73results about How to "Realize three-dimensional positioning" patented technology

The invention provides a detection system and detection method for low-altitude slow small targets. The detection method includes the following steps that: electromagnetic waves are emitted through adetection radar, electromagnetic waves reflected by a target are received, and the point trace and flight trace information of the target is obtained; unmanned aerial vehicle frequency band electromagnetic signals are received through spectrum detection, signal electromagnetic feature information is extracted, and is compared with unmanned aerial vehicle remote control and telemetry signal electromagnetic features in a database, whether the signals are unmanned aerial vehicle signals is judged, unmanned aerial vehicle direction finding information is obtained; the visible light video and infrared video information of the target is obtained through photoelectric detection; broadcast signals emitted from an onboard type ADS-B system are monitored in real time, the point trace and flight trace information and identity information of the cooperative unmanned aerial vehicle target are obtained; all the above information is integrated, so that the comprehensive information including point and flight trace, category, cooperative / non-cooperative identity information and tracking video information of the target can be obtained. Compared with the prior art, the detection system and detectionmethod can realize three-dimensional positioning, speed measurement, category identification and point trace generation of a low-altitude unmanned aerial vehicle target, a monitor the cooperative target in real time so as to obtain a low-altitude flight real-time trend.

The present invention relates to an exhibition room service robot stereo positioning and scheduling management system and a positioning method thereof. The beneficial effects of the present invention are that: all fixing labels are placed on a ceiling by combining the actual layout of an exhibition room and by a three-dimensional space RFID positioning method, so that the interference of the ground objects are reduced to maximum extent; a mobile label is fixed on a service robot, the data is selected by a fixing label condition response mechanism, and the three-dimensional coordinate is solved by a least square method; the combination of a wireless communication module, a mobile terminal and an upper computer software realizes the rapid and accurate space positioning and scheduling management of the multi-service robot.

The invention provides a radio frequency positioning method, device and system. The radio frequency positioning method comprises the following steps that radio-frequency signals sent out by an electronic tag of a detected object are received at different azimuth angles and pitch angles in a first position; the radio-frequency signal with the maximum intensity value is screened out from the received radio-frequency signals, and the azimuth angle and the pitch angle which correspond to the radio-frequency signal with the maximum intensity value are determined as the azimuth angle and the pitch angle, relative to the first position, of the detected object; the relative distance, relative to the first position, of the detected object is obtained according to the radio-frequency signal with the maximum intensity value at the first position; according to the geographical coordinates of the first position, the azimuth angle and the pitch angle, relative to the first position, of the detected object, and the relative distance, relative to the first position, of the detected object, the geographical coordinates of the detected object are generated.

The invention relates to an advanced detection method for focusing chromatography induced polarization of underground engineering. The advanced detection method comprises the following steps of: arranging a circle of shield electrodes A1 on a contour line of an operating surface of the underground engineering by utilizing a focusing operating manner and arranging a plurality of parallel measuringlines on parts with different heights from a base plate to a top plate firstly, wherein the measuring lines are provided with power supply electrodes and receiving electrodes, and the base plate is also provided with power supply electrodes and receiving electrodes; acquiring data layer by layer by utilizing a chromatography method; carrying out inversion on measuring line potential difference data obtained through measurement to obtain a three-dimensional resistivity image of a geologic body in the front of the operating surface; drawing a relation coordinate graph of difference data and horizontal distances of half time by using the half time obtained through measurement, calculating an envelope area St of half time difference and abscissa axis, and drawing a two-dimensional profile mapof the envelope area St to realize estimation of the quantity of water in the front of the operating surface. The advanced detection method for the focusing chromatography induced polarization of theunderground engineering, disclosed by the invention, has excellent advanced detection directivity, realizes three-dimensional location of an aquifer and solves problem of incapability of location in a traditional focusing electric method during single-point measurement.

