34 results about "Direction angle" patented technology

The invention relates to an AR (Augmented Reality) space true north calibration method, device and equipment and a medium. The method comprises the following steps: acquiring fixed solution positioning data in a moving process by utilizing RTK (Real-Time Kinematic) equipment; based on the fixed solution positioning data, selecting a first positioning point and a second positioning point, calculating a coordinate azimuth angle between the two positioning points by using Gaussian positive and negative calculation, and calculating a meridian convergence angle at the first positioning point; calculating an included angle between a connecting line of the first positioning point and the second positioning point and the true north direction based on the coordinate azimuth angle and the meridian convergence angle to obtain a geographic true north direction angle; and continuously monitoring data of a gyroscope of the RTK equipment and a gyroscope on the AR running equipment, and dynamically adjusting the true north direction angle in the AR space by adopting a double-loop control structure based on the geographic true north direction angle, so as to ensure that the AR space is consistent with the true geographic direction. Compared with the prior art, the method has the advantages that the AR space direction precision is improved from + / -5 degrees to + / -0.1 degrees, and the surveying and mapping standard is achieved.

The invention provides a speed-controllable artificial potential field method based on an estimated position, and the method comprises the steps: 1, building a two-dimensional map coordinate system Oxy, and collecting the information of a moving object, the information of a target, and the information of an obstacle through a sensor system of the moving object; step 2, calculating a distance D0 from the moving object to the target point, and if D0 is not less than a set threshold, entering step 3; 3, calculating an estimated position coordinate X 'G of the target; 4, calculating the gravitation Fa suffered by the moving object; 5, the repulsive force Fr borne by the moving object is calculated; 6, synthesizing the attractive force Fa and the repulsive force Fr into a resultant force F = Fa + Fr borne by the moving object; 7, according to the resultant force F borne by the moving object, the speed direction angle theta U (t + 1) of the next movement of the moving object is calculated; 8, calculating the speed UU (t + 1) of the next movement of the moving object; and 9, updating the position XU (t + 1) of the moving object at the next moment according to XU (t), theta U (t + 1) and UU (t + 1), and then returning to the step 2.

The application provides a point-shaped glue edge detection method, acquires a ROI region where the point-shaped glue is located, calculates gradient angles of each pixel point in the ROI region, and obtains a direction angle A by taking an absolute value of the gradient angle; takes the geometric center of the ROI region as a center and a theoretical radius of the point-shaped glue as a radius to make a circumference; acquires N equal division points on the circumference; calculates a circumferential angle of the equal division point; calculates an angle difference value between the direction angle A of each point in the neighborhood of the equal division point and the circumferential angle of the equal division point, and records a point closest to 0° as an edge point; counts the number of the edge points, if the number is greater than a preset value B, then the point-shaped glue edge in the ROI region is complete; otherwise, the point-shaped glue edge in the ROI region is incomplete; the method can effectively suppress the interference of noise points and obtain an accurate point-shaped glue edge.

The application relates to the technical field of marine orientation sensing of ships, and discloses a ship marine target sensing method and system based on machine vision, which comprises the following steps: using an AD-YOLOv9 algorithm to process incoming image information, obtaining position information and category information of a target image; establishing a coordinate system according to the position information of the target image, marking a target on the target image by using a target prediction box, determining the center point coordinates of the target prediction box based on a deep learning network to determine the center point coordinates of the target, and associating the bow of the ship to determine the absolute orientation and the relative orientation of the target; determining the position of the target relative to the reference point of the ship to determine the direction angle of the target; determining a straight line where the center point of the target and the reference point of the ship are located according to the direction angle of the target, and recording the straight line as a target direction line; calculating and formatting the angle label of the target according to the target direction line, and selecting a position on the target direction line to draw angle label information; and displaying the processed target image.

