122 results about "Absolute positioning" patented technology

The invention relates to an unmanned aerial vehicle multi-modal visual positioning method and system in a GNSS denial environment, and the method comprises the steps: constructing a visual inertial mileage calculation method based on deep learning feature extraction and matching, calculating the relative positioning of an unmanned aerial vehicle, and outputting to obtain high-frequency 6-DoF pose information; performing scene matching of infrared RGB image multi-modal fusion based on the Officient-LoFTR, and obtaining absolute positioning in a world system by solving a relative pose between a current key frame picture and a matched satellite image; a factor graph optimization mode is adopted to carry out self-adaptive weight information fusion according to the confidence coefficient of absolute positioning and relative positioning under a world system, and 6-DoF pose information with high frequency and higher precision is output; based on high-frequency and higher-precision 6-DoF pose information, after the unmanned aerial vehicle is recovered, all aerial images and satellite images are fused and updated. The system comprises a calculation module and a fusion updating module. According to the invention, more accurate and high-frequency pose output can be provided.

The invention provides a positioning method and device, electronic equipment, a storage medium and a program product, and relates to the technical field of positioning. According to the method, satellite observation data, SLAM positioning data and satellite shielding data are fused, the high-precision absolute positioning capability of an RTK algorithm and the high-precision relative positioning advantage of an SLAM algorithm are fully utilized, and meanwhile, the influence of satellite shielding on RTK positioning precision is considered, so that more accurate and reliable positioning is realized in a complex environment. According to the method, the positioning precision can be maintained by means of the relative positioning information of the SLAM algorithm under the condition that satellite signals are shielded or interfered, the SLAM result is corrected by means of the absolute positioning data of the RTK algorithm, and accumulated errors are effectively reduced. Besides, by considering satellite shielding data, the accuracy and reliability of positioning are further improved, so that the positioning system can stably output high-precision positioning results in various complex scenes.

The invention discloses a multi-modal information fusion and active sensing pipeline defect absolute positioning method and device, which are suitable for a complex pipeline environment. The method comprises a cable deformation error compensation model, a cable speedometer and wheel type speedometer fusion algorithm based on visual auxiliary dynamic slip rate adjustment, and a pipeline defect positioning and measuring algorithm based on an improved monocular distance measurement algorithm and an active sensing strategy. And a pipeline defect geographic coordinate solving algorithm based on mileage information, GNSS and IMU information fusion. The cable deformation error compensation model corrects a measurement error caused by self-weight deformation of the cable; a cable odometer and wheel type odometer fusion algorithm is used for inhibiting positioning drift caused by tire slipping; an improved monocular distance measurement algorithm is used for calculating depth information and measuring the defect size by using the actual radius of the pipeline and the defect pixel radius; the active sensing strategy dynamically adjusts the observation distance to improve the defect positioning precision; and fusing the mileage information, the GNSS information and the IMU information to solve the position of the defect in an earth coordinate system.

The invention provides an AGV global positioning controller based on double-filter arbitration and space-time verification. The AGV global positioning controller comprises a visual motion estimator, a global absolute positioner and an intelligent arbitration center. The visual motion estimator generates relative pose and visual positioning confidence through data of a depth camera, an inertial measurement unit and a wheel type odometer; the global absolute locator outputs an absolute pose and a global positioning confidence coefficient through ultra-wideband base station ranging data; the intelligent arbitration center dynamically selects a fusion strategy according to the confidence degree, performs weighted fusion in a normal state, and adopts speed interpolation or drift compensation to realize positioning source switching in an abnormal state, so that the problem of positioning jump caused by failure of a single sensor in a complex environment is effectively solved; the positioning stability can be improved, smooth switching and abnormity correction are realized, and the AGV global positioning precision is further improved.

