58 results about "Barometer" patented technology

The invention relates to a refrigeration air conditioner control method and system based on a dynamic adjusting algorithm, a low-pressure area and a high-pressure area in a cold-chain logistics transportation cabinet are judged through real-time reference air pressure data of a barometer, and the real-time reference air pressure data of the barometer can be received and analyzed. A sliding window is established, based on the sliding window, a parameter diagram of real-time reference air pressure data is segmented, real-time pressure data in the sliding window is obtained, when the conveying amount of cold air is too large, a low-pressure area can be formed in the cold-chain logistics transportation cabinet, and then more wet hot air is absorbed, so that the interior of the cold-chain logistics transportation cabinet is frosted and frozen; and more effective energy can be consumed. When the conveying amount of the cold air is too small, a high-pressure area can be formed in the cold-chain logistics transportation cabinet, and the preset temperature cannot be reached. Through the air pressure data, the temperature in the cold-chain logistics transportation cabinet can be accurately obtained.

The invention innovatively provides an engineering height measurement method and system for an inertial navigation system based on a barometer as error compensation, engineering equipment is modeled, the modeling comprises the shape and characteristics of the equipment and the installation position of the inertial navigation system, different sensor parameters are adjusted through a simulation model, and the engineering height measurement accuracy is improved. Observing a starting jumping rule and a stopping jumping rule of the sensor, analyzing error performance of the sensor under different moving distances, and obtaining an inertial navigation simulation model through a simulation training strategy; collecting data of an inertial navigation system and a barometer in real time; inputting the inertial navigation data into the simulation model, and performing simulation correction on the inertial navigation data according to the inertial navigation data and a simulation algorithm; and the error compensation module is used for acquiring the corrected inertial navigation data and barometer data, acquiring an inertial navigation height through an inertial navigation model, calculating and acquiring an engineering height through a data fusion algorithm, and performing error compensation on the inertial navigation model by utilizing the engineering height through an error compensation strategy.

The invention provides a vehicle-mounted SINS (Strapdown Inertial Navigation System) advancing alignment method in a high-low fluctuating road surface environment, which specifically comprises the following steps of: 1, acquiring output data of an IMU (Inertial Measurement Unit) in a vehicle advancing process, calculating a fluctuating road surface height difference between two adjacent moments on the basis of the acquired IMU data in combination with vehicle-mounted barometer data, and calculating the sky-direction speed of a vehicle by adopting the fluctuating road surface height difference; step 2, providing height information calculated by the vehicle-mounted barometer for a pseudo satellite receiver to carry out auxiliary positioning and speed measurement so as to calculate the sky-direction speed of the vehicle through the pseudo satellite receiver; step 3, the sky-direction speed in the step 1 and the sky-direction speed in the step 2 are fused, and the fused sky-direction speed is obtained; and 4, based on the fused sky-direction velocity, performing initial fine alignment on the vehicle-mounted SINS by adopting unscented Kalman filtering. According to the method, the error of the height and the sky-direction speed calculated by the pseudo satellite receiver can be effectively compensated, and more accurate position and speed information can be obtained.

The invention provides a Beidou-based three-dimensional multi-source navigation information system, and relates to the technical field of data processing, and the system comprises a Beidou satellite navigation positioning module which is used for providing basic positioning information including longitude, latitude, height and time data; the multi-sensor data acquisition module comprises a barometer, an accelerometer and a thermometer and is used for acquiring environmental data, including an air pressure value, acceleration change and temperature; and the data fusion processing module is used for dynamically updating and fusing the data of each sensor by adopting Bayesian maximum likelihood estimation and Kalman filtering, and smoothing and optimizing the positioning data through a forward and backward combined filtering algorithm and a smoothing algorithm to obtain a positioning result containing height and position information. The problems of low positioning precision and poor navigation effect in the urban canyon environment are effectively solved, and the positioning precision and the user experience in the complex environment are improved.