The application discloses a camera and object point combined parallax angle parameterized bundle adjustment method and system, comprising the following steps: 1) obtaining remote sensing images by aerial photography of a measurement area, extracting and matching homonymous image point observation values of all remote sensing images; 2) arranging two prior anchor points to form a baseline and establish an angle reference frame; 3) uniformly parameterizing a camera pose, a photographic center position and a three-dimensional connection point position by a direction angle, an elevation angle and a parallax angle; 4) constructing a collinear observation equation to perform bundle adjustment calculation and jointly obtain the camera pose, the photographic center coordinates and the ground point coordinates. On the basis of parallax angle parameterization of the three-dimensional connection point, the photographic center and the camera pose are further uniformly incorporated into the angle parameterization system, so that the ill-conditioned and numerical instability problems under small parallax and weak control conditions are effectively improved, and the convergence and stability of the adjustment calculation are improved. The application is suitable for regional network adjustment of aerospace remote sensing images.

This invention discloses a method, system, and electronic device for determining the main sliding direction of a slope landslide, relating to the field of data processing technology. After determining the soil parameters of the slope based on a constructed geometric model, this invention obtains soil strip information of the slope with a set safety factor under different soil parameters. Then, based on the soil strip information, it determines the main sliding direction angle of the slope and draws contour maps of the main sliding direction angle corresponding to different soil parameters. In practical applications, using these drawn contour maps and the actually obtained soil parameters, the main sliding direction of the slope to be monitored can be accurately determined.

The application discloses a position point insertion method of a robot, a chip and the robot. The position point insertion method comprises the following steps: recording position points at two different positions as a first position point and a second position point respectively; inserting interpolation rays into a preset rotation angle at an interpolation interval angle to divide the preset rotation angle into a preset number of included angles; wherein each interpolation ray has a common endpoint, and the common endpoint is a rotation center; a ray of the rotation center pointing to the first position point is set as a first ray, and a ray of the rotation center pointing to the second position point is set as a second ray, and the preset rotation angle is an included angle formed by the first ray and the second ray; and then, from the first ray, the predicted position points with a direction angle and a straight line distance from the rotation center are inserted into the interpolation rays in a manner of changing the direction angle and a manner of changing the length.

The application discloses a multi-target group tracking method based on an ellipse model with angular parameters and variational inference, and comprises the following steps: determining a state parameter prediction value of a current moment according to a joint probability density of state parameters of a target group of a previous moment, wherein extended shape parameters in the state parameters of the target group are described according to an ellipse model with angular parameters; filtering clutter according to the prediction value of the state parameters of the current moment to determine effective measurements; and determining a joint probability density of the state parameters of the current moment based on variational inference according to the prediction value of the state parameters of the current moment and a related measurement of the target group determined according to the effective measurements. According to the method provided in the application, the extended shape of the target group is described by using the ellipse model with angular parameters, the background clutter is filtered, and the state parameters of the target group of a next moment are approximately estimated based on the method of variational inference, so that the direction angle of the target group can be tracked, the estimation collapse problem caused by excessively large extended shape variance can be avoided, and the tracking accuracy is improved.

The invention relates to a middle-high orbit SAR satellite cross ambiguity calculation method based on a reflector antenna, and belongs to the field of satellite overall design. Establishing an expression of the ambiguity ASR; establishing a rotating ellipsoid model of the earth surface; establishing an imaging point and fuzzy point distribution geometric schematic diagram by using a rotating ellipsoid model of the earth surface; establishing an expression of an antenna beam ground projection direction angle theta BFP; establishing an expression of a periodically rotating two-dimensional antenna pattern Gea; calculating the earth radius Rte of the position of the imaging target point; calculating the slope distance Rst of the imaging target point and the slope distance Rstm of the cross fuzzy point according to the Rte; calculating an incident angle theta int of an imaging target point and an incident angle theta imm of a fuzzy point; calculating a pitch angle zeta e (k, m3, n3) and an azimuth angle zeta a (k, m3, n3) of a cross fuzzy point corresponding to the imaging target point at any position; establishing a cross ambiguity expression CASRta of an imaging target point at any position; according to the method, the azimuth ambiguity calculation accuracy is greatly improved.

The invention provides a display device and a firework animation special effect drawing method, and the method comprises the steps: dynamically creating an explosion position of a firework animation special effect through responding to a control instruction, and selecting an initial speed and a direction angle of firework particles in a preset initial speed range and a direction angle range; the center point coordinates of different time nodes are calculated in real time through a preset curve mathematical model, then a normal vector is generated based on direction vectors of two continuous center point coordinates, a firework path is divided into a plurality of firework path segments through the normal vector, and finally the firework path segments are drawn according to the path sequence to display animations. According to the method, by controlling parameter conditions such as the initial speed, the direction angle and the curve model, different firework paths can be generated when the firework animation effect is played every time, and the randomness and the dynamic adjustment flexibility of the firework animation effect are improved.

