228 results about "Angular resolution" patented technology

The invention discloses a three-dimensional laser radar point cloud acquisition control method and system, and belongs to the technical field of laser radar measurement and control. An existing low-cost laser radar point cloud acquisition method is large in angle accumulative error and cannot meet the real-time angle tracking requirement under the high-rotating-speed working condition. According to the three-dimensional laser radar point cloud acquisition control method, the coded disc design optimization model and the abrupt change signal capture model are established, the notch is designed in the coded disc of the three-dimensional laser radar, and the width of the notch of the coded disc is optimized, so that pulse signal period abrupt change can be accurately captured, angle accumulation errors can be effectively reduced, and the accuracy of the point cloud acquisition control is improved. And the angle synchronization precision is improved, and the method is especially suitable for real-time angle tracking requirements in a high-rotating-speed scene. Meanwhile, jitter interference of the laser radar can be eliminated, and spatio-temporal interpolation fusion can be performed on multi-circle acquired data, so that high-density point cloud data can be generated, and the angular resolution and the point cloud density can be effectively improved.

The invention provides an optical lens and electronic equipment with the same. According to the optical lens, a first lens has negative focal power, the first side face of the first lens is a convex face, and the second side face of the first lens is a concave face; the first side surface of the second lens is a concave surface, and the second side surface of the second lens is a convex surface; the third lens has positive focal power, the first side surface of the third lens is a convex surface, and the second side surface of the third lens is a convex surface; the fourth lens has positive focal power, and the second side surface of the fourth lens is a convex surface; the fifth lens has focal power; the first side surface of the sixth lens and the second side surface of the sixth lens have the same surface type; the seventh lens has focal power, and the second side face of the seventh lens is a convex face. The optical lens solves at least one of the problems that an optical lens in the prior art cannot give consideration to miniaturization and high resolution, is poor in pixel, is poor in imaging quality in a dark environment, and cannot be matched with a higher-pixel chip due to poor central angle resolution while meeting a large field angle.

The invention discloses a point cloud scanning method of a laser radar and the laser radar. The point cloud scanning method of the laser radar comprises the steps that light deflection angles corresponding to position areas with different point cloud angular resolutions in a view field area of the laser radar are acquired, and different light deflection angles correspond to different driving voltages; and applying the driving voltage corresponding to each light deflection angle to the liquid crystal phased array for point cloud scanning. According to the invention, different position areas in the field of view of the laser radar correspond to different point cloud angular resolutions based on the liquid crystal phased array light, the time for scanning the whole frame of image in the field of view is saved, and the image frame rate of the laser point cloud is improved. Moreover, as the liquid crystal phased array can freely control the deflection angle of the light, the point cloud angular resolution in the view field area is adjusted through the liquid crystal phased array, and the point cloud performance of the laser point cloud cannot be affected.

Disclosed in the present invention are a vehicle position re-identification method and system. The method comprises: pre-processing LiDAR data of a vehicle, so as to acquire a point cloud result of LiDAR of the vehicle; constructing environment descriptors by using the acquired point cloud result; calculating a dynamic filtering policy threshold value on the basis of the type and a measurement environment of a LiDAR sensor used for acquiring the LiDAR data of the vehicle; and comparing the constructed environment descriptors and the obtained dynamic filtering policy threshold value with point cloud data in a historical database, so as to acquire position information of the vehicle. The present invention can improve the accuracy and efficiency of position re-identification; in the present invention, a dynamic threshold value filtering policy is proposed in consideration of angular resolutions and measurement ranges of different LiDAR, thereby improving the generalization capability of the method for various types of sensors; and in the present invention, a ground point and a non-ground point detected by LiDAR are separated, and descriptors are constructed by merging height information of the ground point and intensity information of the non-ground point, thereby improving the expression capability of the descriptors with regard to an environment.

