466results about How to "Real-time positioning" patented technology

The invention discloses a big data based wireless real-time position positioning method. The big data based wireless real-time position positioning method comprises the following steps of gridding a positioned detection area, enabling a plurality of wireless routers which are arranged inside the detection area to transmit wireless signals, enabling a wireless signal receiver to collect wireless signal information of the wireless routers for a plurality of times in every grid of the area after gridding and forming collected wireless signal information into a big database wireless signal fingerprint database; performing signal preprocessing; performing parameter training; training DNN(Deep Neural Networks); performing signal character extraction and character classification based on the trained DNN; performing position estimation based on a HMM (Hidden Markov Model). The big data based wireless real-time position positioning method has the advantages of improving the accuracy of a positioning result under the condition that the real-time positioning speed is not influenced, successfully integrating positioning problems into the big data background and improving the performance of the real-time positioning system by effectively using advantages of the big data.

The invention discloses a method for designing a monocular vision odometer with a light stream method and a feature point matching method integrated. Accurate real-time positioning is of great significance to an autonomous navigation system. Positioning based on the SURF feature point matching method has the advantages of being robust for illumination variations and high in positioning accuracy, and the defects of the SURF feature point matching method are that the processing speed is low and real-time positioning can not be achieved. The light steam tracking method has good real-time performance, and the defect of the light steam tracking method is that positioning accuracy is poor. The method integrates the advantages of the two methods, and the monocular vision odometer integrated with the light stream method and the feature point matching method is designed. Experimental results show that the algorithm after integration can provide accurate real-time positioning output and has robustness under the condition that illumination variations and road surface textures are few.

The invention discloses a high-reliably integrated positioning method for vehicles in a tunnel environment. The method includes that firstly, by means of a radio frequency identification positioning algorithm, the vehicles are subjected to primary positioning to acquire noise contained position information; in order to further improve positioning accuracy of primary positioning, an expansion Kalman filtering module for vehicle positioning is established for front-wheel steering four-wheel vehicles in combination of the tunnel environment, information output by a steering wheel angle sensor and a longitudinal acceleration sensor is used as the external input quantity of a system state equation, the noise contained vehicle position information which is obtained by primary positioning, a vehicle forward direction speed and a vehicle yaw speed are used as the observation quantity of the system, the vehicle forward direction speed and the vehicle yaw speed are measured and calculated by a wheel speed sensor, an observation equation of the expansion Kalman filtering module is established, and finally, precise position information of the vehicles in the tunnel environment can be accurately, real-timely and reliably calculated by means of an expansion Kalman filtering recursive algorithm, so that the vehicles are accurately, real-timely and reliably positioned in the tunnel environment.

The invention provides an automatic detection device suitable for multi-diameter pipeline welding lines. A carrier dolly module (3) of the invention is arranged on a flexible track module (1); a scanner module (2) is fixed on the upper part of the carrier dolly module (3) through a vertical plate (8) and a horizontal plate (9); a probe combination module (4) is fixed on the lateral side of the carrier dolly module (3) through a tracking module (5); an encoder (6) is fixedly arranged on an angle adjusting block (3-4) of the carrier dolly module (3); and a motor (7) is fixedly arranged on a reduction gearbox (3-7) of the carrier dolly module (3). The invention can be applied to the diameter welding line detection of a series of pipelines; the efficiency of the detection technique of the invention in the pipeline girth welding line non-destructive detection is much higher than that of manual ultrasonic detection; and the invention is obviously superior in detection speed, environmental radiation pollution reduction and labor intensity decrease.

The present invention provides a mall navigation system and a mall navigation method. The mall navigation system comprises a movable robot; a self-positioning system installed in the movable robot, wherein the self-positioning system scans indoor images, automatically generates a map, and positions the real-time position of the movable robot according to the map; and a navigation software performing navigation according to the map generated by the self-positioning system and the real-time position of the movable robot, wherein the self-positioning system comprises a sensor and a microprocessor, the sensor scans the indoor images, and the microprocessor processes the scanned image and then constructs the map. According to the mall navigation system of the present invention, the self-positioning system and the navigation software are combined, such that the current position can be real-timely positioned without external equipment; and after the self-positioning system sends the coordinate information of the self-position of the movable robot to the navigation software, the navigation software can perform the route planning, navigation and other works through the positioning information.