The invention provides a method for rendering a data virtual list in a vue framework. The method comprises the following steps: creating a Vue component file about the virtual list; the method comprises the following steps: in an HTML (Hypertext Markup Language) of a Vue component file, creating a parent div with a fixed height, allowing a scroll bar to vertically scroll, creating a placeholder div for calculating rendering according to all data heights in the parent div to support the scroll bar, creating a container div at the same level, and absolutely positioning the container div in a parent window; and in js of the Vue component file, obtaining a window height and setting the window height to a fixed window div to render a display window height, calculating a container height according to the obtained data item height and the data total number, and setting the container height to a placeholder div to calculate a space to be rendered. Based on the vue framework, rendering of the virtual list can be achieved, the performance of a large number of data lists is remarkably improved, and better user experience and more efficient data presentation are provided.

The invention discloses a transmission conductor three-dimensional attitude estimation method, system and equipment based on RTK and inertial measurement coupling and a medium, and belongs to the technical field of three-dimensional state monitoring, and the method comprises the following steps: fusing RTK absolute positioning and IMU inertial measurement data, and realizing accurate estimation of the transmission conductor three-dimensional attitude by using extended Kalman filtering; and abnormal identification and risk early warning are carried out based on an attitude calculation result, and finally real-time monitoring and intelligent warning of the state of the power transmission line are realized through a three-dimensional visual platform. According to the method, RTK and IMU data are fused, accurate sensing and continuous tracking of the three-dimensional attitude of the power transmission line are achieved through extended Kalman filtering, the defect that a single technology is insufficient in reliability in a complex environment is overcome, and finally a complete monitoring closed loop of the safety state of the power transmission line is achieved through intelligent early warning and three-dimensional visualization.

The invention belongs to the technical field of robot error compensation, and particularly relates to a positioning error iterative nonparametric compensation method based on WGA-FDBN-DC and pose dependence, and the method comprises the steps: analyzing a robot positioning error source; constructing a three-in-one positioning error compensation model; based on WOA, performing wide area search to position an error extremal region generated by asymmetric hysteresis; training samples are created, an adaptive threshold value is constructed to dynamically remove abnormal samples, and filtering parameters are updated online in combination with the stochastic approximation theory to screen the training samples; a non-linear mapping relation between joint poses and static errors is constructed through a main network of cascade closed-loop suppression, static error prediction is carried out, a compensation network analyzes dynamic coupling errors of environmental disturbance and mechanical deformation in real time, and the main network and the compensation network form closed-loop control through error feedback. The method achieves the building of a mapping model from the joint motion amount to the joint compensation amount considering the pose dependence of the absolute positioning error, and achieves the direct iteration compensation of the error generated by the joint motion.

The invention relates to an unmanned aerial vehicle navigation decoy defense method based on visual map matching, and solves the technical problems that a traditional relative positioning mode is easy to cause positioning drift and an unmanned aerial vehicle is easy to decoy and interfere under long-term and large-scene conditions. The absolute positioning method based on the scene coordinate regression network is adopted, positioning drift is avoided in mechanism, and the scene coordinate regression network based on deep learning is used for performing positioning information mapping on the visual image and the scene coordinates. And inputting a visual image shot by the unmanned aerial vehicle into the optimized scene coordinate regression network to obtain a scene coordinate predicted value, and calculating the scene coordinate predicted value by using an RANSAC algorithm to obtain a pose estimation result. And comparing the pose estimation result with global navigation satellite system (GPS) positioning information received by the unmanned aerial vehicle to complete positioning signal decoy recognition, so that the unmanned aerial vehicle can effectively defend against GPS decoy signals.

