133 results about "Differential correction" patented technology

The invention provides a GNSS-RTK-based topographic mapping method and system, and the method comprises the steps: obtaining multi-source positioning signal data in a target region, the multi-source positioning signal data comprising a satellite original observation value, a receiver antenna phase center deviation parameter, and real-time dynamic differential correction information; performing multi-path interference suppression processing on the multi-source positioning signal data to generate a phase observation sequence after interference suppression; inputting the phase observation sequence after interference suppression into a topographic feature calculation model, and extracting topographic elevation change feature parameters of the target area; performing spatial fusion processing based on the terrain elevation change characteristic parameters and reference elevation parameters in a preset terrain database to generate three-dimensional terrain curved surface data of the target area; and dynamically adjusting the topographic map updating frequency according to the difference degree between the three-dimensional topographic surface data and the historical topographic surveying and mapping result, and outputting a real-time topographic surveying and mapping result. According to the invention, precision, real-time performance and resource efficiency can be considered in complex terrain environment application.

The invention discloses an anti-collision monitoring system based on a depth estimation and instance segmentation fused three-dimensional model, particularly relates to the field of intelligent driving security and protection, is used for solving the problem of target recognition and anti-collision in an environment, realizes efficient feature extraction of global semantics and local textures through a multi-branch network structure, and ensures the accuracy and comprehensiveness of target segmentation. In combination with a cross-frame identity association and conflict detection mechanism, the consistency of target identities is effectively maintained, and the mismatching problem caused by shielding or similar appearances is reduced; multi-scale space-time shielding mode analysis and boundary motion consistency verification are adopted, a fusion algorithm is utilized to comprehensively evaluate shielding complexity and segmentation robustness, a high-risk shielding area is identified, secondary difference correction is executed, and space positioning information of a target is remarkably optimized; and finally, integrating the optimized segmentation and depth data into a global coordinate system, constructing a high-precision and coherent three-dimensional semantic scene, and providing stable and high-quality input data for collision detection and trajectory prediction.

The invention discloses an unmanned aerial vehicle centimeter-level hovering control system based on single Beidou differential positioning, and particularly relates to the technical field of unmanned aerial vehicle high-precision positioning and control. The system comprises a Beidou RTK positioning module, a multi-sensor fusion module, a flight control module, a motor driving module, an exception handling module and a ground base station module. Centimeter-level positioning data are obtained through Beidou RTK, and a high-precision pose is output through tight coupling filtering by combining an IMU and a barometer; the flight control module adopts a model prediction algorithm to generate an instruction; the motor driving module realizes quick response; the exception handling module guarantees the reliability of the system; the ground base station provides differential correction. The single Beidou differential positioning and multi-sensor fusion technology is innovatively adopted, centimeter-level precision autonomous hovering control of the unmanned aerial vehicle is achieved, and the unmanned aerial vehicle hovering control system has the advantages of being high in precision, high in interference resistance and rapid in response and is suitable for industrial unmanned aerial vehicle application scenes such as precision agriculture and electric power inspection.

To eliminate the influence of station position fluctuations in a satellite navigation system. [Solution] In satellite navigation systems, including the US GPS and Japan's Quasi-Zenith Satellite System, when multiple reference stations are installed to form a wide-area differential correction system (WADGPS), previously, position errors caused by fluctuations in station position would remain in the position information calculated by the user receiver.However, by adding a correction amount to the correction information provided by WADGPS in advance to cancel this, the position errors caused by fluctuations in station position at the user station can be reduced without changing the calculation processing content at the WADGPS user station, thereby improving the accuracy of the position information calculated by the user station.

The invention relates to the technical field of high-precision positioning in water surface construction, and discloses a Beidou positioning-based cofferdam positioning method for bridge construction, which comprises the following steps: S1, initializing Beidou RTK, setting a base station, acquiring an initial position of a cofferdam, and realizing centimeter-level positioning by using differential correction; s2, fluid-solid coupling modeling is carried out, a dynamic model of the cofferdam under the action of water flow, tide and wind power is established based on a computational fluid mechanics method, and stress and deformation of the cofferdam are calculated in combination with finite element analysis; and S3, estimating an unscented Kalman filtering state, and calculating the current position, speed and error range of the cofferdam based on the historical position information of the cofferdam and fluid-solid coupling modeling prediction data. According to the method, the timeliness of error correction is ensured through an error loop feedback mechanism and a real-time alarm function, the robustness and stability of the system are improved, and the positioning precision and reliability of the cofferdam in the construction process are remarkably improved.