The invention discloses an observer tracking system and a three-dimensional stereo display system for three-dimensional stereo display. The observer tracking system comprises shutter glasses, an image capture device and an image processing device, wherein the shutter glasses comprise a left lens and a right lens; the left lens and the right lens are alternately opened and closed; the image capture device comprises a camera; the camera acquires a first image and a second image of the shutter glasses respectively at continuous two moments; the continuous two moments comprise a first moment at which the left lens is opened and the right lens is closed and a second moment at which the right lens is opened and the left lens is closed; and the image processing device calculates to acquire imagepositions of the left lens and the right lens according to the first image and the second image, calculates to acquire three-dimensional space positions of the left lens and the second lens, and further calculates to acquire the three-dimensional space positions of eyes according to the three-dimensional position relation of the eyes relative to the shutter glasses. Thus, the observer tracking system can automatically track the three dimensional space positions of the eyes in real time and solves the problems of distortion and deformation of image observation.

The invention relates to a pipeline leakage on-line monitoring device and method based on f fiber temperature detection, and belongs to the technical field of pipeline monitoring. The fiber temperature detection based pipeline leakage on-line monitoring device is characterized in that a monitoring main machine is communicated with a temperature sensing optical cable in a communication optical cable way or a wireless signal transmission way; and a light signal sent from the laser source of the monitoring main machine is transmitted to a microprocessor through the temperature sensing optical cable, a signal receiver, a wavelength division multiplexer and an amplifier for processing. The fiber temperature detection based pipeline leakage on-line monitoring method comprises the following steps that: the monitoring main machine is communicated with the temperature sensing optical cable in the communication optical cable way or the wireless signal transmission way; the temperature sensing optical cable senses the change of pipeline leakage temperature and generates a reflected light sensing signal for a laser of the laser source; the signal receiver receivers the light signal and transmits to the microprocessor through the wavelength division multiplexer and the amplifier for processing; and the microprocessor analyzes and displays on-line monitored pipeline leakage. The pipeline leakage on-line monitoring device and method based on the fiber temperature detection have the advantages of wide coverage range, high positioning accuracy, short response time, low false alarm rate, real-time on-line detection, and the like.

The invention discloses a highly reliable fused vehicle positioning method in the vehicle and road coordinated scene, and aims at solving the problems that vehicle satellite navigation in the urban environment tends to be limited and is low in positioning accuracy and reliability. On the basis of traditional vehicle-mounted satellite and inertia combined navigation, the UWB positioning technologyis introduced, UWB nodes are laid reasonably, and an NLOS (Not Line of Sight) error processing algorithm is combined, so that an observed UWB value error is reduced. Further, fused vehicle positioningis realized on the basis of an expanded Kalman filtering algorithm. Compared with the traditional vehicle-mounted satellite and inertia combined navigation, the method is high in reliability in the urban environment especially in the complex environment that satellite signals are shielded (as in a canyon or crossing), and the vehicle can be positioned continuously, completely and reliably in realtime.

The invention discloses an indoor unmanned aerial vehicle positioning system. The indoor unmanned aerial vehicle positioning system comprises an unmanned aerial vehicle body, a marker, a ground station and a three-dimensional space constructing system; the unmanned aerial vehicle body comprises a control box and an information receiving device; the marker is placed in a room, when the unmanned aerial vehicle body flies, the information receiving device identifies marker information and transmits to the control box, and the control box calculates the indoor three-dimensional space coordinate information of the unmanned aerial vehicle body through combining with aircraft navigation information. By means of the three-dimensional space constructing system, the indoor three-dimensional space data is stored in the ground station, and the ground station is capable of displaying the concrete position of the unmanned aerial vehicle in the room. The indoor unmanned aerial vehicle positioning system is capable of positioning the unmanned aerial vehicle in a room in which a GPS signal is easy to be shielded, enables the unmanned aerial vehicle performance to be improved and is convenient to use the unmanned aerial vehicle in different environments.

The invention relates to 3D navigation equipment for non-invasive real-time operation positioning, which is characterized by comprising a laser positioning system and a space positioning device, wherein the laser positioning system is composed of a laser driving device, a work server, a digital signal shunt and a display, the laser driving device is in Bluetooth communication with the work server, and the work server, the digital signal shunt and the display are electrically connected; and the space positioning device is composed of a fixing slide rail, a two-way slide rail, a two-degree-of-freedom fixing slide block, a two-degree-of-freedom two-way slide block, a laser positioning rod and an operation channel which are mutually matched. According to the invention, path planning before an operation is realized through a computer, and an operation path can be spatially positioned accurately by visualized real-time registering of a focus point in the operation by the laser positioning system as well as the angle and depth control of the space positioning device; and the system is suitable for minimally-invasive orthopedic operations of any parts of patients.

