293results about How to "Implementation location" patented technology

The invention provides an indoor range finding and positioning method based on MIMO-OFDM channel state information. A present commercial WiFi network card based on OFDM is fully utilized, channel state information CSI is obtained by a client at a position to be measured, an MIMO system whose receiving / transmitting end includes multiple antennas is combined, a free-space path loss model based on MIMO-OFDM is provided, the line of sight LOS distance between a WiFi access point AP of an indoor anchor point and a user at the position to be measured is calculated, and finally the position of the user is obtained by a classic three-side positioning method. The method is based on the multi-antenna WiFi AP which is used most widely at present and a mainstream wireless network card based on OFDM, and can realize rapid, simple and efficient indoor range finding and positioning.

The invention discloses a double-arm robot cooperative impedance control method based on an estimated dynamics model. Firstly, the expected trajectory of the Cartesian space at the tail end of two arms of a robot is calculated according to the expected trajectory of the target object in the Cartesian space, then the actual contact force generated by the tail ends of the two arms and the target object is measured, deviation between the actual contact force and the expected contact force is figured out, and then the expected trajectory is corrected; then the joint angle trajectory of the double-arm robot is figured out; and by means of time delay estimation, expected speed feedback and expected position feedback, an estimated dynamic model of the double-arm robot is obtained, control momentsof joints of the double-arm robot are obtained accordingly, and the double-arm robot is controlled to complete movement. According to the method, the coordination of kinematics and dynamics in the interaction process of the double-arm robot and the external environment can be realized, the control torque can be rapidly generated by estimating the dynamics model, and the method can be applied to the motion control of the cooperative operation of the double-arm robot.

The invention discloses a deception jamming signal detection method based on a single receiver. The method comprises steps: the position of a satellite after correction under an ECEF coordinate systemis acquired, satellite clock offset correction, ionosphere delay correction and troposphere delay correction are used to correct a measured pseudo range to obtain a pseudo range after correction, a least square method is used for iterative solution, the first position of a carrier under the ECEF coordinate system is obtained, and based on a pseudo range double difference model of the satellite, Taylor's approximation is carried out for iterative solution to obtain the second position of the carrier under the ECEF coordinate system; and according to whether the position offset between the first position and the second position is larger than a preset threshold, whether the currently-received signals are the deception jamming signals is judged. The detection is realized by only requiring the single receiver or a single antenna and the pseudo range measurement information, requirements on equipment are low, the algorithm is simple and efficient, the realization process is simple, and themethod is applicable to generation-type deception jamming and forward-type deception jamming.

The present invention belongs to the field of laser precision detection technologies and laser micro-nano machining monitoring technologies, and relates to a laser micro-nano machining differential confocal online monitoring integration method and device which can be used for laser micro-nano machining and online detection of a complex micro-nano structure. A laser differential confocal axial monitoring module with high axial resolution and a femtosecond laser machining system are organically integrated, a differential confocal system curve zero point is employed to perform nanoscale monitoring of a sample axial position and measurement of a sample axial machining size to achieve real-time fixed focus of the sample axial position and high-precision measurement of the micro-nano structure size after machining, solve the drift problem and the high-precision online detection problem in the measurement process, improve the controllability of micro-nano femtosecond laser machining precisionand sample machining quality. Prior to machining, a microimaging module is utilized to perform rough alignment and horizontal position identification of the sample.

The invention discloses unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications, and belongs to the field of automatic control and image processing. According to the unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications, a camera is used for identifying ground identifications, and aircraft positionand pose regulation is completed via combination of inertial elements, a magnetometer, and optical flow module information without GPS signals; the inertial elements and the optical flow module are used for obtaining pitching rolling information and position information of the aircraft; the magnetometer is used for obtaining the yaw information of the aircraft; the camera is used for obtaining images of the ground identifications; the position and the pose of the aircraft with relative to the initial geographic coordinate system is calculated based on the position and the pose of the ground identifications in the obtained images and the initial geographic coordinate system; the pose information obtained using the camera is used for pose calibration of the pose obtained using the inertial elements, the magnetometer, and the optical flow module. In the unmanned aerial vehicle self-localization and pose regulation technology, a net with fixed intervals composed of white characteristic belts, or ground tile slits can be taken as the ground identifications, and the global positioning and the poser calibration of the aircraft are realized.

