224 results about "Attitude determination" patented technology

The invention discloses an agile satellite attitude fusion method and system considering multi-source reference difference, and belongs to the field of remote sensing satellite ground data processing, and the method comprises the steps: calculating a thermal environment factor based on satellite measurement data and satellite sensor installation parameters; extracting a space-time low-frequency error based on observation data of the star camera and the star sensor; performing normalization processing on the thermal environment factor, and constructing a relation model of the space-time low-frequency error and the thermal environment factor by adopting a multi-layer perceptron network to obtain compensated attitude data of the star sensor and the star camera; establishing a multi-source absolute attitude sensor data fusion model based on the compensated attitude data of the star sensor and the star camera; and carrying out absolute and relative attitude data fusion filtering processing on the processed gyroscope data and the fusion result of the star sensor and the star camera by adopting a bidirectional dynamic unscented Kalman filter to obtain a high-precision attitude data result. According to the method, the attitude determination precision of the agile satellite is improved, and the requirement of a high-precision remote sensing task is met.

The invention relates to a combined attitude determination technology, in particular to a high-precision combined attitude determination method based on a multi-antenna GNSS (Global Navigation Satellite System) and an INS (Inertial Navigation Satellite System), which comprises the following steps of: S1, fixing a GNSS receiver and the INS on a carrier; s2, calculating carrier position information and carrier speed information, and establishing a double-difference carrier phase observation model; s3, calculating a baseline vector predicted value between the antennas; s4, an LAMBDA algorithm model based on INS attitude information constraint is constructed; resolving the IC-LAMBDA algorithm model by using a least square method to obtain an optimal integer solution of the integer ambiguity; s5, calculating a baseline vector between the antennas; carrier attitude information is solved; and S6, fusing the GNSS navigation information and the INS navigation information by using an extended Kalman filter. The method solves the problems of low attitude measurement precision and poor scene adaptability of the existing integrated navigation technology, and is suitable for the fields of unmanned aerial vehicle control, unmanned vehicle driving, unmanned agricultural machinery seeding, marine navigation surveying and mapping and the like.

The invention relates to a tunnel three-dimensional holographic splicing method and device for panoramic array camera networking, and the method comprises the steps: enabling a reference transmission camera array and a three-dimensional laser scanner on an inspection vehicle to move to different inspection positions along with the inspection vehicle for adjustment, achieving the transmission of peripheral control information at two ends of a tunnel into a measurement region, and constructing a dynamic control field; the limitation on measurement conditions is reduced; high-precision positioning and attitude determination are carried out based on fixed connection constraints of a look-around camera array and a three-dimensional laser scanner and a constructed dynamic control field, so that a measurement platform is unified to a global coordinate system, and the inherent defect of large accumulative error of a traditional three-dimensional modeling method is effectively avoided; and then the high-resolution look-around image is mapped to the three-dimensional point cloud data under the global coordinate system, so that high-resolution and high-precision three-dimensional holographic splicing of the tunnel ring surface under the global coordinate system is realized, global and local high-resolution and high-precision are achieved, and the acquisition precision of the tunnel three-dimensional hologram is greatly improved.

The invention discloses a hotspot target tracking method and device based on load detection and star sensor resetting, and belongs to the field of spacecraft attitude control. The method comprises the following steps: estimating longitude, latitude and elevation information of a target according to a time scale of load target detection information and historical load visual axis ground pointing point information; according to the maximum attitude maneuverability of the system and a five-order polynomial guide model, the fastest moment of target recapture is determined by taking time as an iteration quantity, and the target attitude in the target recapture process is autonomously planned and closed-loop control is carried out; after the target is captured again, the control system performs closed-loop control according to load real-time detection information to ensure that the target is located in the center of a load view field, and the load performs continuous imaging; after tracking imaging is finished, a guiding process of returning to scanning imaging is autonomously planned; in the whole process, the current attitude is automatically reset according to a double-vector attitude determination result of the high-precision star sensor by taking the angular velocity as a constraint, so that the pointing precision is ensured.