The invention relates to the technical field of cage culture, and provides a method for improving the accuracy of a biometric device of a profile motion culture cage, which comprises the following steps of: acquiring all sonar images and corresponding direction information acquired in a rotation process; feature points are extracted based on the netting contour; filtering the feature points, and generating a sparse point set of the net cage contour by difference values; calculating a body-park radius shape coefficient based on the point set, and performing evaluation after waiting for a plurality of time intervals; the contour feature points are mapped to a three-dimensional coordinate system with sonar as an original point based on the direction angle; and the distance between the net cage contour and the sonar scanning boundary. By evaluating the deformation degree of the net, the method can effectively distinguish whether the state of the netting is good or not in data collected by equipment in one-time profile operation, biomass evaluation can be accurately carried out, if the net is seriously deformed, the equipment can give an alarm and suggest a user to carry out measurement again when the water flow is low, and the measurement efficiency is improved. And evaluation data with relatively low accuracy given by the system due to network deformation interference can be effectively avoided.

The application discloses a high-precision airspace visibility analysis method in a cylindrical coordinate space, comprising the following steps: S1, selecting a region to be analyzed and collecting DEM elevation data to be analyzed; S2, converting the DEM elevation data to a cylindrical coordinate space; S3, calculating grid direction information in the DEM elevation data; S4, dividing the DEM elevation data into M sub-regions according to the direction by using the grid direction information; S5, calculating the visibility at an air height Δh of a certain grid; and S6, obtaining the airspace visibility at the air height Δh of the region by using the visibility of all the grids calculated in step 5. The method uses the maximum direction angle and the minimum direction angle to describe the direction information of a DEM grid, more accurately describes the grid information, and thus higher analysis precision can be obtained, the analysis processing efficiency and precision are improved, a large number of numerical calculations are avoided, the method is easy to implement, and is suitable for large-scale data analysis.

The invention provides a shield segment positioning method based on a reusable gyroscope, and the method is characterized in that the method comprises the following steps: step 1, installing a functional module on a shield segment, the functional module being provided with an electronic gyroscope and a wireless communication module, step 2, inputting a target attitude angle; 3, reading the current attitude angle of the electronic gyroscope in real time; 4, the difference between the target coordinate system and the current coordinate system is calculated through a space pose algorithm, the difference is converted into direction angle deviation data, the target attitude angle corresponds to the target coordinate system, the current attitude angle corresponds to the current coordinate system, and the current coordinate system and the function module are always relatively static; 5, visually displaying the direction angle deviation data; and step 6, adjusting the position and posture of the shield segment according to the display of the direction angle deviation data.

This invention relates to an AR spatial true north calibration method, apparatus, device, and medium. The method includes the following steps: acquiring fixed positioning data using an RTK device during movement; selecting a first positioning point and a second positioning point based on the fixed positioning data, calculating the coordinate azimuth between the two positioning points using Gaussian forward and inverse calculations, and calculating the meridian convergence angle at the first positioning point; calculating the angle between the line connecting the first and second positioning points and the true north direction based on the coordinate azimuth and the meridian convergence angle, obtaining the geographic true north direction angle; continuously monitoring the data from the gyroscopes of the RTK device and the AR operating device, and dynamically adjusting the true north direction angle in AR space using a dual-loop control structure based on the geographic true north direction angle to ensure that the AR space is consistent with the real geographic direction. Compared with the prior art, this invention improves the AR spatial direction accuracy from ±5° to ±0.1°, reaching the surveying and mapping grade standard.

The application discloses a meteorological radar wind field inversion method, device, equipment and storage medium, and relates to the technical field of meteorological radars. The method comprises the following steps: acquiring observation data to be processed; the observation data comprises a plurality of first direction angles on a specified distance and a first radial velocity corresponding to each first direction angle; determining whether the plurality of first radial velocities are free from velocity ambiguity by using a preset velocity ambiguity discrimination rule; in response to the plurality of first radial velocities being free from velocity ambiguity, extracting a preset number of second direction angles and a second radial velocity corresponding to each direction angle from the observation data; and obtaining a wind field inversion result by using a regularization algorithm and a wind field observation relationship model based on the plurality of second direction angles and the second radial velocity.

