23 results about "Differential GPS" patented technology

The invention relates to the technical field of radar signal processing, and discloses a method for calibrating radar echo signals on a mobile platform, which comprises the following steps of: acquiring original echo signals of a radar on the mobile platform under different working conditions and preprocessing the original echo signals, acquiring multi-source IMU sensor and differential GPS information and performing time sequence fusion; carrying out platform motion parameter estimation on the preprocessed echo signal; and based on a preset reference signal model, performing feature extraction on the echo signal, and obtaining feature parameters for calibration through time-frequency processing and spatial domain adaptive filtering. Multi-source IMU (inertial measurement unit) data and differential GPS (global positioning system) data are fused to obtain six-degree-of-freedom continuous motion parameters of a mobile platform, and time synchronization and preprocessing of echo signals are combined to realize dynamic calibration of original radar echo signals. And the problem of amplitude, phase and Doppler frequency deviation of the echo signal caused by the attitude and the motion state of the mobile platform is solved.

The invention relates to the technical field of intelligent road construction control, and discloses a multi-sensor fusion asphalt pavement intelligent compactness closed-loop control system, which comprises a data acquisition module, a data processing module, a control algorithm module, a feedback control module and a user interaction interface, the data acquisition module is connected with the vibration acceleration sensor, the temperature sensor and the RTK differential GPS positioning terminal, and the vibration acceleration sensor is connected with the temperature sensor and the RTK differential GPS positioning terminal through coaxial cables; the feedback control module coordinates operation of each module through an embedded microcontroller, the microcontroller comprises an adaptive adjustment unit, the data processing module comprises a wavelet analysis unit, an IIR filtering unit and a feature extraction unit, and processed data is transmitted to the control algorithm module through a PCIe bus. According to the invention, the master sensor sends trigger signals to other slave sensors through the trigger signal lines, so that synchronous data acquisition can be realized; pID parameters are dynamically adjusted through a self-adaptive PID algorithm, and the method can adapt to complex working condition changes.

The invention provides a power grid anti-bird multichannel twitter sound source positioning and intervention method, which comprises the following steps: acquiring sound signals from a power grid area through a multichannel microphone array equipped with a laser radar calibration module, optimizing a separation threshold by adopting Fourier transform and combining a preset bird voiceprint feature library, separating twitter components and noise components, and performing interference on the twitter components and the noise components; pure birdsong signals are obtained; according to the pure birdsong signal, calculating the time difference between channels by adopting a time delay estimation method, dynamically correcting a preset threshold value by combining a real-time environment sensor, if the time difference exceeds the corrected threshold value, marking as an effective birdsong event, and adopting a centimeter-level differential GPS module to assist in determining the position coordinates of the birds; interference execution confirmation is received through an edge computing node and returned to a system log, a D-S evidence theory data fusion method is adopted to integrate the positioning coordinates and the risk level, if it is judged that the fusion result is consistent in a preset confidence interval, the bird damage monitoring model is updated based on an incremental learning algorithm, and real-time closed-loop feedback is obtained.

The application discloses a kind of based on direct wave and differential GPS ranging multi-transmit multi-receive radar time synchronization method, in the airborne distributed radar system of multiple radar units, two radar units at baseline end as signal transmitting source, all radar units have signal receiving ability and mutually in visible range.Two transmitting radars emit carrier frequency different linear frequency modulation wave, all radars receive direct wave and the echo signal of target reflection.Direct wave contains the time synchronization error between corresponding receiving and transmitting radar platform and baseline distance information.Obtain positioning information by means of differential GPS module, eliminate the baseline distance information in direct wave, and only contain time synchronization error direct wave as reference signal.Then the echo signal and reference signal are conjugated in frequency domain multiplication, that is, the echo signal can be matched filtered and time synchronization error compensated in distance direction.Each of all echo signals is processed above, and finally the time synchronization of distributed radar system is realized.

