1244results about How to "Reduce positioning errors" patented technology

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

The invention discloses a bottleneck defect detection method adopting residual analysis and dynamic threshold segmentation. The method comprises the following steps: positioning a bottleneck area by using a randomized circle assessment technology; carrying out strong smoothing treatment on a bottleneck target image obtained through polar coordinate transformation expansion, differentiating bottleneck target images before and after smoothing treatment to form a threshold curved surface changing with the gray value of the original bottleneck target image, and carrying out dynamic threshold segmentation on the bottleneck target image of the curved surface; and carrying out area connectivity detection on a binary image obtained after the segmentation, and judging whether defects exist or not according to the height, the width and the area of the connection area. The method has very strong adaption ability to the change and interference of the gray value of an identification target in the image, has a fast execution speed, and effectively solves the problem of high-speed and high-precision detection of the bottleneck defects.

The invention discloses a dynamic positioning method and device based on UWB and laser ranging combination and belongs to dynamic positioning methods and devices. The dynamic positioning device comprises an ultra-wide band (UWB) wireless communication sensors, a UWB positioning label, laser ranging sensors, an upper computer and a POE interchanger. An ultra-wide band (UWB) wireless communication sensor station is arranged in an area to be detected, the laser ranging sensors are installed on and fixed to the ultra-wide band (UWB) wireless communication sensors, the UWB positioning label is fixed to a target to be detected, and the ultra-wide band (UWB) wireless communication sensors and the laser ranging sensors are connected with the upper computer through the POE interchanger. According to the dynamic positioning method and device based on the UWB and laser ranging combination, the laser ranging sensors are arranged on the ultra-wide band (UWB) wireless communication sensors respectively, so that the relative distance between every two adjacent ultra-wide band (UWB) wireless communication sensors is obtained, in this way, the coordinates of the ultra-wide band (UWB) wireless communication sensors can be re-determined or corrected after the ultra-wide band (UWB) wireless communication sensors are moved, and thus the requirement for dynamic positioning is met. The dynamic positioning method and device based on the UWB and laser ranging combination have the advantages that the dynamic positioning method based on the UWB and laser ranging combination is adopted, positioning is accurate, safety and reliability are guaranteed, installation is easy, and operation is convenient.

The invention discloses a laser radar positioning method which includes the steps of generating a 3D point cloud map according to 3D data of the surrounding environment of a mobile platform acquired by a 3D laser radar device, inertial data of the mobile platform acquired by an inertial measurement device and mileage data of the mobile platform acquired by a milemeter device, and calculating the current pose of the mobile platform according to the 3D point cloud map. Compared with 2D data acquired by 2D laser radar, more information about the surrounding environment of the mobile platform is acquired in the laser radar positioning method disclosed by the invention. When the surrounding environment of the mobile platform changes slightly, the influence on the overall situation is significantly smaller, and therefore, the positioning error caused by the change in the surrounding environment is reduced. The invention further discloses a laser radar positioning device and a laser radar positioning system which have the same beneficial effect.

The invention discloses an automatic calibration system of the diameter of a vehicle wheel based on satellite positioning, and a method thereof. The system of the invention comprises five modules and a map database, wherein, the map database is used for storing relevant information of train operation lines; the five modules are respectively a positioning module, a map matching module, a data recording module, a communication module and a main processor. By introducing a satellite positioning technology, the automatic calibration of the diameter of the vehicle wheel in a positioning system is realized by GNSS positioning information so as to reduce positioning errors caused by the diameter change of the wheel due to the wheel wear, thereby improving the precision of the train positioning.

A method and system are provided for reducing a positioning error for positioning a light beam either onto or from a workpiece. A calibration mark is provided, and an image of the calibration mark is captured, to compare with a guide mark. The position of the guide mark corresponds to a set of design data or coordinates. The position of the image of the calibration mark is adjusted until the image matches with the guide mark. A set of vision compensating factors can therefore be determined. Thereafter, an image of a laser mark is captured, and adjusted to match the guide mark, to determine a set of scan head compensating factors. The design data can then be modified based on the vision compensating factors and the laser compensating factors, and used to position the laser beam onto the workpiece or capture light from a work piece to form an image.

