39 results about "Distance error" patented technology

The invention relates to an underwater acoustic image reconstruction method based on angle error compensation, which comprises the following steps of: (1) calculating space coordinate information and a two-way slant range course of a transmitting array element and a receiving array element for each subsystem consisting of the receiving array element and the transmitting array element; (2) calculating a two-way slant range course after phase center approximation; (3) calculating a system function of a distance-Doppler domain; (4) calculating a Doppler phase error; (5) dividing the data into # imgabs0 data blocks which are not overlapped with one another, and compensating micro-range migration errors caused by range errors; (6) obtaining a signal after distance delay error compensation; (7) performing differential range migration correction processing, range pulse compression, secondary range pulse compression and consistent range migration correction processing; (8) carrying out azimuth focusing processing, residual phase error compensation operation and azimuth walking correction processing; and (9) performing coherent fusion processing and inverse Fourier transform to obtain a final high-resolution image. According to the method, the image can be quickly reconstructed, and the real-time processing requirement can be met.

The invention discloses a multi-task fixation point estimation method, which relates to the technical field of computer vision and deep learning, and comprises the following steps of: firstly, constructing a data set for providing associated data from tasks to labels and supporting multi-task cooperative training, and then constructing an MTHGaze model, through a semi-structured framework, deep learning, a geometric constraint fitting model and key tasks of cooperative processing are fused, a loss function is designed and trained, defects of each task are solved through targeted loss function design, and a scientific training process enables the model to be iteratively optimized. Finally, the targets of improving the estimation precision of the fixation point, ensuring the physical rationality and enhancing the environmental robustness are achieved; and finally, performing fixation point mapping. According to the estimation method, through data set construction, data consistency can be guaranteed, training noise can be reduced, a real reference can be provided for loss function calculation, error back propagation can be realized, and Euclidean distance errors can be minimized through L2 norms of real fixation point coordinates and prediction coordinates.

The invention discloses a sensor error compensation method and system based on function simulation and a storage medium, and relates to the technical field of laser distance measuring sensor error compensation, and the method comprises the following steps: testing the distance error between the output distance and the real distance of a laser distance measuring sensor at different distances; compensating different distances by adopting different error compensation models based on the distance error; verifying whether the error compensation model is valid; the method is used for solving the problem that the error of a laser ranging result cannot be effectively reduced within a certain length range due to the fact that an error compensation method under different length conditions is not reasonable enough in an existing laser ranging sensor error compensation technology.

A method for identifying similar ground objects with spectral similarity in a remote sensing image based on condition number of matrix includes the steps of: obtaining sample's spectral curve of the ground object to be identified, and constructing the sample spectrum matrix A according to the number of bands of the image and the number of categories of ground objects; sequentially obtaining distance index vectors between the spectrum P of the pixel to be identified and each category of ground objects in A; calculating a distance error of each type of ground object when P is identified; then calculating a distance error threshold vector of A; classifying and identifying the pixels. This method uses linear system of equations and the condition number theory to transform ill-conditioned equations into well-conditioned equations, thereby adding significant identifiable features to the ground objects to improve the identification performance and avoid constructing large training samples.

To provide a distance measuring device, a distance measuring system, a distance correction method, and a distance measuring program that can correct a distance error occurring between pixels included in a light receiving sensor due to the influence of a different multipath for every pixel.SOLUTION: A distance measuring device comprises: an irradiation unit that irradiates an object to be measured with measuring light; a light receiving sensor that receives reflected light from the object to be measured, and detects an amount of exposure based on the reflected light; a storage unit that stores correction information indicating a correction formula set including a plurality of correction formulas associated respectively with a plurality of pixels and application ranges of the correction formulas; and a distance calculation unit that calculates a measured distance to the object to be measured on the basis of the amount of exposure. The distance calculation unit corrects the measured distance for every pixel on the basis of the correction information stored in the storage unit, by using a correction formula corresponding to an application distance range including the measured distance, of the plurality of correction formulas included in the correction formula set, and thereby executes distance correction calculation of calculating a post-correction measured distance for every pixel.SELECTED DRAWING: Figure 1

The present invention discloses a Fourier coefficient calculation method, apparatus, terminal device and medium, wherein the method includes: obtaining m measured distance data and original Fourier coefficients of a camera module; correcting the m measured distance data according to the original Fourier coefficients to obtain m corrected distance data; calculating m distance error data based on the m corrected distance data and pre-stored actual distance data; and calculating new Fourier coefficients based on the m distance error data. By adopting the present invention, the technical problem in the prior art that the accuracy of the Fourier coefficients obtained by means of table lookup is not high, thereby resulting in low accuracy of module error calibration, can be solved.