Differential GPS uses multiple reference stations in combination. [Solution] In a satellite positioning system using a differential GPS method, which includes a user station 2 and multiple reference stations 3a, 3b, the user station 2 obtains correction values ​​from the multiple reference stations 3a, 3b, applies these correction values ​​to the distance between itself and the navigation satellites 1a, 1b, 1c, obtains corrected distances for each navigation satellite equal to the number of reference stations that provided the correction value for that satellite, and for each of these corrected distances, sets a separate unknown corresponding to the receiver clock error for each of the reference stations 3a, 3b that provided the applied correction value, and then calculates the position of the user station 2.

To continue positioning calculation regardless of the presence or absence of a correction signal and to shorten an initial position calculation time in a satellite navigation system.SOLUTION: In a satellite navigation system including a GPS in United States and a quasi-zenith satellite system in Japan, in a wide-area differential GPS for generating and transmitting correction information on a clock error, a position error, and the like of a navigation satellite, the correction information is transmitted via a communication line different from a wireless correction signal from the satellite, so that positioning calculation is continued regardless of whether or not the correction signal is shielded in a user station, and the correction information transmitted in the past is repeatedly transmitted together with the latest correction information, so that an initial position calculation time (TTFF) in the user station is shortened.SELECTED DRAWING: Figure 1

The utility model relates to the technical field of mine operation, and discloses a mine operation helmet based on SLAM, which comprises an operation helmet, the top of the operation helmet is provided with a differential GPS, the right side of the operation helmet is fixedly provided with a fixing plate, the front side and the rear side of the bottom of the fixing plate are both provided with fixing grooves, and the front side and the rear side of the bottom of the fixing plate are both provided with a through hole. And rotating rods are rotationally mounted in the two groups of fixing grooves. By pressing the button, the control rod extrudes the tapered wedge into the connecting column, after a worker takes down the shell, the shell and the grip are spliced conveniently, fixing is completed by inserting the connecting column into the mounting plate, and compared with a traditional device, the SLAM is integrated on the operation helmet, and meanwhile, the SLAM and the grip are integrated into the mounting plate. According to the mine positioning device, the working personnel can conveniently position in a mine, and the working personnel can more conveniently operate by holding the shell when high-precision positioning and map construction are needed, so that the safety and efficiency of operation are improved.

The invention discloses a ship-borne navigation radar reconnaissance alarm system. A radio frequency front end module (2) comprises a radio frequency switch module (21) and an X-waveband down-conversion module (22); the differential GPS module (3) comprises a GPS antenna (32) and a GPS receiving module (31); wherein the shipborne navigation radar reconnaissance alarm system realizes detection and direction finding functions of radar signals of a target area; and the shipborne navigation radar reconnaissance alarm system is connected with the main control computer through a network cable. The system has the functions of navigation radar signal receiving and full pulse sorting; according to the invention, the equipment has the functions of self-testing and fault diagnosis; the device has the function of measuring parameter output; the invention has the function of azimuth measurement.

The present invention proposes a fully automatic pod calibration method that does not require known ground information, belonging to the field of photoelectric pod error calibration. The pod is installed on an aircraft, and the timing alignment between the differential GPS, aircraft IMU, pod encoder and camera is completed. When the aircraft is in flight, images, aircraft position and attitude, pod frame angle, and camera focal length value data are collected. A feature point matching algorithm is used to select the feature points of the first image, eliminate the feature points of moving objects, calculate the pixel offset, input the relevant data into an iterative optimization function, calculate the error, and continuously estimate the true value of the attitude during the overlapping period of the area through a positioning and servo control program. When the field of view is out of view, the iteration stops and the error estimate is stored; subsequent detections all use the previous error estimate for iteration; the present invention does not require ground control points, specific flight routes and high-precision satellite map databases, and does not require calibration and additional operations, and can automatically complete pod calibration.

