94 results about "Attitude determination" patented technology

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 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 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 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 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.

The invention discloses a control method and device for an active folding arm deformation aircraft, a medium and a product, and relates to the field of aircraft control, and the method comprises the steps: obtaining a real-time output angle value of a servo motor through PID control based on expected deformation configuration; designing an inertia self-adaptive estimation mechanism based on a coordinate system represented by kinematics and kinetic equations and a variable theoretical value during attitude determination, determining a current inertia matrix estimation value by adopting a recursive least square method, adding a kinetic model, and setting a sliding mode backstepping control rate; damping and feed-forward compensation optimization are carried out by adopting a set control rate, a current rotating speed value of the power servo motor is determined by combining a time-varying distribution matrix, an actual position and an attitude angle are determined by considering a real-time output angle value, and the actual position and the attitude angle are fed back to a position and attitude controller. According to the method, the control rate and the feedback term related to the inertia in the controller design can be corrected in real time, and the sudden change problem of the inertia is solved, so that the adaptability to the uncertainty of the aircraft structure is effectively enhanced.

The present application relates to the technical field of photoelectric detection and navigation, and discloses a solar vector orientation method, device and computer equipment based on thermal sensitive vision, to solve the problem of signal attenuation and low reliability of existing visible light or polarized light solar detection technology under complex weather. The method comprises: acquiring a thermal infrared image of a sky area by using a near-infrared thermal sensitive vision sensor; performing image preprocessing to enhance the solar target information; detecting and segmenting the solar target area in the image, and accurately positioning the solar center coordinates by using a centroid estimation or ellipse fitting method; converting the image coordinates into the solar position observation vector in the carrier coordinate system of the bearing sensor according to the sensor calibration parameters and installation parameters; and combining the theoretical solar vector calculated by an astronomical algorithm to solve the orientation information of the carrier. The present application is suitable for complex lighting conditions, has the advantages of strong anti-interference and high precision, and can be used for attitude determination in aerospace and marine navigation.

The invention provides a multi-source fusion positioning and attitude determination method and system based on lane line structure assistance. The method comprises the following steps: performing fusion positioning processing on a satellite pseudo-range observation value, a phase observation value, an acceleration value, gyroscope observation information and a visual image; acquiring the position, the speed and the attitude at the initial moment, and performing initial alignment and mechanical arrangement through inertial navigation to obtain the position, the speed and the attitude at the subsequent moment; extracting lane lines in the visual image by adopting a preset lane line extraction algorithm; extracting and matching line features in the visual image by adopting a real-time straight line segment detection algorithm and a line strip descriptor algorithm, and extracting and matching angular point features in the image by adopting an angular point detection algorithm and an optical flow method; obtaining the main direction of the current world based on the lane line and the gravity direction, and initializing the structure line features of the current world; and constraining the direction of the line feature by using the main direction, and continuously optimizing the position, the speed and the attitude of the subsequent moment through the angular point feature and the constrained line feature.

1. Name of the designed product: Micro-Electro-Mechanical Inertial Measurement Unit (05 series standard version). 2. Use of the designed product: for orientation, attitude determination and attitude tracking. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

This invention discloses a method for precise airdrop and rapid in-flight alignment based on inertial navigation / satellite integrated navigation. The method includes: after the navigation device is powered on, establishing a carrier and navigation inertial coordinate system through inertial solidification; periodically acquiring angular rate and specific force data from the inertial measurement unit and position and velocity data from the satellite receiver; sequentially calculating carrier system tracking, specific force integration, navigation system tracking, and acceleration integration; and recursively solving the problem using a Rodrigues parameter multi-vector attitude determination algorithm to calculate the real-time attitude matrix, repeating this process until alignment is complete. This invention simplifies the initial alignment problem without initial values ​​for arbitrary attitudes into an unconstrained linear optimal estimation problem for Rodrigues parameters, utilizing specific force and acceleration integration as measurement information, and fully utilizing all effective data during the alignment process. It requires no initial attitude information and can rapidly complete alignment under complex dynamic base conditions such as airdrop swaying and rotation, outputting attitude results in real time, significantly improving alignment accuracy and speed.