The invention discloses a TOA positioning estimation method and a precise positioning method based on the same. The positioning method comprises the following steps of: transmitting a multi-carrier digital television signal carrying positioning information, wherein the positioning information comprises the two-dimensional or three-dimensional coordinate position information and the positioning data of a transmitting end, and the positioning data is a known sequence; carrying out time-domain frame synchronization on the received multi-carrier digital television signal so as to obtain a rough transmission time-delay estimation value; intercepting the positioning data and calculating by utilizing the TOA positioning estimation method to obtain a fine transmission time-delay estimation value so as to obtain an estimation value of a distance between a receiving end and a transmitting end; and after the estimation values of the distances between the receiving end and a plurality of transmitting ends are solved, calculating to obtain the two-dimensional or three-dimensional position information and the two-dimensional or three-dimensional speed information of the position of a user according to the distance estimation values and the two-dimensional or three-dimensional coordinate position information. The invention has simple algorithm, high speed of positioning update, strong system compatibility and wide application range and can realize precise positioning.

The invention discloses a point cloud-based positioning method, device and electronic equipment. The method comprises the following steps: after receiving current frame point cloud data, determining the previous frame point cloud data of the current frame point cloud data according to an environmental map corresponding to an object to be positioned; performing primary matching on the current framepoint cloud data and the previous frame point cloud data according to positioning azimuth information of the previous frame point cloud data; determining positioning azimuth information of the current frame point cloud data according to an initial matching result of the current frame point cloud data and the previous frame point cloud data; positioning the object to be positioned according to thepositioning azimuth information of the current frame point cloud data. By using the scheme of the invention, the object to be positioned can realize the functions of real-time positioning and mappingeven when no satellite positioning signal exists, and the acquired multi-frame point cloud data can be used to realize accurate positioning of a robot.

The invention provides an engineering robot for environmental monitoring, environmental emergency handling and environmental remediation. The engineering robot comprises a machine vision device, a self-alarm device, a remote control device, a GPS real-time positioning device, an air quality detection device, a soil underground water sampling detection and in-situ remediation device, a risk identification device, an environmental expert system, a data processing center, a robot body and a mobile device, wherein the machine vision device, the self-alarm device, the remote control device, the GPS real-time positioning device, the air quality detection device, the soil underground water sampling detection and in-situ remediation device, the risk identification device, the environmental expert system and the mobile device are all connected with the data processing center, and the soil underground water sampling detection and in-situ remediation device is further provided with an automatic drill stem filling device. The engineering robot integrates the multiple advanced technologies of soil underground water environmental risk detection and in-situ remediation, rapid environmental quality detection, machine vision, remote control, GPS real-time positioning, risk identification, the environmental expert system and the like, the structure is more simplified, and more comprehensive functions are achieved.

The invention discloses an Internet of Things technology-based intelligent school bag system. The intelligent school bag system comprises an intelligent school bag; the intelligent school bag is connected with an external intelligent terminal; the intelligent terminal comprises an intelligent mobile phone and a PAD; the Internet of Things technology-based intelligent school bag system further comprises a microprocessor, a power source module, a photographing module, a sensor module, a storage module, a radio frequency identification module, a wireless communication module, a sound-light prompting module, a display module and a positioning module; the radio frequency identification module is connected with an article module; and the article module is provided with an electronic tag. The Internet of Things technology-based intelligent school bag system of the invention can realize intelligent identification of articles, real-time positioning and real-time photographing, intelligently judge whether articles in the school bag are overweight and intelligently monitor a distance between an intruder or an illegal user and the intelligent school bag, and therefore, the personal safety of the user can be guaranteed; and the Internet of Things technology-based intelligent school bag system can intelligently record the movement quantity and movement distance of the user and can satisfy actual use requirements.

The invention relates to a multifunctional vehicle terminal of a dangerous goods transport vehicle monitoring system. The multifunctional vehicle terminal is characterized by comprising a central control module (11), a power management module (12), a video acquisition module (13), a sound acquisition module (14), a storage module (15), a liquid crystal display module (16), an RFID (Radio Frequency Identification) reading-writing module (17), a GPS (Global Position System) positioning module (18), a GPRS (General Packet Radio Service) wireless transmission module (19) and a CAN (Controller Area Network) bus interface (10). With the multifunctional vehicle terminal, safety management capability of enterprises to transport vehicles, goods and people is enhanced effectively, the probability of transportation accidents and the consequence of accidents are reduced, and the timeliness of emergency rescue is improved.