The utility model belongs to the technical field of barometers, and particularly relates to a barometer which comprises a meter shell, an air inlet, a meter cover, a dial plate and a pointer, the air inlet is arranged on the meter shell, air transmits pressure to a piston through the air inlet, the piston converts the air pressure into linear displacement, and the pointer is arranged on the meter shell. The piston transmits power to the gear output piece through the two-stage transmission mechanism, the gear output piece is connected with the pointer and drives the pointer to deflect on the dial plate, the piston is further connected with a reset piece, and the reset piece acts on the piston and provides pressure opposite to gas acting force. By means of a two-stage transmission mechanism composed of the double sector gears, the rack frame and the cylindrical gear, tiny linear displacement of the piston is amplified and converted into remarkable deflection of the pointer, the detection sensitivity of tiny air pressure changes is remarkably improved, the reading range is expanded, and reading is more accurate and visual.

The invention discloses an unmanned aerial vehicle height estimation method, and belongs to the technical field, and the method comprises the steps: S1, data collection: controlling an unmanned aerial vehicle to vertically climb or descend by H meters in situ, and continuously collecting images and air pressure height data during the period; s1-1, collecting a first group of data; s1-2, collecting a second group of data; s1-3, carrying out data pairing; s2, calculating the height of each image to the ground at the acquisition moment; s3, calculating the relation between the air pressure height and the height to the ground; and S4, calculating the relation. The unmanned aerial vehicle height estimation method is low in cost, does not need to additionally add a sensor, can realize ground height estimation by using an existing visual system and a barometer of the unmanned aerial vehicle, greatly reduces hardware cost, is suitable for vertical motion scenes of the unmanned aerial vehicle, especially has good performance in low-speed scenes such as landing, makes up for the dependence on horizontal displacement speed in the prior art, and has good application prospects. Through multi-group data acquisition, feature matching and linear fitting, the accuracy and reliability of ground height estimation are improved.

The present invention relates to the field of wind turbine monitoring technology, and in particular to a barometer for monitoring a wind turbine nacelle, comprising: a detection assembly, comprising a fixing bracket mounted on the outside of the wind turbine nacelle and a barometer body mounted above the fixing bracket, wherein the barometer body is connected to the fixing bracket via a threaded nut, and the barometer body is connected to a main controller inside the wind turbine nacelle via a wire, and a surge protector is installed in the main controller; and an anti-loosening assembly, comprising a shell mounted on the fixing bracket. The beneficial effect of the present invention is that when the unit is in extreme weather such as freezing and typhoons, the operation and maintenance personnel can judge the surrounding environment of the unit by the changes in the background numerical values, and ensure that the unit can be started and stopped in time in the background of the duty room in severe weather, thereby avoiding the need for the operation and maintenance personnel to repeatedly go to the site to observe the operation of the unit and then judge whether the unit is started and stopped.

The application belongs to the field of aero-engine whole machine test, and particularly relates to a reference end pressure stabilizing device of a gas pressure measuring instrument. The device comprises a stabilizing box and a stabilizing plate, and an adapter joint is installed on the box cover. The first end of the first adapter joint is connected with an atmospheric pressure sensor through a first gas pipe, and the second end of the first adapter joint is communicated with the inside of the stabilizing box. The first end of the second adapter joint is connected with the reference end of the gas pressure measuring instrument through a second gas pipe, and the second end of the second adapter joint is communicated with the inside of the stabilizing box. The first end of the third adapter joint is communicated with the outside environment through a third gas pipe, and the second end of the third adapter joint is communicated with the inside of the stabilizing box through a fourth gas pipe. The stabilizing plate is installed in the inside of the stabilizing box, and divides the inside space of the stabilizing box into multiple local spaces which are communicated with each other. The application can make the atmospheric pressure measurement not affected by the engine test state, and the reference end pressure of the gas pressure measuring instrument and the pressure of the atmospheric pressure sensor are kept consistent.

A rotary wing drone communicates its altitude (determined by an onboard GPS receiver) and an air pressure (from multiple onboard barometers) to a ground station which has a known height above sea leve

The invention discloses a control method and device of an aviation temperature control box, a storage medium and an aircraft take-off and landing process recognition device, and relates to the technical field of information processing, the control method of the aviation temperature control box is applied to the aircraft take-off and landing process recognition device, and the aircraft take-off and landing process recognition device is fixed to the aviation temperature control box. The aircraft take-off and landing process identification device comprises an inertial measurement unit and a barometer. The method comprises the following steps: reading preset configuration parameters; acquiring acceleration data measured by the inertial measurement unit and an air pressure value detected by the barometer; compensating the acceleration data through the configuration parameters to obtain compensated acceleration data; calculating the free acceleration of the aviation temperature control box according to the compensation acceleration data; determining the current flight stage of the aircraft according to the free acceleration and the air pressure value; and controlling the aviation temperature control box according to the current flight stage. Through a dual-confirmation scheme of the IMU and the barometer, the probability of state error identification of the airplane can be reduced, and the control effect of the aviation temperature control box is improved.

