67results about How to "Reduce observation error" patented technology

The invention embodiment discloses a realizing method and a system of a vision inertial mileometer. The realizing method comprises following steps: 1, a camera is adopted for real-time acquisition ofimage data, and an IMU is adopted to collect gyroscope and acceleration data; 2, a scene initialization module is adopted to establish an initial space three-dimensional map of a vision inertial mileometer system; 3, a map expansion module is adopted for real-time updating of the initial space three-dimensional map; and 4, an attitude estimation module is used for receiving the position and the attitude of equipment corresponding to each image frame. According to the realizing method, the scene initialization module is adopted to realize system initialization process high in robustness; the attitude estimation module is adopted to realize position and attitude optimization based on vision information and IMU information combined constraints; a repositioning module is adopted for failure treatment and repositioning algorithm, and equipment real-time position and attitude information are obtained. The invention embodiment also discloses a vision inertial mileometer system.

The invention provides a method for observing a rotary speed of am induction motor of a Kalman filter with index fading factor, belonging to the field of drive control of motors. The method solves the problem that the observing result of state variable is influenced because the matrix error of the noise covariance is great in the standard Kalman filter EKF (Extended Kalman Filter) algorithm which is used for observing the rotary speed of the induction motor in the prior art. In the invention, the method realizes the rotary speed observation on the basis of a rotary speed observer and the Kalman filter is utilized in the rotary speed observer to carrying out error predication; the index fading factor lambda (K+1) is introduced into an error covariance matrix predictive equation of the Kalman filter in the process of realizing the rotary speed observation by operating the rotary speed observer; and the error covariance matrix predictive equation is shown in the specification. The method provided by the invention is suitable for observing the rotary speed of the induction motor.

The invention relates to an improved auto-disturbance rejection controlling method, and provides the improved auto-disturbance rejection controlling method to overcome the defect that a nonlinear auto-disturbance rejection controlling method has a plurality of parameters which are difficult to set. According to the improved auto-disturbance rejection controlling method, an extended state observer in a traditional auto-disturbance rejection controlling method is designed as a disturbance observer which is not based on a system model; the disturbance observer is designed to be only related to two parameters by using a linear auto-disturbance rejection controller parameter setting method, so as to achieve the purpose of reducing the amount of setting parameters. Moreover, the improved auto-disturbance rejection controlling method fully integrates the advantages and disadvantages of linear auto-disturbance rejection and nonlinear auto-disturbance rejection, so that the performance of the controller is maximized; the controlling method can reduce the error of the traditional auto-disturbance rejection controlling method, and improves the control accuracy of the system.

The invention discloses a water body transparency measuring tool for the field environment. The water body transparency measuring tool is characterized by comprising a hollow column, a black and white chequered disc at the bottom of the column, and a handle on the top of the column, scale marks are arranged on the inner wall of the column, a light induction emitting element and a corresponding light induction receiving element are oppositely arranged on the scale marks, a control device and a display device are arranged on the water body transparency measuring tool, the control device is used for controlling the light induction emitting element and the corresponding light induction receiving element to work, and the display device is used for displaying the working states of the light induction emitting element and the corresponding light induction receiving element. The water body transparency measuring tool has the advantages that the influences of water flow and wind waves on transparency observation are reduced, the subjective errors caused by angle observation during far-distance manual reading are reduced, and observation errors caused by illumination intensity differences due to weather causes are reduced.

The invention provides an obstacle detection and autonomous obstacle avoidance method for an intelligent wheelchair. The method comprises the following steps that: the advancing pose of the wheelchairis estimated through a milemeter, and a motion model and an observation model are established; a laser ranging sensor collects the data of a surrounding environment, the outline of an obstacle in a video is collected and detected through a monocular vision sensor; local mapping is performed on the surrounding environment through a graph optimization-based mapping algorithm; a globally consistentmap is generated through a grid method according to a local mapping result; and the obstacle avoidance direction of the wheelchair is planned through a repulsive force potential field method accordingto a pose state relationship between the obstacle and the wheelchair in the map.

An embodiment of the invention provides a method for calculating time-continuous surface evapotranspiration data. The method mainly comprises: on a non-sunny day, calculating an adjustment factor alpha of an energy distribution item and an adjustment factor beta of a vegetation canopy impedance item by utilizing a cost function through an SCE_UA algorithm; and optimizing a method for calculating a surface evapotranspiration simulation value on the non-sunny day according to the adjustment factor alpha of the energy distribution item and the adjustment factor beta of the vegetation canopy impedance item, and calculating the surface evapotranspiration simulation value on the non-sunny day with the optimized calculation method. The method is committed to solving the problem of time scale expansion in remote sensing estimation of surface evapotranspiration, daily evapotranspiration is subjected to time scale expansion from day to month/year in combination with an assimilation method and a Penman-Monteith formula, and high-precision time-continuous region evapotranspiration data sets capable of being used in multiple fields are produced, so that observation errors caused by data observation on the non-sunny day are reduced, and wide application of ET (evapotranspiration) remote sensing estimation products to related fields of hydrologic cycle and land surface energy is facilitated.