The invention belongs to the field of radio navigation location technology and especially relates to a Beidou terminal signal receiving and processing device and method. The device includes an antenna unit, a radio frequency unit, a baseband signal processing unit, an information processing unit, a power unit and a display control unit connected successively. The method includes capturing fake satellites and satellites respectively by adopting a storage-based baseband capturing method; receiving fake satellite signals and real satellite signals for fake satellite and satellite information decoding; performing updating operation on extracted navigation parameters; extracting carrier phase, code phase and Doppler observation information and performing calculation on location, speed measurement and time service. According to the invention, by the design of an integrated antenna receiving the satellite signals and the fake satellite signals and a radio frequency front end and with the adoption of an algorithm realizing seamless positioning depending on independent positioning and compatible positioning for solving a problem of near-far effect of the two kinds of signals, constellation geometric structure is improved and user positioning precision is improved.

The invention relates to the technical field of machining equipment, in particular to a flexible bending center. The flexible bending center comprises a positioning machine table, a feeding device penetrating the positioning machine table to carry out feeding and a bending device used for machining a material. The positioning machine table comprises two emptying tables and a positioning mechanism arranged on the emptying tables. The feeding device comprises a clamping rotating mechanism, a pushing mechanism arranged on the clamping rotating mechanism and a longitudinal moving drive mechanism used for driving the clamping rotating mechanism to move, and the bending device comprises a bending machine table, a pressing mechanism arranged on the bending machine table and a turnover mechanism used for bending the material. The center is reasonable in structural design and sensitive in action, automatic feeding and bending of boards and changes of board bending positions can be achieved, the bending work efficiency is improved, board positioning is accurate, and quality of bending products is ensured.

The invention discloses an auto disturbance rejection control method for a space robot with actuator saturation. The method comprises the following steps: arranging a proper transition process for anexpected track and posture of a system by designing a tracking differentiator, and meanwhile, acquiring a differential signal with an expected value to make preparation for subsequent controller design; and designing a sampling expansion state observer by utilizing a discrete output signal, performing real-time estimation on the total non-linear uncertain items which are formed by the state of thespace robot system as well as coupling and external disturbance, and compensating the estimation values of the non-linear uncertain items into an error feedback control rate. By the method, adverse influence on the system by non-linear factors such as internal and external disturbance can be avoided, and the fact that an actuation mechanism implements accurate position and posture control on thespace robot within the saturation range can be guaranteed. The control strategy provided by the invention has a good control effect on the space robot system considering sampling output and with actuator saturation, and can be widely applied to other non-linear systems.

The invention discloses a remote hydrological monitoring system which comprises a lifting mechanism, a telescopic mechanism, a water level sensor, a flow velocity sensor, an infrared camera and a control box. The telescopic mechanism is mounted at a top of the lifting mechanism. The control box is mounted on the telescopic mechanism. The water level sensor, the flow velocity sensor and the infrared camera are all mounted on a lower side surface of the control box in a suspended manner. A power supply module, a controller, a memory and a 4G communication module are arranged in the control box.According to the remote hydrological monitoring system, the 4G communication module can be used for sending water level data, flow velocity data and image information of a river channel to a remote control center, so that remote unmanned monitoring is realized. The position and height of the control box can be adjusted through the telescopic mechanism and the lifting mechanism, the installation ofriver channels of various sizes is satisfied, and the system has good universality.

The invention discloses a fault monitoring and fault-tolerant control method for an electric vehicle driving system. The method overcomes the problem that incremental signals A and B of a magnetoelectric hybrid type encoder fail to cause that the driving system loses accurate position information. The method comprises the following steps: firstly, judging the initial rotor position of a permanent magnet synchronous motor by a motor control unit; secondly, controlling motor start-up in a six-pulse control mode according to the initial rotor position by the motor control unit; thirdly, judging whether the height of any path of level in the levels of absolute signals HA, HB and HC of the magnetoelectric hybrid type encoder changes by the motor control unit, entering a fourth step if the change occurs, if not, returning to the second step; fourthly, obtaining accurate rotor absolute position information according to the absolute signal level change edge of the magnetoelectric hybrid type encoder; fifthly, collecting the current state Q(n) of the incremental signals of the magnetoelectric hybrid type encoder by the motor control unit; ......; and ninthly, carrying out space vector calculation by utilizing the rotor position information calculated in the seventh step or the eighth step by the motor control unit so as to complete a one-time timer interruption task.

