1449results about How to "Reduce the overall height" patented technology

The invention relates to a multi-target adaptive cruise control method based on fuzzy model predictive control. The multi-target adaptive cruise control method comprises the following steps: collecting real-time operation data of a vehicle; inputting the real-time operation data of the vehicle into the improved vehicle longitudinal dynamic model, and predicting the future motion state of the vehicle; on the basis of the output of the vehicle longitudinal dynamics model, a feedback correction ACC system vehicle following prediction model is used for predicting and correcting the vehicle following behavior in real time, and a vehicle following control strategy is dynamically adjusted; dynamically adjusting the weight of a target function under model prediction control by adopting a fuzzy variable weight adjustment strategy; and performing model prediction control according to the target function and considering multiple constraint conditions, generating accurate acceleration and deceleration control parameters, acting on the controlled vehicle, and realizing multi-target adaptive cruise control. Compared with the prior art, safe, energy-saving and efficient self-adaptive vehicle following control can be achieved in a complex and changeable traffic environment, and an effective technical scheme is provided for improving the response speed and adaptability of an intelligent cruise control system.

The invention belongs to the technical field of distributed data access, discloses an RDMA (Remote Direct Memory Access) distributed data transmission method supporting high-concurrency message transmission, and aims to improve system performance in a high-concurrency message transmission environment. The method comprises the following core steps: 1) peer-to-peer server design: each device is an independent server, and connection is established by a connection channel monitored at any time; 2) establishing a connection resource pool in advance; 3) creating and registering an RPC message; 4) transmitting the RDMA to a memory mailbox pool of a target server; 5) the client and the server perform high-concurrency processing; 6) dynamically polling the server; (7) zero-copy transmission of data is achieved through the RDMA technology. According to the invention, the dynamic expansion capability of the architecture is improved by adopting a connection resource decoupling mode, QP jitter can be reduced and the stability of the system can be enhanced by registering a memory of a continuous large page at one time, and the message transmission efficiency under the distributed network architecture is effectively improved by adopting a combined sending strategy.

The utility model relates to a gas stove provided with a gas control pot rack. A pot rack of an existing gas stove is only used for placing pots, and some additional rings are used as wind shields. According to an existing gas stove, flames are exposed in the atmosphere, much heat is lost due to the fact that the outer faces of the flames make contact with too much air, and the heat efficiency is reduced. The gas stove with the gas control pot rack comprises a gas stove body, a pot rack ring, a plurality of pot rack feet and a pot rack bottom. The pot rack ring is in a circular tube shape, the pot feet are evenly distributed on the pot rack ring, the pot rack bottom is a circular ring piece with an inner hole in the middle, the outer diameter of the pot rack bottom is the same as that of the pot rack ring, the pot rack bottom and the pot rack ring are connected together, and the pot rack bottom is arranged on a gas stove and sleeved outside a burner to control secondary air inflow and prevent excessive cold air from touching flames, so that heat efficiency is improved.

The invention relates to the technical field of solid-phase material adding, in particular to a friction stir welding material adding device and method. The friction stir welding material adding device comprises a workbench, a horizontal left-right moving mechanism is arranged at the upper end of the workbench, a horizontal front-back moving mechanism is arranged on the left side of the horizontal left-right moving mechanism, and a lifting mechanism is arranged on the left side of the horizontal front-back moving mechanism; a second moving frame is arranged on the left side of the lifting mechanism, a rotating shaft is rotationally connected into the lower end of the second moving frame, and a stirring head is fixedly connected to the lower end of the rotating shaft; a pneumatic rotating clamping jaw is fixedly connected to the bottom end in the second moving frame and is mounted on a rotating shaft; a supporting plate is fixedly connected into the second moving frame and rotationally connected with the rotating shaft, and a feeding mechanism is arranged at the upper end of the supporting plate. A feeding mechanism is arranged at the upper end of the second moving frame. According to the feeding device, manual feeding is not needed in the feeding process, so that the labor intensity of workers is reduced, and meanwhile, due to continuous feeding, the material adding effect is also improved.