The invention relates to a locking control method of a large-travel nano-displacement and positioning macro-motion table as well as a system thereof. The method comprises the operating steps: (1) a communication interface of a computer (upper computer ) sends an instruction for controlling, firstly, a macro-positioning system is started up to drive the macro-motion table and a micro-motion worktable to move together, and the macro-positioning is finished when the detected positioning error is smaller than the switching threshold value; (2) the computer controls and locks the macro-motion worktable, and is switched to a micro-positioning system dynamically in the meanwhile; and (3) the micro-positioning system controls the micro-motion worktable to further reach the target location required by the system and complete the positioning. The system mainly comprises: the macro-motion table and the micro-motion worktable as well as corresponding driving systems; a grating feedback system; a PMAC controller; a laser interferometer calibration system; a computer system; and a vibration isolation and noise elimination device (an air floatation vibration isolation platform) and the like. The hardware structure of the existing system is configured (a piezoelectric ceramic driving device) by adopting the method as required, when the macro-motion table meets the positioning requirements and stops the movement, piezoelectric ceramics lock the table, thereby improving the positioning accuracy of the system.

The invention relates to a method and a clamp for moulding surface positioning clamping of a finish forge blade. According to the method, a vane is subjected to positioning clamping through a basin mounding surface of the blade, an inner side moulding surface of a blade root marginal plate, and a V point on the inner side mounting surface of the blade root marginal plate, by the positioning of an air inlet edge, and the clamping of a back mounding surface of the blade, as well as by using a high-accuracy positioning adhesive, and an adhesive coating method, and through a positioning block of the basin moulding surface of the blade and a clamping block of the back moulding surface of the blade. According to the method and the clamp, a satisfying contact area can be obtained by adoption of the high-accuracy adhesive, and the positioning rigidity of the blade is enhanced by adoption of the basin moulding surface of the blade, the inner side moulding surface of the blade root marginal plate and the V point on the inner side moulding surface of the blade root marginal plate for the positioning. According to the method and the device, the problems that the accurate positioning is difficult to realize and the moulding surface of the blade deforms or is damaged because the blade is thin, the blade body is small and the moulding surface is complex are solved. By the method and the device, the positioning accuracy of the mechanical processing of the blade is improved, and the technological process is optimized, so that the processing quality and the production efficiency of the blade are improved, the process is simple, the number of fixtures is reduced, the processing cycle is shortened, and the production cost is reduced.

The invention provides an indoor positioning method, and relates to a wireless communication network technology for network management. A method combining positioning based on a WiFi fingerprint and visual positioning based on a label is adopted. The method comprises the following steps: firstly, acquiring a WiFi positioning range and a WiFi positioning coordinate by using a WiFi position fingerprint positioning algorithm; secondly, acquiring a visual positioning coordinate according to feature matching and visual positioning of a tested image; lastly, combining WiFi position fingerprint positioning with visual positioning to realize high-accuracy indoor positioning. By adopting method, the defects that the conventional WiFi fingerprint positioning technology has low accuracy and the conventional single visual positioning method technology is not suitable for indoor positioning are overcome.

The invention relates to an indoor positioning method based on a BP neural network and improved a centroid algorithm, belonging to the field of wireless communication and intelligent control. The indoor positioning method comprises the steps of: carrying out data acquisition under an indoor environment, recording and storing reference node coordinates, blind node coordinates, a distance d between a reference node and a blind node and corresponding receiving signal strength indicators (RSSI) during experimenting; training an established BP neutral network by using the RSSI and the distance d; training and checking the established BP neutral network by using an actual RSSI and the corresponding distance d to obtain a function; calling the function to obtain the distance d of the reference node and the blind node; obtaining more than three reference nodes with the distance d from the blind node; taking the three reference nodes with highest RSSI, obtaining three circles with the distance d as a radius; and solving two points of lines of centers of three circles in pairs with two points crossed with two circumferences to obtain six points, and solving centroids of the six points, i.e. the blind node coordinates. The method is more accurate in positioning, thus algorithms are simplified.