The invention aims to provide a robust general steganalysis method for image content awareness. The method of the invention can better utilize the advantage of the CS technology to process digital images, and further improve the data processing efficiency and the classification judgment precision of the steganalysis. The method comprises the following steps: (1) setting the size N, a block size B and a measured value M of a digital image X; (2) determining a 9 / 7-Haar DWT sparse matrix Psi; (3) determining a Hadamard measurement matrix PhiB of the BCS; (4) dividing a digital image into B*B blocks and calculating a measurement vector yi and the measurement data Y of the entire image X; calculating the measurement vector yi of the i-th image block and the measurement data Y of the entire image X according to the Hadamard measurement matrix PhiB ; and (5) dividing the image into a smooth part and a non-smooth part as a perceived result; (6) a training process; 7) a classification process; 8) a judgment and analysis process; and 9) repeating iterative search until the entire image data is detected.

The invention relates to a permanent magnet suspension bearing, which comprises an inner ring (1), an outer ring (2), a plurality of first radial permanent magnets (3) and at least one axial permanent magnet (4), wherein a plurality of permanent magnet rings (21) are fixed on the inner circumferential surface of the outer ring (2), the inner ring is sleeved in the outer ring, the inner diameter of the permanent magnet rings is larger than the outer diameter of the inner ring, and adjacent permanent magnet rings are mutually isolated along the axial direction; the first radial permanent magnets are fixed on the inner ring, respectively correspond to the permanent magnet rings and are attracted to the permanent magnet rings through magnetic force along the radial direction; and the axial permanent magnet (4) is fixed on the inner ring and is positioned between the permanent magnet rings, so that the outer ring is in a force balance state along the axial direction. The invention also provides an installation structure of the permanent magnet suspension bearing. The permanent magnet suspension bearing provided by the invention is more suitable for the working occasion in which the outer ring is a rotor and the inner ring is a stator, and can bear larger load.

The invention discloses an automatic welder for DC wires of a power supply. The automatic welder comprises a conveying pulling body, jigs, a jig positioning mechanism, a pressing mechanism and a welding mechanism, wherein the conveying pulling body is arranged on a rack along a left-right direction; the at least two jigs are arranged on the conveying pulling body; at least two PCBs of the power supply and DC wires of the power supply are placed on the jigs; a welding station is arranged on the side part of the conveying pulling body; the jig positioning mechanism is arranged at the welding station; the pressing mechanism is arranged on the front side of the jig positioning mechanism; the welding mechanism bestrides the upper side of the conveying pulling body and is arranged correspondingto the jig positioning mechanism, and the welding mechanism solders and fixes the connecting parts of the DC wires of the power supply and the PCBs of the power supply; and the jig positioning mechanism loosens the jigs after being soldered. The PCBs and the DC wires which are automatically conveyed and welded are effectively jointed, the PCBs and the DC wires are clamped stably; and the welding mechanism with a flexible fine tuning function achieves precise welding and automatic smoke exhaust and is high in welding efficiency.

The invention discloses a quad-rotor unmanned aerial vehicle suspension air transportation system trajectory planning method based on reinforcement learning. The method comprises the steps that firstly, a performance index evaluation function is constructed; according to the optimization principle, the index function is substituted into a Hamilton-Jacobi-Bellman equation, and then the approximatesolution of the HJB equation is solved by updating the output layer weights of an execution network and an evaluation network in real time, so that the optimal control quantity is obtained. Compared with the prior art, the method has the advantages that the influence caused by unknown disturbance of the flight environment can be effectively suppressed, and trajectory planning and accurate positioncontrol of the unmanned aerial vehicle suspension flight system are realized.

The invention discloses a high-performance imaging spectrometer with a high space and high spectral resolution, and relates to the remotely-sensed imaging technology. The high-performance imaging spectrometer comprises a spectrometer, a movement platform, an object stage, a scaling device, an auxiliary optical device, a platform control cabinet and a control computer, wherein corresponding software is copied in the control computer in advance. The spectrometer disclosed by the invention is characterized in that the technical indexes are as follow: the spatial resolution is 0.5mm, the spatial resolution is 3-5nm, the visible light-wave infrared zone in the spectral region is 0.4-2.5 mu m, the signal-to-noise ratio of the main spectral region is more than 3000, and the radiation calibration can be accurately carried out.