The buoyancy adjusting water tank for the self-propelled model comprises a balloon, the outer surface of the balloon is provided with a balloon wall, the outer surface of the balloon wall is fixed through two tying belts which are perpendicular to each other, and the outermost layers of the two tying belts abut against the inner ring of the balloon wall; a water tank water injection and drainage pipe for injecting and draining ballast water in the tank is installed below the ball tank wall, a balloon water injection and drainage pipe and a water tank water injection and drainage pipe are installed above the ball tank wall, a balloon ventilation hose is installed between the balloon water injection and drainage pipe and the balloon, and a barometer is installed on the balloon water injection and drainage pipe. A flowmeter is installed on the water tank water injection and drainage pipe, a pressure gauge is installed on the water tank water injection and exhaust pipe, and the laser range finder is installed on the tank wall in a tank penetrating piece mode. A high-pressure one-way drainage valve is further installed below the ball cabin wall located beside the water injection and drainage pipe of the water cabin, the internal pressure is actively and controllably increased, the pressure difference between the interior and the exterior of the cabin is reduced, the limit diving depth is increased, the equipment weight is reduced, the drainage rate can be increased, energy consumption is reduced, and noise is weakened.

The invention discloses a plateau boiling point processing method and device in the field of boiling point testing, and the method comprises the following steps: step 1), heating equipment automatically enters a boiling point testing mode after being electrified for the first time, and the boiling point testing mode can be combined with a cleaning mode; and after entering the boiling point test mode, monitoring the temperature of water in real time, calculating the temperature rise rate of the water to judge the temperature change trend, measuring local air pressure data by using a barometer, and if detecting that the barometer is not installed, adopting barometer-free fuzzy control logic. By automatically testing the boiling point and taking the boiling point as the highest heating temperature, water is effectively prevented from being sprayed out due to excessive boiling, the probability of occurrence of safety accidents such as scalding and electric leakage is reduced, the personal and property safety of a user is guaranteed, the use safety is greatly improved, the self-adaptive algorithm is adopted, and the use safety is improved. Heating control is carried out according to the water temperature change trend and the fuzzy logic, unnecessary heating is avoided, energy consumption is reduced, and the energy utilization efficiency is improved.

The invention discloses an unmanned aerial vehicle system with multiple auxiliary functions in a parachute landing process, which comprises an unmanned aerial vehicle system which is arranged in a package at the back of a parachute seat and realizes back-type automatic opening of a bin gate and a pop-up / slide-down type unfolding starting mode in the parachute landing process and simultaneously performs follow-up shooting around the parachute. The unmanned aerial vehicle system comprises an unmanned aerial vehicle host which is internally provided with a control system. The control system comprises a high-definition camera, a distance sensor, an electronic meteorological instrument, a barometer, a satellite positioning device, a 5G / satellite signal amplifier, an inertial measurement unit, a wind speed sensor, a temperature sensor, a Bluetooth (star flash) transmission device, a laser radar, a battery, a wireless height sensor, an infrared sensor and a CPU. The garment achieves multiple functions.

The utility model provides a calibration and test integrated device in a barometer production process, and belongs to the technical field of detection equipment. The problem that an existing barometer is tedious in calibration and testing is solved. The calibration and test integrated device used in the barometer production process comprises a main box body, the main box body is provided with a test unit connected with the main box body and used for testing, the main box body is further provided with a control unit connected with the main box body and matched with the test unit, and the main box body is further provided with a calibration unit connected with the main box body and matched with the test unit. And the adjusting unit is matched with the testing unit and the control unit and is used for regulation and control. The utility model has the advantage of improving the detection efficiency.

