785 results about "Calibration function" patented technology

The invention relates to the technical field of inclination angle measurement sensors, and provides a calibration method and system for a high-precision inclination angle measurement sensor, and the method comprises the steps: obtaining the original output data of the high-precision inclination angle measurement sensor at a plurality of known attitude angles, so as to construct a multi-dimensional attitude mapping table, carrying out the error gravity center vector analysis of the multi-dimensional attitude mapping table, and carrying out the calibration of the high-precision inclination angle measurement sensor. After an error mapping graph is generated, boundary deviation suppression is carried out, after a correction graph is obtained, an inclination angle residual error regulation and control mapping relation is constructed, multi-dimensional partition adjustment and optimization are carried out on the inclination angle residual error regulation and control mapping relation, a residual error calibration function set is constructed, and output data of the high-precision inclination angle measurement sensor are calibrated based on the residual error calibration function set. The calibration precision of the inclination angle measurement sensor is improved from multiple dimensions, the influence of static errors and dynamic errors is effectively eliminated, the use reliability and applicability of the sensor are enhanced, and the problems that in a high-precision scene, error modeling is not accurate enough and the anti-interference capability is insufficient in the prior art are solved.

The invention discloses a high-current accurate measurement method, which relates to the technical field of current measurement, and comprises the following steps: obtaining multi-dimensional measurement parameters, carrying out preprocessing, constructing an error model to obtain a comprehensive error, and carrying out calculation based on the comprehensive error to obtain a comprehensive feedback value; based on the comprehensive feedback value, utilizing a closed-loop feedback mechanism to dynamically optimize a compensation parameter, and further utilizing the compensation parameter and the comprehensive feedback value to carry out error correction on the measurement current; real-time measurement parameters are obtained through a built-in sensor and a factory calibration reference model, an error model is constructed, the dynamic closed-loop self-calibration function is achieved, dependence on external calibration equipment is not needed, the problems that a traditional measurement method is high in complexity and high in cost are solved, and the method is suitable for integrated application of a high-precision electric energy meter and industrial measurement equipment and has wide application prospects. And meanwhile, the real-time performance and the convenience of measurement are remarkably improved.

The invention, which relates to the technical field of highway traffic safety monitoring, discloses an expressway pavement ice condensation monitoring system comprising a data acquisition module for acquiring environmental data and pavement icing state information on an expressway pavement; and the self-calibration module is connected with the data acquisition module, performs self-calibration on the data acquisition module according to the environment data acquired in real time and the road surface icing state information, and corrects sensor errors caused by external environment factors. According to the highway pavement ice condensation monitoring system, a self-calibration function is added in monitoring equipment and an intelligent algorithm is introduced, so that the monitoring system can automatically correct measurement errors caused by external environment changes in real time, and a machine learning model is combined to predict pavement conditions more accurately; the working stability of the system in severe weather can be improved, and the risk of icing of the road surface can be found earlier, so that more accurate early warning information is provided for a traffic management department, and the probability of traffic accidents is reduced.

The invention discloses a dexterous grabbing method and system for a robot, and aims to solve the technical problems that an existing robot grabbing system is high in dependence on hand-eye calibration precision (especially translation vectors), and the grabbing capacity of objects without priori knowledge is limited. According to the method, a reference-transformation-correction control framework is provided, the pose of an unknown object is accurately recognized through a multi-stage visual segmentation strategy, and a preliminary grabbing target is generated based on the reference relation of one-time teaching; most importantly, the system starts closed-loop visual servo correction, and iteratively corrects the position by detecting the real-time pose of a tail end visual mark, so that translation errors in hand-eye calibration are eliminated, and high-precision alignment is realized; in addition, the system also integrates the functions of object posture adjustment and rapid rotation calibration. Through cooperative work of open-loop target generation and closed-loop position correction, dependence on hardware accurate calibration is effectively reduced, and the grabbing success rate and robustness are improved.