The invention belongs to the field of satellite time service, and relates to a clock synchronous positioning device and method with a safety protection function, and the device comprises a multi-frequency receiver which is used for receiving a first satellite signal and a second satellite signal of different frequency bands; the signal processor is used for performing clock synchronization and determining a first key parameter and a second key parameter; the safety protection processor is used for obtaining a first deception recognition result and a second deception recognition result, and sending a signal source switching instruction when a deception signal is recognized in the first deception recognition result and / or the second deception recognition result; the isolation controller is used for controlling to cut off the connection between the multi-frequency receiver and the abnormal Beidou signal source when receiving the signal source switching instruction, and switching to a standby signal source; and the RTK positioning module is used for generating differential correction data according to the received satellite signal and sending the differential correction data to the target moving station. According to the scheme provided by the invention, the safety and the stability of the clock synchronous positioning process are ensured.

The invention relates to a low-cost Beidou satellite positioning enhancement method, and belongs to the technical field of GNSS positioning. According to the invention, the first Beidou terminal receives the correction number information, realizes high-precision positioning and obtains the observation value domain difference correction number of the position where the first Beidou terminal is located, and at the moment, the first Beidou terminal is used as a base station to establish a Beidou short message multicast group with other Beidou terminals; and broadcasting the observation value domain difference correction number to other Beidou terminals in the area through Beidou short message broadcasting. According to the invention, cooperative positioning of a plurality of north hopper terminals in a working area can be realized without relying on a ground base station; and communication resources of a Beidou No.3 global satellite navigation system are fully utilized, satellite-based and ground-based differential correction number broadcasting is realized based on Beidou short messages, and high-precision positioning and communication self-closed-loop of the system can be realized only through a Beidou system. Infrastructure construction investment is reduced to the maximum extent, the service coverage range is wide, cost is low, and the system is light and easy to deploy.

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

The invention relates to the technical field of image data processing, in particular to an automatic driving model based on a mixed low-rank expert and a multi-domain adaptive fine tuning method, and the model comprises a general model base in a frozen state and a multi-domain adaptive component in a trainable state; the universal model base comprises an image encoder, a measurement information encoder and a trajectory planner; the multi-domain adaptation component comprises a mixed low-rank expert group and a domain sensing router; the mixed low-rank expert group is used for calculating a difference correction signal according to the input characteristics; and the domain sensing router is used for receiving the shared image features extracted by the image encoder, outputting probability vectors and dynamically activating corresponding experts in the mixed low-rank expert group according to feature distribution of input data. According to the method, plug-and-play type efficient adaptation of a single universal model to multiple downstream domains is achieved with extremely low calculation and storage cost, and the pain point of a traditional multi-domain adaptation method is perfectly solved.

The invention relates to a pipeline inspection method, system and device integrating mixed reality and high-precision real-time positioning and a medium, and relates to the technical field of pipeline positioning inspection, and the method comprises the steps: carrying out the decoding positioning processing through employing the obtained differential correction data and high-precision real-time satellite data, high-precision real-time positioning information when the mobile station performs pipeline inspection on the target pipeline is obtained, then three-dimensional rendering is performed by using the high-precision positioning information in combination with pipeline coordinate data and a pre-constructed three-dimensional pipeline model, and holographic projection data representing the real-time condition of the pipeline is obtained. According to the method and the device, the pipeline is subjected to pipeline holographic projection display and pipeline inspection according to the holographic projection data, and the pipeline data operation is performed in the pipeline inspection process, so that on the basis of remarkably improving the positioning precision, the real-time and visual display of the data is further realized, the data can be efficiently operated, and the data operation error rate is reduced.

