45results about How to "Make up for uncertainty" patented technology

The invention relates to an unmanned aerial vehicle (UAV) control method and designs an adaptive law and nonlinear controller with good robustness and capable of compensating the uncertainty of a dynamic system for a small unmanned helicopter. A model-free adaptive robust control method for a small unmanned helicopter comprises the following steps of: designing a controller for adjusting and compensating the output data of the controller at the current time in real time according to attitude sampling data at a previous time and the output sampling data of the controller so as to achieve good small unmanned helicopter attitude control, wherein (1) establishing a small unmanned helicopter-related coordinate system: (2) establishing a dynamic module between the horizontal cyclic pitch, the vertical cyclic pitch, and the tail rotor collective pitch of the unmanned helicopter and the roll angle, the pitch angle and the yaw angle of the UAV; and (3) designing a nonlinear controller. The control method is mainly applied to the control of UAVs.

The invention discloses a biogas slurry COD on-line monitoring and safe utilization regulating system. The biogas slurry COD on-line monitoring and safe utilization regulating system comprises a COD on-line monitoring instrument, a central system control box, a biogas slurry pool, a water storage pool, an irrigation pipeline, a pump room, a frequency converter and a turbine stirrer, wherein the pump room is composed of a biogas slurry pump and a water pump, the joint of the biogas slurry pump and the irrigation pipeline is closer to the water outlet of the irrigation pipeline compared with the joint of the water pump and the irrigation pipeline, the central system control box receives and processes a signal of the COD on-line monitoring instrument, and directly controls the operation of the water pump, the frequency converter controls the operation of the biogas slurry pump, and the turbine stirrer is arranged at the position, close to the water outlet of the irrigation pipeline, in the irrigation pipeline. The invention further discloses a use method of the safe utilization system. According to the system and the method provided by the invention, the COD on-line monitoring instrument is adopted for carrying out real-time monitoring on the biogas slurry before irrigation, and the combined application ratio of the biogas slurry to water is guided according to the monitoring result, so that the operating control based on the COD application safety is realized, further, the growth safety of crops is guaranteed, and in addition, an effective reference basis is provided for scientifically and reasonably utilizing the biogas slurry.

The invention relates to a system and method for downscaling analysis of meteorological elements of power transmission lines with multi-method integration. The device includes: a comprehensive forecasting device for calculating comprehensive forecast values ​​and sending the forecast values ​​to a dynamic integration module; terrain complexity The closest grid point forecasting device is used to calculate the forecast value by the terrain complexity closest method, and send the forecast value to the dynamic integration module; the dynamic integration device is used to receive the comprehensive forecasting device and the terrain complexity It is closest to the forecast value sent by the grid point forecasting device, and calculates the dynamic integrated forecast value. The multi-method fusion meteorological elements downscaling analysis system and method of transmission lines of the present invention start with the gridded numerical forecast product features, and make accurate predictions of meteorological elements in a small area or a certain designated point through downscaling technology, which is Access high-resolution weather forecast information for transmission lines.

The invention discloses a WiFi indoor positioning method based on an anchor point and a position fingerprint recognition algorithm. The signal strength of the anchor point is used to correct the position fingerprint data, so that the position of the terminal receiver can be accurately positioned and the response is quick. The present invention uses the anchor point as the reference value for strength correction, which better corrects the instantaneous signal strength change and makes up for the uncertainty of the average value of the position fingerprint at a specific moment. It is obtained by using the KNN matching algorithm and the weight-based coordinate calculation method. The location of the point to be measured effectively reduces the error caused by signal fluctuations. In addition, using the point vectors to be measured to refine the vector set in the database can avoid the RSS vector misalignment caused by AP changes. The present invention has high positioning accuracy and rapid response, and is especially suitable for indoor position positioning of Android device terminals.

The invention provides a method for determining sodion content in a diphosphonic acid monosodium salt compound. A titration end point is judged by means of a potential method or an indicator method, and the method for determining the sodion content in the diphosphonic acid monosodium salt compound is simple, rapid, high in accuracy of analysis results, low in cost and effective.