117 results about "Ecompass" patented technology

The invention relates to the technical field of mobile positioning calculation, in particular to high-precision positioning mobile terminal equipment for augmented reality inspection of power pipelines, which comprises a PDA (personal digital assistant) handheld terminal, a camera is fixedly connected to one side of the PDA handheld terminal, a display is arranged at one end, far away from the camera, of the PDA handheld terminal, and an electronic compass, a gyroscope and a processing system are arranged in the PDA handheld terminal; the processing system comprises an image acquisition module, a calibration module, a positioning module, an inspection data acquisition module, a GIS (Geographic Information System) data request module, a data standardization processing module, an SAR (Synthetic Aperture Radar) space construction module, a reality rendering enhancement module and a display module. And the GIS two-dimensional spatial data of the electric power pipeline are converted into visual augmented reality SAR data, so that the maintenance difficulty of the urban cable pipeline data is reduced, and the efficiency of cross-department business cooperation in an electric power enterprise is improved.

The invention discloses a device and a method for measuring the flow direction and the flow velocity in a hole, and belongs to the technical field of water conservancy, hydrogeology and engineering geology. According to the measuring device, a plurality of conductivity probes are arranged on the lower edge of an upper tank base, and an electronic compass is arranged in each conductivity probe and used for measuring the flow direction of underground water in a hole; the bottom of the upper tank body is connected with the lower tank body, and a certain distance is reserved between the upper tank body and the lower tank body; the lower tank top cover is provided with a nozzle, and the lower tank base is provided with a water inlet hole. The technical problems that in the prior art, the flow direction and the flow speed of underground water in a micro-scale range in a single drill hole cannot be measured, and vertical turbulent flow interference of the underground water cannot be avoided in the measuring process are solved.

The invention discloses an intelligent door lock body attitude measurement and dynamic compensation control method, system, equipment and medium, and relates to the technical field of measurement and survey, and the method comprises the following steps: collecting pitch angle and roll angle data, and generating real-time attitude information by using Kalman filtering; a laser ranging module based on the time flight principle is adopted to measure the distance between the lock body and the reference structure, and the measured distance is corrected in combination with data of a temperature sensor; a Hall effect magnetic sensor and an MEMS electronic compass are installed in the lock body, and magnetic field data are fused through low-pass filtering; building a digital twinborn model by utilizing the acquired attitude, correction distance and azimuth data, and simulating the three-dimensional attitude of the lock body; the real-time space coordinates of the lock body are calculated through a triangulation method, and closed-loop control is carried out. According to the invention, the precision of data fusion and the stability of the system are improved, the influence of external interference on the measurement result is reduced, and a reliable dynamic compensation control scheme is provided for the intelligent door lock system.

The invention relates to a novel magnetic compass autodyne correction auxiliary device and method. The novel magnetic compass autodyne correction auxiliary device comprises an electronic compass, a three-axis magnetic field intensity meter and a data terminal, the output ends of the electronic compass and the three-axis magnetic field intensity meter are connected with the data terminal, and the three-axis magnetic field intensity meter is used for quantitatively measuring environmental magnetic field distortion measurement data; the electronic compass is used for acquiring magnetic heading information; the output end of the data terminal is connected with the magnetic compass autodyne correction device, and is used for receiving information from the electronic compass and the three-axis magnetic field intensity meter, calculating compass north pointing force and autodyne force through magnetic compass autodyne correction software according to a magnetic compass autodyne correction equation, calculating the correction amount of the magnetic compass autodyne correction device, and outputting the correction amount of the magnetic compass autodyne correction device. And outputting an autodyne correction result through the magnetic compass residual autodyne table or the residual autodyne curve, and outputting the autodyne correction result to the magnetic compass autodyne correction device. Quantitative description of the distortion degree of the working magnetic field of the magnetic compass and detection of the autodyne correction result are completed through the sensor, and the ship operation cost is saved.

A calibration method for an electronic compass includes: acquiring an initial sphere center coordinate of a current calibration; acquiring a preset number of magnetic field data collected by a magnetic sensor; determining a target magnetic field interference level of an environment according to the preset number of magnetic field data and the initial sphere center coordinate; determining a target number of the magnetic field data according to the target magnetic field interference level; and performing spherical magnetic field fitting according to the target number of magnetic field data to calibrate the electronic compass.

