112results about How to "High orientation accuracy" patented technology

The invention relates to a carrier phase differential-based dual-antenna integrated positioning and orientation system and method. The system includes an antenna unit and a host unit, wherein the antenna unit is provided with two antennas which receive satellite navigation signals simultaneously, and the host unit comprises a main processing unit, an auxiliary processing unit, a differential data processing module and a differential orientation calculation module. The main processing unit and the auxiliary processing unit process signals received by corresponding antennas, and transmit synchronized original observed quantity to the differential data processing module after positioning is accomplished; the main processing unit and the auxiliary processing unit transmit respective original observed quantity data and positioning results to the differential orientating calculation module so that calculation can be performed; and finally, positioning, velocity measurement and orientation results of a whole unit can be obtained. With the dual-antenna integrated design adopted, the system of the invention has the advantages of small size, reliable use, high orientation precision, no time accumulated error and long stable working time; and differential calculation can be completed through a real-time calculation method, and the position and course results of a carrier can be obtained in a static state or dynamic state, and primary orientation time is short, and real-time performance is high.

The invention discloses a control method for directionally correcting a rotor field of an asynchronous motor, and belongs to the field of motor speed regulation. The method is characterized by comprising the step of: forming a closed loop by dot products of stator flux linkage vectors and stator current vectors to directionally control and correct the magnetic field so as to realize complete uncoupling of torque and flux linkage. The method disclosed by the invention solves the problem of inaccurately directing the rotor filed caused by inaccurate parameters, so that the performance of vector control of the asynchronous motor is improved. A novel asynchronous motor decoupling control method is found, so that the control performance of the asynchronous motor is more approximate to that of a current motor.

The invention discloses a silicon chip prealignment device. The silicon chip prealignment device comprises a rotating platform which is utilized for adsorbing a silicon chip and driving the silicon chip to rotate, an edge horizontal sensor which is utilized for acquiring horizontal position information of a silicon chip edge, an edge vertical sensor which is utilized for acquiring vertical position information of the silicon chip edge, and a controller which is utilized for synchronously controlling the rotating platform, the edge horizontal sensor and the edge vertical sensor. When the rotating platform rotates, the controller transmits synchronous trigger signals to the edge horizontal sensor and the edge vertical sensor, and the edge horizontal sensor and the edge vertical sensor acquire respective current measured values simultaneously and edge horizontal position information so that edge vertical position information can be acquired synchronously, wherein the current measured value which belongs to a measured point and is acquired by the edge vertical sensor is utilized for compensation of the current measured value which belongs to a silicon chip edge and is acquired by the edge horizontal sensor. Through the silicon chip prealignment device, all horizontal measured values of a silicon chip edge can be obtained when a silicon chip makes a round, and thus an eccentric value and a gap direction of the silicon chip can be determined. The invention also provides a silicon chip prealignment method.

The invention discloses a pipeline inner positioning device based on a pipeline section length and pipeline connector detection and a positioning method thereof, and belongs to the technical field ofpipeline mapping. The device and the method aim to solve the problems of low positioning and orienting precision of a small-diameter pipeline detection positioning system. According to the device, a main body is composed of a sealed cavity and is sequentially provided with a data storage unit, a data processing unit, an MEMS strapdown inertial measurement unit and a power supply module from left to right; and the two ends of the outer wall of the main body are symmetrically provided with a plurality of mileage wheels and supporting wheels at equal intervals, pipeline defect detection sensors are arranged on the parts, between the mileage wheels and the corresponding supporting wheels, of the outer wall of the main body, and the pipeline defect detection sensors, the mileage wheels and thesupporting wheels are isolated by plastic sealing rings. In addition, a complex continuous wavelet transformation pipeline connector is adopted in the positioning method based on the pipeline sectionlength and the pipeline connector detection, on one hand, azimuth angle and pitching angle error correction are provided for the pipeline positioning system on a straight pipeline section, and on theother hand, a pipeline section length information base is combined to provide the position error correction for the pipeline positioning system so that accurate positioning of pipeline defects can beachieved.