The invention discloses a trigger test device with a calibration function and a test method. The test device comprises a bottom plate; the device comprises a mounting module, a detection assembly and an adjusting assembly, the detection assembly comprises a probe and a pressure sensor matrix, the pressure sensor matrix is arranged on the probe and covers a detection part of the probe, and the pressure sensor matrix is used for detecting the offset and the pressure value between the detection part and a to-be-detected area; the probe is driven by the adjusting assembly to carry out displacement and angle adjustment on the X axis, the Y axis and the Z axis, the offset between the detection part and the to-be-measured area is corrected, and the measurement precision is improved.

The invention discloses a seeding unit integrating visual feedback and calibration functions and a control method, and relates to the technical field of agricultural machinery, the seeding unit comprises a control system, a row spacing adjusting mechanism and a seeding depth control mechanism, the seeding depth control mechanism is connected with the row spacing adjusting mechanism, and the row spacing adjusting mechanism is connected with the control system; the control system is composed of an industrial camera and an image recognition module, the image recognition module comprises a broken ridge prediction control mechanism and a ridge center line fitting and sowing offset correction mechanism, and the ridge center line fitting mechanism recognizes ridge line boundaries and fits center line tracks. The broken ridge prediction control mechanism detects a ridge line interruption area and delays ridges according to the advancing speed and response of the seeding monomers. According to the seeding monomer integrated with the visual feedback and calibration functions and the control method, the visual identification technology is integrated to monitor the earth surface condition in real time, the response is quick, the control is accurate, and the seeding monomer is suitable for high-speed seeding operation under different terrain and soil conditions.

The invention discloses a self-calibration high-resolution PWM (Pulse Width Modulation) signal generating circuit, which belongs to the field of electronic circuits and comprises a PWM signal generating module, a high-resolution module, a calibration module, a register module and an AHB (Advanced High-performance Bus) interface. The PWM signal generation module generates a coarse adjustment PWM signal based on a comparison result of the comparison register and the counter; and the high-resolution module performs fine edge positioning on the coarse adjustment PWM wave to generate a fine adjustment PWM signal. Under the condition that the clock frequency is not changed, the high-resolution module can improve the resolution of the PWM signal. The calibration module has a high-resolution calibration function, and the high-resolution calibration function can avoid the deviation of a delay value caused by the environment and ensure the accuracy and stability of the high-resolution PWM. The register module is responsible for register read-write control. The AHB bus interface part is responsible for processing bus interface signals. The self-calibration high-resolution PWM signal generation circuit has the advantages of being high in precision, high in stability, easy to IP and the like.

The invention discloses a water supply network pressure and flow monitoring and early warning system based on an AI model, and relates to the technical field of water supply network monitoring, the system comprises the following components: a data acquisition module, a data transmission module, a quantum heuristic AI optimization algorithm processing module, a monitoring and early warning module and a user interaction module; pressure, flow and water quality data in a water supply network are collected in real time through the data collection module, the accuracy and reliability of the data are ensured by adopting a self-adaptive dynamic point distribution strategy and a self-calibration function, the data can be efficiently analyzed and processed through the quantum heuristic AI optimization algorithm processing module, and the accuracy and reliability of the data are ensured. And the monitoring and early-warning module monitors the condition of the pipe network in real time according to a prediction result, immediately sends out an early-warning signal once an abnormality is found, and ensures the timeliness and pertinence of early warning by adopting a multi-dimensional graded early-warning strategy.

The invention belongs to the technical field of eddy current sensor calibration, and discloses an eddy current sensor for a high-temperature environment and a calibration method thereof. The method comprises the following steps: synchronously acquiring working current, voltage, surface position, temperature, standard displacement signals and original output voltage of an eddy current sensor, constructing an oxide layer equivalent circuit model, and optimizing to obtain thickness distribution; building a thickness increase model, and building a correlation model to calculate time-varying impedance; calculating a sensitivity coefficient function, and designing a piecewise calibration function to obtain a calibration parameter set; and finally, dynamically compensating the original output voltage in combination with the calibration parameter set to obtain the calibrated displacement. A temperature field, a standard displacement signal and an original voltage signal are collected, a temperature-oxide layer-impedance three-dimensional dynamic model is established, and the nonlinear influence of oxide layer growth and temperature gradient is compensated in real time.