The invention provides an intelligent lock control system of a ship, and relates to the field of intelligent ships, the system realizes centimeter-level positioning and avoids false triggering of an electronic virtual lock by optimizing Bluetooth communication of an entity lock, ensuring stable communication of equipment of the whole ship by using adaptive frequency hopping and AES encryption technologies, and combining a differential GPS with an inertial measurement unit and Kalman filtering. According to multi-sensor fusion path planning based on deep reinforcement learning, the position and course of the ship are dynamically corrected, and different berthing scenes are adapted. The system supports multi-mode switching such as long-term parking and temporary parking, and the triggering range, the operation authority and the verification requirement of the virtual lock can be adjusted; the lock cylinder, the electric quantity and the communication operation state of the entity lock are monitored in real time through multiple sensors, a three-level fault early warning mechanism is established, an alarm is automatically given and maintenance is notified when abnormity occurs, and the entity lock works independently to guarantee safety when the electronic virtual lock fails. According to the invention, the intelligence and safety of ship lock control are improved, and the method is suitable for diversified water berthing scenes.

A method for creating a map representation of a road traffic network for navigation of a vehicle. The method includes: receiving environment sensor data from environment sensors of a plurality of vehicles of a vehicle fleet, using an external computing unit; carrying out a SLAM method on the received environment sensor data and ascertaining a SLAM map representation of the road traffic network traveled by the vehicles, using the external computing unit; receiving differential positioning data of a differential global positioning system of at least one vehicle of the vehicle fleet, using the external computing unit; integrating a pose information item of the positioning data into the map representation, relating to at least one pose of the vehicle on a road of the road traffic network, and creating a map representation enriched with the pose information item, using the external computing unit.

The invention discloses an integrated asset checking system and method based on an automatic driving patrol car, the system comprises an edge machine room and the automatic driving patrol car, and an x86 server deployed with T-Rex2 and YOLOV13 is arranged in the edge machine room; a laser radar, a panoramic pan-tilt camera and a WiFi antenna are fixedly installed on the top of the automatic driving patrol car, a differential GPS sensor is fixedly installed on the side face of the automatic driving patrol car, an inertial sensor and an AI reasoning box are fixedly installed in the automatic driving patrol car, and FastLIO2, ROS2 + rviz and an error state Kalman filter are deployed in the AI reasoning box. The inertial sensor, the laser radar, the panoramic holder camera and the differential GPS sensor are all connected with the AI reasoning box, and the AI reasoning box is connected with the x86 server through the WiFi antenna. According to the invention, the application of the automatic driving patrol car in asset checking is expanded, the accuracy, coverage efficiency, real-time performance and data security of asset checking are improved, and the operation cost is reduced.

The invention discloses a solitary wave monitoring and protecting integrated system suitable for a wharf single pile, an acoustic Doppler flow velocity profiler observation raft is hung below a buoy to carry out full-profile observation of ocean current, and a high-precision differential GPS is installed on the upper portion to be used for correcting the flow velocity observed by an ADCP. In an internal wave flow upstream area of workboat operation, an ADCP and thermohaline chain combined mode is adopted, abnormal gradient changes of thermohaline vertical distribution are captured, water stratification disturbance characteristics caused by solitary waves are recognized, the intensity, the position and the propagation path of the solitary waves are inverted by using a KDV theoretical model, and on a protection system, the abnormal gradient changes of thermohaline vertical distribution are captured. A floating type self-adaptive rubber anti-collision ring and coral concrete protective layer bidirectional coupling mode is adopted, a built-in pressure valve double-layer rubber anti-collision ring is utilized, a layered buffering mechanism is adopted, multi-stage energy absorption and dynamic response are greatly improved, self-adaptive structure deformation is adopted, the impact characteristics of solitary waves are actively matched, and the coral concrete protective layer is combined, so that the anti-collision performance of the coral concrete protective layer is improved. The energy dissipation efficiency of the solitary wave is improved, and the fatigue resistance and the maintenance cost are optimized.

The application discloses a kind of fall point deviation measurement methods, first using differential GPS to determine the coordinate of projectile theory fall point, and setting total station position on the side of theory fall point;With the pole to show north, using total station to measure the angle between the connecting line of three point positions and north, distance, which are at preset distance from theory fall point, on projectile theory fall direction and vertical direction;After flight test, erect total station at the same point, find the actual position of three point positions on ground according to the angle and distance measured before test respectively, and measure fall point deviation, longitudinal deviation and lateral deviation using steel tape.The application can accurately identify the direction of direction and vertical direction, so as to facilitate intuitive measurement of longitudinal deviation and lateral deviation using steel tape, and the measurement error is small, which greatly improves the test precision.

