250results about How to "Suppression error" patented technology

The invention discloses a manifold pre-integration-based visual inertial milemeter posture estimation method and device. After finishing the initialization of the visual inertial milemeter system, themethod comprises: visual inertial data alignment, visual optical flow position posture calculation, inertial pre-integration, visual and inertial joint optimization, window marginalization and aboveprocess repetition so that continuous estimation of camera postures is realized. Compared with the single visual milemeter system, the manifold pre-integration-based visual inertial milemeter system has a higher positioning precision, effectively utilizes inertial information in the milemeter system based on the manifold pre-integration algorithm, inhibits noise propagation of the system and reduces the influence of the inertial zero drift on the positioning accuracy of the milemeter.

The invention discloses a silicon piezoresistive wind speed and direction sensor based on the microelectronic mechanical technology, which consists of an insulating substrate and four wind speed measuring units which are same and are distributed symmetrically, and detects the components of wind speed in the two orthogonal directions respectively; each wind speed measuring unit consists of an electrode, a mechanical anchor point, a silicon piezoresistive beam, a silicon support beam and a silicon cantilever beam; when the wind blows the surface, the cantilever beam is taken as a wind-sensing element and is pressed by a force of airflow vertical to the cantilever beam so as to generate deformation and acts on the silicon piezoresistive beam by an axial stress mode through a microlever structure consisting of the silicon piezoresistive beam, the silicon support beam and the silicon cantilever beam, thus causing the change of the value of silicon piezoresistive; the wind speed and the wind direction are detected by detecting the change of piezoresistance of each wind speed measuring unit; two-dimension wind speed and the measurement of wind direction are realized by differential detection; the piezoresistive wind speed and direction sensor has simple manufacture, high sensitivity and better anti-interference performance.

The invention relates to a method for error suppression of inertial concretionary coarse alignment of a strapdown inertial navigation system and belongs to the technical field of inertial navigation. The method comprises the following steps of 1, according to current longitude and latitude of a carrier, carrying out transformation of an earth coordinate system into a navigation coordinate system, 2, driving two shafts of a rotation-type inertial navigation system to periodically rotate according to a certain rotating scheme, 3, according to angular velocity information output by a gyroscope in coarse alignment, updating a direction cosine matrix of a posture change of an inertial measurement unit (IMU) coordinate system relative to a p0 coordinate system through calculating a numerical solution of a matrix differential equation, and 4, orderly calculating solutions of matrixes to obtain a posture matrix of the carrier so that coarse alignment is finished. The method has the advantages that through an integral operation in coarse alignment, swinging and shaking-caused error components of outputs of an accelerometer of a ship in alignment of storm-caused swinging and shaking can be compensated; and through IMU double-shaft rotation modulation, an accelerometer zero-bias error accumulated over time is suppressed so that the precision of inertial concretionary coarse alignment is improved.

A parking assist unit includes an image processor for setting a reference position of a vehicle, and an image data input unit for inputting image data from a camera provided on the vehicle. The image processor performs rotation processing on the image data to generate recorded data, based on a relative position with respect to the reference position of the vehicle during imaging. In addition, the recorded image data generated is accumulated in a corresponding pixel area within a synthesis memory area. Furthermore, the recorded image data accumulated is used to generate synthesized data, and such synthesized data is shown on a display.

The invention discloses a method for dynamically measuring attitude of a star sensor based on top accurate angle relevance and belongs to the field of navigation and positioning. Based on the prior art that dynamic compensation is performed on each measurement exposure frame of the star sensor and a vector matrix matched with a fixed star containing dynamic error and noise effect is obtained, transformation matrixes between every two adjacent measurement frames of the star sensor are accurately measured through an assembly of three tops fixedly linked with the star sensor, the vector matrixes matched with adjacent measurement frames of the star sensor are correlated via the transformation matrixes, and finally, a correlated measurement equation is established by using a series of correlated measurement frames, that is a series of measurement frames are processed as a single measurement frame, and an attitude matrix is solved by using the least square method. With the adoption of the method, dynamic error and noise effect can be effectively restrained, high-accuracy dynamic attitude and change information of a carrier in motion can be obtained.