The invention relates to the technical field of robot detection, and discloses a Delta mechanical arm precision detection method, system and device and a storage medium, and the Delta mechanical arm precision detection method comprises the steps that multiple actual position coordinates of the tail end of a mechanical arm in the movement process along a preset track are obtained according to a selected detection mode; geometric fitting is carried out based on the actual position coordinates, and corresponding circle center coordinates are determined; the tail end is controlled to move to the circle center coordinates, and actual position coordinates at the moment are obtained; and error information representing an absolute precision error is generated based on a difference value between the position and the circle center coordinate. According to the method, automatic detection of the absolute positioning precision of the manipulator is achieved, and error quantization can be completed without depending on external measuring equipment; the generated error vector accurately reflects the direction and size of system deviation, compensation and correction are facilitated, and the method has the advantages of being high in detection efficiency, reliable in result and high in applicability.

The invention discloses a recovery positioning measurement system based on joint positioning of dynamic-dynamic difference and optical measurement, and the system comprises a Beidou differential positioning device which carries out the self-positioning measurement based on a Beidou global navigation system in real time through a navigation antenna, and outputs an absolute positioning result of a rocket system; pseudo-range differential and carrier phase differential relative positioning is carried out through Beidou satellite reference information collected by a differential antenna and dynamic reference recovery platform self-positioning information sent by a rocket system, and a satellite relative positioning result is obtained; the optical fusion system is used for acquiring optical beacon information and outputting an optical relative positioning result; the data comprehensive equipment outputs a comprehensive relative positioning result to the rocket system; the rocket system receives and demodulates the information sent by the ground data transmission equipment through the data transmission equipment and the data transmission antenna, and analyzes the self-positioning information of the dynamic reference recovery platform; and performing rocket control according to the absolute positioning result and the comprehensive relative positioning result. According to the invention, the positioning precision is improved.

The invention relates to the technical field of building area three-dimensional model construction, in particular to a three-dimensional model construction method, system and device based on unmanned aerial vehicle surveying and mapping and a medium. The method comprises the following steps: firstly, carrying out pixel-level segmentation on a building area image obtained by an unmanned aerial vehicle to obtain a ground feature category, and carrying out further segmentation in combination with terrain information to obtain a scene unit; then, performing unit internal matching on scene unit point cloud data acquired by each unmanned aerial vehicle, performing inter-unit registration processing in combination with an absolute positioning reference, and performing curved surface reconstruction and boundary fusion to obtain a three-dimensional point cloud model; and finally, obtaining a multi-angle RGB image set of each scene unit, extracting a visible image, eliminating shielding interference, selecting an optimal visual angle image to reduce texture deformation, and finally mapping the texture of the optimal visual angle image to a three-dimensional point cloud model to obtain a three-dimensional model of a surveying and mapping area, which has an accurate geometric structure and high-fidelity visual features, and is suitable for the three-dimensional point cloud model of the surveying and mapping area. And high-precision and real three-dimensional basic data is provided for surveying and mapping visualization, engineering design and the like.

The invention provides an encoder, a position detection method and device, a storage medium and a servo motor assembly, and relates to the technical field of encoders. The encoder comprises a code disc, the code disc comprises a first code channel, and the first code channel is provided with a plurality of first detection parts which are distributed at equal intervals; n second code channels, each second code channel is provided with at least one second detection part, the second detection parts on any two second code channels are at least partially staggered in the circumferential direction of the code disc, and N is a positive integer; wherein the first code channel and the second code channels are each in a circular ring shape, and the first code channel and the N second code channels are coaxially arranged. According to the embodiment of the invention, the brand-new code disc is designed, the second code channel is added on the code disc to serve as the new vernier code channel, the vernier code channel can equally divide the code disc into the multiple repeated vernier code segments, the original M code channel and N code channel are changed into the multiple repeated vernier code segments, the electric signal of the second code channel is coded, and the code disc is more accurate. According to the encoder, repeated multiple vernier code segments can be distinguished, so that absolute positioning of the code disc is realized, and the detection precision of the encoder is effectively improved.

