1785results about How to "Meet the precision requirements" patented technology

The invention discloses a spatial circle geometrical parameter dual-eye solid visual measurement method suitable for non-contact type online measurement of the spatial circle geometrical parameter of an industrial product, aiming at overcoming the existing problems of low measurement precision, slow measurement speed and low automation degree. The method is divided into a calibrating stage, an image processing stage and a spatial circle fitting stage. A neural network technique is firstly adopted to carry out the calibration of a camera; a dual-camera is utilized to carry out the extraction of sub-pixel image edges of the spatial circle, a simple algorithm is developed based on the image gray gradient distribution characteristic so as to realize the match of edge points, the practical 3D spatial coordinates of the circle edges are then obtained, and the geometrical parameters of the spatial circle comprise radius, position of center of circle and orientation of the plane where the spatial circle is arranged are gained by the fitting of the spatial circle with corresponding mathematical geometrical knowledge. The spatial circle geometrical parameter dual-eye solid visual measurement method has fast image processing speed and high automation degree, and has relative measurement error of the spatial circle of superior to plus or minus 0.6% when the plane where the spatial circle is arranged has an angle of about 50 DEG with the image plane.

The invention discloses a robot reducer transmission performance comprehensive testing device. The robot reducer transmission performance comprehensive testing device comprises a base (14), wherein a drive motor (1), a first coupling (2), a reducer input end torque angular displacement sensor (3), a second coupling (4), a to-be-tested reducer (5), a third coupling (6), a reducer output end torque angular displacement sensor (7), a fourth coupling (8) and a brake (9) are arranged on the base (14), share the same axis on the level direction, and are connected in sequence, and the drive motor (1), the reducer input end torque angular displacement sensor (3), the to-be-tested reducer (5) and the reducer output end torque angular displacement sensor (7) are respectively arranged on the base (14) through a motor support (10), a first support (11), a to-be-tested reducer support (12) and a second support (13). The robot reducer transmission performance comprehensive testing device meets the requirements of transmission performance tests such as high precision composite roller movable teeth transmission reducer ratio, return difference and efficiency, and thus testing efficiency and testing accuracy are high.

The invention discloses the technical field of wind power prediction, particularly, relates to an ultrashort-term power prediction method. The method comprises the following steps of: firstly, acquiring the wind speed, the wind direction and the wind power of a wind power farm to form a sample set; then, preprocessing the data of the sample set; reducing dimensions of the preprocessed sample set by a depth autocoder network; and finally, training a relevance vector machine regression model by the sample set with reduced dimensions, and predicting the ultrashort-term wind power through the trained relevance vector machine regression model. The method reduces the training time of a prediction model, satisfies the requirements on precision and real-time property in system status estimation, and enables the prediction method to be more accurate.

The present invention discloses the making process of composite photocuring resin mold for preparing microfluid controlling chip of polydimethyl siloxane. The present invention adopts liquid photoresist of photosensitive epoxy resin as micro mold material, quartz glass as substrate, silane coupler coating on the substrate to increase the binding force between the mold structure and the substrate, plastic film of different thickness adhered around the substrate to control the thickness of photoresist, photoetching mask of photosensitive film from laser photoset, common ultraviolet lamp or ultraviolet laser as exposure light source, F46 film as exposure protecting film, absolute alcohol as developer, vibration for clear development contour and secondary photocuring after development to raise structure strength and structure-substrate binding force. The mold is used in copying microfluid control chip, biochip, soft mold for impression etching, etc.

The invention relates to a binocular vision positioning method for target grabbing of an underwater robot, and belongs to the field of computer vision. The method is mainly used for accurately acquiring three-dimensional information of a grabbed target when an underwater robot works. The method comprises the following steps: double-target positioning: calculating internal and external parameters of left and right cameras; target detection: positioning a target object detection frame; binocular image correction: carrying out distortion correction and stereo correction, and determining a right image target area; binocular image stereo matching: extracting image feature points, describing the feature points, performing stereo matching, and removing mismatching; and calculating the three-dimensional information of the target in the image under the left camera coordinate. According to the method, the accurate parallax value is obtained by extracting feature points, removing unstable featurepoints through non-maximum suppression, constructing a binary descriptor, matching the feature points and removing mismatching. Through the scheme, the binocular stereo matching robustness can be improved, and meanwhile, the three-dimensional information of the detection target can be accurately obtained, so that the real-time positioning requirement on the target when the underwater robot grabsthe target is met.

