976results about How to "Solve the error" patented technology

An accurate calibration method of micro inertia measuring unit by decoupling erection error angle (EEA)with scale factor includes setting up MIMU integral error model and separating couple between EEA of accelerometer and gyroscope and scale factor ,using position error canceling method to calculate out and to separate out scale factor and EEA of accelerometer as well as using least square method and iteration method to calculate out EEA of gyroscope and its relative error items in 10 position static calibration test and in 3 direction positive and negative rate test ,then using interpolation method to calculate out scale factor of gyroscope .

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 discloses a method for detecting the error of a program control flow and intends to overcome the difficulties in increasing the detection rate of the errors of the control flow by the conventional method and solve the difficult problem with the detection of the control flow inside basic blocks and among processes. The method comprises the following steps according to the technical scheme of the invention: firstly, identifying basic blocks and confirming the routing relation among the basic blocks; then, confirming the maximum required number of detection commands of the internal control flow of each basic block according to the requirements of the internal control flow and the constitutive characteristics of the basic blocks; designing the labels for the basic blocks on that basis, and distributing the unique static label to each basic block; then, inserting the detection commands into the head part, inner part and tail part of each basic block in the program respectively, re-assembling and re-linking the assembler of the inserted detection commands of the control flow, and generating an executable program for achieving the detection of the error of the control flow.

The invention discloses a self-adaptive tracking loop, which comprises an unscented Kalman filter (UKF), an observation noise variance matrix detection module, a fuzzy inference system, an unscented transformation (UT) scale factor regulation module, a state compensator, a carrier wave numerical controlled oscillator (NCO), scale factors, a code NCO, an integration and zero-clearing module, a code loop phase discriminator and a second order code loop filter, and additionally discloses an implementation method for the self-adaptive tracking loop. The implementation method comprises a step 1 ofsignal correlation, integration and zero clearing; a step 2 of code phase tracking; a step 3 of UKF modeling; a step 4 of observation noise variance matrix estimation; a step 5 of process noise variance matrix estimation; a step 6 of UT scale factor regulation; a step 7 of state estimation deviation compensation; and a step 8 of assistance of the carrier wave NCO in the code NCO. According to theself-adaptive tracking loop, the UKF, the observation noise variance matrix detection module and the fuzzy inference system are designed in the carrier tracking loop, so not only can a contradiction between thermal noise vibration in the tracking loop and a dynamic stress error be solved, but a process noise variance matrix and an observation noise variance matrix can be regulated in a self-adaptive manner according to changes of the external environment, and thereby the self-adaptive ability of the tracking loop under complex changeable environments of high dynamic, strong interference, and the like is effectively improved.

The invention provides a positioning method and system of an automatic driving automobile. The positioning method of the automatic driving automobile comprises the following steps: collecting trafficenvironment information around a vehicle, wherein the traffic environment information includes: a lane line of a road on which the vehicle travels, a distance between a wheel and the lane line, a roadcurvature of the road on which the vehicle travels, and a distance between the vehicle and a surrounding reference object; obtaining a high-precision map of the vehicle position, and calculating a theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map; and obtaining a satellite positioning coordinate of the vehicle through a navigation and positioning system, and correcting the vehicle positioning data through a manual input manner if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first preset threshold. The invention can improve the positioning accuracy and safety of the automatic driving automobile.

The invention provides statistically optimal near-field acoustical holography used for visual recognition of air-conditioner noise sources and an operation method thereof. The operation method comprises the followings: determining the positions, frequency characteristics and distribution ranges of the noise sources, and distance between microphones on microphone arrays, number, sample rates and number of sampling points of microphones; calibrating arrayed microphones; collecting data; recording sound pressure data; processing the sound pressure data; reading the processed data and finally entering noise source recognition procedures. By the invention, complex sound pressure on reconstructive surfaces and vibration velocity of surface particles can be calculated directly via linear superposition of the complex sound pressure on a holographic plane in a spatial domain, thus essentially overcoming window effects and wraparound errors existing in near-field acoustical holography and avoiding the problems brought about by the demand of a large number of microphones by near-field acoustical holography, such as low reconstruction efficiency of sound fields and costly cost of measuring systems, etc. The invention is characterized by small number of demanded microphones, low measuring cost and high reconstruction efficiency of the sound fields.