The application discloses a cumulative climbing height calculation method and device, electronic equipment and a storage medium. The method comprises the following steps: obtaining a height average deviation value in a static state; obtaining an environment air pressure value in a motion initial state to obtain a first height value; obtaining a real-time air pressure value at a certain moment in the motion to obtain a second height value; obtaining a real-time difference value according to the difference between the first height value and the second height value; comparing and judging through the calculation between the real-time difference value, the height average deviation value and a motion update threshold, and updating the first height value. The application can avoid the problem that the climbing value is abnormally large due to the accumulation of the static noise of the barometer when the climbing value is calculated, and the climbing value in the up-and-down fluctuation section will not be ignored, so that the accurate accumulation can be achieved. Meanwhile, when the noise of the barometer is calculated, the noise characteristics are independently calculated by a single barometer, and the calculation precision is further optimized.

The utility model discloses a sensitive reaction wind-water dust fall linkage device, which belongs to the technical field of wind-water linkage dust fall, and adopts the technical scheme that the sensitive reaction wind-water dust fall linkage device comprises a wind-water dust fall linkage device body, a water pressure gauge, a barometer, a switch, an air inlet pipe and a water inlet pipe, the wind-water dust fall linkage device body is placed at the top of a supporting plate, a supporting mechanism is arranged on the left side of the supporting plate, and a limiting mechanism is arranged at the bottom of the supporting plate; the problems that most existing wind-water dust-falling linkage devices need to be fixed through four external bolts, when the wind-water dust-falling linkage devices need to be overhauled, the wind-water dust-falling linkage devices need to be disassembled after the four bolts are disassembled, the four external bolts need to be re-installed for re-installation of the wind-water dust-falling linkage devices, and the maintenance cost is high are solved. The disassembly and maintenance of the wind-water dust fall linkage device are time-consuming and labor-consuming, and a connecting pipeline is inconvenient to support.

The invention provides an altitude measurement method and device, computer equipment and a storage medium. The altitude measurement method provided by the invention comprises the steps that the barometer altitude of a current frame is acquired, and the altitude variation of the current frame compared with the previous Nth frame is determined according to the barometer altitude of the current frame and the barometer altitude of the previous Nth frame, N is a positive integer, and the barometer altitude is the altitude acquired by a barometer; the output altitude of the current frame is determined according to the output altitude of the previous Nth frame and the altitude variable quantity, and the output altitude of the first frame is the altitude collected by a global navigation satellite system (GNSS). According to the method provided by the invention, the altitude measurement precision in the movement process can be improved, and the user experience is improved.

The utility model discloses a kind of ring main unit, it is related to ring main unit technical field, including cabinet, first fixed block is fixedly installed in cabinet two sides, spring is fixedly connected between pressing plate and the gas storage box, spring is located the outside of movable rod, the outside of first fixed block is equipped with multiple second heat dissipation holes, the outside of gas guide pipe is fixedly connected with protective frame, the bottom of gas storage box is fixedly connected with air inlet pipe.The utility model gas storage box, barometer and unique structure design can accurately judge the saturation state of drying agent, replace drying agent in time, according to replacement time, absorption water vapor weight etc. Data, accurately analyze environmental humidity, and then accurately adjust drying agent filling amount, avoid waste and drying deficiency, greatly improve drying efficiency, maintain the stable drying environment inside cabinet, in addition, fan auxiliary acceleration air flow, further reduce the water vapor content inside cabinet, synergistic drying agent improves overall drying effect.

The utility model belongs to the technical field of barometers, and particularly relates to a barometer capable of being quickly connected, which comprises a barometer body and further comprises a barometer body, an air pressure connecting pipe is mounted at the bottom of the barometer body in a penetrating manner, an air pressure fitting sleeve is fixedly sleeved outside the air pressure connecting pipe, and a mounting pipeline is fixedly mounted at the bottom of the air pressure connecting pipe. The barometer comprises a barometer body, the barometer body is provided with a mounting pipeline, the bottom of the mounting pipeline is provided with a mounting top pipeline in a penetrating manner, the bottom of the mounting top pipeline is fixedly provided with a mounting bottom threaded pipeline, the exterior of the mounting bottom threaded pipeline is fixedly sleeved with a rubber clamping ring, and the barometer body measures the pressure change of atmosphere or internal gas and converts the pressure change into a readable value. The sensitive element in the barometer body generates elastic deformation under the action of pressure, and the deformation is conducted to the pointer through the switching mechanism of the movement in the barometer to cause the pointer to rotate, so that a measured pressure value is indicated on the dial.