A channel calculation method for communication system of orthogonal frequency division multiplexing includes 1) creating OFDM pilot frequency signal for channel calculation by system emitter with thesignal including two parts of the pilot frequency insert mode and the pilot frequency value selection as well as to convert it to be the pilot frequency signal of time domain through inverse Fourier transformation, 2) transmitting the pilot frequency signal of time domain at radio multipath fading channel and 3) obtaining pilot frequency signal of frequency domain by changing the pilot frequency signal of time domain through Fourier transformation with system receiver and to carry on channel calculation for radio channel as obtaining calculation value of subchannel existed with the pilot frequency signal first by LMMSE calculation

The invention discloses an optimized bridge damage identification method based on a neural network. The optimized bridge damage identification method based on the neural network comprises the steps of S1, constructing sample data; S2, determining network topology; S3, conducting training and testing; S4, identifying damage, wherein real-time strain data of a bridge are input into a trained BP neural network, so that damage identification of the bridge is achieved, the real-time strain data of the bridge are obtained through sensors which are arranged optimally, the minimum number Ymin of unidentifiable models serves as an object function, and the arrangement positions of the sensors corresponding to Ymin is the optimal sensor arrangement. By the adoption of the optimized bridge damage identification method based on the neural network, various possible damage conditions of a structure can be identified to the maximum extent through the minimum number of sensors, and an identification result is high in precision and tends to be stable.

The invention provides a channel correcting method of multichannel TD-RRU, which comprises the following steps: a pseudo-noise (PN) sequence is constructed in a baseband signal as a reference sequence; after the conversion of the baseband signal and an intermediate frequency / radio frequency signal of the reference sequence at a TD-RRU sending end, the reference sequence is sent into a radio frequency channel; after the conversion of the radio frequency / intermediate frequency signal of a corresponding received signal at a TD-RUU receiving end, a processed received sequence and the reference sequence are processed by chip time delay operation to obtain the chip time delay of the radio frequency channel; the radio frequency channel is processed by time delay correction of a chip grade according to the chip time delay so as to finish chip synchronization; the received sequence and the reference sequence are processed by weight value correction operation to work out an inconsistent coefficient of amplitude / phase in the channel within a chip period so as to obtain a corrected weight value; and the channel is processed by amplitude / phase compensation according to the corrected weight value so as to eliminate the inconsistency of the channel and realize the correction of the channel. The method can reduce errors of the channel and meet the requirement on precision of a system.

The invention relates to a method for acquiring an initial course attitude of a fiber optic gyro strapdown inertial navigation system. The method is characterized by: extracting gravitational acceleration information from an acceleration meter through filtering processing and compensation, projecting an earth gravitational vector to an inertial coordinate system, with rotational-angular velocity information of the earth included in a projecting component, taking the earth gravitational vector in the inertial coordinate system as reference information, and making use of the output of a gyro and the acceleration meter to estimate an initial attitude angle. On the basis of ensuring that an initial horizontal angle satisfies a precision requirement, the method of the invention substantially improves the precision of an initial course angle of the fiber optic gyro strapdown inertial navigation system.

The invention provides a detection method for rectangular pin component visual positioning, and relates to the field of visual positioning and detection of rectangular pin components. The method aims to solve the problems that a traditional rectangular pin component detection method is low in positioning precision, pins break in images and deviation and deviation angles are detected separately. The method is characterized in that a measured component image is obtained by means of a chip mounter visual system, an image after binary pre-processing is obtained through threshold segmentation, a communication area of the component pins is marked, the shape of the component pins is judged, pixel-level Harris angular point coordinates of the pin image are extracted, sub-pixels of Harris angular points are solved and classified, the deviation angles of components are calculated, the pin image is matched with a standard image, and the deviation of the component is calculated. The method is mainly used for pin detection, deviation angle detection and deviation detection of the rectangular pin components.

The invention discloses a precision-forging plastic molding technology of a bell shell of a ball-cage type universal joint, comprising steps of warm-forging plastic molding and cold-forging plastic molding. The warm-forging plastic molding technology comprises the following steps: a. blanking; b. manufacturing a blank; c. coating; d. heating; e. directly extruding; f. upsetting; g. extruding reversely; h. normalizing, shaping, sand blasting, parkerising, and treating the surface by a manner of saponification; and adopting the forging plastic molding technology of combining the warm-forging plastic molding technology with the cold-forging plastic molding technology, firstly upsetting to obtain the pre-molding blanking material, secondly, extruding reversely in the chamber of the molding mold to form a ball channel and finally forming the inner spherical surface by using the cold-forging plastic molding technology. The product quality is steady, the production efficiency is improved, the production period is short, the method for adopting the machine tool after the hot-forging is replaced, the workload of the machine tool process is reduced, the precision requirements are met, the manufacturing cost and the period are reduced, and the development trend of the manufacturing field in the world is met.