The invention discloses an inertial vision integrated navigation method based on an optical flow method, relates to an inertial vision integrated navigation method, and has the purpose of solving theproblems that the navigation information is inaccurate due to cumulative errors caused by the existing inertial navigation working for a long time, a mask interruption or an excessive dynamic error may happen when the existing satellite navigation is indoor or shielded by a building, and the algorithm of the existing vision navigation is complex and susceptible to camera pose, illumination changes, image noise and the like. The method comprises the following processes: 1, defining a coordinate system; 2, carrying three sensors of an IMU (Inertial Measurement Unit), a camera and an altimeter onthe drone to obtain two-dimensional optical flow data; 3, obtaining the position of the drone in the world coordinate system; 4, performing inertial navigation according to the IMU measuring information to calculate the position and attitude of the drone in the world coordinate system; and 5, obtaining the position and attitude information of the merged drone in the world coordinate system. The method is used in the technical field of autonomous navigation of drones.

The invention relates to a device and a method for testing the bending property of a joint for welding and connecting dissimilar materials, and solves the problem that the center of a welding line of a test piece and a pressure head cannot be always kept on the same vertical surface according to the test requirement during test operation of a universal testing machine. The technical scheme is that: two wing plates are symmetrically distributed on two supporting rollers of the device to support the dissimilar metal test piece and prevent the test piece from moving left and right in the bendingprocess; meanwhile, the two wing plates have functions of winding and guiding, so that the test piece is wound on the edge of the pressure head; the supporting wing plates can do arc movement with the test piece along tail end shafts of supporting plates in the testing process; and the test piece and the pressure head can be always kept on the same axis under the action of two supporting plates and a fastening system thereof. Through the method and the device, the dissimilar materials with large difference in physical properties can also be tested by the conventional universal mechanical testing machine, so that the test quality of the bending mechanical property of the joint for welding and connecting the dissimilar materials by using the universal testing machine is improved to a great extent, and time and economic cost are greatly saved.

A network weight distance vector positioning method of radio transducer includes carrying out weight treatment on average each jump distance of each received anchor node based on DV-hop positioning means and considering estimated average each jump distance of multiple anchor nodes, calculating distance between unknown node and anchor node by utilizing final average each jump distance for effectively decreasing estimation deviation and for effectively raising the positioning accuracy of complete network.

The invention relates to a detecting method and a detecting device of the surface-shape error of a double curved surface convex reflecting mirror, which takes an aberrationless laser convergent beam as an incident beam scanning the convex of the detected reflecting mirror and takes wavefront detector as a measuring tool to coincide the focus of the incident beam with the virtual focus of the detected double curved surface reflector; the incident beam is imaged at the real focus of the detected double curved surface reflecting mirror after being reflected by the detected reflector, an imaging beam enters in the wavefront detector after being collimated by an anaberration collimating lens, and the surface-shape error of a local area is detected by the wavefront detector; the incident beam radically scans around the virtual focus of the detected double curved surface reflector, the detected double curved surface reflecting mirror rotates a circle around an optic axis when the incident beam scans each step, and the surface-shape error of each local area inside a whole mirror surface is detected circularly; and the detected surface-shape error of the local area is subject to matching and Zernike polynomial polynomial fitting to obtain the surface-shape error of the whole double curved surface convex reflecting mirror. The invention provides a low-cost and high-precision detection means of the large-caliber double curved surface convex reflecting mirror.