To prevent degradation of service to users by analyzing reading errors of an absolute positioning system that detects absolute positions.SOLUTION: An elevator system includes an APS tape on which absolute position information is continuously set corresponding to the position of the car in the direction of movement within the elevator shaft, an APS sensor installed on the car and equipped with two cameras that read absolute position information corresponding to the car's position, and an information processing device that processes the absolute position information read by the APS sensor. The two cameras are positioned so that the reading positions of the absolute position information are separated by an offset distance in the direction of movement. The information processing device includes a recording processing unit that records error information including the error position when a reading error occurs in each of the two cameras, and a compilation processing unit that compiles compilation data that associates the error position with the number of errors based on the recorded error information.SELECTED DRAWING: Figure 8

The invention provides an unmanned aerial vehicle positioning method and system fused with a relative absolute vision positioning technology, and the method comprises the following steps: carrying out the feature extraction and matching of image frames continuously collected by a vision sensor, obtaining the corresponding relation between adjacent image frames according to the feature extraction and matching results, and combining with the motion information measured by an inertial measurement unit, thereby obtaining the relative absolute vision positioning information. Obtaining relative positioning information of the unmanned aerial vehicle; image information collected by the visual sensor in real time is matched and registered with remote sensing images in a pre-constructed image database, so that absolute position information of the unmanned aerial vehicle in a global coordinate system is obtained; fusing the relative positioning information and the absolute position information, and optimizing a global path of the unmanned aerial vehicle according to a fusion result; the method has the beneficial effects that by fusing the advantages of a relative vision positioning technology and an absolute vision positioning technology, the error accumulation of relative positioning and the matching error of absolute positioning are effectively reduced, and the positioning precision of the unmanned aerial vehicle in a complex environment is improved.

The invention relates to a multi-sensor fusion positioning method and system based on extended Kalman filtering, and the method comprises the steps: R1, enabling a vehicle to run on a road, obtaining the point cloud data information of the road in real time based on a vehicle-mounted laser radar, obtaining the image data information of the road in real time based on a vehicle-mounted camera, and obtaining the point cloud data information of the road; the absolute positioning data information of the vehicle is obtained in real time based on vehicle-mounted integrated navigation, the pose data information of the vehicle is obtained in real time based on a vehicle-mounted IMU, and the data information of the vehicle speed and the wheel turning angle of the vehicle is obtained in real time based on a vehicle-mounted wheel speed meter; and R2, based on the point cloud data information of the road and the image data information of the road, fusing the point cloud and the image of the road by adopting a fusion algorithm of an Archimedes optimized neural network model. The invention not only provides more robust navigation estimation than using a single sensor by combining complementary or redundant information from different sensors, but also provides stable and reliable positioning information in the whole operating scene.

The invention discloses a multi-user GNSS analog source signal closed-loop self-checking system and method. Comprises: a test computer for determining a simulation scene according to the number of users connected to a test scene background; the multi-user GNSS signal simulation source generates a GNSS frequency point radio frequency signal; the shunt control module is provided with shunt gain control sub-modules in one-to-one correspondence with users, and outputs ground user self-check signals; when a radio frequency switch in the closed-loop detection module is in an absolute positioning scene, the conduction direction is unidirectional conduction to the first combining module or the second combining module; in a relative positioning scene, the first combining module and the second combining module are conducted in two directions at the same time; and respectively sending the synthesized first synthesis signal and / or second synthesis signal to the corresponding first navigation receiver and / or second navigation receiver. According to the invention, the scale and the external interface of the self-checking equipment are reduced.

The invention discloses a mobile robot printing operation method, which comprises the following steps of: 1, starting and initializing a mobile robot, automatically calibrating a zero position of a spraying printing head, and extracting data information of an operation map; 2, determining a laser positioning placing position, completing leveling of laser positioning equipment, and measuring and tracking the position of the robot through a target ball installed on the robot; 3, generating an automatic operation path: selecting a to-be-operated map, aligning a reference, mapping a map coordinate system to a ground operation area, editing the map to set obstacle information, selecting part or all of the operation range, setting parameters, calling a path planning algorithm to generate the operation path and printing process information; step 4, the robot performs printing operation in the operation area according to the operation path and the printing process information; finishing the automatic operation flow after the printing operation is finished; the absolute positioning device is used for measuring the reflection device installed at the mobile robot end, and the position precision of spraying, printing and positioning of the mobile robot is optimized.