The present invention relates to the technical field of cooperative positioning of unmanned boat clusters, and provides a method, system, device and medium for identifying non-line-of-sight errors based on DVL speed measurement, the method comprising: constructing a radio ranging model to obtain a relative ranging measurement value between a master and a slave node; obtaining a relative position difference between the master and the slave node at the last moment; measuring the position change of the master and the slave node according to DVL; estimating the relative position difference at the current moment according to the relative position difference of the master and the slave node at the last moment and the position change of the master and the slave node; obtaining a detection threshold according to a satellite navigation pseudorange or a carrier phase double difference; identifying non-line-of-sight errors according to the relative position difference between the master and the slave node, the relative ranging measurement value between the master and the slave node and the detection threshold. The present invention utilizes the characteristics of high-precision speed measurement of DVL to estimate the relative distance between the master and the slave node, identifies the non-line-of-sight error by comparison, avoids the influence of the non-line-of-sight error on the cooperative positioning, and greatly improves the accuracy of the cooperative positioning.

The embodiment of the invention provides a distance measurement method and device, relates to the field of wireless communication, and can reduce distance errors corresponding to different loads and improve the accuracy of distance measurement. The method comprises the following steps: sending indication information, wherein the indication information indicates a second communication device to send a sound wave signal; receiving N sound wave signals; and determining a distance deviation value according to the N relative coordinates, the N receiving times and the first time difference. Wherein the N sound wave signals correspond to the N relative coordinates respectively, the N phase coordinates are coordinates of the N signal receiving positions relative to the reference position respectively, and N is a positive integer greater than or equal to 3; the N receiving times are the receiving times corresponding to the N sound wave signals respectively, the first time difference is the time difference of the signals between the first communication device and the second communication device, and the distance deviation value is used for determining the distance between the first communication device and the second communication device.

The present application belongs to the technical field of nuclear power plant operation optimization, and discloses a position correction method, device, computer equipment and storage medium, wherein the position correction method comprises the following steps: in the track robot inspection process, obtaining a to-be-registered image obtained by shooting a target image at a preset position of a track robot; obtaining a standard image corresponding to the preset position, the standard image comprising at least one mark image block; searching for an image block between the mark image block and the to-be-registered image block, which satisfies a similarity condition, to obtain a target image block corresponding to the mark image block; obtaining a position difference between the mark image block and the target image block to obtain a target offset pixel value; obtaining a conversion parameter between a previously determined motion distance and the offset pixel value, converting the target offset pixel value based on the conversion parameter to obtain a motion distance error of the track robot; and correcting the preset position of the track robot based on the motion distance error.

The invention relates to the technical field of automatic hole making systems, in particular to a contact type normal alignment device and an alignment method based on measurement precision verification. The front end of the mounting base is fixedly provided with a measuring disc and a presser foot through a spherical hinge; an auxiliary contact is arranged on the outer side of the pressing foot, moves in the pressing direction of the pressing foot through a pushing device and abuts against the surface to be detected. In order to solve the problem that a normal alignment device cannot ensure that the axis of a hole is perpendicular to the surface of a product after a presser foot presses the surface of the product, the auxiliary contact abuts against the surface to be measured in advance, pre-compression is applied, then the presser foot is pressed on the surface to be measured, and the problem that the measurement precision is affected by deformation or slippage when the surface to be measured makes contact with the presser foot is solved. In order to solve the problem that the measurement precision of the sensor is out of tolerance, whether the sensor breaks down or not can be effectively detected by calculating the distance error between the center of the spherical hinge and the measurement face, alarming and shutdown are conducted in time, and normal alignment failure caused by sensor faults is prevented.

