8results about How to "Solving speed is fast" patented technology

This invention provides a method for predicting the hazard range of oil fires on the water surface based on interface tracking coupled combustion dynamics. The method includes: using a conserved two-dimensional shallow water equation to describe oil film diffusion; spatial discretization using the finite volume method; mitigating frictional rigidity using the Strang splitting method; calculating flux using the Roe scheme; suppressing spurious flow using the Well-Balanced scheme; controlling the time step using CFL conditions; and outputting the oil film thickness hourly. A mass evaporation rate conversion model based on energy balance is constructed to transform the oil film thickness field into a mass evaporation rate field per unit area. The mass evaporation rate field is used as the bottom boundary source term of the fire dynamics model and coupled to the three-dimensional low Mach number Navier-Stokes equations through a volume source term, achieving real-time coupled simulation of oil film transport and fire spread. The combustion dynamics control equations, including the conservation of mass, momentum, energy, and components, are solved. Combined with the radiative transfer equations, the spatiotemporal distributions of the temperature field, thermal radiation flux, and flue gas concentration are calculated to achieve dynamic prediction of the hazard range of oil fires on the water surface.

The invention discloses an airborne power distribution system load management method based on MILP and RHC. The method comprises the steps that a distributed airborne power distribution system architecture and a load connection state are equivalent to an optimal control problem to be solved; constructing an electrical load power supply request matrix, and further combining an electrical load control equation to control connection or disconnection of each load; establishing a mathematical model of a load management system by adopting a mixed integer linear programming method according to the electrical load control equation and in combination with the constraint relation of the system; aiming at a mathematical model of a load management system and a corresponding constraint relationship, a rolling time domain control method is adopted, a load management problem can be converted into a problem of solving a mixed integer linear programming problem by the mathematical model of the system under a plurality of constraint relationship conditions, and finally an optimal control sequence of a bus to a load is obtained to realize automatic load management. The method has the advantages of being high in resolving speed, flexible and suitable for a complex system with multiple constraint conditions and the like.

This invention provides a method for aerial refueling positioning using targets and dual cameras. A microcontroller controls a target system consisting of a liquid crystal light valve, a button battery, and a reflector to actively flash light. Three targets are fixed to the refueling hose, and two targets are fixed to the receiver aircraft's fuel tank. Two cameras are mounted on the refueling aircraft to continuously photograph the five targets. Based on the camera's intrinsic and extrinsic parameters, the pixel positions of the targets in the photographs, and the target distances, linear and nonlinear equations are constructed. Solving these equations yields the three-dimensional coordinates of the five targets. Averaging these coordinates yields the coordinates of the hose center and the fuel tank center, as well as their deviation vector. Finally, the vertical vector of the hose plane is calculated using the three targets on the hose. Through decomposition, the three-dimensional error vector required for hose control is obtained, completing the error measurement during the aerial refueling process.

The present disclosure provides a terminal initialization method, device, electronic equipment and storage medium. The terminal initialization method comprises: in response to an initialization event of a terminal, acquiring image data of the terminal from an initial time to an end time and inertial data measured in an inertial coordinate system, the inertial coordinate system being fixed relative to the position of the terminal; establishing a linear constraint equation of a feature point according to a constraint equation of the coordinates of the feature point in a normalized plane and the coordinates of the feature point in a camera coordinate system, and a representation of the coordinates of the feature point in the camera coordinate system converted into the inertial system at the same time in the form of inertial data; projecting the linear constraint equation to a left null space of the corresponding feature point for dimension reduction; superimposing the linear constraint equations of each feature point to obtain an integrated constraint equation; and solving an initialization parameter of the terminal at the initial time according to the integrated constraint equation. The method of the present disclosure can improve the solving speed compared with the existing tight coupling initialization method, and takes into account robustness and efficiency.

The present disclosure provides a terminal initialization method, device, electronic equipment and storage medium. The terminal initialization method comprises: obtaining initialization parameters, inertia constraints and visual constraints of a terminal; constructing an information matrix according to the initialization parameters, inertia constraints and visual constraints; performing Schur complement elimination on the information matrix to eliminate the feature points from the information matrix to obtain an eliminated information matrix; performing Cholesky decomposition on the eliminated information matrix to obtain an upper triangular matrix and a lower triangular matrix; inverting the image frame state quantity corresponding to the nearest preset time in the upper triangular matrix to obtain the square root of the covariance, and then determining the covariance; and determining the initialization state of the terminal according to the covariance and the initialization parameters. The method of the present disclosure can quickly solve the covariance and reduce the state quantity fluctuation amplitude.

The invention relates to a Cors-based network RTK temporary power construction limiting and height limiting method and system, and the method comprises the steps: starting to search a satellite signal after a monitoring station is started, connecting the service of a Cors system, and selecting the working state of the monitoring station; a monitoring station is placed on the ground, and the monitoring station starts to record the initial zero-point ground altitude; the method comprises the following steps: installing a monitoring station at a to-be-measured position of a large-scale machine, and calculating accurate position data of the monitoring station through initial position data observed by a network RTK mobile station of the monitoring station and position correction data sent by a Cors system; judging whether the large-scale machinery is ultrahigh in the height limit area, if yes, sending an alarm signal to an alarm through a Lora communication module of the monitoring station, and enabling the alarm to give an alarm until the height is reduced to be below the height limit data, and stopping the alarm; compared with the prior art, the method has the advantages that a base station does not need to be arranged on site, operation is convenient and fast, cost is low, and the limiting and height limiting requirements of large machinery during temporary power operation can be met.

The present invention discloses a spray gun trajectory planning method for a spray robot, comprising: obtaining coordinate data of each triangular facet of a surface to be sprayed by modeling; setting spray process parameters according to the film-forming characteristics of the spray gun spray paint film and the target paint film thickness of the surface to be sprayed; the spray process parameters include spray trajectory spacing, spray speed, spray height and spray time; screening out triangular facets that meet the spray trajectory conditions according to the spray trajectory spacing; solving the intersection points of the triangular facets that meet the spray trajectory conditions to obtain the intersection points of each key node of the spray gun; saving the normal vectors of the intersection points and the corresponding triangular facets into a normal vector matrix; solving the spray posture of the spray gun according to the normal vector matrix; and connecting each key node by linear interpolation and circular interpolation to obtain the spray gun spray trajectory. The above method generates a spray gun spray trajectory for a complex surface to be sprayed, which effectively improves the spray quality.

The invention discloses a method for generating a texture information point cloud map based on the fusion of a panoramic camera and a laser radar. Firstly, after the IMU posture is obtained by fusing and solving the laser point cloud data of each frame and the IMU data of each frame acquired in real time through an iterative error extended Kalman filter algorithm, the laser point cloud data is spliced ​​to generate a point cloud map according to the laser radar posture obtained by calculating the IMU posture and the laser radar external parameters and the IMU external parameters; then, after calibrating a binocular fisheye camera, the laser point cloud data is projected onto a pinhole camera model image after correcting the binocular fisheye image to obtain projection points; the laser point cloud data is classified according to the projection points to obtain laser point pairs; visual mileage is estimated according to the laser point pairs and the laser radar posture to obtain the optimal state information of the visual odometer; finally, the laser point cloud is colored using a Bayesian formula to obtain a point cloud map with texture information.