The invention discloses a rocker output and shaft self-calibration device and method of an unmanned aerial vehicle control terminal, the rocker output and shaft self-calibration device is composed of a rocker information acquisition unit, a rocker signal processing unit and a characteristic parameter storage unit, and zero calibration and extreme value calibration are executed when a rocker is started each time. After the rocker is calibrated, the information processing unit stores special parameters such as the zero position and the extreme value of the rocker into the data storage unit, and the special parameters are used for follow-up rocker processing including amplitude limiting, filtering, dead zone processing and output mapping. The device can reduce the drifting of the output result of the rocker caused by the aging of a rocker device, the voltage attenuation of a control terminal and the continuous friction loss between the mechanical structures of the rocker. The calibration device has no special requirements on rocker types, can be basically suitable for various rockers, is a rocker output and self-calibration device of an unmanned aerial vehicle control terminal with a self-calibration function and good universality, and can realize miniaturization, low cost and fitting engineering practice as much as possible by selecting a proper MCU (Microprogrammed Control Unit) chip.

The invention relates to a power cable insulation state real-time monitoring and alarm device, and belongs to the technical field of power equipment state monitoring. Comprising a multi-source sensing unit which is installed at a cable body and a joint; the edge computing terminal is fixed in the cable well or the ring main unit; and the cloud early warning platform receives the processing data and outputs an alarm instruction. According to the invention, multi-parameter deep fusion is realized, four-dimensional monitoring of grounding current, temperature, partial discharge and humidity is initiated for the first time, and limitation of a single parameter is broken through; and an insulation health index IHI is proposed, and the insulation deterioration degree is quantitatively evaluated. According to the method, tan delta and IHI are calculated on site through an edge-cloud collaborative architecture edge terminal, so that the data transmission quantity is reduced; the cloud dynamic threshold value is adjusted, and the alarm accuracy is improved. According to the invention, intelligent early warning mechanism three-level alarm linkage protection equipment is arranged; and the self-calibration function ensures long-term reliability.

The invention discloses a traceable cavity ring-down spectrometer system with a self-calibration function, and is applied to the technical field of gas concentration detection. The device comprises an optical cavity ring-down main body, a dynamic generation module and a reference analysis module which are connected in sequence, wherein the optical cavity ring-down main body comprises a laser light source, a beam splitter, an optical fiber isolator, a lens, a first reflecting lens, a first aluminum ring, a sample cell, a second aluminum ring, a cross shaft type universal coupling control device and a second reflecting lens which are arranged along a laser light path; the dynamic generation module comprises a high-purity gas inlet, a gas purifier, a dynamic generation device, a standard gas outlet and a three-way electromagnetic valve which are arranged along a gas path; the reference analysis module comprises an instrument standard gas inlet, a reference analyzer and a standard gas storage box which are arranged along the gas path. According to the method, the influence of instrument drift on analysis data caused by the use environment and instrument part loss of the online instrument is avoided, and the accuracy and the quantity value traceability of the instrument analysis data are guaranteed.

The invention relates to a calibration method, device and equipment of a laser scanning galvanometer performance detection device. The method comprises the steps that a laser is controlled to emit laser, a rotating table and / or a scanning galvanometer are / is controlled to rotate until a position sensitive detector detects that a light spot of the laser is located at a preset zero point position, and the deflection angle of the rotating table is determined as an initial angle; determining an angle range based on the initial angle and a preset angle, controlling the rotating table to rotate in the angle range, and obtaining light spot positions detected by the position sensitive detectors at multiple angles in the angle range; based on the light spot positions at the multiple angles, calibration parameters in the target calibration function are solved; the solved target calibration function is used for carrying out performance detection on the scanning galvanometer. By adopting the method, the laser scanning galvanometer performance detection device can be automatically calibrated.

