395 results about "Drift angle" patented technology

The invention relates to a space borne TDICCD camera integral timing and adjusting method, which comprises the following steps: (1) the orbit is simulated with high precision in which positions parameters of photographed spots of the satellite under drift angle control or at different swinging angles are outputted such as vector coordinates and oblique distances of the photographed spots as well as vector simulation data for the satellite position; (2) the vector simulation data for the satellite position are analyzed to come out with the shift speeds of the photographed spots; (3) eliminate the radial-directional speeds from the shift speeds of the photographed spots to become the image motion speeds; (4) utilize the image motion speeds and the oblique distances of the photographed spots to obtain the integral times. The invention also provides a design method for TDICCD related parameters as well as a real-time adjusting method for integral times on the satellite under control of ground commands. The space borne TDICCD camera integral timing and adjusting method realizes an organic combination of simulation modeling with high precision and positional vector differential method, which eliminates errors introduced into the deduction process in traditional geometric analysis and calculation and controls error delivery to improve calculation precision; the arrival real-time adjusting method for integral times on the satellite ensures a reliable integral synchronous control.

The invention relates to a novel imaging method in agile satellite maneuvering, which is capable of realizing imaging of satellite during a posture adjustment process. The method comprises the following steps: according to geographic latitude and longitude of on-board orbit forecast data and imaging object point, a triaxial attitude angle directional target imaging start point of satellite is arranged; a roll angle and a pitch angle are obtained through a modeling algorithm for determining the satellite optical axis directional target imaging point; establishing a CCD image plane in a satellite model, performing calculation to obtain image motion velocity vector and a drift angle through projection calculating, and yaw angle of the satellite is controlled for correcting the drift angle, calculating the image motion velocity vector to obtain TDICCD integration time for image motion compensation, and satisfying the image processing requirement of imaging in maneuvering. The design method is capable of using in a triaxial attitude maneuvering process of the satellite for starting optical payload for a dynamic imaging technology for imaging, so that target directional requirement and image processing requirement during an imaging process can be realized.

The invention relates to a combined type deburring stirring-friction welding stirrer head used for stirring-friction welding. The stirrer head is a combined type structure, comprising a stirrer head base and a cutter body. The stirrer head base comprises a clamping handle, a support shoulder, a shaft shoulder and a stirring pin. The cutter body comprises an installation ring, a blade holder, a tool blade, a tightly fixed bolt and a thread through-hole; the cutter body is sleeve-jointed with the shaft shoulder of the stirrer head and is fixed through the tightly fixed bolt. One surface of the blade holder is inclined with an inclination angle of 30 to 85 degree corresponding to the axial direction of the stirrer head, and the other surface is flat. The tool blade is embedded on the inclined surface, the lower end face of which is a cutting edge. An inclination angle matched with the friction welding drift angle is formed on surface of the cutting edge. The invention has the advantages of efficiently eliminating the burr of the friction welding, achieving high-quality stirring friction welding joint with flat and smooth surface, enabling to be used as ordinary ones.

The invention relates to a three-dimensional gesture determining and local positioning method of a lunar surface rover, which comprises the following steps: (1) ascertaining the rolling and pitching angles by use of a triaxial accelerometer with sensitivity while the rover is still; (2) determining the drift angle gesture by means of a sun sensor; (3) using the axial gesture and the gyro deviation as the state quantity, the rolling and pitching angles established by the triaxial accelerometer, the drift angle determined by the sun sensor as well as three gyro outputs as the measuring information, building a state equation and a measuring equation, and estimating the triaxial and gyro deviations by means of extended Kalman filter; (4) after compensating the gyro outputs by virtue of the estimated gyro deviations while the rover is in motion, calculating the gesture changes of the rover, finishing the preestimation of the gyro gesture, and fulfilling gesture update; (5) acquiring the information about the rotation speed of the driving wheels of the rover, the rotating angle of the steering wheel, the rotating angle of the left and right rocker arms, and getting the position increment of the rover in the body coordinate system by use of the forward kinematics relationship. The invention has the advantages of high precision of gesture determining and positioning, simple calculation and easy implementation of the engineering.