The invention relates to a positioning system and a positioning method. The positioning method is carried out through a positioning neck strap fixedly arranged on a positioning target neck portion in a sleeved mode, an information receiving base station arranged at a far end, and a monitoring and managing center. After the monitoring and managing center receives positioning target position information sent by the positioning neck strap, a cloud computing processor is used for processing received positioning information of a plurality of monitored animals, and the positioning information is displayed on an electronic map with the combination of map data. When the monitoring and managing center detects that an abnormal state exists, an alarm system is started, and a window with abnormal target numbers and information is popped up. According to the positioning method, a satellite is firstly adopted for positioning, and therefore the positioning precision is ensured; when a satellite positioning signal is not available, other positioning manners can still be used for complementing positioning, and the working range of a positioning system is expanded.

A displacement detection apparatus includes a scale 115 on which marks are disposed, first and second position detection sensors 111 and 112 detecting positions of the marks 110, and a processor 409 performing a calculation processing of an output signal from each of the first and second position detection sensors 111 and 112. The first and second position detection sensors 111 and 112 are disposed at a distance L from each other to be movable relative to the scale 115. The processor 409 calculates a correction value P′ of a mark pitch P of the marks 110 using the distance L, a first time TPK required for K marks of the marks 110 to pass a detection position, and a second time TL required for a specific mark of the marks 110, which are measured at the same time of the first time TPK, to move the distance L.

The invention discloses a wearable indoor positioning system based on a radio frequency identification technology and a method thereof, wherein the method comprises: using an RFID electronic tag as a receiving end infrastructure and burying on the ground of a known environment, establishing the one-to-one mapping between the ID mark of each RFID electronic tag and the coordinate information of the position where the RFID electronic tag is; sewing a transmitting end reader-writer and a reader-writer antenna on the clothes of a user; firstly reading a mapping relationship list of the ID mark of the RFID electronic tags in the known environment and geographic information stored in a tag user area recorded on a map after the user enters the known environment, reading the ID mark information of the RFID electronic tag in the known environment in the actuating range of the reader-writer antenna by using a fixed sampling period, calculating the position where the user is at present in real time, and displaying the position on the map of a display unit so as to provide the solution for indoor positioning with real-time response, high precision and low cost for the user.

The invention discloses a UWB-based (Ultra Wideband) precise calibration method for a coal-cutter absolute position and an apparatus. The apparatus comprises a coal cutter body, a coal-cutter positioner, a positioner explosion-proof housing, a host computer, four ultra-wideband (UWB) wireless communication sensors and a POE (Power Over Ethernet) switch; the coal cutter body is fixedly provided with the positioner explosion-proof housing; the positioner explosion-proof housing is inside provided with the coal-cutter positioner; the coal-cutter positioner is inside provided with a UWB positioning label; the ultra-wideband (UWB) wireless communication sensors are fixedly disposed on a hydraulic support at a coal-cutter running end at intervals; and the ultra-wideband (UWB) wireless communication sensors are connected with the host computer via the POE switch. ultra-wideband (UWB) wireless communication is utilized for precise calibration, the anti-interference capability is strong, the transmission speed is high, relatively high bandwidth and relatively low power consumption are provided, and also precise positioning for a downhole coal cutter is provided, and the apparatus is safe, reliable, easy to install and convenient to operate.

The invention relates to an indoor localization method based on clustering algorithm analytical data optimization, which is used for carrying out accurate localization on an unknown node in a complex index environment. The indoor localization method comprises the steps of: executing an RSSI (Received Signal Strength Indicator) signal processing optimization strategy, i.e., optimizing an RSSI value by using a clustering analysis Gaussian hybrid filtering model so as to eliminate the problems of dispersed intersection and serious jitter of the RSSI value, which exist due to factors of a multipath effect, a barrier and the like, and obtain one more reliable and reasonable RSSI value; adopting a fitting RSSI distance measurement model, i.e., according to an RSSI-distance conversion curve, carrying out fitting of the curve by adopting a least square method so as to obtain a logarithm path loss model suitable for a current environment; and then estimating out position information of the unknown node by using a weighted centroid localization algorithm. According to the indoor localization method disclosed by the invention, by an optimal RSSI distance measurement algorithm, accuracy of localization and distance measurement is improved, so that adaptability and localization accuracy of the localization algorithm are improved; and the indoor localization method is suitable to apply and popularize in the complex indoor environment.

