6434results about How to "Guaranteed real-time" patented technology

The invention belongs to the technical field of GNSS engineering safety, and relates to an anti-interference normal null widening method for a dynamic GNSS receiver. On the basis of a normal-distribution probability model, a null widening model of the dynamic GNSS receiver is provided. The model is linearized on the situation of small angle changing, and frequency spectrum gains formed before and after widening are compared by means of a Matlab simulation tool. By means of a power insertion algorithm, the relationship of an output SNR and an input INR is analyzed before and after widening, and ultimately engineering realizability of an algorithm is put forward through FPGA and DSP platform verification. As is shown by a result, widening null formed through the widening algorithm can effectively counteract interference sources changing within a certain range, the aim of preventing dynamic interferences is achieved and robustness of a self-adaptation algorithm is improved.

The invention discloses a transformer station inspection tour robot positioning navigation system and a method. Confidence obtained by a laser range finding module and a dead reckoning module is outputted to a map creation module and a pose resolving module; the map creation module creates a laser road sign map and a laser grid map which show a robot operation environment and are inputted into a map storage module for storage; the posture resolving module utilizes map data in the map storage module and output data of the dead reckoning module to perform real-time calculation on the current position and the posture of the robot and accesses the obtained posture data into a path planning module and a motion control module; the path planning module generates robot operation path data which is outputted to the motion control module; the motion control module generates motion control quantity according to the current position and posture data of the robot and the path planning data, and then is driven to execute by a motor. The transformer station inspection tour robot positioning navigation system realizes the accuracy positioning of the inspection tour robot in the transformer station.

The invention relates to an on-line management method for an engineering project. According to the on-line management method for the engineering project, based on a remote interaction platform, through data transmission and data processing between a budget end computer device, a plurality of contracting enterprise end computer devices, a plurality of evaluation end computer devices, an application end computer device, a plurality of submission end computer devices, a plurality of checking end computer devices and a server end computer system, on-line bidding and tendering and bid evaluation of the engineering project are achieved, and on-line evaluation and on-line making of an engineering project progress plan of a contracting enterprise of the engineering project, on-line tracking of engineering project progress completion conditions, response and management of engineering project progress abnormal conditions, on-line generation of an engineering project quality acceptance report form, one-line application for engineering project progress payment, and on-line generation of engineering project budget by material and labor cost analysis are achieved.

The invention provides a dynamic flow dispatch method and system based on a software definition network. The method comprises a step of carrying out deep analysis of flow through flow information uploaded by a switch, and classifying flow types by a flow identification and grading module according to priorities, a step of calling a statistic management module to obtain information of switch ports, calculating joint links of the switch, and sending information of the joint links to a topology management module, a step of calling the topology management module to obtain a feasible path for flow direction and calculating real-time sate statistic information of the feasible path, and a step of analyzing features of the joint links to calculate weight of the joint links in the overall selection, working out the optimal dispatch strategy based on the weight and giving out the optimal dispatch strategy. The invention can achieve the optimal real-time dispatch of network flow, so that flow is enabled to reach a destination in a fastest manner, and purposes of improving the bandwidth utilization rate and optimizing network performances are finally realized.

The invention discloses a multi-vehicle coordinating lane changing control system and a multi-vehicle coordinating lane changing control method based on vehicle-vehicle communication, and belongs to the field of control over vehicles. The system comprises a sensing unit, a communication unit, a control unit and a human-computer interaction unit. The sensing unit is used for acquiring information of an own vehicle in real time, the communication unit is used for performing real-time interaction of information among vehicles, and the communication unit is used for making a decision of the coordinating lane changing feasibility and acquiring expected control quantities of the own vehicle and coordinating vehicles and realizing control over the vehicles. The method is based on the system, through collecting information of vehicles, i.e. the own vehicle, a front vehicle on an original lane, a front vehicle on a target lane and a behind vehicle on the target lane, motion statuses of the four vehicles having mutual effects are planned in a centralized manner in the lane changing process, and the own vehicle changes the lane smoothly through active coordinating among the four vehicles. By applying the multi-vehicle coordinating lane changing control system and the multi-vehicle coordinating lane changing control method based on the vehicle-vehicle communication, safety spaces among the vehicles can be fully used, the feasible lane changing chance is effectively increased, the lane changing safety is guaranteed, the driving comfort in the lane changing process is improved, and negative influences of lane changing behaviors on the upstream vehicles on the target lane are decreased.

The invention provides a method for inland river bridge zone shipborne sailing active collision prevention. The method comprises the steps of collecting hydrological information, meteorological information and ship information of nearby ships and the ship, automatically updating river map information on line, and performing data storage; forecasting tracks of the ship and other ships according to obtained track information of the ship and other ships by combination with the real-time hydrological information and the meteorological information, and obtaining track information of every ship; calculating the nearest meeting distance and the nearest meeting time of the ship and a target object according to the obtained track information; and giving collision accident pre-warning and active collision prevention suggestions according to the nearest meeting distance and the nearest meeting time of the ship and the target object. According to the method, by predicating ship sailing situations, the shortcoming that an existing ship assistance navigation device cannot accurately obtain the position of the target object, and the nearest meeting distance and the reaching of the nearest meeting distance cannot be pre-judged more accurately is overcome.

