56results about How to "Realize precise positioning" patented technology

The invention discloses a three-degree of freedom flexible precision positioning workbench. In a structure of the workbench, six piezoelectric ceramic drivers are adopted, the tail of each driver is connected with a substrate through bolts, and the top end is in threaded connection with a ball joint to realize hertz contact; a flexible structure of the positioning workbench mainly comprises the substrate, six flexible branched chains with identical structures and a movable platform supported by the flexible branched chains; and three position sensors are used for measuring the actual output of the movable platform and are respectively fixed between a rigid support and the movable platform. The precision positioning workbench has the characteristics of high resolution ratio and high speed of dynamic response, and can be used as an assisted positioning platform of a nano-imprint lithography positioning system to realize microscale feeding and precision positioning.

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 relates to a piezoelectric-ceramics-based high-speed high-precision macro-micro platform and a switching method. The macro-micro platform comprises a platform base plate and a voice coil motor, wherein the platform base plate is disposed on a vibration isolation pedestal, the voice coil motor is disposed at one side of the platform base plate, and the voice coil motor comprises a voice coil motor shell, a voice coil motor magnet assembly, a voice coil motor coil, a voice coil motor linearity encoder and a motor shaft connecting rack. Because the voice coil motor is used to drive the platform to feed in a large stroke and a high speed, and a piezoelectric ceramics is directly connected with an output shaft of the voice coil motor, the macro-micro platform is compact in structure and easy to feedback control. Additionally, the platform is provided with the piezoelectric ceramics which plays a vibration damping effect on the high-speed motion platform by applying an opposite acting force, so that the problem that the high-acceleration motion platform is large in vibration and hard to be stable rapidly; and after the platform is stable, the piezoelectric ceramics switches functions for driving the micro platform to move, and by closed ring control of an absolute grating, the precision positioning of platform micro motion is realized.

The invention discloses a six-freedom-degree precision positioning table for a nano-imprint lithography system, wherein a spatial flexibility mechanism comprises a pre-tightening mechanism, three first displacement sensor and three first piezoelectric ceramic drivers, the pre-tightening mechanism comprises an elastic pre-tightening ring connected with a rigid ring, a base, a vertical column, three bottom elastic hinges and a first displacement sensor, the piezoelectric ceramic drivers are pushed on the elastic hinges; a plane flexibility mechanism comprises a rigid ring, a rigid supporting table, three flexible branched chains and three second piezoelectric ceramic drivers, each flexible branched chain comprises three top part elastic gemels, three second elastic gemels are connected by a driving connecting rod and a middle connecting rod, two second elastic gemels are respectively connected with the rigid ring and the rigid supporting table, the second piezoelectric ceramic drivers are pushed against on the driving connecting rod, three pairs of the supports are arranged, and each pair of the supports are connected with a second displacement sensor, and the rigid supporting table is connected with a movable platform; the working table has high resolution ratio and rapid dynamic response speed.

The invention discloses a collaborative RTK positioning method, including the following steps: a fixed reference station is selected; observation data of the fixed reference station are obtained and a pseudorange residual error and a carrier phase residual error are calculated; information of the fixed reference station is transmitted to a reference station dispatching center; moving station coarse positioning is performed and a positioning result is transmitted to the reference station dispatching center; the reference station dispatching center dispatches a candidate reference station group matched with the moving station and sends a unique identifier of the matched candidate reference station group to the moving station; the moving station receives observation data and a standard coordinate position, and selects a standard reference station; and the moving station performs high-precision positioning. The invention also provides a system using the positioning method to perform positioning, and the system includes a reference station dispatching center, a plurality of fixed reference stations, a plurality of moving stations and a communication link for data exchange among the reference station dispatching center, the fixed reference stations and the moving stations. The collaborative RTK positioning method and system provided by the invention are high in positioning precision, and have low data processing pressure when applied on a large scale.

The invention discloses a GLONASS phase inter-frequency bias real-time tracking and precise estimation method based on particle filtering. The method comprises the following steps that step 1: data preprocessing: the satellite ephemeris and the pseudo range observation value and the phase observation value of the current ephemeris cloud are imported; step 2: a double difference pseudo range and carrier phase observation equation is established, and a single epoch normal equation or a previous epoch accumulation normal equation is obtained after linearization; step 3: the phase bias in the normal equation is corrected according to the particle value to solve the normal equation; and the particle filtering weight is updated, and the value of the phase inter-frequency bias rate and the particle mean square root are calculated; and step 4: the steps 1-3 are repeated to perform real-time tracking or precise estimation of the value of the phase inter-frequency bias rate; and phase inter-frequency bias correction is performed through the value of the phase inter-frequency bias rate after filtering convergence, and the integer ambiguity is fixed so as to realize precise estimation. Real-time tracking of the inter-frequency bias and GLONASS precise positioning without receiver type difference can be efficiently realized.