The invention discloses a sky-base collaborative tower camera image high-precision positioning method, which comprises the following steps of: carrying out virtual squint projection on a satellite image based on a high-resolution satellite orthoimage of an area around a tower camera, and mapping the satellite image to a tower camera squint coordinate system; performing multi-scale phase fusion terrain enhancement feature extraction and cross-view matching on the satellite reference image and the tower camera image to obtain high-precision homonymy points and meter-scale control points; block adjustment and absolute positioning are carried out on a reference database image collected by a tower camera; and based on the positioned reference database, carrying out high-precision geographic positioning on the natural resource illegal behaviors. According to the method, high-precision positioning of the tower camera can be efficiently and automatically realized, the positioning efficiency of the tower camera image is remarkably improved, and protection of natural resources is facilitated.

The embodiment of the present disclosure discloses a method for editing the layout of a frozen column of a table, creating a normal table in a webpage, setting a title row as a sticky layout to be fixed in the first row of the normal table, setting a first normal cell as a sticky layout to be fixed in the first column of the normal table, creating a floating row, setting the floating row as an absolute positioning, adding an additional element to a cell of the floating row, adjusting a top offset position of the floating row to be consistent with a top offset position of a second normal cell, adjusting a side offset position of the additional element to be consistent with a side offset position of the second normal cell, setting the additional element as a sticky positioning if the second normal cell is a sticky layout, which can realize code decoupling, reduce the development difficulty of the additional element, make the additional element more accurately attached to the second normal cell of the normal table, and correctly handle the hierarchical coverage relationship between the additional element and the frozen column of the normal table.

Systems, methods, and tools are disclosed for preventing error propagation for sidelink positioning. A target wireless transmit / receive unit (WTRU) may select one or more anchor WTRUs from candidate anchor WTRUs based on an uncertainty metric from the selected anchor WTRU being below an error threshold. The target WTRU may determine a target WTRU absolute position and a target WTRU uncertainty metric. The target WTRU may determine an absolute location of the target WTRU using a default location method if the selected anchor WTRU is below a threshold number of anchor WTRUs. The target WTRU may determine the target WTRU uncertainty metric, and the target WTRU uncertainty metric may include an uncertainty of the target WTRU and / or a degree of uncertainty of the target WTRU. The target WTRU may send an indication of the target WTRU absolute location and the target WTRU uncertainty metric to a network node.

The application provides a vehicle positioning method, a system, an electronic device and a computer storage medium, and relates to the technical field of automatic driving. In the absence of a fixed base station, the observation data of visible satellites is shared by two vehicles, so that the construction and maintenance costs can be saved, and the two-vehicle sharing can also be adapted to complex scenes and network-uncovered areas. In the positioning process, single-difference and double-difference processing is performed on the common visible satellites of the two vehicles, satellite clock errors, receiver clock errors and most atmospheric errors are eliminated, a high-precision relative baseline vector is obtained, and the obtained perception data of the two vehicles are fused and optimized to obtain the absolute positioning of the two vehicles, so that the positioning precision is improved and the absolute positioning reaches a centimeter-level precision. The purpose of providing stable and high-precision vehicle absolute positioning in a dynamic environment without relying on a fixed base station is achieved.