In precision agriculture, high-precision navigation, attitude determination, and obstacle detection methods are used to conserve resources and achieve better results. The collected machine position and attitude data, as well as obstacle location data, can be effectively utilized to synthesize control algorithms for autonomous agricultural machinery. These algorithms are applied to coverage path planning, route planning, motion stabilization along a specified path, obstacle avoidance, and ensuring guaranteed behavior.

The invention discloses a dual-beam millimeter wave satellite communication phased-array antenna device and a communication system. The device comprises a dual-beam transmitting module, a dual-beam receiving module, a frequency conversion module, a positioning and attitude determining module, an antenna control module and a structural assembly. The system comprises a dual-mode satellite modulation and demodulation module, a baseband processing and routing module and a user terminal interface module. According to the phased-array antenna, an electronic scanning system is adopted, the problem that a traditional mechanical phased-array antenna is low in tracking speed is solved, and the reliability of the phased-array antenna is greatly improved; meanwhile, the dual-beam design is adopted, two satellite networks can be accessed at the same time, real-time switching between the two satellite networks is achieved, uninterrupted satellite communication is achieved, and the communication reliability is greatly improved.

The invention discloses an accurate attitude determination method and system based on GNSS multi-antenna multi-frequency ambiguity step-by-step solution, and the method comprises the steps: firstly calculating the coordinates of a reference antenna in an ECEF coordinate system through employing a reference antenna observation value, and then calculating a rotation matrix from the ECEF coordinate system to a navigation coordinate system at the reference antenna; constructing a double-difference pseudo-range and carrier phase observation equation between the reference antenna and each auxiliary antenna on the carrier according to GNSS multi-antenna multi-frequency observation data, constructing a wide-lane carrier phase observation equation according to the double-difference pseudo-range and carrier phase observation equation, and obtaining double-difference wide-lane ambiguity of each baseline; according to the GNSS multi-antenna multi-frequency attitude determination method, the function of performing high-precision attitude determination according to step-by-step calculation according to the GNSS multi-antenna multi-frequency ambiguity and by adopting a mode of combining a direct method and a least square method is realized, and the GNSS multi-frequency attitude determination calculation efficiency is improved by utilizing the advantage that the ambiguity of the multi-frequency combination observation value is easy to fix, so that the GNSS multi-frequency observation value is reasonably utilized, and the GNSS multi-antenna multi-frequency attitude determination accuracy is improved. And the attitude calculation precision is also improved.

The invention provides a high-precision detection method and device for air-ground undulating surface hidden disasters, and relates to the technical field of geological exploration. Synchronous acquisition of the multi-thread laser radar, the high-precision positioning and attitude determination system and the GPR host is realized through hardware triggering of the industrial personal computer, and a high-precision timestamp under a unified time reference is written into point cloud data and radar channel data. A three-dimensional point cloud model is constructed based on time alignment and coordinate transformation, a GPR antenna phase center coordinate sequence is obtained through space intersection in combination with installation parameters, and then an earth surface digital model is constructed. And carrying out elevation correction and near-surface delay correction on radar channel data by taking the earth surface digital model as a reference, executing Kirchhoff migration imaging, and outputting a migration profile, thereby improving the imaging precision and positioning reliability of hidden disaster detection under the undulating earth surface condition.

Independently moving deployment and positioning space vehicles that are configured to deploy and / or position structures are disclosed. The deployment and positioning vehicles work together to deploy and / or maintain the position / shape of a space structure. The deployment and positioning vehicles may include one or more thrusters, an attitude determination and control system (ADCS), a precision vehicle-to-vehicle location determination system, processing circuitry, etc. Two or more deployment and positioning vehicles are configured to coordinate the deployment and / or positioning of the space structure themselves or in concert with the other deployment and positioning vehicles in the deployment and positioning vehicle network, as well as achieve precision positioning.

