125 results about "Augmentation system" patented technology

The invention relates to the technical field of automatic driving, in particular to an automatic driving task processing method and device, equipment and a medium. According to the method, firstly, the navigation guidance information is acquired and directly incorporated into beyond visual range contents (such as remote steering and distance), so that the limitation of the sensing range of a vehicle-mounted sensor is broken through, and the problem that an existing system lacks beyond visual range information is solved. And secondly, semantic analysis is performed based on navigation information and multi-view visual data to obtain text probability distribution, so that association of global navigation context and real-time scenes is realized, and a semantic basis is provided for humanization-like planning. Then, performing cross-modal fusion on the aerial view angle features and the text probability features, so that global navigation logic and real-time environment perception are deeply coupled, and decision is ensured to consider both a short-term environment and long-term planning. And finally, fusing the features and inputting the features into a task network, so that sensing, prediction and planning are more suitable for an actual scene, the utilization capability of beyond-visual-range information in a complex scene is improved, and the adaptability and reasoning capability of the system are enhanced.

The invention discloses a method for aggregating ocean buoy data, which comprises the following steps of: establishing a space-time correlation model according to the spatial distribution density of buoy clusters and the dynamic characteristics of an ocean environment, and adaptively dividing buoy groups with a data compression cooperative relationship; performing a data-related compression operation within the buoy group; constructing a transmission priority dynamic sorting engine, and calculating a dynamic weight coefficient; performing hierarchical packaging processing on the differential coding data, distributing enhanced forward error correction coding resources for high-priority data, and reserving redundant transmission time slots; the method comprises the following steps: receiving a hierarchical data packet through a low-orbit satellite and executing on-satellite preprocessing, reconstructing an original data stream by using a distributed decoder, and meanwhile, fusing multi-dimensional space-time related data to generate an aggregated data product; and finally, the aggregated data product is transmitted to a ground data center through a satellite downlink. According to the invention, uplink data volume is reduced, disaster monitoring timeliness is improved, ground station processing load is reduced, and system environment adaptability is enhanced.

Methods and systems for training an end-to-end autonomous driving system using a vision-language planning (VLP) machine learning model in a closed-loop environment. Images associated with an environment about a vehicle are generated, and a BEV model is executed to generate a BEV view based on the images. A planning model predicts navigation trajectories based on the BEV. The VLP model enhances the system by extracting vision-based planning features, generating text prompts, and employing a language encoder to create text-based expectation features. A contrastive learning model identifies similarities between vision and text features, boosting the performance of the BEV and planning models. The system undergoes closed-loop evaluation in a simulated environment, capturing metrics to refine the autonomous driving system.

The invention relates to the technical field of encryption communication, in particular to an encryption method and system for an intelligent digital encryption radio station, and the method comprises the following steps: storing communication node information to an encryption database based on maritime communication environment signal characteristic parameters, extracting communication link quality indexes, recording multi-path interference, and screening a high-frequency band; and detecting the identity and authority change of a communication operator, and analyzing the communication use trend and frequency change to obtain a communication use trend analysis conclusion. Through dynamic monitoring of signal characteristics and self-adaptive optimization of a network structure, real-time reconstruction of a communication path and interference area avoidance are realized, stable transmission in a marine environment is guaranteed, frequency and power are dynamically adjusted in combination with link quality and interference analysis, the coverage rate and reliability are improved, and the method is suitable for large-scale popularization and application. Abnormal identification and risk early warning are realized through comprehensive judgment of communication behaviors and authority changes, the adaptability and protection capability of the system are enhanced, and the stability, security and resource utilization efficiency of a communication network are improved.

The invention relates to the technical field of multi-vehicle cooperative control, and discloses a multi-AGV distributed cooperative path planning method and system, and the method comprises the steps: carrying out the task distribution based on the AGV state and position distance after receiving the order picking wave issuing; performing global path planning on the selected AGV, and determining continuous path points to be driven; the AGV dynamically blocks a front path point to form a temporary exclusive channel; detecting conflicts among the AGVs through a double conflict judgment mechanism based on timestamps and direction representation; if no conflict exists, the task is executed, and if the conflict exists, deadlock judgment is carried out firstly; if deadlock occurs, a heuristic avoidance strategy is adopted to search temporary obstacle avoidance points, and a path is re-planned through an A * algorithm in combination with a direction priority principle; and if the deadlock does not exist, directly carrying out path adjustment. According to the scheme, through dynamic blocking and double conflict judgment, waiting and collision are effectively reduced, and the passing efficiency and safety are improved; and in combination with a heuristic avoidance method based on a ternary search tree, the scheduling flexibility and intelligence of the system in a deadlock scene are enhanced.

