45 results about "Bearing (navigation)" patented technology

The embodiment of the invention relates to an inter-ship relative field acquisition method based on a ship cluster situation. The inter-ship relative field acquisition method comprises the following steps: dividing an interest perception area of a target ship into a plurality of interest perception subareas according to a ship safety meeting distance; according to the navigational speeds and the navigational directions of the target ship and the interference ship, the relative directions of the target ship and the interference ship, and the collision avoidance response time, in combination with the ship length of the target ship and / or the interference ship, calculating to obtain inter-ship variable advancing distances of the target ship under different meeting situations; determining a weight factor of the inter-ship variable carry distance in the plurality of interest perception sub-regions; calculating to obtain an inter-ship variable path distance according to the inter-ship variable advance distance and the weight factor; and obtaining a plurality of boundary points according to the inter-ship variable path distances of the interest perception sub-regions, and fitting to obtain the inter-ship relative field based on the ship cluster situation. According to the inter-ship relative field acquisition method, the inter-ship variable pitch is calculated according to the inter-ship variable pitch under different meeting types of the target ship and the interference ship in combination with the weight factor, and the inter-ship relative field based on the ship cluster situation is established in real time.

The invention relates to a method and a device for calibrating an error of an SINS / DVL integrated navigation system. The method comprises the following steps: modeling a nonlinear optimization function; parameters of the nonlinear optimization function comprising a scale factor error of the speed of the DVL and an azimuth installation error angle between the SINS and the DVL; and solving the nonlinear optimization function to complete calibration of the two errors. According to the method for calibrating the errors of the SINS / DVL integrated navigation system, a nonlinear optimization function is modeled by aiming at the two parameters, the nonlinear optimization function is solved by utilizing a Gauss-Newton algorithm, the two errors are accurately calibrated, and the calibration precision of the method can reach the optimal solution through comparison with an enumeration method. According to the method for calibrating the error of the SINS / DVL integrated navigation system, the precision of SINS / DVL integrated navigation can be improved, and the method has very high practical value.

The invention belongs to the technical field of precision rolling bearings, and relates to a matching method for special bearings for inertial navigation platforms. The matching steps are: (1) preselection, (2) pairing, (3) measuring and correcting the protrusion of the end face of the single set of bearings, (4) measuring and correcting the deformation of the inner ring of the paired bearing, (5) testing the paired bearing starting friction torque. The method of the invention can reduce the error of the pre-tightening force of the paired bearings, make the starting friction torque of the bearings meet the requirements, and greatly improve the performance of the inertial navigation platform.

The invention relates to a navigation painted abacus, which comprises panels 1, a movable rotary disk 2, a logarithmic calculating disk 3, a movable scale 4 and a logarithmic ratio scale 5, wherein, the panels 1 are divided into an upper layer and a lower layer; the movable rotary disk 2 is a circular disk and fixed between the upper and lower panels 1, and can freely rotate around the center of the circle; the movable rotary disk 2 is engraved with two main index lines 6 which pass through the center of the circle and are perpendicular to each other, and a plurality of auxiliary index lines 7 parallel to the main index lines 6; the disk surface is engraved with a distance / speed circle 8 used for measuring the distance / speed, and the outer ring of the rotary disk is engraved with an azimuth scale line 9 of 0 to 360 degrees. The upper and the lower panels 1 are made of organic glass, lined by copper strips, and fixed by screws; and each corner is subjected to slow round processing. The logarithmic calculating disk 3 consists of an inner disk 10 and an outer disk 11 which have the same circle center, wherein, the inner disk 10 can freely rotate, and the outer disk 11 is a fixing disk. The movable scale 4 is made of copper materials, concentric with the movable rotary disk 2 and fixed on the upper panel 1 by the inside thread screws, and can freely carry out circumferential rotation. The logarithmic ratio scale 5 is a strip-shaped plexiglass ruler, one side of which is engraved with logarithmic scale, and can be used as a logarithmic slide rule by matching with the movable scale (4) on the movable rotary disk (2).