The invention provides a following control method and device of mobile equipment, electronic equipment and a storage medium, target stability is maintained by performing consistency judgment on candidate targets in sensing data, and target confirmation and locking are realized when an interaction trigger instruction corresponding to the candidate targets is detected; in a locking state, target area information is continuously output, depth / distance information is fused to calculate a relative pose, then the relative pose is converted into a distance error and an angle error to generate a chassis control instruction, and closed-loop adjustment of the following process is achieved. Therefore, the false following probability in a multi-person scene can be reduced, the stability and controllability of target locking and following are improved, and a smoother and more accurate following effect is kept when the target moves and the environment changes.

The application discloses a kind of multi-agent preset time formation control methods based on backstepping method under distance rigidity matrix, comprising: 1) based on the double integrator dynamics model of multi-agent system is established based on rigidity graph theory, define the minimum and infinitesimal rigidity frame corresponding to the expected formation;2) introduce backstepping design framework, define virtual speed error variable;3) introduce time-varying scaling function to construct time scale transformation;4) design distributed preset time controller;5) through numerical simulation and physical platform are verified, verify the effectiveness of distance error in user preset time under different initial conditions converges to the vicinity of zero.The application is fused by backstepping and preset time scaling function, for the first time in only local relative measurement distance rigidity formation Convergence time user self-defined preset is realized, and convergence time upper bound is independent of initial condition and controller parameter, provides reliable, engineering implementation solution for time-critical multi-agent cooperative task.

The present application relates to a kind of radar sea surface target measurement error correction method and system based on AIS.The method comprises: obtaining radar sea surface measurement target and the AIS target corresponding thereto;Error coefficient is determined using least square method according to the above-mentioned target;The distance error of radar sea surface measurement target is estimated according to error coefficient;According to distance error, the corresponding rectangular coordinate system is established;According to the bearing of radar sea surface measurement target and the corresponding rectangular coordinate system, the acute angle obtained by the intersection of the straight line of the position point of the target after correction and the position point of radar sea surface measurement target and the longitude line where radar sea surface measurement target is located is estimated;The latitude and longitude error of radar sea surface measurement target is estimated according to distance error;The position of radar sea surface measurement target is corrected according to the bearing of radar sea surface measurement target and latitude and longitude error.Using the above method can solve the problem of measurement error when radar detects sea surface target, improve the identification accuracy of radar officer to sea surface target.

The invention relates to the technical field of accurate positioning, and discloses a method and system for correcting azimuth and distance deviation based on UWB multipath reflection, and the method comprises the steps: obtaining an initial azimuth of a mobile terminal relative to a UWB base station according to a UWB signal; pre-stored surrounding environment reflecting surface information of the intelligent door is obtained, and whether the initial orientation is caused by a single reflection path under the non-line-of-sight condition or not is judged based on the initial orientation observation value and the environment reflecting surface information; if so, constructing an alternative signal path which is reflected for even times; calculating beam forming parameters required to be adopted by the UWB base station for pointing to the mobile terminal; and transmitting or responding to the UWB signal based on the beam forming parameter so as to obtain final positioning information reported to the mobile terminal. According to the method disclosed by the invention, by constructing the alternative path of multiple reflections, orientation and distance errors caused by a specific environment structure can be effectively identified and corrected, and the final positioning accuracy in a complex indoor environment is remarkably improved.

The application belongs to the technical field of unmanned aerial vehicles, and relates to a method for surrounding control of an unmanned aerial vehicle based on quadratic programming, which comprises the following steps: acquiring the position and speed of the unmanned aerial vehicle, and the position and speed of a target; determining the distance r(t) between the unmanned aerial vehicle and the target according to the position of the unmanned aerial vehicle and the position of the target; determining a distance error Cost r according to r(t) and a distance expected value r0; determining a speed error Cost v according to the position of the unmanned aerial vehicle and the position of the target; constructing a target function J based on the distance error and the speed error; transforming the target function into a quadratic programming problem according to the speed of the unmanned aerial vehicle and the speed of the target in combination with a speed constraint and an acceleration constraint; obtaining optimal control instructions V u (t) by solving the quadratic programming problem based on a quadratic programming solver; and performing surrounding control on the unmanned aerial vehicle based on real-time control instructions V u (t). The method has the beneficial effect of realizing accurate and stable surrounding control of the unmanned aerial vehicle around a moving target (such as a ship) in a complex dynamic environment.