The invention relates to a remote temperature and humidity test system for environmental test equipment calibration. The system comprises at least one temperature and humidity sensor node with the data transmission function, a data receiving node and a cloud server. Automatic networking between the temperature and humidity sensor nodes with the data transmission functions and between the temperature and humidity sensor nodes with the data transmission functions and the data receiving node is realized by using an ANT Wireless technology. The data receiving node and the cloud server are connected via the wireless internet. In addition, the invention also discloses a remote temperature and humidity test method for environmental test equipment calibration. With the internet+, the original modeof on-site equipment detection by the detection engineer is changed and thus the user can realize the access to the cloud server via the internet by using a mobile phone or a computer browser based on needs. Therefore, functions of detection process controlling, real-time data browsing, and one-key detection report issuing and the like can be realized. The test system and test method have the broad application prospects.

The invention discloses a large-scale ring rolling machine proportion servo-control system which belongs to the technical field of high-precision electrohydraulic servo control. The large-scale ring rolling machine proportion servo-control system comprises a five-axle control system which is formed by a radial rolling control system, an axial rolling control system, a follow-up stand control system, a centering roller rolling control system and a conical roller rotate speed control system; through the theoretical position setting and the actual position detection of radial rolling, axial rolling, a follow-up stand, a centering roller, and the like, a five-axle closed-loop position control system is formed by taking the theoretical sizes of an outer circle, an inner circle and the height of a ring member and the linear velocity of the outer circle of the loop member as target values and the detection values of the core roller position, the conical roller position, the follow-up stand position, the centering roller position and the conical roller rotate speed as feedback, therefore, five axles after being controlled can be debugged in a relatively independent way, thereby the safety and reliability of the system is increased, the rolling working of the control systems is stable, and the control precision is high.

The invention relates to a measuring and positioning system of an underwater evener, which comprises an evening boat measuring and positioning system, an evener measuring and positioning system and a microprocessing unit. The invention adopts a positioning mode that an evening boat and an evener are respectively independent, accurately determines the plane position, elevation and horizontal attitude when the underwater evener works and the actual elevation of a foundation bed surface in acceptance through the equipment of a GPS (global positioning system), a tilted sensor, a position sensor, a depth sounder and the like, simultaneously realizes the position and attitude positioning of the evening boat, and realizes the functions of design and management of a working zone, data acquisition of the equipment, real-time calculation, real-time display, early alarm and alarm for limit overrun, data storage, data playback and the like through the microprocessing unit.

The invention discloses an eddy imaging based metal component defect quantitative detection method and device. Aiming at problems of failure in simultaneous quantitative detection of the position, width and depth of defects, serious noise interferences on characteristic signals and low accuracy in defect quantitative detection in existing eddy detection, the method includes steps: extracting difference peak characteristic signals of different scanning position points on a metal component; taking the extracted difference peak characteristic signals as eddy imaging pixels for eddy imaging of defects; acquiring defective areas according to obtained eddy images; determining step length quantity in the defective areas; acquiring widths of the defective areas according to scanned step lengths and the obtained step length quality in the defective areas; after determination of the defect widths, acquiring defect depths according to a defect depth back calculation module. The method and the device have the advantage that complex image processing techniques are avoided, so that processing steps are simplified.

The invention relates to an accessory (10) for a sliding door or a sliding window, the sliding door or the sliding window is provided with a fixed frame (7) and a sliding wing (8), and the sliding wing (8) can at least be arranged in a parallel manner relative to the fixed frame (7) and can move in a sliding manner. The accessory comprises a least a sliding vehicle (1), a sliding track (6) and anti-dislocation mechanisms (5, 20), the sliding vehicle (1) coupled to the sliding wing (8) can move in a sliding manner along the sliding track, the anti-dislocation mechanisms (5, 20) are used for preventing the sliding vehicle (1) from popping out from the sliding track (6), the anti-dislocation mechanisms (5, 20) are provided with rotating members (9, 21) which can rotate at between acting positions and non-acting positions around rotating shafts, and the anti-dislocation mechanisms (5, 20) are directly arranged on the sliding vehicle.

