286results about How to "Realize high-precision positioning" patented technology

The invention provides a chemiluminescence immunoassay device which comprises a sample supply mechanism, a chemical reaction incubation mechanism, a sample adding mechanism and a luminescence detection mechanism, wherein the sample supply mechanism comprises a plurality of sample tubes, a sample disc, a plurality of reagent tubes and a reagent disc, wherein the sample disc and the reagent disc are respectively in a circular ring shape and can rotate. The chemical reaction incubation mechanism is set to be at constant temperature, and comprises a rotary table, a plurality of reaction discs, a plurality of reaction cups and a driving mechanism, wherein the rotary table is in a circular shape; the plurality of reaction discs are arranged on the rotary table at equal intervals along the circumferential direction of the rotary table; reaction cup containing cavities are respectively arranged along the circumferential directions of the reaction discs at equal intervals; the plurality of reaction cups are respectively arranged along the circumferential directions of the reaction discs at equal intervals; the driving mechanism is connected with the rotary table and the plurality of reaction discs by power, so that the rotary table can rotate, and the reaction discs are driven to make revolution or respectively rotate. The sample adding mechanism comprises a liner movement unit, a sample needle, a reagent needle and a cleaning groove. The luminescence detection mechanism comprises a cleaning needle, a substrate needle, a light insulation cover and a detection head.

The invention discloses a combined positioning method for moving multi-station passive time difference and frequency difference, wherein the method belongs to the field of passive positioning technology. The method comprises the following steps of establishing a time different positioning model; establishing a frequency different positioning model; constructing a time difference and frequency difference observation matrix epsilicon1, and designing a fitness function; initiating a group and various parameters; evaluating the fitness function value of each particle; sequencing all particles; when the algorithm satisfies a terminating condition, outputting a current global optimal value; reconstructing the time difference and frequency difference matrix epsilicon2; obtaining a weighted least square solution theta2 and a covariance matrix cov(theta2); and calculating position and speed of a radiation source. The combined positioning method has advantages of performing optimal value solving on the fitness function which is obtained from the time difference and frequency difference observation matrix, combining a particle swarm optimization algorithm with a least square algorithm, and realizing high-precision target position on the condition of four base stations, and furthermore calculating speed information of the target. The combined positioning method can realize high-precision estimation to the position of the radiation source and is not limited by a station site layout. Furthermore relatively high positioning estimation precision is realized.

The invention discloses a sound source positioning method and device, and the method comprises the steps: obtaining an audio signal received by a microphone array, wherein the microphone array comprises a plurality of microphones; obtaining the relative time difference between the audio signal received by any two of the plurality of microphones according to the audio signals and a preset parameter, wherein the preset parameter is set according to the SNR (signal to noise ratio); and carrying out the positioning of the audio signal according to the relative time difference between the audio signal received by any two of the plurality of microphones and the position of each microphone. The method can effectively and adaptively reduce the environment noise, has the strong capability of adapting to and resisting the reverberation and diffraction noise in a far-field environment, improves the recognition precision of a far-field sound source based on the microphone array, and improves the recognition practicality of the far-field sound source. The invention also proposes an air conditioner, a non-temporary computer readable storage medium, and a computer program product.

The invention discloses a two-degree of freedom precise positioning work table, which comprises a base, a moving platform, a rigid support which is connected with the bottom of the base, and four flexible branched chains which are connected between the moving platform and the base, wherein each flexible branched chain comprises a moving block and three groups of flexible plate spring structures; each flexible plate spring structure consists of two '-'-shaped flexible plate springs; a first group and a second group of the flexible plate spring structures are respectively positioned at the left side and the right side of the moving block; the lower ends of the two '-'-shaped flexible plate springs of a third group of the flexible plate spring structures are connected with the side wall of the upper end of the moving block, and the upper ends thereof are connected with the side wall of the moving platform; four piezoelectric ceramics driving devices are respectively horizontally arranged; a ball-shaped joint of each driving device is supported on the side wall of the lower end of the moving block; and conducting strips of two position sensors are respectively connected with the upper plane of the rigid support and the lower plane of the moving platform. The positioning work table can be taken as an auxiliary positioning platform of a nanometer embossing photoetching positioning system to realize the microscale feeding and the precise positioning.