The invention discloses a method for improving the high-cycle fatigue performance of a Ti6Al4V titanium alloy, and belongs to the technical field of metal material processing, and the method comprises the following steps: S1, determining shot peening strengthening parameters based on material performance parameters and related standards; according to the method, high-amplitude residual compressive stress is introduced through shot peening strengthening, the stress state of the surface and the depth direction of the material is changed, accordingly, crack extension can be restrained, the fatigue life is prolonged, in addition, a plastic deformation layer is induced to be generated under the surface depth in the shot peening process, the microstructure of the material is improved, and the anti-fatigue performance of the material is improved; through femtosecond laser shock, surface defects can be effectively removed, the surface compactness can be improved, microcracks can be reduced, and a refined grain structure can be generated, so that the strength and toughness of the material are further enhanced, the high-cycle fatigue performance of the material is further improved, the two are combined, the residual stress state is optimized, and the surface integrity is improved. The fatigue performance of the Ti6Al4V titanium alloy is remarkably improved.

The invention belongs to the technical field of belt conveyor maintenance, and particularly relates to a belt conveyor carrier roller disassembly and assembly auxiliary operation robot for a coal mine. Comprising a walking part, a power assembly, a carrier roller replacement box, a cab, an auxiliary operation platform and a lifting mechanism, the auxiliary operation platform comprises a posture adjusting platform capable of adjusting the direction, the inclination angle and the height; two groups of sliding telescopic mechanisms with the same telescopic direction are carried on the posture adjusting platform, and are respectively a left sliding telescopic mechanism and a right sliding telescopic mechanism; an action terminal of the left sliding telescopic mechanism carries a belt lifting supporting mechanism, and an action terminal of the right sliding telescopic mechanism carries a multi-degree-of-freedom disassembly and assembly manipulator; the auxiliary operation robot for disassembling and assembling the carrier roller can realize mechanical carrier roller replacement operation under the non-stop state of the belt conveyor, improve the operation efficiency, reduce the operation intensity, ensure the continuity of the coal mining process and ensure the safety and reliability of the carrier roller replacement process.

The invention relates to the technical field of infrared detectors, and discloses a packaging structure of an infrared detector, which comprises an optical window, a bracket, an infrared detection chip and a substrate, the substrate is of a flat plate structure; the support is of a frame-shaped structure. The infrared detection chip is connected to the upper surface of the substrate; and the optical window and the bracket as well as the bracket and the substrate are welded through welding flux to form a packaging structure. According to the packaging structure, the requirements of miniaturization, light weight, diversification and low cost of the infrared detector module can be met. Meanwhile, the invention further provides a packaging method of the infrared detector.

The utility model provides a microbubble generation booster jar which comprises a jar body, a floater and an exhaust channel. A floater movement cavity for the floater to move and a water inlet cavity are formed in the tank body; the floater movement cavity is communicated with the water inlet cavity from at least two positions; one end of the exhaust channel is communicated with the floater movement cavity, and the other end of the exhaust channel is communicated to the outside of the tank body; the floater moves between a first position and a second position according to the height of the water level in the floater movement cavity; when the floater is located at the first position, the sealing piece installed on the floater opens the exhaust channel. When the floater is located at the second position, the sealing piece installed on the floater closes the exhaust channel. The utility model further provides a water outlet device which comprises a water outlet device body, a water pump, an airflow conveying channel and the booster jar.

The embodiment of the invention discloses an unmanned aerial vehicle group flight path optimization method and device, computer equipment and a medium. The method comprises the following steps: configuring current position information in a preset acceleration calculation strategy to calculate an instantaneous acceleration value of each unmanned aerial vehicle; judging whether the instantaneous acceleration value of each unmanned aerial vehicle is greater than a preset maximum acceleration limit value or not; and if the instantaneous acceleration value of the unmanned aerial vehicle is greater than a preset maximum acceleration limit value, according to a trajectory optimization strategy, merging trajectory point coordinate information after acceleration optimization of the related unmanned aerial vehicle to generate flight path trajectory information conforming to an acceleration limit condition. According to the method, through automatic unmanned aerial vehicle group trajectory optimization, the requirement for manually adjusting the flight path is reduced, the acceleration peak value of the unmanned aerial vehicle is reduced, and the safety and stability of the flight process are improved.