The invention discloses a full-automatic double-ccd (charge-coupled device) photosensitive element digital microscope, which is used for acquiring specimen image information by synchronously using a colored ccd photosensitive element and a black-and-white ccd photosensitive element so as to obtain a multifocal plane holographic three-dimensional image, synchronously outputting a specimen reading result according to nucleus integral optical density acquired by the black-and-white ccd photosensitive element, and finally outputting a specimen picture and text report. Additionally, the full-automatic double-ccd photosensitive element digital microscope comprises a slide uploading and unloading device and a horizontal migration clamping device for automatically changing the specimen slide, and then, the slide is located in three dimensions through a three-dimensional frame, so that the colored ccd photosensitive element and the black-and-white ccd photosensitive element can conveniently acquire the image information of the specimen. Thus, the full-automatic double-ccd photosensitive element digital microscope can be used for not only performing morphological observation on the specimen, but also taking digital images for a dyed tissue section so as to form the multi-focal plane holographic three-dimensional image, so that all the information of the cell can be observed in multiple layers and multiple focal planes, and accuracy of early diagnosis is greatly improved.

The invention provides an automatic test data positioning system and method for a pavement condition. The method comprises the following steps of: acquiring longitude and latitude of each pile number position of each lane mileage pile by utilizing a longitude-latitude acquisition device to form a mileage-pile pile number-longitude and latitude electronic map database; controlling the acquisition of pavement fracture surface laser making line images and the longitude and latitude of the positions by utilizing a vehicle-mounted numerical value speedometer to automatically acquire vehicle track mileages and geodetic coordinate longitude and latitude of vehicle-mounted data points; performing longitude and latitude correlation on a certain vehicle-mounted data point position according to the longitude and latitude of the vehicle-mounted data points, the traveling track mileages and the mileage-pile pile number-longitude and latitude electronic map database which are synchronously acquired; determining a pile number position of the certain vehicle-mounted data point, namely a lane Y coordinate value; acquiring a horizontal coordinate zero point and an X coordinate value of the data through lane marking laser making lines and fracture surface laser making lines. The influence on non-linear lines and lateral oscillation of vehicle tracks during test is avoided, and the data of the position of lane marks can be strictly and certainly expressed.

The invention relates to the technical field of lightning detection, in particular to a lightning positioning system based on a VHF radar and a lightning positioning method. The lightning positioningsystem comprises a VHF radar transmitting system and a radar receiving system arranged in the same station. The radar receiving system comprises an interference receiving antenna comprising at least two long baseline antenna arrays and at least two short baseline antenna arrays. Each of the long baseline antenna arrays and the short baseline antenna arrays comprises at least two pairs of receivingantennas. Terminals of the long baseline antenna arrays and the short baseline antenna arrays are provided with public receiving antennas. A distance between the adjacent two pairs of receiving antennas in each long baseline antenna array is greater than that of the adjacent two pairs of receiving antennas in each short baseline antenna array. The size of the receiving antennas is matched with the wavelength of VHF radar waves transmitted by means of a VHF radar transmission system. The positioning system can realize three-dimensional positioning of lightning and single-station positioning oflightning.

The invention discloses a multifunctional sample room capable of being used for a thermal infrared camera.The multifunctional sample room comprises a transparent chamber, and a CCD camera and the thermal infrared camera are installed in the chamber; the top of the chamber is provided with a rotating support, and the CCD camera and the thermal infrared camera are installed on the rotating support and can be alternatively used; a temperature sensor, a humidity sensor, a refrigerator, a dry and wet air device and a heater are arranged in the chamber, wherein the temperature sensor and the humidity sensor are used for collecting information, and the refrigerator, the dry and wet air device and the heater are used for regulating and controlling the indoor environment; a roller blind capable of rising and falling is arranged at the periphery of the chamber, LED light sources are arranged on the two sides of the top inside the chamber respectively, and a displacement platform capable of rotatably rising and falling and horizontally moving is installed in the middle of the chamber.According to the multifunctional sample room, the different cameras can be switched according to the difference of collected images, the advantages that the distance between a sample and a detection device of a thermal infrared imager is adjustable, and the internal temperature, the humidity and the light sources of the chamber are controllable are achieved, and experimental errors caused by the fact that the thermal infrared imager is influenced by the environment in the sample detecting process are avoided.