The invention discloses a traffic signal lamp fault detection method. The method comprises the following steps: obtaining an electronic police video stream under various weather conditions, and decoding the electronic police video stream to obtain traffic signal lamp image information, position information of a traffic signal lamp group in an image, and type information and position information ofeach signal lamp in the traffic signal lamp group; and setting a detection area and a lamp group area of the signal lamp group, If the detected signal lamp position is in the set lamp group area, counting the type and position information of the signal lamp in the set lamp group area. The method has the characteristics that the problems of small-range camera jitter and position offset are effectively solved, the false alarm rate of signal lamp fault detection based on the video is reduced, and the alarm accuracy is improved.

The invention relates to a femtosecond laser processing parameter confocal Raman microspectroscopy in-situ monitoring method and device, and belongs to the technical field of laser precision detectionand femtosecond laser processing and manufacturing. A laser confocal axial monitoring module with a high axial resolution is organically integrated with a femtosecond laser processing system, a confocal system curve maximal point is utilized for conducting nanoscale monitoring and sample axial processing size measurement on the sample axial position, real-time focus fixing of the sample axial position and high-precision measurement of the size of a processed micro-nano structure are achieved, and the drifting problem and the high-precision online detection problem in the measurement process are solved; a confocal Raman microspectroscopy detection module is utilized for monitoring and analyzing information such as molecular structures of sample materials subjected to femtosecond laser processing, the information is integrated through a computer, microstructure femtosecond laser high-precision processing and micro-domain form performance in-situ monitoring analysis are integrated, and the controllability of microstructure femtosecond laser high-precision processing and the processing quality of the samples are improved.

The invention provides a real-time imaging detection system for the X-ray detection of a weld joint of a cylinder. The system comprises a control console provided with a control computer, a high pressure generator, an X-ray tube head connected with the high pressure generator, an X-ray imaging receiver, a motion transmission mechanism, a gantry bracket, a guide rail pair positioned below the gantry bracket, a circulating water cooler for cooling the X-ray tube head, and a tool for mounting a to-be-detected weld joint cylinder, wherein X-ray imaging software is arranged on the control computer; the X-ray tube head and the X-ray imaging receiver are arranged on different motion output members of the motion transmission mechanism opposite to each other; the tool for mounting the to-be-detected weld joint cylinder is a tool which is driven by a motor to rotate around a vertical axis; at least four rollers matched with the guide rail pair are arranged below a tool bracket; and the signal control ends of the X-ray tube head, the X-ray imaging receiver and a motion transmission mechanism driving motor of the X-ray tube head, the X-ray imaging receiver and the signal control end of a tool rotation driving motor are respectively connected with the signal control end of the control computer.

The invention provides a supply chain management system based on a cloud platform, and aims at overcoming disadvantages in the prior art. The system comprises a service end and clients. The service end is loaded in the cloud platform, the cloud platform receives data of the client, the data is analyzed and processed, and corresponding feedback information is back fed to the clients. The service end comprises a waybill matching module, a financial management module, a logistics monitoring module, a vehicle condition monitoring and early warning module, a road information monitoring module and adatabase module. The clients include a vehicle mounted client, a shipping party client, a carrier client, a financial client and a consumption client. The system can update transport vehicle information in logistics of a supply chain timely, positions and progress of a transport vehicle can be monitored in the whole course, the consignment fund is closed in a closed loop way, bills and documentsare obtained timely, the logistics cost is reduced greatly, and the logistics efficiency is improved.

The invention relates to a line-driven continuous flexible mechanical arm and a flexible robot comprising the line-driven continuous flexible mechanical arm. The line-driven continuous flexible mechanical arm comprises a space flexible arm and multiple driving control modules arranged on the top of the space flexible arm. The space flexible arm comprises multiple flexible arm foldable frameworks which are sequentially connected in series and coaxially arranged. Each flexible arm foldable framework comprises an upper platform, multiple bendable folding plates, flexible springs and a lower platform, wherein the folding plates and the flexible springs are located between the upper platforms and the lower platforms, the multiple folding plates of each flexible arm foldable framework are sequentially arranged at intervals and form cavities, and the flexible springs are located in the cavities. Cables which can be wound and unwound are arranged between the space flexible arm and the driving control modules, the top ends of the cables are wound and fixed to the driving control modules, and the bottom ends of the cables are fixed to the lower platform of the flexible arm foldable framework located at the bottommost end. Compared with the prior art, the line-driven continuous flexible mechanical arm has the advantages that the length and different bending forms of the flexible mechanical arm and the position of the flexible mechanical arm in the space are achieved, and the accurate control over the tail end of the flexible mechanical arm is achieved.