The application discloses a base station direction angle correction method based on grid RSRP data, a storage medium and a device, and the method comprises the following steps: taking the base station position as the original point of the direction angle, setting the lobe angle size, the calculation radius and the initial position of the direction angle, and the angle movement degree of the direction angle; moving the direction angle according to the angle movement degree, and calculating the fitting degree of each direction angle; taking the direction angle with the highest fitting degree as the base station direction angle; the calculation of the fitting degree of each direction angle comprises: calculating the actual rsrp value of the MR data uploaded by all user positions in the direction angle, and calculating the corresponding fitting rsrp value through a coverage model; if the actual rsrp value and the fitting rsrp value are within a certain error range, the fitting degree is increased. The application only needs to input the MR data containing the latitude and longitude information and the rsrp value information and the base station latitude and longitude data, and generates the coverage direction angle of the cell through automatic calculation.

The present application relates to net cage culture technical field, provide a kind of for section motion culture net cage biological statistics device to improve accuracy method, obtain the all sonar images and corresponding direction information collected in rotation process;Based on netting contour extraction feature point;To feature point filtering, difference generates the sparse point set of net cage contour;Based on point set calculation boyce-clark radius shape coefficient, wait for several time intervals to evaluate;Based on direction angle, contour feature point is mapped into three-dimensional coordinate system with sonar as origin;Based on the distance of net cage contour in sonar scanning boundary.This method can effectively distinguish whether the netting state is good enough to carry out accurate biomass evaluation in the data collected by equipment in one section operation by evaluating the deformation degree of net, if net deformation is serious, equipment can issue alarm and suggest user to measure again in the time of lower flow, effectively avoid the interference of net deformation to lead to system to give accurate degree lower evaluation data.

The invention provides a deformation tracking method for an aluminum material in a stamping oil-free stamping process, and the method comprises the steps: calculating the change rate of a direction angle between adjacent images according to an initial direction angle sequence of a texture direction, recognizing a potential jump region, and determining a jump position set and a corresponding space coordinate; obtaining deformation path data of a corresponding area from the jump position set and the corresponding space coordinates, and simulating a shear band evolution trend to obtain a risk change trend chart in a local shear set; for the local shear concentration risk change trend chart, identifying and marking a high-risk area with local reverse rotation, and determining a corrected flow track according to a flow path deviation analysis result; according to the corrected flow track, material flow instability critical state data in the deformation increasing stage are obtained, microcrack initiation signals are continuously monitored, and initiation probability distribution is obtained; and judging an area of which the probability is higher than a preset threshold value from the initiation probability distribution, generating an instability initial position map, and determining extension path prediction.

The invention discloses an acoustic model recommendation method based on marine topographic features, and the method comprises the steps: obtaining the marine topographic data of a researched sea area, extracting a central region of a preset size from the researched sea area, and generating grid points; in combination with the ocean topographic data, for each grid point in a central area, extracting topographic features on a preset length path in a 360-degree direction at preset angle intervals from the center of the grid point, so as to obtain height difference and gradient statistics; in combination with the working frequency range of the acoustic model, calculating the acoustic model recommended by each grid point and direction angle under each working frequency according to a preset hierarchical decision logic, and storing a recommendation result in a four-dimensional array manner; integrating the four-digit array in a man-machine interaction platform, displaying acoustic model recommendation results on all direction angles within a 360-degree range associated with a grid point after a user interactively queries a center coordinate, a direction angle and a working frequency of the specified grid point, and visually displaying terrain attributes.

The embodiments of the present disclosure disclose a method, device, medium and computer program product for extracting road boundary, wherein the method comprises: inputting an image containing a road to be processed into a pre-trained boundary extraction model; using the boundary extraction model to: extract image features of the image to be processed; based on the image features, predict key points located on the boundary of the road to obtain a key point set; predict a direction angle of the key points, the direction angle representing an included angle between a line connecting two adjacent key points and a preset direction; and based on the direction angle, connect the key points to obtain the boundary of the road. The direction angle represents the topological connection relationship between the key points, and the connection process of the key points is constrained, so that the accuracy of the road boundary extraction can be improved.