The invention discloses an indoor positioning optimization method based on a location fingerprint algorithm. According to the indoor positioning optimization method disclosed by the invention, on thebasis of the existing location fingerprint positioning method, corresponding optimization processing is performed on signal intensity collection, fingerprint database density, fingerprint database accuracy, positioning efficiency and device error, thereby realizing the improvement of accuracy and efficiency of the positioning process. In the positioning process of the indoor positioning optimization method disclosed by the invention, no additional hardware support is needed, therefore the positioning cost is relatively low. The present invention can provide higher positioning accuracy under the condition that the signal strength is measured accurately and the accuracy and the density of the a location fingerprint library are high.

The invention discloses a fingerprint map matching method based on Euclidean distances, and relates to the technical field of fingerprint locating. The fingerprint map matching method based on the Euclidean distances aims to solve the problems that a traditional WKNN algorithm is low in locating accuracy, and the value of k can have large influences on locating results. The fingerprint map matching method based on the Euclidean distances comprises the first step of evenly distributing n receiving machines for AP in an area to be measured to measure the RSS vectors of m points to be measured, a second step of measuring the RSS vectors as (RSS1, RSS2, ..., RSSn) of located points at the located points, a third step of calculating the Euclidean distances from the located points to the m points in the fingerprint map in sequence, a fourth step of ranking the Euclidean distances in the third three from small to larger, a fifth step of calculating the weighing coefficients ql of the front k points, and a sixth step of carrying out summing after weighing is carried out on the physical coordinates of the obtained first k points obtained in the fourth step by using corresponding weighting coefficients to obtain the physical coordinates of the located points. The fingerprint map matching method based on the Euclidean distances is applied to the fingerprint locating area.

The invention belongs to aerospace product machining technology equipment and particularly discloses a positioning support device for stir friction welding of a storage box cylinder section circular seam. A central shaft disk is arranged above a rotating base seat, a support ring is arranged in the center of the central shaft disk, a top ring is arranged above the central shaft disk, a connecting disk is arranged above the central support ring, long support rods are arranged outside the connecting disk, a short support rod is connected with the rear end of each long support rod, and internal threaded holes are arranged in two ends of left end and right end of a double-stud structure of an adjusting sleeve and respectively connected with the long support rods and the short support rods; the rotating base seat is a perpendicular long positioning rod and a pressing rod, and a pressing plate is arranged above the pressing rod; and a perpendicular short positioning rod is installed between the short support rods and the rotating base seat. Due to the cyclic structure which is formed by the long support rods and the short support rods is adopted, products on a cylinder section can be positioned and supported, positioning error is effectively reduced, and tolerance requirements of welding can be met, and at the same time, parameters in the welding process are stable, internal stress and deformation are small, and positioning support device is further favorable for preventing weldments from being pierced through by a stirring needle.

The invention belongs to the field of electric automobile battery change and relates to a chassis type automatic electric automobile battery changing station. The chassis type automatic electric automobile battery changing station comprises a battery changing robot, a transfer machine, a charging frame and a charging machine. The battery changing robot is located on one side of the charging frame, and the charging machine is located on the other side of the charging frame. A transfer track in the advancing direction of an electric automobile is arranged between the battery changing robot and the charging frame. The transfer machine is located on the transfer track. The chassis type automatic electric passenger vehicle battery changing station can automatically take down batteries lack of electricity from an electric automobile, put in batteries full of electricity and automatically charge the batteries lack of electricity. Especially for large-scale and heavy-type batteries, the problem that the batteries can be charged but cannot be changed is solved, the batteries are protected, and a reference basis is provided for development of new energy automobile battery changing modes.