In a method for driving a common inversion type liquid crystal display apparatus including a plurality of signal lines, a plurality of scan lines, a common electrode, and a plurality of pixel units, a common voltage applied to the common electrode is inverted for scan line. Also, digital video signals each including a plurality of digital color signals are time-divisionally received while one of the scan lines is selected. Further, a sequence of the digital video signals including the digital color signals is changed for every two consecutive frames to time-divisionally generate an output sequence of analog video signals including analog color signals, so that each of the analog color signals is placed exclusively at predetermined time slots of the output sequence. Additionally, the output sequence of the analog video signals including the analog color signals are time-divisionally supplied to the signal lines so that the analog color signals are supplied to their corresponding signal lines.

The invention provides a method for outputting images by the utilization of a phase modulator. The method for outputting the images by the utilization of the phase modulator comprises the steps that (1) an initial inputting optical field is determined; (2) Fourier transform is conducted on the current inputting optical field; (3) amplitude of an objective image is used for replacing amplitude of a result of the Fourier transform in the step (2), wherein the objective image is an image which is obtained after an original objective image is softened; (4) Fourier transform is conducted on the result of the step (3); (5) a component of amplitude of the inputting optical field obtained in the step (1) is used for replacing amplitude of the result of the step (4) in a component mode, so that a new inputting optical field which is iterated next time is obtained; (6) the step (2), the step (3), the step (4), the step (5) are repeated till the condition of stopping iteration is met, and therefore a modulated phase needed by the phase modulator for generating the objective image is obtained; (7) the modulated phase obtained in the step 6 is used for outputting a reconstructed image. The method can effectively restrict reconstruction errors and spots, and is suitable for various complex objective images.

The invention discloses a method for analyzing digital interference fringe and a device for detecting optical component surface shape. The main technical characteristic of the invention is that firstly a digital interference fringe image times a window function to expand the width of main lobe of interference fringe image spectrum and to inhibit side lobe of the interference fringe image spectrum;carrying out Fourier analysis on the digital interference fringe image; estimating space carrier frequency of the digital interference fringe by adopting an algorithmic method of a barycentric coordinates of a barycentric group; and the method is also used for the frequency shift of the digital interference fringe image, thus effectively inhibiting error to measurement by a hurdle effect. Besides, the device for detecting optical component surface shape constructed based on the method for analyzing digital interference fringe can carry out high-accuracy analysis on the interference fringe ofthe space carrier frequency when frequency sampling interval is not integral multiple, and has simple structure and good measuring instantaneity.

Connectable, multimedia and multiservice mobile assembly for diagnosis and medical checkups, characterized in that it is composed of a directional rolling base (2) and of a cylindrical hollow body (3) enclosing electrical power supply means (28, 29), identification means (18), computing means and multimedia communication means as well as a facility (39) for disinfecting the hands and in that it is predisposed for its reception and connection to a docking station. This invention is of particular interest to manufacturers of trolleys intended for hospitals and care units.

The invention relates to an information acquisition system and method, a man-machine interaction system and method, and a pair of shoes. The movement information acquisition system comprises a data acquisition unit used for acquiring acceleration data, a data processing unit used for processing acceleration data, and a data transmission unit used for sending the processing results to a terminal in a wireless transmission manner, wherein the data processing unit comprises a procedure used for acquiring movement information according to the acquired acceleration data; and the terminal receives the information by means of a wireless receive module and then, based on the information, realizes interaction with upper computer software, including movement information comprehensive display, control of the upper computer to perform operation, and control of motion sensing game. The invention also provides a pair of shoes with the man-machine interaction function, which is particularly suitable for games completed by feet, and realizes a novel and free control mode of directly controlling the software or games with the motion of human feet. The man-machine interaction system and method provided by the invention can realize the identification of human body motion modes so as to achieve the purpose of man-machine interaction.

