192results about How to "Heavy computation" patented technology

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 discloses a co-channel full-duplex system based on MPPSK modulation. After the system isolates receiving and sending signals at the radio-frequency head normally, cancellation conducted on leakage self-interference signals is finished on a digital baseband; the cancellation method is conducted after conducting shock filter on MPPSK receiving and sending aliasing signals, extracting and multiplying by coherent carrier, band-pass filtering and digitizing, the result of initial channels of all self-interference channels between the output end of a modulator and a receiver ADC is estimated before formal communication, self-interference offset signals are rebuilt by the adoption of the estimated result, further residual errors are filtered out with the combination of methods of coding rate filtering and double matched filtering of a method of shock filtering-multiplying by the coherent carrier-band-pass filtering-coherent demodulation, and MPPSK receiving signals are demodulated reliably. The co-channel full-duplex system based on MPPSK modulation is free of radio-frequency self-interference cancellation, has low requirements for the dynamic range and sampling rate of the ADC, has high isolation degree for the self-interference signals, and is simple in structure, low in complexity, high in spectrum efficiency and good in demodulation performance.

The present invention uses geographic location co-ordinate as centre, taking single frame or continue photo in 360-degree range, to proceed indifferent split-join to single frame to constitute a new panoramic picture. The photo taking adopts pre-taking and formal taking two stages for realizing panoramic imagery. Said pre-taking obtains imaging range and other parameters. In formal photo taking, the video camera obtains the first picture of continue single picture, and intercepting picture minimal final leg data field, continue judging second picture exposure value, adjusting required amount of exposure, obtaining second picture and intercepting minimal start picture edge data field and tail end picture edge data field, utilizing picture adjacent matching algorithm to proceed optimum matching, to form new image data, then to make optical lens accuracy rotation to precalculated position according to Kn value, continue taking one picture until completing panoramic imagery, then ending.

Disclosed are an image flicker detection method and device, and an image capturing device. The image flicker detection method includes the following steps: carrying out exposure imaging on an imaging target under irradiation of a light source so as to form image frames; based on mean luminances of pixels of different rows in the image frames, judging whether relative motion of any two image frames exists in an exposure imaging process; if no relative motion exists, based on mean luminances of pixels in different rows in the two image frames, detecting whether flicker signals exist; and if the flicker signals exist, according to the detection result, determining the frequency of the flicker signals. The technical scheme solves a problem that the prior art is incapable of simply, rapidly and accurately detecting image flicker under a motion scene.

The invention provides a measuring method for frequencies of low-frequency signals. The method is characterized by comprising the following steps: sampling for tested electric signals; selecting a plurality of sampling points around the signal null point to fit a straight line which intersects with the time axis at the ZCP (zero crossing point) according to sampling values. The cycles or the frequencies of the tested signals can be calculated according to the ZCP. The method of the invention does not require the transformation of low-frequency signals into square waves, and is particularly suitable for the frequency measurement of low-frequency sinusoidal signals. The measuring system is easy to be tested and the cost of the equipment is low. The measuring system also boosts a good anti-interference capability and easy operation. The data obtained by this method is precise and reliable.

The invention discloses a method and a system for identity authentication and key agreement. The method comprises the following steps that: an MS chooses a VLR from a plurality of VLRs according to a key broadcast protocol to acquire a public key of the chosen VLR, and then chooses a first random number; the MS sends the public key, an identifier of the HLR, the first random number and an international mobile subscriber identity, namely an IMSI of the MS which is encrypted by the public key of the chosen VLR to the chosen VLR; the chosen VLR uses a private key thereof to decrypt and acquire the IMSI, a shared key of the chosen VLR and an HLR is used for encrypting the decrypted IMSI, the IMSI is sent to the HLR, a second random number is generated, and then the second random number is sent to the MS; and the MS uses a private key thereof, the first random number and the second random number to construct an intermediate variable, and sends the intermediate variable to the chosen VLR, and then the chosen VLR performs authentication on the MS through the intermediate variable.

The invention discloses a low-altitude target detection method based on multi-frequency point echo amplitude reversed order statistics. The low-altitude target detection method based on the multi-frequency point echo amplitude reversed order statistics mainly solves the problem that low-altitude target detection performance in the prior art is poor in multi-path environment. The low-altitude target detection method includes: 1) performing matched filtering and linear detection on multi-frequency point echo signals received by a radar, and outputting signal envelope; 2) selecting detection units and reference units from the signal envelope; 3) performing reversed order arrangement on the detection units to obtain a group of reversed order data; 4) evaluating reflection coefficient, and calculating an optimal K value; 5) utilizing the optimal K value and the reversed order data to calculate detection amount of the echo signals; 6) utilizing reference unit data to evaluate clutter amplitude through a unit average method; 7) calculating a detection threshold coefficient; 8) utilizing the clutter amplitude and the threshold coefficient to obtain a detection threshold of the echo signals; and 9) comparing the detection value to the detection threshold, and judging whether a target exist. The low-altitude target detection method based on the multi-frequency point echo amplitude reversed order statistics is high in detection performance at low signal-to-clutter ratio and improves radar detection capacity of the low-altitude target.