The invention discloses a pedestrian positioning device and a pedestrian positioning method based on radio frequency identification (RFID). The device comprises a central management server and information acquisition units respectively arranged in monitoring sub-regions, wherein each information acquisition unit comprises at least one RFID acquisition module; and each RFID acquisition module comprises a wireless data processing terminal and an RFID reader-writer. The method comprises the following steps of: 1) dividing a region to be monitored into a plurality of monitoring sub-regions; 2) arranging the central management server and the RFID reader-writers, establishing an RFID tag information base of the central management server, and associating the RFID reader-writers with the corresponding monitoring sub-regions; 3) acquiring RFID tag information carried by pedestrians in the monitoring sub-regions in real time by the RFID reader-writers; and 4) generating pedestrian positioning data in the region to be monitored in real time, and outputting a historical moving trace of an appointed pedestrian to a user. The device and the method have the advantages of reliable system performance, relatively low cost, convenience in mounting and wide application range, and the pedestrians can be positioned in real time.

The invention relates to a complex indoor environment positioning method based on building layout constraint; the method comprises the following steps: evaluating ambient noise distribution; calculating an initial position of a mobile object; evaluating position in a real time positioning process. Proposed prior distribution aims to different zones of the object, and distribution function of a candidate position can be corrected, thus resisting influences by time varying strong noises against an evaluation result; in maximum posterior probability solving, a multi-hypothesis maximum likelihood estimation method is employed, so the proposed positioning method has robustness against time varying noises and stadia/non-stadia mixed complex conditions. The complex indoor environment positioning method is simple in environment disposition, can obtain channel prior knowledge through data acquisition between reference nodes, thus realizing real time positioning process; the method is low in calculation complexity, and suitable for low-power equipment and system realization.

The invention discloses a thermal imaging fire alarm system based on artificial intelligence and an image processing method thereof, and relates to the technical field of fire alarms. The system comprises a CAN controller, a CAN transceiver, a CAN bus, a data concentrator, an infrared acquisition image preprocessing module, a monitored target recognition module, a fire detection and diagnosis unit, a result output module, a fire monitoring center, and fire detection units arranged at different fire detection monitoring area positions. The thermal imaging fire alarm system based on the artificial intelligence provided by the invention solves the problems that the judgment accuracy of single smoke particle judgment and early warning on the fire condition is low, the system is easily interfered by external cigarette butts and matches and other factors, the single infrared image judging time is long, the position of a monitoring target is difficult to be located, the timely positioning ofan ignition point of the monitoring target position is influenced, and the time of optimally determining the position of the ignition point and the fire is missed.

The invention provides a method and a device for positioning a person in a pipe gallery. According to the invention, the inner wall of the pipe gallery is provided with N Bluetooth beacons, wherein Nis no less than 2. The method for positioning the person in the pipe gallery comprises the following steps: step (1), determining a first coordinate transformation formula by utilizing coordinates ofany two Bluetooth beacons and corresponding coordinates of the person in an inertial coordinate system; step (2), calculating the coordinates of the person in a map coordinate system, and initializingcoordinates and heading angles of particles in a particle set; step (3), updating the coordinates and heading angles of the particles by utilizing the walking step size of the person and the angularincrement of the heading angles, and calculating the weight of each particle; and step (4), calculating an estimated value of the coordinates of the person in the map coordinate system by utilizing the coordinates and weights of the particles. The method and the device provided by the invention greatly save cost through sparse arrangement of the Bluetooth beacons, are convenient to implement, havestrong applicability, and solve the problem of long-time high-precision real-time positioning of the person in an urban pipe gallery through combination of inertial navigation, Bluetooth and map information.

The invention discloses a real time identifying method for line loss transaction of a power distribution network, comprising: building a power network model through extracting PMS system data, collecting the states of a interconnection switch and a section switch in real time, identifying the operation mode of the power distribution network, obtaining the operation data of a circuit gate and a distribution transform gate in real time, calculating statistic line loss, calculating theoretical line loss combining network parameters and gate data, comparing the difference value of the statistic line loss and the theoretical line loss, positioning an abnormal region, identifying the line loss transaction, realizing abnormal region identification, abnormal factor analysis and targeted treatment. Through obtaining the operation information and data of the power network in real time, calculating the statistic line and theoretical line loss and positioning the abnormal region according to the difference value, the invention overcomes the defects at the present stage that information is incomplete and not visual in analyzing the line loss transaction, no theoretical value is taken as the reference in analyzing the line loss transaction, and the obtained analyzing result lags behind seriously.