408results about How to "Implement fixes" patented technology

The invention discloses a method for battery SOC estimation based on small model error criterion expanding Kalman filter. The method comprises the steps of first establishing a variable-order RC model based on an AIC criterion and laying a good foundation for SOC precise estimation; obtaining data such as battery terminal voltage, current and corresponding model errors in an off-line mode under different working conditions and establishing a model error prediction model based on a fuzzy neural network; predicting model errors in an on-line mode based on the neural network in filtering, and performing measurement and updating on state estimation only when predicted errors are small so that the problem of filtering divergence caused by the model errors and system noise statistical characteristic uncertainty and the problem of SOC estimation fluctuation caused by battery terminal voltage jump can be solved. The method can effectively eliminate filtering estimation errors caused by the model errors and can be suitable for the dynamic process of a battery under various complex working conditions.

The invention discloses a method for forming a personalized error correction module. The method comprises: collecting input information of a user, analyzing the input information, obtaining input habit information of the user, adjusting a present error correction module according to the input habit information, and obtaining the personalized error correction module. The invention also discloses a device which forms the personalized error correction module and an input method system of personalized error correction. The invention obtains the personalized error correction module which accords with user input habits through adjusting the present error correction module to realize more accurate personalized automatic error correction to user input sequences. Furthermore, many-sided information can be collected, the error correction range not only comprises cognitive errors which are similar to southern fuzzy sound, but also comprises non-cognitive errors, and the error correction coverage is wide. Since factors such as the input device distribution, the input device quality and the like are comprehensively considered, the invention can be applied in different input devices such as a PC keyboard, a mini-keyboard and the like, and has wide adaptability.

The invention discloses a wireless sensor network multiple target real-time tracking system based on event drive. The system is designed by using a hierarchy logical structure, wherein a perception layer, a network communication layer and an application layer are respectively comprised. In order to avoid network conflict in a multiple target tracking process, a self-adaption clustering node scheduling strategy based on a task is used. A Calman filter positioning tracking algorithm based on event drive is disclosed. A least square method with fast convergence speed is used to modify a current Calman filter state value, and positioning tracking is carried out on a number of mobile robots in a sensor network. The system uses a double token working mode and is combined with a dynamic time slot allocation method based on a task to effectively complete a network task in real time. The system uses the self-adaption clustering node scheduling method, can automatically carry out clustering on measurement data according to a moving target, breaks a previous working mode which is limited by single target tracking, and realizes a real-time multiple target tracking function and remote feedback control based on a wireless network.

The invention provides a cleaning robot and a control method of the cleaning robot. The method comprises the steps of collecting images of multiple view angles of an obstacle; identifying the type ofthe obstacle according to the images of the plurality of view angles; respectively determining a first obstacle boundary of the obstacle corresponding to the image of each visual angle in the plurality of visual angles; obtaining a second obstacle boundary of the obstacle according to the type of the obstacle and each first obstacle boundary; and controlling the cleaning robot according to the mapmarked with the boundary of the second obstacle. By means of the method, the credibility of obstacle boundaries in a map established by the cleaning robot can be improved, the cleaning coverage rateis improved for different obstacles, and meanwhile, the cleaning risk is reduced.

The invention provides a roadheader, a system and a method. According to the roadheader, the system and the method, three-dimensional space coordinates of the roadheader can be tracked and measured inreal time to realize the millimeter levelpositioning accuracy of the set distance within the visual range, remote control operation and automatic control over the roadheader are facilitated, and themovement path and the speed of a cutting head as well as the direction, position and posture of a roadheader body can be automatically adjusted according to the position change of the roadheader and the rock wall hardness change of a heading working face roadway.

The invention relates to a polarization aided navigation method based on solar vectors. The polarization aided navigation method based on the solar vectors comprises the following steps of firstly, obtaining a unit solar vector Sm under a module coordinate system by using a polarization sensor array carried by a carrier; secondly, calculating a unit solar vector St under a geographic coordinate system on the basis of the geographic position and the time information of the carrier according to an astronomical almanac value; and finally, establishing a polarization navigation linear model by using the unit solar vectors under the different coordinate systems and estimating navigation parameters by using a Kalman filter. By the method, the solar vectors are obtained by an atmosphere polarization mode to perform aided navigation, the precision is high, the polarization aided navigation method is not disturbed by other factors of the outside, and passive, non-radiative and full-autonomous navigation can be implemented.