The invention provides a method for the instant positioning and the map building based on the fusion of a laser and a two-dimensional code. The driving distance and the speed information of an odometer, a two-dimensional code acquired by a monocular camera, and the information of an inertial measurement unit are integrated into a state vector. An observation equation of the federated Kalman filteris constructed according to an observation model of the odometer, an observation model of the inertial measurement unit, and an observation model of the monocular camera. The two-dimensional code positioning information is added on the basis of a traditional odometer and the inertial measurement unit, thereby obtaining the optimal solution of the state vector of an unmanned mobile platform; the pose prediction information with higher accuracy is formed by using the characteristics of the fastness and the accuracy of the two-dimensional code information processing, thereby reducing the numberof particles in the method for particle filter instant positioning and map building, and improving the low-power processor, such as the positioning accuracy of the unmanned mobile platform. The positioning effect of the unmanned mobile platform in the complex environment is ensured, map building is completed, and the application need in the complex environment is met.

The invention discloses a visible light indoor positioning method. The positioning method is based on a positioning system composed of an LED signal source, a mobile terminal and a control end. The positioning method specifically comprises the following steps that 1 LED-ID information is loaded on the LED signal source and transmitted to the mobile terminal through a wireless optical link, and the mobile terminal determines the LED lighting coverage area according to the received LED-ID information to realize coarse positioning; 2 the mobile terminal conducts query match between obtained fingerprint information and a multi-parameter position fingerprint database, the position, relative to an LED, of the mobile terminal in the area is determined, and fine positioning is realized. According to the multi-parameter position fingerprint database positioning method, it is only required that query matched is conducted between the received fingerprint data (theta and RSSI) and data, in the theta direction in the current LED coverage area, in the fingerprint database to determine the position of the mobile terminal, therefore, the expense at the match stage is greatly reduced, the positioning speed is increased, the positioning precision is improved, and the positioning error is reduced.

A positioning method based on neural network and wireless local area network basic structure is proovided, belonging to the wireless local area network client positioning. The data collecting module, database, positioning request module, positioning calculating module and positioning displaying module are arranged on the positioning server of the wireless local area network; the positioning server is accessed to AP via wireless accessing point obtaining the signal intensity information transmitted by a laptop of the client in a period of time under the predetermined distance interval and measuring time interval, and obtaining the floor number of the client and plane coordinate in real-time way by using Matlab Neural Network kit and displaying the floor number of the client and plane coordinate for the laptop of the client via web page; the signal intensity information comprises date, measuring time, identification of the wireless accessing point, client MAC and signal intensity. The average positioning error is 4.44m while the average sampling distance interval is 6.6m; the average positioning error is 2.98m while the average sampling distance interval is 3.7m, which is better than the effect of the Radar method.

The invention relates to a passive location method for an underwater moving node based on Beidou beacons, which comprises the steps that 1, a sea surface beacon node receives a location and navigationsignal broadcast by a Beidou satellite navigation system, updates the position in real time and keep pace with the Beidou clock; three sea surface beacons located at vertexes of a triangular grid combine information such as the position and serial number into location messages and broadcast the location messages to the underwater moving node at the same time according to a time sequence table oftransmitting the location messages; and 2, if the underwater moving node receives the location messages, the position of the underwater moving node at the current moment is calculated by using a filtering algorithm according to the arrival time and message content of the three location messages, and if the underwater moving node does not receive the location messages, the position of the underwater moving node at the current moment can also calculated by using the filtering algorithm. The invention further relates to a system used for implementing the passive location method.

The invention discloses a method for positioning a wireless sensor network node without ranging based on connectedness, belonging to the field of the intersection of embedded development and wireless communication. A hop-limiting threshold of information controllable flooding transmission is calculated in an off-line way on the premise of ensuring the positioning requirement, and the average distance of each hop is weighted further accurately; and aiming at the condition that the node positioning being one hop away from an anchor node and the estimation of the distance of the last hop on the path have larger errors, the improvement is carried out by using connectedness information among the nodes, and an unknown node is positioned by combining with a trimertogon method and a centroid method. Any hardware equipment needs not to be added, direct ranging among the nodes does not need, the method belongs to the distributive positioning; and compared with DV-Hop, the method greatly lowers the network communication traffic, effectively improves the positioning accuracy, is suitable for large-scale wireless sensor networks, and has popularization and application values.