The invention relates to an intelligent ship water diversion method and system based on RTK and inertial navigation fusion, and the method comprises the steps: firstly, deploying and calibrating an RTK base station at a wharf commanding height, generating a differential correction in real time, and broadcasting the differential correction to a shipborne end; utilizing RTK surveying and mapping equipment to collect shoreline feature points, adopting a cubic spline interpolation algorithm to construct a continuous and smooth three-dimensional shoreline curve model, and fusing wharf geographic information to generate a shoreline visual map with geographic coordinates; establishing a ship coordinate system, converting inertial navigation attitude data into the coordinate system through a rotation matrix and a translation vector, fusing the inertial navigation attitude data with RTK position data, and outputting a high-precision ship pose; fusion data are transmitted through a 5G network, a shore end converts the fusion data into a local plane coordinate system and generates a real-time dynamic visual interface, the real-time dynamic visual interface is pushed to a tug terminal through an RTSP protocol, water diversion operation is assisted, high-precision perception, visual guidance and shore ship cooperation of the ship berthing process are achieved, and the water diversion safety and the intelligent level are improved.

A new GNSS-based real-time high-precision wave measurement method, wherein the GNSS phase, pseudo-range, Doppler frequency shift observations and broadcast ephemerides are collected by a GNSS receiver, and antenna carried by a sea surface carrier; the three-dimensional speeds of a carrier are acquired using an epoch difference of phase observations; and wave element information are then solved. The wave element information can also be obtained by integrating the speeds for a certain duration and removing a linear trend term to obtain a time-dependent displacement variations. No additional precise differential correction is needed, thereby saving on service costs and communication costs of precise differential corrections. High-precision wave element information is obtained in real time, and locally stored in a buoy or periodically returned by communication, thereby expanding the working range of GNSS-based ocean wave measurement.

The invention relates to the technical field of optical design, and discloses a double-beam differential measurement device and method for the polarization sensitivity of a metasurface grating, and the method comprises the steps: dividing a pre-generated light beam into a first light beam and a second light beam through an optical fiber coupler, carrying out the dynamic switching of the polarization state of the second light beam, and obtaining a second incident light beam, adjusting the first light beam based on the second incident light beam to obtain a first incident light beam; enabling the first incident light beam to pass through a first path without the metasurface grating, enabling the second incident light beam to pass through a second path comprising the metasurface grating, and obtaining a first output light beam and a second output light beam; performing time domain difference on the first output light beam and the second output light beam, and calculating to obtain a multi-polarization-state differential signal; correcting the multi-polarization-state differential signal through a preset differential correction mechanism to obtain a corrected differential signal; calculating the polarization sensitivity of the metasurface grating according to the corrected differential signal; according to the invention, the accuracy of the calculated polarization sensitivity of the metasurface grating can be improved.

The invention relates to a high and steep slope real-time monitoring method and system based on multi-source data fusion and cooperative enhancement. The method comprises the following steps: scanning a slope provided with a corner reflector array by using a synthetic aperture radar (SAR); performing real-time differential correction on data acquired by the radar by taking the corner reflector in the stable region as a reference so as to eliminate common noise; meanwhile, a three-dimensional laser scanner is used for obtaining point cloud data of the slope; coordinate registration and fusion of radar data and point cloud data are realized through the corner reflector array, so that a three-dimensional deformation field of the slope is generated. The method provided by the invention has the advantages of high monitoring precision, high signal-to-noise ratio and good data reliability.

The invention provides an earth and rockfill dam construction period real settlement monitoring method and monitoring equipment, and the method employs an all-terrain walking robot to carry out the high-precision GNSS receiver, achieves the autonomous plane positioning and static measurement when walking on an earth and rockfill dam filling bin surface, carries out the difference calculation with the difference correction data obtained by a reference station, and achieves the real settlement of an earth and rockfill dam. Accurate three-dimensional positioning information and displacement change data are obtained; respectively measuring after each filling layer of the filling bin surface of the earth and rockfill dam is rolled and before the next filling layer is filled, and acquiring real settlement data of the earth and rockfill dam in the construction period; and the displacement change data and the real settlement data are fed back to the all-terrain walking robot through the server for adjusting a measurement plan of the all-terrain walking robot. Compared with traditional manual measurement or fixed monitoring equipment, the system has autonomous movement and high-precision positioning capabilities.