The invention discloses a portable partial discharge detecting and diagnosing device. The device comprises a partial discharge detector, a cable, a pre-sensor and a charger device, wherein the partial discharge detector comprises a lower computer and an upper computer; the lower computer comprises a simulation unit module, an FPGA module, an ARM module, a clock and reset module and a power management module; the upper computer is a Linux industrial personal computer. The portable partial discharge detecting and diagnosing device is provided with a 14-bit 100MHz two-channel acquisition system having the maximum storage depth of 64Mbit; the display of the characteristic spectrum of defects and the model identification of faults can be completed accurately in such a manner of PRPD clustering analysis in combination with impulse waveform time-frequency analysis; meanwhile, a radio-frequency sensor and an ultrahigh-frequency sensor are simultaneously provided, and the pulse current detection and the ultrahigh-frequency detection on primary equipment can be completed by replacing the pre-filter; the device is small in volume, light in weight, and capable of supplying power to a battery and convenient for field live testing and polling of a transformer.

The embodiment of the invention discloses a system and method for testing radio frequency (RF) of a long term evolution (LTE) base station. The system comprises a signal generator, a spectrum analyzer, a control personal computer (PC), an internal local area network (LAN), a circulator, an RF switch, a remote radio unit (RRU) and an auxiliary control unit. The signal generator, the spectrum analyzer, the control PC, the circulator, the RF switch, the RRU and the sub-control unit are connected to the internal LAN by network cables and used for interacting orders and data by the internal LAN. According to the embodiment of the application, automatic RF test demands of an LTE system can be met.

The invention discloses a error real-time and online error testing and compensating method of a rotary table angle measuring system, which comprises the steps of: testing a signal output by a controller to ensure that a rotary table system starts a closed loop, monitoring and correcting the signal u(t) output by the controller by using an oscilloscope, giving a rotating speed of the rotary table system, selecting specific rotating speeds 10 DEG/sec, 20 DEG/sec and 30 DEG/sec capable of enabling the system to reproduce, track and amplify a harmonic error signal frequency band within a closed loop bandwidth of the rotary table system, after the speed of the rotary table system is stable and constant, observing and analyzing a harmonic error of the signal output by the controller, and compensating the harmonic error. The real-time and online error testing and compensating method has the characteristics of being clear in error testing and compensating effect of the angle measuring system at a glance, increasing testing and compensating efficiencies, and overcoming the problem that the error testing and compensating method of the angle measuring system comprises complex processes of external precise reference testing and calibrating. Meanwhile, the real-time and online error testing and compensating method has the advantages of high reliability and high timeliness, and has the compensating regulation precision completely meeting the actual requirement of the angle measuring system.

The invention discloses a laser radar and inertial measurement unit fused positioning and mapping system and method, and solves the problem of height error accumulation in a pure laser SLAM algorithm. Firstly, joint calibration is carried out on the laser radar and the IMU. The laser radar obtains original point cloud data and sends the original point cloud data to the laser speedometer. And the IMU obtains the laser radar pose and sends the laser radar pose to the laser odometer. The laser speedometers comprise a high-frequency laser speedometer and a low-frequency laser speedometer; the high-frequency laser speedometer carries out motion distortion removal and feature point extraction on original point cloud data to obtain feature point clouds, registration is carried out on the feature point clouds corresponding to two laser frames, and the pose difference value of the laser radar is obtained. And the low-frequency laser speedometer selects a key frame, matches the current key frame with the local point cloud map to obtain a laser speedometer pose of the laser radar, and outputs the laser speedometer pose. And a factor graph model is constructed, optimization solution is carried out to obtain optimized variable nodes, and the pose of the laser radar in the world coordinate system and a 3D point cloud map are obtained.