The utility model relates to the technical field of semiconductor equipment, and provides a sucker rotating assembly and a wafer pre-alignment control device. The sucker rotating assembly comprises a sucker assembly and a driving part, and the sucker assembly is suitable for adsorbing a wafer; the driving part is fixedly connected with the sucker assembly and is suitable for driving the sucker assembly to rotate; the driving part comprises a frame body and a driving motor assembly, and the frame body is provided with a first through hole; the driving motor assembly is fixedly connected to the frame body and provided with an output shaft, and the output shaft penetrates through the first through hole to be in sealed connection with the suction cup assembly; a sealed space is formed between the outer side wall of the output shaft and the inner side wall of the first through hole, the output shaft is provided with an air outlet channel, and the frame body is provided with an air inlet channel; the air inlet channel, the sealed space, the air outlet channel and the sucker assembly are sequentially communicated. The output shaft is connected with the frame body in a sealed mode, in the rotating process of the output shaft, a sealing device does not need to be additionally arranged in a sleeved mode, the height of the suction cup rotating assembly in the axial direction of the output shaft is effectively reduced, and then miniaturization design is achieved.

The invention discloses zinc ion battery electrolyte as well as a preparation method and application thereof, and belongs to the technical field of ion battery electrolyte. According to the preparation method disclosed by the invention, the coumarin derivative is added into the basic zinc salt solution, so that the uniform deposition of zinc ions can be promoted at a low temperature of-20 DEG C or below, the formation of dendritic crystals is remarkably reduced, and a stable protective layer is formed on the surface of the zinc anode, and the protective layer can maintain high reversibility of the battery at a normal temperature, and also can be used for preparing a lithium ion battery. And the stability can be kept in a low-temperature environment, so that the battery can show excellent electrochemical performance under different temperature conditions, and the technical problem of the electrochemical performance of the water-based zinc ion battery (ZIBs) in the low-temperature environment is solved.

The invention discloses a roll gap calibration and operation method of a hot straightening machine, and belongs to the technical field of high-temperature metallurgy. An inlet roll and an outlet roll are adjusted to be lower than a plurality of middle working rolls, and a calibration plate is conveyed between the plurality of middle working rolls and an upper working roll; the height of the upper working roller is adjusted through the oil cylinder adjusting assembly until the upper working roller makes contact with the upper surface of the calibration plate, the thickness of the current middle working roller and the thickness of the upper working roller are the thickness of the calibration plate, the inlet roller is adjusted to make contact with the calibration plate through the height adjusting device, and the outlet roller is adjusted to make contact with the calibration plate through the height adjusting device. According to the method, the phenomenon that the calibration time is influenced by manual adjustment under the condition that the roller diameters of the roller boxes are different can be avoided, calibration can be rapidly completed regardless of the roller diameters of the roller boxes, it is ensured that calibration succeeds after the roller boxes are replaced, the manual adjustment time is shortened, and the calibration efficiency is improved.

The invention relates to the technical field of photography auxiliary equipment, in particular to an angle-variable adapter holder which comprises a dovetail groove holder, a hemisphere and a base, and the top surface of the base is a semi-concave spherical surface; according to the angle-variable adapter holder, the hemispheroid is in sliding fit with the semi-concave spherical surface of the base, the size can be reduced while it can be guaranteed that the adapter holder has the angle adjusting capacity, the head of the hemispheroid extends into the base and is in sliding fit with the base, and the tail of the hemispheroid extends into the dovetail groove holder; therefore, the height of the switching clamping seat can be further reduced, the structure of the switching clamping seat is more compact and small, the gravity center is lowered, and the stability in the shooting process is guaranteed. The angle change of 10-20 degrees can occur when the hemispheroid swings relative to the base, so that the shooting requirement of a V-log photographer during self-shooting on a desktop or shooting on a sliding rail is met.

The utility model provides guide rail type vertical axis wind power generation equipment. The lifting force blades generate lifting force under the action of wind to push the rail moving mechanism to annularly move along the annular rail, then the driving shaft is pulled to rotate through the traction rope, and the driving shaft enables the generator to generate electricity through the step-up gear box. A cantilever beam structure in which blades and a vertical shaft are directly connected in existing vertical shaft wind power generation equipment is avoided, the driving shaft does not bear cantilever torque any more, the requirement for the strength of the driving shaft is greatly lowered, the size and height of the driving shaft are reduced, an overlong vertical shaft can be omitted, the material cost is greatly lowered, machining and installation are easy, and the service life of the driving shaft is prolonged. The number of the lifting force blades and the number of the track moving mechanisms are designed according to the unit power, the larger the diameter of the annular track is, the larger the number of the lifting force blades and the number of the track moving mechanisms are, and then the power generation efficiency is improved.