The invention discloses a loop self-regulation method of a satellite navigation receiver. Judgment and steps for optimizing loop parameters are increased on the basis of keeping original tracking loop structures of the receiver, and loop orders and noise bandwidth can be automatically adjusted according to carrier dynamic information. The method does not need to add a complete inertial navigationsystem additionally.

The invention relates to an improved face key point detection method based on GIOU and weighted NMS. Firstly, a lightweight cascaded face target detection network is adopted to carry out detection androtation angle detection on a face target in an image, GIOU is adopted to replace IOU to serve as a target frame position precision index, and IOU loss is adopted to carry out position regression; secondly, a weighted NMS suppression method is adopted for the obtained face target, and a face target box with high confidence in the image is obtained; and finally, the face key points are detected and regressed by adopting a lightweight cascaded face key point detection network. Compared with a traditional convolutional network, the speed is improved, the real-time performance of the algorithm isenhanced, and the network detection precision is improved on the premise of not additionally increasing the operand. The problem that a traditional target detection and face key point detection method is poor in real-time performance is solved, and real-time key point detection can be carried out on face targets in multiple different rotating directions in a complex environment under the condition that the detection precision is guaranteed.

The invention provides a method for measuring instantaneous phase of alternating current (AC), which is also suitable for measuring the instantaneous phase of a low frequency signal. The basic principle for the method comprises the following steps that: firstly, calculating zero crossing point (the zero crossing point when an AC electric signal changes from low to high) time for previous cycles of the alternating current through sampling values; secondly, calculating the period of the alternating current through the zero crossing point; thirdly, predicting the periods of the previous cycles; and finally, calculating the current phase of the alternating current through the zero crossing point time, the predicted alternating current period and the current time. Compared with a traditional zero crossing method, the alternating current does not need to be converted into square wave, so the method overcomes the defect of poor anti-interference capability of the traditional zero crossing point detection, is particularly suitable for the measurement of the instantaneous phase of the alternating current and has convenient system detection and low hardware cost; and meanwhile, the method has the advantages of simple and rational implementation, accurate and reliable data, great improvement on the measuring accuracy and anti-interference capability and the like.

The invention discloses a target low elevation estimation method based on a real number field generalized multiple-signal sorting algorithm. The target low elevation estimation method includes the implementation steps of (1) sampling radar received back waves, (2) using sample data to calculate a sampling covariance matrix, (3) carrying out spatial smoothing and unitary transformation on the sampling covariance matrix to obtain a real number field covariance matrix (4) carrying out eigenvalue decomposition on the real number field covariance matrix to obtain a noise projection matrix, (5) constructing a real number field guiding vector manifold, (6) using the noise projection matrix and the real number field guiding vector manifold to constructing a spatial spectrum, conducting two-dimensional angle searching on the spatial spectrum and obtaining an initial angle estimated value, (7) using the initial angle estimated value to estimate a multi-path attenuation coefficient, constructing a secondary spatial spectrum and obtaining an angle estimated value through the two-dimensional angle searching, and (8) comparing the two angles in the estimated values, and considering the maximum angle as the target elevation value. According to the target low elevation estimation method, the algorithm complexity is reduced, and the angle estimation performance of a radar under the low signal-to-noise ratio is improved.

The present invention discloses a Web service dynamic calling system and a method, which comprises a service asker, a UDDI service registration center, a service provider and a calling agent, wherein the calling agent is respectively communicated with the service asker, the UDDI service registration center and the service provider by massages; a massage resolver, a service matcher, a service calling device and a result processor are arranged in the calling agent; and a semanteme body database is set up in the calling agent which respectively provides semanteme matching to the service matcher and the result processor. The present invention has the advantages of that closed coupling relation between the service asker and the service provider is thoroughly removed by the leading the calling agent in, which provides well maintenance to the exchange and updating of Web service; as the calling agent is an independent running service independent to any static component, so dynamic calling is truly realized; and by leading the calling agent in to make the semanteme matching, the loads of the service asker are balanced well.

The invention discloses an SOQPSK carrier synchronization method based on pilot frequency and coding joint aiding. The SOQPSK carrier synchronization method based on pilot frequency and coding joint aiding mainly solves the problems that with an existing technology, the estimation complexity is high and the estimation range is small. The SOQPSK carrier synchronization method based on pilot frequency and coding joint aiding includes the implementation steps that first, rough estimation parameters and fine estimation parameters are determined; second, rough estimation is performed through the rough estimation parameters to obtain the rough estimation value f<co> of frequency offset and the rough estimation value fai<co> of phase offset; third, fine estimation is performed through the fine estimation parameters to obtain the fine estimation value f<in> of frequency offset and the fine estimation value fai<in> of phase offset; fourth, the final estimation value f=f<co>+f<in> of frequency offset is obtained through the rough estimation value f<co> of frequency offset and the fine estimation value f<in> of frequency offset; fifth, the final estimation value fai=fai<co>+fai<in> of phase offset is obtained through the rough estimation value fai<co> of phase offset and the fine estimation value fai<in> of phase offset. Through the method, the estimation normalized frequency offset range can be widened to the range from -0.5 to 0.5, the estimation complexity is low, and the SOQPSK carrier synchronization method based on pilot frequency and coding joint aiding can be used for carrier synchronization and wireless channel estimation of a wireless communication system.