This invention discloses a segmented assessment method for transmission lines based on the coupling of micro-topographic axis and wind direction. The method includes the following steps: segmenting the transmission line and calculating the axial azimuth of each segment; determining the axial azimuth of the micro-topographic axis, obtaining the prevailing wind direction angle at the location of the micro-topographic axis, and calculating the minimum axial angle between the two; calculating the normal relative elevation difference index of the micro-topographic axis; calculating the spatial relationship between each transmission line segment and the micro-topographic axis; and coupling the minimum axial angle, normal relative elevation difference index, and spatial relationship between each transmission line segment and the micro-topographic axis to construct a multi-dimensional risk profile of the transmission line segment. This application enables refined analysis of different line segments, avoids the problem of spatial information averaging caused by overall analysis, and thus significantly improves the spatial accuracy of transmission line assessment in complex terrain areas.

The application provides a laser beveling machine correction method, a computer readable storage medium and a laser beveling machine. The laser beveling machine correction method comprises the following steps: moving the gun head from a starting position to a horizontal plane below the gun head to reach a reference zero point; rotating the gun head to each detection point of a detection group in turn according to a preset bevel angle and a preset direction angle, wherein the bevel angles of the detection points are equal and the direction angles are different; reading the height values of the reference zero point and the detection points; calculating the offset values of an A-axis, a B-axis and the length of the gun head according to the height values, the bevel angle and the direction angle; and correcting the original point coordinates of the cutting head according to the offset values. The laser beveling machine correction method can quickly and automatically complete measurement correction, ensure machining precision and reduce safety hazards.

This application relates to a method, apparatus, device, and medium for multi-target pig trajectory tracking and control. The method includes: extracting historical orientation angles of the target pig that have undergone head-tail orientation correction from historical trajectory state data of multiple frames of pigsty images to construct a historical information window; calculating the circumferential median of the historical orientation angles within the historical information window to determine a reference orientation angle; calculating the shortest arc length difference between the first orientation angle and the reference orientation angle; performing a flip correction on the first orientation angle based on the shortest arc length difference to generate a second orientation angle; and outputting second rotated bounding box data containing the target pig's position, target pig size, and the second orientation angle; matching the second rotated bounding box data with trajectory prediction data; and if the match is successful, outputting trajectory tracking and control data that fuses the pig's identity identifier, continuous temporal horizontal and vertical coordinates, and the second orientation angle. This application solves the problems of ambiguous target pig detection orientation and incomplete tracking status in existing technologies.

This invention relates to the field of rocket technology, and more particularly to a method and apparatus for measuring and verifying the initial alignment accuracy of a launch vehicle. The method includes an initial alignment accuracy adjustment device for the launch vehicle, comprising an inertial navigation system (INS) and a differential orientation system (DIS). The method includes: acquiring the initial alignment attitude angle measured by the INS and the azimuth angle output by the DIS; the initial alignment attitude angle represents the attitude angle of the launch vehicle relative to the navigation coordinate system before launch, and the azimuth angle represents the direction angle of the launch vehicle relative to the Earth's fixed coordinate system during the initial alignment process; obtaining the initial alignment direction angle error based on the initial alignment attitude angle and azimuth angle; and adjusting the initial alignment accuracy of the launch vehicle according to the initial alignment direction angle error value. This invention overcomes the limitations of the measurement environment and enables rapid measurement of the initial alignment direction angle error of the INS under swaying conditions.

The invention discloses a meteorological radar wind field inversion method, device and equipment and a storage medium, and relates to the technical field of meteorological radars. The method comprises the following steps: acquiring observation data to be processed; the observation data comprises a plurality of first direction angles in a specified distance and a first radial speed corresponding to each first direction angle; determining whether the plurality of first radial velocities do not have velocity ambiguity by using a preset velocity ambiguity discrimination rule; in response to the fact that the multiple first radial speeds do not have speed ambiguity, a preset number of second direction angles and second radial speeds corresponding to the direction angles are extracted from the observation data; and obtaining a wind field inversion result by using a regularization algorithm and the wind field observation relation model based on the plurality of second direction angles and the second radial speed.