The invention relates to an unmanned aerial vehicle high-precision positioning method based on a satellite-based enhancement system and adaptive Kalman filtering. The method comprises the following steps: acquiring multimode satellite data; analyzing the satellite-based enhanced telegraph text data, and performing error correction on the original observation data; based on the corrected observation data, dynamically adjusting a process noise covariance matrix by using the motion state of the unmanned aerial vehicle, and constructing an adaptive Kalman filtering model; and based on an adaptive Kalman filtering model, fusing the corrected observation data and inertial measurement unit data to obtain unmanned aerial vehicle positioning. The method aims to solve the problems that unmanned aerial vehicle positioning in complex environments (such as urban canyons, electromagnetic interference areas and mountainous areas without ground base stations) is remarkable in multipath effect and has dynamic noise interference, and traditional differential positioning depends on ground base stations. The centimeter-level continuous positioning of the unmanned aerial vehicle in a complex scene is realized through triple technical breakthroughs of satellite-based differential correction, dynamic optimization of environmental perception filtering parameters and multi-source data tight coupling solution.

The invention discloses a hierarchical visual language navigation memory enhancement system in a cross-floor scene, relates to the technical field of intelligent navigation, and adopts the technical scheme that the hierarchical visual language navigation memory enhancement system comprises three core parts, namely a hierarchical visual semantic model construction module, a memory enhancement algorithm module and a navigation system integration module. The hierarchical visual semantic model construction module is used for constructing a basic visual feature layer, a floor semantic layer and a cross-floor semantic association layer; the memory enhancement algorithm module comprises a short-term memory module, a long-term memory module and a memory fusion and update strategy module; and the navigation system integration module is used for integrating the hierarchical visual semantic model and a memory enhancement algorithm into the system. Three-dimensional space characterization misalignment and path planning error accumulation can be effectively avoided, the accuracy, environment adaptability and decision-making efficiency of cross-floor navigation of the intelligent agent are remarkably improved, and the method has important technical innovation value and application prospects.

The invention relates to the technical field of industrial automation, in particular to an inspection path generation method and device, a storage medium and computer equipment, when an inspection path is generated, time-space synchronization can be carried out on data collected by different sensors, geometric and physical consistency of a motion track is ensured, the dynamic positioning precision is further improved, and the accuracy of the inspection path is improved. Moreover, when part of the sensors fail, the robustness of the system can be effectively enhanced through a synchronized redundant data maintenance function, and the data processing delay can be reduced through time-space synchronization, so that the real-time control requirement of a dynamic scene is met, and a map can be updated in real time according to the current environment to improve the accuracy of navigation and positioning. The method adapts to complex environments; in addition, the current positioning error can be corrected according to the target point cloud data and the target image data so as to further improve the positioning accuracy, and the relatively accurate inspection path and control instruction can be generated based on the corrected positioning result and the target map.

The invention relates to the field of field groundwater magnetic resonance detection methods, in particular to an augmentation system and method for field groundwater magnetic resonance detection small sample data. Comprising a generation network configured to receive random noise and generate augmented data based on the random noise; the discrimination network comprises a time domain discrimination network and a frequency domain discrimination network; the generative network and the time domain discrimination network form a first discrimination channel, the generative network and the frequency domain discrimination network form a second discrimination channel, and in the second discrimination channel, augmented data generated by the generative network and the noisy data are jointly input into the frequency domain discrimination network; the frequency domain discrimination network is used for discriminating whether the source of input data is a generation network or noisy data in a frequency domain. According to the method, a magnetic resonance detection small sample noisy data set is established, and multi-scale features in an amplitude spectrum and a phase spectrum are captured through the frequency domain discrimination network; the collaborative driving generation network generates a high-quality sample which is close to small sample noisy data in waveform form and spectral characteristics.

