43results about How to "Solve cumulative error" patented technology

The invention discloses an algorithm model improving electric automobile SOC (State of Charge) estimation precision and relates to the technical field of electric automobiles. The method specifically includes steps of (1), initial SOC error correction, namely, obtaining the total capacity of a current battery according to a proportional relation of a difference value between an SOC value saved last time and an SOC value obtained through an open circuit voltage table lookup method and a difference value between a battery total capacity saved last time and a total capacity calculated after temperature and self discharge correction factors are added, and realizing correction of available capacity at an initial time point by combining the corrected battery total capacity and the influence on battery aging degree by cycle service lifetime, and obtaining an initial SOC value after correction through correction; (2), SOC accumulation error correction. According to the invention, the initial SOC is estimated based on temperature correction, converted coulombic efficiency correction, self discharge and SOH compensation and an accumulation error correction algorithm combining an ampere-hour accumulation algorithm and the open circuit voltage algorithm is adopted, so that problems of initial errors and accumulation errors in an SOC estimation process are solved effectively.

The invention provides an ultrasonic-array auxiliary positioning method and system used for indoor navigation. The method includes the following steps: S01: through an inertial navigation system, obtaining position information of a positioned subject and map information of a quasi-rectangular environment so that four predictive distance values from the center of the positioned subject to four edges of the quasi-rectangular environment are obtained; S02: according to positions of ultrasonic sensors relative to the positioned subject, a heading direction of the positioned subject and ranging values of the ultrasonic sensors, calculating four actual measurement distance values form the center of the positioned subject to the four edges of the quasi-rectangular environment; S03: comparing the actual measurement distance values with the predicative distance values, calculating absolute values of difference values and according to the sizes of the absolute values of the difference values, setting different weights of the different actual measurement distance values; S04: according to the different weights, carrying out weighted average sum on the actual measurement distance values so that a final practical distance is obtained; S05: carrying out position update on the positioned subject according to the final practical distance.

The invention discloses an indoor positioning method for correcting PDR with a Bluetooth auxiliary technology and a method thereof. The system comprises ground nodes, an intelligent terminal, and a positioning server. The ground nodes can be used for detecting stampede and broadcasting an identification number of the Bluetooth nodes to the intelligent terminal; the intelligent terminal can be usedfor receiving the identification number of the Bluetooth nodes and sending the identification number to the positioning server; and the positioning server is characterized in that by responding an indoor positioning map request of the intelligent terminal through Internet, an indoor positioning map is sent to the intelligent terminal. The indoor positioning method can effectively improve the PDRaccumulative error, and can greatly increase the PDR positioning precision.

The invention discloses a gyroscope assisted positioning method. The method comprises the following steps: step one, measurement of attitude angle: individually subjecting a measured value of an accelerometer and a measured value of a magnetic sensor to the Gauss-Newton iteration so as to obtain an attitude error speed, obtaining an attitude quaternion speed by using a gyroscope through a quaternion differential equation, adding the attitude error speed and the attitude quaternion speed together so as to obtain an attitude quaternion; step two, obtaining an initial point: carrying out track calculation according to the data of the accelerometer and the gyroscope chip so as to improve the track period to the data period of an inert measuring unit; step three, calculating the speed and the displacement distance; step four, calculating the position point, and step five, correcting the position. The method effectively solves the problems of gyroscope drift, carrier linear acceleration and interference of the surrounding local magnets, then carries out project correction on the positioning result according to the road data, and calculates the next position point by utilizing the correction result, and thus effectively reduces the accumulated error.

The invention relates to the technical field of floor system and roof system construction of large-span architectural engineering, in particular to a large-span pipe truss hoisting method. The large-span pipe truss hoisting method comprises the following steps that step one, measurement and re-examination are carried out; step two, arc-shaped steel column segment and circumferential truss hoistingis carried out; step three, temporary operation platform installation is carried out; step four, main truss bed-jig assembly is carried out; step five, main truss hoisting is carried out, and specifically, a quincunx integral hoisting method is adopted in super-long plane main truss horizontal segment steel beam hoisting; and step six, end portion arc-shaped segment secondary truss and truss hoisting is carried out. A loading feature of higher rigidity of element itself in a plane is fully used, installation errors and accumulative errors generated during truss segment installation of the large-span prestress tool orthogonal plane pipe truss system can be effectively solved, construction technology of a quincunx integral hoisting super-long tool orthogonal plane pipe truss is adopted, andthe problems that the rigidity is higher but out-of-plane rigidity is relatively weak, and element overall deformation is nonuniform in the hoisting processing of a plane truss are solved.