The invention provides a method for measuring a phase difference of low-frequency signals. The method has the fundamental principle that the time of the zero crossing points (the zero crossing points of the signals when being changed from a low point to a high point) of two paths or a plurality of paths of low-frequency signals is firstly calculated by a sampling value, then the periods of the signals are calculated by the zero crossing points, and finally, the phase difference between the signals is calculated by using the difference of the time of the zero crossing points of different signals and the periods of the signals. The invention does not need to convert the low-frequency signals into square waves, overcomes the defect of poor anti-jamming capability of the traditional zero crossing point detection, is especially suitable for the measurement of the phase difference of the low-frequency signals and has convenient system detection and small hardware expense; the anti-jamming capability of the system is stronger; and the invention is simple and reasonable to realize and has accurate and reliable data and more extensive application prospect.

The invention provides a distributed self-adaptation direct positioning method based on time difference to overcome the defects existing in a centralized positioning method. The method comprises the following steps that firstly, data are collected, wherein all receivers receive signals transmitted by a transmitter at the same time, and demodulating and sampling are carried out on the signals to obtain dispersed received signals of a base band; secondly, primary data exchanging is carried out, wherein the receivers send the dispersed base band signals received by the receivers to the adjacent receivers; thirdly, self-adaptation operation is carried out, wherein the receivers carry out operation on the formula (please see the formula in the specification); fourthly, secondary data exchanging is carried out, wherein the receivers send the obtained result (please see the result in the specification) to the adjacent receivers; fifthly, combining is carried out, wherein the receivers carry out operation according to the formula (please see the formula in the specification); sixthly, the difference values of iteration values obtained after the formula (please see the formula in the specification) is carried out 50 times are smaller than a threshold value delta, and then the position estimation value of the transmitter is regarded to be obtained. According to the positioning method, extendibility and the positioning speed are high, and the working robustness is strong.

The invention discloses an SinCos coder based method for detecting a position and speed, comprising the following steps of: regulating a sine and cosine signal of the SinCos coder, then transmitting to a PG card, converting into a digital value by an AD sampling unit inside the PG card, and computing an accurate position theta r within a subdivided period by an MCU; enabling the sine and cosine signal to pass through a hysteresis loop comparison processing circuit to be converted into an A_PULSE signal and a B_PULSE which are transmitted to a QEP unit inside the PG card and for recording the rotated pulses number N of the SinCos coder; transmitting the rotated pulses number N and the accurate position theta r to the MPU through communication, and obtaining accurate position and speed information through simple computation by the MPU. The method enables a frequency converter to complete drive control under the condition that a synchronous motor is matched with the SinCos coder, and can accurately obtain the position and the speed, thereby showing better control property when an elevator starts at low speed and achieving very good embarkation quality without starting compensation.

The invention discloses a satellite-borne radar imaging parameter real-time online estimating method based on Kalman filtering. Main ideas of the method are as follows: an earth inertial coordinate system, an earth fixed coordinate system, a satellite orbit coordinate system, a satellite track coordinate system and a satellite fixed coordinate system are established; a conversion relation betweenthe earth fixed coordinate system and the earth inertial coordinate system is obtained, a conversion relation between the satellite orbit coordinate system and the earth inertial coordinate system isobtained, and a conversion relation between the satellite track coordinate system and the earth inertial coordinate system is obtained; a measurement equation of a satellite at k moment is established, Kalman filtering is carried out, and a position vector of the satellite in the earth inertial coordinate system at k+1 moment is obtained; and a wave beam center directional vector of a radar antenna and a point target are determined, a vector of a slant distance between the phase center of the radar antenna and the point target at the k+1 moment is calculated, and then the newest distance moment t0 and a B parameter are calculated, the B parameter being a satellite-borne radar imaging parameter real-time online estimating result based on Kalman filtering.

The invention discloses a method for processing a signal failure of a control sensor by using a dual-redundancy control rule, and is characterized by providing the method for processing the signal failure of the control sensor by using the dual-redundancy control rule, a dual-redundancy control rule design concept and a copy dual-redundancy control rule design principle, and a copy control rule design method and a design process of the dual-redundancy control rule. The main control rule is designed with the goal of enabling an aero-engine to obtain optimal thrust and economy in full flight envelope and ensuring the working stability and the structure strength of the engine; and the copy control rule design method provided by the invention is to perform the copy control rule design according to the copy control rule design principle on the basis that the main control rule design is finished. The method has the following advantages that the failure processing property of a digital control system is improved, the mission reliability of the aero-engine can be improved, the requirement of real-time control of the high-performance aero-engine is satisfied more easily, the method is more liable to implement, and the combination property of the aero-engine is improved.