The invention discloses a positioning method of wireless signal transmission parameter determination based on area division, wherein the method comprises the following steps: arranging a plurality of known position nodes according to a practical condition, obtaining coordinates of the known position nodes by virtue of a gateway, building a network map in a monitoring centre, and dividing positioning minimal area; determining a wireless signal attenuation model of reference points according to a logarithmic distance loss model; respectively calculating initial parameters on the connection line between each known position node and adjacent known position node according to the wireless signal attenuation model; weighting or correcting the initial parameters in different areas according to the signal intensity of communication among the position node to be measured and the known position nodes, so as to obtain the distance from the position node to be measured and the known position node within the communication range; and obtaining the coordinates of the position node to be measured according to the coordinates of the distance from the position node to be measured and the known position node within the communication range and the known position node within the communication range.

The invention relates to a dam settlement monitoring method based on high-score image and lifting / lowering orbit InSAR, comprising the following steps: A. dam position information extract: obtaining the high-definition image data of the dam by satellite to obtain the precise geographic position and range of the target dam surface; B. PS-InSAR deformation rate acquisition: using N SAR images acquired by satellite in the same area, selecting one SAR image as a main image, and generating a differential interferometric phase map by using DEM and orbital data to obtain DEM error and deformation rate; C. settlement rate calculation of the fused lifting / lowering orbit: according to the reflection characteristics of different regions of the dam and the geometrical distortion region, fusing the deformation monitoring method of the lifting / lowering orbit InSAR with different visual directions to obtain high-precision settlement information; and D. dam settlement information extract; performing spatial superposition operation on the obtained fused high-precision deformation field and the dam data extracted from the high-score image to obtain the settlement deformation information on the dam surface, thereby realizing the settlement monitoring of the dam.

The invention provides an indoor positioning method based on a bidirectional wireless optical communication. The indoor positioning method comprises the steps: a control centre provides a uniform time reference to realize time synchronization of N optical signal transceiver base stations; the control centre sends a distance measurement signal to the N optical signal transceiver base stations; after receiving the distance measurement signal, the N optical signal transceiver base stations transmit signals within the coverage scope; an optical signal transponder on a positioning terminal answers emission signals of M optical signal transceiver base stations and sends answering signals to the corresponding optical signal transceiver base stations, in which the number M is not less than 3 and not more than N; the M optical signal transceiver base stations respectively transfer the received answering signals to the control centre; and the control centre determines the position of the positioning terminal according to a transfer and distance-measurement principle, the sending time of the distance measurement signal, the position information of the M optical signal transceiver base stations and the receiving time of the corresponding M answering signals. The function of the positioning terminal is simplified and the precision of the indoor position is improved.

The invention discloses a multi-constellation single base station receiver clock difference estimation method. When multi-constellation data are in fusion process, positions of satellites when signals are emitted cannot be accurately confirmed due to different receiver clock differences among different constellations and the effect of delaying of signal propagation, error terms which are related to the satellite speed and caused by receiver clock differences still can cause changing of errors and affect an actual positioning effect, wherein the maximum error can reach 1m. In the calculation of the positions of the satellites, the receiver clock differences are estimated, the time delaying of the signal propagation is corrected, the receiver clock differences are resolved through a Kalman filtering method, and accordingly the method is practical and can obtain accurate geometrical distance between receivers with corrected receiver clock differences and the satellites. The method can reduce the effect of the receiver clock differences which are related to the satellite speed to a submillimeter level, is suitable for a receiver with clock jumping being one millisecond, and achieves high-accuracy positioning of the multi-constellation fusion.

The invention relates to a three-dimensional scanning method for a high-frequency two-value strip. The method comprises the steps: using structured light 3D scanning to obtain parameters inside and outside a projector and a camera and carry out overall-situation contrast estimation at first, then locating sub pixels based on the edge of the two-value displacement strip and partially encoding the high-frequency two-value strip and finally carrying out partial periodical confusion elimination and three-dimensional reconstruction. In the encoding aspect, the black-white edge of the two-value strip is utilized as the encoding characteristic, and accordingly the obvious robustness advantage is achieved. In the decoding aspect, a virtual antiphase image generating method is utilized, the number of total projection encoding patterns is reduced, the high-accuracy location of sub pixels of encoding characteristic points is achieved by generating the virtual antiphase displacement patterns and combining a sine fitting intersection strategy, usual projection equipment is utilized, the cost is reduced, and the method is easy to implement. In existing DLP projection equipment, higher projection frequency can be obtained by outputting the two-value strip, and accordingly high-speed three-dimensional scanning process is easy to achieve.