The invention provides a control method for realizing long-distance position detection by combination of an encoder and limit. The control method comprises the steps of: 1, fixing an armature used for triggering the limit combination to transmit signal on the pathway of a moving vehicle, wherein the limit combination is installed on a vehicle body for determining the position of a vehicle interval; forming serial codes when the mechanical limit is orderly triggered, converting the codes to be decimal, wherein number at the tens position is used for distinguishing sets or control system range, and the number at the unit position is used for distinguishing position function or specific location of the interval; 2, amending the encoder data by the limit combination; and 3, implementing vehicle control by adopting a limit combination encoding mode (figure 1) and limit encoding definition comparison (figure 2). The mechanical limit combination encoding is applicable to identifying co-orbit multipoint orientation parking positions, and the combination of mechanical limit and the encoder is applicable to long-distance real-time position measurement and disposition.

The invention relates to the field of conveying equipment and particularly discloses an operation control method and a control system of a multi-drive chain conveying line. The control method comprises the steps that the current position of a tensioning device detection position is obtained in real time, and if a detection result is within the operation interval of the tensioning device detection position, the tightness of a chain is confirmed to be proper and a driving motor is enabled to operate at normal speed; if the detection result is larger than the upper limit of the operation interval, the chain is confirmed to be too loose and the driving motor is enabled to accelerate; and if the detection result is smaller than the lower limit of the operation interval, the chain is confirmed to be too tight and the driving motor is enabled to decelerate. The control system is characterized in that a detection unit detects and outputs a current position signal of the tensioning device detection position in real time, and then a controller confirms the tightness of the chain to enable the driving motor to accelerate, decelerate or operate at normal speed according to the position indicated by the detection result relative to the preset tensioning device detection position. By adjusting the rotating speed of the driving motor in real time according to the position change of a tensioning device, the chain is prevented from being too loose or too tight and the stable operation of the conveying line is guaranteed.

The invention relates to an indoor positioning method based on magnetic field information and a motion sensor. The indoor positioning method includes that data are collected through a data collection module of a mobile side, the data received by the mobile side are processed to acquire path data which are uploaded to a server side, real-time positioning information is collected through a collection module of the mobile side, processed and then uploaded to the server side, an EMD method is utilized for decomposition to generate a trend sequence reflecting original data trend according to map data in the server side, motion information limiting is added for matching, a K-means clustering method is utilized to find proper sub paths of sectional paths, a path merging module is utilized to select a better overall path, and a matching result is returned to the mobile side for displaying. By the method, accurate indoor positioning effect of a magnetic field is utilized. The improved algorithm is utilized to realize a simplified algorithm, processing of step counter information is reduced, and the problem of error accumulation caused by a step counter can be solved effectively.

The invention discloses a method of measuring floodgate opening. The method comprises the steps of arranging a position switch along the position where a hoist drive gear is lifted or lowered, the position switch together with a counter of a measuring device composes a counting circuit to acquire the tooth number of the gears; the position acquires a position limit signal when the floodgate is fully opened or closed; when the floodgate is lifted or lowered, the measuring device transforms the rotation tooth number of the host drive gear to floodgate opening through opening calculation according to a tooth number signal, the position limit signal and a lifting or lowering signal. When the measuring device obtains the signals that the floodgate is fully opened or closed, the counter resets. The method of measuring floodgate opening is easy to measure, high in precision, less in error and is convenient and easy to operate, which is particularly suitable to measure the opening of dam floodgate.

The invention discloses a three-dimensional surface shape measurement device and method for a mirror object based on infrared stripes. The device comprises a computer, an infrared projector, a CCD infrared camera, a to-be-measured mirror object, frosted glass, a reflecting mirror with a circular mark on the surface, a first high-precision horizontal moving guide rail, a fixed plate and a second high-precision horizontal moving guide rail. The method comprises the following specific steps: preliminarily constructing a measurement device: 1) preliminarily constructing the measurement device; 2)calibrating the measurement device; 3) completing construction of the measurement device; 4) collecting stripe information of two positions; 5) solving three-dimensional shape depth information of themirror object, so as to complete three-dimensional shape measurement of the mirror object.