To enable a user to grasp positioning accuracy in a differential GPS (DGPS).SOLUTION: In a satellite navigation system including a GPS in the United States and a quasi-zenith satellite system in Japan, when configuring a differential GPS (DGPS) in which a reference station is installed to correct a positioning error, after obtaining correction information from a plurality of reference stations, a maximum value of a positioning error as a result of performing DGPS positioning to which correction information of each of other reference stations is applied at a position of a specific reference station, a maximum value of a positioning error as a result of performing DGPS positioning to which correction information of the specific reference station is applied at a position of a reference station other than the specific reference station, or a maximum value of a difference as a result of converting correction information of each of the plurality of reference stations into a correction amount of a position at the position of the specific reference station is provided to a user station as an index of positioning accuracy when the specific reference station is used.SELECTED DRAWING: Figure 1

A robot repositioning method based on the combination of GPS and laser radar, which utilizes the characteristics of differential GPS outputting more accurate position in open environment and loop detection performing better in complex environment, and realizes complementary advantages. UTM projection is used, which converts the longitude and latitude coordinate information output by GPS into the point cloud map coordinate system. Compared with the traditional repositioning method relying on point cloud registration search, it has higher robustness and accuracy.

The invention discloses a territorial space planning data interaction method, which comprises the following steps: collecting field geographic information data through a mobile terminal, carrying out real-time data fusion in combination with an edge computing node, and generating an augmented reality space marking layer, and the invention further discloses a mobile terminal device and a data verification system. The invention relates to a multi-user collaborative editing method, a data security transmission method and a mobile terminal heat dissipation system, and discloses an end-edge-cloud three-stage processing architecture, and a Gaussian mixture model registration algorithm sinks to an edge node, so that the three-dimensional data fusion delay is reduced to be within 200ms from the second level; according to the invention, the hardware coupling design of the expandable differential GPS and the multispectral camera is initiated, and the synchronization of centimeter-level positioning and sub-pixel-level image acquisition is realized; a time-space stamp service module is developed, quantum random number signature and improved PBFT consensus are combined, and 51% attack is defended while 200ms verification delay is kept.

The invention relates to the technical field of power system safety monitoring, in particular to an icing monitoring method, system and device for a power transmission line and a medium. The method comprises the following steps: respectively acquiring the sag of the power transmission line and the icing thickness on the power transmission line in real time through a differential global positioning system and a millimeter wave radar, and taking the sag and the icing thickness as measurement vectors; through the three-dimensional physical model of the power transmission line, the sag of the power transmission line and the icing thickness on the power transmission line are obtained in real time to serve as state vectors; acquiring the three-dimensional acceleration of the power transmission line in real time; and based on a Kalman filter, estimating the icing state of the power transmission line by using the measurement vector, the state vector and the relationship between the measurement vector and the state vector, and in the estimation process, when the three-dimensional acceleration of the power transmission line is greater than a preset threshold value, determining the icing state of the power transmission line according to the deviation degree of the three-dimensional acceleration. The noise covariance matrix of the Kalman filter is increased, and comprehensive, accurate and real-time state cognition can be carried out on line icing and dynamic characteristics.

The present invention relates to a robot multi-sensor fusion positioning method based on GPS-guided particle filtering. In a 3D point cloud map, the fusion of differential GPS, laser radar and IMU is realized based on the GPS-guided particle filtering. The method of judging the number of effective GPS particles determines whether to add a small number of new particles near the GPS measurement value, thereby reducing the dependence of the positioning method on the GPS signal. GPS only plays a role in guiding the direction of particle movement when the signal is good. The particle weights are calculated using the measurement data of the laser radar or IMU instead of using the GPS weighting method, thereby avoiding that the particles generated by GPS will obtain higher weights under GPS measurement. When GPS positioning data is unavailable, the added GPS particles will obtain lower weights under laser measurement. At the same time, in order to avoid the problem of the amount of calculation caused by adding GPS particles, the particles are randomly downsampled before the resampling step to ensure that the number of particles is always maintained within a set range, thereby ensuring the real-time performance of the positioning system.