The invention discloses a method for planning attitude maneuver in the imaging process of an agile satellite. The method comprises the following steps: firstly, calculating an imaging point position corresponding to each time point according to starting and ending geographic positions of a designated ground imaging strip and imaging time corresponding to two endpoints; secondly, calculating a relative position vector of the satellite and imaging points in a geocentric equatorial inertial coordinate system according to orbital parameters of the satellite and the imaging point positions of corresponding moments; thirdly, calculating a component of the relative position vector in a satellite body coordinate system according to a series of conversion matrixes from the geocentric equatorial inertial coordinate system to a satellite orbital coordinate system; fourthly, calculating a roll angle, a pitch angle, a roll angle speed and a pitch angle speed during satellite imaging according to the component of the relative position vector in the satellite orbital coordinate system; finally, calculating a yaw angle and a yaw angle speed of the satellite according to the roll angle, the roll angle speed, the pitch angle and the pitch angle speed which are obtained, the orbital parameters and the corresponding imaging point positions to obtain the planned attitude information of the satellite in the imaging process.

A micro-tracking method and a system of rolled pieces in the process of rolling periodic variable-thickness strips belong to the technical field of rolling. The method comprises the following steps: dividing thickness zones, thinness zones and transition zones on the rolled pieces of the periodic variable-thickness strips, setting whether the incoming materials are uniform-thickness rolled pieces or periodic variable-thickness rolled pieces, determining the starting point of rolling, micro-tracking the rolling length in the process of rolling and carrying out tracking correction on the periodic variable-thickness rolled pieces. The system comprises a rolling mill; coiling machines are arranged at both sides of the rolling mill respectively; length-measuring rollers are arranged between the coiling machines and the rolling mill; thickness gauges are arranged at both sides of the rolling mill respectively; coil diameter gauges are arranged on the coiling machines; a rolling force sensor and a hydraulic cylinder are arranged on the rolling mill; tensiometers are arranged below the length-measuring rollers and pulse coders are arranged on the length-measuring rollers; the thickness gauge, the coil diameter gauge, the rolling force sensor, a displacement sensor of the hydraulic cylinder, the tensiometer and the pulse coder are respectively connected with a computer control system.

The invention provides an FPGA (field programmable gate array) control-based all-solid-state high-voltage nanosecond pulse generator, and belongs to the field of bio-electromagnetic technology. The nanosecond pulse generator mainly comprises a power supply system, a pulse forming system, a pulse measurement system, an FPGA control system, a signal conversion system and a portable computer. In the generator, the output pulse amplitude is between 0 and 10kV, the pulse width is between 200 and 1000ns, the pulse frequency is between 1 and 1000Hz, the falling edge is between 30 and 40ns, the number of pulse is between 1 and 1000, and particular parameters are determined according the requirement of tumor treatment. The FPGA control-based all-solid-state high-voltage nanosecond pulse generator has the characteristics of intelligent regulation of pulse parameters (pulse amplitude, width, frequency and number), optical fiber transmission, high parameter accuracy, long service life, small size, low failure rate, good security and the like; and the generator outputs high pulse frequency, and is advantageous to quick searching of the optimal window parameters for inducing tumor cell apoptosis by virtue of intelligent regulation, so that the tumor treatment effect is improved. The FPGA control-based all-solid-state high-voltage nanosecond pulse generator can be widely applied to tumor treatment.

The invention discloses a track center line automatic detection method based on vehicle-mounted mobile laser point cloud. The method comprises the following steps: S1, point cloud segmentation of a roadbed and a track; s2, track point cloud classification; s3, automatic track center line detection: according to a cross section design drawing of a standard steel rail, automatically reconstructing astandard three-dimensional geometric model of the steel rail in a segmented manner, carrying out iterative registration on the standard steel rail model and the segmented steel rail point cloud in the S2, and carrying out automatic reconstruction on a segmented three-dimensional model of the steel rail; calculating track geometric parameters by utilizing the reconstructed track three-dimensionalgeometric model, calculating track center line point locations in a segmented manner on the basis of the reference track, and sequentially connecting the track center line point locations extracted inthe segmented manner to form a line center line. According to the method, roadbed and rail point clouds can be rapidly segmented, the area of rail point cloud classification search is reduced, automatic classification of laser point clouds on the surfaces of left and right steel rails is realized, and the precision requirement of existing rail transit midline detection can be met.