The invention discloses a high-resolution remote sensing image segmentation method based on inter-scale mapping. The high-resolution remote sensing image segmentation method has the advantages that aiming at geographical object extraction involved in objet-level change detection, the high-resolution remote sensing image multi-scale segmentation method based on wavelet transform and an improved JSEG (joint systems engineering group) algorithm is provided; aiming at a key problem that a conventional JSEG algorithm affects segmentation accuracy in high-resolution remote sensing image segmentation, a corresponding improvement strategy is adopted to achieve a good effect; wavelet transform is introduced to serve as a multi-scale analysis tool, excessive rough color quantization of the conventional JSEG algorithm is abandoned, and thus, detail information in original images is kept to the utmost; a novel inter-scale segmentation result mapping mechanism is set up, image segmentation of a current scale is realized on the basis of a segmentation result of a previous scale, and correction of the segmentation result of the previous scale is also realized, and thus, accumulation of inter-scale segmentation errors is decreased effectively; finally, an improved multi-scale segmentation strategy and an improved region merging strategy are provided, and over-segmentation and mistaken merging are effectively reduced.

The invention discloses an unmanned aerial vehicle path planning method based on a PH curve. The method comprises steps as follows: (1) initializing an unmanned aerial vehicle motion condition and a task map; (2) setting multiple path control points according to the initial condition, forming the PH curve according to the control points, and representing the PH curve into a Bessel n-order polynomial; (3) defining the Bessel n-order polynomial into a five-order polynomial, performing derivation operation and interpolation operation between two points on the five-order polynomial accordingly, determining an unmanned aerial vehicle path curve shape, ad calculating position parameters of corresponding control points; (4) adjusting a regression coefficient to change the length of a tangent vector so as to meet a PH curve constraint condition and an unmanned aerial vehicle constraint condition, so that the control points are corrected, and an unmanned aerial vehicle path capable of avoiding barriers is obtained. The method can solve problems that barriers in paths cannot be avoided, the path planning accuracy is low and paths cannot meet unmanned aerial vehicle kinematic constraint in the prior art.

The invention relates to a carrier course angle calculation method based on a polarization compass. The polarization compass comprises two acceleration meters in the horizontal direction and three polarization sensors. The carrier course angle calculation method based on the polarization compass includes that firstly, using the acceleration meters in the horizontal direction to acquire the horizontal posture (pitch angle theta and roll angle gamma) of the carrier; secondly, using the geographical location information and time information of the carrier to calculate a unit sun vector St under a geographic coordinate system; thirdly, using the polarization sensors on the carrier to measure a polarization azimuth angle to calculate a unit sun vector Sm under a polarization sensor module coordinate system; finally, using the horizontal posture information and sun vector information to build the transformation relation of the unit sun vector between the geographic coordinate system and polarization sensor module coordinate system, and confirming the course information Psi of the carrier. The carrier course angle calculation method based on the polarization compass has advantages of high precision, less calculated amount, strong compatibility and the like.

The invention discloses a device and a method for network security management based on an alarm strategy. The device for network security management comprises a receiving unit, an alarm generation unit, a matching unit and an execution unit, wherein the receiving unit is used for receiving a security incident generated by the device for network security management; the alarm generation unit is used for generating an alarm based on the security incident with a greater risk value than a preset threshold; the matching unit is used for matching the alarm and an alarm strategy table to obtain an alarm strategy corresponding to the alarm; and the execution unit is used for executing the alarm according to the alarm strategy. According to the device and the method, the alarm information can be corrected and managed, controllability, real-time performance and flexibility of network security are improved, meanwhile, reliability for outputting the alarm information is guaranteed, and the security threat in the network is effectively blocked.

The invention discloses an accelerometer performance parameter detection method and an accelerometer performance parameter detection system. The method includes: when a follow-up table on a linear acceleration simulation rotary table is located at a zero position, enabling output acceleration of the linear acceleration simulation rotary table to be multiple preset acceleration values, and obtaining output values of an accelerometer fixed on the follow-up table; after the follow-up table on the linear acceleration simulation rotary table rotates by 180 degrees relative to the zero position, enabling output acceleration of the linear acceleration simulation rotary table to be multiple preset acceleration values, and obtaining output values of the accelerometer fixed on the follow-up table; obtaining mounting position errors and corresponding performance parameters of the accelerometer on the linear acceleration simulation rotary table according to formulas, so that the performance parameters of the calibrated accelerometer can be corrected. By the method and the system, working radius error influences of the accelerometer can be eliminated, calibration precision is improved, and mounting requirements on the accelerometer during calibration are lowered.