The invention belongs to the technical field of vehicle monitoring, and discloses an efficient vehicle monitoring system based on vehicle-road-cloud collaboration, which constructs a geofence capable of self-adaptive adjustment based on V2X communication and differential GPS through a V2X geofence dynamic sensing module, can change the range in real time according to time periods, vehicle density and the like, and improves the vehicle monitoring efficiency. If the vehicle contracts to a key area late night, queuing vehicles are covered in congestion; meanwhile, the vehicle-road-cloud resource dynamic scheduling module integrates roadside fixed equipment and surrounding vehicle sensors, and brings moving vehicles into a sensing network, so that the problems of weak dynamic sensing and monitoring blind areas caused by the fact that a traditional system depends on the fixed equipment are solved; a multi-modal event verification module fuses vehicle-mounted radar tracks, camera behavior features, IMU attitude data, roadside sound waves, panoramic pictures and other multi-source information, key features are extracted after time-space synchronization data alignment, and then cross validation is performed through a deep belief network, so that the accuracy and reliability of event qualitation are greatly improved.

This invention discloses a method, system, device, and storage medium for constructing a global point cloud map. The method includes: acquiring several differential GPS data points of a vehicle at different times and parsing several global pose information points at different times from them; acquiring several frames of point cloud data around the vehicle at different times and parsing several laser odometry information points at different times from them; fusing the several global pose information points and several laser odometry information points based on a factor graph optimization algorithm to obtain multiple global odometry information points of the vehicle at different times; and constructing a global point cloud map based on the multiple global odometry information points and their associated multi-frame point cloud data points at different times. This invention utilizes a factor graph optimization algorithm to fuse point cloud data and differential GPS data, resulting in a more accurate and reliable global point cloud map.

The invention relates to the technical field of unmanned aerial vehicle flight positioning, and provides a technical scheme for realizing centimeter-level accurate positioning of an unmanned aerial vehicle through an ultrasonic positioning technology in a field bridge inspection environment with poor GPS signals. A stable space reference network is formed by establishing a space coordinate system and installing a plurality of ultrasonic receivers with known accurate space coordinates on a bridge structure, and the system adopts a fusion algorithm of time synchronization-real-time speed measurement-trilateral positioning, so that the scheme fundamentally overcomes errors of traditional sound velocity caused by temperature, humidity, air pressure and the like; the core ultrasonic transmitting and receiving equipment of the system selects industrial-grade mature and low-cost modules, the hardware cost is obviously lower than that of a laser radar or a high-precision differential GPS and other schemes, and a sustainable, economical and reliable positioning solution is provided for long-term health monitoring of the bridge.

The invention discloses an unmanned ship anti-storm system, an unmanned ship is provided with an anti-storm sensor, the anti-storm sensor comprises a wind speed and direction sensor, a hull attitude sensor, a differential GPS, a water flow velocity sensor and a water pressure sensor, and the anti-storm sensor is connected with a data fusion module and outputs an induction signal to the data fusion module. The data fusion module is connected with and outputs fusion signals to the interference modeling module, the interference modeling module is connected with and outputs interference modeling data to the supplementary control module, and the supplementary control module is connected with and outputs supplementary parameters to the posture adjustment module. The attitude adjustment module is connected with the propeller execution module and outputs attitude adjustment parameters to the propeller execution module, and the propeller execution module is a power system of the unmanned ship. According to the method, the positioning and navigation precision of the water surface unmanned intelligent vehicle can be improved, the influence of water waves on other unmanned sensors can be avoided through cooperation of the corresponding sensors and the control logic, the anti-interference capability of the unmanned ship is improved, and particularly, the anti-interference capability of a small ship is remarkably improved.