The invention discloses a vehicle-mounted GNSS (Global Navigation Satellite System) multi-interference source monitoring and direction-finding device and a monitoring and direction-finding method, the device comprises a monitoring and direction-finding antenna and a monitoring and direction-finding host, the monitoring and direction-finding antenna comprises an antenna unit, a switch matrix, an electronic compass and an antenna controller, the antenna unit is electrically connected with the switch matrix, and the switch matrix is electrically connected with the electronic compass. The switch matrix and the electronic compass are electrically connected with the antenna controller respectively; the monitoring direction-finding host comprises a radio frequency receiving module, a signal processing module, a main control module and a power supply module. The monitoring and direction finding device disclosed by the invention is high in maneuverability, and can be carried on a vehicle platform to realize rapid monitoring and troubleshooting of interference sources in a certain area; the monitoring range is wide, satellite navigation interference signals in the vehicle driving range can be monitored in real time, and the detection range is wider than that of traditional handheld interference source monitoring and direction finding equipment.

A UWB-based planar positioning method, apparatus and system, relating to the technical field of positioning in complex environments. On the basis of a second-order interlocked optimization mechanism using distances related to dual anchors and a heading angle for positioning error reduction, the method inputs known distances related to two anchors and a reliable heading angle of an electronic compass into a two-layer interlocked optimization model to obtain positioning coordinates, thus reducing NLOS interference, and improving the positioning precision.

The invention discloses a navigation method based on underwater polarized light detection, which belongs to the technical field of navigation, is used for underwater navigation, and comprises the following steps: collecting polarization images by a polarization camera, calculating a polarization angle by combining with a single scattering model, and outputting a pitch angle and an azimuth angle of the polarization camera by a three-dimensional electronic compass; the polarization angle and the position of the polarization camera are input into a sun position resolving module together for processing, a sun azimuth angle and a sun zenith angle are obtained, and then latitude and longitude are output through a latitude and longitude resolving module. Underwater navigation is realized by combining polarized light, and longitude and latitude errors of navigation are respectively 0.17609 degrees and 0.24156 degrees by combining the result of the embodiment, so that a novel underwater navigation method is successfully realized.

The invention relates to the technical field of navigation signal detection, and discloses a small portable navigation signal comprehensive detection system and method.The system comprises a building block type mobile antenna support, backpack type comprehensive detection equipment and a navigation equipment site evaluation system, the system is composed of a backpack type comprehensive detection host and an individual soldier handheld terminal, and rapid opening and comprehensive detection of navigation signals are achieved. The backpack comprehensive detection host integrates a battery, a power supply module, a high-performance signal processing board, a radio frequency channel and a medium-wave active antenna, adopts a high-performance battery and power supply management scheme and an advanced AC7Z020 core board for signal processing, and ensures high-precision and high-sensitivity detection. The system is further integrated with an electronic compass module to achieve a direction finding function, real-time data feedback and evaluation are achieved through Bluetooth communication between the individual soldier handheld terminal and the host, the detection convenience and reliability are greatly improved, and the system is particularly suitable for scenes such as field environments, emergency rescue and military actions.

The invention discloses a shared electric bicycle fixed-point directional parking system, and relates to the technical field of fixed-point directional parking, a GPS signal quality detection mechanism is adopted, the variance of GPS data is calculated through multiple times of sampling, the positioning precision is evaluated, if the signal is stable, GPS positioning is directly adopted, otherwise, UWB is called for position correction, and the positioning accuracy is improved. The final position information is calculated by adopting a weighted fusion algorithm, so that the stability of vehicle positioning is improved; a polygon bounding algorithm and Euclidean distance calculation are adopted for matching of the parking area, it is guaranteed that the parking position of the vehicle meets the standard, and misjudgment possibly caused by positioning errors is effectively filtered out by setting the tolerance range of the parking area; in the aspect of directional parking, an ultra-wide-angle camera is installed in a parking area, visual recognition is conducted on a parked vehicle in combination with an edge calculation unit, the main direction angle of the vehicle is calculated through a minimum enclosing rectangle method, and meanwhile it is guaranteed that the vehicle is parked in the preset direction by combining an IMU sensor and an electronic compass and calculating attitude information and a magnetic azimuth angle.