The present invention discloses an adaptive beam position design method for a synthetic aperture radar satellite and a system. The method includes the following steps: obtaining the orbit altitude and the substellar point radius vector of a satellite; determining the selection range of beam position parameters; determining the space restrictions for the beam position; designing a beam position parameter set; sifting beam position parameters for the first time based on the zebra diagram; sifting beam position parameters for the second time based on SAR property indices; and correcting beam position parameters by a large viewing angle. The system comprises an obtaining module for the orbit altitude and the substellar point radius vector of the satellite, a determining module for the selection range of the beam position, a determining module for the space restrictions for the beam position, a design module for beam position parameter set, a beam position parameter sifting module based onthe zebra diagram, a beam position parameter sifting module based on the SAR property indices, and a beam position parameter correcting module with a large viewing angle. The present invention achieves high-beam-position parameter correction for the difficulties of beam position design with a large viewing angle, and the beam position design method proposed by the present invention integrates property index calculation and has the characteristic of beam position design integration.

A five-axis multi-functional thread grinding machining center belongs to the numerically controlled machine tool field. The five-axis multi-functional thread grinding machining center consists of a machine tool body, a Z-direction slide plate, a workpiece electric spindle, a X-direction base plate, a post, a Y-direction slide plate, an A-axis turntable and a grinding electric spindle. A Z-direction servomotor drives a Z-direction lead screw to drive the Z- direction slide plate to perform Z-direction movement, the post is arranged on a X- direction guide rail slider, a X-direction servomotor drives an X-direction lead screw to drive the post to perform X-direction movement, a Y-direction guide rail is fixedly arranged on the post, the Y-direction slide plate is positioned on a Y-direction guide rail slider, a Y-direction servomotor drives a Y-direction lead screw to drive the Y-direction slide plate to perform Y-direction movement, the Z-direction slide plate is provided with the workpiece electric spindle, the A-axis turntable is arranged on the Y-direction slide plate and is connected with an A-axis servomotor, and the grinding electric spindle is fixed on the A-axis turntable by bolt fastening. The five-axis structure is adopted in the grinding machining center, thus simplifying machine tool structure, realizing grinding of super-long nuts, enlarging applicability of the machine tool and lowering manufacturing cost.

The invention discloses an inertia altitude channel damping Kalman filtering method based on atmosphere assistance. The method comprises the following steps that firstly, an atmosphere data system pressure altitude error model in the moving process of an unmanned helicopter is established; then, based on the pressure altitude error model and a traditional inertia / atmosphere damping loop, a state equation and a measuring equation of a six-state damping Kalman filter including pressure altitude errors of an atmosphere data system and sensor errors of an inertia navigation system are established; finally, inertia / atmosphere navigation system damping Kalman filtering is carried out on the altitude error and the vertical speed error generated in the flying process of the unmanned helicopter, and a combined navigation system navigation result obtained after damping Kalman filtering is obtained. By means of the inertia altitude channel damping Kalman filtering method based on atmosphere assistance, tracking and compensation for atmosphere altitude measuring errors can be achieved in the flying process of the unmanned helicopter so as to improve the altitude precision in the atmosphere-assisted inertia navigation altitude channel, and the method is suitable for engineering application.

The invention provides a robot map drafting and positioning method based on a wireless base station and a laser sensor as well as a system thereof, which belong to the technical field of positioning. The method comprises the following steps: obtaining initial map information of a preset area; arranging several subregion with n rows and n arrays in an integral area, respectively arranging several wireless base stations in the subregion; obtaining a corresponding relation between several subregion and wireless base stations; monitoring the wireless base station of the robot positioned in the subregion at real time, obtaining general positional information of the robot in the preset area and the owned subregion, and obtaining the accurate positioning information in the subregion. A technical scheme of the present invention is characterized in that the current wireless base stations can be used to realize the positioning operation after laser map scanning by the robot, so that the efficiency of precision and map operation for map positioning and scanning can be increased.