The embodiment of the present application provides an intelligent multi-dimensional evolutionary collaborative analysis method and device for malicious attack features, which relates to the field of data processing technology. The specific scheme is as follows: based on the decompiled data of the target software, the target features of the target software in each target feature dimension are obtained; respectively, the encoding features of each target feature obtained by encoding each target feature are reconstructed to obtain the reconstructed features of each target feature; the reconstruction error between each target feature and the reconstructed features of each target feature is obtained; the distance between the error vector and the reconstruction error distribution of the known software is calculated, and the error vector is the vector formed by each reconstruction error obtained; if the distance is less than or equal to the distance threshold, the known software classification to which the target software belongs is determined based on the error vector, otherwise, the target software is determined to be abnormal software. The scheme provided by the embodiment of the present application can be used to identify malicious software in the control system.

The present invention discloses a sensor error compensation method, system and storage medium based on function simulation, which relates to the technical field of laser ranging sensor error compensation, and includes the following steps: testing the distance error between the output distance and the true distance of the laser ranging sensor at different distances; compensating different distances with different error compensation models based on the distance error; verifying whether the error compensation model is effective; The present invention is used to solve the problem that the existing laser ranging sensor error compensation technology still has an unreasonable error compensation method under different length conditions, resulting in the inability to effectively reduce the error of the laser ranging result within a certain length range.

This invention relates to a surface electromyography (SEMG) decomposition method based on FastICA and contractile force, belonging to the field of EEMG signal processing technology. First, a high-density array-type SEMG signal is pre-processed by filtering. Second, FastICA is used to decompose low-level contractile force EEMG signals, extracting the motor unit action potential sequence matrix from this level of muscle force signal. Then, FastICA is used to decompose high-level contractile force signals, and the extracted motor unit action potential sequence is subtracted from the action potential sequence matrix of the previous level. Finally, the above decomposition algorithm is iterated and optimized, with the constraint of minimizing the distance error between adjacent level potential sequence matrices. The improved decomposition method has high accuracy, is simple to implement, and can decompose a large number of motor units at medium to high contractile force levels.

The invention provides a small sample projection coordinate direct conversion method based on neural network classification judgment and related equipment. The method comprises the following steps: acquiring projection coordinates under a first reference system to be converted; for the projection coordinates to be converted under the first reference system, obtaining the projection coordinates of the projection coordinates under the second reference system through polynomial fitting; inputting the projection coordinates in the first reference system and the projection coordinates, obtained by fitting, in the second reference system into a trained neural network model to judge whether the distance conversion error is within a preset distance error range, and outputting the distribution condition of the conversion errors in the horizontal and vertical directions and corresponding probability values; and if the distance conversion error is not in the preset distance error range, correcting the output probability value based on the Bayesian law and Monte Carlo simulation, and correcting the projection coordinate under the second reference system obtained by fitting based on the corrected probability value. According to the invention, the precision of single projection coordinate conversion in the statistical sense is improved.

An objective of the present invention is to provide technology for accurately detecting the accuracy of a distance measurement system without acquiring a binocular image as a basis for correction in advance. A representative distance measurement system according to the present invention comprises: a rail unevenness information generation unit for detecting the unevenness of a rail and the surroundings thereof; a first rail position detection unit for outputting a rail position on the basis of the output of the rail unevenness information generation unit; a rail width calculation unit for outputting rail width information on the basis of the output of the first rail position detection unit; a first rail distance calculation unit for outputting a first rail distance on the basis of the rail width information; a second rail distance calculation unit for outputting a second rail distance on the basis of the output of the distance calculation unit; a distance error calculation unit for comparing the first rail distance and the second rail distance and outputting an error; and a correction amount calculation unit for outputting the correction amount of the output of the distance calculation unit on the basis of the output of the distance error calculation unit.