The invention discloses a back sight image cognition based on-vehicle blind area early warning system and a method, wherein the system is composed of cameras (1 and 2) mounted on a rearview mirror to monitor the blind area, a digital signal processor (DSP), a sound prompting device, a power source and a plurality of data cables. The system reads the automobile travelling signal through the data cables, acquires the road surface image of the blind area (4 and 5) by adopting the rearview cameras, the processor processes the image, detects the automobile (3) in the blind area, analyzes the travelling state of the automobile, and realizes the multi-stage tracking for the automobile, when the driver intends to switch lanes, if another automobile in the blind area is not far from the automobile, then the driver is warned by the sound prompting device, so that the danger of collision during switching lanes is avoided. The back sight image cognition based on-vehicle blind area early warning system and the method are applied to the active safety driving, and has the advantages of simple system configuration, low cost, high safety performance, good real-time performance and complex environment adaptability.

The invention relates to the technical field of network communications, in particular to a cluster communication system and method for improving message transfer performances. The system comprises a message release end, a message server cluster containing a plurality of message servers, a message subscribing end and a distributed coordination service cluster. The cluster communication system and method for improving message transfer performances have a global single point-free clustering expandable distributed design; if one or more nodes of the message release end or subscribing end have a fault, other nodes in the same group can continue to send or receive messages, and a processing flow of the messages is not interrupted; by adopting an index-based distributed file storage solution, the defects of the existing DB and file storage are effectively avoided, so that the read and write efficiency of the messages is higher; and by using a long poll PULL message transfer manner, the throughput is ensured while the message instantaneity is ensured.

The invention relates the auto sorting faulty goods method on the high-speed automatic production line and unit. The method comprises the following steps: sorting faulty goods system receiving the sorting signal, starting the freedom degree linked conveying device 3, then positioning the mechanical arm connected with 3 on the faulty goods, the mechanical arm keeping the same speed with conveyer belt, gripping the faulty goods, lifting it and releasing it to appointed position. The unit comprises electrical control and mechanical part. The mechanical part comprises 3 and mechanical arm which comprises arm and hand. In the center of the mechanical hand there is camera, and the electrical control is connected with 3 and mechanical arm. The invention possesses high accuracy, low cost, good versatility, and no environmental pollution.

The invention discloses an embedded real-time emulation and fault simulation system based on multiple data buses, comprising upper computer simulation management software and an embedded real-time emulation and fault simulation device. The upper computer simulation management software guides the user to perform emulation configuration and fault setting aiming at a fault-tolerant control system to be tested through a human-computer interface, and generates fault emulation data of multiple redundancy equipment. The embedded real-time emulation and fault simulation device outputs the fault emulation data in real-time and synchronously through the multiple data buses, simulates the fault of the multiple redundancy equipment and outputs the fault data stream. The upper computer and a lower computer communicate mutually through an Ethernet to achieve the downloading of the information configuration, the fault emulation data and the emulation control command of the upper computer, and the uploading of the working condition of the lower computer. The invention overcomes the defects of poor universality and lower synchronous precision of the traditional multiple equipment fault simulation device based on the emulation, and is suitable for the test and the verification of the different redundancy fault-tolerant designs of the complex spacecraft system with numerous equipment and frequent data exchange.

The invention provides a method for detecting and tracking vehicles through processing a video image of a traffic scene, comprising the following steps of: collecting images of the traffic scene; deblocking a traffic image according to 8 multiplied by 8 pixels; initiating and continuously updating a background image; setting a virtual detection line with a width of 8 pixels vertical to a direction of a traffic lane at the entrance of the traffic lane; detecting the vehicles through calculating the variation of a gray scale of blocks on the virtual detection line relative to the background image; labeling the blocks belonging to the regions of the vehicles by using a sequence that the vehicles reach the detection line; receiving initial positions of labels of the vehicles; calculating motion vectors of the vehicles by combining a three-step method and a full search method and constantly updating the positions of the labels of the vehicles by using the motion vectors so as to implement the tracking of vehicles. The method also performs detection and splitting against an occlusion occurrence between vehicles in a complicated traffic scene, thereby having the advantages of high accuracy of detection and tracking and good real-time performance.

The invention discloses an indoor robot SLAM method. The method comprises the following steps: obtaining image data through a camera, wherein the image data comprises RGB images and depth images; using a corner detection algorithm, an LK characteristic point tracing algorithm, and a RANSAC algorithm to process the RGB images and depth images to adjust the position and angle of the camera so as to obtain the RGB image data information under a robot operation system; converting the depth images in a world coordinate system to a ground coordinate, traversing the depth images that are projected on the ground coordinate, setting the gray value of the grid where a barrier stays as a first characteristic value, carrying out traversing to obtain a 2D barrier grid map; through a single line laser radar scanning mode, searching the 2D barrier grid map, when the grid with a grey value equal to the first characteristic value is found, feeding back the distance between the grid and the camera to obtain the distance between a robot and the barrier, obtaining the depth images under a robot operation system, and obtaining an environment 2D map.