The invention discloses a positioning and navigation method based on a depth camera and a laser radar device. The 2D and 3D information collected by sensors is utilized to carry out indoor environmentmodeling, position analysis and information calibration; the present scene information is collected by a user, and rapid comparison and accurate characteristic matching of the collected information with the 2D and 3D environment model information are carried out to realize indoor positioning of the user; the positioning method is accomplished through respectively establishing a data acquisition device and a data analysis platform for indoor positioning; the data acquisition device comprises the depth camera and an inertia measurement sensor, and indoor 2D and 3D information, attitude and drift angle space information acquisition of any position can be accomplished; the data analysis platform can be used for carrying out rapid storage, position analysis and information calibration of the environment model through utilizing the acquired 2D and 3D information, the positioning result acquired through analysis is fed back to the user in real time, and the indoor positioning function is realized.

The invention relates to a three-dimensional micro-morphology oblique scanning method and a corresponding device. The method is characterized in that the position of a focus object is adjusted by three stepping motors controlled by a computer, ensuring the object always at the central place in the oblique scanning and obtaining image texture and high-level information of the focus surface of the object, then obtaining a lager three-dimensional morphology image through synthesis and restructure. The device comprises the computer, a microscope and a camera (1); wherein, the camera is arranged on the microscope, an object-carrying platform (13) of the microscope is provided with an object-carrying wedge-shaped platform (14), the object-carrying wedge-shaped platform and a drift angle of the object-carrying platform forms a oblique focus surface when the drift angle Beta is 5 to 40 degrees, the three-dimensional movement space coordinate of the object and the image of the camera at the space coordinate are inputted to the computer at the same time, then restructuring the three-dimensional micro-morphology high-level and texture information on the basis. The three-dimensional micro-morphology oblique scanning method and a corresponding device has the advantages of avoiding useless work in non-focus area, reducing scanning time and improving scanning speed and efficiency.

The invention discloses a full optical path drift compensation high-precision roll angle measuring method and a device, and belongs to the technical field of photovoltaic testing. By using a pair of retro-reflector as sensitive device, the roll angle information is obtained through the parallel two-beam differential measurement, in which the parallel beam through a set of double pentagonal prism and a pentagonal prism splitting the collimated laser beam after splitting obtained by the dual beam parallelism prism precision guaranteed without adjustment, greatly enhance the feasibility and practicability of measurement methods; by using a rectangular prism as beam translation and reverse means that two beams measuring light path completely overlap, and the light path direction reciprocal use This feature, in twice while improving measurement resolution, combined with a total path of the light drift compensation method, can achieve all-optical laser beam path is completely drift compensation, to resolve the current measuring method using laser collimation of the laser beam cannot completely eliminate the drift angle the impact of the common problems that can achieve the roll angle measurement resolution of better than 0.1 'accuracy of better than 1'; compact optical structure of the present invention, the adjustment is simple, no more freedom crosstalk error, moving parts without cable, easy on-site measurement .

The invention relates to a wind generator power optimization system based on drift correction. The system comprises a data acquisition module, a power simulation module, a wind direction offset diagnosis module and a control module. The data acquisition module is used for collecting real-time data of operation of a draught fan, and storing the real-time data to form historical data. The power simulation module is used for reading the historical data, screening the historical data, establishing a balanced data set according to the screened data and establishing a power model according to the balanced data set. The wind direction offset diagnosis module generates control information according to the received power model and the real-time data and sends the control information to the control module. The control module adjusts the drift angle of the draught fan according to the received control information. In addition, the invention further provides a wind generator power optimization method based on drift correction. According to the wind generator power optimization system and method based on drift correction, the drift angle can be diagnosed and adjusted in real time, the service life of a wind generator set is prolonged, and the operation safety factor is improved.