The invention provides a camera calibration system. A calibration platform of the camera calibration system comprises an X-axis translation mechanism, a Y-axis translation mechanism, a Z-axis translation mechanism, an X-axis rotation mechanism, a Y-axis rotation mechanism, a Z-axis rotation mechanism and a fixed platform, and has 6 degrees of freedom. Meanwhile, the invention provides a calibration method of the camera calibration system. The method comprises the following steps of: establishing a coordinate system of each axis according to size parameters of the calibration platform; and obtaining a position and a direction of a calibration plate or a reference substance at any moment through recording a position of each axis by an encoder of each axis, so as to further realize translation and rotation of the calibration plate or the reference substance in any direction. The camera calibration system is capable of replacing robot platform to calibrate internal and external parametersof cameras, customized clamps fixedly connected between robots and the tail ends of the cameras are not required, and the traditional calibration method and self-calibration method can be convenientlyused, so that the system is simple to operate and flexible to use; and compared with the working manner of moving the cameras by the robots, the manner of carrying out calibration through moving thecalibration plate or the reference substance has the effect of greatly reducing the mistaken operation probability.

The invention discloses a sandwich type structure insulation board production facility. The sandwich type structure insulation board production facility comprises a locating supporting frame. A lifting locating mechanism which can move up and down is arranged on the front side of the locating supporting frame, a clamping mechanism which is used for clamping a middle insulation layer is fixedly arranged in the lifting locating mechanism, and a turnover mechanism which can control the clamping mechanism to be turned over is arranged on the lifting locating mechanism. Meanwhile, limiting lockingbases which cooperate with the lifting locating mechanism are arranged at the upper end and the lower end of the front side of the locating supporting frame, and an adhesive application mechanism which conducts adhesive application on the clamped middle insulation layer in the clamping mechanism is arranged on the rear side of the locating supporting frame. By means of the sandwich type structureinsulation board production facility, the process that after adhesive application operation is conducted on one side of the middle insulation layer, and a sheet of plywood adheres to the side of the middle insulation layer, the turnover of the middle insulation layer is achieved under the turnover action of the turnover mechanism, then adhesive application operation is conducted on the other sideof the middle insulation layer, and a sheet of plywood adheres to the side of the middle insulation layer is achieved, the automatic adhesive application and double-side adhesion adhesive applicationprocess of the middle insulation layer is achieved, and the combination manufacturing efficiency of an insulation board is improved.

The invention discloses a portable multifunctional folding chair. The portable multifunctional folding chair is characterized by comprising a seat, a chair back and chair legs, wherein an angle adjusting device is arranged at the joint of the chair back and the seat; each chair leg is of a two-section structure connected by use of a shaft; each chair leg is connected with one end of an air spring, and the other end of the air spring is connected with a four-rod mechanism; an air spring valve is linked with a cross rod; the seat is arranged into two layers and a positioning locking mechanism is designed on the seat. According to the portable multifunctional folding chair, the angle adjusting device is arranged so as to adjust the position of the chair back; the four-rod mechanisms and the air springs are arranged so as to realize the linkage of the front and back chair legs; besides, the portable multifunctional folding chair is provided with a first plank and a second plank to realize the functions of a luggage case, a ladder and a tea table, has more functions than the existing commercial products, and is more convenient and easier to operate.

The invention provides a movable base measurement method. A movable base measurement system is adopted to measure the position and posture of a maneuvering target and comprises a positioning and orientation device, a camera, a rotating table and a range finder, wherein the camera and the range finder are installed on a table body of the rotating table, the rotating table and the positioning and orientation device are installed on the same installing face of a carrier. The movable base measurement method comprises the measurement steps that 1, a tracking characteristic point is selected from the target, and the rotating table is controlled to rotate, so that the optical axis of the camera is aligned to the tracking characteristic point, and the rotating angle of the rotating table during alignment of the optical axis is recorded; 2, the range finder measures the distance between the carrier and the target, and the positioning and orientation device measures the position and posture angle of the carrier; 3, the target position is calculated according to the position and posture of the carrier, the distance between the carrier and the target and the rotating angle of the rotating table; 4, M characteristic points are selected from the target, the camera is utilized to conduct imaging on the target, and the target posture is calculated according to the position relation of the pixel points corresponding to the M characteristic points in a picture and the pixel point corresponding to the tracking characteristic point.