The invention relates to an optical positioning method, system and device based on an LED and an image sensor, and the method, system and device just employ one LED and one image sensor. The image sensor can measure the spatial relative angle between the LED and a receiver, also can sample the intensity of an optical signal in a mode similar to a single photodiode, demodulates a received signal, and measure the intensity of the received signal. Through a signal attenuation model, the method, system and device solve the distance between the LED and the receiver, and can achieve the high-precision position through two-dimensional information: angle and distance.

The invention discloses an underwater multipurpose robot propelled by bionic undulating fins. The underwater multipurpose robot comprises a head, a middle, a tail, a left bionic undulating fin propelling mechanism and a right bionic undulating fin propelling mechanism which are arranged in sequence. The bionic undulating fin propelling mechanisms on the left side and the right side with a cam swing arm driving structure as the core are adopted for driving the fin strips to drive the flexible fin faces to generate continuous undulating deformation, the fin strips act with water to generate advancing thrust, through cooperation with a sinking and floating adjusting mechanism in the middle, multi-dimensional movement such as straight moving, turning and floating and diving of the underwater robot can be achieved, and good maneuverability is achieved. Meanwhile, the sensing flow field speed data and the self orientation data can be obtained according to an ultrasonic Doppler current meterarranged at the head part and a USBL underwater acoustic positioning system; motion of the underwater robot is planned, the underwater robot is selected to operate on a channel with constant flow velocity and small flow resistance, the underwater robot has the capacity of sensing and reducing underwater surge interference in advance, and the underwater robot has good reliability and robustness.

Disclosed in the invention is a global consistent asymptotic type path tracking guiding control method. The method is characterized in that the method comprises: a current ship attitude, a current way point, and a next way point are read; whether a ship arrives at the next way point is determined; if so, a guiding system module algorithm is invoked, a way point coordinate and a target path are updated, and a real-time expected course angle is calculated; if not, a guiding system module algorithm is invoked, a current target path is maintained, and a real-time expected course angle is calculated; and a control system module algorithm is invoked and a corresponding course change moment and longitudinal force of the ship are calculated. According to the invention, the method has the following beneficial effects: on the basis of combination of a controller method and a guiding system method, gradual expected course tracking by the ship and external disturbance estimation can be carried out based on series connection combination; and high-precision positioning of the target route kept by the ship can be realized.

A cellphone indoor positioning method on the basis of various sensors mainly solves the problem that an existing cellphone indoor positioning technology can be only based on wireless electric positioning and is greatly limited in positioning. The steps for realizing the method includes utilizing a microphone, a camera and Wi-Fi (wireless fidelity) to collector background noise, light, color and Wi-Fi signal information of a prediction site; storing the collected information and performing feature extraction to obtain feature vectors, and forming a training sample set; training a comprehensive weak classifier set H according to the training sample set; collecting background noise, light, color and Wi-Fi signal information of the current site, and storing and performing feature extraction; and outputting identifying results of the current site by means of feature vectors of the current site according to the comprehensive weak classifier set H. The cellphone indoor positioning method has the advantages of high accuracy and universality and low energy consumption and can be used for realizing positioning of cellphone indoor site types.

The invention provides an asynchronous ad-hoc network positioning system and an asynchronous ad-hoc network positioning method based on bidirectional precise distance measurement, and belongs to the field of wireless communication positioning. The positioning system provided by the invention is composed of a data processing center and a plurality of node terminals, wherein the node terminals have the completely same structure and functions, and each node terminal is composed of a distance measurement module, a routing module, a power supply module and a logic control module. The system integrates a chirp spread spectrum (CSS) distance measurement technology with a ZigBee ad-hoc network technology, and achieves autonomous access and positioning of the new node based on a minimal hop principle. The system is low in cost, small in power consumption, short in positioning time and wide in applicability, and particularly can solve the problem of high precision positioning of groups under hostile geographical environment.