The invention relates to the field of digital signal processing of wireless communication and provides a digital communication system, which comprises an analog receiving module which carries out analog filtering and analog down-conversion processing on radio frequency signals, a digital down-conversion module which carries out decimation filtering processing on digital signals, a pass band compensation module which carries out fluctuating compensation on signals in pass bands, a digital up-conversion module which carries out interpolation filtering and up-conversion frequency mixing processing on the digital signals and an analog launching module which carries out analog filtering and analog up-conversion processing on the radio frequency signals. The invention also provides a method for improving flatness in a signal band in the digital communication system. A frequency domain compensation coefficient is obtained by the digital filtering processing in the frequency domain, namely testing the fluctuation characteristics of the system, and frequency domain filtering processing is carried out on the frequency domain signals according to the frequency domain compensation coefficient, thus realizing fluctuation correction and compensation in the signal band and improving the flatness in each carrier signal pass band in a digital repeater system.

The invention discloses a fingerprint collecting method and device, as well as a mobile terminal. The fingerprint collecting method comprises the following steps: when fingerprint contact of a user is detected, collecting a fingerprint image of the user, and extracting a fingerprint feature in the fingerprint image; when a fingerprint template fitted with the fingerprint feature is found in a fingerprint database, obtaining a distinctive feature between the fingerprint feature and the fitted fingerprint template while executing fingerprint unlocking operation; correcting the fingerprint template according to the distinctive feature; and replacing the distinctive feature with the corrected distinctive feature. Accordingly, a sampled fingerprint is collected while the user performs fingerprint operation; correction of the fingerprint template is realized by adding the distinctive feature between the sampled fingerprint and the fingerprint template into the fingerprint template, so that the fingerprint template can be improved constantly to improve the fitting rate between a fingerprint entered when the user performs fingerprint unlocking and the fingerprint template, and the sensitivity of fingerprint unlocking is further improved.

The invention relates to a drawtube, which comprises a drawtube body and a closing device. The drawtube body comprises a first underside, a second underside and a side wall for connecting the first underside and the second underside. The side wall is provided with an inner surface and an outer surface, and an opening is up on the side wall to transfix the inner surface and the outer surface, and can be used to enclose the optical components into the drawtube body. Two installation sides are provided on the side wall to define the opening. The axis of the drawtube revolving from one end of the inner surface intersected with one installation side to the other end of the inner surface intersected with the other installation side is opened with a first groove. The curvature of the first groove is equal to that of the inner surface of the side wall on the drawtube body. The closing device matches with the opening on the drawtube body. The invention also provides an optical module with the drawtube and a method to assemble the optical module.

The invention relates to a distributed harmonic source identification method based on singe-frequency current transmission characteristics. The method comprises the following steps that (1) a current harmonic source identification model is established; (2) constraint conditions are exported; (3) a current harmonic observation matrix is established and preprocessed; (4) the harmonic source maximum identification frequency T and a non-Gaussianity threshold value F in an electricity network are set, and k is made to be equal to 0; (5) the k is made to be equal to k+1, and a FastICA method is used for solving a mixing matrix Wh; (6) the inverse matrix Wh-1 of the Wh is calculated, the phase position and the row order of the Wh-1 are adjusted according to the constraint conditions, the Wh-1 is denoted as Ph, if the Ph meets the constraint conditions, the step (7) is executed, and otherwise the step (5) is executed again; (7) the reverse matrix of the Ph is calculated, a demixing matrix Wh=Ph-1 is updated, the non-Gaussianity sum phi of identification results is calculated, if phi is no smaller than the threshold value F, the demixing matrix Wh is output, the harmonic source identification result is calculated, the positions of main harmonic sources are analyzed, iteration is ended, and otherwise the step (8) is executed; (8) when k is smaller than or equal to T, the step (5) is executed again, when k is larger than T, the demixing matrix Wh and the non-Gaussianity threshold value are output, and the positions of the main harmonic sources in the network are further analyzed.