The invention provides an electronic image stabilization method based on multi-resolution gray projection. The electronic image stabilization method comprises the following steps of: (1), determining whether a foreground local motion object exists or not by utilizing a current down-sampling image and a reference image, thereby obtaining a global motion vector; (2), reserving active scanning movement of a vidicon itself while removing random jitter by filtration through a real-time particle filtering method; and (3), eliminating an adjacent-frame accumulative error by adopting a self-adaptive adjacent-frame compensation method through a variable reference frame.

The invention discloses a vehicle speed estimation method and system based on a neural network; the vehicle speed estimation method comprises the following steps of acquiring a training sample and a training output quantity, and expanding a training input quantity in the training sample to be a 8 * 8 symmetric vehicle real-time data matrix, wherein both the training output quantity and the training input quantity are vector forms; and then, training the convolutional neural network according to the symmetric vehicle real-time data matrix and the training output quantity; and finally, obtainingthe real-time data of the current vehicle, inputting the real-time data of the current vehicle into the trained convolutional neural network model so as to estimate the transverse speed and the longitudinal speed of the current vehicle to the ground. According to the method and the system in the invention, the convolutional neural network is utilized, the symmetric vehicle real-time data matrix is used as input, the real-time longitudinal speed and transverse speed of the vehicle to the ground are output through convolution calculation and convergence, not only the method and the system can be applied to the limit working condition of vehicle slipping, but also the calculated amount is small, and the problem of accumulative error in the later integration process is effectively solved.

The invention discloses an error compensation method for a long-distance underground pipeline positioning system and an implementation system. The method includes the following steps that 1, a three-dimensional ground coordinate system is established; 2, according to pre-mastered pipeline information, a coordinate correcting circuit of the exterior of a pipeline is arranged, the perpendicular depth of the center, at a point, of the pipeline is measured, three-dimensional coordinates of the coordinate correcting point and the head and tail ends of the pipeline are then determined, and measureddata is written into a data processor in advance; 3, a positioning device is fixed to a pipeline robot, and the pipeline robot is positioned in combination with altitude angle data of an MEMS inertialmeasurement module and data of a mileage collecting module; 4, when the pipeline robot advances and induction current is generated for the k time (k=1, 2, 3......) by a receiving coil and reachesthe maximum value, a k coordinate correcting value is written into a data storage module; 5, after pipeline positioning is completed, an upper computer reads, corrects and conducts three-dimensional display on data in the storage module. The error compensation method is large in application range and high in calculation precision.

The invention discloses an autonomous unmanned system position identification and positioning method based on sequence image features. Firstly, to-be-image features are extracted through an improved convolutional neural network model, the obtained depth features have high illumination invariance and viewing angle invariance, and the robustness of the algorithm for scene condition changes and robotviewing angle changes is enhanced; then, a difference measurement method based on an image sequence is adopted, constraints are effectively provided for position recognition of adjacent frames, and the recognition accuracy is improved. Secondly, an approximate nearest neighbor search method is used, so that the calculated amount of sequence search is greatly reduced, and the use efficiency in a large-scale environment is improved. Finally, through a method of dynamically updating candidate matching, omission caused in sequence search is effectively reduced, and the error-tolerant rate of thealgorithm is improved. A visual position recognition algorithm has the outstanding advantages of being high in robustness, high in efficiency, capable of adapting to various scenes and the like.

The invention discloses an implementation system of an error compensation method for a long-distance underground pipeline positioning system. The implementation system comprises a pipeline positioningdevice, an engineering distance measurement instrument and an upper computer; the pipeline positioning device is fixed to a pipeline robot and used for detecting the altitude angle and mileage data of the pipeline robot, and the position of the pipeline robot in a pipeline to be measured is worked out based on an inertial navigation principle; the pipeline positioning device travels in the pipeline along with the pipeline robot, and when an electromagnetic wave signal is received and reaches the highest strength, coordinate data for correcting a current position is triggered; the pipeline positioning device stores all pipeline coordinate data into a storage module; the engineering distance measurement instrument is set to be used for detecting the position coordinates of the head and tailends of the pipeline to be measured and plane coordinates of a pipeline exterior coordinate correcting point; the upper computer is set to be used for reading the coordinate data in the storage module, correcting inertial navigation positioning data, and finally conducting three-dimensional display on corrected pipeline coordinate data. The implementation system is large in application range andhigh in calculation precision.