The invention relates to the technical field of communication, in particular to a UWB base-station-free emergency positioning system applied to urban complex buildings. Comprising a personnel positioning module, a communication module, a server positioning engine module, a data processing main module and a human-computer interaction interface, and the personnel positioning module is composed of an MCU, a UWB chip, a Beidou positioning chip, an altimeter chip and a Bluetooth communication chip. The server positioning engine module and the data processing main module are matched to carry out relative positioning and absolute positioning calculation, it is ensured that accurate positioning can also be achieved in a complex building, the communication module adopts a UWB / LoRa dual-channel communication mode, communication coverage can be achieved without a base station, the system adapts to the communication environment in the complex building, and the communication efficiency is improved. And meanwhile, the data processing main module outputs the processed data and the positioning result to the human-computer interaction interface, so that the formation and position information of the internal attack team members can be displayed in real time, and the command efficiency is improved.

The embodiment of the invention discloses a frozen column layout method for an editable table, which comprises the following steps of: creating a common table on a webpage, setting a title line as a viscous layout and fixing the title line on a first line of the common table, setting a first common cell as a viscous layout and fixing the first common cell on a first column of the common table, creating a suspension line, and setting the suspension line as absolute positioning; adding an additional element on the cells of the suspension row, adjusting the top offset position of the suspension row to be consistent with the top offset position of the second common cell, adjusting the side offset position of the additional element to be consistent with the side offset position of the second common cell, and if the second common cell is in the viscous layout, adjusting the side offset position of the additional element to be consistent with the side offset position of the second common cell; if yes, setting the additional elements as viscous positioning, so that code decoupling can be realized, and the development difficulty of the additional elements is reduced; in addition, the additional elements can be attached to the second common cells of the common table more accurately, and the hierarchical coverage relation between the additional elements and the frozen columns of the common table can be correctly processed.

The application provides an industrial robot absolute positioning accuracy compensation method and device. The method provided by the application comprises the following steps: determining multiple targets for training of an accuracy compensation model, wherein the multiple targets at least comprise a sub-target of a training dimension and a sub-target of a compensation accuracy dimension; determining a to-be-trained original parameter set of a deep belief network; calculating an influence degree of each parameter in the original parameter set on the multiple targets; screening parameters with an influence degree higher than a preset threshold as candidate hyperparameters; obtaining current pose data of multiple sampling points of the robot based on a laser tracker; generating a position error based on pre-determined expected pose data and the current pose data of the robot; training the deep belief network to obtain a trained target deep belief network; calculating a contribution weight of each feature vector based on evidence theory; and generating a compensation result. The industrial robot absolute positioning accuracy compensation method provided by the application is used to improve the positioning accuracy during robot operation.

The present application discloses an AGV positioning method, including: obtaining the estimated positioning data of an inertial navigation system and the current confidence level of the estimated positioning data; obtaining the absolute positioning data of an external positioning data source and the current confidence level of the absolute positioning data; determining the estimated positioning data or the absolute positioning data with a larger current confidence level as the effective positioning data, so that the AGV can perform positioning based on the effective positioning data. The present application sets confidence levels for the positioning data output by the inertial navigation system and the external positioning data source, and screens out the effective positioning data that is closer to the true pose according to the confidence levels corresponding to different positioning data, so that the AGV can accurately perform positioning based on the effective positioning data during operation and improve the operation efficiency. The present application also discloses an AGV positioning device, an electronic device, and a computer-readable storage medium, which have the above beneficial effects.

The invention discloses a high-precision absolute positioning calibration system and method for a rotary joint robot, and relates to the technical field of robot positioning precision calibration, the high-precision absolute positioning calibration system comprises a model building module, an information acquisition module, a data analysis module and a pose calibration module, and the model building module builds a kinematics model of the robot through a DH modeling method; and a parameter identification algorithm is used for performing error compensation on the kinematic model, and the information acquisition module acquires position information of an end effector of the robot by using a position sensor and calculates all joint angle values of the robot under the actual pose according to the change of the light position. The method has the beneficial effects that the position information of the end effector of the robot is translated and obtained, all joint angle values of the robot under the actual pose are calculated and recorded in combination with the laser beams with the same emission path of the laser, the relation between all the shaft joints of the robot can be better represented, and the precision of the robot is improved. Zero deviation self-calibration and space pose self-calibration of the robot end effector are achieved.