The invention discloses an underground coal mine WiFi (Wireless Fidelity) staff positioning system and positioning method based on TOA (Time of Arrival), belonging to the field of coal mine monitoring and communicating. An underground staff positioning module is a system structure adopting a WiFi integrated communication base station, a WiFi positioning substation and a WiFi staff positioning card. Signal transmission time between the staff positioning card and the communication base station and between the staff positioning card and the positioning substation is measured by one wired signal medium and two WiFi signal media, and an accurate distance value is obtained by calculating a hold-down timing error; and the position of the staff is obtained by utilizing the covering direction of a positioning antenna for receiving the signal, so that the accurate positioning of the location of the coal mine underground staff is realized. The underground coal mine WiFi staff positioning system is integrated to a coal mine underground WiFi integrated communication system for realizing the accurate positioning of the mine coal underground staff on the condition of not increasing the quantity and density of the devices, thereby realizing improving the positioning accuracy of the staff by the existing coal mine underground staff positioning system and solving a problem that the communication system is managed in a split manner.

The invention discloses a low-dose PET three-dimensional reconstruction method based on deep learning. The method comprises the following steps: carrying out lossless back projection on low-dose PET original data to an image domain; an appropriate three-dimensional deep neural network structure is selected to fit mapping between low-dose PET back projection and standard-dose PET images; after training sample learning and network parameter fixing, PET image three-dimensional reconstruction starting from low-dose PET original data is realized, so that a low-dose PET reconstructed image which islower in noise and higher in resolution compared with a traditional reconstruction algorithm and image domain noise reduction processing is obtained.

The invention discloses an absolute detection method for a surface shape error of a spherical surface. The absolute detection method comprises the steps of: establishing an equation system about Zernike multinomial coefficients of a measured spherical surface and a reference surface by utilizing measurement data of multiple rotation and concentric translation of the measured spherical surface at a con-focal position and adopting a Zernike multinomial fitting based rotation translation algorithm; and obtaining the Zernike multinomial coefficient by applying a least square method so as to obtain absolute surface shape information of the measured spherical surface and the reference surface. The absolute detection method is also available for the detection of the surface shape error of a plane. As a global optimized idea is adopted to resolve multinomial coefficients of the measured spherical surface and the reference surface at the same time, the absolute detection method for the surface shape error of the spherical surface can suppress system error and random noise for the better, and achieves stronger interference resistance and important application values.

The invention relates to a three-window based common-path interference detecting method and a device and belongs to the field of optical interference detection. According to the method and the device, after parallel lights pass through three windows composed of a to-be-detected object and a rectangular window and then pass through a first lens, a one-dimensional periodic grating and a second lens in turn, the parallel lights are emitted toward an image sensor; the parallel lights are collected by the image sensor and a computer connected with the image sensor, thereby obtaining an interference image containing three patterns; the intensity distributions are respectively I-D / 3, I0 and ID / 3; and the intensity distributions are introduced into a formula, thereby calculating phase distribution of the to-be-detected object. The method and the device have the characteristics of excellent stability, low system complexity and simple phase recovering algorithm.

The invention relates to a surface plasma resonance (SPR) phase measuring device for measuring the thickness of a nanometer metal film. The SPR phase measuring device comprises a laser, a collimation lens, a first polarizer, a prism-type SPR sensor, a plane reflector, an interference system, a second polarizer, a couple charged device (CCD) camera and a computer 10, wherein the laser, the collimation lens and the first polarizer stay on the same optical axis, and the second polarizer and the CCD camera are placed on the same optical axis; the laser emitted by the laser enters the prism-type SPR sensor after passing through the collimation lens and the first polarizer, after being reflected through the plane reflector to the interference system, the reflection light passes through the second polarizer, an interference image is received by the CCD camera, and then the obtained interference image is recorded by the computer. The SPR phase measuring device has the beneficial effects that the structure is simple, convenience in operation can be realized, the error caused by a light path is inhibited by adopting a laser interference-based SPR phase modulation method and adopting the same light path to measure a coating area and a non-coating area of the prism-type SPR sensor in the measuring process, and high measurement precision can be realized.