The invention discloses a positioning method and device and electronic equipment. The method comprises the following steps: receiving original satellite-based service data accessed by terminal equipment, the original satellite-based service data comprising original correction data which is acquired by the terminal equipment from a satellite-based enhancement system and is used for correcting a positioning error; an analysis strategy corresponding to the terminal equipment is determined, and the analysis strategy is used for extracting error correction parameters of a preset type in the original correction data; an analysis strategy is adopted to analyze the original satellite-based service data, target correction data are obtained, and the target correction data comprise error correction parameters of a preset type; and determining a positioning result of the terminal equipment according to the target correction data and navigation satellite data of the terminal equipment. The technical problem that a terminal user cannot autonomously adjust an analysis strategy or a positioning algorithm due to the fact that a satellite-based enhanced positioning algorithm adopted in the related technology integrates a data analysis algorithm and a positioning algorithm is solved.

The invention relates to a coal mine underground accurate positioning card reader direction identification method, and belongs to the technical field of wireless communication and accurate positioning. In order to solve the problems of low direction identification precision and direction jump caused by dense metal supports, complex electromagnetic environment and serious multipath reflection in a coal mine in the prior art, a multi-source information fusion solution is provided. The method comprises the following steps: initiating a time of flight (TOF) ranging request through an identification card; based on the TOF distance difference interval gradient distribution weight point number, RSSI intensity difference interval differential weighting and CIR characteristic value peak-to-average ratio delay spread multipath component number, analyzing signal quality weighting, and combining historical direction information to dynamically compensate the weight point number; and finally determining the direction of the identification card by comparing the total weight points of the left and right antennas. According to the method, the direction identification accuracy in a complex mine environment is remarkably improved, the multi-path interference and signal fluctuation influence are effectively inhibited, the system anti-attenuation capability is enhanced, and the continuous stability of moving target direction tracking is guaranteed.

The invention relates to the technical field of industrial automation, in particular to an automatic inspection method and device in a complex environment, a storage medium and related equipment, data acquired by different sensors can be subjected to space-time synchronization to improve dynamic positioning precision, and when part of the sensors fail, a function can still be maintained through synchronized redundant data, so that the reliability of the system is improved. The robustness of the system is effectively enhanced, and the data processing delay can be reduced through space-time synchronization, so that the real-time control requirement of a dynamic scene is met; locally updating the newly acquired global map according to the static characteristics and the target attitude data, thereby reducing the calculation amount, improving the accuracy of navigation positioning, and adapting to a complex environment; the current positioning error is corrected according to the target point cloud data and the target image data, so that the positioning accuracy is further improved, and the inspection path and the control instruction are generated based on the corrected positioning result and the target map, so that the operation risk is effectively reduced while automatic inspection is realized.

The invention provides a multi-source heterogeneous sensor adaptive fusion positioning and mapping method and device, and relates to the technical field of automatic driving and mobile robots. The method comprises the following steps: for a mobile robot in an indoor environment, acquiring sensor data through a sensor data acquisition module, inputting the sensor data into a front-end data processing module to obtain processed sensor data, and inputting the processed sensor data into an environment scene recognition module to obtain an environment scene type recognition result; and inputting the result into a back-end state estimation and optimization module to obtain a map construction and pose estimation result. Through innovative front-end feature extraction, a rear-end optimization mechanism and a multi-sensor fusion strategy, the problems in the prior art are solved. By introducing a low-cost magnetometer, the robustness of the system in a GPS signal missing or complex electromagnetic environment is enhanced, meanwhile, the calculation efficiency and precision in different environments are improved through a self-adaptive optimization mechanism, and finally, high-precision and high-robustness autonomous positioning and mapping functions are achieved.

The embodiment of the invention provides a satellite navigation ranging link integrity monitoring method and device, a computer readable storage medium, an electronic device and a computer program product, and the method comprises the steps: screening out at least one first satellite meeting a preset monitoring condition from a preset satellite set according to satellite data broadcasted by a satellite-based augmentation system; calculating a first deviation of a satellite signal of the first satellite at the first site according to the satellite data; calculating a second deviation of the satellite signal of the first satellite at the first station according to the actual observation data of the first station; and determining a consistency index of the first satellite according to the first deviation and the second deviation, and determining whether the integrity of the navigation ranging link of the first satellite reaches the standard based on the consistency index. Therefore, signal anomalies are captured on different scales, limitation of a single monitoring method is avoided, monitoring precision is improved, and accurate monitoring of integrity of a satellite navigation ranging link is realized.