The invention discloses a correction method of the distribution of a quenching stress field of an aluminum alloy thick plate. In the method, on the combination of X-ray surface stress calibration and finite element modeling and simulation, sample deformation deviation produced by the traditional layer cutting method during a stress test process is obtained, and the traditional computation model is corrected by a layered deformation compensation polynomial fitting function, thus, computation accuracy of the stress field in the layer cutting method is drastically improved, and the result comparison deviation is controlled to be + / -20MPa. The method comprises the steps of: obtaining and correcting a quenching heat transfer boundary condition, analyzing layer cutting deviation and correcting layer cutting computation model mathematically. The method has the advantages that by using the characteristics of multi test methods, the stress is accurately designed in a multi-layer complementary way, and the correction method based on multi test methods is provided; the defect that the traditional single test method has bad accuracy is overcome; and the deformation compensation function is introduced to correct the test deviation, so that higher test accuracy is achieved. The method is reliable, rational in analysis, notable in effect and environmental-protection, and can effectively improve the innerstress computation accuracy of the aluminum alloy thick plate and the like, thereby being suitable for industrialization and scientific research.

The invention relates to a cloud modeling method of large-scale ALS building points of repetitive buildings based on automatic sensitivity. The method comprises following steps: (1) adopting a deep learning method, precisely cutting ALS point clouds and obtaining four kinds of targets such as buildings, plants, grounds and others; (2) detecting repetitive buildings in local areas as for cloud points of repetitive buildings and adopting a data driving method for rectification and alignment of detected repetitive buildings to construct a roof model for repetitive buildings; taking a mixed model building method including comprehensive data driving and model driving for reminding non-repetitive buildings and constructing a geometric model for building roofs; (3) making qualitative and quantitative evaluations as for precision and efficiency of the modeling model for geometric models of building roofs. The method has following advantages: 1) modeling efficiency and precision is high so that city neighborhoods of many repetitive buildings can be suitably modeled; 2) the method facilitates integration with other methods in order to increase application scope of modeling methods and layered details of models.

The invention discloses a repositioning method, apparatus and device for a camera pose tracking process, and a storage medium, and belongs to the field of augmented reality. The method comprises the steps that when a target image meets a repositioning condition, a front-end program is used for switching the target image into an (i+1)th mark image, and sends the target image to a back-end program;the front-end program obtains a current image collected after the target image, and performs feature point tracking on the current image relative to the target image to obtain a first pose parameter;the back-end program conducts re-positioning on the target image to obtain a second pose parameter, and sends the second pose parameter to the front-end program; and the front-end program calculates acurrent pose parameter of the current image according to the first pose parameter and the second pose parameter. According to the repositioning method, apparatus and device, even if the time for a re-positioning result of the target image by the back-end program is relatively long, a positioning result of the current image also can be corrected, so that a relatively good repositioning effect is guaranteed.

The invention discloses a data recording analysis system and method for a maneuver missile launching device. The data recording analysis system comprises a missile launching device data recording device and an upper computer. The missile launching device data recording device comprises an ARM microcontroller module, a power module, a digital signal processor (DSP) module, a data storage card slot, a universal serial bus (USB) interface circuit module, a power switch, a video decoder, an analog to digital (A / D) conversion circuit module, a first voltage conversion circuit module, a camera, a second voltage conversion circuit module, a data storage card, a keyboard, a video output interface and a display. A USB interface of the upper computer is connected with a card reader. The method comprises a first step of installation, a second step of benchmark data collection and recording, a third step of shooting data collection and recording and a fourth step of data download, analysis and process and display. The data recording analysis system and method are novel and reasonable in design, convenient to achieve, high in data recording precision, good in judgment accuracy, and complete in function and high in practicality and popularization application value.

The invention discloses a network safety management system based on an alarm strategy The system comprises a safety event collecting module, a real-time risk evaluation module, an alarm strategy obtaining module and an alarm execution module; the safe event collecting module normalizes safety logs via a network safety device, generates a safety event and collects the safety event; the real-time risk evaluation module evaluates the risk degree of a safety event; alarm information is emitted for the safety event whose risk degree is greater than a risk degree threshold; the alarm strategy obtaining module receives the alarm information and obtains the corresponding alarm strategy; and the alarm execution module executes the alarm according to the alarm strategy. According to the invention, the alarm information itself is corrected and managed, the controllability, instantaneity and flexibility of network safety are improved, and the reliability of output alarm information is ensured.