The application discloses a target capturing method based on vision and 3D radar, and belongs to the field of data processing, aiming to solve the problem of high precision requirement of 3D laser radar in identifying target objects. In the method, the target object is detected in real time through visual recognition, and when the target object is detected, the central angle thereof is output and transmitted to the 3D laser radar algorithm part through ROS2 topic communication. After the 3D laser radar receives the output angle value a0, data processing is performed to obtain a fifth distance; and then the obtained M fifth distances are sequentially subjected to average filtering, low-pass filtering, Kalman filtering and difference filtering, so that the final distance is obtained. The application can realize real-time capturing and positioning of the target object at a frequency of more than 10 Hz at a low cost, and complete the target object tracking task with long distance, high precision, high reliability and high frame rate. The final distance error obtained by the method is less than 5 cm.

The present application relates to the technical field of communications, and provides a communication method, capable of improving the accuracy of services (such as sensing services or positioning services) associated with signal transmission delay. The method comprises: a first device determines first information, and sends the first information to a second device, wherein the first information is used for the second device to determine a first error value, the first error value is a distance error caused by different deviations between actual phases of a signal, which is reflected and / or transmitted by an antenna panel controlled by the first device, at different frequency points and a target phase of the signal, and the first information is any one of a first reference signal, phase shift characteristics of the antenna panel, or the first error value.

The invention discloses a self-adaptive path tracking control method and device for an unmanned ship, and relates to the technical field of unmanned ships. The method comprises the following steps of S1, dynamically generating real-time position, speed and course information of a virtual pilot ship based on input expected path geometric information and expected speed, and enabling the virtual pilot ship to move along an expected path at the expected speed; s2, acquiring navigation information of the unmanned ship in real time, and calculating a relative distance error and a relative speed error between the unmanned ship and the virtual pilot ship; and S3, constructing a sliding mode surface on the basis of the relative distance error and the relative speed error. According to the method, the concept of dynamic virtual pilot ships is introduced, a complex path tracking problem is converted into a visual queue tracking problem, and the defect that a traditional method depends on an accurate dynamic model is overcome. And sliding mode control based on relative errors is combined with a single adaptive law, so that the structure of the controller is remarkably simplified, and the parameter setting difficulty is reduced.

The invention discloses a fixed-time formation control method for an incomplete constraint robot formation, and relates to the field of robot formation control, and the method comprises the steps: obtaining the initial information of each follower at a current moment through employing the respective sensing module of each follower; according to the distance error constraint, the azimuth angle error constraint, the distance boundary, the azimuth angle boundary and the relative distance between each follower and the navigator at the current moment, adopting preset performance conversion and normalization processing to obtain an error variable at the current moment, a barrier function at the current moment and an update rate of an adaptive law estimated value at the current moment; according to the initial information, an observer is adopted to calculate the speed of a navigator corresponding to each follower at the current moment; and according to the data, the linear velocity and the angular velocity of the follower at the next moment are calculated under the constraint of a hyperbolic tangent function, and the follower is controlled to complete formation control within a fixed time. The control precision, the real-time performance and the energy utilization rate of the robot can be improved.

The present invention proposes a multiple measurement combination screening positioning method based on the sx1280 ranging module, inputting the coordinates of N anchor points and the M-times ranging result matrix D from each anchor point to the point to be positioned; initializing the combination result matrix as M N ×N-dimensional zero matrix, obtain the combined result matrix through the combination algorithm, traverse the matrix row by row; use the distance equation group to calculate the coordinates of the point to be located X k And calculate the corresponding distance error F k ; Select the coordinates with the smallest distance error in the set P as the estimated value of the coordinates of the final point to be located. The present invention uses multiple measurements between the anchor point and the point to be measured and combines the arrangement and combination method to convert a small amount of samples into a large amount of samples. Under the same sample volume requirement, it takes less time to obtain samples, thereby improving the real-time performance of the positioning system. The distance measurement samples are screened by using the compatibility characteristics of the distance difference of the small error measurement data, and the large error measurements can be removed to improve the positioning accuracy.