The invention discloses a method and a device for a simulation test, belonging to the field of computer technologies. The method for the simulation test comprises the following steps of receiving operating data, which is transmitted to an on-line server by a client; copying the operating data by utilizing a flow copy code; and transmitting the operating data obtained by copying to an off-line test server by utilizing the flow copy code, wherein the operating data is used for triggering the off-line test server to carry out simulation test on a test code by utilizing the operating data. Through copying the operating data transmitted by the client by utilizing the flow copy code, the operating data obtained by copying is transmitted to the off-line test server; the operating data, which is transmitted to the on-line server by the client, is copied and taken as test data, so that the problem of a service error, which occurs after the code is on-line due to incomplete simulation test data, is solved, and the effect of improving comprehensiveness of the simulation test is achieved.

The invention discloses a differential mobile robot milemeter calibration method. The method comprises the steps that 1, a robot walks in a preset region, and position locating is conducted on a vehicle through a motion capture system; 2, walking displacement of the robot is transmitted to a processor, and meanwhile walking displacement calculated by a robot milemeter is read; 3, a compensating parameter is calculated on the basis of the robot walking displacement obtained from the motion capture system and the walking displacement calculated by the milemeter, and then the motion capture system is compensated; 4, the steps from the first to the third are repeatedly conducted to continuously iterate and correct the compensating parameter till a walking route of the robot is consistent with a set walking route. Therefore, the technical effect that the differential mobile robot calibration efficiency and precision are high is achieved.

The invention discloses an automatic test system for onboard cable integrity. The automatic test system comprises a test host and multiple test terminals, wherein the test host and the test terminals are connected through a CAN bus network, and the test terminals are distributed at the portions needing to be tested of an airplane. Each test terminal comprises a CAN bus input interface, a CAN bus node processor, a cable test extension box, a switch board, an analog bus and a digital bus. The test host gives out a control command, after the test terminals receive the command through the CAN, relays on the switch boards are controlled to be switched on, thus, a test loop of a cable is formed, and a function test is finished. Through the technology of CAN application, database drive and the like, the automatic test system has the advantages of being high in test speed and accuracy, capable of reducing the length of the switching cable and the like.

The invention discloses a steel bar three-dimensional modeling and automatic calculation method based on a BIM technology. The invention belongs to the field of building information models, the methodcomprises the following steps: firstly, researching a creation method of a novel parameterized component family different from an existing steel bar family on a Revit Stretch platform; secondly, realizing automatic generation of a steel bar detail table based on a parameterized component family, and finally finishing interactive modification with a Revit graph in an Excel table to realize visualmodification of component parameters. According to the invention, modification of geometric information and steel bar information of the component driven by parameters can be realized through creationof a parameterized component family; meanwhile, the nesting problem which cannot be completed by an existing steel bar family can be solved, the steel bar quantity list is automatically generated through parameter design, real-time control over the steel bar quantity is facilitated, steel bar discharging and bin dividing are conducted in a targeted mode, and waste of steel bar tailings is reduced.

The invention provides a precise milling processing method with a variable inter-row allowance for thin walled blades of difficult-to-process materials; four driving curved surfaces are obtained by cutting a blade root boundary surface and a blade tip boundary surface into a blade back curved surface and a blade basin curved surface; parameter lines with equal u on the driving curved surfaces are used as processing paths; a cutting row allowance for each processing path is set respectively; and finally processing on the four driving curved surfaces are completed circularly. The invention facilitates the improvement of the blade cross section position accuracy, facilitates the improvement of the blade surface profile tolerance, and facilitates the reduction of the blade torsional deformation; when compared with traditional vertical cutting with a constant allowance and spiral milling methods, the invention can solve the technical problems of large torsional deformation, poor profile precision, difficultly-controlled cross section position accuracy error, and the like, and can realize the high-efficient precise numerical control processing of thin walled blades of difficult-to-process materials.

