38results about How to "Realize solution" patented technology

The invention relates to a carrier course angle calculation method based on a polarization compass. The polarization compass comprises two acceleration meters in the horizontal direction and three polarization sensors. The carrier course angle calculation method based on the polarization compass includes that firstly, using the acceleration meters in the horizontal direction to acquire the horizontal posture (pitch angle theta and roll angle gamma) of the carrier; secondly, using the geographical location information and time information of the carrier to calculate a unit sun vector St under a geographic coordinate system; thirdly, using the polarization sensors on the carrier to measure a polarization azimuth angle to calculate a unit sun vector Sm under a polarization sensor module coordinate system; finally, using the horizontal posture information and sun vector information to build the transformation relation of the unit sun vector between the geographic coordinate system and polarization sensor module coordinate system, and confirming the course information Psi of the carrier. The carrier course angle calculation method based on the polarization compass has advantages of high precision, less calculated amount, strong compatibility and the like.

The invention discloses a method and system for sea-sky-line detection and navigation via an USV based on vision. The method comprises the following steps: extracting all the line segments in an imageby using a line segment detection algorithm, building a line segment pool, then with the morphological characteristics of a sea-sky-line as constraint conditions, filtering out non-sea-sky-line segments in the line segment pool so as to obtain candidate sea-sky-line segments; estimating optimal sea-sky-line results by using a least square method so as to obtain detection results of the candidatesea-sky-line segments; and based on the detection results of the candidate sea-sky-line segments, resolving the parameters of USV navigation on the basis of a photography model of the sea-sky-line. Thus, the method and system provided by the invention can effectively detect the sea-sky-line via the USV and accurately calculate the attitude navigation parameters of the USV.

The invention belongs to the field of wireless positioning, and particularly discloses a mobile robot RFID positioning method based on a phase characteristic. The method comprises the following stepsof S1, when an RFID reader-and-writer moves on a mobile robot, forming an RF loop with an RFID label which is mounted on an object, measuring phase information and signal wavelength information of theRFID RF loop by the RFID reader-and-writer; S2, converting periodical non-continuous phase information to continuous non-periodical phase information, and acquiring position information of an RFID reader-and-writer antenna; and S3, constructing an unwrapping phase-position model, introducing signal wavelength information, the continuous non-periodical phase information and position information ofthe antenna into an unwrapping phase-position model, calculating the position information of the RFID label relative to a mobile robot, thereby realizing positioning of the object. The mobile robot RFID positioning method based on the phase characteristic has advantages of high positioning accuracy, high interference resistance, low calculation amount, simple system, etc.

The invention relates to a zero calibration device for a joint of a large-scale space manipulator, which belongs to the field of integrated assembly and testing of a space drive mechanism; a support base, a first moving module, a second moving module, a third moving module, a joint shell, and a connecting female assembly and connect the male assembly; the second mobile module is arranged in the middle of the upper surface of the support seat; the first mobile module is arranged on the upper surface of the support seat and is located on one side of the second mobile module; the third mobile module is arranged on the support seat and is located on the other side of the second mobile module; the joint shell is a hollow cuboid shell structure; the joint shell is axially and vertically suspended and fixed on the external wall hanging mechanism; the connecting female assembly is installed on the outer wall of the joint shell On the side; the connecting male component is installed at the bottom of the joint shell; the invention realizes the rapid measurement and calibration of the joint zero position of the large-scale space manipulator, and improves the calibration efficiency and calibration accuracy of the joint zero position.

An inter-satellite laser communication system can be applied in free space laser communication. The principle of this system device is that in the transmitting optical path, the intensity-modulated laser is emitted through the common optical path of transceiver after passing through the 45° reflector; Then it is incident on the photoelectric detection unit to realize the position calculation and the extraction of the communication signal. The common light path for transmitting and receiving is composed of front optical wedge, rear optical wedge, transmitting and receiving lens and middle hole reflector. Among them, the establishment of the laser communication link is realized through the coordinated rotation of the front wedge and the rear wedge; the function of the transceiver lens is to focus the received parallel light and collimate the emitted light; the center-hole reflector mainly realizes the transceiver Separation of light paths. The present invention is characterized by adopting the coaxial design scheme of transmitting and receiving, which reduces the volume and improves the stability of the system at the same time. The isolation of the system is increased by using different ways of transmitting wavelength and receiving wavelength. And by using the way of rotating the double optical wedge, the deflection angle of the beam can reach ±30°.

The invention relates to a heliostat secondary reflection pointing correction system and method, at least including a target, an image acquisition system and a host computer, the target is installed in the center of the focal plane of the heat absorber, and the target irradiation range covers the secondary reflector The image acquisition system is fixed on the mirror surface of the heliostat, the field of view direction is in the same direction as the reflection surface of the heliostat, the optical axis vector of the image acquisition system is parallel to the mirror normal vector of the heliostat, and the host computer Connect all the heliostats with the image acquisition system to obtain the data of the image acquisition system and control the rotation of the heliostats. The invention uses the image acquisition system installed on the mirror surface of the heliostat to shoot the target (high-brightness light source or marker) at the focal plane of the heat absorber to correct the secondary reflection and pointing of the heliostat, which can satisfy all existing conditions in the entire mirror field. The heliostats installed with the image acquisition system are corrected at the same time.