A clock data recovery and a serial-parallel conversion circuit based on over sampling for the receiver of a high speed serial transceiver comprise PLL module, a data space over sampling module, an edge detection and data recovery module, a judgment module, clock recovery module, a clock frequency-division module and a SerDes module. The data space over sampling module adopts the 16-phase equal-interval clock outputted by the PLL module to continuously sample the 24 bit data of 3 bytes, stores the sampled data in 16 groups of registers, and each group includes 24 registers. The corresponding bits of adjacent two groups of registers carry out OR operation to finish the edge detection, the detection results are added together in grouping mode, the fastest sampling clock corresponding to the group of data with the maximum distance value can be used as the recovery clock, the data sampled through the sampling clock can be used as recovery data, the sampling clock is performed with 8-fractional frequency to synchronize the bytes of the recovery data so as to finish the clock data recovery and serial-parallel conversion. The invention has clear structure, higher performance and reliable operation.

The invention belongs to the field of sheet metal and welding processing, and relates to an integral forming method for a thin-walled titanium alloy part with an irregularly-shaped curved surface. The integral forming method aims at overcoming the defects that the shape of parts processed through the prior art is limited or the procedure and the cost are higher, and effectively ensuring the precision forming of a thin-walled component with an irregular shape. The integral forming method comprises the steps as follows: a parting surface is determined; blanking is carried out; in the preforming step, a plate is bent from a flat into a circular arc through a bending die or a bending machine; welding is carried out; in the hot shaping step, a hot shaping die is put in the inner part of a part that is processed through the assembly welding under the ordinary temperature, and the part is supported tightly due to the dead weight of the die and is heated in a hot shaping machine; and in addition, a pressing machine applies pressure to the hot shaping die when the part is heated until material is softened, so as to enable the part to reach the needed size. The integral forming method comprehensively utilizes the advantages of various processes, can obtain the large-sized thin-walled titanium alloy part with the irregularly-shaped curved surface through only two weld joints, and achieves higher surface quality of the part.

The invention introduces a calibration method for a multi-robot system base coordinate system possessing a cooperation relation. The basic thinking of the method is acquiring position information required by a calibrating equation through constructing 4 groups of handshaking motions of specific forms between two cooperative robots and relation position relations among the base coordinate systems of cooperative robots are calculated with the aid of the calibrate equation in a specific form. According to the method provided in the invention, other than a calibrating pointer introduced in the invention, it is possible to rapidly and accurately calibrate the relative positions of the base coordinate systems of cooperative robots without adding any sensor or measuring equipment. The invention provides a technology base for realizing a more advanced robot controller having a multi-robot cooperation function.

The present invention is machining process of gear box casing for TM type centrifugal compressor, and belongs to the field of metal machining technology. The gear box casing consists of one upper casing and one lower casing mainly. The lower casing is machined through fine milling the bottom, drilling hole, machining the combining surfaces, sides and holes, washing, oiling and other steps; the upper casing is machined through fine milling the combining surfaces, drilling holes, fine boring the bearing holes, cleaning, oiling and other steps. The present invention has simple machining process, low production cost, high machining precision and other advantages.

The invention provides a coded target point based UAV positioning and attitude angle measuring method. The method comprises the following steps: shooting a plurality of coded target points which are pre-arranged at the ground through a camera which is mounted on an UAV, and obtaining and processing the shot images; calibrating the camera mounted on the UAV, and obtaining internal parameters of the camera; resolving a rotation matrix and a translation matrix of a world coordinate system relative to a camera coordinate system, the rotation matrix and the translation matrix of an UAV coordinate system relative to the camera coordinate system, and the rotation matrix and the translation matrix of the UAV coordinate system relative to the world coordinate system; and then calculating UAV attitude angles, including a pitching angle, a yaw angle and, an overturning angle, and the location coordinate of the UAV under the world coordinate system. According to the method, a binary coding cooperation points with primary points are adopted, and the coordinate transformation relation among the UAV coordinate system, the camera coordinate system and the world coordinate system are adopted, so that the algorithm is simple and easily realized, and meanwhile, the accuracy demand is met.