Methods and systems for training an end-to-end autonomous driving system in a closed-loop environment using a Visual Language Planning (VLP) machine learning model. An image associated with a vehicle surroundings is generated, and a BEV model is executed to generate a BEV view based on the image. The planning model predicts a navigation trajectory based on the BEV. The VLP model enhances the system by extracting vision-based planning features, generating text cues, and employing a language encoder to create text-based expected features. And comparing a learning model to identify the similarity between visual and text features, and enhancing the performance of the BEV and the planning model. The system experiences closed-loop evaluation in a simulated environment, obtaining metrics to improve the autonomous driving system.

The application belongs to the technical field of aircraft simulation, and particularly relates to a flight simulation method and device under gust load. The method comprises the following steps: S1, performing aircraft 1g level flight trimming to determine the aircraft trimming angle of attack and the aircraft trimming elevator deflection; S2, determining the aerodynamic force of the aircraft; S3, performing dynamic response solution on the aerodynamic force of the aircraft to obtain the aerodynamic angle of attack, the flight speed and the pitch angular velocity, and determining the normal overload of the aircraft after superimposing the flight speed on the wind speed of the vertical gust field; S4, obtaining the elevator deflection calculated by the stability augmentation system, superimposing the elevator deflection at a simulation moment to obtain the actual required elevator deflection; and S5, re-determining the aerodynamic force of the aircraft according to the flight speed, the pitch angular velocity, the aerodynamic angle of attack and the actual required elevator deflection until the simulation is completed. The application considers the role of the stability augmentation system in the determination of the aircraft gust load, and the simulation process is simple and has high precision.

The invention discloses a passive positioning system based on a reconfigurable intelligent surface and a positioning precision optimization method. According to the system, on the basis that a sight distance link exists between a target and a reconnaissance station, an additionally introduced RIS is used as a positioning reference point, passive cross positioning of the detected target is achieved, and therefore the positioning precision is improved; in addition, in a special scene (such as a dense city scene or a mountainous area channel scene) in which the sight distance link between the reconnaissance station and the detection target is blocked, a plurality of cascade links can be formed through a plurality of RISs, so that the cross positioning of the detection target is realized, the positioning effect of the system on the target is ensured, and the applicability and the stability of the system are enhanced. According to the precision optimization method, the SNR is maximized by optimizing the position and phase shift of the RIS in the system, so that the purpose of improving the positioning precision is achieved.

This invention proposes a method for real-time pseudorange quality control in the BeiDou satellite-based augmentation system, comprising: calculating n pseudorange residuals at time t; determining whether the number of original pseudorange residuals n is greater than or equal to a preset parameter; subtracting the mean residual from the original pseudorange residual of each satellite; dividing the centered pseudorange residual of each satellite by the dual-frequency pseudorange noise; calculating the test statistic X; determining whether the test statistic X is less than the 95th quantile of the chi-square distribution with n-4 degrees of freedom; removing the satellite with the largest absolute value of the normalized pseudorange residual; completing the removal of pseudorange outliers; and obtaining the current pseudorange residual. This invention is real-time, meeting the high real-time requirements of differential integrity processing in the BeiDou satellite-based augmentation system. The embodiments of this invention can identify and remove small abnormal pseudoranges in the BeiDou interplanetary augmentation system, achieving good pseudorange quality control.

The invention provides a satellite-based ADS-B (Automatic Dependent Surveillance-Broadcast) multi-beam dynamic optimization method based on deep reinforcement learning, which is applied to a satellite receiving end and comprises the following steps: acquiring current state information in a multi-beam dynamic optimization scene; outputting a target action from a preset action space based on the current state information and a decision strategy iteratively optimized by a reward value in the last round, the preset action space being a complex increment of the beam weight matrix; adjusting the complex increment of the beam weight matrix based on the target action, and generating new state information; based on the new state information, determining a reward value under the multi-beam dynamic optimization scene of the round; and the step of obtaining the current state information in the multi-beam dynamic optimization scene is repeated until the reward value in the multi-beam dynamic optimization scene in the current round is determined based on the new state information until the decision strategy meets a preset convergence condition. According to the invention, the adaptability of the system under diversified airspace conditions can be enhanced.

