is used for holding the parts; adjusting the position and posture of the industrial robot according to different areas for sanding or polishing of the parts; contacting the areas for sanding or polishing with a sanding belt of the polishing machine and keeping a certain contact force; controlling the size of the contact force by a force control mechanism; after finishing programming the whole surface of parts, using the industrial robot to perform the reprogramming operation; and sanding or polishing the parts having same exteriors in batch.

The invention provides a train combined positioning method under a condition of a limited satellite signal. The method can revise bias of an inertial navigation system by using position information provided by a satellite navigation system under the condition of effective satellite positioning, combines train gesture information with output parameter of a wheel sensor, calculates to obtain three-dimensional speed under a navigation coordinate system and reserves information of satellite unlocking. Under the condition of satellite positioning failure, a wheel sensor / inertial navigation systemis applied to combine and position; a wheel sensor is applied to revise the bias of the inertial navigation system, thus the train combination navigation system can provide positioning information with a certain precision. A high-precision digital track map is used for revising the bias of the train on the track vertical direction, thus the positioning precision of the train is guaranteed. The method can solve the positioning problem of the failure zone of the satellite signal, and carry out system independent switching under different satellite positioning conditions, thus the continuous, exact and reliable train position information can be acquired.

A method for locating partial discharge of electrical equipment is used for detecting and locating partial discharge of the electrical equipment. The technical scheme includes the steps: firstly, using three ultrasonic array sensors to receive partial discharge ultrasonic signals at different positions of the electrical equipment and forming an array model; then, converting broadband signals received by the three ultrasonic array sensors into narrow-band signals by applying a TLS (transport layer security)-based broadband focus algorithm, and obtaining azimuth information of partial discharge sources according to a narrow-band direction-finding algorithm combining the phase matching principle and cloud optimization search; and finally, determining specific positions of electrical equipment partial discharge by means of a partial discharge source location algorithm based on global optimization search of a modified genetic algorithm. The invention simultaneously provides an improved system for locating partial discharge. Compared with a traditional method for locating partial discharge, the method has the advantages of small calculation amount, high direction-finding precision, accuracy in location, high convergence rate and the like, and the system for locating partial discharge is simple in structure, low in cost and high in location precision.

The invention discloses an underground pipeline positioning method based on a CORS (continuous operational reference system). The method comprises the following steps of: I, establishing a CORS; II, collecting paper drawings: collecting the pipeline as-built drawings of all underground pipelines paved in an area to be positioned and the topographical map around each underground pipeline respectively; III, making an electronic map, wherein the making process comprises the steps of paper map electronization treatment, drawing scanning and pretreatment, raster image transfer, raster image orientation, image sector conversion, pipeline attribution information marking, edge matching treatment, projection conversion, data check, conversion into an embedded electronic map and the like; IV, transferring and visually displaying the electronic map; V, superposing the coordinate data of the electronic map; and VI, positioning the underground pipelines. The method disclosed by the invention is easy and convenient to use and operate, has a good using effect and high practical value, and can really realize accurate positioning of the underground pipelines and effectively solve the problems of inconvenience in positioning operation, relatively bad positioning effect and the like of the existing underground pipeline positioning method.

The invention discloses an indoor full-automatic BRDF (bidirectional reflectance distribution function) measurement device. The device comprises a support panel, a support platform is provided with a horizontal turntable, a sample table is mounted in a central through hole of the horizontal turntable, the horizontal turntable is equipped with a lens bracket on which a lens rotary arm is arranged,a lens rotary arm end is equipped with a spectrograph lens, an optical axis of the spectrograph lens always points to the centre of the sample table, the support platform is further equipped with an optical source guide rail on which an artificial optical source is arranged, the artificial optical source always points to the centre of the sample table. The BRDF measurement device can effectively improve the positioning precision, reduces the measurement period, and improves the optical source collimation and uniformity so as to effectively guarantee the measurement precision.

The invention discloses a positioning technology switching method and a mobile device, belonging to the technical field of positioning. The method comprises the following steps acquiring switching reference information; selecting target positioning technology according to the switching reference information; switching positioning technology used at present into the target positioning technology. According to the invention, when a mobile device undergoes switching of positioning technology, the switching of positioning technology can be realized merely by acquiring switching reference information without dependence on position information of the mobile device; the switching method is simple and highly efficient.