The utility model provides a waste plastic integrated thermoplastic forming device which comprises a machine body and an injection molding machine arranged on the top of the machine body, and a mold closing device is arranged on one side of the injection molding machine. The height of the plastic products during falling can be reduced, meanwhile, the air bag blocks on the surfaces of the buffer plates have a good buffer protection effect during falling of the plastic products, the baffles are used for blocking, and then the air bag blocks and the silica gel plates on the inner sides of the baffles can buffer collision force of most of the plastic products; an electric push rod drives a buffer plate to continuously and slowly rotate downwards, and the plastic products slowly fall onto a sponge pad on a collecting tank from a bearing plate, so that the plastic products are further prevented from being collided when being discharged, and the plastic products are prevented from being deformed and damaged; and the practicability of the device is improved.

The invention belongs to the technical field of refractory materials, and particularly relates to a dispersion breathable refractory brick and a production process thereof. The dispersion breathable refractory brick is prepared from the following raw materials in parts by mass: 50-60 parts of silicon / titanium coated corundum particles, 30-40 parts of corundum particles, 15-20 parts of alumina micro powder, 8-12 parts of magnesium oxide micro powder, 3-5 parts of activated alumina micro powder, 1-3 parts of niobium pentoxide, 4-8 parts of phenolic resin and 3-5 parts of water. The prepared dispersion breathable refractory brick has the advantages of being high in slag corrosion resistance, good in thermal shock resistance, high in mechanical property and the like.

The utility model discloses a sounding monomer, a sounding module and an electronic device, and relates to the technical field of electroacoustic transduction, the sounding monomer comprises a magnetic circuit system, a vibration system and a support member, the vibration system comprises a first vibration assembly and a second vibration assembly which are arranged at the same side of the magnetic circuit system and vibrate along a first direction, the supporting piece is arranged on a first edge magnetic part of the magnetic circuit system, a body part of the supporting piece comprises a first supporting part and a second supporting part which is connected to the end, away from the magnetic circuit system, of the first supporting part and extends in the second direction, and the second supporting part comprises an upper surface and a lower surface which are distributed in the first direction. One of the inner peripheral side of the first diaphragm assembly and the outer peripheral side of the second diaphragm assembly is connected to the upper surface, and the other one is connected to the lower surface. The sound production single body can realize light and thin design, occupies a small assembly space, can realize the function of a loudspeaker with vibrating diaphragms arranged on two sides, and is ingenious and practical in structural design.

The utility model provides a small-size fiber bragg grating pressure ring, which comprises a pressure ring stress main body, an inner hole formed by penetrating through the middle part of the pressure ring stress main body, a plurality of fiber bragg grating strain gauges arranged on the outer wall of the pressure ring stress main body along the circumferential direction of the pressure ring stress main body, and a fiber bragg grating thermometer arranged on the outer wall of the pressure ring stress main body, the protection mechanism is arranged on the outer side of the pressure ring stress main body; wherein the stress main body of the pressure ring is of a cylindrical structure. According to the utility model, the stress main body of the pressure ring adopts the hollow cylindrical structure, and can be realized by adopting a standard pipe, so that the machining cost of the traditional I-shaped structure is reduced, and meanwhile, the requirements of the upper and lower protruding parts of the traditional I-shaped structure on the welding space of the fiber bragg grating strain gauge can be reduced; the height of the fiber bragg grating pressure ring is reduced and is lower than 50mm, so that the adaptability of the fiber bragg grating pressure ring under different working conditions is improved.

The invention discloses an intelligent networked vehicle following optimization and cooperative lane changing method for improving a safety potential field, and the method comprises the steps: enabling a vehicle to obtain the information of a target lane and the information of a current lane, and achieving the safety following control of a traffic flow; the vehicle generates a lane changing intention at first, the vehicle calculates and identifies all possible lane changing gaps and safety gaps needed for evaluating lane changing and judges whether the safe lane changing gaps exist or not, if yes, the optimal lane changing gap is selected from the safety gaps, and the vehicle starts to execute lane changing operation; if not, calculating the number of previous lane changing cooperative vehicles of the selectable lane changing gap, selecting the lane changing gap needing the minimum number m of cooperative acceleration vehicles, and establishing an m threshold condition based on the actual situation of the traffic flow; the invention emphasizes safety and cooperation, provides a new improved safety potential field lane changing model based on a traditional safety potential field theory, improves a traditional lane changing control mode, and further realizes safe and efficient car following and lane changing.