The invention provides a bullet primer assembly depth line structured light measurement method. The bullet primer assembly depth line structured light measurement method comprises a measurement modelfor bullet primer assembly depth, a calibration method and a laser speckle light bar center extraction method. In the measurement model, under a camera coordinate system, two calibration blocks are introduced to calibrate structured light parameters, and straight line fitting is carried out on a plurality of special points on the calibration blocks. The intersection point of the straight line andthe laser curve is calculated in a camera coordinate system. A laser plane calculation formula is obtained according to the principle of cross ratio invariance, and the calibration process of the structured light parameters is completed. Through a new mathematical model, world coordinate values corresponding to two points on any laser line on an image can be calculated, a real-time calibration andmeasurement mode is adopted, the real-time measurement requirement of bullet primer assembly depth measurement is met, and accumulated errors are reduced. And image enhancement operation is performedon the speckle part in the image according to the high-frequency gain coefficient so that the problem of gun and bullet primer depth measurement precision and stability reduction caused by laser strip speckle can be solved.

The invention belongs to a VR helmet positioning method. In order to solve the problem that in the positioning technology applied to VR glasses at present, the setting operation is inconvenient and the setting is more complex when the VR helmet positioning method is particularly used for a 360-degree rotating motion platform, the invention provides a VR helmet positioning method suitable for a rotating platform, which comprises the following steps: S1, determining the spatial orientation zero position reference, the rotating angle zero position reference and the rotating positive direction ofthe rotating platform; s2, according to the space orientation zero position reference, the rotation angle zero position reference and the rotation positive direction, obtaining the current space orientation and the rotation angle of the rotation platform; s3, acquiring a relative position and a relative spatial orientation of the VR helmet and any fixed position on the rotating platform; s4, performing superposition calculation to obtain the spatial orientation of the VR helmet in the real physical space; and S5, adjusting the image in the VR helmet according to the spatial orientation of theVR helmet in the real physical space and the relative position between the VR helmet and any fixed position on the rotating platform, so as to enable the virtual space to be matched with the real physical space.

The invention provides a dish light concentrating system adopting a memory type solar tracking controller. The dish light concentrating system comprises a light concentrating dish, a high temperature protection board and the memory type solar tracking controller. The light concentrating dish is flexibly connected at the end part of a column. The column is also provided with a bracket which is provided with the high temperature protection board and a heat collector installing base. The center of the high temperature protection board is provided with a light spot opening. The light concentrating dish and the heat collector installing base are separately arranged at the two sides of the high temperature protection board. The memory type solar tracking controller comprises a four-quadrant sunshine detector, a detection signal processing circuit, a single-chip microcomputer controller with EEPROM, and a tracking module. The system adopts the memory type solar tracking controller. The controller is high in response speed and long in service life, deviation after use is easy to correct and the structure is simple so that the problem of accumulative error of conventional tracking can be solved, tracking precision can be enhanced, adjustment of the light concentrating dish can be rapidly responded and energy collection efficiency can be greatly enhanced.

The invention discloses an indoor positioning method for correcting PDR with a Bluetooth auxiliary technology and a method thereof. The system comprises ground nodes, an intelligent terminal, and a positioning server. The ground nodes can be used for detecting stampede and broadcasting an identification number of the Bluetooth nodes to the intelligent terminal; the intelligent terminal can be usedfor receiving the identification number of the Bluetooth nodes and sending the identification number to the positioning server; and the positioning server is characterized in that by responding an indoor positioning map request of the intelligent terminal through Internet, an indoor positioning map is sent to the intelligent terminal. The indoor positioning method can effectively improve the PDRaccumulative error, and can greatly increase the PDR positioning precision.