The invention relates to the technical field of laser radars, and provides a laser radar angular resolution enhancement method, which comprises the following steps of: obtaining a spatial direction priority according to a vehicle course, road information and target information obtained by a vehicle external sensor so as to dynamically adjust laser pulse density and energy level; scanning data generated after N circles of continuous scanning serve as a composite frame, the starting angle of each circle is shifted, multiphase filtering and coherent superposition are conducted in a digital domain, and the effective angular resolution is obtained. The invention further discloses a laser radar device, the method and the device can adjust the pulse density and energy distribution in the ROI direction in real time according to the dynamic scene of the vehicle, the total pulse number is kept unchanged, and the total power consumption is not increased. The effective horizontal angle resolution is improved through inter-frame phase offset and multi-phase synthesis. A corner reflector and an IMU (Inertial Measurement Unit) are integrated in the laser radar, and phase and ranging errors are corrected in real time through periodic loopback calibration, so that the angle stability is kept.

The invention belongs to the field of optics, and particularly discloses a light spot shrinking device for an angle resolution scatterometer. Through the first lens, the beam shaping element and the second lens which are sequentially arranged along the light path, beam focusing, beam shaping and collimation are carried out in sequence, the collimated beam with the diameter smaller than that of the beam of the light source is formed, the collimated beam is combined with the subsequent light path, and the light spot shrinking function can be achieved at the detection end of the objective lens.

The invention provides a three-dimensional display device and display equipment, and the three-dimensional display device comprises a display assembly which employs a plurality of pixel units for image display, and a first lens assembly which is located at one side of a light-emitting surface of the display assembly, and the first lens assembly comprises a plurality of lens units. The lens units and the pixel units are arranged in a one-to-one correspondence mode. Each lens unit comprises a first lens assembly comprising a plurality of lens units, and the first lens assembly and the pixel units of the display assembly are arranged in a one-to-one correspondence mode. Each lens unit comprises a first lens and a second lens, the design parameters of the lens units are determined or optimized according to the target angular resolution, and a plurality of refracting surfaces which are formed by the first lenses and the second lenses and are connected in series are used for carrying out primary and secondary angle adjustment on emergent light rays respectively, so that the angular resolution is effectively optimized to the target angular resolution; the direction and angle of light are accurately controlled, and the problem of crosstalk between views in the naked eye 3D display process is reduced.

The invention discloses a laser radar echo signal simulator performance parameter testing method and device, and belongs to the field of photoelectric information. The system comprises a simulation distance related parameter measuring device, a working wavelength measuring device, a view field and distortion measuring device, an output power related parameter measuring device, a scanning speed and frame frequency and waveform similarity measuring device, an angular resolution measuring device and a simulator position adjusting device. The view field and distortion testing device is composed of a camera, an adjusting frame and a hemispherical guide rail. The scanning speed and frame frequency measuring device is composed of a focusing lens, two photoelectric detectors and an oscilloscope. The output power related parameter measuring device is composed of a focusing lens and a power meter. The working wavelength measuring device is composed of a focusing lens, an optical attenuator and a wavemeter. The placing position of the simulator on the platform is preset in advance through the simulator position adjusting device, and the simulator is sent to a specified testing position by driving the adjusting frame and the simulator to slide on the guide rail.

The invention relates to a high-angular-resolution atmospheric detection laser radar acquisition and control system, and belongs to the technical field of atmospheric detection laser radar data acquisition. The system comprises an ARM main control module, an acquisition card and a scanning module, wherein the ARM main control module is internally provided with a multi-core CPU (Central Processing Unit), and when the system runs, a data reading process, a data processing process and a data storage process are respectively distributed to different cores of the multi-core CPU for parallel execution; the ARM main control module is used for issuing an instruction to the acquisition card and reading a hardware accumulation result of the acquisition card for processing and storing; the scanning module is controlled by the ARM main control module to perform continuous scanning; and the acquisition card is used for performing high-angle-resolution acquisition on aerosol observation data obtained in the continuous and rapid scanning process of the scanning module according to an instruction of the ARM main control module. According to the invention, the real-time monitoring capability of aerosol space-time distribution in a complex atmospheric environment is improved.

