242results about How to "Strong autonomy" patented technology

The invention relates to a remote high precision autonomous integrated navigation and positioning method, which is characterized in that a Strapdown Inertial Navigation System (SINS) is used as a main navigation system during the whole flight course of the aircraft, assisted by 3D high precision position and attitude angle information provided by celestial navigation system (CNS) based on the least square differential correction in boost phase (or middle segment). In reentry phase (terminal), using the characteristics of synthetic aperture radar (SAR), such as strong penetration capability, high resolving precision and all-weather, the SINS can be corrected through accurate location information and course information provided by SAR scene matching after motion compensation when the aircraft reentry into atmospheres, so the impact point (hit) accuracy of the aircraft can be increased and the invention has remarkable effects of eliminating or decreasing non-guidance error. The invention has advantages of autonomy and high precision, which can be used for improving remote ballistic missile, remote cruise missile, navigation and positioning accuracy of remote aircraft, such as long-endurance unmanned aerial vehicle, etc.

The scene matching method for raising navigation precision includes the following steps: 1. for the topographic scene matching module in combined navigation system to read in topographic data based on the digital topographic picture; 2. to search mapping point in the topographic picture based on the current geographic location the inertial navigation system obtains; 3. to intercept the reference map data from the topographic picture around the mapping point; 4. matching the measured map and the reference map; and 5. correcting inertial navigation with the matched result so as to raise the precision of inertial navigation system greatly. One simulating combined navigation system is also disclosed, which includes an aviation trace planning module, a flight control module, an aviation trace generator, an inertial navigation module, a topographic scene matching module matching module and an image displaying module. It has high locating precision, high autonomy and excellent man-computer operation interface.

The invention provides an inertia and magnetic field integration measuring method based on an SERF (spin-exchange-relaxation-free) atomic spin effect. The inertia and magnetic field integration measuring method based on the SERF atomic spin effect comprises the following steps: firstly establishing an overall model for the inertia and magnetic field integration measurement; secondly, manufacturing a measurement sensing unit, and carrying out high-frequency alternating current non-magnetic electric heating; starting a driving laser (z-axis) for carrying out optical pumping on the sensing unit; and emitting a detection laser (x-axis) in a direction vertical to the z-axis; thirdly, carrying out driving magnetic compensation through a three-dimensional magnetic compensation coil so as to counteract a magnetic field of the outside world; fourthly, carrying out azimuth alignment on a main magnetic field and the driving laser and hyperpolarization nucleon self-spin so as to realize the nuclear spin-electron spin strong coupling; fifthly, extracting the information of the atomic spin precession movement in the detection laser by adopting a closed-loop faraday modulation detection method, and obtaining inertia angular speed information; and finally, obtaining the current value of a compensation signal of the magnetic field, and calculating to obtain the information of the current magnetic field. The inertia and magnetic field integration measuring method based on the SERF atomic spin effect has the characteristics of high measurement accuracy and strong autonomy.

The invention relates to a control system of intelligent play robot based on the cooperation of multiprocessor belonging to the electro-mechanism control technology field. The invention comprises: a face pattern recognition controller, an environment perception and position control device, a communication control and decision device and a robot behavior controller. Wherein, the face pattern recognition controller can recognize the information of sex and the age range of audience at the front of robot via the visual information recognition, and send this information through the local network to the communication control and decision device; the environment perception and position control device attains the information of position and the around environment of robot via the visual information and has information interchange via the local network and the communication control and decision device; the communication control and decision device decides the behavior of robot according to the information sent from the face pattern recognition controller and the environment perception and position control device as well as the self-condition information of the robot sent from the robot behavior controller via the wireless local network. The invention supplies easy function expansion and secondary development with lower cost and higher safety.

The invention discloses a CKF filtering-based vehicle dynamic model auxiliary inertial navigation combined navigation method. The CKF filtering-based vehicle dynamic model auxiliary inertial navigation combined navigation method comprises the following steps: calculating posture, speed and position of a vehicle according to angle increment and specific force output by a micro-inertia device and by an inertial navigation numerical value updating algorithm; establishing a three-degree-of-freedom vehicle dynamic model, and calculating the speed of a carrier by taking a steering wheel angle and a longitudinal force as control input quantity and by a fourth order Ronge-Kutta method in real time; designing a CKF filter by taking an inertial navigation equation as a state equation and speed difference between a dynamical model and inertial navigation calculation to perform state estimation on a combined navigation system; performing output correction on strapdown inertial navigation calculation result by the position the speed and the posture error obtained by CKF estimation, and performing feedback correction on the inertial navigation through peg-top and adding error. The method aims at the problems that the inertial navigation error is accumulated along with time and navigation precision cannot be maintained for a long time, and the accuracy and the reliability of a vehicle navigation system can be improved.