The invention provides a locating method and a corresponding apparatus used for an H-shaped drive structure. An X direction linear motor is adopted to realize an X axis movement and a Y1Y2 double-linear motor is adopted to realize a Y axis movement; the cross-coupling of two motors, namely, Y1 and Y2, is adopted to realize the control of reducing relative position errors; the cross-coupling of X axis and Y axis is adopted to realize the control of reducing contour errors; the control to the cross-coupling of three linear motors is adopted to reduce synchronous position errors and contour errors so as to realize the requirement of adopting the double-drive to synchronously control the accurate locating.

The invention relates to a displacement measuring device for a movable mutual inductor of an energy balance. The device comprises a double-frequency laser head, wherein a first beam splitter is arranged in the laser beam output direction of the double-frequency laser head; a beam deflector is arranged in the reflected beam direction of the first beam splitter; a second beam splitter is arranged in the transmitted beam direction of the first beam splitter; a polarized beam-splitting prism is arranged in the transmitted and reflected beam directions of the second beam splitter; a corner cube prism is arranged in the transmitted and reflected beam directions of the polarized beam-splitting prism; a light receiver is arranged in the reflected and transmitted beam converging direction of the polarized beam-splitting prism; a laser beam output by the double-frequency laser head is divided into a transmitted beam, a reflected and steered translational beam and a reflected beam having equal light energy through the beam splitter and the beam deflector having different energy transmittances, and the three beams are orthogonal polarized light vertical to a beam transmission direction; and the displacement of the center of mass of the movable mutual inductor is obtained through the displacements of three heterodyne interference measuring light paths. The device has the characteristics of multichannel multiplexing and small signal noise.

The invention discloses a GNSS precise positioning method based on multi-dimensional particle filter deviation estimation. The method comprises: step one, carrying out data pretreatment and inputtinga satellite ephemeris, a current epoch pseudo-range observation value, and a current epoch phase observation value; step two, building a GNSS double-difference observation equation and carrying out linearization to obtain a single epoch normal equation or an epoch-accumulation normal equation; step three, calculating the normal equation by using a corresponding offset in a particle correction normal equation with multiple particle values; updating a particle filter weight and calculating a numerical value of a fractional part of the offset between the phase systems and a particle mean square root based on the weighted particle; step four, repeating the steps one to three, outputting a corresponding offset estimation value and a corresponding variance after filter convergence; and step five, according to an estimation value of an error parameter, correcting the offset value in the observation value or the normal equation and fixing a full-cycle fuzziness value to realize precise positioning. With the method disclosed by the invention, simultaneous estimation of multiple GNSS offset parameters by particle filtering is realized and precise relative positioning is realized by using a few of observation satellites.

The invention discloses a two-degree-of-freedom vibration isolating and precision positioning combined active vibration isolator. The vibration isolator comprises a basic platform (10) and a load-bearing platform (30), and is characterized in that the vibration isolator further comprises two vibration isolating units and a positioning unit; the vibration isolating units are arranged between the basic platform (10) and the load-bearing platform (30) and each comprise an air spring (2) and a first voice coil motor (25a) which are arranged in the first direction, and a stiffness-adjustable leaf spring and a second voice coil motor (25b) which are arranged in the second direction; and the positioning unit is arranged at the outer side of the vibration isolating units, comprises a proportional pressure valve (26) arranged in the first direction, and further comprises a second voice coil motor (25b) which is arranged in the second direction. According to the vibration isolator, through the two vibration isolating units and the precision positioning unit, precision vibration isolating and precision positioning are achieved, and the vibration isolator is suitable for ultraprecision machining and measuring equipment in microenvironments.