The invention discloses a dielectric loss factor measurement method based on an equivalent model, belonging to the technical field of electrical equipment test. The method comprises the following steps: measuring a voltage signal and a current signal on equipment insulation to obtain signal frequency and subharmonic waves; and calculating the dielectric loss factor in that way that the insulation is equivalent to two models, namely parallel connection of a resistor and a capacitor and series connection of a resistor and a capacitor. By the method, the signal frequency fluctuation and the measurement error of the dielectric loss factor caused by the existence of the harmonic wave can be inhibited; and the method has strong anti-interfere capacity and high calculation accuracy.

The invention relates to a sequence arranging method for a current source switch array of a digital-analog converter, and the switch array comprises (2n)2 current source switches arranged in the (2n) multiplied by (2n) array from, wherein n is an even number; and the sequence arranging method comprises the one-dimensional direction arranging step and the two-dimensional direction arranging step, wherein the one-dimensional direction arranging step is as follows: arranging the sequence of the 2n current source switches in each rack according to the hierarchical symmetrical switch sequence. The current source switch array adopting the sequence arranging method can effectively inhibit gradient error and symmetry error, namely reduce static error of the digital-analog converter and further ensure the high precision of the digital-analog converter.

The invention discloses a virtual reality walking control method and system based on an inertia sensor. The method comprises the following steps: S1, tracking the orientation and the attitude of a human trunk by use of the inertia sensor; and S2, controlling the movement direction of a virtual world figure by use of the obtained orientation of the human trunk, and at the same time, controlling the walking motion of the virtual world figure by use of an obtained attitude angle. According to the invention, a strong dizzy feeling brought to a user by the difference between visual perception and body perception is overcome; at the same time, a whole device is small in size (far smaller than an omnidirectional mobile platform, a treadmill and a space motion capture device) and is quite low in price, thereby being suitable for household consumption and entertainment; and besides, walking control is performed on the virtual world figure by use of the technology provided by the invention, special restrictions are eliminated, movement of any distances in random directions in a virtual reality world can be realized.

The invention discloses a method for simultaneously calibrating multiple MIMU errors based on lever arm compensation and positive and reverse speed. A error of micro inertial measurement system basedon microelectromechanical systems is mainly composed of deterministic error and random error, and the installation error is larger than a traditional inertial measurement unit, then according to a mathematical model of MIMU error drift, a uniaxial rate turntable and a hexahedron tooling without pointing north are designed, the calibration method based on the lever arm compensation and the positiveand reverse speed is utilized, the error compensation model of the lever arm effect and the error solution statistical model using the weighted least square method are established, the error factors,such as the scale factor, the constant value drift, the installation error and the like, can be determined by single calibration of single or multiple IMUs. The test equipment needs not determining bearing by pointing north, can cancel the error influence of the ground speed and the gravity, the statistical property of the calculation result is strong, and has the advantages of low requirement ofexperimental equipment, short calibration time, small calibration workload and the like.

The invention discloses a behavior recognition method based on light stream information, and belongs to the technical field of computer image processing. The behavior recognition method comprises the following steps that: single-behavior video sequence light stream diagrams are obtained; the moving direction mode of each light stream vector of the light stream diagrams is determined through the direction information of all light stream vectors in a neighborhood; in addition, amplitude values are determined by utilizing median filtering, then, different moving amplitude modes are divided according to the amplitude values, and the moving mode of each light stream vector is determined through the moving direction mode and the moving amplitude move of the light stream vectors; each light stream diagram is divided into a plurality of rectangular blocks according to rows and lines; the moving modes of all of the light stream vectors in each rectangular block are counted for forming moving mode histograms; the histograms of all of the rectangular blocks of each light stream diagram are subjected to cascade connection for forming feature vectors of the light stream diagrams; the feature vectors of all of the light stream diagrams are subjected to cascade connection again to obtain current behavior vectors; and different obtained behavior feature vectors are trained and recognized on the basis of SVM. The behavior recognition method has the advantage that during the behavior recognition, the inhabitation capability on complicated backgrounds is high.