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

The invention provides a real-time monitoring system for a software system. The monitoring system is configured in a software system server and used for collecting log information generated by operation of the software system. The monitoring system comprises a log collecting module, an information system, a streaming type computing platform, a data storage module, an alarm module and a configuration management module. The log collecting module is used for screening and processing generated logs in real time and transmitting the logs selected to be monitored and alarmed to the information system; the information system is used for receiving the monitored logs transmitted by the log collecting module, and transmitting the logs needing to be monitored and alarmed to the streaming type computing platform according to a route rule; the streaming type computing platform is used for processing the logs one by one in a streaming data processing mode, and judging whether to need to record, alarm or notify the abnormal alarm situation to a related principal of the system according to log alarm levels; the data storage module is used for processing data information generated in the real-time monitoring process persistently and namely storing the data information into a database or a file system.

The invention discloses a method for safety communication of ECUs (Electronic Control Unit) in a CAN (controller area network) bus, which comprises the steps that: 1, a system model is established; 2, an GECU (Gateway Electronic Control Unit) loads a session key into a safety storage of the GECU; 3, the GECU carries out session key distribution on each ECU in the CAN bus; 4, a receiver ECUr carries out authentication on an encrypted data frame sent by a sender ECUs; 5, the GECU updates an encryption key and an authentication key which are used for communication, wherein update is mainly divided into two stages of in-vehicle ECU key update and key update when a connection of external equipment is released; and 6, when a vehicle is connected with the external equipment, designing an additional authentication and key distribution method so as to ensure legality of the accessed external equipment. According to the method disclosed by the invention, calculation cost can be obviously reduced, and a load of the CAN bus is reduced; and optimization is carried out for a key distribution protocol in the in-vehicle CAN bus, a key update problem generated when the external equipment is connected and released is considered, a counter is used for generating a random number to change a parameter for key generation, and a relay attack is effectively prevented.

The invention relates to an on-line management method for engineering project bidding, tendering and bid evaluation. According to the method, based on a remote interaction platform, through data transmission and data processing between a contracting enterprise end computer device, a checking end computer device and a server end computer system, and through the steps of applying for contracting enterprise registration, applying for the bidding, setting a bidding marking sheet, uploading tendering documents, calculating a total bid evaluation score according to marking standards of the bidding marking sheet, generating a bid evaluation report and a pre-determining report form and sending a bid-winning notice to a bid-winning contracting enterprise, on-line management for the engineering project bidding, tendering and bid evaluation is achieved, and effective support is supplied to bidding and tendering work of large-scale enterprises.

The invention relates to a full-autonomous flight control method for an unmanned aerial vehicle, provides a quadrotor unmanned aerial vehicle vision control system based on an embedded framework, and discloses a full-autonomous flight control method for a quadrotor unmanned aerial vehicle based on vision SLAM. The functions of autonomous locating and flight control of the unmanned aerial vehicle without relaying on any environment information under the environment without GPS signals are achieved. According to the technical scheme, the full-autonomous flight control method for the quadrotor unmanned aerial vehicle based on vision SLAM comprises the following steps that a camera arranged at the bottom of the quadrotor unmanned aerial vehicle is used for collecting image information, an integrated inertial navigation unit is used for obtaining the attitude angle and accelerated speed information of the unmanned aerial vehicle, the image information and the attitude angle and accelerated speed information are used for being input, and an improved vision SLAM algorithm is operated to obtain the three-dimensional position and the attitude information of the quadrotor unmanned aerial vehicle; vision position information and three-dimensional accelerated speed provided by the inertial navigation unit are fused by adopting an expansion Kalman filtering device, a PID controller is designed, and full-autonomous flight control over the quadrotor unmanned aerial vehicle is achieved. The method is mainly applied to full-autonomous flight control over the unmanned aerial vehicle.

An apparatus comprising a first circuit, a second circuit and an output circuit. The first circuit may be configured to generate (i) one of a first set of entropy coded input signals or a second set of entropy coded input signals and (ii) a data path signal. The second circuit may be configured to generate (i) a first set of entropy encoded output signals in response to decoding the second set of entropy coded input signals, or (ii) a second set of entropy coded output signals in response to decoding the first set of entropy coded input signals. The second circuit may provide real time decoding and encoding on a macroblock basis. The output circuit may be configured to present an output signal in response to (i) one of the first set of entropy coded output signals or the second set of entropy coded output signals and (ii) the data path signal.

The invention provides a message filtration method and a system and equipment thereof; DPI proxy servers which are arranged at the user side of the access network identify the service type and/or content of the received data message and then DPI filtration is implemented on the data message according to the set DPI filtration strategy and the identified service type and/or content. By adopting the mode, the DPI proxy servers can be distributed at the user side of the access network and the received data messages are only the messages transmitted by the user equipment of the corresponding user network; compared with the DPI servers which are arranged at the boundary of the core network and the access network, the data message flow which needs to be processed is reduced; therefore, the real-time deep packet inspection on the data message can be guaranteed.