The communication method provided by the invention relates to the technical field of communication, and can improve the precision of services (such as sensing services or positioning services) related to the transmission delay of signals. The method comprises the following steps: a first device determines first information and sends the first information to a second device; wherein the first information is used for the second device to determine a first error value, and the first error value is a distance error caused by different deviations between an actual phase of a signal reflected and / or transmitted by an antenna panel controlled by the first device at different frequency points and a target phase of the signal; the first information is any one of a first reference signal, a phase shift characteristic of the antenna panel, or a first error value.

This invention discloses a method, apparatus, medium, and device for evaluating camera distortion correction effects. The method includes: performing affine transformation processing on a target object image after distortion removal, ensuring the target object is within the image range and that the feature points in the middle and edge portions of the processed target object image have consistent scales; detecting all feature points in the processed target object image and performing line fitting on feature points located on the same straight line to obtain the straight line containing each feature point; calculating the distance error from the feature point to the straight line containing the feature point for each feature point, and converting the distance error corresponding to the feature point into an angular error from the feature point to the principal point of the camera lens; and evaluating the distortion correction effect based on the angular errors corresponding to all feature points. This invention, by converting the straightness error from distance error to angular error, enables the use of a unified evaluation standard, thereby achieving a unified evaluation of the camera distortion correction effect.

The invention discloses a model-free adaptive control method for a motorcade under trust mapping-driven hybrid attacks. The method comprises the following steps of: 1, processing a vehicle state and communication characteristics by utilizing a multi-layer perceptron, outputting a continuous trust value, mapping the continuous trust value into a weight factor through a cumulative distribution function, and correcting an expected distance and a control law in real time; 2, designing a distributed control law based on the expected distance and the relative state error, and constructing an equivalent data model based on input and output data under a model-free adaptive control framework; establishing an exponential stability and serial stability criterion by using a functional and linear matrix inequality, and solving a control gain; and 3, realizing real-time robust suppression and smooth recovery of various attacks of false data injection, replay, camouflage and denial of service by cyclically executing the first two steps. According to the method, the speed consistency and the rapid convergence of the spacing error can be realized in a mixed attack environment, and the robustness and the engineering implementation of fleet control are remarkably improved.

The application discloses a performance evaluation method for a teleoperation system and application thereof, and belongs to the technical field of teleoperation, and comprises the following steps: S1, mapping a master end action sequence of the teleoperation system into a target sequence of a slave device according to task requirements, and recording a corresponding slave device output sequence; calculating a distance error matrix between the target sequence and the output sequence; S2, constructing a matching path constraint condition of the target sequence and the output sequence of the teleoperation system under constant targets and switching targets based on kinematic characteristics of the slave device; and S3, performing path search on the distance error matrix under the matching path constraint condition to obtain a distance cumulative value between each target value and a corresponding output value on a shortest matching path. The application considers the influence caused by system motion characteristics, so that the shortest matching path obtained by searching for the mapping of the target sequence and the output sequence can meet an objective motion law of the teleoperation system, and the accuracy of performance evaluation of the teleoperation system is greatly improved.

The application provides a ranging method, device and depth sensor with error compensation, the method comprising: rough ranging a target in a rough measurement mode, outputting histogram data of the rough ranging, confirming a time bin corresponding to a rough distance of the target, and obtaining the rough distance of the target; in the rough measurement mode, counting the number of received photons from the start of reception, and when the number of counted received photons reaches a preset threshold, recording the time at this moment as a full-counting detection duration; fine ranging the target in a fine measurement mode, starting fine ranging from the time bin corresponding to the rough distance, and obtaining a fine distance of the target; calculating a corresponding error value according to the full-counting detection duration; and calculating the distance of the target according to the rough distance, the fine distance and the error value. The full-counting detection duration is recorded to represent the error value during ranging, error compensation can be achieved without transmitting complete histogram data, and the ranging accuracy is improved without losing the ranging efficiency.