The invention discloses a satellite ground staring attitude control multi-software joint simulation system and a construction method thereof, and belongs to the technical field of computer simulation, and the construction method comprises the steps: 1, constructing an ADAMS-based microsatellite ontology model; 2, constructing a satellite orbit model and an attitude sensor model based on STK; step 3, constructing a torque execution mechanism model based on MATLAB (matrix laboratory) and Simulink; 4, designing an attitude determination algorithm and a control algorithm of a ground staring task simulation model capable of combining a microsatellite body model, a satellite orbit model, an attitude sensor model and a torque execution mechanism model; according to the method, ADAMS, STK and MATLAB are combined to simulate a satellite body, an attitude sensor, a torque execution mechanism and a running orbit, the attitude control task of the satellite is simulated, and the method has the advantages of being good in simulation effect and visual and intuitive in simulation process.

The invention discloses a positioning and attitude determination method and device integrating Beidou navigation and inertial navigation, and relates to the technical field of attitude measurement, the method comprises the following steps: correcting a gyroscope error by using an accelerometer error and a magnetometer error based on proportional integral operation to obtain a gyroscope output after error correction; using the gyroscope output after error correction to update the quaternion of the moving object, using the quaternion to calculate the attitude, and obtaining the attitude angle of the moving object under the carrier coordinate system calculated through inertial navigation; moving object positioning and attitude determination calculation is carried out by using the time difference of the satellite carrier phase double differences between the double BDS receivers and the different groups of satellites, and the attitude angle of the moving object under a carrier coordinate system calculated through Beidou satellite navigation is obtained; and performing Kalman filtering fusion on the attitude angle calculated by inertial navigation and the attitude angle calculated by Beidou satellite navigation to obtain a final attitude angle. The method can adapt to a dynamic environment, and the attitude measurement precision is improved.

The embodiment of the invention discloses a deviation angle-considered integrated navigation system attitude estimation method, and relates to the technical field of inertial navigation / satellite navigation integrated navigation, the method is applied to a carrier, and the method comprises the following steps: obtaining observation data through a GNSS receiver to obtain first attitude measurement data; obtaining second attitude measurement data according to the measurement data of the inertial navigation unit in combination with the motion state; constructing an integrated navigation system state equation considering the deviation angle, constructing an integrated navigation system measurement equation based on the first attitude measurement data and the second attitude measurement data, and obtaining an attitude estimation model; initial parameters are obtained based on the observation data and the measurement data, the attitude estimation model is recurred through Kalman filtering, and the attitude angle of the carrier is output. According to the method, by means of the assistance of the speed information provided by the GNSS, the influence of the radial acceleration and the centripetal acceleration to the ground is considered, the method for determining the accelerometer attitude and estimating the deviation angle in real time in the dynamic environment is realized, and the system error of attitude determination is reduced.

To more stably determine the position and attitude of a hand gripping a target object.An information processing device includes: a position / attitude estimation unit that, taking each of points included in point cloud data generated based on a sensing result for a target object as contact points, estimates, for each of the points, candidates for a position and an attitude of a hand that grips the target object; a target object shape estimation unit that estimates a shape of the target object based on a distribution of the candidates for the position and the attitude estimated for each of the points; and a position / attitude determination unit that determines the position and the attitude of the hand gripping the target object based on the shape of the target object estimated.

The invention discloses a multi-sensor fusion unmanned aerial vehicle positioning and attitude determination system and method. The system deeply fuses data of a millimeter wave radar, a real-time dynamic differential positioning technology and an inertial measurement unit; the method comprises an initialization stage S1 and a loop execution stage S2, and specifically comprises the steps of S21, data acquisition and synchronization; s22, performing state prediction based on an inertial measurement unit (IMU); s23, preprocessing the measurement data; s24, state updating is carried out based on the real-time dynamic differential positioning unit RTK and the millimeter wave radar unit MMW; s25, calculating a relative position; and S26, outputting. According to the method, high-precision and high-reliability absolute positioning and attitude determination are realized through a fusion algorithm, accurate and robust relative position estimation is completed through complementation of multiple sensors, maintenance of relatively good pose estimation and real-time calculation of an accurate relative geometrical relationship between the unmanned aerial vehicle and a target, so that high-update-rate state output is completed, and real-time control requirements are met.