The invention relates to a underwater target three-dimensional positioning method realized based on distributed arrays. The distributed arrays comprise a plurality of nodes. Each node is a linear array which comprises a plurality of array elements. The nodes are arranged at different positions in water. The underwater target three-dimensional positioning method comprises the steps of performing matching field positioning on a same target by each node in the distributed arrays, thereby independently performing depth elimination and distance elimination on a same target; and performing cooperative positioning on an estimated result which is obtained through performing matching field positioning on the same target by each node at same time, thereby realizing three-dimensional positioning on a underwater target. The cooperative positioning comprises correcting a horizontal direction positioning result according to a linear least square algorithm, and performing estimation in a manner that an average value of the target positioning depth of each node is used as a target depth. The underwater target three-dimensional positioning method has an advantage of high positioning precision.

The invention relates to an Indoor floor location method based on an air pressure fingerprint. The method comprises an offline stage and an online stage. The offline stage comprises the steps of collecting air pressure data of different floors in a target indoor location scene before actual floor location is started, and forming an air pressure fingerprint library after the air pressure data is processed. The online state comprises the steps of collecting air pressure data of a to-be-located location on site when the actual floor location is carried out, comparing the air pressure data with air pressure fingerprints in the air pressure fingerprint library, and selecting the floor corresponding to the most matched air pressure fingerprint as a currently located floor. The method has the advantages that according to the method provided by the patent of the invention, through adoption of an existing indoor plane location method, indoor high-precision three-dimensional location can be realized, thereby facilitating development of indoor location applications and service.

The invention discloses a water surface target measuring method and relates to three-dimensional measurement of computer vision. A calibration device with a leveling function is used for determining that a reference plane is parallel to the water surface, and the water surface target measuring method is derived according to the imaging principle of a camera and the single-view computer vision theory. The method comprises steps as follows: configuring equipment for water surface target measurement, determining that the reference plane is parallel to the water surface, acquiring images, calculating the internal parameter of the camera, solving the normal vector of the water surface, adding a target height calculation module when necessary, performing measurement reconstruction, performing Euclidean reconstruction from measurement reconstruction and performing error analysis. The method overcomes defects that existing water surface target measuring methods are time-consuming, labor-consuming, unsafe and complex and measurement results are unstable.

The invention relates to an interactive intelligent conference system based on pattern recognition and a using method thereof. The interactive intelligent conference system comprises five stepper motors, a camera, a projection screen, a meeting room and an electronic stylus; the control interface of each stepper motor is provided with a wireless fidelity controller; each wireless fidelity controller controls each stepper motor according to a control signal sent by a computer control terminal; the four stepper motors are arranged at four corners of the ceiling of the meeting room respectively;gears of revolving shafts of the stepper motors are connected with a chain made of a rope respectively; the fifth stepper motor is vertically hung and connected at an interaction point of the four chains made of the rope in a Z shaft direction by using another chain made of the rope; the camera is hung at the tail end of the chain made of the rope below the stepper motor in the Z shaft direction;and the camera acquires projection light spot signals of the electronic stylus on the projection screen and transmits the signals to the computer control terminal. The interactive intelligent conference system can meet the interactive intelligent requirement of the conference exhibition and can be widely applied to teaching or meeting.

The invention discloses an alarm, alarm method and alarm system, which consists of alarm and control center, wherein the alarm contains control unit and signal shield unit of cutting wireless communication. The control unit responds the register signal of alarm signal control shield unit and regards the register signal as warning occurrence. When control center inquires the warning occurrence, the system sends alarm according to register content.

The invention discloses a buried gas conveying pipeline leakage cross positioning method based on beam forming. The method is based on a beam forming method, and the space position of a sound source generated at the leakage position of a buried gas conveying pipeline is positioned by combining a cross positioning principle, and then positioning of a leakage point is completed. Compared with the prior art, the cross positioning method has the advantages that two sensor arrays are arranged and are extended to a soil medium through a waveguide rod, a sound source positioning method based on beamforming is improved by means of the cross positioning principle so that three-dimensional positioning of the far-field sound source can be realized through the cross positioning principle, the cross positioning principle is applied to a buried gas conveying pipeline leakage sound wave positioning scene, then accurate positioning of pipeline leakage is realized, and the cross positioning method isa supplement to an existing pipeline leakage detection method based on the sound wave method, and solves the problems that in the prior art, in case of an existing method, the positioning instantaneity is high but the precision is insufficient.