The invention relates to a precise self-centering chuck suitable for super-large workpieces. The precise self-centering chuck suitable for the super-large workpieces comprises a chuck body and a plurality of jack catch mechanisms arranged on the chuck body in a sliding mode. A jack catch driving mechanism is further arranged on the chuck body and comprises a numerical control moment motor, a plurality of transition gears, a plurality of double-enveloping speed reducers and a first gear. The inner circular surface and the outer circular surface of the first gear are provided with inner teeth and outer teeth correspondingly. The numerical control moment motor is provided with motor teeth. The multiple transition gears are all engaged with the motor teeth and the inner teeth of the first gear. The outer teeth of the first gear are engaged with second gears of the multiple double-enveloping speed reducers. The double-enveloping speed reducers drive the jack catch mechanisms to reciprocate to clamp or release the annular workpieces to be machined. The numerical control moment motor is used for sequentially driving the multiple transition gears and the double-enveloping speed reducers to rotate in a matched mode, so that the multiple jack catch mechanisms move inwards or outwards synchronously. The super-large annular workpieces are subjected to automatic centering clamping or releasing, and the clamping positioning accuracy is high.

The invention discloses a wireless indoor positioning method capable of automatically learning the distribution of the signal receiving intensity. The theory adopted by the method is that: a wireless signal propagation model and a parameter are taken as an initial distribution curve of the field intensity; in the operating process of a system, a mobile equipment continuously learns a distribution function of the field intensity by the received signal receiving intensity and an EM (expectation maximum) algorithm, and the exact distribution curve of the field intensity is obtained. After the new distribution curve of the field intensity is obtained, the position of the mobile equipment is estimated through adopting an MMSE (minimum mean square error) statistical estimation algorithm. The provided method is characterized in that: the tedious calibrating process of the wireless positioning system is avoided; when the system is changed, the recalibration can be automatically carried out; and the installation and the maintenance costs of the positioning system are greatly reduced. The positioning method is suitable for various indoor positioning systems using wireless signals, such as a wireless local area network, a wireless sensor network, a Bluetooth or mobile phone network, and the like.

The invention discloses a large-scale marine pipeline initial point recognition and location method and system based on CCD. The method and system comprise the following steps that: (1) the position of a welding line is preliminary located, wherein a CCD industrial digital camera collects the images of the welding line, a main control computer calculates the real-time change of line pixel deviation between the center of a welding gun and the center of the welding line, and a welding robot is located above the welding line preliminary; (2) pixel coordinates of an initial point are extracted, wherein one welding spot of positioned welding is recognized, a dislodgement machine drives a pipeline to move rotatably, images are collected in real-time, picture processing is conducted to a rectangular area-of-interest containing the welding gun, if the welding spot is detected, the dislodgement machine stops rotating, and the pixel coordinates of the barycenter of the welding spot are extracted; (3) the initial point is located, wherein the welding robot moves horizontally by a short distance in the Y direction of a basal coordinate system, the images of the welding line are collected, the pixel coordinates of the barycenter of the welding spot are extracted again, the three-dimensional coordinates of the initial point are calculated by the utilization of stereoscopic vision, and the welding robot is located to the initial point.

The invention discloses an RV reducer comprehensive test bench, which can test multiple performance parameters such as the angle transfer error, the return difference, the torsional rigidity, the service life, the temperature rise, the efficiency and the torque of the high-precision RV reducer. The RV reducer comprehensive test bench comprises a base, and a servo motor, a linear motor, a first torque sensor, a first high-precision angle encoder, a to-be-tested RV reducer bracket, a mounting flange disc, a temperature sensor, a second torque sensor, a second high-precision angle encoder, a diaphragm coupling and a brake arranged above the base. The mounting flange disc can be replaced, and thus, test on reducers of multiple types can be realized. compared with other test instruments, the RV reducer comprehensive test bench of the invention has the advantages that the test efficiency and the test precision are greatly enhanced; the performance is reliable; the test repetition is good; the operation for replacing a tested object is simple; the mounting and positioning precision is high; and the cost is low.

The invention relates to a tooling clamp for manufacturing an output bracket of an automobile speed changer, comprising a base, a gear ring, a gear group, a cover plate, a rack group, a part positioning device and a gear ring limiting device, wherein the gear ring is internally meshed with the gear group which is in meshed transmission with the rack group; the gear ring is provided with the gear ring limiting device so as to prevent the gear ring from rotating excessively and further causing racks to separate out of a tooling; and the center of the top surface of the base is provided with a part positioning device for positioning parts. In the invention, by utilizing the principle that the gear and the racks are in meshed transmission, the traditional methods of turning, sequence welding, and manual placement of bushes and the like are changed, the defects that the traditional mode is complex, is low in efficiency and high in cost are overcome, the structure is simple and durable, automation of the whole process of press-fitting and welding is realized, the part positioning device on the base can ensure the position relation of the centers of the parts and a main shaft of a machine tool, and the positioning accuracy can be guaranteed absolutely.