The invention belongs to the technical field of personnel positioning, and particularly discloses a tunnel construction personnel continuous positioning system based on multi-source data fusion, and the system comprises a positioning tag which comprises a GNSS positioning module, a UWB module, an IMU module, and a main control module; the GNSS base station is used for generating differential correction data; the anchor nodes are used for receiving the UWB signals and recording signal arrival timestamps; the main control module is configured to monitor a GNSS signal in real time, judge that a person is in a ground GNSS available area when the GNSS signal meets a certain condition, and switch to an RTK / PDR fusion positioning mode; and when the GNSS signal is completely lost or the quality is extremely poor, judging that a person enters underground or a GNSS shielding area, smoothly switching to a UWB / PDR fusion positioning mode, and performing positioning by using UWB distance measurement and IMU / PDR. According to the invention, the position tracking continuity of miners moving in different areas of a mining area can be guaranteed, and the coverage capability and adaptability in the whole range of the mining area are ensured.

The invention discloses a high-precision receiver analog signal comprehensive detection method based on a Beidou satellite, and particularly relates to the technical field of signal detection. The method comprises the following steps: acquiring satellite navigation signal data received by a receiver under a preset simulation motion track condition, respectively constructing a navigation calculation reference track evolution model and a high-dynamic track evolution model, analyzing an evolution change trend of a differential correction number, and extracting a dynamic response parameter of differential data; carrying out joint modeling on the dynamic response parameters and the motion state calculation model data, and outputting synchronous offset degree data; based on the synchronization offset degree data and the time sequence trajectory prediction data, analyzing a residual error between an actual resolving position and an expected trajectory of the receiver at each sampling time point; and whether a false detection risk caused by error response lag exists in the satellite navigation signal data or not is judged by combining a high-dynamic trajectory evolution model and residual error distribution, so that the test accuracy and evaluation reliability of the differential positioning performance of the receiver are effectively improved.

The invention provides a reference station network differential correction precision evaluation method, device and equipment and a medium, and the method comprises the steps: taking the coverage of each reference station in a reference station network as a purpose, constructing a virtual monitoring station for the reference station, and enabling every three virtual monitoring stations to form a triangular monitoring unit; performing exception elimination on the to-be-selected satellites which can be observed by the reference station differential correction based on the monitoring unit to obtain a target satellite after exception elimination; and based on the observation data of the target satellite and all the monitoring units, evaluating the positioning precision of the base station network. According to the embodiment of the invention, a mode of constructing the virtual monitoring station for each reference station is adopted, all-weather evaluation of the precision of the reference stations is realized, and the accuracy of the used data is ensured.

The invention relates to the technical field of electricity approaching early warning, in particular to a transformer substation operation vehicle electricity approaching early warning method and system based on space logic calculation. The method comprises the following steps: constructing a static safety electronic fence of the electrified equipment of the transformer substation, continuously generating differential correction data, simultaneously carrying out carrier phase differential calculation, and outputting real-time three-dimensional coordinate data of an operation vehicle and a moving part; the space coordinates of the static safety electronic fence and the real-time three-dimensional coordinate data of the operation vehicle and the moving part are input into a space logic calculation unit for real-time space distance comparison and logic operation, and the grade of an early warning area where the operation vehicle is located is judged; a forced stop signal is sent according to the judged early warning area grade; and after receiving the forced stop signal, the active stop device is driven by the controller to realize forced stop of the vehicle, and continuously feeds back a braking state to the spatial logic calculation unit to form a safe closed loop. According to the invention, the operation safety of the substation operation vehicle can be obviously improved.

The invention relates to the technical field of land surveying and mapping, in particular to a land surveying and mapping field acquisition system based on a mobile terminal, which comprises a hardware resource scheduling layer, a high-precision positioning processing engine, a field operation interaction engine, a real-time data quality verification module, an off-line and on-line asynchronous collaborative system and a multi-source heterogeneous data encapsulation center. According to the system, differential correction data and inertial navigation data are fused by using a positioning engine to realize centimeter-level positioning; executing geometric topology check and spatial precision evaluation through a verification module; and realizing incremental synchronization of end cloud data by adopting an asynchronous collaborative system. The invention aims to solve the problems that surveying and mapping depend on special hardware and the working continuity is poor in a weak network environment. By adopting the technical scheme, high-precision and high-reliability field acquisition is realized, the deployment cost is remarkably reduced, and the operation efficiency and the data quality are improved.