The invention relates to an unmanned aerial vehicle towed body positioning attitude measurement method based on binocular vision positioning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, constructing a measurement system which comprises an unmanned aerial vehicle and a towed body connected with the unmanned aerial vehicle through a cable; the unmanned aerial vehicle carries a GNSS module, an IMU module and a binocular camera, and the upper surface of the towed body is provided with a coding pattern and carries a sonar sensor; s02, establishing a towed body coordinate system by taking the acoustic center of the sonar sensor as an original point, obtaining three-dimensional coordinates of feature points on the towed body in the towed body coordinate system, and generating a three-dimensional space model operation simulation model of the towed body; and S03, the binocular camera is calibrated. According to the invention, the problem of underwater topographic survey of a near-shore high-flow-velocity turbid water area is solved, and high-efficiency, low-cost and high-precision surveying and mapping operation is realized.

The invention relates to the technical field of engineering construction measurement and control, and discloses a calibration method for positioning and attitude determination of a heading machine, which comprises the following steps: constructing a data acquisition module, a route making module, a real-time dynamic monitoring module, an execution module, a feedback module and an optimization module; the data acquisition module is used for completing comprehensive acquisition of multi-source data of the heading machine, a route, an environment and an obstacle, the route making module is used for fusing the multi-source data to carry out path planning and error compensation, and the real-time dynamic monitoring module is used for realizing heading machine pose tracking and emergency correction through visual marking points and a laser scanner. The execution module is used for converting an optimal tunneling path into a driving motor control instruction, the feedback module is used for collecting deviation data of an actual operation pose and a planned path in real time and returning the deviation data, the optimization module realizes long-term self-adaptive optimization of the system, and finally, precision, safety and high efficiency of the tunneling operation of the tunneling machine in a complex underground environment are realized.

The invention relates to a carrier three-dimensional attitude determination method based on night polarized light field double-vector characteristics, which comprises the following steps: acquiring night sky polarized light field information, and acquiring an image plane coordinate system neutral point coordinate and a moon coordinate based on polarization distribution mode neutral surface characteristics; based on an imaging model, inversely solving a polarization neutral point vector and a moon vector under a carrier coordinate system, and further calculating a carrier system neutral surface normal vector; obtaining a moon vector under the navigation system according to the time information and the geographic position information, and calculating to obtain a normal vector vector of a neutral surface of the navigation system by using a zenith direction vector; constructing an orthogonal coordinate system by using the corresponding moon vector and the normal vector in the carrier system and the navigation system respectively; and calculating an attitude conversion matrix based on the two orthogonal coordinate systems so as to obtain a conversion relation between the carrier system and the navigation system and obtain a three-dimensional attitude angle. According to the invention, autonomous attitude determination based on the sky polarized light field under the condition of no external input is realized, an external error source is removed, and autonomy is improved.

The invention discloses a high-precision attitude determination method and device for high-frequency estimation and timing correction of a rotating load, and belongs to the field of satellite attitude control. The method comprises the following steps: determining the attitude of a satellite by utilizing short-period attitude estimation of a gyroscope in a star-sensitive invisible sky area; when a satellite enters a star sensor visible sky area, resetting an initial filtering estimation attitude of a gyroscope by using a star sensor attitude quaternion, and performing short-period attitude estimation based on the reset initial filtering estimation attitude of the gyroscope so as to perform fusion attitude determination by using the short-period attitude estimation of the gyroscope and star sensor correction; wherein the attitude estimation period of the gyroscope is smaller than the star sensor correction period. According to the method, the attitude quaternion estimation period of the gyroscope is reduced, the attitude estimation frequency of the gyroscope is improved, and the attitude determination strategy is fused through the long and short periods in the visible sky area of the star sensor, so that the deviation in the attitude determination process caused by the motion characteristics of the high-angular-speed rotating load is effectively reduced, and the high-precision attitude determination of the high-speed rotating load is realized.