The invention relates to a symmetrical noncoherent distance measurement/time synchronism system of a cluster link two-way asynchronous communication channel, belonging to the autonomous technical field of aviation data links, radio navigation and aircrafts. By the invention, a symmetrical noncoherent distance measurement/time synchronism method and a system framework can be realized on a DSP (Digital Signal Processor) of a circuit board and an FPGA (Field Programmable Gate Array). Based on the two-way asynchronous communication link between cluster link member nodes, the noncoherent distance measurement/time synchronism system provides a noncoherent spread spectrum distance measurement principle of a two-way asynchronous communication frame under a comprehensive channel system, constructs a noncoherent spread spectrum distance measurement algorithm structure of the air fleet link two-way asynchronous communication frame in a uniform form by adopting a communication frame based on CCSDS Proximity-1 version-3 and provides two algorithms of base line measurement and time synchronism measurement control: an interprocessor time synchronism recursive algorithm and a Doppler integral compensation algorithm. The invention overcomes the defects of the traditional coherent transferring distance measurement and the two-way synchronous noncoherent distance measurement and provides a distance measurement scheme, in which both parts of the two-way asynchronous communication distance measurement can equally acquire a measurement result.

The invention relates to an autonomous vehicle navigation method for assisting orientation by applying an omnimax neutral point. The method comprises the following steps: establishing a vehicle-mounted neutral point navigation orientation model, establishing an improved dynamic mathematical model of a vehicle, establishing a vehicle-mounted polarized light navigation/dynamic mathematical model/inertial navigation combined navigation system, establishing a vehicle-mounted combined navigation system state equation and establishing a vehicle-mounted combined navigation system measuring equation. According to the invention, atmospheric polarization characteristics, inertial navigation and vehicle dynamics/kinematics models are effectively combined, through research on an information fusion scheme and an information fusion method, a reasonable combination scheme is provided, the problem of atmospheric polarization navigation in vehicle-mounted application is solved, a passive navigation system with high autonomy, good hidden property and anti-interference is constructed, and precise reliable autonomous navigation positioning of a land fighting vehicle can be wholly realized.

The invention, aiming to enhance a rapid maneuvering capability and an object targeting precision of a weapon system and satisfy requirements of a quick response, a high precision, a strong independence and a good reliability of the system on a vehicle positioning device, provides the vehicle positioning device based on a laser gyroscope strapdown inertial measurement unit. The vehicle positioning device includes: a laser strapdown inertial measurement unit in which a laser gyroscope is employed, an odometer assembly used for measuring a running speed and a running distance of a vehicle on ground, an elevation meter used for obtaining an altitude by measuring an atmosphere pressure of a level of the vehicle, a multimode satellite system which is compatible with single antenna and double antennas, and a display controlling apparatus assembly used for carrying out an intelligent match between positioning information of the vehicle positioning device and a road network electronic map. By means of advantages of being high in precision, stable in performance, wide in dynamic range, short in response time and high in reliability of the laser gyroscope, a positioning and orienting function which is high in precision, strong in independence and good in reliability is achieved through methods, such as a gyroscope demodulation technology, a multi-information fusion technology and the like, on the basis of a digital filter.

The disclosed dead reckoning and positioning method combines satellite positioning data and comprises: receiving GPS signal, while detecting continually the vehicle angle and velocity; according to effective satellite number and horizontal error and the latitude and longitude variable error, deciding the reliability of GPS data flow for accurate positioning. This invention has well autonomy and precision, and will play important role in future satellite navigation technique and vehicle drive record technique.

The invention provides a gravity-gradient-invariant-based method for estimating an orbit element. The method comprises: step one, carrying out preparation work; step two, carrying out decomposition of an ideal gravity gradient tensor under an east-noth-up (ENU) coordinate system and obtaining feature values; step three, solving decomposition of a measuring epoch J2 model gravity field tensor under the ENU coordinate system and obtaining feature values; step four, solving all measuring epochs r and phi by using feature values of a J2 gravity gradient matrix; step five, calculating an initial orbit element by using the r and phi; and step six, carrying out orbit element smoothing. Therefore, with utilization of the gravity gradient matrix invariant information measured during the satellite operating process, a geometrical distance between the satellite and the earth's core and the latitude of the earth's core are obtained by iterative solution; a measurement equation that uses a semi-major axis, an eccentricity ratio, an orbit inclination angle, a perigee depression angle, and a true anomaly in an orbital element as state parameters is provided by using an obtained data as an observed quantity; and a perturbation kinetic equation of the orbital element is introduced innovatively and five orbital elements are estimated by using a batching least square method. The gravity-gradient-invariant-based method has advantages of high autonomous degree, high anti-interference capability, and low building cost and the like and has advantages that the traditional method does not have in the deep space exploration field.