The invention discloses a mobile platform hull cleaning robot positioning method based on a self-adaptive federated filter. The method comprises the following steps: S1, representing the position, speed and attitude information of a cleaning robot by taking an inertial navigation system as a reference; s2, the inertial navigation system outputs a three-dimensional attitude angle, three-axis position information and three-axis speed information; s3, outputting three-dimensional attitude angle information by the electronic compass; s4, acquiring three-dimensional pose information by a speedometer; s5, if the cleaning robot is on the water, a GPS module obtains the current position and speed information; if the robot is underwater, a depth meter collects current depth information; s6, completing fusion of data information of an inertial navigation system, an electronic compass, a speedometer, a depth meter and a GPS module by adopting a federated filter; and S7, obtaining pose and speed information of the cleaning robot relative to the ship body. The method has the advantages of high positioning precision, no error divergence along with time, low operation complexity, small data volume and good real-time performance by adopting a secondary filtering structure of a main filter and a sub-filter of a federated filter.

The invention provides a power equipment inspection method and system using an unmanned aerial vehicle, and the method comprises the steps: enabling the unmanned aerial vehicle to receive a first inspection route drawn by a worker, and shooting the image data of each power equipment on the first inspection route after the unmanned aerial vehicle lifts off, identifying equipment attribute information of each power equipment based on the shot image data, and predicting electromagnetic field intensity distribution information of the corresponding power equipment according to the equipment attribute information; predicting the influence degree of the corresponding power equipment on an electronic compass and a communicator of the unmanned aerial vehicle based on the electromagnetic field intensity distribution information, and performing optimization processing on the first inspection route according to the influence degree to obtain a second inspection route; and the unmanned aerial vehicle inspects according to the second inspection route. According to the method, the influence degree of the electromagnetic field of the power equipment on the electronic compass and the communicator of the unmanned aerial vehicle is evaluated, so that each predetermined inspection point location is optimized and adjusted, and the probability that the unmanned aerial vehicle breaks down due to electromagnetic interference is reduced.

A railway tunnel crustal stress test in-hole rock core orienting device is used for conveniently, quickly, efficiently and accurately obtaining the original space orientation of a rock core, ASR and other crustal stress tests based on the orienting rock core are carried out through the orienting rock core, and the size and the direction of tunnel original crustal stress are obtained. The rock core orienting device comprises an outer shell with the diameter consistent with that of the outer pipe of the coring pipe, the inner structure of the outer shell sequentially comprises an upper inner shell, a middle base and a lower annular cavity from top to bottom, and the upper end of the outer shell is connected with the drill rod through a threaded structure. An annular water inlet cavity is formed between the outer wall of the upper inner shell and the inner wall of the outer shell, and an electronic compass mounting bin is arranged in the upper inner shell; and two groups of water pressure rotary drilling marking mechanisms are mounted on the middle base in the radial direction at intervals.

The utility model discloses a three-dimensional electronic compass module which is characterized in that the three-dimensional electronic compass module comprises an electronic compass main body and four groups of adjusting components respectively arranged at four corners of the electronic compass main body, mounting holes are formed in the four corners of the electronic compass main body, and each group of adjusting components comprises mounting sleeves respectively arranged in corresponding mounting interiors. When the three-dimensional electronic compass module is installed, the installation sleeve is fixedly installed on equipment, and after installation is completed, the elastic piece on the corresponding adjusting assembly can be made to stretch out and draw back by adjusting the adjusting nut on a certain adjusting assembly, so that the three-dimensional electronic compass module is installed. Therefore, the height of the corresponding angle of the electronic compass main body can be adjusted, namely the electronic compass main body can be adjusted to be in a horizontal state, so that the electronic compass main body is kept in the horizontal state after being mounted, and inaccurate data caused by inclination of the electronic compass main body after being mounted is avoided.