The invention discloses a cellular network RTK positioning charging method. The method comprises selecting a fixed reference station, setting a standard coordinate, acquiring observation data and sending to a concentrated control center, wherein the concentrated control center distributes a reference station scheduling center; the fixed reference station computes positioning data and sends the positioning data to the reference station scheduling center; a moving station coarsely positions and sends the coarse positioning data to the concentrated control center; the concentrated control center distributes the reference station scheduling center; the reference station scheduling center matches a reference station; the moving station performs the positioning; the concentrated control center updates pairing information; the moving station and an instant reference station are mutually converted; the reference station scheduling center authenticates the reference station, computes the income and the expenditure of the reference station and reports the income and the expenditure to the concentrated control center; the concentrated control center comprehensively manages the data. The invention further discloses a system for positioning and charging by use of the positioning method. The system disclosed by the invention is fast in positioning speed, high in precision, and low in cost, and is small in data processing pressure when being applied in large scale; and the positioning terminal can acquire a certain economic benefit.

A full-decoupling moving-locating platform for the macro / micro-driven miniature robot is composed of macromovement mechanism, external and internal locating platforms, transition platform, internal and external electromagnets, and 6 piezoelectric ceramics.

The invention discloses a two-freedom-degree precision positioning working table for a nano-imprint photoetching system, comprising a base, a movable platform, a rigid bracket connected to the bottom part of the base and four flexible branched chains connected between the movable platform and the base; in the structure, four piezoelectric ceramic drivers are adopted, the tail part of each driver is connected with the base by a bolt, and the top end thereof is connected with a ball joint by threads to realize Hertz contact; two position sensors are used for measuring practical output of the movable platform and are respectively fixed between the rigid bracket and the movable platform. The precision positioning working table has the characteristics of high resolution ratio and rapid dynamic response speed, and can be used as an auxiliary locating platform of the nano-imprint photoetching system for realizing micro feeding and precision location.

The embodiment of the invention discloses a route planning method, device, equipment and storage medium in a work area. The method comprises the following steps: acquiring a digital orthophoto image and a digital surface model of the work area; identifying tree contour information and tree position information in the digital orthophoto image, acquiring digital surface model data of a correspondingarea of the tree contour information in the digital surface model and determining the height of a tree corresponding to each candidate working tree according to the digital surface model data; determining at least two target working trees according to candidate working trees in the working area; determining a single tree working route corresponding to each target working tree, and planning a transition route connecting the respective target working trees. By adopting the technical scheme provided by the embodiment of the invention, the intelligent and precise positioning of data such as the tree position information, tree height and the like of the target working trees in the work area can be realized, so that the working efficiency of a working unmanned aerial vehicle is improved, and the labor cost is reduced.

The invention discloses a replaceable laser unit and an array thereof. The replaceable laser unit is composed of a case with a unified appearance and a unified optical interface and a cabinet. As thecase adopts the optical interface with a tapered cavity and a cylindrical cavity, accurate mechanical connection between laser output of the case and fiber output of the cabinet can be realized in a condition with no professional tools, and standardization of output components of case laser components is facilitated. Due to a vertical-type guide rail with an inclined angle, precise positioning between the case and the cabinet can be realized. When a laser component with a different wavelength is replaced, the case in the cabinet only needs to be replaced, switching of laser components with different wavelengths is replaced by switching of the cases, the difficulty for the medical staff to switch the laser wavelengths is greatly reduced, and the promotion rate of laser therapy instruments in the medical field can be improved. According to the replaceable laser array, the cases with different wavelengths can be replaced in the cabinet, multiple wavelength switches can be connected behindmultiple cases, and selective output of the wavelengths can be realized.

The invention discloses a probe positioning module, comprising a probe detection box. The probe detection box is provided with a high-power light source detection module, a low-power light source detection module, a CCD image sensor, an optical path switching module, and a target adjustment module. The optical path switching module comprises a high and low-power optical path beam splitter leadingto the CCD image sensor, a mirror for guiding the light to the high and low-power beam splitter, and a high and low-power switching mechanism. Through the above settings, the low-power light source detection module is used for detection when the invention is used. When the CCD image sensor detects that the probe is in position, a switching cylinder is controlled to act, drives a shielding plate isdriven to move, and the high-power light source detection module is switched. There is no need to set probe card parameters so that the detection efficiency is high. The invention further discloses afully automatic probe detection bench using the probe positioning module.