The invention provides an aerial target positioning method based on a single vector sensor. The method includes the steps: firstly, calculating an azimuth estimation result by the aid of pvz cross spectrum signals; secondly, performing spectrum analysis on vz, and extracting the frequency of corresponding frequency bands. A frequency estimation method is improved by the aid of an LSM algorithm, frequency sequence extraction accuracy and fundamental frequency estimation result accuracy are improved, horizontal direction parameters are estimated, horizontal distance estimation results before and after compensation can be acquired according to a horizontal distance compensation algorithm, minimum distance estimation results are more accurate by a minimum distance matching algorithm when an azimuth angle approaches to a course angle, the influence of angle estimation accuracy to horizontal distance estimation accuracy is reduced by a horizontal distance compensation algorithm, and a horizontal distance estimation result is more accurate. An elevation angle is calculated by a frequency sequence extraction method, and height estimation of an aerial target is achieved based on an elevation angle estimation algorithm, so that three-dimensional positioning of the aerial target is achieved.

The invention provides a magnetic-field-based deep deformation instability monitoring system of a slide slope and a monitoring method based on the same so as to meet an urgency need of deep deformation instability monitoring of the slide slope. The monitoring system having advantages of good concealment performance, high adaptability, and good interference prevention property is easy to repair andis capable of monitoring the large deformation in the middle and later periods of the side slope. The monitoring method is carried out simply; three-dimensional positioning of the magnetic field emission element embedded in the slope is realized under the circumstance that the parts of magnetic field gradient parameters are obtained only by measurement, so that the deep deformation of the side slope is monitored precisely. Therefore, the deformation instability monitoring of the slide slope is realized.

The invention discloses a positioning method based on a multi-antenna orthogonal frequency division multiplexing (OFDM) modulated signal. The method comprises the following steps of: (10) digital signal acquisition: acquiring an OFDM modulated digital signal from a circular multi-antenna array; (20) system reconfiguration: decomposing a direction vector from subcarrier channel state information to expand an aperture; (30) subcarrier virtual smoothing: obtaining sub-arrays and the covariance of sub-array channel state information according to an invariant sub-array flow pattern principle; (40) incident angle time estimation: obtaining the incident angle and the incident time of an unknown signal according to the arithmetical mean value of the covariance of respective sub-arrays; (50) triangular positioning: enabling the direction angle estimated by multiple anchor nodes to perform cross-positioning, selecting the arrival angle of a signal with the minimum arrival time as a direction angle, and selecting any point in a graphic formed by the intersection points as a final positioning coordinate point. The positioning method can achieve high-precision three-dimensional positioning of multiple signal sources with fewer antennas.

The present invention provides an indoor Internet of things active tag location method. The method comprises: performing preliminary screening and grouping of signal intensity data of the Internet of things active tags received by each reader; calculating the initial coordinates of the Internet of things active tags according to grouping data; and performing iteration correction of the initial coordinates of the Internet of things active tags, and obtaining finial coordinates of the Internet of things active tags. The indoor Internet of things active tag location method performs calculation and iteration of the signal intensity of the Internet of things active tags collected by a plurality of readers installed indoors to realize the three-dimensional location of the indoor positions of the Internet of things active tags with no need for human intervention, and is high in location precision and rapid in speed.

The invention provides an accurate positioning method for power transmission line unmanned aerial vehicle inspection image detection defects. The accurate positioning method comprises the steps of (1)constructing a point cloud space electrical component distribution vector; (2) acquiring defect image orientation elements; (3) establishing mapping; and (4) carrying out accurate positioning. According to the invention, high-precision POS information (shooting center space coordinates, a holder angle, a camera focal length and the like) of a defect image shooting instantaneous camera is obtainedthrough inertial navigation in combination with a GNSS rear difference technology; a photographing center and an imaging plane are simulated in the point cloud space; and the three-dimensional pointsof the electrical components in the laser LiDAR point cloud space are projected onto the two-dimensional image plane of the simulated unmanned aerial vehicle image by using an aerial survey collinearequation and a central projection imaging principle, and a mapping relationship between inspection image pixels and the three-dimensional points of the point cloud is established so as to realize three-dimensional positioning of defect pixels in the point cloud space.