The invention discloses a vehicle damage resistance evaluation method based on digital twinning. The vehicle damage resistance evaluation method includes the steps: firstly, digitalized twinning is carried out on a physical vehicle; a digital twinning model with high simulation is established; and the model comprises four systems, namely, a virtual vehicle firmware system, a dynamic real-time interaction system, an external information interaction system and a vehicle state monitoring system. On the basis, a damage subsystem of the vehicle is constructed through external services, and simulation attack is conducted on the digital vehicle, and the damage effect is evaluated through a vehicle state monitoring system and various methods, so that damage resistance evaluation data of the vehicle are obtained, and damage resistance evaluation is conducted on the vehicle.

The invention discloses a vehicle safety navigation system for a locomotive. The system comprises locomotive vehicle-mounted navigation devices, a ground locomotive monitoring center and railway track precise electronic maps, wherein the locomotive vehicle-mounted navigation devices and the ground locomotive monitoring center are connected through a wireless communication network; the railway track precise electronic maps are respectively installed in the locomotive vehicle-mounted navigation devices and a computer of the ground locomotive monitoring center; the ground locomotive monitoring center receives track state data and differential data of a satellite base station and locomotive precise position data transmitted by a wireless network; the data which are comprehensively resolved by central server software are sent to display screens of all locomotive vehicle-mounted navigation devices in the system to drive voice broadcast, sound-light alarm and alarm prompt, so that safe navigation of locomotive driving is realized. Compared with the prior art, the vehicle safety navigation system has the advantages that safe navigation of railway locomotive in the transport process is realized, remote monitoring, dynamic tracking and safe management of locomotives are realized, and the system has promotional and applicable values.

The present invention discloses a high-precision positioning method of a mobile robot along a subway track. The method comprises the following steps: performing mobile robot odometer pose estimation,and obtaining robot real-time pose (x1, y1, [theta]); in order to eliminate the accumulated error existed in odometer positioning, realizing a positioning method combining odometer measurement with total station instrument measurement by adopting an extended kalman filter (EKF); establishing a total station instrument CPIII / odometer combination positioning model based on the EKF; and performingmatching and pose updating on total station instrument observation information and odometer status prediction information via the EKF algorithm, and thus realizing periodic correction of the odometeraccumulated error and high-precision positioning of the mobile robot.

The invention discloses a micro clamp device with clamping and twisting functions. The micro clamp device comprises a base, fixed seats, a micro clamp, a displacement measurement plate, a capacitive sensor, a force measurement strain gauge and a piezoelectric ceramic driver, wherein the displacement measurement plate is adhered to the capacitive sensor; the capacitive sensor is arranged on one of the fixed seats; the force measurement strain gauge is arranged on the micro clamp; and the fixed seats, the micro clamp and the piezoelectric ceramic driver are arranged on the base. The micro clamp device adopts a flexible hinge and an asymmetric structure, has two degrees of freedom, completes clamping and rotary twisting operation of an optical fiber by cooperation of two clamp heads, and is richer and more flexible in function.

The invention provides a vehicle positioning system and positioning method based on a two-dimensional code, and the system comprises an image collection device, a positioning controller, and a positioning two-dimensional code disposed on a track. The image acquisition device is connected with the positioning controller. The image acquisition device is used for carrying out image acquisition on thepositioning two-dimensional code to obtain a two-dimensional code image and sending the two-dimensional code image to the positioning controller; and the positioning controller is used for receivingthe two-dimensional code image and analyzing the two-dimensional code image to obtain the position of the positioning two-dimensional code, and taking the position of the positioning two-dimensional code as the current position of the vehicle. By means of the system, vehicle positioning can be achieved according to the positioning two-dimensional code on the track, omnibearing reading is achieved.The vehicle positioning accuracy and the environment adaptability and fault-tolerant capability of the positioning system are improved, and the technical problems that in the prior art. The environment adaptability is poor, and the positioning accuracy is low are solved.