A wide-range absolute positioning electromagnetic induction type linear displacement sensor relates to the technical field of electromagnetic induction type displacement sensors, and comprises a transmit-receive board and an excitation board which can move relatively, and the transmit-receive board is provided with a transmitting winding and three three-phase receiving windings with different pitches; the excitation plate is provided with three rows of excitation coils which are equal to the three three-phase receiving windings in pitch and coincide with the three three-phase receiving windings in center line. The measuring circuit is provided with three parallel processing channels and is used for synchronously acquiring three corresponding phase quantization codes of a measured position in the fine pitch PF, the middle pitch PM and the coarse pitch PC after the transmitting winding is driven for one time; and directly calculating an absolute displacement value in the coarse pitch measuring range through an absolute positioning algorithm based on the three phase quantization codes. And the absolute displacement in the coarse pitch range is directly synthesized by calculating the integer pitch number step by step according to the integer wavelength ratio relationship of the coarse pitch, the medium pitch and the fine pitch. According to the invention, the breakthrough of the electromagnetic induction type displacement sensor from hybrid positioning to true absolute positioning is realized, and the sensor has the advantages of large measuring range, high precision, no data loss in power failure and low power consumption.

The application discloses a kind of tool butt joint method and system, including end setting with laser range finder, positioning tool interface is provided with measured piece;When reaching the position to be corrected, the laser measurement height value is read by laser range finder;The correlation analysis of the installation offset of laser range finder and the projection point on measured piece is carried out, and the coordinate relationship equation is established;Offset is calculated according to coordinate relationship equation, whether offset meets the requirement is judged, if it meets the requirement, then butt joint is completed, if it does not meet the requirement, then translation adjustment is carried out.The application is tested in laboratory, can control robot end absolute positioning accuracy to be below ±0.25mm, satisfies the requirement that robot completes butt joint operation;Uniform processing standard and gauge standard batch processing measured target are used, and quick replacement can be realized;3-point correction algorithm is used, installation error is weakened, and calculation error caused by installation error is further reduced.

The present invention discloses a template matching assembly positioning method, system and device with local pose invariance, which collects image data of the workpiece to be assembled and the assembly environment; realizes high-precision assembly of the robot under visual guidance by combining the assembly strategy of global rough positioning and fine positioning with local pose invariants; extracts key points in the image by using a local feature extraction algorithm, and indirectly determines the assembly coordinate pose of the robot by calibrating the transformation matrix from the workpiece to the end coordinates; uses local pose invariance to perform matching processing on information to realize workpiece position positioning; estimates pose information such as the relative position, angle, rotation, etc. of the target object through the matched feature points. By combining visual information with the local reference pose of the robot, the present invention provides a new method for calculating the assembly pose, solves the problems of inaccurate repeat positioning accuracy of the robot body and absolute positioning accuracy of the system, and effectively improves the detection efficiency and detection accuracy.

The invention provides a vehicle positioning method and system, an electronic device and a computer storage medium, and relates to the technical field of automatic driving, and two vehicles share observation data for visible satellites without depending on a fixed base station, so that the construction and maintenance cost can be avoided, and the vehicle positioning efficiency is improved. Through sharing of the two vehicles, the method can adapt to complex scenes and areas without network coverage; in the positioning process, the common visible satellite of the two vehicles is subjected to single-difference and double-difference processing, the satellite clock error, the receiver clock error and most atmospheric errors are eliminated, a high-precision relative baseline vector is obtained, fusion optimization is performed in combination with the obtained sensing data of the two vehicles, and respective absolute positioning of the two vehicles is obtained. And the positioning precision is improved, so that the absolute positioning reaches centimeter-level precision. The purpose of providing stable and high-precision vehicle absolute positioning in a dynamic environment without depending on a fixed base station is achieved.