The invention relates to a Beidou time reinforcement method based on precise positioning, and belongs to the technical field of Beidou time reinforcement methods. Comprising a Beidou receiver module, a ground-based augmentation system module, a real position calibration module, a real position storage module, an FPGA module, a second delay module, an analog switch module and an output module. Through the single-antenna receiving design, the use of a multi-antenna array and a complex signal processing module is avoided, the hardware complexity and the computing resource demand are reduced, the FPGA hardware is adopted to accelerate the real-time calculation of the position deviation, the detection real-time performance is improved, and the method has wide application prospects in high-precision time synchronization and positioning scenes.

The invention relates to the field of unmanned aerial vehicle data link communication, in particular to a satellite and data link communication MAC (Media Access Control) layer resource scheduling method, which adopts the technical scheme that a plurality of master devices maintain a neighbor relation through heartbeat and mutually report the number of connected slave devices and congestion conditions, and the slave devices to which the master devices belong report signal quality in real time; when the service volume of a certain master device exceeds a threshold, service negotiation with a neighbor master device is carried out, and part of slave device services are redirected to other idle master devices; real-time information sharing and signal quality feedback are realized, so that the transparency of the overall operation state of the system is improved; service volume monitoring and response are also realized, and the expandability of the system is improved, so that balanced distribution of service loads is realized; and moreover, the fault handling capacity is improved, the single-point fault risk is reduced, and the reliability and stability of the system are enhanced.

The application discloses a low-orbit satellite load autonomous operation system and relates to the technical field of satellite communication. The application adopts a three-layer modular architecture of a resource allocation layer, a load control layer and an application service layer, constructs a three-dimensional function system of "task autonomous decomposition-resource dynamic scheduling-fault prediction fault-tolerant processing", and realizes an "resource-control-application" end-to-end autonomous closed loop. The resource allocation layer optimizes resource scheduling through link management and route management, the load control layer realizes load independent control and fault self-recovery, and the application service layer completes task autonomous planning and whole-process execution. The application can improve communication capacity and link stability, significantly reduce ground operation and maintenance pressure, enhance system reliability and task flexibility, provide on-orbit verification data for load component selection and redundancy design, and is suitable for large-scale low-orbit constellation engineering practice.

The invention discloses a multi-source data fusion implementation method for flight control, which is used for accurately navigating and controlling an aircraft, realizing high-precision navigation and control and enhancing the anti-interference capability of a system. According to the method, inertial navigation is adopted for high-precision navigation, GNSS data can be corrected, Kalman filtering is adopted for integrated navigation fusion, data chain data fusion is carried out on target object information in the middle flight stage, and visual information data fusion is carried out in the final flight stage. And finally, full-process information fusion coverage is realized.

The present application relates to the technical field of nondestructive testing, and provides a kind of dynamic characteristic eddy current detection system and method of scraper chain to solve the problems of low detection efficiency, unable to measure tension and speed synchronously, and probe is easily damaged in harsh environment and inconvenient to maintain, etc.The technical scheme of the system mainly includes: probe detection unit, adopts built-in iron core array coil layout, synchronously induces dynamic eddy current determined by chain speed and induced eddy current caused by tension change;Detection protection unit is provided with upper and lower open and close maintenance opening for quick maintenance;And detection lift-off regulation unit can accurately adjust the distance between probe and chain.The present application can realize the online synchronization, high-precision monitoring of scraper chain tension and speed, significantly improve the detection efficiency and reliability, and at the same time enhance the environmental adaptability and maintenance convenience of the system, and provide effective support for intelligent operation and maintenance of scraper conveyor.