The invention discloses a least square covariance dynamic weighting satellite inertial navigation combined attitude determination method, which belongs to the technical field of combined navigation and mobile carrier attitude determination, is used for satellite inertial navigation combined attitude determination, and comprises the following steps: obtaining and preprocessing original data, constructing a nonlinear observation model, linearizing by using a Gauss-Newton iterative algorithm, and solving; performing time updating of an error state vector and a state covariance based on inertial navigation system mechanical arrangement; and reconstructing a measurement noise covariance matrix of extended Kalman filtering, constructing a measurement information vector, calculating Kalman gain, performing state updating, and outputting an attitude determination result. According to the method, the current epoch least square posterior covariance is introduced for dynamic weighting, so that instantaneous delay-free adaptive fusion is realized, the short baseline noise amplification effect is remarkably inhibited, and the attitude estimation precision, the statistical consistency and the real-time observation quality self-diagnosis capability under the complex sea condition are improved.

The invention relates to a three-dimensional map surveying and mapping method, device and equipment based on an unmanned aerial vehicle and a medium. The method comprises the following steps: acquiring a global remote sensing image of a to-be-mapped area, and performing scene semantic analysis on the global remote sensing image to obtain scene semantic information; the global remote sensing image is collected by a remote sensing satellite; generating an initial flight path according to the scene semantic information, and obtaining three-dimensional surveying and mapping data collected by the unmanned aerial vehicle along the initial flight path; the three-dimensional surveying and mapping data comprises multi-view image data and corresponding positioning and attitude determination data; generating an initial point cloud of the to-be-mapped area based on the three-dimensional mapping data; carrying out ground feature category division on the initial point cloud to generate a hierarchical semantic point cloud; and generating a three-dimensional map model corresponding to the to-be-mapped area based on the hierarchical semantic point cloud. By adopting the method, the layered three-dimensional map with surface feature semantic information can be generated, and dynamic optimization can be realized.

The invention discloses a robust adaptive fusion filtering astronomical attitude determination method and system, and belongs to the technical field of radio navigation. The method comprises the following steps: constructing an integrated navigation model of a starlight and inertial integrated navigation system based on Lie group description; obtaining an observation residual error and an observation residual error covariance of a corresponding mode; robust and adaptive mode parallel sub-filtering is carried out, and posterior states and covariances in the two modes are updated; updating the mode probability; and fusing the updated posterior state with the covariance to obtain fusion output of parallel sub-filtering, taking the fusion output of the parallel sub-filtering as final estimation of the starlight and inertial integrated navigation system based on Lie group description, and outputting an astronomical attitude determination result containing an azimuth angle, a pitch angle and a roll angle. The high-precision astronomical attitude determination method has strong adaptability, strong robustness and accuracy when coping with complex noise and measuring outliers, and can realize high-precision astronomical attitude determination of starlight and inertial integrated navigation in a complex dynamic environment.

The invention belongs to the technical field of communication, and particularly relates to a Beidou signal high-precision positioning and measuring method, which comprises the following steps of: researching a mutual relation and an analytical algorithm of a Beidou signal structure, a propagation path and receiving processing, and improving the observation precision from the angle of a data source; according to a Beidou multi-frequency RTK deep coupling technology, calculating a double-difference three-frequency pseudo-range and carrier combination observation value, cooperatively applying a regional network error model, and performing coordinate calculation and error correction on the basis; and high-precision positioning data is obtained by combining precise time synchronization and a dual monitoring system. According to the invention, through a precise and efficient positioning and attitude determination algorithm, the data processing precision of Beidou signals is improved, and more accurate data support can be provided for the fields of transportation, public safety, disaster reduction and prevention and the like.

