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Scene matching/visual odometry-based inertial integrated navigation method

The invention relates to a scene matching / visual odometry-based inertial integrated navigation method. The method comprises the following steps: calculating the homography matrix of an unmanned plane aerial photography real time image sequence according to a visual odometry principle, and carrying out recursive calculation by accumulating a relative displacement between two continuous frames of real time graph to obtain the present position of the unmanned plane; introducing an FREAK characteristic-based scene matching algorithm because of the accumulative error generation caused by the increase of the visual odometry navigation with the time in order to carry out aided correction, and carrying out high precision positioning in an adaption zone to effectively compensate the accumulative error generated by the long-time work of the visual odometry navigation, wherein the scene matching has the advantages of high positioning precision, strong automaticity, anti-electromagnetic interference and the like; and establishing the error model of the inertial navigation system and a visual data measuring model, carrying out Kalman filtering to obtain an optimal estimation result, and correcting the inertial navigation system. The method effectively improves the navigation precision, and is helpful for improving the autonomous flight capability of the unmanned plane.
Owner:深圳市欧诺安科技有限公司

Measuring transducer of vibration-type

A measuring transducer includes: A measuring tube vibrating, at least at times, during operation and serving for conveying a medium, wherein the measuring tube communicates with a pipeline via an inlet tube piece at an inlet end and an outlet tube piece at an outlet end; a counteroscillator, which is affixed to the measuring tube on the inlet end to form a first coupling zone and affixed to the measuring tube on the outlet end to form a second coupling zone; and a transducer housing affixed to the inlet tube piece and the outlet tube piece. An exciter mechanism, for driving at least the measuring tube, and a sensor arrangement, for registering oscillations at least of the measuring tube, are, in each case, secured, at least in part, to the counteroscillator. Additionally, on the inlet side, an cantilever is so coupled in the region of the coupling zone with the inlet tube piece and the measuring tube, that the center of mass of the cantilever lies in the region of the inlet tube piece, and, on the outlet side, an cantilever is so coupled in the region of the coupling zone with the outlet tube piece and the measuring tube, that the center of mass of the cantilever lies in the region of the outlet tube piece. Furthermore, the measuring transducer includes connection lines, especially connection lines for the exciter mechanism and / or for the sensor arrangement, with at least one of the connection lines being secured to at least one of the two cantilevers.
Owner:ENDRESS HAUSER FLOWTEC AG
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