The invention belongs to the technical field of radar signal processing and imaging, and particularly relates to a distributed MIMO radar imaging method based on multi-technology fusion, which comprises the following steps: S1, constructing a distributed MIMO radar array: constructing a distributed array consisting of L identical MIMO radar units, each unit comprising M transmitting antennas and N receiving antennas; the multi-radar synchronous imaging method is characterized in that each radar unit adopts an offset frequency orthogonalization design, signals of each radar unit and different transmitting antennas in the same unit are mutually orthogonal in a time domain and a frequency domain by elaborately setting the offset frequency of each transmitting antenna, a virtual array is equivalent to a uniform linear array, and multi-radar synchronous imaging is realized by utilizing a high-precision synchronous control mechanism. According to the method, the equivalent aperture is greatly expanded through cooperative work of the distributed MIMO radar arrays, so that the angular resolution is remarkably improved, the accuracy and reliability of echo signals are guaranteed by adopting a unique orthogonal signal design, and the imaging stability is improved.

The invention discloses a three-dimensional light field display system with an adjustable angular resolution, which relates to the field of three-dimensional display, and realizes a high-fidelity and high-smoothness three-dimensional display effect through collaborative optimization of hardware and software, the hardware part comprises a micro-pitch LED, a diaphragm liquid crystal screen and a high-resolution LCD liquid crystal screen, and the micro-pitch LED, the diaphragm liquid crystal screen and the high-resolution LCD liquid crystal screen are arranged in the micro-pitch LED, the diaphragm liquid crystal screen and the high-resolution LCD liquid crystal screen respectively. The software part comprises a depth detection algorithm, a light control coding algorithm, a diaphragm coding algorithm and a disparity map synthesis algorithm, and through combination of hardware and software, the system can accurately regulate and control the number of light rays diverging to different directions by different body pixels according to different display information, so that the three-dimensional visual experience of a user is remarkably improved.

The invention discloses a shielded environment muon navigation method. The method comprises the following steps: deploying a reference detector array and a receiving detector; collecting a plurality of pieces of muon track information by using an accidental coincidence event detected by the reference detector array and the receiving detector; performing non-repeated pairwise combination on all the collected muon track information to form a plurality of combination pairs, establishing equation sets about muon track distances, then integrating all the equation sets, and establishing overdetermined equation sets about all the muon track distances; distributing weights of overdetermined equations according to the position resolution and the angle resolution of the reference detector corresponding to the collected muon trajectory information, and establishing weighted overdetermined equations about all muon trajectory distances; and based on the solution of the weighted overdetermined equation set, obtaining the final position coordinates of the receiving detector, thereby carrying out the positioning and navigation of the navigation terminal. According to the invention, the positioning precision of the vector muon navigation system can be effectively improved.

A LiDAR device with detector channel grouping is described in this disclosure. The LiDAR device can include a laser pulse scanner configured to scan laser pulses in a plurality of directions; a detector array that includes a plurality of adjacent detector channels; and a controlling unit configured to activate a group of adjacent detector channels of the plurality of adjacent detector channels corresponding to each of the plurality of directions based on one or more of an image width on the detector array corresponding to that direction after a laser pulse hits a target object, a measured ambient intensity from that direction, a reflectivity of the target object, or a distance of the target object.

The invention relates to the field of edge calculation, and discloses a micro-nano unmanned aerial vehicle edge end data preprocessing system, which comprises a state space discretization mapping module used for collecting three-axis attitude data output by an inertial measurement unit, and quantitatively mapping the three-axis attitude data to a three-dimensional discrete coordinate system according to a preset angular resolution step length to generate an attitude grid index; the visual fingerprint extraction module is used for acquiring original image data and calculating a current global feature hash value; and the index arbitration logic control module is used for querying a preset background feature lookup table based on the attitude grid index, and generating a wake-up instruction to activate a rear-end depth reasoning unit when the Hamming distance between the current global feature hash value and the reference value is greater than a sudden change judgment threshold value. The coupling relation between the fuselage movement and the environment change is stripped, and low-power-consumption accurate awakening of the edge end under the dynamic non-stable working condition is achieved.

The invention discloses a rapid forward modeling method for a gravity field of a rectangular coordinate system based on an isoparametric transformation global discrete grid, and belongs to the technical field of geophysical exploration. According to the method, a measuring network composed of dggrid grids is manufactured to cover the whole measuring area range by selecting the measuring network forming form and the side length, the exploration depth is selected as D, the dggrid grids extend to the ground by an n < z + 1 > layer to form dggrid units of an n < z > layer, and the corresponding thickness of the dggrid units is D / n < z >. And calculating the abnormal response of all the dggrid units at each observation point by utilizing isoparametric transformation based on a dggrid unit interpolation type function, an integral point and an integral weight coefficient obtained by a hexagonal prism integral formula. Compared with a square grid, the dggrid grid has excellent angular resolution, the discrete distance measurement of the dggrid grid is better close to the Cartesian distance, and the dggrid grid also has the advantage of displaying uniform and clear adjacency. Compared with conventional direct calculation, the rectangular coordinate system gravitational field forward modeling based on the isoparametric transformation global discrete grid has extremely high acceleration potential.