The invention relates to a test device and method for mechanical characteristics of a simulation bottom hole assembly, and belongs to the technical field of pipe string mechanical testing. The device comprises a simulation bottom hole assembly system, a driving system, a control system, a measuring system and a hoisting system, and is mainly composed of a test stand, a test bed, a hydraulic motor, a measuring and control instrument, a motor, an eddy current displacement sensor, a force measuring device, a computer, a signal acquisition module, a signal cable, a simulation drill string, a simulation wellbore, a wirerope and the like. The test method includes determining geometrical dimensions of the simulation drill string and the wellbore according to a similarity theory, subjecting the simulation drill string to stress calculation and designing the sensor according to a calculation result, hoisting the test bed to be at a needed hole drift angle through the hoisting system, loading an axial displacement and rotation speed to the simulation drill string through the driving system and the control system, and measuring axial force, lateral force and rotation angle of a simulation drill and a whirl motion law of the simulation drill string through the measuring system. According to the test device and method for the mechanical characteristics of the simulation bottom hole assembly, research quality of the mechanical characteristics of the simulation bottom hole assembly can be improved.

The embodiment of the invention provides a compensation method and device for holder drift, a holder and an unmanned aerial vehicle, and is applied to the technical field of the unmanned aerial vehicle. The compensation method comprises the following steps: through a first image and a second image collected by an image acquisition device on the holder, obtaining a holder drift angle, and controlling the holder to move to compensate the drift angle. According to the compensation method, the technical problem that the estimation and the compensation of the holder drift cannot be accurately carried out when the zero drift of a gyroscope is compensated is solved.

The invention provides an assembly of the reference body for the precision installation of a MEMS gyrometer and the installing method. The assembly comprises a precision installation reference body and a mini MEMS vibration gryometer body with a horizontal sensitive-axis that is inserted into the concave space in the reference body. The reference body is made of material with good assembling performance and secondary machining performance. The assembly is connected with a carrier through a first reference face and a second reference face. At installation, firs the preliminary shape of the reference body is machined, and the gyrometer is mounted, then the out-of-spec angle of the input axis of the gyro is measured, the installation drift angle is calculated; then the reference face of the reference body is corrected based on the drift angle so that the drift angle approaches to zero. The invention takes use of the excellent assembling and secondary machining performance of the material from which the reference body is made, improves the installation accuracy of the gyro by machining and correction, is applicable for mini gyrometers with horizontal sensitive-axis installed by circuit board, especially for mini MEMS vibration gyrometer in inertia measuring units in small carriers.

The invention provides a three-hole probe type pressure measurement tail rake for a wind tunnel test. A plurality of connecting rods are distributed at the top end of a support platform; a three-hole probe is fixed on each connecting rod; a total pressure hole is arranged at the conical top end of each three-hole probe, and two static pressure holes symmetrically distributed on the conical surface of the three-hole probe, and the central line of the total pressure hole and the central lines of the two static pressure holes are in the same horizontal plane. According to the three-hole probe type pressure measurement tail rake, the actual total pressure, static pressure and airflow drift angle at each probe can be obtained through one total pressure hole and two static pressure holes on each probe; then, two velocity components u and v at each probe in the axial direction of a tunnel and in the horizontal plane of the height center of the tunnel can be obtained in combination with measurement of fluid density; according to the obtained static pressure distribution and the distribution of the two velocity components u and v at each three-hole probes, the resistance of a wing section can be obtained on the basis of the momentum theory, so that the two-dimensional velocity and speed drift angles of all points of wake flow can be captured at the same time. The three-hole probe type pressure measurement tail rake for the wind tunnel test is suitable for the situation that the lift force is large and the wake flow inclines to a lower wing face greatly.