The invention discloses an inertial stick-slip type cross-scale motion platform, the platform comprises a protection base and a motion mechanism arranged in the protection base, wherein the motion mechanism comprises a piezoelectric ceramic, a motion assembly and an inertia assembly, the motion assembly comprises a motion transmission component and a motion output component connected to the motiontransmission component; the inertia assembly comprises an inertia transmission component and a friction component connected to the inertia transmission component; the piezoelectric ceramic is provided with a first end and a second end which are arranged opposite to each other, the first end is in contact with the motion transmission component, the second end is in contact with the inertia transmission component, the motion transmission component and the inertia transmission component are connected by means of an elastic deformation component, and a cross ball guide rail used for guiding the motion output component is arranged on the protection base, and the friction force between the motion output component and the cross ball guide rail is less than the friction force generated by the contact between the friction component and the protection base. The inertial stick-slip type cross-scale motion platform is simple in structure, simple in manufacturing process, and low in manufacturingcost, and can realize cross-scale precise positioning.

The present invention discloses a vacuum die stamping device for nanometer stamping, which belongs to the technical field of material preparation. The device comprises a tensile testing machine, a precise mold fixing system, a temperature control system, a substrate, a vacuum compressor and a vacuum hood, wherein the vacuum hood is hermetically combined with the substrate; the vacuum compressor is communicated with the vacuum hood; the precise mold fixing system consists of a piston and a guide rail; the piston slides upward and downward in the guide rail; the piston is connected with a driving device in the tensile testing machine and can be slide along a sliding chute of the tensile testing machine; one side of the guide rail is fixed on a housing of the tensile testing machine, while the other side passes through the sidewall of the vacuum hood and is sealed with the vacuum hood; a gap is reserved between the bottom of the guide rail and the substrate for placing a silicon die; and the temperature control system is fixed on the substrate to be in charge of the temperature control inside the vacuum hood. The device causes the nanometer stamping process to be precisely and smoothly completed, and the maximum resolving capability of the stamped pattern can reach 20 nanometers.

The invention relates to a self-adsorption inertial stick-slip cross-scale precision motion platform based on interface effect, and belongs to the field of cross-scale precision motion. The self-adsorption inertial stick-slip cross-scale precision motion platform based on the interface effect is provided with an inertial block, a moving block, a piezoelectric ceramic and a moving surface arrangedat the bottom of the moving block, wherein the moving block is arranged below the inertial block, a micro-nano structure is arranged on the moving surface, the lower end of the moving surface is in contact with a metal surface and generates frictional force, the inertial block is provided with a mounting surface, an accommodating groove penetrating through the inertial block is arranged on the mounting surface along the center position of the inertial block, the piezoelectric ceramic is placed in the accommodating groove, and a fixed wall and an elastic wall are respectively arranged on the left and right sides of the accommodating groove. The scheme of the invention has the advantages of simple structure, small volume, simple manufacturing process and low manufacturing cost, and can realize cross-scale precision positioning; and in addition, since a magnet is arranged in a cavity, the frictional force of the inertial block and the moving block can be improved, so that the motion of the platform can be more stable.

The invention provides a comprehensive detecting system for a portable label printing machine and a working method thereof. The comprehensive detecting system comprises a label box and a thermal transfer ribbon box which are arranged in a shell of the printing machine in sequence; a label of the label box penetrates out from the lower part of the thermal transfer ribbon box; a thermal transfer ribbon of the thermal transfer ribbon box is adhered to the label; the label penetrates out from a label outlet of the shell of the printing machine; one end of the shell of the printing machine is connected with an upper cover of the printing machine through a connecting shaft; an upper cover hanging hook which faces the shell of the printing machine is arranged on the upper cover of the printing machine, and is matched with a hanging hook of the shell of the printing machine, so that the upper cover of the printing machine and the shell of the printing machine are kept in a closed state; an upper cover detecting sensor is mounted at the hanging hook of the shell of the printing machine; whether the upper cover of the printing machine and the shell of the printing machine are buckled tightly is judged through the upper cover detecting sensor; a thermal transfer ribbon module and a label working module are mounted in the printing machine. Whether the cover of the printing machine is sealed or not is sensed by arranging an upper cover hanging hook contact shell sensor, so that the portable label printing machine works safely.

The invention discloses an open-loop positioner and an error elimination method for measurement, and relates to a height measurement device and a measurement error elimination method thereof. The open-loop positioner comprises a vertical guide rod and a testing datum plane connected with the same. A distance measuring sensor is connected to the vertical guide rod in a transversely sliding manner, and is electrically connected with a data collector. A servo motor is arranged on the vertical guide rod and drives the distance measuring sensor to slide in the vertical guide rod up and down. Positioning errors and mechanical errors are eliminated skillfully by utilization of the open-loop positioner. By means of open-loop control and through the simple positioner and structure, accurate positioning of the distance measuring sensor is achieved, and the corresponding measuring method is convenient to operate and high in accuracy.