The invention relates to a method for accurately positioning an LTE terminal based on an MRO measurement report, and belongs to the technical field of mobile communication service. AOA (Angle of Arrival of eNB reception signals) and TA (Timing Advance of UE) data in the standard measurement report of an LTE system is fully utilized to accurately position the UE terminal, the problem that a traditional positioning algorithm can carry out accurate positioning in the cell level and positioning in the cell completely relies on estimation via a spreading model is solved, and the positioning precision of the UE terminal can be improved to about 40m; and the position of the moving UE terminal changes in the time sequence, movement correction is carried out on the position of the terminal in each measurement report time via a mathematical calculation method, and the positioning precision can be further improved to about 20m.

The invention discloses a WSN (wireless sensor network) rapid self-positioning method based on triangle form estimation. From the aspect of triangle form estimation, a triangle centroid positioning algorithm having the minimal error is studied, and a concept of effective triangle is proposed. The triangle centroid algorithm is used on effective triangles and the error in positioning is minimal. The positioning algorithm is used on all triangles which satisfy basic conditions of effective triangle. All solved possible points are formed into a polygon. The centroid is obtained again, and an estimated position of an unknown node is obtained. Accidental calculation error is prevented by using anchor node information in a network and through a method of obtaining a mean value from multiple possible results. A method of two points positioning is introduced. In the case of only two anchor nodes, the positioning of the unknown node is realized by using an auxiliary anchor node. The positioning coverage rate of nodes is effectively improved without increasing hardware equipment and complexity.

The invention provides a three dimensional locating method of underwater wireless sensor network nodes; first, the coordinates of each beaconing node is obtained and then the coordinates of each general node is assured. The coordinates of each general node is assured as followed, the three dimensional locating work of the coordinate of each general node is equivalently turned into two dimensional location; the general node makes use of distance vector arithmetic and the two dimensional coordinates of the beaconing node to the initial two dimensional coordinates; the two dimensional coordinates of adjacent node is used to iterate and update the two dimensional coordinate of the node till the coordinates is converged to actual two dimensional positions; at last the relation between the depth of water and the intensity of pressure are used to get the depth of water of general node. The method adopts certain message transmitting and iterating control mechanism to reduce the locating error to the lowest in the condition of effectively controlling communication overhead.

The invention relates to a wireless sensor network node positioning method based on time reversal, comprising the steps of: 1, sending a request impact signal to a reference node by an unknown node and recording initial time; 2, receiving and reversing by the reference node and sending a reversal multi-path request impact signal to the unknown node; 3, receiving a focusing-arrived reversal multi-path request impact signal by the unknown node and recording receiving time at the moment; 4, calculating the distance away from the reference node by the unknown node according to the initial time and the receiving time; 5, repeating the step 1 to the step 4 until the distances from the unknown node to any three reference nodes are calculated; and 6, calculating coordinates of the unknown node according to the distances from the unknown node to any three reference nodes to complete the positioning of the unknown node. The invention has the benefits of solving the problem of large traditional TOA (Time Of Arrival) positioning errors under a complex environment and ensuring that the system positioning error is less than the working wavelength.

The invention discloses an inertial navigation-laser scanning integrated coal mining machine positioning device and method, and belongs to coal mining machine positioning devices and methods. The positioning device adopts the structure that a positioning device explosion-proof housing and a laser signal receiving module are fixed on the main body of a coal mining machine; an inertial navigation positioning device and a laser scanning microprocessor are mounted in an explosion-proof device; when the coal mining machine works, the inertial navigation positioning device acquires the real-time angular rate and the real-time through a sensor, and transmitting the data to the laser scanning microprocessor; in a laser scanning device, a laser scanning base station is arranged in the working area of the coal mining machine, a laser signal of the laser scanning base station is received by the laser signal receiving module, and meanwhile the data are transmitted to the laser scanning microprocessor; the laser scanning microprocessor is connected with an upper computer through a serial port. Respectively acquired positioning data are transmitted to a coal mining machine positioning control system for data processing, and the position of the coal mining machine is confirmed according to an algorithm integrating the least square method and the neural network algorithm, so as to realize precise positioning; the positioning device and method have the advantages of being precise in positioning, safe and reliable.