Spacecraft payload orientation steering is provided for an orbiting spacecraft in motion along an orbit track around a celestial body, the orbit track having a nominal inclination with respect to an equatorial orbit, a substantial eccentricity, and a drift angle with respect to the nominal inclination. Coordinates of an optimal payload target location as a function of a spacecraft position along the orbit track are determined, the target location being on the surface of the celestial body and having a substantial motion with respect to the surface and with respect to a spacecraft nadir. A payload of the spacecraft is substantially aligned with the determined coordinates by steering the satellite body to correct for at least one of the inclination drift angle, and the eccentricity, thereby adjusting the spacecraft orientation as a function of the spacecraft position along the orbit track.

A laser for outputting radial polarized light beam comprises a pumping source, is characterized in: a pumping light shaping and coupling apparatus, a front cavity mirror, a laser medium, a Brewster shaft vertebra mirror and a rear cavity mirror are disposed successively along the direction of the pumping light from the pumping source; the centered wavelength of the pumping light from the pumping source is the same with the absorption wavelength of the laser medium; the pumping light passes through the pumping light shaping and coupling apparatus and is focused onto the laser medium; and the Brewster shaft vertebra mirror is made of high refractive index material, has a drift angle twice of the complementary angle of the Brewster angle. The invention achieves the advantages of simple structure, low cost, good quality of outputted radial polarized light beam.

The invention provides a ground testing method of a star sensor. The method comprises the following steps of: adjusting the star sensor by using a theodolite so that the Z axis of the star sensor points to true north and the Y axis of the star sensor vertically faces towards zenith; receiving a quaternion of the star sensor under an inertial coordinate system; converting the posture of the star sensor into a quaternion under a WGS84 coordinate system; converting the quaternion under the WGS84 coordinate system of the star sensor into a three-axis Euler angle; continuously operating the star sensor for 30 minutes, storing the difference between a roll angle and the local longitude and the difference between a drift angle and the local latitude in real time, and counting precisions of the roll angle and the drift angle; and storing the difference between a pitch angle and the local longitude in real time, and counting the precision of the pitch angle. According to the method disclosed by the invention, the testing process is simple; any special equipment is unnecessary; the method is not only used for testing the precision of the three-axis Euler angle of the star sensor but also used for completely testing the three-axis polarity of the star sensor; and in addition, only when the time precision satisfies requirements, the method is also used for testing the absolute longitude of the star sensor.

The invention discloses a method used for improving the accuracy of an azimuthal angle and a tool face angle of a small well inclined downward fiber-optic gyroscope inclinometer. The method utilizes the posture angle relationship between the azimuthal angle and the tool face angle and combines triaxial acceleration information, thereby avoiding the error of the phenomenon that 0 is divided by 0 in posture measurement of the fiber-optic gyroscope inclinometer. When the well drift angle theta is smaller than 5 degrees, the method can be used for lowering the error of the azimuthal angle and the tool face angle, so that the measurement accuracy of the fiber-optic gyroscope inclinometer is improved comprehensively.

The invention discloses a wire rope guiding device, which comprises a swing frame (41) that is rotatably connected on a mast (1) of a rotary drilling rig so that the swing frame (41) can swing towards the left side and the right side of the mast (1); a front end part of the swing frame (41) is provided with a guide pulley (42),and a wire rope (3) bypasses the guide pulley (42) and is then wound on a winding drum of the rotary drilling rig; and the guide pulley (42) is further rotatably connected with the swing frame (41) so that the guide pulley (42) can rotate under the driving of the axial force of the wire rope (3) along the guide pulley (42). The device can reduce the drift angle of the wire rope (3) obviously, thus reducing the wear of the wire rope (3) and prolonging the service life thereof. Moreover, the invention also discloses the rotary drilling rig comprising the wire rope guiding device.