The present application belongs to the technical field of wireless communications and radar systems. Disclosed are a dual-band fusion and multiplexing frequency source, chips, a radio-frequency transceiver, a system, and a device. The system comprises: a full-function millimeter-wave CMOS 4+1 phased array chip, which is connected to an antenna end, and is used for realizing signal processing and frequency conversion between a millimeter-wave signal and a C-band intermediate-frequency signal, performing phase control and gain adjustment on the millimeter-wave signal, and providing an internal frequency source and a calibration function; a C-band front end, which is connected to the antenna end, and is used for receiving or transmitting a C-band signal; a C-band / intermediate-frequency transceiver multiplexing chip, which is used for performing frequency conversion between a C-band or intermediate-frequency signal and a baseband signal in a multiplexing manner, and performing signal processing and gain control on the C-band intermediate-frequency signal; a dual-band fusion and multiplexing frequency source, which is used for providing a local oscillator signal; and an all-digital control logic circuit, which is used for providing a control instruction. The present application improves the efficiency and performance of dual-band joint communications.

The invention discloses a calibration device with a spectrum self-calibration function and a high-resolution spectrum calibration method thereof. The device comprises a narrow-band light source, a broadband light source, an optical fiber isolator, a coupler, an interference system, a multi-way switch, an FP (Fabry-Perot) cavity, a collimator, an orthogonal dispersion system and a computer, wherein the orthogonal dispersion system consists of a cylindrical lens, a reflector, a virtual phase array, a grating, a focusing lens and an industrial camera; according to the device, different light source paths are gated, FP cavity modulation and orthogonal dispersion system light splitting are utilized, and an industrial camera is combined to receive light signals. According to the method, the mapping relation between pixels and wavelengths can be established, the two-dimensional spectrum is compressed into the one-dimensional calibration spectrum through light intensity modulation and normalization processing, the calibration process of the orthogonal dispersion system is simplified, and the measurement precision is improved; and system drift can be compensated in real time through self-checking calibration, and the reliability of a measurement result is ensured, so that accurate calibration and measurement of a high-resolution spectrum can be realized.

The invention discloses an in-situ automatic calibration system and method for a multi-channel temperature acquisition instrument. The system comprises a metering port, a change-over switch, an upper computer, a multi-channel change-over switch and a standard signal source. The metering port is connected with the multi-channel change-over switch and is used for calibrating the temperature acquisition instrument; the change-over switch is connected with the acquisition circuit board and is used for switching a measurement mode and a calibration mode, in the measurement mode, the acquisition circuit board is connected with the measurement port, and in the calibration mode, the acquisition circuit board is connected with the metering port; the multi-channel change-over switch performs channel switching under the control of the upper computer, the standard signal source is connected with the multi-channel change-over switch and is used for outputting a preset standard electric signal to the metering port, the acquisition circuit board acquires the electric signal and converts the electric signal into a digital signal, and the master control digital board processes the digital signal and transmits the digital signal to the upper computer. According to the invention, a metering calibration function is added on an original temperature acquisition instrument, so that on-site rapid calibration of the multi-channel temperature acquisition instrument can be realized.

The invention provides a force and acceleration composite sensor with a calibration function and a working method, and belongs to the field of composite sensors, the force and acceleration composite sensor with the calibration function comprises a test base, the test base is provided with a test through hole, and the test through hole is provided with a mounting hole; a pressure sensitive diaphragm II and a pressure monitoring core body are mounted in the mounting hole; an impact head limiting and fixing upper base is mounted on the test base, an impact head is mounted in a sliding through hole of the impact head limiting and fixing upper base, a first pressure sensitive diaphragm is arranged at the lower end of the impact head, and an acceleration monitoring core body is mounted at the lower end of the first pressure sensitive diaphragm; a third pressure sensitive diaphragm is installed at the bottom of the test through hole, a calibration base is arranged at the lower end of the test base, a calibration groove is formed in the calibration base, and a standard pressure sensor and a tested pressure sensor can be installed on the side wall of the calibration groove. The device has the beneficial effects that the device has multiple advantages of synchronous monitoring of force and acceleration, flexible impact resistance and integrated calibration.