The invention discloses an assessment device for a fillet weld of an end flange of a GIS (gas insulated switchgear) and a barrel and a lossless assessment method, aiming at solving the problem that an existing detection method cannot effectively achieve lossless assessment on the fillet weld of the end flange of the GIS and the barrel. The device is characterized in that an ultrasonic probe is installed on a wedge block, both the ultrasonic probe and a encoder are connected with a scanning rack so as to run synchronously, the encoder is connected with an ultrasonic wave phased array detector through a data line, the ultrasonic probe is connected with the ultrasonic wave phased array detector through the data line, and the surface of the ultrasonic probe is coated with a coupling agent and is connected with the wedge block through bolts. The assessment device can realize lossless assessment of total cross section of the structure, can detect both surface defect and interior defect, can detect both the outer fillet weld of the end flange of the GIS in service and the barrel and the inner fillet weld, and can comprehensively assess the quality of the structure.

The invention relates to a device for matched positioning by repeatedly determining the direction of a target through sound wave application, in particular to a microphone array in a sound source orienting device. The microphone array in the sound source orienting device comprises four microphones, a supporting frame, a rotating bar, a rotating shaft and an included angle measuring mechanism. The rotating bar of the microphone array in the sound source orienting device can rotate along the rotating shaft, in the using process, the microphone array is opened along the shaft, so that different included angles are formed, the four microphones form a geometric structure change array in three-dimensional space, hence, the target can be repeatedly oriented, the orienting accuracy is improved, when the microphone array is not used, the rotating bar of the microphone array is rotated to be in the state that the array included angle is zero degree, and the defects that a microphone array in an existing sound source orienting device is fixed in structure, so that the occupied space is large, transporting and carrying are not convenient, in the target locating process, a single array is used for receiving sound source signals, locating can be limited by the size and the geometric structure of the array easily, and thus the adaptability and practicability of the sound source orienting device are greatly lowered can be overcome.

The invention provides an orientation method of copper single crystal, comprising the steps: (1) putting the copper single crystal into nitric acid with 35-45% of mass concentration and etching, wherein etching time is limited by that the surface of copper single crystal ingot has at least one group of light reflecting faces with accordant orientation, taking the group of light reflecting faces asa reference surface, grinding a plane parallel with the reference surface on the copper single crystal ingot, and defining the plane as a primary plane; (2) X-ray diffraction theta-2theta linked scanning and analyzing the primary plane on the copper single crystal ingot with an X-ray diffractometer, and determining a crystal face index (khl) corresponding to the strongest peak in an X-ray diffraction spectrogram as the crystal face index of orientated crystal face; and (3) modifying the primary plane on the copper single crystal ingot by means of X-ray diffracting oscillation method to obtaina final modified face, wherein the normal line of the final modified face is parallel with that of the orientated crystal face (hkl); and (4) removing a disturbed atomic layer on the surface of the final modified face by means of grinding and physical-chemical polishing to obtain the exactly orientated crystal face (hkl).

The invention discloses a multi-spherical array multiband sound source rapid orientation method, and belongs to the technical field of sound source orientation and detection. A frequency space domainmodel of a multi-spherical array sound field is established based on discrete Fourier transform; a spherical harmonic domain model of the multi-spherical array sound field is constructed based on spherical Fourier transform; the spherical harmonic coefficient corresponding to the maximum modal intensity of each spherical harmonic order is selected so as to obtain the spherical harmonic coefficientafter fusion of the multi-spherical array; the frequency-dependent component of the spherical harmonic coefficient is removed and the spherical Fourier transform component only including the angle-dependent component is obtained; the cross spectrum of the spherical Fourier transform component is constructed, the spherical Fourier transform component or the cross spectrum thereof are blocked and the estimation value of the propagator is obtained through combination of the linear regression method; an orthogonalized noise subspace is constructed based on the estimation value of the propagator,and the spatial spectrum of the direction of arrival is obtained by using mutual orthogonalization of the signal and the noise; and the incident sound source direction is scanned, and the sound sourcedirection corresponding to the maximum peak in the spatial spectrum is the direction-of-arrival angle of the sound source.