The embodiment of the invention provides an altitude record generation method and device and electronic equipment. According to the embodiment of the invention, when the altitude record needs to be generated, the air pressure fluctuation time period and the non-air pressure fluctuation time period are determined from the stored air pressure data, and the reference altitude is determined by using the electronic map elevation information corresponding to the non-air pressure fluctuation time period and the global navigation satellite system information; according to the reference altitude and the air pressure data of the time period, determining an altitude record of a non-air pressure fluctuation time period; and determining the altitude record of the air pressure fluctuation time period by fitting the electronic map elevation information corresponding to the air pressure fluctuation time period with the global navigation satellite system information. According to the embodiment of the invention, the air pressure data is corrected by combining the electronic map elevation information with the global navigation satellite system information, so that the situation that the height of the barometer is calibrated only according to the unstable global navigation satellite system information is avoided, and the error of the generated altitude record is reduced.

Methods, systems, and devices for calibrating a barometer of a client device. A server computer accesses historical data including location data, and atmospheric pressure data collected from a plurality of client devices over a period of time. An equation system defined by the historical data is solved. The equation system has a plurality of unknown parameters, the plurality of unknown parameters comprising a barometer bias of a first client device among the plurality of client devices. The first client device is calibrated using the barometer bias.

An air gauge includes at least one nozzle arranged to expel gas into a gap between the nozzle and a surface and also includes at least one tap for communicating a pressure in the gap to a pressure sensor, wherein the nozzle and the gap are displaced from one another to mitigate the effects of turbulence from the nozzle on the magnitude of the pressure communicated by the tap.

The invention discloses meteorological monitoring equipment for noise monitoring, and relates to the technical field of meteorological monitoring, and the meteorological monitoring equipment comprises a stand column and a support installed at the top end of the stand column, and further comprises a monitoring mechanism which comprises a wind speed measuring instrument, a wind direction measuring instrument, a rain gauge, a temperature and humidity composite sensor and a barometer; a grid cover; the driving mechanism is used for driving the grid cover to rotate; a first scraping strip; the adjusting mechanism is used for adjusting the position of the first scraping strip according to the wind direction; large-size floating objects in the air are shielded through the grid cover, the problem that the floating objects are attached to the outer portions of the wind speed measuring instrument and the wind direction measuring instrument or are wound, and normal operation of the wind speed measuring instrument and the wind direction measuring instrument is affected is solved, the grid cover is driven to rotate, and the floating objects on the windward side of the grid cover can be removed along with wind. Therefore, the problem that floating objects are attached to the windward side of the grid cover and affect a wind speed measuring instrument or a wind direction measuring instrument is solved, and small-particle impurities such as dust attached to the surface of the grid cover are removed through friction between the grid cover and the first scraping strip.

The invention discloses a meteorological station pose monitoring system and method based on a GNSS and an IMU. The system comprises a positioning time service module GNSS, a pose sensing unit IMU and a main control unit. The IMU serves as a low-power-consumption trigger at the same time, and when the system is in a dormant state, only the IMU is in operation; when the inclination angle is detected to exceed a preset threshold value, the IMU wakes up other units; the main control unit integrated edge calculation module constructs a space-time constraint error model of the GNSS, the IMU and the barometer by setting a sliding window which is not less than three times of the maximum sampling period of the sensor, iteratively corrects the IMU accumulated drift and the barometer temperature drift through error feedback, and then determines the fusion confidence coefficient based on the error reciprocal and weights the fusion confidence coefficient. And finally, fusing multi-source data in the window to generate a pose result. And the pose monitoring precision is improved.

A method for providing navigation information by a navigation sensing device including an absolute positioning source providing three-dimensional absolute position data including an absolute altitude value, an Inertial Measurement Unit providing inertial data, in particular accelerations and angular rates, and a barometer sensor providing a pressure measurement. The method includes processing the inertial data and the absolute position data to obtain two-dimensional position information, in particular longitude and latitude, and processing the pressure measurement and the absolute position data to obtain an altitude estimate.