The invention provides an intelligent voltage monitoring system with an adaptive calibration function, and relates to the technical field of data processing. An environment monitoring module; the intelligent drift modeling module is used for training associated data based on a neural network model, learning a nonlinear drift rule under a multi-factor coupling condition and constructing a drift prediction model; the prediction calibration module is used for generating a calibration vector for uncollected original voltage data, and performing dynamic superposition calibration in a real-time sampling process to generate prediction calibration voltage data; the closed-loop self-learning module is used for extracting a deviation trend based on the periodic deviation of the predicted calibration voltage and the reference voltage, and carrying out online updating on the drift prediction model according to the deviation trend; the application output module is used for providing the predicted calibration voltage data to a control unit of the power equipment; according to the invention, the autonomy and accuracy of intelligent voltage monitoring are improved.

The utility model relates to an organic carbon element carbon monitoring system and an automatic standard solution dropwise adding device thereof, and belongs to the technical field of carbon detection. The organic carbon element carbon monitoring system comprises a heating furnace and a control system, an optical channel is located in the heating furnace, a sampling filter membrane is arranged in the optical channel, and a detector is arranged at an outlet of the optical channel; the device for automatically dropwise adding the standard solution comprises a first branch pipe, a quantitative pipeline and a carrier liquid supply pipeline, wherein the first branch pipe is used for extending into a heating furnace; the quantitative pipeline is used for providing quantitative standard solution; the carrier liquid supply pipeline is used for providing carrier liquid; the input end of the first branch pipe is communicated with the output end of the standard solution quantitative pipeline; the output end of the carrier liquid supply pipeline is communicated with the input end of the standard solution quantification pipeline, and the carrier liquid supply pipeline is used for driving a quantitative standard solution to a reaction area of the organic carbon element carbon monitoring system. According to the device, the measurement of carbonate carbon in the ambient air particulate matters is realized. The automatic titration calibration device avoids the influence of manual operation, has an automatic titration calibration function and is good in repeatability.

The invention discloses a dual-lens laser particle analyzer with an automatic calibration function. The dual-lens laser particle analyzer comprises a lead-in assembly, a shaking assembly and a mist brushing assembly, the introduction assembly is used for mixing and introducing to-be-measured particles and a water source, the shaking assembly is used for continuously shaking the particles of a to-be-measured mixed solution so as to ensure that the particles are uniformly dispersed, and the mist brushing assembly is used for brushing away mist which is generated on a lens due to too high humidity and interferes with the laser measurement degree. Through the combination of the first fixing plate, the first fixing shaft, the fixing ring and the torsional spring, the first sample pool can flexibly shake within a certain range, the motor drives the reciprocating lead screw to drive the toothed plate to move, the first sample pool can shake and swing, and through the continuous and diverse movement mode, the detection accuracy is improved. The uniform distribution of the particles in the solution is ensured, the interference of particle precipitation or aggregation on the measurement result is avoided, and the accuracy of measuring the particle size by the laser particle analyzer is obviously improved.