The invention discloses a double-axis full-degree-of-freedom compact portable photometer and a compensation method, and the method comprises the steps: obtaining the three-axis gyroscope data of the portable photometer, the longitude and latitude of an observation point and a preset ephemeris, carrying out the inclination leveling of a pitch angle and a direction angle through the three-axis gyroscope data based on a pedestal of the photometer, and obtaining a compensation result. According to the longitude and latitude of an observation point, north pointing is carried out through a preset ephemeris, a celestial body is screened according to sky radiance distribution data after north pointing, biaxial wear optimization is carried out based on a celestial body edge pixel set and a current optical probe attitude angle, biaxial compensation parameters are obtained, and a light compensation result is obtained based on the biaxial compensation parameters. According to the method, a three-axis electronic gyroscope is used for automatically monitoring a double-degree-of-freedom comprehensive deviation generated during north pointing and light focusing adjustment and compensation installation of an instrument on line, the use difficulty is reduced, conductive slip rings are adopted in the pitching direction and the azimuth direction, the winding condition is avoided, and the rotational degree of freedom in the double-axis direction is improved.

The invention discloses an AR lofting point position calculation method, device and equipment, and the method comprises the following steps: S1, obtaining a first coordinate which is an NEH coordinate of a point location where the equipment is located; s2, acquiring a second coordinate, wherein the second coordinate is an NEH coordinate of a target point selected by a user; s3, acquiring a first distance, wherein the first distance is the distance from the first coordinate to the second coordinate; s4, acquiring a direction included angle, wherein the direction included angle is an included angle between the first direction angle and the second direction angle; s5, obtaining the inclination angle of the rod; s6, calculating a pixel distance corresponding to the first distance in the original image under the current inclination angle; s7, obtaining a display image, wherein the display image comprises an original image, the pixel distance displayed on the original image, a connecting line of the first coordinate and the second coordinate, and the direction included angle; and S8, outputting a display image.

The application provides a path planning method and device, a self-moving device and a storage medium. The path planning method comprises: obtaining elevation data of a working area; fitting the elevation data to obtain a fitting plane; obtaining a first normal vector of a ground plane and a second normal vector of the fitting plane; determining a slope of the fitting plane and a main direction angle according to the first normal vector and the second normal vector; the main direction angle is a direction angle of the fitting plane on a projection plane; and if the slope is greater than a slope threshold, generating a planning path of the fitting plane according to the main direction angle. The application can avoid the problem that the current planning path causes the self-moving device to frequently slip in the working area, thereby improving the working efficiency of the self-moving device.

Embodiments of the present disclosure disclose a bearing angle information generation method and device, electronic equipment and a medium. A specific implementation of the method includes: obtaining each homonym point information in a target video captured by a target camera to obtain a homonym point information set; obtaining camera basic information of the target camera; establishing a plane coordinate system according to camera position information included in the camera basic information; for each homonym point information in the homonym point information set, the following processing steps are executed: generating a direction angle value based on the plane coordinate system and homonym point position information included in the homonym point information; generating a lateral angle value based on the camera basic information and the homonym point information; determining a difference value between the direction angle value and the lateral angle value as a bearing angle value; determining an average value of each bearing angle value determined as a plane bearing angle; and converting the plane bearing angle into bearing angle information based on the plane coordinate system. The implementation can correct the position of the camera.

The invention provides a magnetic method detection method and system capable of adaptively adjusting a measuring line direction, belongs to the technical field of ocean detection technologies, particularly provides a method for determining the putting depth of a magnetometer, carries out magnetic detection according to the determined minimum putting depth and a measuring line interval d, and proposes construction of an expansion interference model and a state vector. And real geomagnetic field calculation and total vector direction calculation results are obtained through combined online estimation of establishment of an extended measurement model containing a complete interference term and adaptive volume Kalman filtering. The direction of the measuring line is adjusted in a self-adaptive mode based on the tidal current direction and the change of the direction included angle, the detection method is optimized, and the detection precision and the resolution ratio are improved.