The embodiment of the invention discloses a vehicle positioning method and device, equipment and a medium, and relates to the technical field of intelligent driving, and the method comprises the stepsof obtaining the inertial measurement data of a vehicle at a current moment, the wheel speed of the vehicle and a target image of an environment where the vehicle is located; calculating a predictedpose of the vehicle at the current moment by utilizing the inertia measurement data and the vehicle wheel speed; calling a high-precision map comprising the information of the current environment of the vehicle based on the predicted position coordinates in the predicted pose; and correcting the predicted pose by using the target image and the high-precision map to obtain a target pose of the vehicle at the current moment. According to the embodiment of the invention, low-cost sensor deployment can be realized, the vehicle positioning precision is improved, and the method can be applied to a relatively wide positioning environment.

The invention discloses a molding method for a composite material structural member with an I-shaped section. The composite material structural member is molded by taking a metal fake member and a molding mould to mould a glass fiber enhanced silicone rubber airbag and taking the airbag as a core mould to be combined with the molding mould. The molding method has the advantages that with the adoption of a silicone rubber airbag molded structural member, firstly, the wall of the airbag is thin, the heat transferring performance is good, the temperature gradient of the structural member and the edge is small, and the inner quality of the molded structural member is guaranteed; secondly, silicone rubber on the surface of the airbag is elastic so as to have the effect of a pressure equalizing cushion; the surface quality of a molded part is good; thirdly, the silicone rubber airbag is combined with a box-shaped structure of the airbag; meanwhile, the two ends of the I-shaped structural member are connected by the silicone rubber, the structural rigidity of the airbag is great and the molding position and the size precision of a web are guaranteed; fourthly, the airbag can be used repeatedly and can be manufactured conveniently again so that the production cost is reduced effectively; the whole molding method can uniformly apply a pressure to the web and an edge strip of the structural member and the pressure is equal to a tank pressure.

The invention relates to a WLAN (Wireless Local Area Network) indoor neighbourhood matching positioning method based on autocorrelation filtering, solving the problems that a location fingerprint database is dynamically changed and has poorer location dependence caused by reflection, refraction and diffraction of indoor complex signals as well as shielding of a human body and facilities in the traditional WLAN indoor neighbourhood matching positioning method. The method comprises the following steps of: firstly, marking reference points in an offline acquisition stage; secondly, acquiring thesignal strengths of different APs (Access Point) at each reference point; thirdly, in an offline correction stage, firstly judging whether a singular strength sample is existed in different strength fingerprint sample sets by utilizing the autocorrelation characteristic of a continuous strength signal; fourthly, saving the strength sample mean into the location fingerprint database; and fifthly, in an online positioning stage, estimating location coordinates of a positioning terminal. The method provided by the invention is applicable to WLAN indoor positioning.

The invention relates to an automatic punching machine. A clamping mechanism opposite to a drilling cutting tool is placed on a work platform. The clamping mechanism comprises a support platform, a lower die device, a baffle, a guide column, a support plate, a pressing support platform, an upper die and a pressing oil cylinder. The lower surface of the support platform is fixed on the work platform, the lower die device is fixed on the upper surface of the support platform, the baffle is fixed on the upper surface of the support platform and is located on one side of the lower die device, and the baffle is provided with a through hole through which a workpiece to be machined penetrates. One end of the guide column is connected with the support platform, and the other end of the guide column is connected with the support plate. The pressing support platform is in sliding fit with the guide column. The upper die is connected with the lower portion of the pressing support platform, the upper portion of the pressing support platform is connected with the pressing oil cylinder which is fixed on the support plate, and both the lower die device and the upper die are provided with two material grooves for assembling the workpiece. By means of the automatic punching machine, two wirkpieces with the same axle can be automatically punched at the same time. The automatic punching machine has the advantages of being high in degree of automation, and improving product quality and production efficiency.

The invention discloses an automatic bending production line for kitchen cabinet sheet metal parts. The automatic bending production line is composed of an automatic feeding machine, an automatic positioning machine, a side face edge rolling machine, a lower side bending machine, an upper side bending machine, a four-corner flanging machine, a lower end bending machine, an upper end bending machine, a first conveying machine, a second conveying machine and a control system; the automatic feeding machine, the automatic positioning machine, the side face edge rolling machine, the lower side bending machine, the upper side bending machine, the four-corner flanging machine and the lower end bending machine are horizontally arranged in the same axis, and the lower end bending machine and the upper end bending machine are arranged to be perpendicular to the automatic feeding machine, the automatic positioning machine, the side face edge rolling machine, the lower side bending machine, the upper side bending machine, the four-corner flanging machine and the lower end bending machine. Compared with the prior art, the automatic bending production line has the advantages that the automation functions of various bending technologies are achieved, automatic flexible regulation can be performed according to the size and shape changes, the machining precision and the machining speed are high, the stability is good, the problems that manual bending of the kitchen cabinet sheet metal parts is low in efficiency and poor in reliability are solved, and automatic bending of the kitchen cabinet sheet metal parts is achieved.

