45 results about "Bearing (navigation)" patented technology

The embodiment of the invention provides an accurate positioning and parking method of a trackless navigation AGV. The accurate positioning and parking method comprises the steps that the AGV scans a reflection plate through laser radar to obtain coordinates of preset positions on the reflection plate; a position for positioning is selected from the preset positions; the current position of the AGV is calculated according to preset rules and the selected position. According to the method, three special reflection points are extracted to achieve three-point positioning, the coordinate orientation of the AGV under a global coordinate system is determined mainly through a least square method, and then the direction angle of the AGV is calculated through multiple quadrants. The relative position and the direction angle of the AGV with respect to the reflection plate can be also calculated through outline detection so that the AGV can be accurately parked at the designated of the reflection plate. By adopting the method, the defect of poor positioning accuracy of an SLAM technology is overcome to the most degree, and a reliable solution is also provided for automatic charging of the trackless navigation AGV.

The invention discloses a method for analyzing the line-of-sight coverage of civil aviation navigation equipment combined with flight track and variable altitude, which belongs to the technical field of civil aviation navigation equipment, and solves the problem that there is no method for line-of-sight coverage analysis for the flight track with variable altitude in the prior art, and flight safety cannot be guaranteed The problem. The method of the present invention comprises the following steps: S1. Taking the true north as 0 degree, calculate the azimuth angle B of all obstacles relative to the navigation equipment; S2. screen the obstacles with the same orientation as the flight track; S3. calculate n obstacle pairs Whether the flight path causes occlusion, and calculate the occlusion position. The present invention proposes for the first time the blockage calculation method of the obstacle to the variable altitude flight track, including the specific block position caused, that is, the critical position where the received signal changes from presence to non-existence, and the signal coverage on the flight track after blockage. Altitude control and aircraft flight altitude adjustment provide a reference basis, which effectively guarantees flight safety.

The invention discloses a combined navigation method for a crab pond automatic operation ship based on information fusion of low-precision GPS, a laser ranging sensor and an azimuth sensor, which is used for realizing the navigation of the crab pond automatic operation ship. The navigation method of the automatic operation ship is to start from a certain point, parallel to the embankment of the pond, and an inner spiral path at a certain distance. The invention uses a low-precision GPS system to determine the position of the inflection point of the navigation track and the track heading, uses an azimuth sensor to determine the current direction of movement of the automatic operation ship, and uses a laser ranging sensor to determine the distance between the automatic operation ship and the nearby embankment. The difference between the current course angle and the expected course angle is obtained by using the distance between the workboat and the embankment, combined with the current course angle, and through certain mathematical calculations. The angle deviation value is introduced into the paddle wheel motor drive control system, and the PD control method is used to adjust the speed difference between the left and right paddle wheels, so as to realize the course control of the operation ship, thereby realizing the navigation of the crab pond automatic operation ship.

The invention discloses a light, small, high-precision composite inertial navigation system and a navigation mode switching method. The navigation system includes a base, an outer rotating frame mounted on the base through a first bearing rotation, and an outer rotation frame installed on the outer rotation frame through a second bearing rotation. The inner rotating frame on the rotating frame and the inertial measurement unit arranged on the inner rotating frame, one end of the inner rotating frame and the outer rotating frame are respectively provided with a driving assembly, and the other end is respectively provided with a locking mechanism, and the driving assembly includes an ultrasonic motor and an angle The sensor and the locking mechanism include a moving plate, a disc spring, a coil, a casing and a fixed plate. The moving plate is in contact with the inner rotating frame and the outer rotating frame respectively. The disc spring is arranged between the moving plate, the fixing plate and the housing. The magnetic field generated by the coil is stretched to realize the support and distance of the moving plate, and the coil changes the magnetic field by controlling the current input. Ultrasonic motor and electromagnetic lock can be quickly locked and unlocked in harsh mechanical environments to meet the needs of complex mechanical environments.

A method for determining an azimuth angle of a wind power installation is provided. The method includes attaching at least two global navigation satellite system (GNSS) receivers to a nacelle, comparing reception signals of the GNSS receivers, deriving the azimuth angle from the comparison. The at least two GNSS receivers may be attached to a wind measuring supporting frame. Provided is a method including attaching a telescopic sight to a nacelle, determining a bearing of a bearing object at a bearing angle, deriving the azimuth angle from a comparison of the bearing angle with coordinates of the bearing object and / or the wind power installation. The telescopic sight may be attached to a wind measuring supporting frame. The at least one GNSS receiver may be attached to a wind measuring supporting frame. A wind power installation is also provided.

The invention relates to a ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation. The method comprises the following steps: 1, using inertial navigation attitude angle data and angle measurement data of a theodolite to calculate the actual measurement orientation of fixed stars under the horizon system; 2, using a least square method to fit and calculate the inertial navigation attitude angle data at any time; 3, calculating the inertial navigation attitude data which exceeds or lags behind different time, respectively combining the data with data observed by using the theodolite, and finding a set of inertial navigation attitude data with the smallest standard deviation of the azimuth and pitch angle error of the fixed stars under theground level, wherein the corresponding time sequence is an inertial navigation attitude angle time sequence error. The ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation has higher inertial navigation time sequence error detection accuracy and can effectively improve the inertial navigation attitude angle measurement accuracy.

The invention discloses an inertial navigation-based aerostat occultation prediction method, which includes first obtaining the positions of all GNSS navigation stars in the WGS84 coordinate system according to the positioning equipment of the occultation detector, and then calculating the position, longitude, and Latitude and altitude, calculate the pitch angle, azimuth angle of all GNSS navigation stars and the azimuth angle of the aerostat body, judge whether the obtained pitch angle Elv, azimuth angle Azm and antenna installation azimuth meet the threshold of the occultation event, if so, then It is determined that the GNSS navigation star is an occultation. The present invention judges occultation events by adopting continuous arc segments by inertial navigation equipment, thereby enhancing the accuracy of forecast results, the method is simple and easy, and has important application value for real-time forecast.

The invention belongs to the technical field of attitude calibration of inertial navigation systems, and in particular relates to a method for calibrating the attitude of a moving base based on self-collimation tracking. Install the inertial navigation system on the inner frame table of the three-axis swing table, so that the rotation of the outer frame of the three-axis swing table excites the heading angle change of the inertial navigation system, the rotation of the middle frame stimulates the pitch angle change of the inertial navigation system, and the rotation of the inner frame stimulates the change of the pitch angle of the inertial navigation system. The roll angle of the inertial navigation system changes; the eyepiece of the dynamic auto-collimation tracking measuring instrument is firstly self-aligned with the north reference mirror, and the output value of the dynamic auto-collimating and tracking measuring instrument is recorded at this time; The measuring instrument is self-collimated with the azimuth reference mirror of the inertial navigation system, and the output value of the dynamic self-collimation tracking measuring instrument is recorded again. The invention utilizes the automatic tracking and dynamic angle measurement functions of the dynamic self-collimation tracking measuring instrument to realize the real-time calibration of the inertial navigation system attitude under static and dynamic conditions.