2results about How to "Improve Guidance Accuracy" patented technology

The application discloses a visual-based contact type measuring robot adaptive measuring point relative guiding method, which comprises a 2D visual-based product image contour matching method, realizes 4-degree-of-freedom measuring point guiding of plane translation, rotation and height scaling, and is suitable for contact type six-axis cooperative measuring robot measuring point guiding measurement of products with local features; the method comprises the following steps: teaching contact type six-axis cooperative measuring robot measuring points of a product to be measured; determining a teaching 2D measuring pose, obtaining a product multi-scale contour image template under the teaching 2D measuring pose and a multi-scale image of the current product, and performing contour matching of corresponding scale levels; based on the contour matching result, calculating a first pose deviation under the teaching 2D measuring pose, transforming the first pose deviation to all teaching point positions of the teaching 2D, performing pose transformation, performing iterative updating on all measuring point positions, and obtaining all updated first measuring point poses. The application better realizes adaptive contact type measuring point measurement of products.

The application provides an improved closed-loop guidance method suitable for a reusable rocket, and relates to the technical field of rocket recovery guidance. The method comprises the following steps: determining the velocity and position in the launch inertial system at the engine shutdown time of the power deceleration stage according to the initial value of the remaining flight time of the active stage, the real-time gravity acceleration and the initial value of the program angle of the power deceleration stage; determining the absolute longitude difference between the position in the launch inertial system at the engine shutdown time of the power deceleration stage and the target point; determining the remaining flight time of the passive stage; and determining the required velocity and program angle calculation value of the closed-loop guidance. According to the application, the calculation method of predicting the state of the shutdown point can be used to calculate the required velocity, the program angle change rate of the power deceleration stage is reduced, the control effect is optimized, and the stability is improved. Moreover, the calculated required velocity can reach the position constraint and velocity direction constraint of the passive stage end point after the rocket is shut down, the structure is simple, the operation efficiency is high, and the method is convenient to run on different hardware.