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1078results about How to "High positioning accuracy" patented technology

Identification and compensation method of industrial robot structure parameter bias

The invention discloses an identification and compensation method of an industrial robot structure parameter bias, which includes steps of confirming compensable structure parameter bias according to a numerical control system of an industrial robot; setting up a bias model on the basis of a DH method, compulsorily zeroing the non-compensable structure parameter bias in a bias model, and then structuring a bias identification equation; selecting an identification pose, and controlling the industrial robot to move according to the identification pose; recording a joint turning angle and the terminal position data of the industrial robot; calculating the bias identification equation according to the a joint turning angle and the terminal position data, and solving the bias identification equation to obtain the structure parameter bias; modifying a corresponding structure parameter in the numerical control system of the industrial robot according to the structure parameter bias so as to compensate the structure parameter bias. The identification and compensation method has the advantages of identifying and compensating the reduction ratio bias, coupling parameter bias and DH parameter bias of the industrial robot, and reaching higher positioning precision in compensation of the bias.
Owner:TSINGHUA UNIV

System and method for detecting high voltage transmission line faults

The invention relates to a system and a method for detecting high voltage transmission line faults. The system is provided with a fault analysis server and a detection device arranged on a three-phase high voltage transmission line, wherein the detection device consists of a first detection point device and two second detection point devices, the first detection point device is arranged on a B phase line, the second detection point devices are respectively arranged on an A phase line and a C phase line and transmit the detected data to the first detection point device, and the first detection point device transmits all of the detected data and the data transmitted by the second detection point devices to the fault analysis server. The method comprises the following steps of: arranging N detection points on one line, installing the detection device and synchronizing the time of each monitoring point; receiving monitored data of current, field intensity and temperature at any time transmitted by each detection device by the fault analysis server and carrying out statistic analysis. The invention can confirm the fault point of the high voltage transmission line in time, greatly improves the labor efficiency, and shortens the fault-checking time.
Owner:TIANJIN ZHILIAN HENGXIN ELECTRIC POWER EQUIP CO LTD

Production method of chassis of railway vehicle

The invention relates to a production method of a chassis of a railway vehicle, which comprises the following steps: opening an end beam positioning and clamping device, a side beam positioning and clamping device, a transverse centering device and a body bolster clamping device to the open positions; hoisting a side beam and an end traction and bolster mechanism in place; enabling the transversecentering device to act so as to center a traction beam; starting the end beam positioning and clamping device, and fixing an end beam in place and clamping; starting the body bolster clamping device; placing cross beams inside and outside a bolster; mounting a wire slot at the end part and the wire slot in the bolster; welding a cross beam downhand weld and a vertical weld, and welding a cover plate on a body bolster; retreating the end beam positioning and clamping device, the side beam positioning and clamping device, the transverse centering device and the body bolster clamping device; and using a clamping fixture for clamping. The lower planes of two upper center plates of an end traction and bolster and the lower plane of the end beam are fixed as reference for positioning the height of the end traction and bolster of the chassis, and positioning pins at center holes of the upper center plates and the transverse centering device are used for transverse positioning. The positioning way is reasonable, the artificial marking is not required, the positioning precision is high, and the production efficiency is high.
Owner:CRRC NANJING PUZHEN CO LTD

Single-satellite interference source positioning method based on satellite-borne multi-wave-beam antenna

The invention discloses a single-satellite interference source positioning method based on a satellite-borne multi-wave-beam antenna. The method comprises the following steps that an antenna directional pattern model of each wave beam of the satellite-borne multi-wave-beam antenna is built, the antenna gain is correlated with the geographical position, and an antenna directional pattern geographical model is constructed; a ground station receives satellite transfer signals and carries out real-time monitoring, when the interference is monitored, the main interfered wave beams and adjacent common-frequency wave beams are determined, in addition, the interference signal parameters are cognized, the signal intensity of the interference signals in other adjacent common-frequency wave beams is measured according to the cognizing results, and the space distribution of the interference signal intensity in multi-wave-beam environment is obtained; a positioning equation set formed by the interference source position, the interference signal intensity and the antenna directional pattern gain function is built through combining the space distribution of the interference signal intensity and the antenna directional pattern geographical model, and the interference source positioning result is obtained. When the single-satellite interference source positioning method provided by the invention is adopted, the additional addition of satellite-borne equipment is not needed, the realization is simple, and in addition, the positioning precision is higher.
Owner:PLA UNIV OF SCI & TECH

Combined navigation method applicable to unmanned aerial vehicle in glide landing stage

The invention provides a combined navigation method applicable to an unmanned aerial vehicle in a glide landing stage, and aims to provide a combined navigation method which is low in cost and simple in engineering implementation. According to the technical scheme, the method comprises the following steps of: (1) in an airport for glide test or flying, inputting a precise positioning measurement data point serving as reference data into calculation software of a differential global positioning system (GPS) ground station; (2) when an onboard differential GPS antenna receives GPS signals of three or more satellites, intersecting a position information coordinate of the unmanned aerial vehicle by the onboard differential GPS antenna, correcting the coordinate information of the unmanned aerial vehicle, which is measured by the onboard differential GPS antenna in real time, according to pseudo-range information emitted by the differential GPS ground station in real time, and eliminating a common error; and (3) sending the corrected coordinate information of the real-time position of the unmanned aerial vehicle to an independent inertia navigation system on an airplane through an RS232 signal, correcting state data such as the position, the speed and the attitude angle of the airplane, which are measured by the inertia navigation system in real time, by the inertia navigation system, sending the precise position information to a flying control computer through RS422, and performing precise control over glide landing of the airplane.
Owner:CHENGDU AIRCRAFT INDUSTRY GROUP

Wireless location method for directly estimating and eliminating non-line-of-sight (NLOS) error

InactiveCN102088769ASuppression of NLOS error effectsHigh positioning accuracyWireless communicationEquations of motionReal-time computing
The invention discloses a wireless location method for directly estimating and eliminating non-line-of-sight (NLOS) error influence. The method comprises the following steps: firstly establishing a motion equation and an observation equation for wireless location, and then identifying that the current measured value is a line-of-sight (LOS) situation or an NLOS situation by virtue of innovation sum of squares of an extended kalman filter (EKF); for the LOS situation, carrying out position calculation and motion state estimation by directly utilizing the EKF; and for the NLOS situation, directly estimating the NLOS error by a nonlinear optimization method based on a geometrical relationship limiting condition, then eliminating the NLOS error by utilizing the corrected EKF, and carrying out high-precision location; and finally realizing online tracking of a mobile station by means of cyclical iteration. The wireless location method has the beneficial effects that influence of the NLOS error in wireless location can be effectively eliminated and location accuracy is obviously improved; and meanwhile prior statistical knowledge of the known NLOS error and LOS/NLOS transition probability are not required in the method, and calculation quantity meets the requirements for real-time application.
Owner:NANJING NORMAL UNIVERSITY
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