The invention provides a replaceable laser and an array thereof. The replaceable laser is formed by casings, which are internally provided with laser elements and have uniform shapes and uniform electrical interfaces, and a case for clamping the casings. Power supply and parameter control of the laser elements are realized through cylindrical projections with tilt angle on the casings and a buckleplate and electrical interfaces in cylindrical through slots, and the cylindrical projections with tilt angle and the cylindrical through slots can realize precise positioning of the casings and thecase; and when the laser element in a different wavelength needs to be replaced, one only needs to pull the casing out of the case and replace the casing with another casing that contains a laser capable of emitting different-wavelength laser, thereby greatly reducing the difficulty of medical staffs in laser wavelength switching and improving popularization rate of laser treatment equipment in the medical field. According to the replaceable laser array, casings with different wavelength can be replaced in each case; and multiple cases can be connected with a variety of wavelength switching devices to achieve selective output of the wavelength.

The invention provides a positioning mechanism. The positioning mechanism comprises a first assembly and a second assembly; the second assembly is arranged on the first assembly; a first pin hole is formed in the first assembly; a second pin hole corresponding to the first pin hole is formed in the second assembly; an eccentric pin sleeve is screwed in the second pin hole; an eccentric pin is positioned in the first pin hole; and the eccentric pin is partially sleeved with the inner hole of the eccentric pin sleeve. The invention further provides an optical remote sensor. The optical remote sensor comprises the positioning mechanism. The invention further provides a spatial reflector positioning method. According to the positioning mechanism of the invention, the precise positioning of two components can be realized through the eccentric pin and the eccentric pin sleeve; and a matched punching link does not exist in an assembling process, so that no change and no stress are generated for the structure. When being applied to the spatial remote sensor, the positioning mechanism can realize precise positioning without affecting the position and surface shape of a reflector.

A cellular network collaboration RTK positioning method disclosed by the present invention comprises the steps of selecting a fixed reference station, setting the standard coordinates, and obtaining the observation data and sending to a centralized control center; distributing a reference station scheduling center to which the fixed reference station belongs; using the fixed reference station to calculate a pseudo-range residual error and a carrier phase residual error and send to the reference station scheduling center; carrying out the coarse positioning on a moving station and transmitting the coarse positioning result to the centralized control center; distributing a reference station scheduling center to which the moving station belongs; matching a candidate reference station group with which the moving station is paired, and sending to the moving station; using the moving station to receive data and selecting a reference station; using the moving station to carry out the self-positioning. The present invention also discloses a system of applying the positioning method to position. The system comprises the centralized control center, a plurality of reference station scheduling center, the fixed reference station, the moving station and a communication link. The cellular network collaboration RTK positioning method of the present invention is rapid in positioning speed, high in precision and low in cost, and when the positioning method is applied on a large scale, the data processing stress is small.

The invention discloses a two-degree-of-freedom precision positioning workbench for a nanoimprint lithography system, which includes a base, a moving platform, a rigid support connected to the bottom of the base, and a workbench connected between the moving platform and the base. Four flexible branch chains, four piezoelectric ceramic drivers are used in the structure, the tail of each driver is connected to the base through bolts, and the top is connected to the ball joint through threads to achieve Hertzian contact. Two position sensors are used to measure the actual output of the moving platform, and are respectively fixed between the rigid support and the moving platform. This precision positioning workbench has the characteristics of high resolution and fast dynamic response, and can be used as an auxiliary positioning platform for nanoimprint lithography positioning system to realize micro-feed and precise positioning.

The invention provides a bench-type laser precision washing device with dual-wavelength composite energy distribution, comprising a workbench, an X-Y electric module, a turntable component, a laser washing component, and a Z-directional lifting bench; the X-Y electric module is fixedly mounted on the workbench, the turntable component is mounted on the X-Y electric module, the Z-directional lifting bench is mounted on the workbench, and the laser washing component is mounted on a lifting plate of the Z-directional lifting bench; the laser washing component includes a laser, a transmission fiber, a blow nozzle, a laser ranging sensor, a galvanometer scanning system and a dual-wavelength composite reshaping system; a laser beam emitted by the laser is transmitted by the transmission fiber and enters the dual-wavelength composite reshaping system; the dual-wavelength composite reshaping system outputs a dual-wavelength composite reshaped beam that passes through the galvanometer scanning system and is focused on the surface of material. The bench-type laser precision washing device has the advantages that washing uniformity and fineness are improved, damage to material matrix is effectively decreased via circular spacing, and washing quality is greatly improved.