The invention relates to a wave measurement apparatus for correcting wave characteristic parameters based on multi-parameters, and a wave measurement method thereof. According to the present invention, the sensor with characteristics of mature technology and low cost and other modules are used, and other complicated-design mechanical structures are not required, such that the structure design is simplified, and the cost is low; 1-4 groups of the independent and different multi-parameter sensors are used to perform the synchronous detection, wherein other sensors can be continuously used when one of the sensors fails while the whole detection data collection is not affected, such that the detection reliability and the fault tolerance of the whole equipment are improved; and the derivation is performed by using the traditional formula, the integrating and the secondary integrating are required to be used, and the derivation is non-linear so as to easily produce the error accumulation, while the support vector regression model is used, the target function is fitted by using the non-linear kernel function, the non-linear kernel function is non-linear, the input error is subjected to compatibility, and the calculation is the one calculation, such that the assumptions and the accumulative errors in the derivation are avoided, and the problems of the nonlinearity and the error accumulation of the wave characteristic data derivation are solved.

The invention relates to a method for holding time synchronization of digit version management, and a relative system, wherein a terminal device is arranged with a safe time unit for recording a device standard time or / and time slippage, the terminal device with the safe time unit processes time synchronization with a time synchronous reference device at start, based on the time synchronized result, correcting the safe time information in the safe time unit. The invention can effectively resolve the time synchronization problem of OMA DRM2. 0 and the accumulated error problem of maintenance safe time slippage when the device avoids initializing ROAP protocol, and the hard construction of safe time reference when the terminal safe time is destroyed (as power off, and data loss). The invention can realize safe clock via software without additional hardware on terminal device, with low cost.

The invention discloses a joint pre-stack elastic inversion parameter and deep network target inversion technology, and relates to the technical field of target inversion. The target inversion technology comprises the following specific steps of: obtaining pre-stack elastic impedance inversion parameters; obtaining pre-stack parameters of a division angle; taking well bypass data as input and target data as output constraint; establishing a training network; obtaining a mapping network through training, and directly carrying out mapping calculation on all-region data; and inputting all-region data parameters, and directly obtaining a target data body through the mapping network. According to the method, seismic target parameters can be better predicted, the prediction accuracy and efficiency are improved, data internal information is deeply mined through the deep network, the characterization degree of the information is improved, accumulative errors and approximate errors existing in the process of solving target data through fitting are solved, and the credibility and authenticity of the algorithm are enhanced directly through parameters and different angle data obtained through pre-stack inversion.

The invention discloses a neural network-based vehicle speed estimation method and system. The vehicle speed estimation method includes obtaining training samples and training output, and expanding the training input in the training sample into an 8*8 symmetrical vehicle real-time data matrix, wherein Both the training output and the training input are in the form of vectors; then the convolutional neural network is trained according to the symmetric vehicle real-time data matrix and the training output; finally, the real-time data of the current vehicle is obtained, and the real-time data of the current vehicle is input into the post-training In the convolutional neural network model, the lateral velocity and longitudinal velocity of the current vehicle to the ground are estimated. The present invention utilizes a convolutional neural network, takes the symmetrical vehicle real-time data matrix as input, and outputs the real-time longitudinal and lateral speeds of the vehicle to the ground through convolution calculation convergence. And it effectively solves the cumulative error problem in the later integration process.

The invention discloses a slide mechanism for a dust collector power adjustment. The slide mechanism for the dust collector power adjustment comprises a first rod body arranged lengthways, wherein the rod body is arranged in a slide hole formed in a dust collector housing in a slide mode, one end of the first rod body is extended to the dust collector housing horizontally to form a second rod body, a through hole is form in the second rod body along a horizontal direction, and a potentiometer adjustment rod of a potentiometer is arranged in the through hole. Compared with the prior technology, the slide mechanism for the dust collector power adjustment can effectively solve the problems of cumulative errors and phantoms during an adjustment process.

The invention relates to a multi-station combined fixture. An outer plane station, a theta oblique plane station, an outer vertical plane station and a beta oblique plane station are formed from rightto left through structural design, and thus the multi-station combined fixture can be used for reducing the number of times of adjusting a machine tool, solving the problem of cumulative errors of multiple machining surfaces and improving machining accuracy.