The invention discloses an automatic detection device for power lithium ion battery pole pieces and a detection method thereof. The automatic detection device comprises a multi-station turntable equipped with four fixed material boxes, and also comprises a loading mechanism, a visual detection mechanism and a material dropping mechanism which face toward the fixed material boxes. The detection method comprises a loading step, a detection step and a material dropping step. The automatic detection device and the detection method have the advantages of high detection efficiency, high reliability and unified product quality standards.

The invention discloses a vehicle integrated positioning method for advanced automatic driving V2X and single vehicle laser radar point cloud feature matching and integration. The method comprises thesteps: enabling an unmanned vehicle to obtain the surrounding environment information in real time through a laser radar, and carrying out feature matching with an existing high-precision map, thereby achieving the local positioning of the vehicle on a lane; positioning the vehicle between the vehicle and a roadside LTE signal base station through an LTEV2X vehicle networking technology and a wireless positioning technology; by fully fusing the two positioning modes, achieving more accurate vehicle-road cooperative positioning. The technical characteristics of laser radar high-precision map feature matching and positioning in single-vehicle intelligence and the advantages of vehicle-road wireless communication positioning are fully utilized, the positioning problem of the unmanned vehiclein a weak satellite signal coverage area can be effectively solved, and the purpose of advanced automatic driving is achieved.

The invention provides a real-time precision single-point positioning based satellite navigation device and method. A satellite navigation receiver receives satellite signals, performs down-conversionand sends into an intermediate-frequency signal preprocessing unit to complete A / D conversion, and the digital intermediate-frequency signals subjected to interference suppression are sent into a baseband signal processing unit for signal capturing and tracking to complete original observation data extraction and original navigation message demodulation. A master control unit comprehensively processes original observation data and navigation messages to obtain observation data and broadcast ephemeris through analysis; in addition, IGS center satellite orbit parameters and satellite clock errors are acquired in real time through the network, performing data preprocessing, space-time datum unifying and positioning model establishment, adopting a Kalman filter method for real-time precisionpositioning, storing a positioning result, and transmitting to a display control unit to display. The device and the method have advantages that cost saving is realized, operating efficiency can be improved, distance restraining is avoided, and independent completeness and precision of a positioning system can be remarkably improved.

The invention relates to a method for positioning and detecting a QFP (Quad Flat Package) chip, comprising the following steps of: a collecting and pretreating an image of the QFP chip; b extracting four extreme points of coordinate axes x and y on the contour of the QFP chip to generate a extreme quadrangle; c calculating the coarse deflection angle of the QFP chip according to the extreme quadrangle on the contour of the QFP chip; and d determining four straight lines according to the coarse deflection angle and the four extreme points, fitting edge points into four straight lines by adopting a least square method after extracting the edge point of the tail end in the length direction of a pin at each side according to the set threshold value, and finally accurately calculating the deflection angle and the central coordinate of the QFP chip, thereby accomplishing the positioning and detection of the QFP chip. The invention improves the positioning and detecting precision and speed of the QFP chip and can accurately and efficiently accomplish the positioning and detection of the QFP chip on a high-speed chip mounter.

The invention provides an LED (Light Emitting Diode) indoor positioning navigation method and a positioning navigation system. An LED lamp serves as an emitting terminal; an emitting terminal driving device is used for controlling the strength of current so as to cause the change of brightness of the light and transfer the physical position data; the data frame with clear hierarchy of code element information is designed; zero bit filling is introduced into the sending and receiving of the data frame, so as to realize the transparent transmission and distinguish the frame header, the verifying code of the physical position information and the frame tail; the frame header has a specific coding sequence and can be detected, so that the validity of the data frame can be judged; the frame length of data frame can be analyzed; the invalid data frame can be timely detected and abandoned; different sizes of LED lamp sets with grid unit topology network structures can be designed according to different illuminating areas; only one of the LED lamps of a positioning unit is used for emitting the data frame at each time slot, and meanwhile, the other LED lamps all emit equidistant full zero data frames; the inter-symbol interference and the background noise are extremely reduced; the safety and reliability of the data frame are ensured.

The invention discloses a vehicle-mounted positioning method based on multi-source information fusion, and the method comprises the following steps: 1, respectively obtaining the navigation information from each system; 2, carrying out the time-space registration of the navigation information from different systems; 3, carrying out the local filtering; 4, carrying out the information fusion; 5, outputting positioning information after information fusion, carrying out the reconfiguration of a main filter and a subfilter through an information distribution principle, and then returning to step 1. The invention innovatively provides the vehicle-mounted positioning method based on multi-source information fusion, and the method achieves the fusion of the position information provided by different positioning systems, improves the system redundancy, enables the positioning systems to complement each other's advantages, improves the dynamic adaptability of the systems, enables the total system to obtain the precision which is better than the precision of the local systems, improves the vehicle-mounted positioning capability, and enables a land-based weapon launching system to have the long-time and large-range maneuvering capability.