The invention discloses a multi-mode adaptive weight SLAM method and system for a construction site. The method comprises the steps that a mapping model is established through sensor joint calibration, laser radar, camera and IMU data are synchronously collected through hardware, and dynamic filtering, distortion compensation and feature extraction are carried out on point clouds and images; the voxel entropy, the angular resolution and the feature density are calculated in real time to evaluate the degradation degree of each mode, and a visual residual error is dynamically adjusted by adopting an adaptive weight and frame skipping mechanism to ensure reasonable information injection in a degradation scene; iMU pre-integration, LiDAR point-surface residual errors and weighted visual reprojection residual errors are sequentially fused in an incremental Kalman sliding window frame, an automatic repositioning strategy is matched, and a high-precision pose and dense color point cloud map is output. According to the method, calibration, synchronization, degradation detection, sliding window optimization, map release and relocation are integrated, and the mapping precision and robustness can be remarkably improved under the complex working conditions of dust shielding, illumination variation, dynamic obstacles and the like.

The invention provides a control method and device of self-moving equipment, the self-moving equipment and a storage medium, and relates to the technical field of intelligent cleaning. The method comprises the following steps: determining a pre-rotation direction of the self-moving equipment according to a relative position of the self-moving equipment and an obstacle; and adjusting the rotation direction of the distance measuring sensor on the self-moving equipment, so that the adjusted rotation direction of the distance measuring sensor is consistent with the pre-rotation direction. According to the embodiment, the space angle resolution can be improved, detail features between objects can be distinguished more finely, the accuracy of obstacle avoidance and navigation is improved, and then the working efficiency, such as the cleaning efficiency, of the self-moving equipment is improved.

The invention relates to a light field image space angle joint reconstruction method. The method comprises the following steps: extracting Y channel information of a light field sub-aperture image array with low angle resolution and low space resolution; performing feature reconstruction on the extracted Y channel information to obtain Y channel information of the light field sub-aperture image array with high angular resolution and high spatial resolution; acquiring U channel information and V channel information of the light field sub-aperture array image with high angular resolution and high spatial resolution; and combining the Y channel information after feature reconstruction with the U and V channel information of the light field sub-aperture array image with the high angle resolution and the high spatial resolution, and converting the combined data into an RGB space to obtain an RGB image of the light field sub-aperture array image with the high angle resolution and the high spatial resolution. According to the method, high-quality light field sub-aperture array images with high angle resolution and high spatial resolution can be obtained, and the requirements of applications such as three-dimensional reconstruction, virtual reality and depth estimation are met.

The present invention discloses a MIMO radar sparse array optimization method based on a sleep monitoring scenario. The sparsity of the array elements is determined in combination with the actual sleep scenario, and the two-dimensional beam angle is constrained. The full angle scan is achieved by changing the beam pointing within the constrained angle, and the highest sidelobe level value of the directional pattern under all angle pointing is obtained. The multi-objective particle swarm iterative model is used to solve the optimal array element spacing, and the excitation coefficient is solved in combination with the convex optimization algorithm, and finally the array element position and excitation coefficient matrix are obtained. Compared with the uniform array, this method reduces the number of array elements, reduces the hardware implementation cost, weight and pressure, and improves the angular resolution; compared with the traditional sparse array algorithm, this method can determine the sparsity of the array elements in combination with the actual sleep scenario, and solves the problem that when the beam pointing changes in the traditional sparse array, the directional pattern will have high sidelobes and large grating lobes, ensuring that the directional pattern under all angle pointing within the constraint range has a low sidelobe level.