The invention discloses an odometer method and device for sports equipment; the odometer method comprises: acquiring current pose of sports equipment, current second laser frame and a local point cloud map; calculating according to the current pose, the second laser frame and the local point cloud map to obtain a current optimal pose; and other steps. In the odometer method, initial relative exercise amount and pose are acquired through the number of turns of a coded disc, laser inter-frame matching is performed by means of iterative nearest neighbor algorithm and the like, and accurate relative exercise amount and pose are acquired accordingly; the pose acquired in the above step is used as an initial value to perform matching on the laser frame and the local point cloud map so as to obtain more accurate pose and exercise amount that are then output. The odometer device provided herein enables the poor precision and accumulative error defects of an existing odometer to be overcome, and is applicable to general or special computing system environments or configurations.

The invention discloses a locomotive positioning method suitable for a wireless switching locomotive signal and monitoring system. The method includes the steps that GPS positioning data of a current locomotive are corrected in real time, and then the corrected GPS positioning data are acquired; according to the corrected GPS positioning data and station map data of a current station, the current locomotive is initially positioned, and a track where the current locomotive is located or the track range of the current locomotive is determined; based on the corrected GPS positioning data, station yard interlocking data and locomotive displacement information, the current locomotive is comprehensively positioned, if a comprehensive positioning result shows that only one track is contained, the displacement information of the current locomotive is consistent with the change direction of the corrected GPS positioning data, and the track is the acquired track where the current locomotive is located in the initial positioning process or one track within the track range, the comprehensive positioning result is used for showing the position where the current locomotive is located. By the adoption of the method, the equipment structure is simplified, and equipment cost is reduced.

The invention discloses a high-precision amplitude modulating method to receive synthetic aperture radar signal based on automatic testing, which comprises the following steps: constructing automatic testing system with signal source, source scaler, programmable power meter and communication control device; obtaining the relationship curve of signal power output by voltage-controlled waveshape code and source scaler; obtaining the modulated waveshape code to compensate the error of the source scaler amplitude according to the curve and SAR system parameter. The invention satisfies the precision modulating need for synthetic aperture radar signal, which reduces the clutter side lobe through compensating non-linear property in the source scaler according to the fitted modulating waveshape code of SAR system parameter.

The invention discloses a Kinect-based augmented reality three-dimensional registration method, which adopts a depth image restoration method fusing the RGB-D information to solve the calibration and the image alignment errors caused by the holes, jitter, edge instability and other problems in a depth image, and provides guarantee for the accuracy of the subsequent three-dimensional registration. A close-range mode automatic judgment method based on a depth histogram is adopted, and in a non-close-range mode, a three-dimensional registration method based on Fast ICP is adopted to calculate the pose of the camera; in the close-range mode, the pose of a camera is calculated by using a three-dimensional registration method of fusing Fast ICP (fast iterative closest point) and ORB (oriented fast and rotated brief), so that the problem of registration failure caused by the hardware limitation is solved, and an accurate and stable three-dimensional registration result can be obtained no matter in a non-close-range mode or a close-range mode. The method is low in algorithm complexity, is easy to understand and implement, is not affected by the illumination and the complex scenes, meets the real-time requirements of an augmented reality system, and can solve a mutual shielding problem.

The invention discloses a single focal plane high-precision testing method for optical wavefront of an optical imaging system, relates to the technical field of optical testing, solves the problems that exit pupil amplitudes are not distributed uniformly and calculation errors are introduced by fast Fourier transform in the conventional phase retrieval algorithm, and provides the scheme for eliminating the influence of vibration in the process of image acquisition on detection accuracy. The method comprises the following steps of: establishing a detection platform of the optical imaging system; detecting the position of the focal plane of a lens to be detected by using a detection device in the detection platform and acquiring an out-of-focus stellar image of the lens to be detected by the detection device; selecting effective data according to the acquired out-of-focus stellar image and calculating a pupil function of an optical system; and extracting the phase of the acquired pupil function to obtain the optical wavefront of the optical imaging system. The pupil function of the optical system is calculated by a Zernike multinomial, an extended Nijboer-Zernike multinomial, and a generalized inverse matrix. The single focal plane high-precision testing method is low in cost, and high in accuracy and is suitable for manufacturing enterprises, scientific research and detection units of the optical imaging system.