The invention discloses a multi-seam joint exploitation coal seam gas shaft gas-liquid two-phase flow simulation device. The simulation device comprises a recovery system connected to the top of a shaft simulation device. A reservoir simulation system is connected with a guide hole in the shaft simulation device, an adjusting system is connected to the outer side and the bottom of the shaft simulation device and used for controlling inclination of the shaft simulation device, and a data acquisition system is connected to joints between the recovery system, the shaft simulation device and the reservoir simulation system. The simulation device can simulate the physical process that under the conditions of a certain shaft length, a hole drift angle and the like, multiple seams are sequentially desorbed under the original reservoir condition after water is drained and pressure is reduced and output is generated through an annulus of a coal seam gas shaft and an oil pipe., the displacement and the casing pressure are adjusted, flow pressure and gas output data are recorded and analyzed, the characteristics of multi-seam joint exploitation coal seam gas shaft gas-liquid two-phase flow are qualitatively recognized, an optimized discharge and recovery working system is acquired, and a guidance suggestion is provided for formulation of the on-site coal seam gas well discharge and recovery working system.

The invention discloses a method for determining and compensating a full-field drift angle of a space-based camera. The method comprises the following steps: (1) performing scene simulation and modeling, comprising performing high-precision modeling and simulation on the satellite orbit, attitude, camera measurement coordinate system, satellite body measurement coordinate system and different field sensors of the camera; (2) calculating the full-field drift angle of the camera under a geocentre terrestrial reference frame; (3) calculating a compensation angle of the satellite body measurement coordinate system; (4) calculating a compensation attitude quaternion matrix on the satellite drift angle; and (5) calculating the full-field drift angle of the camera subjected to attitude compensation. According to the method disclosed by the invention, after a three-axis stability satellite rotates around three axes of the satellite body, the problem that the full-field drift angle of the camera cannot be determined and compensated during earth observation of the satellite in a specific attitude can be solved, and the method can be used for determining the drift angle of a satellite-borne large-field camera, designing and verifying the drift angle compensation method and optimizing the satellite design in the satellite development process.

The invention discloses a general miniaturization digital electric steering engine controller and a control method thereof. The general miniaturization digital electric steering engine comprises a signal conditioning module, an AD sampling module, a parallel-to-serial module, a steering engine algorithm module, a serial-to-parallel module, a steering engine driving control module, a steering engine driving module, a displacement detecting circuit and a current detecting circuit, wherein the displacement detecting circuit and the current detecting circuit output analog position signals and analog current signals of m steering engines, and m is greater than or equal to 2; one channel of serial position signal, one channel of serial current signal and one channel of serial instruction signal are obtained by the signal conditioning module, the AD sampling module and the parallel-to-serial module and are fed into the steering engine algorithm module; the steering engine algorithm module is used for performing position and current double closed loop control on a steering engine drift angle and outputting one channel of serial control signal; and the serial control signal is converted into m channels of parallel control signals required by the steering engine through the serial-to-parallel module and the parallel control signals are outputted to the steering engine driving control module; and the steering engine driving control module and the steering engine driving module drive a motor to rotate. The general miniaturization digital electric steering engine controller and the control method thereof disclosed by the invention are high in control speed and stability.

The invention discloses an unmanned plane route planning method based on SAR (Synthetic Aperture Radar) radar imaging, which is used for solving the problem that data of the wind in the air cannot be accurately obtained, the variation of the wind causes that a drift angle of the unmanned plane exceeds limit of an operating angle range in the direction of a SAR radar stable platform, and the radar imaging is influenced. With the method provided by the invention, according to primary wind speed and wind direction data, the minimum number of planning routes is determined based on a relation among the airspeed, the ground speed and the wind, and a working range in the direction of the stable platform, so that the aim of planning a plurality of groups of effective standby routes in advance is implemented; moreover, by the method, capability of the unmanned plane to deal with the variation of the wind in the air can be improved, probability of being prone to making mistakes caused temporarily planning large amount of routes is avoided, flight safety is improved, and simultaneously flight time is saved and efficiency of finishing tasks is improved.