The present invention relates to an integrated satellite platform that will find application in the satellite industry, more particularly for reducing the time to integrate, test, and launch into orbit around the Earth various types of payloads and obtain data therefrom. The developed integrated satellite platform is composed of a power unit, a communication system, on-board computers, an attitude determination and control system, and a propulsion system. All components and systems of the platform are, on the one hand, connected to a single central bus (6) for power transmission, and, on the other hand, are bidirectionally interconnected via the single central bus (6) for telemetry and telecommand transmission within the platform. An embedded diagnostic and test module (7) is also connected to the single central bus (6) via interrupting mechanisms. The unified bus (6) allows data and power to be transferred between the components of the platform without the need for cabling between the components. The platform is equipped with standard power interfaces (8.1) and high-speed data communication interfaces (8.2) to the payload.

The present application relates to the technical field of spacecraft attitude control, and particularly relates to a load attitude determination method and device based on an included angle monitoring star sensor, wherein the method comprises: obtaining angle conversion relationships between a reference mirror coordinate system and a star sensor measurement coordinate system, between a central prism coordinate system and the reference mirror coordinate system, and between the central prism coordinate system and a star sensor monitoring coordinate system in a ground phase; obtaining angle conversion relationships between the central prism coordinate system and the star sensor monitoring coordinate system, and between the star sensor measurement coordinate system and a J2000 coordinate system in an on-orbit phase; and combining a corresponding relationship between the star sensor measurement coordinate system and the star sensor monitoring coordinate system to determine an angle conversion relationship between the central prism coordinate system and the J2000 coordinate system in the on-orbit phase. The present application can obtain high-precision load pointing.

The application discloses a spacecraft autonomous attitude determination method based on natural celestial radio radiation, which firstly acquires a noise signal of natural celestial radio radiation, and calculates the attitude of the spacecraft based on the noise signal, a pre-stored antenna directional diagram and a sun ephemeris table. The method can be used as a backup attitude determination scheme in extreme cases such as sensor failure, and does not depend on artificial navigation signals and is not afraid of strong light interference, and has high reliability and good robustness.

The invention provides a flexible sailboard satellite active vibration control method and device for SADA disturbance, and belongs to the field of spacecraft attitude determination and control. The method solves the problem of stability caused by frequency drift in the prior art and the problem that the method depends on a satellite model and cannot adapt to a time-varying system. The method comprises the following steps: acquiring an SADA driving angle, an angular velocity of a fiber-optic gyroscope and voltage data of a piezoelectric sensor; performing discrete short-time Fourier transform on the voltage data to obtain an amplitude spectrum and a phase spectrum; identifying the frequency corresponding to the peak value of the amplitude according to the amplitude spectrum, and associating the SADA driving angle corresponding to the peak value with the angular velocity of the fiber-optic gyroscope; the stability of the whole satellite is judged according to the angular velocity of the fiber-optic gyroscope, and when the angular velocity exceeds a set threshold value, control parameters of the piezoelectric actuator are adjusted in a segmented mode; and iteratively executing the steps until the stability of the whole satellite meets the index requirement. The method is mainly used in satellite control field.

The application relates to a satellite orbit and satellite attitude determination method and device after satellite-rocket separation. The method comprises the following steps: calculating a first position vector and a first velocity vector of a satellite in an epoch equatorial coordinate system according to orbit elements of a rocket in a second earth-centered equatorial coordinate system and a satellite-rocket separation time; determining a second position vector and a second velocity vector of the satellite in a J2000 earth-centered inertial coordinate system based on the first position vector and the first velocity vector; taking the second position vector and the second velocity vector as orbit initial values, and determining orbit parameters of the satellite before injection into an orbit by using an orbit recursion algorithm; determining an attitude direction cosine matrix of the satellite in the J2000 earth-centered inertial coordinate system at the satellite-rocket separation time based on a launch time; and taking the attitude direction cosine matrix as attitude initial values, and determining attitude parameters of the satellite before injection into the orbit by using a star gyroscope combination filtering method. The scheme can quickly determine the orbit and the attitude of the satellite, and improves the autonomous detection capability of the satellite.