The utility model discloses a high-precision low-altitude meteorological sensor calibration device, and relates to the field of sensor calibration. The air pressure calibrator comprises an air pressure calibrator main board, the upper surface of the air pressure calibrator main board comprises a micrometering valve, one end of the micrometering valve is connected with a universal joint, the other end of the universal joint is connected with a micrometering valve knob, the micrometering valve can be operated by rotating the micrometering valve knob, and a support is arranged at the lower end of the micrometering valve knob. According to the high-precision low-altitude meteorological sensor calibration device, the fine adjustment valve is arranged on the main board of the air pressure calibrator, and the universal joint is used for connecting the fine adjustment valve knob, so that an operator can conveniently operate the fine adjustment valve by rotating the knob, the flexibility and convenience of operation are greatly improved, and meanwhile, the operation efficiency is improved. The support at the lower end of the micro-metering valve knob can be horizontally placed when the micro-metering valve knob does not work, so that the adjusting precision is prevented from being influenced by shaking of the knob during operation, and the stability of micro-metering operation in the calibration process is ensured.

The invention relates to the field of numerical simulation optimization, in particular to a marine ranch-oriented storm surge disaster numerical simulation optimization method. The method comprises the steps that the boundary and the initial still water level of a marine ranch are obtained, the geographic space of the marine ranch is discretized into a rectangular grid layout, meteorological grid point data of the marine ranch are obtained, the total water level increment is calculated through a wind pressure wind field physical driving water level increment calculation algorithm, and the updated water level is obtained; and based on the updated water level, introducing a similarity weight mechanism of storm path projection, performing local enhancement correction on a water level field in storm surge simulation to obtain a water level after weight correction, and outputting a water level spatial distribution map. The problem that most of traditional storm surge disaster numerical simulation optimization methods neglect the dynamic adjustment effect of wind speed changes on sea surface roughness and wind resistance is solved; the effect of'inverted barometer 'is neglected, and air pressure change cannot be dynamically responded; and the regulation and control effect of geographic space factors on the simulated water level field cannot be accurately reflected.

The present invention discloses a method for estimating the height of a drone, which belongs to the technical field. The method includes S1, data acquisition, controlling the drone to vertically climb or descend H meters in place, and continuously acquiring images and barometric altitude data during this period. The method specifically includes the following steps: S1-1, acquiring the first set of data; S1-2, acquiring the second set of data; S1-3, data pairing; S2, calculating the height above the ground of each image pair at the time of acquisition; S3, calculating the relationship between the barometric altitude and the height above the ground; and S4, relationship calculation. The method for estimating the height of a drone is low-cost: no additional sensors are required, and the existing visual system and barometer of the drone can be used to achieve height estimation above the ground, significantly reducing hardware costs. The method is suitable for drone vertical motion scenarios, especially performing well in low-speed scenarios such as landing, making up for the existing technology's reliance on horizontal displacement speed. The accuracy and reliability of the height estimation above the ground are improved through the acquisition of multiple sets of data, feature matching, and linear fitting.

The invention provides a measurement height correction method and device based on double barometer dynamic compensation, and relates to the technical field of height measurement, and the method comprises the steps: setting an air pressure integration module which comprises a plurality of first barometers and second barometers; when a first operation user performs height operation, the relative position is detected in real time, a reference first barometer corresponding to a second barometer is determined, a double-barometer compensation group is constructed according to the reference first barometer and the second barometer, and measurement height correction is performed on the double-barometer compensation group through a differential pressure-height weighted fusion algorithm. And outputting a measurement height correction result. The technical problem that the height measurement error is large due to the fact that most of existing barometers depend on barometers at fixed points to conduct comparison measurement correction and lack of an intermediate verification link in the prior art is solved, the multiple barometers are arranged at different known heights, the matched reference barometers are determined to conduct multi-source compensation correction, and the measurement accuracy is improved. And the accuracy of height measurement is improved.

The invention discloses a motion analysis system and method based on boot-mounted multi-sensor fusion, and relates to the technical field of motion analysis. Comprising a sensor module, the sensor module serves as a data acquisition end, and the sensor module comprises an inertial measurement unit which comprises a three-axis gyroscope and a three-axis accelerometer and is used for measuring the angular velocity and the acceleration of foot equipment in a three-dimensional space in real time; the distance sensing unit adopts an active detection technology, and adopts one or more of flight time laser ranging, ultrasonic ranging or millimeter wave radar to be matched; and the barometer is used for measuring the ambient atmospheric pressure, estimating the relative change of the height through the change of the atmospheric pressure, and providing auxiliary information for height estimation. The device is convenient to mount, is directly fixed to existing foot equipment based on modular design, and does not affect the sports performance; the posture precision is high, foot actions are directly measured, and the posture error is controlled within 3 degrees in combination with distance constraint.