The invention discloses a multi-array-element single-channel interference angle measurement device which comprises an antenna array. The antenna array comprises a plurality of receiving antennas, an angle measurement receiving channel and a processing unit, the receiving antennas form azimuth baselines and pitch baselines respectively, the angle measurement receiving channel converts radio-frequency signals output by the receiving antennas in the antenna array into intermediate frequency signals and outputs the intermediate frequency signals to the processing unit, and the processing unit determines phase differences among the receiving antennas at the same receiving time in the antenna array according to sampling signals of the intermediate frequency signals, obtains azimuth angles of the azimuth baselines and pitch angles of the pitch baselines respectively and outputs the azimuth angles and the pitch angles. According to the multi-array-element single channel interference angle measurement device, single-channel receiving and two-dimensional angle measurement of the antenna array are achieved.

The invention discloses a random drift real-time filtering method for a fiber-optic gyroscope. Compared with the prior art, the method comprises the following steps: in a marine strap-down navigation attitude system, de-noising an acquired fiber-optic gyroscope signal in real time; decomposing data in a sliding data window according to the appointed number of layers through a second generation wavelet lifting algorithm to obtain wavelet coefficients of each layer and scale coefficients of the last layer; establishing corresponding threshold rules for the decomposed wavelet coefficients of each layer, and performing threshold quantization; combining the processed wavelet coefficients and the scale coefficients of the last layer, and progressively reconstructing the scale coefficients of each layer to obtain a de-noised signal. By virtue of the random drift real-time filtering method for the fiber-optic gyroscope, the real-time de-noising accuracy and the reaction speed of the fiber-optic gyroscope signal are effectively improved, so that attitude information errors are further suppressed. In an application process, parameters such as the width of the data window and the number of wavelet decomposing layers are easily set and can be set according to an experience value obtained by a simulation experiment.

The invention discloses an organic thin-film transistor gas sensor, belonging to the field of gas sensors. The organic thin-film transistor gas sensor employs a bottom-grid bottom contact structure and comprises a grid positioned below an insulating substrate, source and drain electrodes located on the insulating substrate and a surface active layer. The organic thin-film transistor gas sensor is characterized in that interdigital electrode structures are employed as the source and drain electrodes; the active layer is divided into two symmetric zones with the symmetric central axis of the interdigital electrodes as a symmetric axis; and both the zones are deposited with organic semiconductor gas-sensitive films with different response to same specific gas. The sensor provided by the invention can improve gas selectivity of the sensor, enhances the phenomenon of baseline drift and shows improved stability and accuracy; the sensor has the advantages of a fast reaction speed, convenience in measurement and carrying, a wide application scope, etc.; and the sensor can be produced in large scale and meets practical needs.

The invention discloses a microstructural resonant sensor based on micro-electro-machinery, which is characterized in that two micro torsional pendulum resonators are arranged side by side; a sensitive layer film for detection is arranged on one micro torsional pendulum resonator; a non-sensitive layer film for difference detection is arranged on the other micro torsional pendulum resonator; each micro torsional pendulum resonator consists of a pendulum shaft and pendulum plates distributed on the two sides of the pendulum shaft; an electromagnetic drive coil and a vibration pickup coil are arranged on the pendulum plates. When being electrified, the drive coil under the action of lorentz force of an external magnetic field generates a torque around the pendulum shaft to drive the torsional pendulum resonators to vibrate; vibrating signals are picked up by an induced electromotive force generated by the vibration pickup coil by cutting the lines of magnetic force, and fed back to the drive coil to form closed-loop self-excitation and output a resonant frequency. The microstructural resonant sensor operates under a torsion mode and increases the merit factor; the difference output inhibits errors caused by the effect of external elements such as temperature; the microstructural resonant sensor has simple process and high detection sensitivity, and can be used as a biochemical sensor for detecting micro biochemical molecules, particularly for biochemical detection and sensing under liquidoid conditions.