The present invention provides an automobile battery state of charge correction method and device. The method comprises the steps of real-timely calculating the to-be-corrected state of charge values, the temperatures and the open-circuit voltage values of a battery pack during the operation process of an automobile; testing to obtain an open-circuit voltage-state of charge curve of the battery pack under different temperatures, and obtaining the areas satisfying the preset conditions in the open-circuit voltage-state of charge curve as the effective correction voltage areas; selecting the effect correction voltage area under the corresponding temperature according to the temperature of the battery pack during the operation process of the automobile, and obtaining the corresponding state of charge value in the selected effective correction voltage area according to the open-circuit voltage value of the battery pack during the operation process of the automobile. According to the automobile battery state of charge correction method and device provided by the present invention, the problem that the automobile battery state of charge estimation is not accurate enough, is solved.

The invention discloses a data label correcting method, and relates to the field of machine learning. The method comprises the steps of loading a data set to be corrected; training a machine learningmodel to obtain a matched model; adopting data of the testing set as an input data input matching model, and obtaining matching results output by the matching model so as to update a data label of each piece of input data; when the number of the matching results does not reach a preset value, on the basis of the data of the data set to be corrected, constructing a novel training set and a novel testing set; when the number of the matching results reaches a preset value, combining the obtained matching results and preset data labels, for each piece of data in the data set to be corrected, calculating a correction confidence degree of each label so as to correct the data label of each piece of data in the data set to be corrected. The invention further provides a data label correcting deviceand a storage medium, the reliability of data labels of data can be effectively improved, and therefore the prediction accuracy degree of the obtained machine learning model is increased.

A method for compensating the radial error of precise and ultraprecise grinding abrasion wheels and an application of the method for compensating the radial error of the precise and ultraprecise grinding abrasion wheels belong to the technical field of precise and ultraprecise processing and aim to solve the problem which is caused by radial error and radial run-out in the prior art. The method comprises the following steps: the radius of the abrasion wheel is determined through a multi-measurement method; a central path of an abrasion wheel grinding process is determined according to the determined radius of the abrasion wheel; and the abrasion wheel with the determined abrasion wheel radius in the step 1 is ground along the central path of the determined abrasion wheel in the step 2. According to the method, the edge points of the abrasion wheel are randomly selected to determine a plurality of circle centers of the abrasion wheel so as to determine the radium of the abrasion wheel, so that the radius of the abrasion wheel is corrected, the surface precision of a processed element is ensured, and the processing precision is increased; and according to the method for compensating the radial error, edge point coordinates are determined when the abrasion wheel rotates at high speed, the distribution of circle center points is integrated to determine the radial run-out of the abrasion wheel to a certain extent, and the compensating process is further corrected.

The invention discloses a sewing track error correction method and device based on 3D robot sewing. The device comprises a sewing machine head and a mechanical arm, wherein the sewing machine head is mounted on the mechanical arm; a needle is arranged on the sewing machine head; a laser line scanner is mounted on the sewing machine head; the mechanical arm drives the sewing machine head to be wholly moved to a set position; and the laser line scanner starts to perform fixed-point or continuous scanning on sewed workpiece characteristics, and the scanning result and deviation of the original sewing track of the sewing machine head are fed back to a robot control program, so that the needle of the sewing machine head can perform accurate sewing on the deviation-corrected track of the sewed workpiece. According to the method and device disclosed by the invention, the sewing guide characteristics are scanned by utilizing the laser line scanner, and after the deviation is obtained, the sewing machine head corrects the actual sewing track according to the deviation so as to perform sewing.

The invention provides a method for estimating the state of a large power grid based on Givens orthogonal increment line transformation. The method for estimating the state of the large power grid based on the Givens orthogonal increment line transformation comprises the following steps that the Givens orthogonal increment line transformation is conducted, local correction of a factor table is conducted, and the state of the large power grid is estimated. According to the method for estimating the state of the large power grid based on the Givens orthogonal increment line transformation, on the premise that the stability of a state estimation algorithm is guaranteed, the calculation speed for state estimation is greatly increased, the method can be flexibly adapted to the change of a power grid model, a previous factor table calculation result can be used continuously under the condition that the topology, measurement and parameters change, fast estimation of the state of the power grid at present can be achieved, the practicability level of state estimation is further improved, and the technical support is provided for the development of intelligent regulation and control systems and construction of intelligent power grids.