The invention discloses an intelligent live broadcast scene adaptive control system, and relates to the technical field of scene control. The system comprises a scene perception module, a data analysis module, a strategy generation module, an execution control module and a feedback evaluation module. The scene sensing module collects multi-dimensional information by using a multi-sensor fusion technology, evaluates integrity by using an information integrity formula, and has a self-calibration function; the data analysis module extracts features by using a deep learning algorithm, and evaluates association through a feature association degree formula; the strategy generation module is combined with an expert system and an MPC to generate a strategy; the execution control module executes a strategy in a distributed architecture mode and adjusts equipment parameters; and the feedback evaluation module evaluates the effect and the system performance by using multiple indexes, and can perform trend analysis and early warning. According to the invention, live broadcast quality is improved, scene perception is accurate, and strategy generation is adaptive; network problems are effectively handled, and smoothness is guaranteed. The efficiency is improved, the cost is reduced, manpower is reduced through automatic control, performance is fed back, evaluated and optimized, expansibility is achieved, and development of the live broadcast industry is promoted.

The invention discloses a soil humidity inversion method and device, a medium and equipment, and relates to the technical field of microwave remote sensing inversion. According to the method, the total backscattering coefficient, the normalized vegetation index, the leaf area index and the average leaf inclination angle of the electromagnetic waves of the target area pixel by pixel are obtained in combination with microwave remote sensing data and atmospheric apparent reflectance data of the target area; according to the normalized vegetation index, the leaf area index and the average leaf inclination angle, spatial clustering is carried out on vegetation, spatial heterogeneity of crop types is captured, and then based on the constraint that the surface roughness parameters and the vegetation parameters of the same vegetation type are the same and the soil humidity in the same surface space window is the same, the spatial heterogeneity of crop types is obtained. Through two-stage iteration inversion of the intra-class scale and the ground surface space window scale, the time dynamic state is adapted, the parameter calibration function of the in-situ soil humidity data is replaced, and the model parameters and the soil humidity can be determined without the in-situ soil humidity data. According to the invention, the accuracy and reliability of the soil humidity inversion method are improved.

The invention relates to an optical distance measuring device with an automatic calibration function and a measuring method thereof, and relates to the technical field of measuring devices.The optical distance measuring device comprises a base, a calibration piece is arranged on the base, a liftable supporting plate is arranged above the base, and a laser range finder and a measuring plate which are opposite to each other are arranged on the supporting plate; the device further comprises a probe assembly, a moving assembly, a follow-up air injection assembly and a follow-up marking assembly, the follow-up marking assembly is connected to the probe assembly, and the probe assembly makes contact with and extrudes the measuring face, so that the follow-up marking assembly automatically marks the uneven position of the surface. When the uneven position is detected, the marking coating is sprayed out of the annular spraying pipe by extruding the second air bag, the uneven position is marked in real time, marking is convenient and rapid, the time and energy of manual marking are saved, the uneven position which is automatically marked is convenient for workers to directly observe, and the efficiency of follow-up repairing or processing work is improved.

The invention discloses a distributed wind-solar complementary control system, method and device and a storage medium, and relates to the technical field of energy control. The data acquisition module adopts a sensor to acquire environment and operation data of wind power and photoelectric equipment per minute, and has a self-calibration function; the data analysis module predicts the power generation potential of wind energy and solar energy and evaluates the operation state of the equipment in combination with multiple types of information; the power distribution module dynamically distributes power through an algorithm according to an analysis result and a load demand; the communication module combines a wireless mode and a wired mode, and has a retransmission mechanism to guarantee communication stability and safety; the energy storage management module monitors parameters of the energy storage device, adopts an intelligent charging and discharging strategy, controls the charging and discharging process and ensures safe and efficient operation of the energy storage device, high-precision data collection guarantees accurate power generation prediction, power is reasonably distributed, the energy utilization rate is improved, faults are diagnosed in time, the downtime is shortened, dispatching is optimized, and the power generation efficiency is improved. Energy storage management is intelligent, and efficient utilization of renewable energy sources is promoted.