The invention provides a positioning time service base station, a positioning time service method, a storage medium and a program product, relates to the field of communication, and can solve the problems that an existing positioning time service scheme is high in construction, operation and maintenance cost and has a service blind area. The base station comprises a GNSS receiver chip, a crystal oscillator, a data acquisition and processing unit and a radio frequency unit, the GNSS receiver chip is used for receiving more than two frequency point signals at the same time; wherein the frequency point signal comes from a satellite navigation system; the crystal oscillator is used for providing time reference; the data acquisition and processing unit is used for receiving observation data of the satellite navigation system; performing differential calculation at least based on the observation data to obtain differential correction data; wherein the differential correction data is used for the terminal equipment to carry out positioning correction or time service correction; a radio frequency unit; and the radio frequency unit is used for sending the differential correction data to terminal equipment located in a service area of the positioning time service base station.

The invention provides an information processing method, a terminal, core network equipment and a positioning reference unit. The method comprises the following steps: the terminal receives a first message sent by first core network equipment; wherein the first message carries a first differential correction number; the terminal carries out positioning calculation according to the first differential correction number; wherein the first differential correction comprises at least one of the following items: a high resolution relative time deviation HRTD of a non-reference transmit-receive point TRP and a reference TRP; the relative phase deviation RPD of the non-reference TRP and the reference TRP; a rate of change over time of HRTD; and a rate of change in RPD over time. According to the invention, the problems of poor positioning accuracy, relatively large PRU load and relatively large signaling overhead of the existing positioning method can be solved.

The application discloses a CORS network-based RTK server integrity monitoring method, and relates to the field of satellite navigation, which comprises the following steps: acquiring observation data obtained by a plurality of reference stations in a same region in a CORS network in each epoch in an observation time period; performing fault monitoring on receiver faults, signal quality abnormalities and star clock abnormalities in the observation data of each reference station based on a distributed monitoring scheme and a hierarchical monitoring idea, determining a fault discrimination matrix, comprehensively performing joint discrimination on the fault discrimination matrixes of each reference station, monitoring ephemeris faults, reference station position faults, regional ionospheric abnormalities and regional tropospheric abnormalities by using multi-station observation data, obtaining a first-level monitoring result, selecting a reference station and adjacent reference stations according to a user's approximate position to determine initial differential correction values, monitoring comprehensive faults contained in the observation data of each reference station, and determining differential correction values and integrity parameters to be broadcast to users finally, so that the RTK server integrity can be effectively improved.

The invention discloses a feeding and discharging device of automatic connecting rod machining equipment. The feeding and discharging device comprises a rack, and a chain type conveying module and a grabbing and positioning module are arranged on the rack; the chain type conveying module comprises a conveying chain, a differential correction structure for adjusting the pitch of the conveying chain, guide blades arranged on chain links of the conveying chain, and a profiling guide rail which is arranged on the rack and is matched with the guide blades for angle adjustment; the grabbing positioning module adopts a vertical nesting layout, and comprises a parallel clamping mechanism, a composite buffer system and a reference positioning system which are arranged right above the output end of the conveying chain; the chain type conveying module outputs connecting rods with uniform postures, and the grabbing and positioning module completes grabbing, transferring and accurate positioning and placing. Through the synergistic effect of an angle self-adaptive guide system composed of a variable pitch mechanism, a differential correction structure, a guide blade and a profiling guide rail in the chain type conveying module, the new energy automobile engine / driving motor connecting rod can be accurately conveyed, and it is ensured that the connecting rods flowing into a grabbing station have highly-unified preset postures.

The present application relates to the field of aerospace technology, specifically to a kind of multi-pulse parallel construction method of gravitational wave detection formation considering timing optimization, each spacecraft of formation simultaneously departs from virtual center, each spacecraft is moved to the preset specified position by applying multiple pulses, so as to form a kind of spacecraft formation that can be used for space gravitational wave detection, by giving the steps of calculating the initial position and velocity of each spacecraft and applying initial control to reach the initial position and velocity, the state quantity of each spacecraft at each time in the formation construction process is calculated, so as to provide reference for the design of satellite formation task in actual engineering application, and the accuracy of the linearized relative motion dynamics model established by the multi-pulse parallel space gravitational wave detection formation is improved by differential correction, the error in the relative motion dynamics model is reduced, the initial state set in advance can be effectively reached, and the working efficiency of formation component is improved.