The present invention discloses a vehicle positioning system and an underground vehicle positioning method, and belongs to the vehicle positioning field. The vehicle positioning system comprises a server, at least one UWB anchor point and a vehicle-mounted positioner capable of communicating with the UWB anchor point wirelessly, wherein the server is used to set a monitoring center above a well, the UWB anchor points is arranged under the well, and the UWB anchor points are connected in series; the vehicle-mounted positioner is set on an underground to-be-positioned vehicle, and one UWB anchor point is connected with the server via a switch of the monitoring center above the well. Compared with the prior art, and according to the present invention, the underground vehicle high-precision positioning can be realized.

The invention belongs to the precision mechanical error field and displays a device and a method for measuring a main shaft rotation error by using circular gratings and autocollimators. The measuringdevice is formed by a set of double reading head circular gratings installed on a main shaft, a plane mirror attached to a shaft bottom end and a set of self-made autocollimators. When the main shafthas a radial rotation error, a radial motion error measured by the circular gratings and a deflection error measured by the autocollimators are combined to calculate the radial rotation error at anypoint on the shaft, and then, the motion state of the shaft during a rotation process is analyzed. By using the structure of the invention, the influences of a main shaft circularity, surface roughness and the changes of a load on the main shaft on a measurement result can be eliminated. And simultaneously, the device can be used to realize the high precision positioning of a main shaft rotation angle.

The invention relates to the high precision assembling and measurement field, and provides a PCB board positioning method based on an SCARA robot. The PCB board positioning method comprises steps of installing a camera, moving an arm of the SCARA robot, collecting an image, calculating an attitude array of an intermediary agent target coordinate system in a camera coordinate system and an attitude array of a flange coordinate system in a robot standard coordinate system, calculating a hand-eye switching array from the camera coordinate system to the flange center coordinate system, calculating the coordinates of three MARK points in the robot standard coordinate system and positioning the PCB board through the coordinate. The technical scheme provided by the invention realizes the high precision positioning of the PCB board without any auxiliary device, is widely applicable to the assembling of the robot, visual measurement and positioning and visual servo.

The invention relates to an in-situ micro-nanometer mechanics testing and scoring machining integrated machine, belonging to a mechanical-electrical integration precision scientific instrument. A left side step motor drives a screw nut through a coupler; relative connecting pieces are driven by the screw nut, so that the rough feeding of a flexible hinge and a diamond pressing head can be realized; and a piezoelectric stack drives the flexible hinge to carry out precise feeding. A right side objective table and a precise force sensor are mounted on the flexible hinge, and is connected with a rotor through a screw; thin-sheet-shaped structures at the both sides of the rotor are in clearance fit with the output ends of the two flexible hinges; the rotor is connected with a guide rail sliding block; the two symmetrical flexible hinges and the guide rail are mounted on a tail base; and the tail base is mounted on the base. The in-situ micro-nanometer mechanics testing and scoring machining integrated machine has the advantages of small size and compact structure; and the in-situ micro-nanometer mechanics testing and scoring machining integrated machine can be mounted in a scanning electronic microscope for a micro-nanoindentation and scoring test. The in-situ micro-nanoindentation test of a material can be carried out at first; the scoring machining technique is optimized according to a test result; the scoring machining is realized according to an optimal technique parameter; and finally, the integrated testing and machining process can be finally realized.

The invention discloses a flip-chip eutectic bonding method for a chip with a medium bridge and an obtained product. The method comprises the following five steps: base molding; substrate pretreatment; pressing block molding; assembling; and eutectic bonding. The product comprises a cover board, a substrate, the chip and a base. The flip-chip eutectic bonding method has the beneficial technical effects that damage to the medium bridge on a bare chip graph layer in the assembly process is avoided; pollution and damage to a surface graph of the chip caused by a tray are avoided; high-precision positioning between the chip and the substrate is achieved; simultaneous eutectic bonding of a plurality of bare chips is achieved; overburning and solder oxidation in the eutectic bonding process of a multi-chip module are avoided; the reliability of a component is provided; the assembly efficiency is improved; the assembly failure rate is reduced; and batch assembly of a high-reliability and high-efficiency multi-chip module is achieved.