The invention relates to a lunar inertial navigation alignment method assisted by a star sensor, which is suitable for a lunar detector equipped with a strapdown inertial navigation system. The fundamental principle for alignment is that an accelerometer is used to determine the direction of gravity and construct the horizontal plane; and the star sensor is used to measure the inertial attitude so as to determine the azimuth angle in combination with the known position of the take-off point. Accordingly, the lunar inertial navigation alignment method comprises a step of inertial attitude estimation by using the star sensor and a gyroscope, and a step of inertial navigation platform correction of stationary base navigation speed error. The method provided by the invention successfully solves the problem of lunar inertial navigation alignment, and the alignment error is not larger than 0.05 degree.

The invention provides an underwater three-dimensional detection gliding robot. The robot comprises an appearance system, an internal adjusting system, and a control system; the internal adjusting system and the control system are arranged in the inner side of the appearance structure; and the control system is used to communicate and control the internal adjusting system. The appearance system is in a streamline shape and is provided with a communication part, so that the system has the advantages of low energy consumption, strong autonomy and enduring performance, low maintenance cost, little dependence on mother ship, and capability of achieving cooperative work, and fully satisfy the requirements of large scale, long period, and large size on sea environment supervision. The internal adjusting system comprises a pitching adjusting part, a rolling adjusting part, and a floating force adjusting part so as to make the robot have two work states: a linear gliding and a spiral gliding, so that fixed point spiral covering type sea supervision and vertical cross-section zigzag cruising supervision can both be realized, and a tri-dimensional supervision from the horizontal level to the deep sea is actually achieved.

The invention discloses a mobile robot capable of jumping. The mobile robot comprises a spring locking and releasing device, a spring jumping mechanism, a wheel type moving device and a landing buffer and posture adjustment mechanism. The wheel type moving device and the locking and releasing device are connected through the spring jumping mechanism. The spring locking and releasing device comprises a control motor, a group of speed reducing gears, an incomplete gear and a winding drum, wherein the winding drum is connected with the spring jumping mechanism through a steel wire rope. The spring jumping mechanism comprises two connection rods. One end of each connection rod is fixedly connected with a pair of synchronous gears, the other end of each connection rod is respectively connected with a sliding block, and an extension spring is connected between the two sliding blocks and can slide along a guide rail. The mobile robot can achieve translational motion by controlling the wheel type moving device through a self-balance system and can achieve jumping motion by controlling the jumping mechanism through the locking and releasing device and combining horizontal wheel type motion. When the robot jumps and lands, the landing buffer and posture adjustment mechanism can protect a robot body, and the robot can adjust self postures through the landing buffer and posture adjustment mechanism.

The invention discloses a pneumatic model-assisted navigation method for a four-rotor-wing air vehicle and belongs to the field of combined navigation and autonomous navigation. A pneumatic model of the four-rotor-wing air vehicle is combined with an airborne sensor, so that the speed and the position information of the four-rotor-wing air vehicle can be estimated. According to the pneumatic model-assisted navigation method for the four-rotor-wing air vehicle, parameters of the adopted pneumatic model comprise the radiuses of rotor wings, the air density, the solidness of the rotor wings, the lifting slope, the resistance coefficient and a rotor wing mounting angle; information of the adopted airborne sensor comprises rotating speeds of the rotor wings, the acceleration, the angle speed, the attitude and the height. Any external equipment does not need to be additionally arranged; the speed and position estimation precision of the four-rotor-wing air vehicle during flying without a GNSS (global navigation satellite system) can be improved; the pneumatic model-assisted navigation method has the characteristics of low cost, zero load, high autonomy and the like.

The invention provides an autonomous driving book delivery system for campuses, wherein an information management system receives book borrowing and returning state information of a book borrowing cabinet system and online borrowing and returning request information of a user, generates a book delivery task and sends the book delivery task to an unmanned delivery vehicle system; the unmanned delivery vehicle system receives the book delivery task, carries out the task planning of the unmanned delivery vehicle system, and sends the vehicle state information to the book borrowing cabinet system;and the library borrowing cabinet system receives the vehicle state information and feeds back the book borrowing and returning state to the information management system after the user completes thebook borrowing and returning tasks. According to the autonomous driving book delivery system for campuses, the library borrowing cabinet has the capability of task planning and autonomous movement based on the autonomous driving technology, the user experience is improved, and book delivery, retrieval and inter-library scheduling tasks are completed on the basis of the combination with the unmanned delivery vehicle system.