A computer-implemented method for determining attitude of an aircraft for navigation, in particular for autonomous or semi-autonomous aircrafts for use in GNSS-denied or jammed environments. The method comprises obtaining an indication of aircraft acceleration from an accelerometer, obtaining an indication of aircraft angular velocity from a gyroscope, and obtaining an indication of fluid velocity around and / or over the aircraft. Based on these indications, the upwards direction in body frame may be determined for the aircraft, wherein the upwards direction is defined relative to Earth's horizon. The attitude of the aircraft may then also be determined for navigation, based on the identified upwards direction in the aircraft body frame.

The present application relates to a kind of real-time positioning and pose method of circular sprinkler multiple-span truss, belong to agricultural irrigation technical field.The present application is to solve the problem that traditional sprinkler cannot accurately obtain the bending state of truss and positioning signal in complex terrain irrigation, leading to the problem that sprinkler cannot run on accurate trajectory.It includes: based on the combination of multiple sensors, the inclination angle, steering angle and rotation direction change data of different nodes of truss are collected to obtain the attitude information of truss;Satellite navigation signals are captured by motor-driven rotating mobile receiving antenna;The angle of mobile receiving antenna is adjusted to the best satellite window position by attitude sensor or navigation system;Based on the maximum signal receiving algorithm, the initial antenna position and offset angle are set, and the signal strength P1 is collected.When P1 is greater than or equal to the preset reference P0, the optimal position θ is updated;Satellite navigation signals and truss attitude information are transmitted to control system for analysis and processing to realize real-time positioning and pose.

The invention provides a high-precision inter-satellite pointing control method fusing laser interference measurement, and relates to the field of spacecraft control. The method comprises the following steps: firstly, carrying out validity judgment and processing on an attitude error value provided by the measurement of the laser interferometer in the period, carrying out attitude angular velocity differential calculation, and when the attitude error value provided by the measurement of the laser interferometer in the period is valid, carrying out reference error calculation in combination with an attitude error value provided by orbit extrapolation and on-satellite attitude determination; then, according to attitude error value validity provided by measurement of the laser interferometer in the current period and the last period, on the basis of a reference introduction / direct introduction selection mark set on the ground, determining to implement reference introduction calculation or direct introduction calculation, calculating an attitude control quantity and an angular velocity control quantity, and finally, according to the attitude control quantity and the angular velocity control quantity, calculating the attitude control quantity and the angular velocity control quantity. An attitude control moment is calculated by using a control law and is implemented by an execution mechanism. According to the invention, high-precision pointing error measurement of the laser interferometer is introduced, so that high-precision inter-satellite pointing control of satellites is realized.

The invention relates to a pose measurement and control method of a distributed external shielding planet observation system, and belongs to the field of space astronomical telescopes. The method comprises the following steps: performing primary satellite and secondary satellite formation setting on a telescope; performing relative translation coarse alignment on the primary satellite and the secondary satellite; performing focal length precise adjustment on the primary satellite and the secondary satellite; performing three-dimensional attitude precise alignment on the primary satellite and the secondary satellite; the star shielding cover is arranged between the telescope and the interference fixed star, and the positions and poses of the star shielding cover and the telescope are adjusted. According to the invention, micron-level relative attitude determination and synchronization, centimeter-level formation flight control and arc-second-level measurement resolution can be realized.

The invention provides an unmanned aerial vehicle pose determination method and device. The method comprises the following steps: determining baseline vectors among a preset number of global navigation satellite systems; determining the baseline vector as an observation vector in a station coordinate system, and determining the baseline vector as a reference vector in a body coordinate system; the original point of the station coordinate system is a base station, and the original point of the body coordinate system is the center of the unmanned aerial vehicle; weighting the error between the reference vector and the observation vector to obtain a loss function; determining a gain function according to the loss function; the gain function is inversely proportional to the loss function; determining rotation information for controlling the gain function to be greater than a preset threshold value; and determining the rotation information as the attitude of the unmanned aerial vehicle in the station coordinate system. The attitude determination precision can be improved, and the attitude determination cost is reduced.