The invention discloses an observer-based command filtering error compensation fuzzy control method of an induction motor. Aiming at the problem of non-linearity existing in a driving and control system of the induction motor, a command filtering technology is introduced to a traditional backstepping design method; and meanwhile, by an error compensation mechanism, an error caused by filtering is reduced, so that the control accuracy is improved, and the problem of calculation explosion caused by continuous derivation in traditional backstepping control is successfully solved. According to the method, the rotor angular speed of the induction motor is estimated by a dimension reduction observer; meanwhile, a fuzzy logic system approaches to a non-linear function in the motor driving system, and the command filtering backstepping technology is combined with an adaptive method to construct a controller; after regulation by the method, the motor running can rapidly reach a stable state; and a simulation result shows that by the method, the influence of parameter inaccuracy can be solved, an ideal control effect is favorably ensured, and the rapid and stable response to a rotation speed is achieved.

The invention provides a robot, a robot system, a control apparatus and a control method. In order to provide the robot which easily calibrates a manipulator, a robot includes an arm and a force sensor, in which the arm is calibrated by causing the arm to take a plurality of attitudes on the basis of an output value from at least the force sensor in a state in which a part of a first member attached to a tip of the arm is moved so that a distance between the part and a second member becomes a distance of 1 for each of a plurality of second members, the part being provided at a position which is not present on a rotation axis of the tip of the arm.

The invention provides a component mounting method which can suppress an error generated by tooth gap through simpler controlling in rotating positioning of the component. Before an attracting nozzle (25) which attracts an electronic component (P) is photographed from lower part and component identification is performed on the attracted electronic component (P), the attracting nozzle (25) is rotated for a preset angle deltatheta around an axially counterclockwise direction (first rotating direction) of the attracting nozzle, so that the central line (CL) of the electronic component (P) is arranged at a position which offsets to the couterclockwise direction than a direction reference line (BL). Furthermore a detection result is offset based on the component rotation direction which is detected through component identification, so that the attracting nozzle (25) always rotate around the axially clockwise direction (second rotating direction) of the attracting nozzle, thereby positioning the rotating position of the electronic component (P) to a preset mounting angle.

The invention relates to an interference microscope, in particular to an interference microscope system based on programmable illumination. The interference microscope system based on programmable illumination comprises an illumination light source, an illumination module and a digital micro mirror device, wherein the digital micro mirror device comprises a digital micro mirror array, each digital micro mirror has an n degree deflection angle state and a -n degree deflection angle state, light enters the digital micro mirror device at the incidence angle of 2n degrees through refraction and reflection of a TIR prism, then the on or off state of each micro reflection mirror is controlled, the light is subjected to corresponding spatial modulation, and then the light exits perpendicularly from the digital micro mirror device. The light path enters a Mirau interference objective mirror through reflection of a beam splitter prism, and is split into two light beams through a beam splitter in the Mirau interference objective mirror, the two light beams are irradiated to a reference plane and a detected plane and then are reflected back, and optical interference is formed in the beam splitter. An interference optical field of a detected object returns from the interference objective mirror, passes through the beam splitter prism again, and is received by a detector after passing through a barrel mirror, and an interference image of the interference microscope is obtained.

The invention provides a rapid damping method of a strap-down inertial navigation system, comprising the following steps: 1, carrying out preheating preparation n on the strap-down inertial navigation system; 2, carrying out initial alignment on the strap-down inertial navigation system; 3, conducting forward attitude matrix updating; 4, conducting forward speed updating; 5, conducting forward position updating; 6, storing the above data, and conducting initial reassignment of the attitude matrix, speed, and position, conducting reversible algorithm of the rap-down inertial navigation system; 7, conducting reverse attitude matrix updating; 8, conducting reverse speed updating; 9, conducting reverse position updating; and 10, conducting initial reassignment of the attitude matrix, speed, and position again, and repeating the step 3 to 9. According to the invention, the characteristics of mathematics platform variation of the strap-down inertial navigation system are fully utilized, a reversible algorithm is introduced, and the rapid convergence of system errors of the strap-down inertial navigation system is finally realized. The method disclosed herein can be used in the field of navigation error inhibition of marine strap-down inertial navigation systems.