The invention belongs to the technical field of AGV navigation, and particularly discloses a navigation system based on a multispectral technology and an AGV self-guided vehicle, the navigation system comprises a magnetic navigation module, a multispectral vision module and a control unit; the magnetic navigation module is used for guiding the AGV body to run along a preset magnetic stripe path, acquiring magnetic field deviation data through a magnetic sensor array, and controlling the AGV body to perform differential deviation correction according to the magnetic field deviation data; the multispectral vision module is used for collecting multispectral data of the environment, identifying object characteristic information according to the multispectral data, and generating multispectral environment data according to the object characteristic information; and the control unit is in communication connection with the magnetic navigation module and the multispectral vision module, and is used for fusing the magnetic navigation path information and the multispectral environment data, generating a navigation instruction and controlling the movement of the AGV body. According to the navigation system disclosed by the invention, high-reliability and high-precision environment perception navigation at low cost is realized through fusion of magnetic navigation and multispectral vision.

The invention relates to the technical field of railway signal enhancement, and discloses a railway signal enhancer ad-hoc network management method and system based on Beidou fusion positioning, and the method comprises the steps: a signal enhancer receives a Beidou satellite signal, calculates the initial coordinate of the signal enhancer, monitors a communication signal from a ground control base station, and transmits the communication signal to the ground control base station; when the communication signal level is lower than a first preset threshold value or the data packet loss rate is higher than a second preset threshold value, a differential relay mode is triggered, one signal enhancer is selected from a plurality of signal enhancers to serve as a temporary main reference, and the differential quality factor of each device serves as an input weight through a weighted least square algorithm; and the signal intensifier which is not elected as the temporary main reference receives the differential correction data sent by the temporary main reference and corrects the initial coordinate of the signal intensifier by using the data, so that the intelligence, the reliability and the stability of system operation and maintenance in a complex railway environment are realized.

The present invention discloses a POS high-accuracy positioning method under occlusion, comprising: integrating single-point positioning data and differential correction data for solution to acquire high-accuracy position information; implementing a buffer through an RAM of an FPGA to cache the collected position information and a sampling time; when a satellite signal loss is detected by a system, fetching five pieces of position information from the RAM at a time before the signal is lost and five pieces of position information at a time after the signal is reappeared, and filtering the information to obtain filtered data; constructing an equation by using the filtered data, and estimating a signal lost position. By triggering an occlusion algorithm through the FPGA, the present invention improves an ability of a POS system to work in areas with weak satellite signals and meanwhile reduces an operation time, thereby meeting practical needs.

A positioning method and device are provided. The positioning method is applied to a terminal device, the terminal device comprising a positioning chip (130) and a system-on-chip (SoC) chip (120). The positioning method comprises: the positioning chip (130) receives a satellite signal (101) transmitted by at least one satellite, the positioning chip (130) obtains a differential correction value (102) sent by a base station through the SoC chip (120), and the positioning chip (130) performs positioning calculation (103) using the satellite signal and the differential correction value based on carrier phase differential technology. The carrier phase differential technology is an RTK technology. The positioning method provides a new RTK architecture based on the terminal positioning chip (130). The carrier phase differential technology is used to achieve correction of rough positioning results by a mobile phone, so that the positioning accuracy reaches the sub-meter level, further improving the performance of mobile phone positioning and navigation, and meeting user needs.

This application relates to the field of image data processing technology, and particularly to an autonomous driving model based on hybrid low-rank experts and a multi-domain adaptation fine-tuning method. The model includes: a general model base in a frozen state and a multi-domain adaptation component in a trainable state. The general model base includes: an image encoder, a measurement information encoder, and a trajectory planner. The multi-domain adaptation component includes: a hybrid low-rank expert group and a domain-aware router. The hybrid low-rank expert group is used to calculate differential correction signals based on input features. The domain-aware router is used to receive shared image features extracted by the image encoder, output probability vectors, and dynamically activate the corresponding experts in the hybrid low-rank expert group according to the feature distribution of the input data. This application achieves highly efficient "plug-and-play" adaptation of a single general model to multiple downstream domains with extremely low computational and storage costs, perfectly solving the pain points of traditional multi-domain adaptation methods.