A cellular network collaboration RTK positioning method disclosed by the present invention comprises the steps of selecting a fixed reference station, setting the standard coordinates, and obtaining the observation data and sending to a centralized control center; distributing a reference station scheduling center to which the fixed reference station belongs; using the fixed reference station to calculate a pseudo-range residual error and a carrier phase residual error and send to the reference station scheduling center; carrying out the coarse positioning on a moving station and transmitting the coarse positioning result to the centralized control center; distributing a reference station scheduling center to which the moving station belongs; matching a candidate reference station group with which the moving station is paired, and sending to the moving station; using the moving station to receive data and selecting a reference station; using the moving station to carry out the self-positioning. The present invention also discloses a system of applying the positioning method to position. The system comprises the centralized control center, a plurality of reference station scheduling center, the fixed reference station, the moving station and a communication link. The cellular network collaboration RTK positioning method of the present invention is rapid in positioning speed, high in precision and low in cost, and when the positioning method is applied on a large scale, the data processing stress is small.

The invention discloses a powder pressing mold of a hard alloy turning cutter blade and capable of achieving rapid mold replacement. The powder pressing mold comprises an upper puncher pin, a middle mold body, a lower puncher pin and a core rod. An upper punching fixed plate is fixedly welded to one end of the upper puncher pin. An upper punching bottom plate is fixedly connected to the top of theupper punching fixed plate. The top of the upper punching bottom plate is fixedly connected with an upper punching standard sheet. The interior of the middle mold body and one side of the lower puncher pin are in clearance fit. A turning cutter blade pressing blank is arranged at the top of the lower puncher pin. A lower punching fixed plate is fixedly welded to one end of the lower puncher pin.A lower punching bottom plate is fixedly connected to the bottom of the lower punching fixed plate. The bottom of the lower punching bottom plate is fixedly connected with a lower punching standard sheet. One end of the core rod penetrates through the lower punching standard sheet and the lower punching bottom plate to be connected in the lower puncher pin in an inserted manner. The pressing moldcan achieve rapid mold replacement when mold replacement is needed by changing the mounting structure of the pressing mold, and the pressing mold can be put on production without adjusting after moldreplacement; and by means of the manner, time is saved, and production efficiency is improved.

The invention provides a position control apparatus of a flexible bilateral driving device, and the apparatus comprises a measure sensor, a position control unit and an execution unit, and the method comprises the following steps: the practical position of the measure sensor is measured, through transformation and compensation of the position control unit, the corrected position is transferred back to the device by the execution unit. The invention is capable of raising the synchronization capability of a system, raising the anti-interference performance; reducing or eliminating the servo error caused by the interference; realizing the precision positioning of a multi freedom system, minimizing stabilization time when accelerating or decelerating in a period for increasing the production capacity; greatly improving the non-linear damping adjustment, reducing the heat dissipation of a flexible body in a movement process, enhancing the anti-fatigue capability of the flexible body for prolonging the life for further. In addition, the invention provides a flexible bilateral driving device by using the position control apparatus which is capable of realizing the vibration damping of the workpiece bench and accurate position compensation.

The invention discloses a method for real-time tracking and precise estimation of GLONASS phase-frequency deviation based on particle filtering, comprising the following steps: Step 1: data preprocessing, importing satellite ephemeris, pseudo-range observation value and phase observation value of current historical cloud ; Step 2: Establish double-difference pseudorange and carrier phase observation equations, and obtain the single epoch method equation or the previous epoch accumulation method equation after linearization; Step 3: Correct the phase deviation in the method equation according to the particle value, and solve the algorithm equation ; Update the weight of the particle filter, calculate the value of the phase-frequency deviation rate and the root mean square of the particle; Step 4: Repeat step 1-3, real-time tracking or precise estimation of the value of the phase-frequency deviation rate; after the filter converges, pass the phase frequency The value of the inter-frequency deviation rate is corrected for the phase-frequency deviation, and the ambiguity of the whole cycle is fixed to realize precise estimation; the invention can efficiently realize the real-time tracking of the inter-frequency deviation and GLONASS precise positioning with no difference in the receiver type.