The invention discloses a missile-borne inertial navigation air coarse alignment method and system based on GNSS assistance. The method belongs to the technical field of inertial navigation, and comprises the following steps: firstly, acquiring projectile body initial information provided by a GNSS receiver and real-time measurement data of an inertial navigation system, and initializing the inertial navigation system by combining the information to generate an initial attitude matrix of a projectile body; and then simplifying and decomposing the initial attitude matrix based on a matrix chain multiplication relationship, obtaining real-time information through a GNSS, and constructing an apparent position vector through an inertial navigation specific force equation and GNSS speed information to obtain an optimized and corrected real-time coarse alignment attitude matrix. And finally, further solving and verifying the real-time coarse alignment attitude matrix based on a dual-vector attitude determination algorithm of REQUEST. According to the invention, rapid and accurate coarse alignment of the inertial navigation system in the air is realized, and a solid foundation is provided for subsequent high-precision navigation and guidance tasks.

The invention discloses a high dynamic load multi-information fusion attitude determination method and device, and belongs to the field of satellite attitude control. The method comprises the following steps: a satellite performs load platform attitude determination by using attitude extrapolation of a gyroscope in a star-sensitive invisible sky area; when a satellite enters a star sensor visible sky area, attitude quaternion resetting of a gyroscope is carried out by utilizing a star sensor measurement attitude, gyroscope attitude extrapolation is carried out based on the reset attitude quaternion, fusion attitude determination is carried out by utilizing the attitude extrapolation of the gyroscope and star sensor correction, and fusion attitude determination is carried out by using a first double-star sensor group at a front semi-arc section of the visible sky area; carrying out fusion attitude determination on the rear semi-arc section of the visible sky area by using a second double-star-sensor group; the two star sensors in each double-star-sensor group are integrally mounted, and the projections of the two star sensors in each double-star-sensor group on the YOZ plane coincide. According to the invention, the star-sensitive measurement precision of the high dynamic load can be ensured, and the attitude determination precision requirement of the optical satellite under the high-speed motion characteristic of the in-orbit load platform can be met.

The invention aims to provide a vertical shaft heading machine attitude determination method and system, and belongs to the field of underground engineering monitoring. The method comprises the following steps: establishing a fixed coordinate system and a carrier coordinate system, acquiring propagation time by using a well wall ultrasonic transmitter and a platform receiver, and resolving absolute coordinates of the receiver and absolute attitude of a platform based on spatial spherical intersection; meanwhile, a gyroscope and an accelerometer are used for collecting angular velocity and specific force information, and high-frequency and low-frequency predicted attitudes are calculated. And combining the absolute attitude with the predicted attitude through a fusion algorithm to obtain an optimal attitude angle, and constructing a conversion matrix to process specific force information so as to solve an optimal position deviation. The advantages of high penetrability of ultrasonic waves and continuity of inertial navigation are utilized, the problem that laser guidance is prone to failure in the dust and muddy water environment is solved, and high-precision and anti-interference real-time monitoring of the posture of the vertical shaft heading machine is achieved.

Disclosed is a satellite which includes an Attitude Determination and Control System (ADCS) and at least one radiative surface, where the orientation of the satellite with respect to the sun is change

The invention relates to the technical field of mechanical control, and discloses an anti-overturning early warning method, system and device for a drilling machine and a storage medium, and the method comprises the steps: building a three-dimensional coordinate system, and obtaining a vehicle body barycentric coordinate and a joint barycentric transformation matrix of each joint barycentric relative to the joint; determining a vehicle body gravity matrix based on vehicle body postures, vehicle body barycentric coordinates and vehicle body gravity; determining a pose transformation matrix of each joint relative to the previous joint based on the posture of each joint and the posture of the vehicle body; calculating a cantilever crane gravity matrix according to the gravity of each joint, the joint gravity center transformation matrix and the pose transformation matrix; and calculating a danger coefficient based on the cantilever crane gravity matrix and the vehicle body gravity matrix, and carrying out overturning early warning on the target drilling machine according to the danger coefficient. According to the method, the cantilever crane gravity matrix and the vehicle body gravity matrix are calculated in real time, the overturning danger coefficient of the target drilling machine is predicted based on the cantilever crane gravity matrix and the vehicle body gravity matrix, real-time early warning of the overturning danger is achieved, and overturning accidents are reduced.