The invention provides a suspension hovering fast part electromagnetic signal monitoring system which comprises a ground station, a suspension device assembly and an electromagnetic induction assembly, and the suspension device assembly is connected with the ground station through a composite transmission line. The suspension device assembly comprising the air bag is arranged, the electromagnetic induction assembly lifts off through buoyancy, energy consumption is reduced, the orientation correction mechanism is in a power-off and non-working state when no wind exists in the air or system coordinates do not need to be adjusted and corrected, power management is effectively carried out, and system energy consumption is reduced; the effective hang time of the system is prolonged, a suspension device cavity and an inflation and exhaust port are arranged, an air bag can be stacked in the suspension device cavity after being exhausted, the quick requirement is better met, the longitude and latitude of equipment are obtained through a positioning module, and the aerial posture of the system is adjusted based on an orientation correction mechanism; meanwhile, when the air pressure sensor detects insufficient air pressure alarm, the orientation correction mechanism can provide power to assist descending, and the safety of the system is enhanced.

The invention discloses a positioning error tolerant unmanned aerial vehicle communication deployment method and system, and belongs to the technical field of wireless communication, and the method comprises the steps: quantifying the spatial positions of an unmanned aerial vehicle and a ground user in a three-dimensional rectangular coordinate system; the channel capacity of each link is quantitatively analyzed based on the Shannon theorem, and the user rate reliability is introduced into a network average transmission rate maximization framework in a probability constraint form. Further, the Bernstein inequality is utilized to convert the probability guarantee constraint which is difficult to directly solve into a deterministic linear matrix inequality related to the positioning error covariance, and a solvable deterministic problem is constructed. Then, an iterative algorithm based on continuous convex approximation is designed, and a non-convex part is linearized through first-order Taylor expansion, so that the model is rapidly converged. According to the method, the high transmission rate can be stably supported within the preset error range, and the disturbance rejection capability and the spectrum utilization efficiency of the system are effectively enhanced.

The application discloses a positioning method, system, device and medium, and belongs to the technical field of satellite positioning, and the method comprises the following steps: determining a plurality of target base station sets from all first base stations of a Beidou ground-based augmentation system based on initial position information of an off-network user; determining an ionosphere correction model for observation data of all target base stations in each target base station set, and then determining initial ionosphere correction numbers; calculating the difference between each two ionosphere correction numbers, obtaining a maximum difference value, and comparing the maximum difference value with a preset threshold value; if the maximum difference value is less than or equal to the preset threshold value, fusing the initial ionosphere correction numbers to obtain a target ionosphere correction number, and sending the target ionosphere correction number to the off-network user, so that the off-network user performs positioning calculation based on the target ionosphere correction number and original observation data of the off-network user to obtain target position information, and therefore, high-precision positioning of the off-network user can be realized by implementing the application.

The present application relates to a kind of gravity gradient satellite segmented optimal attitude tracking control method, the present application is aimed at satellite platform, coiled stretch arm and the gravity gradient system of end payload three compositions, adopt dumbbell model to describe its swing motion in coplanar orbit transfer, establish the attitude dynamics model of gravity gradient satellite;Orbit dynamics model is established based on electric propulsion coplanar orbit transfer.Segmented optimal trajectory of gravity gradient satellite under the action of electric propulsion is obtained by designing optimal controller, while realizing the orbit transfer between two coplanar circular orbits, the stability and robustness of system are enhanced.On this basis, based on finite time tracking error function, a kind of segmented adaptive terminal sliding mode control method is designed, the problem of finite time convergence and uncertainty boundary is solved.The present application is specific object in the gravity gradient satellite of coplanar orbit transfer, the control method proposed is conducive to the improvement of control performance, easy to realize.

The application provides a multi-layer satellite network distributed routing method and system, the method comprising: dividing a low-orbit satellite set into multiple low-orbit satellite regions, each low-orbit satellite region corresponding to at least one medium-high-orbit satellite as a regional control node; multiple medium-high-orbit satellites cooperatively generating an exit selection strategy for each low-orbit satellite region and issuing the exit selection strategy to the corresponding low-orbit satellite region; low-orbit satellites in a low-orbit satellite region taking the corresponding exit selection strategy as an inter-regional forwarding constraint and performing hop-by-hop autonomous forwarding in the low-orbit satellite region; and multiple medium-high-orbit satellites updating the exit selection strategy for each low-orbit satellite region based on updated regional network state. The multi-layer satellite network distributed routing method and system of the application can reduce the frequency of cross-region path reconfiguration while retaining the real-time response capability of hop-by-hop routing, thereby enhancing the overall stability and scalability of the system.