The invention discloses a spacecraft ontrack leakage orientation method. According to the method, an 8-array-element L-shaped acoustic emission sensor array, 8 preamplifies and an 8-channel signal collecting and analyzing instrument are adopted, the sensor array is fixed to the inner surface of a spacecraft cabin through coupling agents and electrically communicates with the preamplifies and the 8-channel signal collecting and analyzing instrument. Leakage test is conducted within the range of a circle with the radius being equal to 2 meters through the L-shaped acoustic emission sensor array, when leakage occurs, acoustic emission signals generated by friction between the leaked gas and hole walls of leakage holes are propagated along the device wall continuously, all array elements collect the leaked acoustic emission signals synchronously, amplifying and filtering processing is conducted on the leaked acoustic emission signals, the signals are transmitted to the signal collecting and analyzing instrument, whether leakage occurs or not is judged by detecting changes of energy of the leaked acoustic emission signals, and when it is determined that leakage occurs, beam scanning is conducted on the leakage holes, and the directions of the leakage holes are determined.

A kind of two-way multifunctional laser vertical collimator is made of bracket, zenith telescope module and nadir external laser telescope module, sphere vertical axis module and the triangular base. It is characterized in that: the zenith telescope module and nadir external laser telescope module are set on the A and B plane of main bracket top respectively, which are installed at the bracket or vertical axis center by the socket bolt and the column head bolt respectively. A phi 108 base hole is set below the main bracket, while, the outer of main bracket is set with a V-shape axile bush which is fixed the main bracket on the vertical axis module by a hole adjusting bolt to form a combination shafting which can rotate with the vertical axis; otherwise, a long level tube is installed on the side of main bracket which is used to adjust level and plumb.

The invention discloses a double-position rotary north-seeking measurement method for a static moment mode based gyroscopic total station. The method comprises the following steps: 1, instrument installation; 2, gyrostatic orientation survey: a. the rotary shaft direction of a gyro motor is aligned to the zero graduation line direction of an electronic scale plate in an angle measurement device of a gyroscope; north-seeking measurement is performed in a first position: c. calculation is performed to obtain an included angle between the real north direction and the zero graduation line direction of the electronic scale plate in the angle measurement device of the gyroscope in the first position; d. an included angle between the real north direction and the zero graduation line direction of the electronic scale plate in the angle measurement device of the gyroscope in a second position is obtained; 3, observation of alignment system direction; and 4, calculation of real north azimuth of a measurement line. The method effectively solves the technical problems of long north-seeking time, poor data stability, difficulty in removing systematic errors and the like in a conventional north-seeking method, and can effectively remove or reduce the errors of partial instruments and observation systems and improve the orientation precision.

The invention discloses a magnetically suspended gyroscope north-seeking data gross error rejecting method based on double position characteristics. The method comprises the following steps: calculating the priori value of azimuth angle of gyroscope; individually collecting the rotor current data of a first precision seeking balance position and a second precision seeking balance position under different installation positions, establishing a regression equation set of rotor current value and the azimuth angle of installed gyroscope; taking the priori value of azimuth angle of gyroscope as the north-seeking azimuth angle, then substituting the priori value into the regression equation set to calculate the predict value of gyroscope north-seeking sampled data; on an installation position, collecting the rotor current data of two precision seeking positions, calculating the estimated error; individually calculating the double position rotor current value regression prediction interval on the current installation position; eliminating the rotor current data that is not in the regression prediction interval; and finally calculating the gyroscope positioning result after correction. According to the method, gyroscope azimuth angle, which is calculated according to an original underground lead coordinate azimuth angle, is taken as the priori value; then the confidence interval of gyroscope rotor current value is predicted, the gross error of north-seeking data under the influence of strong disturbance torque is ejected, and the north-seeking result is corrected.