The invention discloses a method for generating road design surface information by laser radar scan, which comprises the following steps: a, an airplane or automobile is used for collecting data for a platform-carried laser scanner; b, original laser point cloud is classified to a ground point type and a non-ground point type; c, the point cloud data of the classified ground point types can be used for generating road surface information required by design; d, for regions with the point cloud density of the ground point type less than 4 / m<2>, an alternative point is automatically extracted from the non-ground point type point cloud; e, a sectional profile is taken as a projection surface, the extracted section point, ground point, non-ground point and alternative point are stacked for displaying, artificial auxiliary edit is carried out, in the section ground line, the alternative point is added, or an abrupt abnormal point is removed; and f, accurate section ground line surface information after editing is output according to a format required by the road design. The method of the invention has the advantages of rapidity, high efficiency and high stability; and is suitable for collecting information of construction, reconstruction and extension of various complex road surfaces.

The invention provides a binocular shooting fire detecting and positioning device and a fire positioning method thereof. The binocular shooting fire detecting and positioning device consists of a binocular shooting unit, a binocular vertical angle adjusting device and a binocular horizontal angle adjusting device, wherein the binocular shooting unit comprises a transparent protective shell, and two cameras, a monocular translational adjusting device, a monocular horizontal angle adjusting device and an infrared distance measuring device which are arranged in the transparent protective shell. The fire positioning method based on the binocular shooting fire detecting and positioning device comprises fire detection, base line blind area detection, finding of fire source root, active focusing, acquisition of the deflection angle of a monocular camera, self-adaptive adjustment, acquisition of the deflection included angle and camera distance of the binocular shooting unit, computation of the three-dimensional coordinates of a fire source and sending of a fire extinguishing command. In the binocular shooting fire detecting and positioning device, a video fire detection function and an image type fire positioning function are integrated, so that fire can be positioned accurately and conveniently; and the binocular shooting fire detecting and positioning device is easy to install and operate. Due to the adoption of a self-adaptive adjustment design, the requirement of positioning accuracy at any place is met.

The invention relates to a turbine blade laser cutting system based on machine vision and an industrial robot. The turbine blade laser cutting system comprises an industrial personal computer, a gantry type mechanical platform, the industrial robot loaded with a laser cutter at the tail end, an image acquiring module and a multi-shaft movement control module. A cutting path of a whole blade can be once obtained through matching image information of a blade to be cut with a theoretical profile curve of the blade, so that the efficiency is largely improved, and the matching precision is about 1 mm; a multi-shaft movement control card is used for driving a ball screw platform loaded with a camera to move; and the optimal image information of the blade to be cut is quickly obtained through identifying a fixed point on a blade fixture without needing to obtain the image information in real time like laser vision sensing, so that most data, optimal and image treatment operations are reduced, the operation efficiency is guaranteed, the damage of the camera in the laser cutting process is relieved, the requirement on the operation environment is lower, and the cost is lower.

The invention discloses a cone-beam computed tomography image and X-ray image registration method; the method uses a regression model based on a mixing residual error convolution nerve network to build associations between two-dimension X-ray images and three dimensional cone-beam CT image non-rigid deformation parameters, and uses a mixing residual error convolution nerve network and deformation parameter iteration optimization method to realize reliable online two-dimension three dimensional image registration; the method comprises the following steps: extracting to obtain an image channel; training the regression model based on the mixing residual error convolution nerve network; carrying out two-dimension three dimensional non-rigid registration based on regression; iterating and optimizing deformation parameters; obtaining a final body image determined by the deformation parameters, and thus realizing two-dimension three dimensional image registration based on iteration regression. The method can realize reliable online two-dimension three dimensional image registration, can be applied to oral cavity clinics, and can evaluate treatments and analyze craniofacial growth according to two-dimension three dimensional image registrations.

The invention relates to a camera deformation calibration method and quick calibration method based on predicted template. Based on the unchanged linear perspective projection to calculate the ideal image coordinate to the analog linear distance and the minimum target, predicting the lens deformation coefficient through nonlinear optimization function. Based on camera deformation coefficient, it predict the deformation coordinate of the ideal image coordinate and stores it into the template matrix, directly searching the template reading ideal image corresponding deforming coordinate, completing the quick calibration of deformed image through linear insert value to get the gray value of the ideal image pixel. The put forward deformation coefficient calibration method is low in cost, simple in algorithm, and easy realization.