The invention discloses a comprehensive monitoring platform for an auxiliary system of an intelligent substation, and the platform comprises a sensing layer which is provided with diversified sensors and is used for collecting the operation state, environmental parameters, security and protection information and fire-fighting information of equipment in the substation in real time, and the sensors have the self-diagnosis and self-calibration functions; the edge computing layer is composed of a plurality of edge computing gateways; the cloud platform is used for carrying out deep fusion, storage, analysis and intelligent decision making on the data uploaded by the edge computing node; and the application layer is used for providing an interactive interface and a functional module for a user, and the user can log in the technology through various terminal devices. Through a multi-level architecture and an intelligent analysis technology, comprehensive perception, intelligent analysis and automatic control of equipment states are realized, faults are predicted in advance, downtime is reduced, and reliability and stability of a power system are improved. The response time is shortened by an intelligent linkage strategy and an edge computing local decision-making mechanism, sudden safety events and equipment faults can be quickly handled, and accident loss is reduced.

The invention relates to the technical field of electric power measurement, in particular to a self-calibration method and system for measuring the metering function of a switch, and the method comprises the steps: a standard signal source carries out the current data point collection of a data collection time period at a fixed collection frequency, carries out the filtering processing of the collected data of the current data point, and obtains the current value of the data collection time period; determining a reference current signal required to be output by a standard signal source based on the acquired current value of the data acquisition time period; the metering module samples a reference current signal output by the standard signal source to obtain a metering sampling current; and carrying out error threshold comparison on the difference between the metering sampling current and the reference current signal, and carrying out self-calibration adjustment on the measurement switch based on a comparison result. Metering deviation is corrected in time, misoperation of overload protection and short-circuit protection is avoided, meanwhile, field calibration operation is simplified, and the self-calibration function can be completed without complex test equipment.

The invention discloses a pinch roll gap cascade control system with an automatic calibration function. The pinch roll gap cascade control system comprises a hydraulic module, a detection module and an upper computer, the hydraulic modules are arranged on the two sides of the pinch roll device. The detection module is arranged on the hydraulic module; the upper computer is connected with the hydraulic module and the detection module. The invention further discloses a pinch roll gap cascade control method with the automatic calibration function. The invention provides a control system which is good in pinch roll gap adjusting effect and considers automatic calibration in the high-precision steel plate production process.

The invention relates to the technical field of face injection, in particular to a face precise injection system based on real-time B-ultrasonic imaging and a using method, and the method comprises a high-frequency ultrasonic imaging module which is provided with a deformable curved surface probe array; the image processing unit integrates a blood vessel segmentation algorithm, a three-dimensional reconstruction module and a dangerous area dynamic calibration function; the navigation positioning module comprises an electromagnetic positioner and an optical tracker; the injection executing mechanism is composed of a six-degree-of-freedom mechanical arm, a pressure feedback type injector and a needle tip microspur sensor; the main control unit is used for coordinating data interaction of all the modules and generating injection safety early warning; by adopting high-frequency ultrasonic imaging, the skin layer, fat layer, muscle and blood vessel structures can be clearly displayed, deviation caused by traditional touch typing injection is avoided, tiny blood vessels can be recognized through an AI blood vessel automatic segmentation algorithm, and therefore the risk of wrong injection in the blood vessels is remarkably reduced.

The invention discloses an inertial navigation system calibration method and device based on a cold atom interferometer, and relates to the technical field of inertial navigation, guidance and control, an accelerometer and a gyroscope are used for collecting original data and correcting errors, and then calibration is carried out by combining the earth gravity acceleration and rotation angular velocity collected by the cold atom interferometer. And through calculation of an attitude rate differential equation and a displacement angular rate differential equation and attitude fusion, accurate attitude output is obtained. According to the invention, the pose measurement precision is greatly improved; the system has an autonomous traceability, and gets rid of the dependence of traditional calibration on laboratory equipment or specific devices; the rearranged algorithm enhances the precision of long-time navigation in a complex environment, and is suitable for long-endurance and combined navigation systems; the online calibration function of the calibration system can correct system parameter drift in real time, continuous high-precision operation of the navigation system is guaranteed, and the overall performance and reliability of the inertial navigation system are effectively improved.