The invention relates to a locating method of central precise grid of vacuum laser facula, belonging to the field of building displacement monitor. A precise grid locating curtain is arranged at a receiving end; the origin of coordinates of the receiving end is arranged at the left lower corner of a locating curtain grid; the locating curtain does not move along with the camera; according to the position of the known real width of the precise grid and the central pixel coordinate of facula in some grid, the grid adopts a computer image calculating method for calculating the real coordinate of facula centre. The precise grid is used for determining the relationship between the camera pixel coordinate and the grid coordinate, thereby decreasing the generated observing error of nonlinear aberration of the camera shot, being capable of calculating the real change of central position of facula precisely, and greatly increasing the observing precision of the system.

The invention discloses a sliding-mode observer optimization method and system. The method includes the steps of constructing a state space of a sliding-mode observer according to motor parameters, wherein the sliding-mode observer is of a power tendency rate type, and the state space includes a switching function of the sliding-mode observer; constructing a first function used for reflecting the robustness of the sliding-mode observer with the power of the power items in the switching function as a variable, and constructing a second function used for reflecting the observation error of the sliding-mode observer; conducting linear superposition on the first function and the second function, and obtaining a target function with the power as the variable; conducting optimization on the target function through a one-dimensional optimization method, and determining a correspondingly-obtained optimized value as the optimal value of the power. In the sliding-mode observer optimization method and system, the optimization is conducted on the target function through the one-dimensional optimization method, and therefore the corresponding optimized value is obtained, the observation error of the sliding-mode observer can be reduced, and meanwhile it is ensured that the sliding-mode observer has enough robustness.

The invention discloses a vehicle-mounted positioning navigation method based on a self-adaptive odometer model. The method comprises the steps that multiple motion models and a state vector transfermatrix among all the models are established; the initial motion state of a vehicle is estimated through odometer data of a left driving wheel and a right driving wheel and geometric constraint; in combination with volumetric Kalman filtering, all the motion models are filtered in parallel; and the motion model of the vehicle at the current moment is judged according to the odometer data of the left driving wheel and the right driving wheel, and state information of the vehicle is fused and output to serve as an initial value at the next moment for filtering iteration. According to the method,an optimal gain matrix is determined according to a covariance matrix of estimated vectors and measured vectors by use of volumetric Kalman filtering, the method does not have extra requirements on asystem equation and a measurement equation, and the method has higher superiority under the condition of a nonlinear system; according to the geometric constraint relation among odometers, the positioning precision and instantaneity of vehicle travel are improved; and odometer output information is not influenced by building sheltering, and therefore the continuity of positioning can be improved.

The invention discloses a drive control system for an elevator permanent magnet synchronous motor. Load torque observation adopts an algorithm that feedback gain is automatically adjusted according tothe variable quantity of a load torque given value and the variable quantity of a load torque observed value. When the system speed is changed, or parameters are changed, the load is disturbed, and the given value of the load torque or/and the observed value of the load torque is/are changed, the observation error of the load torque is quickly reduced, the observed value of the load torque is fedforward and compensated to a current regulator, therefore the control precision of the permanent magnet synchronous motor is improved.

The invention discloses a fan electric variable-pitch motor drive control system.. A variable-pitch motor is a permanent magnet synchronous motor, the motor speed adopts an integral sliding mode control mode, the feedback gain of a load torque observer is automatically adjusted according to the variation of a load torque given value, and when the system speed is changed or parameters are changed,the load is disturbed to cause the change of the load torque given value or/and the change of a load torque observed value, the observation error of the load torque is quickly reduced, and the load torque observed value is fed forward and compensated to the given value of the current regulator, so that the buffeting of the system is effectively weakened, the dynamic response speed is high, the robustness is high, and the control precision of the motor speed is improved.