The present invention discloses a joint multi-beam angle radar high-resolution imaging method based on the least squares method. By establishing a complete signal model, this method incorporates the sidelobe and grating lobe signals of the transmitted beam into the imaging process, avoiding treating them as interference but rather as an effective supplement to the reflected information of the target direction. The present invention proposes a joint estimation method based on the least squares method, which significantly reduces sidelobe artifacts, improves angular resolution, and alleviates the interference problem of grating lobes in sparse arrays by performing overall optimization processing on the echo signals of multiple transmitted beam angles. This method can effectively improve the imaging resolution of millimeter-wave radar in complex scenarios and has broad practical application potential.

The invention provides a method for determining the angular resolution of a laser radar, a detection system and a device, and the method is applied to the field of laser radars, and comprises the steps: controlling the laser radar to emit detection light to a light receiving element in a manner of sequentially emitting light at adjacent light emitting angles in a view field, executing a preset step in a light emitting period corresponding to each light emitting angle of the laser radar; the angular resolution of the laser radar is determined according to the angle rotated by the rotating mechanism in the light emitting period corresponding to the latter light emitting angle of the two adjacent light emitting angles of the laser radar; the preset step comprises: controlling the image acquisition device to obtain a first image; if the first distance is greater than a preset threshold value, controlling the rotating mechanism to rotate, and updating the first image; and if the first distance is smaller than the preset threshold value, the rotating mechanism is controlled to be maintained at the current position. According to the method, the angular resolution of the laser radar can be obtained in a point-by-point mode, the calculation error of the angular resolution is reduced, and the determination precision of the angular resolution is improved.

To provide a Compton camera capable of identifying the incident angle of gamma rays with high angular resolution.SOLUTION: A multi-column Compton camera 100 comprises: a gamma-ray detection unit 20 having a plurality of columnar sensor units 21, each of which includes a plurality of pixel sensors 22 in which scattering detection pixels 23 for detecting Compton scattering of incident gamma rays are arranged in a lattice pattern and are stacked; and a control circuit 11 that supplies operating power to each pixel sensor 22 in each columnar sensor unit 21 and reads signals from each pixel sensors 22. The plurality of columnar sensor units 21 is arranged in the same direction with ends in the longitudinal direction aligned and spaced apart, and the end surfaces in the longitudinal direction of the plurality of columnar sensor units 21 are flush and exposed to the outside.SELECTED DRAWING: Figure 1

The invention relates to an optical fiber close-packed structure, a radar transmitting and receiving device and a laser radar system, which are applied to a laser radar, the optical fiber close-packed structure comprises two substrates which are stacked up and down, and the opposite surfaces of the two substrates form an accommodating space; a V-shaped groove is formed in at least one side wall surface of the accommodating space, the V-shaped groove is used for placing coupling optical fibers, the adjacent coupling optical fibers form an optical fiber group, and the transverse distance between the adjacent coupling optical fibers in the optical fiber group is smaller than or equal to the diameter of a fiber core; at least two optical fiber groups are arranged in the accommodating space, a distance exists between different optical fiber groups, and each optical fiber group forms a detection range. According to the invention, each optical fiber group has small vertical angle resolution, the light-emitting angle density of the laser radar is increased, the plurality of optical fiber groups respectively form a detection range, each detection range corresponds to a light-sensitive surface of one receiving detector, the number of the receiving detectors is reduced, and the design cost is reduced.

The invention discloses a resolution-oriented 4D millimeter wave radar antenna array and physical layout collaborative optimization method, a program, equipment and a storage medium, which are suitable for a radar system with a limited space and a multi-chip structure. The method comprises the steps of firstly collecting system input parameters; then, an antenna design constraint model is constructed, spatial discretization is carried out, and an optimizable matrix model is formed; transmitting and receiving array structures in the azimuth angle direction and the pitch angle direction are jointly designed through a virtual array mapping strategy, so that the requirements of MIMO mapping efficiency maximization and target angle resolution are met. After an antenna structure is determined, an optimization objective function is further constructed based on strong constraint and soft constraint, and an antenna layout scheme which meets the manufacturing requirements and has optimal performance is obtained through a traversal and search method. According to the method, the virtual aperture can be effectively improved, the antenna number redundancy is reduced, the wiring accessibility is optimized, and the resolution and engineering realizability of a 4D radar system are enhanced.