The invention discloses a multimode medical image fusion method based on translation constant shear wave transformation. The method comprises the following steps of 1) preparing two multimode medical images to be fused, utilizing translation constant shear wave transformation to respectively decompose the two images into low frequency approximation images and high frequency detail images, and decomposing the high frequency detail images into different direction sub-bands; 2) respectively fusing the sub-bands from various directions decomposed by the low frequency approximation images and the high frequency detail images of the two images; 3) carrying out inverse translation shear wave transformation on the sub-bands from various directions decomposed by the low frequency approximation images and the high frequency detail images which are fused in the step 2) to obtain a fused image. According to the method provided by the invention, as the image fusion method based on the translation constant shear wave transformation is adopted, the fusion of multimode medical image data can be realized conveniently, economically and efficiently; and the shape information and function information of detail parts implied in the internal parts of images with different modes can be fully displayed and captured, thereby meeting the accuracy requirement in medical use.

The invention relates to a system for monitoring a photovoltaic battery pack string and belongs to the field of running and management of a photovoltaic power generation system. In a photovoltaic power station, photovoltaic battery packs are connected in series and then are connected with a header box according to specific conditions, photovoltaic battery pack strings are connected in parallel, and the header box is connected with a grid-connected inverter. When the typical problems of connection, dust accumulation, component obsolescence difference and the like in a photovoltaic battery occur, the efficiency of the photovoltaic power generation system is influenced, and a monitoring system is needed to be arranged in the header box to monitor the photovoltaic battery pack string. The monitoring system can effectively manage the photovoltaic power station by acquiring photovoltaic pack string parameters, and combining other system parameters of the power station to realize autodiagnosis and effectively identify the problem of the power station. The system comprises a singlechip system, a power supply circuit, a voltage detection circuit, a current detection circuit, an intelligent communication interface circuit, an electrical meter chip and the like. In the system, a large-scale integrated circuit is used, and the system has a small volume, is low in energy consumption, has high reliability, and realizes the capacity of continuously monitoring the photovoltaic pack string in the life of the photovoltaic power generation system when assembled in the photovoltaic header box.

The present invention provides a method for evaluating lossy compression quality of image. The method comprises the following steps: selecting related image as testing image as testing image according to a set image selecting principle; executing data compression to the tested image with an image compression method to be evaluated thereby obtaining compression image; decoding for obtaining reconstructed image; analyzing the tested image and reconstructed image through a plurality of image evaluation aspects thereby evaluating the adopted image compression method; wherein, the plurality of image evaluation aspects can execute full evaluation to the compressed image quality, and simultaneously the plurality of image evaluation aspects have no relativity. The method can execute full evaluation to the quality of compressed image, is suitable for the original image with different landform categories and texture abundance degrees, and can provide a reference for the improved design of spaceborne compression algorithm developed by our country.

The invention discloses a method for detecting the distance measured ahead, which includes the following steps: S1. Using a visual sensor to collect image information in the direction of travel of the vehicle, and using machine vision to detect the above-mentioned collected image information to obtain the target in the image information area; S2, in the target area in the image information acquired by machine vision, use the edge feature to extract the specific position of the front vehicle in the image information, and then use the corner point detection method to determine the position of the pixel point of the front vehicle in the image information; S3 1. Calculate the actual distance between the front vehicle and the self-vehicle by using the monocular vision ranging geometric model; the invention can be used to detect the distance of the front vehicle under different driving speeds and different lighting conditions on structured roads, and the invention is universal High, good robustness, fast calculation speed, simple implementation.

The invention relates to the field of multi-sensor data fusion in integrated navigation, in particular to a Kalman filtering based quadrotor unmanned aerial vehicle attitude data fusion improved method, and aims to solve the existing problem that due to heavy computation of Kalman filtering in a quadrotor unmanned aerial vehicle attitude computation process, attitude data cannot be acquired in real time. The method provided by the invention improves the Kalman filtering equation set, i.e. improves the current state prediction equation, the current state error covariance prediction equation, the current optimal attitude angle equation, the Kalman gain Kg(k) equation and the covariance equation of the current optimal attitude angle equation, realizes off-line computation of partial data, and greatly reduces the computation amount of a flight control board processor, thereby meeting the real-time requirement and data accuracy requirement of quadrotor unmanned aerial vehicle attitude data. The method provided by the invention can be applied to the technical field of multi-sensor data fusion in integrated navigation.