The invention discloses an automatic monitoring method for pre-compressed optical fiber sensing settlement of cast-in-place beam supports. A beam body and a steel pipe support installed at the bottomof the beam body are included; a cross bracing used for reinforcing is installed at the internal of the steel pipe support; I-steel is paved between the steel pipe support and the beam body; longitudinal square timber is paved between the I-steel and the beam body; the center position of the beam body is pre-provided with a bridge doorway; static levels are installed at the positions, corresponding to the bridge doorway, of the longitudinal square timber at the bottom of the beam body; and the static levels and the longitudinal square timber are fixed together through three threaded support rods. Through the introduction of an optical fiber sensing real-time automatic monitoring technology, support pre-compressed settlement monitoring work can be developed, manual operation can be reduced,working efficiency can be enhanced, and power is not supplied on site, lightning stroke damages and electromagnetic interference can be avoided; the method is good in stability and strong in anti-interference capability; and the method is small in influence caused by extraneous environments and convenient for installation and monitoring in the open air and in fields.

The invention discloses a novel permanent magnet synchronous motor position observation method with a dynamic error compensation function, belonging to the technical field of self-sensing observation of the positions of synchronous motors. The novel permanent magnet synchronous motor position observation method with the dynamic error compensation function uses a sliding mode observer to estimate an equivalent electromotive force and extract a rotor position. A dynamic error compensator is adopted to suppress rotor position estimation errors caused by direct-axis current changes of the stator, and the position estimation performance of a sensorless direct torque control system of a salient pole permanent magnet synchronous motor is improved. Compared with an observer without the dynamic error compensator, an observer provided by the invention has the following advantages: (1) position observation precision in a fast torque response state, a rotating speed state and a load transient state is greatly improved; and (2) for direct torque control of high-harmonic current, the position observation precision in a stable rotating speed state is greatly improved by reducing observation errors caused by current harmonics.

The invention discloses a global fast terminal sliding mode control method based on an invariant manifold observer, relates to underwater robot control, and solves the technical problems of chattering and difficult parameter adjustment of an existing underwater robot. Motion parameters of the underwater robot are analyzed through an invariant manifold observer constructed based on an invariant manifold so as to obtain observation values of system uncertainty and external interference; and a continuous control law used for controlling the underwater robot to move is obtained by analyzing the observation value through a global fast terminal sliding mode control algorithm added with a function item. According to the method, parameter adjustment is simple, the convergence speed is high, the observation error is small, the anti-interference and anti-noise performance of an underwater robot system is effectively improved, the buffeting-free characteristic is achieved, and buffeting is fundamentally eliminated.

An intelligent rock slice analysis device comprises an intelligent analysis upper computer and an intelligent analysis mainframe. The intelligent analysis mainframe comprises an outer shell, and a power switch, a rock position monitor, a rock in-position state indicator light and a rock detection state indicator light are arranged on the lateral portion of the outer shell; a uniform strong light is arranged at the inner bottom of the outer shell, a row of rolling bearings are uniformly and rotationally arranged along the bilaterally horizontal direction of the front inner wall and the rear inner wall of the outer shell, the right side of the outer shell is provided with an access port, and a movable light intensity scanning detection mechanism is arranged on the inner top wall of the outer shell. The invention further discloses an analysis method of the intelligent rock slice analysis device. Transmission light emitted by a light source is controlled to irradiate rock slices, intensity of the light changes after transmission of the light through rock particles, statistics of parameters including particle types, sizes and the like is performed by analysis of transmitted light intensity, and accordingly analysis precision is improved, and manual output and visual inspection errors can be effectively reduced.

The invention discloses a drive control system of a permanent magnet synchronous motor of a numerically-controlled machine tool. Load torque observation adopts an algorithm that feedback gain is automatically adjusted according to the variable quantity of a load torque given value and the variable quantity of a load torque observed value. When the system speed is changed, or parameters are changed, the load is disturbed, and the given value of the load torque or/and the observed value of the load torque is/are changed, the observation error of the load torque is quickly reduced, the observed value of the load torque is fed forward and compensated to a current regulator, therefore the control precision of the permanent magnet synchronous motor is improved.

The invention discloses a Lloyd mirror interference microscopic scale measuring device. The Lloyd mirror interference microscopic scale measuring device comprises a light source, a lens, a slit device, a plane mirror, a photoelectric conversion device, a data processing module, a lever linkage device and a bottom plate, wherein light emitted by the light source generates interference fringes on an optical screen after passing through the lens, the slit device and the plane mirror a detection head of the photoelectric conversion device is connected with the optical screen, an output end of the photoelectric conversion device is electrically connected with an input end of the data processing module, the plane mirror is installed at the top part of one end of the lever linkage device through a guide device, the bottom part of another end of the lever linkage device is provided with an object stage, and the lever linkage device and the guide device are fixed on the bottom plate. The Lloyd mirror interference microscopic scale measuring device adopts a mechanical lever principle to reflect microscopic scale of an object to be measured in the vertical distance between the plane mirror and the slit device, and has the advantages of simple structure, convenient and rapid measurement, high efficiency, high precision and high practicality.