The invention provides a crystal angle adjusting mechanism of an automatic X-ray directional bonding machine of round-bar crystals and belongs to the technical field of measuring equipment. By adoption of the crystal angle adjusting mechanism, the problem that the crystal angle adjustment of an existing automatic directional bonding machine is troublesome and is low in accuracy is solved. The crystal angle adjusting mechanism comprises an installing plate I, wherein a vertical-rotation driving motor is fixedly arranged on the installing plate I; a main shaft of the vertical rotation driving motor is positioned at the horizontal position; an installing plate II is fixedly arranged at the front end of the vertical rotation driving motor; a horizontal rotation driving motor is fixed on the installing plate II; a main shaft of the horizontal rotation driving motor is downward; an installing plate III is fixedly arranged at the front end of the horizontal rotation driving motor and is provided with a pneumatic clamping claw; and an encoder I is connected with the rear end of the main shaft of the vertical rotation driving motor, and an encoder II is connected with the rear end of the main shaft of the horizontal rotation driving motor. The crystal angle adjusting mechanism provided by the invention has the advantage of high adjusting accuracy.

The invention relates to a beam scanning method based on a frequency domain Bark sub-band, and a sound source orientation device. The method comprises the following steps: 1, collecting a sound signalthrough a microphone array, and obtaining an array frequency domain output signal model through calculation; 2, solving interested frequency points according to the sampling frequency and the centerfrequency of the Bark sub-band, and estimating a covariance matrix of array frequency domain output signals at the interested frequency points; 3, calculating a narrow-band spatial spectrum corresponding to the interested frequency points; 4, averaging the narrow-band spatial spectra of all interested frequency points to obtain an average spatial spectrum; and 5, carrying out average spatial spectrum search in the full-angle area to obtain a sound source direction. The sound source orientation precision is effectively improved, and the operation complexity is reduced.

The invention discloses a drill attitude measuring instrument and a drilling direction adjustment method. The drill attitude measuring instrument comprises a north seeker and a direction adjustment instrument, wherein the direction adjustment instrument is used for measuring a horizontal included angle between the north seeker and a to-be-measured drill; the direction adjustment instrument is horizontally arranged on the north seeker and comprises a second data processor, a three-axis gyroscope, a second three-axis accelerometer, a second analog-to-digital conversion circuit and a second power supply. The drilling direction adjustment method comprises the steps: (1) seeking the north in a static state: measuring a true azimuth angle Phi1 through the north seeker; (2) adjusting the drilling direction: measuring the horizontal included angle Delta Phi between the north seeker and the to-be-measured drill by adopting the direction adjustment instrument, and rotating the to-be-measured drill according to a measurement result of the direction adjustment instrument until Delta Phi + Phi1 is equal to Phi0, wherein Phi0 is a predetermined target true azimuth angle of the to-be-measured drill. The drill attitude measuring instrument and the drilling direction adjustment method have the advantages of reasonable design, simplicity and convenience in use and operation, convenience in realization, good use effect and high orienting accuracy, the drilling direction of the drill can be accurately measured, and the drill can be oriented.

The invention discloses a power transformer partial discharge positioning method by means of time reversal. The method comprises the steps of performing time reversal processing on measured power transformer partial discharge data, then, determining the power transformer partial discharge ultrasonic arrival direction according to time reversal ultrasonic signals, and then, determining the power transformer partial discharge position by searching in the partial discharge ultrasonic arrival direction. Accordingly, the search range can be greatly reduced, the time needed by searching the power transformer partial discharge position is greatly shortened, and the measuring efficiency and positioning precision of the power transformer partial discharge position can be improved.

The invention discloses a multistage juice and peel separating device for passion fruits. The separating device includes a feeding mechanism, main shaft power mechanisms, grab bucket mechanisms, a linear cutting mechanism, juice separation mechanisms, spongy layer separation mechanisms, popup mechanisms, a push-in roller mechanism and a peel separation mechanism; the feeding mechanism is installedat the upper part on the rear side of a supporting platform; the two main shaft power mechanisms are symmetrically arranged on the supporting platform; four grab bucket mechanisms in circumferentialuniform distribution are installed on each main shaft power mechanism in a radial direction; the grab bucket mechanisms are provided with openings corresponding to the supporting platform; the linearcutting mechanism is installed on the rear side of the supporting platform; the two juice separation mechanisms are symmetrically installed at the lower parts of the openings; the two spongy layer separation mechanisms are symmetrically installed on the two sides of the supporting platform; the popup mechanisms are installed at the rear parts of the grab bucket mechanisms; the push-in roller mechanism is installed in front of the grab bucket mechanisms; and the peel separation mechanism is installed at the lower part of the discharging port of the push-in roller mechanism. Thus, the multistageprocessing of the juice and peels of the passion fruits can be realized, processing can be automated, so that the separating device is time saving and labor saving.