The invention relates to a supporting leg mechanism in an ultra-low bridge girder erection machine and the bridge girder erection machine, and belongs to the technical field of bridge construction equipment.The supporting leg mechanism comprises a frame assembly which comprises an upper cross beam, a lower cross beam and a telescopic supporting column connecting the upper cross beam and the lower cross beam; the hanging assembly comprises a hanging beam frame which is transversely and slidably connected with the upper cross beam, and the hanging beam frame and the upper cross beam at least partially coincide in the height direction. Due to the fact that the hanging beam frame and the upper cross beam are transversely connected in a sliding mode and at least partially coincide in the height direction, the hanging beam frame can serve as a transverse moving beam, the main beam can be arranged closer to the upper cross beam, and the vertical height of the middle supporting leg mechanism is greatly reduced; the distance between the upper cross beam and the lower cross beam can be closer to the distance between the top face and the bottom face of the main beam, so that the trafficability of the box girder under the height limit is higher, the box girder can adapt to more narrow working conditions and can work under the lower limit condition, and a new solution is provided for box girder erection under the ultra-low limit.

The precision workbench comprises a rotary workbench capable of rotating along the B axis and a cradle body, the cradle body is arranged below the rotary workbench, and the two ends, away from the rotary workbench, of the cradle body are connected with A-axis main shafts capable of rotating along the A axis respectively; the outer edge of the A-axis main shaft is connected with a first torque motor, and the first torque motor can drive the cradle body to rotate along the A axis; a second torque motor is connected to the outer side of a rotating shaft of the rotating table and can drive the rotating table to rotate along the B axis. The double rotating shafts are arranged and are directly driven by the torque motors, so that the double rotating shafts have high positioning precision, the torque motors are built-in torque motors, other internal spaces can provide installation spaces for other parts, the internal spaces can be fully utilized, the height of the rotating table is reduced, and the rotating table is convenient to use. And the whole rotary table is more compact in structure.

The utility model provides football field irrigation equipment, and relates to the technical field of irrigation. The football field irrigation equipment comprises an irrigation equipment body, a plurality of first pipelines are arranged on one side of the irrigation equipment body, gravity blocks are arranged at the tops of the first pipelines, and two telescopic rods and springs are fixedly connected to the bottoms of the gravity blocks. According to the football field irrigation equipment, a first threaded rod rotates to drive a sliding block to move upwards, the sliding block moves upwards to drive a second pipeline to move upwards, the second pipeline moves upwards to drive a water outlet head to move upwards, the second pipeline is lifted, the spraying area of a football field is increased, and the height of the water outlet head is adjusted by changing water pressure; therefore, the height of the water outlet head is increased on the basis of originally increasing the water pressure, and the spraying distance is further increased.

The invention discloses a flat wire winding structure, belonging to the field of motor technology, comprising a stator core, wherein the upper and lower sides of the stator core are respectively the connection side and the insertion side of the flat wire, and the inner side surface of the stator core is provided with a plurality of evenly distributed axial slots along the circumferential direction, the number of winding poles of the flat wire winding structure is 2p, the number of slots of the axial slots is m, each axial slot is provided with 2n layers of conductors, and a flat wire U-shaped hairpin is inserted in the axial slot, and the flat wire U-shaped hairpin includes three pitch structures of full pitch Y1=m / 2p, long pitch Y2≥Y1+1 and short pitch Y3≤Y1‑1, and Y2‑Y3=m / 2p / 3, and the flat wire U-shaped hairpin adopts a cross-layer structure of two adjacent layers. The invention adopts a single-branch triangle wiring mode or a single-branch star wiring mode or a double-branch star wiring mode, and the potentials of the three modes are balanced, there is no circulating current problem, and the winding structure is simple and has no special-shaped wires.