A geographic positioning method for ground panoramic images of the present invention first adopts an omni-directional feature quantity for the overall description of the spatial organization orientation relationship, completes rough positioning by retrieving the description vectors at grid points on the satellite image map, and then performs coarse positioning. Positioning determines several matching lines as the control lines when the height information is distorted. Finally, under the constraint that the order of the relative height remains unchanged, the initial value of the iteration is introduced through rough positioning to realize the precise calculation of the outer azimuth elements. Different from the beam adjustment calculation of multiple frames of ground images, this method only needs medium and high-resolution satellite image data and relative elevation information of the scene surface, without any other positioning devices (such as GPS) and without adding artificial control points. Realize the precise external parameter calculation of a single frame of ground panoramic image, which is very suitable for image registration with huge differences in field of view and scale such as sky and earth.

Disclosed is an aircraft system analysis system and method. The aircraft system analysis system comprises a model import module, a parameter mapping module, a system coupling loop identifying module, a loop operation module and a system output module. The model import module imports domain models having the coupling relation into the aircraft system to be marked with domain A and domain B, arrays A.out [am] and B.out [bm] are valuated with response parameters of the domain A and the domain B, arrays A.in [an] and B.in [bn] are valuated with self-variable parameters, and the arrays are stored as XML formatted files. The parameter mapping module maps the parameters between the domain A and the domain B to form coupling files. The system coupling loop identifying module identifies the coupling files to form a coupling loop G0. The loop operation module processes the G0 to obtain a process G1 and operates the G1 until the G0 is balanced, the values of nodes of the balanced forward arrays are stored into AtoB [m], and the values of nodes of the reverse arrays are stored into BtoA [n]. The system output module extracts the values of the AtoB [m] and the BtoA [n], and the values are stored as the XML files of the forward nodes and the reverse nodes and outputted.

The invention discloses a waveguide grating evanescent field disturbance detection-based micromechanical gyroscope micromechanical gyroscope. According to the gyroscope, a driving electrode and a monitoring electrode are distributed on two sides of a mass block; one end of the driving electrode is fixedly connected with the mass block, and the other end of the driving electrode is fixed onto a silicon dioxide substrate; one end of the monitoring electrode is fixedly connected with the mass block, and the other end of the monitoring electrode is fixed onto the substrate; by means of an electricfield, the driving electrode drives the mass block to vibrate in a horizontal direction; the monitoring electrode detects the vibration amplitude of the mass block; a disturbance beam and the drivingelectrode are located on the same side of the mass block; the disturbance beam is fixedly connected with the center of the side edge of the mass block; the laser emergent direction of a laser is directly opposite to one end of an optical waveguide; the other end of the optical waveguide is directly opposite to a detector; a waveguide grating cavity is arranged on the optical waveguide; the waveguide grating cavity is located below the disturbance beam; and the disturbance beam is located in the evanescent field of the waveguide grating cavity. According to the micromechanical gyroscope of theinvention, a mechanical structure and an optical structure can be separate, so that the independent optimization of mechanical performance and optical performance can be supported.

The invention discloses a control method of a four-axis unmanned aerial vehicle. The method includes the following steps that: S1, the attitude data of an attitude sensor in the four-axis unmanned aerial vehicle are acquired, and filtering and fusion are carried out on the attitude data, so that current attitude information can be obtained, wherein the attitude data include a current attitude angle and an angular velocity corresponding to the attitude angle; and S2, the four-axis unmanned aerial vehicle is controlled through a cascade double-loop PID control method, a deviation value between the current attitude information and target attitude information is adopted as the input quantity of an angle PID controller, the difference value of the current angular velocity and the output quantity of the angle PID controller is inputted into an angular velocity PID controller, and the output of the angular velocity PID controller is used for controlling a motor until the four-axis unmanned aerial vehicle achieves a target attitude. With the control method of the invention adopted, more accurate measurement data can be obtained, the accuracy of attitude data can be improved; the cascade double-loop PID control is adopted, so that the anti-interference performance of a system is enhanced; and therefore, the four-axis unmanned aerial vehicle has higher adaptability.

The invention discloses a hole panoramic image pair three-dimensional imaging method, which comprises a basic principle, a method, an optimized design and algorithm realization. According to the basic principle of the three-dimensional imaging, an imaging method for a 360-DEG drilling hole wall panoramic image-paired image containing the location information of an imaging device is provided by utilizing the technological combination of an optical converter of a twin-conical-surface lens, the imaging device and the space location; a calculation formula of a panoramic image-paired image is derived by theoretically analyzing the hole panoramic image pair imaging principle, the optimized analysis is carried out for the parameters of relevant technology and the layout design, and the corresponding software algorithm is established; and by analyzing a key point and difficulties for realizing the algorithm, the corresponding implementation scheme and flow block diagram are compiled. By adopting the hole panoramic image pair three-dimensional imaging method, the difficult problem of panoramic and three-dimensional detection inside the hole can be solved, a scientific method is provided for the precise detection inside the hole, the breakthrough and substantive progress of the drilling photograph technology can be realized, and the remarkable scientific significance and economical practicability can be realized.