The invention relates to an orientation method and device for an impulsive sound object. The method comprises the following steps that a five-stereo-microphone array collects and stores sound signals; the signals are de-noised to determine whether the signals are real objective pulse sound signals respectively; a zero-phase low pass filter is used to carry out zero-phase filtering on the signals of different channels; an interpolation method is used to calculate delay inequality and determine whether the delay inequality is correct; meteorological correction is carried out on a delay inequality result; and the direction angle and pitch angle of an object sound source in a coordinate system are calculated, the signal to noise ratio of the impulse sound signal in each channel is calculated, the signal qualities of the channels are determined, and the direction angle and pitch angle of the object relative to the five-stereo-microphone array are obtained after orientated deblurring. Under the condition that requirement for the orientation precision of the system is met, the flexibility and robustness of the system are greatly improved.

The invention relates to the field of the robotic technology, more particularly to a robot positioning method. A GNSS/ODO-based dual-wheel differential positioning method comprises: step A, initializing a robot and obtaining pose information of a robot at an initial time by using a GNSS; step B, calculating global pose information of the robot at an n+1 time by using a dual-wheel speedometer positioning algorithm; step C, determining whether a current time is a set GNSS data correction time; if so, executing a step D; and if not, executing a step E; step D, according to an unmanned vehicle pose state, calculated at the step B, at the n+1 time, carrying out Kalman filter "prediction-correction"; step E, only carrying out Kalman filter prediction in the step D instead of carrying out correction; and step F, outputting filtered robot global pose information. With the method provided by the invention, the positioning and orientation precision of the robot can be improved obviously.

The invention discloses a method for precise orientation on local discharging. The method comprises the steps that 1, a local discharging signal likelihood function shown in the description is established, wherein L(theta, sigma 2) expresses the probability that the local discharging incidence angle is theta and the noise magnitude is sigma 2 under the condition that it is measured that local discharging signals are yi; n expresses the number of the local discharging signals in a local discharging signal sample; sigma 2 expresses a noise variance, s(t) expresses a local discharging signal source vector, and a (theta) expresses a local discharging signal steering vector; 2, the local discharging signal sample obtained through measurement is substituted into the local discharging signal likelihood function, so that a maximum value of the local discharging signal likelihood function is solved; a local discharging incidence angle theta0 corresponding to the maximum value represents the direction of the local discharging signals. In addition, the invention further discloses a system for precise orientation on local discharging. The system comprises a processing module and a local discharging signal receiving antenna.

The invention discloses a piezoelectric MEMS vector vibration sensor sensitive body, which comprises a square silicon substrate; eight circular grooves with the same structure size are uniformly etched at intervals on the circumference taking the center of the square silicon substrate as a circle center, and circular thin film layers are formed on parts, corresponding to the circular grooves, of an end surface of the square silicon substrate; piezoelectric sensitive units and force transmission units composed of composite elastic beams and stand columns are sequentially arranged on the circular thin film layers, cantilever beams forming the composite elastic beams correspond to the piezoelectric sensitive units one to one, the piezoelectric sensitive units convert stress-strain signals received by the force transmission units into electric signals, and signal detection is achieved. Vibration source orientation estimation is realized by utilizing different polarization forms of the eight piezoelectric films in the mutually perpendicular directions, port and starboard fuzziness is eliminated, two independent coordinate systems with strictly coincident coordinate origins are constructed on one micro-sensitive structure unit, orientation estimation is performed by utilizing the two coordinate systems, and the orientation precision and the reliability are high.