The invention discloses an automatic centering hydraulic fixture. The automatic centering hydraulic fixture comprises a fixture body, a stand column mounted on the fixture body for penetrating through a cylinder hole of a cylinder blank, height positioning parts mounted on the two sides of the fixture body and used for supporting the cylinder blank, a left-right centering positioning part mounted at the middle part of the fixture body and used for positioning in the thickness direction of a main bearing base of the cylinder blank, and a first front-back centering positioning part mounted on the stand column and used for positioning in the front-back diameter direction of the cylinder hole. The automatic centering hydraulic fixture, provided by the invention, respectively positions the height direction, the left-right direction and the front-back direction of the cylinder blank, realizes three-dimensional positioning of the cylinder blank, provides excellent positioning foundation for subsequent further clamping and machining procedures, can effectively solve the problem of nonuniform machining allowance distribution of the cylinder blank, guarantees high-efficiency and high-quality positioning and clamping of the cylinder blank, and guarantees normal production of a quick production line.

The invention relates to a target positioning method based on a binocular PTZ camera, which is characterized in that internal and external parameters of the binocular PTZ camera at any angle and focal length are calibrated, and three-dimensional positioning of a target is realized by using a least square method, and the method comprises the following specific steps: step 1, solving internal parameter matrixes Kl and Kr of the left and right cameras at any focal length; 2, solving rotation matrixes Rl and Rr and translation vectors Tl and Tr of the left and right cameras relative to a world coordinate system at any angle and focal length; 3, solving homography matrixes H1 and H2 from the world coordinate system to the left and right camera pixel coordinate systems, and according to the coordinates pl (ul, vl) and pr (ur, vr) of the homonymy points in the left and right pixel coordinate systems, solving the coordinate value of the target in the world coordinate system through a least square method. The beneficial effects of the invention are that the invention can achieve the three-dimensional positioning of a target in a larger range and a longer distance through the stereo vision formed by zooming and rotation of the binocular PTZ camera, and can greatly improve the perception capability of an intelligent unmanned platform.

This invention relates to an interspaces plane orientation system depend on two waves differ in speed. It includes: A non electrical connected signal collection module which can take-over and transmit signals to peripheral device of the system and can dispose signals; A signal incepting module which can recognize at least 4 kinds of signals and dispose relative information then transmit to the signal collector; A signal transmitting module which can transmits at least 3 signals and recognize the order from the signal collector; peripheral devices and relative computers are also included. Compared to the current technique, this invention is convenience, fast, accurate, and it also can orientate in all direction and three-dimension.

The invention discloses rotatable distributed radar life detection and positioning equipment which comprises more than two independent radar units, each radar unit is provided with a rotating mechanism, and the independent radar units are enabled to rotate around a fixed shaft through the rotating mechanisms so as to adjust the polarization direction of an antenna. The equipment has the advantagesof simple structure, simple operation, wide application range, capability of realizing large-range quick search and full-polarization target detection and the like.

The invention discloses a pairing method used for a distributed multi-point positioning and monitoring system. The method is used for pairing response signals and is also used for pairing calibration signals. Subsequently, error compensation of a system is obtained according to a calibration station measurement position which is calculated according to the paired calibration signals and an actual position of the calibration station. And then, the error compensation of the system is used to carry out error compensation the measurement position of a target so as to achieve accurate target positioning. By using the pairing method of the invention, data quality control processing is performed on the signals, and then consistency matching processing is performed on the signal after the data quality control processing. Through the method of the invention, pairing accuracy of a response signal and a calibration signal is increased, positioning accuracy of the response signal and the calibration signal is improved, and a risk that local convergence is generated because of incorrect pairing or divergence can not be correctly solved is reduced, and a reliable data basis is provided for real-time accurate positioning of the target and the calibration station.

The invention discloses a squint InSAR combining DEM and GMTI processing method based on a five-element cross array. Complex landform clutter cancellation and moving and static target height and speed decoupling are realized through the method, thereby realizing DEM measurement of front-view array plane InSAR, SAR-GMTI and three-dimensional positioning function of moving targets. The method includes the steps of designing a vertical track five-element cross array comprising upper, middle, lower, left and right elements, conducting squint imaging processing and pre-processing for data of each channel, completing clutter cancelled CFAR detection by using images of upper, middle and right channels, calculating horizontal vertical baseline interference phase susceptibility function of the moving target, obtaining the speed and the real position of the moving target, and completing DEM measurement through a vertical baseline. The method is applicable to a complex landform, realizes estimation of the height of a moving target, improves parameter estimation precision of the target, and can conduct three-dimensional landform plotting, moving target detection, moving target speed estimation and three-dimensional positioning simultaneously.