The invention discloses a pipeline diameter measurement instrument multipath displacement pulse optimization device based on FPGA and a method, belonging to the pipeline detection technology field. The pipeline diameter measurement instrument multipath displacement pulse optimization device comprises a pipeline diameter measurement instrument main body, a plurality of odometers, a signal collection module, an optical coupling isolation unit and an FPGA central processing unit. The signal collection module comprises a plurality of convex lenses, a plurality of rotary encoders, and a plurality of light sensitive elements; each odometer wheel shaft is provided with a convex lens, a rotary encoder, and a light sensitive member; the convex lens, the rotary encoder, and the light sensitive element coaxially rotate along with the odometer wheel; the plurality of light sensitive elements are connected to the input terminal of the optical coupling isolation unit; the output terminal of the optical coupling isolation unit is connected to the input terminal of the FPGA central processing unit. The invention utilizes the FPGA parallel processing mechanism, improves the processing speed of the displacement pulse signal, effectively distinguishes the working state of a plurality of odometer wheels, solves the displacement accumulation error and improves the displacement measurement accuracy.

The invention discloses a device and a method for testing a strain position of an object by using external strain. A light source driving circuit is connected with a light source, the light source, the photoelectric detector and the sensing optical fiber are all connected to the 2 * 2 optical coupler, and the sensing optical fiber is tightly wound on the surface of a measured object; calibration between the position of the wound sensing optical fiber and the detection time is achieved through an external stress applying device, and the conversion error caused by purely depending on the measurement time, the optical fiber stress position and the object stress position is eliminated; and the relationship between the one-dimensional coordinate of the optical fiber and the two-dimensional coordinate of the surface of the measured object is established, and the measurement of the strain position of the object is realized more accurately. The device and the method are used for any complex surface including a variable-diameter object, and solve the problem of accumulated errors caused by directly utilizing a curved surface shape to correspond to the one-dimensional length of the optical fiber traditionally.

The invention provides a line-structured light measurement method for the assembly depth of the primer of the bullet, including a measurement model for the assembly depth of the primer of the bullet, a calibration method, and a method for extracting the center of the laser speckle light bar. In the measurement model, under the camera coordinate system, two calibration blocks are introduced for the calibration of structured light parameters, and straight line fitting is performed on multiple special points on the calibration blocks. In the camera coordinate system, calculate the intersection point of the line and the laser curve. According to the principle of cross-ratio invariance, the laser plane calculation formula is obtained, and the calibration process of structured light parameters is completed. Through the new mathematical model, the world coordinate value corresponding to two points on any laser line on the image can be calculated, and the real-time calibration and measurement method can be used to realize the real-time measurement requirements of the assembly depth measurement of the bullet primer and reduce the cumulative error. The image enhancement operation is performed on the speckle part of the image according to the high-frequency gain coefficient, which solves the problem of decreased accuracy and stability of the measurement accuracy and stability of the primer fire depth caused by the laser stripe speckle.

The invention discloses a rotor flux linkage observation and rotation speed recognition method for a bearing-free asynchronous motor, provides a rotation speed detection system and method for the bearing-free asynchronous motor based on POPOV superstability and aims at solving the problem that existing bearing-free asynchronous motor rotation speed recognition is inaccurate. A rotor flux linkage voltage model observation value can be obtained through a flux linkage observer which is formed by an improved second-order generalized-frequency self-adaption integrator according to measured stator voltage and current signals, observed rotor flux linkage serves as a reference value, rotor flux linkage solved through a rotor flux linkage current model serves as an adjustable value, and a model reference adaptive system (MRAS) based on the rotor flux linkage can be formed. The real-time rotation speed of the bearing-free asynchronous motor can be accurately recognized through an appropriate self-adaption law.

An FPGA-based multi-channel displacement pulse optimization device and method for pipeline calipers, belonging to the field of pipeline detection technology. The device includes a pipeline caliper body, several mileage wheels, a signal acquisition module, an optical coupling isolation unit, and an FPGA central processing unit. The signal acquisition module includes several convex lenses, several rotary encoders, and several photosensitive elements. Each mileage wheel shaft is equipped with a convex lens, a rotary encoder, and a photosensitive element. The convex lens, rotary encoder, and photosensitive element rotate coaxially with the mileage wheel. Several photosensitive elements are connected to the input end of the optical coupling isolation unit, and the optical coupling isolation The output end of the unit is connected to the input end of the FPGA central processing unit. The present invention utilizes the FPGA parallel processing mechanism to improve the processing speed of displacement pulse signals, effectively distinguishes the working states of several mileage wheels, solves the problem of cumulative displacement errors, and improves the accuracy of displacement measurement.