The invention discloses a garden playing navigation device which comprises a shell, a damping mechanism and a navigator are arranged on the inner wall of the shell, rotating mechanisms are arranged onthe two sides of the shell, a shell cover is arranged in the shell, the shell cover is connected with the shell through the rotating mechanisms, a lifting belt mechanism is arranged in the shell cover, the lifting belt mechanism comprises a cavity, the cavity is formed in the shell cover, first bearings are fixedly installed on the two sides of the cavity, a winding roller is arranged on the first bearings, a lifting belt body is arranged on the shell cover, the two ends of the lifting belt body penetrate through the cavity and are wound around the winding roller, a spring groove is formed inthe shell cover, a first spring is arranged in the spring groove, a limiting plate is arranged at one end of the first spring, a second bearing is arranged on the limiting plate, the second bearing penetrates through the cavity, a rotating rod is arranged on the second bearing, one end of the rotating rod penetrates through the shell cover, a first handle is arranged at one end of the rotating rod, and a gear ring is arranged at the bottom end of the rotating rod. By arranging the shell cover and the rotating mechanisms, the purposes of conveniently opening the shell cover and facilitating use of a navigator are achieved, meanwhile, the shell cover can be conveniently fixed to different angle positions, the navigator can be conveniently supported and placed through the shell cover, and the purpose of convenient use is achieved.

The invention provides a self-calibration method for an optical fiber strapdown inertial navigation system, which includes: northward speed error, eastward speed error, horizontal misalignment angle, azimuth misalignment angle, gyro constant value offset and accelerometer constant value offset The quantity is the state quantity, and the state equation is established; the northward velocity error and the eastward velocity error are used as the quantity measurement, and the measurement equation is established; the state equation and the measurement equation constitute a Kalman filter model; When the SINS is located at the initial position, the state quantity is calculated according to the Kalman filter model; after a preset time period, the heading angle of the optical fiber SINS is rotated by 180 degrees, and then according to the Kalman filter The filter model calculates the state quantity, realizes the self-calibration of the constant value offset of the gyro and the constant value of the accelerometer, improves the observability of the system, and can improve the calibration accuracy while meeting the requirement of rapidity.

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 civil aviation navigation equipment sight distance coverage analysis method combined with variable height of a flight path, belongs to the technical field of civil aviation navigation equipment, and solves the problem that the flight safety cannot be ensured due to the absence of a method for carrying out sight distance coverage analysis on a variable height flight path in the prior art. The method comprises the following steps: S1, calculating azimuth angles B of all obstacles relative to navigation equipment by taking true north as 0 degree; s2, screening obstacles in the same direction as the flight path; and S3, calculating whether the n obstacles shield the flight path or not, and calculating the shielding position. The invention provides a method for calculating the shielding of the obstacle to the variable-height flight path for the first time, which comprises the specific shielding position, namely the critical position of the received signal from existence to absence, and the signal coverage condition on the flight path after shielding, so that a reference basis is provided for the height control of the obstacle and the adjustment of the flight height of the aircraft; and the flight safety is powerfully ensured.

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 present invention discloses a solar TDOA measurement method and an integrated navigation method oriented to formation flight, including establishing a solar TDOA measurement model as follows, executing an orbital dynamics model oriented to formation flight for detectors in formation flight, and establishing a Mars direction measurement model , establish the inter-satellite link ranging model; use the extended Kalman filter EKF as the navigation filter, use the star sensor to obtain the celestial body orientation information, the inter-satellite link measurement value and the relative distance in the radial direction of the sun, combined with the formation The orbital dynamics model of the flying probe, under the action of the EKF, obtains the estimated position and velocity information of the probe. The present invention proposes a solar TDOA measurement technical solution for formation flight, which can provide relative position information in the radial direction; the present invention makes full use of a variety of navigation measurement information, and can be used for formation flight in the entire space The sensor provides absolute and relative navigation information with higher accuracy.

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.