The invention discloses telescopic distributed radar life detection and positioning equipment which comprises more than two radar units, the two adjacent radar units are connected through a telescopicmechanism, and the telescopic mechanism is used for increasing or decreasing the distance between the two adjacent radar units. The equipment has the advantages of being simple in structure, easy andconvenient to operate, wide in application range, capable of achieving multi-mode detection and the like.

The invention discloses a UAV based concrete crack detection device. The detection device comprises a UAV body, an adsorption mechanism through which the UAV body is adsorbed to the concrete surface in a crack to be detected and a crack detection mechanism, the crack detection mechanism comprises a rotation driving motor fixed over the UAV body and a camera and a measuring scale fixed in the side,towards the crack to be detected, of the UAV body, the output end of the rotation driving motor is connected with the measuring scale via a rotating shaft, and the rotating shaft is fit to the concrete surface in the crack to be detected. Via the UAV based concrete crack detection device, the crack detection mechanism with the rotatable measuring scale is arranged, the length and the width of thecrack can be read directly via the measuring scale, a lot of data treatment later is not needed, and the measuring method is simple; and a positioning mechanism is arranged to record 3D spatial position information of the crack, and the crack is tracked and observed for long time.

The invention provides an intelligent dust detection system and detection method, belongs to the technical field of intelligent detection, and is used for solving the shortcomings in the prior art that the inspiration flow quantity is small, inspiration flow is not constant, the sampling error is high and positioning is inaccurate or cannot be performed when GPS signals are weak. The system comprises a core processor, a sampling system module, a gas flow sensor, a GPS positioning module, a GPS assisted positioning module, a wireless data transmission module and a power supply module; the sampling system module, the gas flow sensor, the GPS positioning module, the GPS assisted positioning module and the wireless data transmission module are connected with corresponding signal input / output ends of the core processor through self signal input / output ends respectively. The intelligent dust detection system and detection method provided by the invention have the advantages of large inspiration flow quantity, constant inspiration flow, low sampling error, non-dead zone positioning function and the like.

The invention belongs to the technical field of target position data measurement, and discloses an indoor positioning method, an indoor positioning system, an indoor positioning device, a storage medium and a computer program product. A plurality of base stations and a plurality of terminals are used, distances between the plurality of indoor terminals and the plurality of fixed base stations arecalculated through distance measurement between the plurality of base stations and the plurality of indoor terminals by adopting a space rectangular coordinate system. The distances between the plurality of terminals and the plurality of base stations are positioned, direction finding between the plurality of base stations and the plurality of indoor terminals are carried out, and angles between the plurality of indoor terminals and the plurality of base stations are calculated by adopting a polar coordinate system. The position information is obtained by calculating orientation information ofthe indoor terminals in a coverage range of one base station. A numerical value is obtained by applying a distance measurement method and a direction finding method. The accurate positioning information of each indoor terminal is obtained through mutual correction by using the distance and the orientation information obtained by the plurality of indoor terminals. According to the indoor positioning method, the indoor positioning system and the indoor positioning device, the distances among the plurality of indoor terminals are accurately measured, and precise positioning of the indoor terminals can be realized.

The invention discloses a batch positioning auxiliary device for sliding grooves formed in a door of a subway steel vehicle body and belongs to the field of steel structure welding of stainless steel vehicle bodies of railway vehicles. According to the batch positioning auxiliary device for the sliding grooves formed in the door of the subway steel vehicle body, the three-dimensional positioning of heights, gaps and planar gradients for C-shaped horizontal sliding groove arrays is achieved by arranging a plurality of C-shaped sliding groove locking blocks on a horizontal positioning cross beam of a height positioning support. The positioning method of the batch positioning auxiliary device is simple, quick, convenient, accurate, reliable, and capable of reducing the repair rate and relieving the labor intensity greatly, and significantly improving the production efficiency of the working procedure. Besides, the batch positioning auxiliary device has the advantages of being simple in structure, practical, convenient to operate, low in cost, convenient to popularize and the like.