The invention discloses a civil aviation passenger departure training system which comprises an FTP (File Transfer Protocol) server, a teacher machine and learner machines, wherein the FTP server, the teacher machine and the learner machines form the training system of a high simulation DCS (departure control system) production system in a local area network; operation and control commands sent by the teacher machine and the learner machines are firstly sent to the FTP server; data are sent to the teacher machine and/or the learner machines by the FTP server; simulation software and a centralized data base run on the FTP server; and the simulation software comprises a system foundation data maintenance module, a departure check-in flight number data module, a civil aviation passenger departure simulation operation module and a learner practicing, commenting and examining module. The system disclosed by the invention not only can meet the requirements of a passenger departure system on the training, and simultaneously separates and eliminates the relaying and the interference of the training system on production data of the DCS production system, so that the safety, reliability and stability of the DCS production system are ensured and improved.

A combined navigation method based on an INS (inertial navigation system)/GPS (global position system)/SAR (synthetic aperture radar) comprises steps as follows: an INS receiver, a GPS receiver and an SAR sensor are mounted in appropriate positions of an unmanned aerial vehicle in parallel; image matching is performed, and position navigation deviation of the INS is obtained and taken as an observed quantity to be input into a filter, and the observed quantity and other observed quantities are jointly filtered; GPS measuring deviation is obtained and taken as an observed quantity to be input into the filter, and the observed quantity and other observed quantities are jointly filtered; the filter integrates the measuring deviation from the GPS and the position navigation deviation, obtained through image matching, from the INS, and a navigation error estimated value is calculated. Topographic features are automatically and reliably extracted from an SAR image, a map image is formed in a digital map, and the SAR topographic features are automatically predicted; topographic deviation is accurately estimated and integrated; capture and matching are automatically initialized; the fault tolerance capability, the autonomy and the reliability of navigation are high.

The invention discloses a semi-automatic intelligent tennis pick-up robot and a control method thereof. The robot includes an information acquisition system, a control system, a mobile carrier and a tennis pick-up mechanism. The information acquisition system is fixed on the mobile carrier and is connected with the control system. The control system is connected with the mobile carrier and the tennis pick-up mechanism. The tennis pick-up mechanism is arranged at the front end of the mobile carrier. The information acquisition system adopts an ultrasonic ranging module to detect the distance between the mobile carrier and an obstacle in front and feeds back generated high-level pulse information to the control system. The ultrasonic ranging module includes two ultrasonic sensors. The two ultrasonic sensors are fixed at the front part of the mobile carrier respectively and keep a specific height from the ground. The semi-automatic intelligent tennis pick-up robot and the control method thereof adopt simple path planning and the tennis pick-up range of the mobile carrier is capable of covering the whole tennis court without any complex image processing module so that cost is saved.

The invention discloses a fourth-party financial synergy service system and a service method thereof. The system comprises a pledge customer, a bank, a third-party logistics storage enterprise and a fourth-party bank, and also comprises a financial service information system which connects a digital storage system of the third-party logistics storage enterprise and a business to business (B2B) system of a fourth-party bank in a seamless way. In the method, the digital storage system of the third-party logistics storage enterprise is connected with an independently researched and developed financial service information system and a bank B2B system in a seamless way so as to realize the informatization of a bank pledge business of the storage of logistics products in metal material industry; and bank capital flow and enterprise logistics are integrated organically so as to provide an integrated storage service business system which integrates a plurality of bank services such as financing, account settling and the like for small and medium enterprise costumers.

The invention relates to a navigation method based on polarization-geomagnetic vector tight integration. The navigation method based on the polarization-geomagnetic vector tight integration comprisesthe following steps: firstly, intelligently extracting solar vector information under a carrier coordinate system by using an imitating compound eye polarization compass; secondly, acquiring the solarvector information under a geographic coordinate system in combination with solar astronomical ephemeris, and establishing an information conversion relation of a solar vector under a body coordinatesystem and the geographic coordinate system; extracting a geomagnetic vector under the body coordinate system and the geographic coordinate system, and establishing a conversion relation of the geomagnetic vector under the body coordinate system and the geographic coordinate system; then carrying out information integration on the geomagnetic vector and the solar vector under the body coordinatesystem; and finally, establishing a combined navigation system model based on polarization/geomagnetic vector integration. Compared with an existing method, the method has the advantages that deep integration of geomagnetic information and polarization information is realized, the system precision and stability can be improved, and the navigation method can be used for the fields of attitude determination and positioning and the like of carriers such as a ship, an unmanned aerial vehicle, a guided missile and an unmanned vehicle.