The invention discloses a photovoltaic module, a preparation method of the photovoltaic module and a screen printing plate, and belongs to the technical field of photovoltaics. The photovoltaic module comprises a battery piece body, and the battery piece body is provided with a first surface and a second surface which are oppositely arranged. The connecting parts are arranged on the first surface, the connecting parts comprise first connecting parts and second connecting parts, the first connecting parts and the second connecting parts are arranged at intervals in the first direction, and the area of the first connecting parts is larger than that of the second connecting parts; the first bonding layer is arranged on the surface, away from the battery piece body, of the first connecting part, the first bonding layer comprises at least two first bonding strips of a strip-shaped structure, and the at least two first bonding strips extend in the second direction and are arranged at intervals in the first direction; and the electric connecting piece is arranged on the first joint layer, extends along the first direction, is intersected with the at least two first joint strips of the strip-shaped structure, and is electrically connected to the first connecting part through the first joint layer.

The invention discloses a bimorphic high-speed unmanned aerial vehicle capable of taking off and landing on the water surface and flying in ground effect and a control method, and belongs to the technical field of unmanned aerial vehicles, the bimorphic high-speed unmanned aerial vehicle comprises a vehicle body and a control device, the vehicle body is provided with an adjustable turbine jet driving mechanism and telescopic folding wings, and the tail of the vehicle body is provided with an empennage and a tail turbine jet driving mechanism. Meanwhile, the invention discloses a control method based on the two-form aircraft capable of taking off and landing on the water surface and flying in the ground effect, and the two-form high-speed unmanned aerial vehicle capable of taking off and landing on the water surface and flying in the ground effect and the control method are adopted. By adjusting the inclination angle, the distance and the height of the two front turbojet engines, operation and conversion of various forms of water sailing, ground running, ground effect flight and height flight are achieved, the use scenes of the unmanned aerial vehicle are greatly enriched, and the requirement for high-speed flight is met by adopting the telescopic folding wings.

The utility model discloses an ultra-thin parking spot lock which comprises a driving mechanism, a parking spot lock body and a parking spot lock body. The turning plate can rotate, and the turning plate and the guide plate are arranged side by side in the width direction of the turning plate; wherein a cavity is formed in the turning plate and / or the guide plate, a power module is assembled in the cavity, and the power module is electrically connected with the driving mechanism; the turning plate is provided with a driving axis and a rotating axis which are parallel, the length of the turning plate extends along the rotating axis, the width value of the turning plate is set as a, the distance between the driving axis and the rotating axis is not larger than a / 2, and the driving mechanism drives the turning plate to rotate around the rotating axis at the driving axis. According to the ultrathin parking spot lock, the cavity is formed in the turning plate or the guide plate, the power module is assembled, and the size of a machine box is reduced. The driving mechanism drives the turning plate to rotate at the driving axis, the needed power is small, the displacement of a driving part is small, the size of the driving mechanism is reduced, and the ultrathin design is achieved.

The present invention discloses a pre-test processing device, medical equipment and a detection method, wherein the pre-test processing device includes a tray having at least one limiting groove; a tray fixing fixture having a structure for installing and fixing the tray; a material supply mechanism having a structure for storing materials in batches and transferring the materials one by one to the tray; a test liquid storage mechanism having a group of containers; and an injection mechanism having a structure that can extend into any of the containers to absorb liquid and inject it into the groove of the material on the tray. This solution installs reagent strips by setting a tray, and stores batches of materials through a material supply mechanism and transfers the stored materials to the tray to meet the test needs. Combined with the injection mechanism, the test liquid in the container is automatically injected into the groove of the reagent strip on the tray, which can meet the needs of large-scale and multi-item testing, create equipment conditions for the automation of various tests, and help improve detection efficiency.

The invention provides an unmanned underwater vehicle trajectory tracking control system based on preset time and performance, and aims to improve trajectory tracking precision and stability in underwater operation tasks. The method comprises the following steps: establishing an unmanned underwater vehicle mathematical model; designing a preset time preset performance function, and introducing an adjustable function changing along with time to enable the boundary function to have a smooth characteristic in a convergence process; a time-varying gain auxiliary system is adopted to process an input saturation problem; designing a disturbance observer to realize rapid attenuation of disturbance, and enhancing the robustness of the system by introducing a residual adjustment function based on a smooth nonlinear model; and finally, integrating the interference observer and an auxiliary system to deduce a trajectory tracking scheme. The result shows that the longitudinal speed fluctuation is reduced by 69.2%, and the swaying speed fluctuation is reduced by 32.7%; the north position tracking performance is improved by 30.8%, the east position tracking performance is improved by 16.7%, the speed fluctuation is effectively reduced, and the tracking performance, the system stability and the anti-interference capability are improved.