The invention relates to a sensor unit (20) for detecting forces and their directions in the XY plane, comprising at least two sensors distributed on a mechanical measuring body (10). According to the invention, the at least two sensors are surface acoustic wave (SAW) sensors (24), wherein one or more milled grooves (22) are formed in the surface of the measuring body (10) for controlling the propagation of surface acoustic waves, and wherein the SAW sensors (24) are arranged on the measuring body (10) such that a precise determination of the direction and magnitude of the acting forces in the XY plane is enabled.

The application discloses an optical lens, which comprises, along an optical axis from an object side to an imaging surface, a first lens with negative focal power, the image side of which is a concave surface; a second lens with negative focal power; a third lens with positive focal power, the object side of which is a convex surface, and the image side of which is a concave surface; a fourth lens with positive focal power; a fifth lens with positive focal power, the object side of which is a convex surface, and the image side of which is a convex surface; a sixth lens with positive focal power, the object side of which is a convex surface; and a seventh lens with negative focal power. The optical lens adopts seven lenses, and through specific surface shape setting and reasonable focal power distribution, especially the first and second lenses adopting negative focal power, the optical lens can collect a large range of light, improve the field angle of the optical lens, and effectively improve the edge field proportion and the angle resolution of the edge field through setting the optical lens with large positive distortion.

The present invention discloses a method for measuring the resolution of a medical endoscope based on the contrast sensitivity of the human eye. The method is based on a human eye contrast sensitivity function model, and weights the obtained spectrum to obtain the Michelson interference fringe spectrum actually perceived by the human eye retina, thereby realizing non-artificial intervention measurement and calculation of the endoscope angular resolution. At the same time, the method characterizes the endoscope's imaging capability for object edges and details, introduces a step function for boundary analysis, and obtains the slope of the brightness distribution curve of the black and white fringe boundaries collected by the endoscope by deriving the step function to calibrate the display capability of edges and details.

The application discloses a radar high-resolution imaging method based on a fast shrinkage iterative threshold network, which is applied to the field of radar detection and imaging. The low-pass characteristic of a radar antenna pattern makes the deconvolution problem a pathological problem, the frequency band width of which is limited, and direct inverse filtering can cause high-frequency noise amplification and cannot obtain stable inversion results. The application combines the interpretability of an iterative algorithm and the advantages of deep learning, expands a fast iterative shrinkage threshold algorithm into a deep network, and can be used to solve the problems of low azimuth resolution of an existing scanning radar and difficulty in manually selecting parameters, so as to realize super-resolution imaging of the scanning radar. The application has the characteristics that two-dimensional radar data is divided into one-dimensional azimuth vectors, one-dimensional convolution is used to fully learn the characteristics of the azimuth data, the optimal parameters in the fast shrinkage threshold algorithm are obtained, and the azimuth resolution of the radar image is effectively improved.

The utility model relates to an optical configuration capable of effectively reducing angular resolution, which comprises a first lens, a second lens, a third lens and a plane mirror which are coaxially arranged, and the lenses form a transmitting antenna of a laser range finder and are sequentially and coaxially arranged along the propagation direction of light beams output by a laser. The plane mirror is adjacent to the third lens, the two faces of the plane mirror are plated with thin films with the gradient transmittance of 1535 nm, edge stray light of laser can be eliminated, the diffraction effect is effectively reduced, the influence on the total length of an optical system is small, and the measurement precision is high. Compared with a conventional method for reducing the angular resolution by compressing the laser emission angle, the method is convenient to install and adjust, the tolerance of an optical system is large, and miniaturization and light weight of products can be achieved easily.

This invention relates to an ophthalmic lens and its manufacturing process. The ophthalmic lens includes a lens body, which comprises a central region and an auxiliary region surrounding the central region. The auxiliary region contains a plurality of scattering clusters formed by translational shifts according to a preset period. Each scattering cluster is composed of multiple microstructures arranged according to a spatial lattice configuration. This invention, by first combining multiple microstructures into scattering clusters and then using these clusters to fill the auxiliary region, can, on the one hand, enhance the scattering of incident light in other directions, reducing the angular resolution of the luminescent object; on the other hand, it can ensure the uniformity of the entire scattering cluster by utilizing multiple microstructures arranged according to a spatial lattice configuration, further providing a basis for the optimization of myopia glasses.