The present invention discloses a low-cost commercial remote sensing satellite attitude determination information fusion method. On a commercial remote sensing satellite, two star sensors, two gyroscopes, two sun sensors, and one magnetometer are used to measure the satellite attitude. According to the data availability of each sensor, conditional judgment is performed, and quaternions and gyroscope angular velocity are used to perform attitude determination, and finally satellite attitude determination information is obtained. The information fusion method of the present invention is simple, does not rely on complex algorithms and expert experience, occupies less on-board resources, is easy to maintain, and reserves an interface for ground-based forced intervention in the on-board information fusion method, thereby improving the reliability and practicality of the fusion algorithm.

The invention discloses a laser radar positioning and mapping method based on visual review assistance, and particularly relates to the technical field of deep space exploration, and the method comprises the steps: firstly, carrying out positioning and mapping by using a tightly coupled laser-inertial odometer framework FAST-L IO2, then accurately calculating self attitude information by using a visual vector, and finally, carrying out deep space exploration. And the information is used as a reliable attitude reference to be introduced into the correction step of the laser radar SLAM. The attitude calculated by the visual vector is used as an observation constraint, and the pose output by the laser radar SLAM is corrected in real time, so that the attitude drift caused by vibration or point cloud mismatch is reduced, and the overall precision of pose estimation is improved. According to the method, the advantage of high precision of the visual vector in attitude determination is utilized, the problem of insufficient robustness of a positioning and mapping technology based on the laser radar is solved, and an innovative solution is provided for a satellite-borne autonomous navigation system.

To provide an attitude estimation device capable of easily achieving attitude estimation by using a single imaging device.SOLUTION: An attitude estimation device includes: an image acquisition part for acquiring a two-dimensional image obtained by imaging an attitude estimation object person seating on a seat in a vehicle by a single imaging device; a three-dimensional coordinate acquisition part for acquiring a three-dimensional coordinate of a body center part in a waist, a belly, and a shoulder of the attitude estimation object person and a three-dimensional coordinate of a left shoulder and a right shoulder on the basis of a two-dimensional coordinate of the two-dimensional image; a three-dimensional length acquisition part for acquiring a first three-dimensional length determined by the three-dimensional coordinate of the waist and the left shoulder and a second three-dimensional length determined by the three-dimensional coordinate of the waist and the right shoulder; and an attitude determination part for determining whether or not the attitude estimation object person keeps a normal seating attitude in which it is regarded that a seat center line passing through a center position in a lateral direction of the seat and regulated in a vertical direction is coincident with a body center line passing through the center position in the lateral direction of the body of the attitude estimation object person and regulated in the vertical direction, on the basis of the first three-dimensional length and the second three-dimensional length.SELECTED DRAWING: Figure 3

The application discloses a hotspot target tracking method and device based on load detection and star sensitivity reset, and belongs to the field of spacecraft attitude control. The method comprises the following steps: according to the time scale of load target detection information and historical load visual axis ground pointing point information, the latitude, longitude and altitude information of the target are estimated; according to the maximum attitude maneuvering ability of the system and the five-order polynomial guide model, the fastest time of target recapture is determined by taking time as an iteration amount, the target attitude of the target recapture process is autonomously planned, and closed-loop control is carried out; after the target recapture, the control system carries out closed-loop control according to the real-time detection information of the load, ensures that the target is located at the center of the visual field of the load, and the load continuously images; after the tracking imaging is completed, the guide process of returning to scanning imaging is autonomously planned; in the whole process, the current attitude is reset according to the double-vector attitude determination result of the high-precision star sensitive sensor with angular velocity as a constraint, so that the pointing accuracy is ensured.