The invention relates to an RSS (Received Signal Strength)-based two-dimensional wireless sensor network semi-definite programming positioning algorithm which comprises the following steps: supposing that no non-line-of-sight communication exists, completing measurement of a signal energy parameter by establishing an energy signal transmission model represented by the following formula; under a condition that energy signal measurement noise complies with Gaussian probability distribution, converting a wireless sensor network target node positioning problem into an MLE (Maximum Likelihood Estimation) mathematical optimization problem for solving; establishing an optimal target function; and converting the optimization problem into a constrained optimization problem by introducing a redundant variable, and then further converting the obtained constrained optimization problem into an SDP (Semi-Definite Programming) convex optimization problem for solving by applying an SDR (Semi-Definite Relaxation) method. The algorithm disclosed by the invention can improve the positioning precision of a target node.

The invention discloses a high-precision positioning system based on vehicle-road cooperation, which comprises a vehicle-mounted positioning terminal. The vehicle-mounted positioning terminal comprises a UWB module, an IMU module, a wireless communication module and an operation and processing module, and the vehicle-mounted positioning terminal is used for processing local signals output by the UWB module and the IMU module, receiving remote signals from a field end part and carrying out corresponding position calculation, fusion and output. According to the invention, the vehicle-end minimumsystem only comprises core modules such as UWB, IMU, wireless communication, and operation and processing, and the cost of the vehicle-end minimum system is far lower than that of a high-precision positioning system adopting laser or visual SLAM.

The invention discloses an extralong-distance sensing scattering enhanced sensing optical fiber. The extralong-distance sensing scattering enhanced sensing optical fiber comprises a plurality of scattering enhancing points axially distributed to provide stable enhanced back scattering signals; the reflectivity of the scattering enhancing points is gradually increased in the length direction of theextralong-distance sensing scattering enhanced sensing optical fiber, the connecting fibers among the scattering enhancing points serve as sensing areas, and the extralong-distance sensing scatteringenhanced sensing optical fiber is divided into multiple independent sensing sections by the scattering enhancing points. According to the extralong-distance sensing scattering enhanced sensing optical fiber, the reflectivity of the fiber core of a common single mode optical fiber is modulated through laser exposure so that the ultrawide-band reflective scattering enhancing points can be formed inthe reflectivity modulating area of the fiber core, and the interval and the reflectivity of the scattering enhancing points can be controlled by controlling the moving speed of the optical fiber, the time of laser exposure and the intensity of laser exposure. The extralong-distance sensing scattering enhanced sensing optical fiber can provide stable enhanced back scattering signals, saves multiple optical signal averaging during sensing detection and helps achieve extralong-distance, rapidly-demodulated and high-positioning-precision distributed sensing.

The invention belongs to the offshore work platform personnel positioning field, and specifically relates to an offshore work platform personnel positioning method based on a wavelet decomposition low frequency coefficient; the method mainly comprises 6 steps: A, allowing a positioning label arranged on the oil zone work personnel to send a UWB signal, and allowing a positioning base station to receive the signal; B, allowing the positioning base station to carry out wavelet decomposition for the received UWB signal; C, extracting low frequency coefficients after wavelet decomposition to build an energy block; D, building a mapping relation between the threshold and the energy block kurtosis; E, carrying out actual range finding according to the received UWB signal; F, allowing a server to position the personnel according to the differences between the positioning label and different positioning base stations and a hyperbola algorithm. The method firstly applies the UWB signal, wavelet decomposition and wavelet decomposition low frequency coefficient constructed energy block to the offshore work platform personnel positioning, thus improving the personnel range finding positioning precision under offshore oil zone specific working conditions like multipath, non-LOS and multi-metal environments.

The embodiment of the invention provides an unmanned aerial vehicle autonomous positioning method based on heterogeneous image matching and inertial navigation fusion. The unmanned aerial vehicle autonomous positioning method comprises the following steps: step 1, transforming a real-time image by using initial attitudes [theta]0 and [gamma]0 of an unmanned aerial vehicle provided by an inertial navigation system and a height h0 obtained by a course angle altimeter obtained by a magnetometer; step 2, acquiring the accurate position and absolute attitude of the aircraft; step 3, acquiring the position and attitude of inertial navigation through an inertial navigation algorithm; and step 4, correcting the state of inertial navigation. According to the embodiment of the invention, long-time high-precision positioning of the aircraft can be realized.