The invention discloses a method and system for integrated navigation of a laser inertial measuring unit and an odometer. The method comprises steps of: S1, collecting an odometer pulse number in N sampling periods at a normal operation condition, and solving a pitching installation drift angle and a course installation drift angle between the inertial measuring unit and the odometer; S2, establishing a state equation; S3, establishing a measurement equation, which comprises a measurement value 1 shown in the description being a displacement increment of the inertial measuring unit in a No. i sampling period under a navigation system, a measurement value 2 shown in the description being an odometer increment of the inertial measuring unit in the No. i sampling period, and a measurement value 3 shown in the description being a displacement projection of the inertial measuring unit under the navigation system; and S4, utilizing the state equation and the measurement equation, and performing Kalman filtering for correcting parameter errors of an inertial navigation system and a device in real time to complete integrated navigation. The invention further provides a system for realizing the method. By implementing the method and the system, an error of integrated navigation can be effectively corrected, and the accuracy of integrated navigation can be greatly improved. The method and system are particularly suitable for a situation when the inertial measuring unit is inclined at a large angle.

The invention discloses a method for measuring aerosol parameters by a lateral laser radar based on a CCD (charge-coupled device) imaging technology. The method comprises the following steps of: firstly, selecting a phase-comparison function value of aerosol to atmospheric molecules of a reference point in a horizontal direction; determining and affirming that a backscatter coefficient value of the aerosol on the reference point is equal to that at each scattering angle; inserting the drift angle (theta) and the angle width (dtheta) with each pixel of a CCD camera, and the vertical distance (D) between the CCD camera (3) and a beam (5) emitted by the laser radar into a lateral laser radar equation shown in the description; taking the adjacent point as a new reference point after solving the phase-comparison function of the aerosol on the adjacent point from the value, gradually solving until a profile of the phase-comparison function of the aerosol is obtained; then affirming that the obtained phase-comparison function value of the aerosol in the horizontal direction is equal to that in the vertical direction, measuring the backscatter coefficient value of the aerosol at one height as the reference point, and obtaining the profile of the backscatter coefficient value of the aerosol by adopting the method. Therefore, the aerosol parameters conforming to the actual condition can be measured.

The invention discloses an unmanned ship path tracking control method based on finite time guidance and control. The unmanned ship path tracking control method based on the finite time guidance and control comprises the following steps that dynamic states of path tracking errors are calculated; a finite time sideslip observer is designed; a hyperbolic tangent sight line guidance law is designed; afinite time disturbance observer is designed; and a controller based on the finite time observers is designed. According to the unmanned ship path tracking control method based on the finite time guidance and control, the speed and course angle are simultaneously guided through the provided hyperbolic tangent sight line guidance law according to the tracking errors and the designed finite time sideslip observer, and the stability and the flexibility of a guidance system are improved; the time-varying large drift angle can be accurately observed by the designed finite time sideslip observer, the observation error is ensured to be zero within finite time, the error convergence speed is increased, the robustness is improved, and the boundedness of bounded and asymptotic observation can be avoided; and complicated external disturbance can be accurately observed, the observation error is ensured to be zero within the finite time, and the boundedness of the bounded and asymptotic observation can be avoided.

The invention relates to a vehicle rear wheel steering assisting control system and a control method thereof. The problem that the automobile cornering is unsafe is solved. According to the technical scheme, a controller, a data execution module, a data acquisition module, a rear wheel active steering device, a vehicle wheel drift angle measuring instrument and a rotation speed measuring instrument are included, wherein the vehicle wheel drift angle measuring instrument is mounted at the position of one front wheel for measuring an steering angle of front wheels; the rotation speed measuring instrument is also mounted at the position of one front wheel for measuring the speed of the front wheels; the output ends of the vehicle wheel drift angle measuring instrument and the rotation speed measuring instrument are electrically connected with the data acquisition module; the data acquisition module is electrically connected with the controller; the controller is electrically connected with the control end of the data execution module; the rear wheel active steering device is mounted at the position of one automobile rear wheel; the control end of the rear wheel active steering device is electrically connected with the output end of the data execution module; the controller is electrically connected with an ECU of an automobile; each automobile seat is internally provided with a weight sensor; the weight sensors are electrically connected with the controller.