The invention discloses a method and a system for determining an optimal attitude of a high-dynamic star sensor, and belongs to the technical field of spaceflight measurement and control. Aiming at anisotropic distribution of centroid positioning errors caused by'trailing 'of a star point image under high dynamic condition, the method comprises the following steps: acquiring a trailing star point image and extracting an observation star vector; calculating a prior attitude matrix; analyzing the anisotropy error and trajectory orientation of the center of mass in the motion trajectory direction and the vertical direction; calculating an error component in an image plane coordinate axis direction; and constructing a weighted least square problem based on the error component, and updating a prior attitude to obtain an optimal attitude matrix. By accurately matching the weight of anisotropy error distribution, noise in a large error direction is effectively suppressed, and information in a high-confidence direction is fully utilized, so that the limitation of a traditional method is overcome, attitude estimation under a high-dynamic condition is ensured to meet the minimum variance unbiased estimation requirement, and the accuracy of attitude estimation is improved. And the precision and reliability of attitude determination are obviously improved.

According to the embodiment of the invention, the invention provides a method and device for attitude determination, equipment, a storage medium and a program product. The method includes determining an initial pose of an actuator based on joint rotation data representing a current pose of an object, the joint rotation data indicating rotation of a plurality of object joints of the object, the actuator including a plurality of actuator joints to simulate an action of the object; updating the initial attitude to an intermediate attitude of the actuator based on the position of at least one end portion of the object; based on the position of the at least one tail end part, the contact state of the object is determined, and the contact state indicates whether the object in the current posture has mutual contact parts or not; and determining a target attitude of the actuator based on the contact state and the intermediate attitude.

The invention belongs to the technical field of magnetic field navigation, and particularly relates to a three-axis magnetic sensor positioning and attitude determination method and system based on a magnetic beacon. The method comprises the following steps of: 1, expressing distribution of a magnetic field generated by a magnetic beacon at any position in space through a spherical harmonic function; 2, determining the relative position of the magnetic beacon and the magnetic sensor based on the position of the magnetic beacon; 3, based on the relative position in the step 2, establishing a magnetic sensor positioning and attitude determination equation; 4, solving the equation in the step 3 by adopting a particle swarm algorithm to obtain spherical coordinates; and 5, converting the spherical coordinates solved in the step 4 into Cartesian coordinates to complete positioning and attitude determination of the magnetic sensor. The space coordinate and the attitude of the magnetic sensor are accurately calculated through the magnetic field generated by the magnetic beacon at the magnetic sensor to be detected, so that the technical development of related fields is supported.

The invention discloses an indoor positioning and attitude determination method based on pseudo star map recognition. The method comprises the following steps: designing a pseudo star array meeting a cross ratio constraint condition based on a three-dimensional topological layout; accurately calibrating the position of each pseudo star, calculating the cross-ratio of collinear adjacent four-point pseudo stars, and generating a global pseudo star cross-ratio feature library; collecting a scene image containing a pseudo star in real time, and extracting a sub-pixel-level light spot center coordinate to form a feature point set of each view field; a collinear point group is screened out from the feature point set, and then specific collinear point chains are extracted to form a collinear point chain set; calculating a cross-ratio invariant for the longest collinear point chain based on a cross-ratio invariance principle, and constructing a local pseudo-star cross-ratio sub-library through matching with a global pseudo-star cross-ratio feature library; carrying out cross-ratio calculation on other collinear point chains and matching local pseudo-star cross-ratio sub-libraries to establish a corresponding relation; and resolving an initial pose value, constructing a joint optimization model fusing a re-projection error and a cross-ratio constraint, and iteratively optimizing and outputting a high-precision six-degree-of-freedom pose result. The invention further discloses a corresponding system, electronic equipment and a computer readable storage medium.