The invention relates to a flow velocity and direction detection device, and in particular to a device for detecting the flow velocity and flow direction of water flow, comprising a shell and a battery, wherein a first rotating shaft and a second rotating shaft are rotatably connected to the shell respectively, a first connecting rod and a second connecting rod are fixed to one end of the first rotating shaft and the second rotating shaft respectively, propellers are fixed to the first connecting rod and the second connecting rod, a magnet is fixed to the other end of the first rotating shaft, the other end of the second rotating shaft is connected to a generator shaft, a circuit board is arranged between the magnet and the generator, a controller is arranged on the circuit board, the controller is connected to a magnetic encoder chip for calculating the flow velocity in cooperation with the magnet, and the controller is connected to an electronic compass chip for detecting the flow direction; the technical solution provided by the invention can effectively overcome the defects of the prior art, such as large measurement error, complex circuit, and inability to work continuously for a long time.

The application discloses a kind of underwater defect detection robot path planning and tracking control method based on multi-data fusion, to solve the problem of poor positioning accuracy, unstable path tracking and insufficient defect approaching ability in GPS denial environment.The method uses improved artificial bee colony algorithm to optimize BP neural network assisted Kalman filter, fuses INS, DVL, electronic compass and depth gauge data, realizes high-precision integrated navigation;Secondly, combined with global "bow" shape coverage and local pure tracking approaching strategy, generate full coverage scanning path and fine approach to high priority defect points;Finally, based on pre-defined time sliding mode controller, cooperate disturbance observer and adaptive mechanism, realize the fast robust tracking of path.Experiments show that the positioning error is only 0.15m after DVL failure, the local approaching accuracy is 0.05m, the path tracking convergence time is 5s, the steady-state deviation is 0.03m, which is significantly better than the traditional method.The application is suitable for automatic defect detection of underwater structures such as bridge pier, dam, submarine pipeline, etc.

The invention relates to an intelligent wearable headband for a full-blind or semi-blind person group. The intelligent wearable headband comprises a headband main body, an electronic compass, a vibration motor module, a control mainboard, a satellite positioning module, a Bluetooth communication module and a battery, the electronic compass, the vibration motor module, the satellite positioning module and the Bluetooth communication module are all in communication connection with the control mainboard; the electronic compass is used for detecting the azimuth angle of the facing direction of a wearer in real time and transmitting a signal to the control mainboard; the control mainboard communicates with a smart phone or other equipment of a user through the Bluetooth communication module so as to obtain destination information input by the user, and the control mainboard controls the vibration mode of the vibration motor module according to the received azimuth data and destination information so as to transmit direction indication to the user; the satellite positioning module obtains real-time position information of a wearer and determines the advancing direction. Compared with the prior art, the device has the advantages of being simple in structure, comfortable to wear, capable of improving the convenience and safety of blind people going out and the like.

The invention discloses an automatic cleaning device for a secondary sedimentation tank. The automatic cleaning device comprises a walking bridge, a guide rail, a sliding block, a stepping motor, a speed regulating motor, a cleaning brush, an electronic compass and a controller, cleaning path data is pre-stored in the controller; the cleaning path data comprises a stepping distance corresponding to each azimuth angle value; the controller is used for analyzing a corresponding azimuth angle value according to a message signal sent by the electronic compass, calculating a corresponding offset distance and then generating a corresponding stepping motor driving signal according to the offset distance; the stepping motor is fixedly installed on the guide rail and used for moving the sliding block according to a stepping motor driving signal. The device can drive a stepping motor and a servo to send a pulse signal according to the change of an angle value and a determined stepping distance, and drive a cleaning brush to a specified position for cleaning.

This invention provides a method for measuring the verticality of a tower crane using an electronic compass, comprising the following steps: Step 1: Measurement equipment selection: including a main controller, an electronic compass, a display screen, and an alarm; Step 2: Equipment installation: Install the electronic compass at any main member position on the top of the standard section, install the main controller and display screen in the operator's cab, and install the alarm in a suitable location; Step 3: Verticality measurement: Input the coordinates of the four main members at the foundation position and the tower crane height H into the main controller. The main controller calculates the verticality of the tower crane by reading the coordinates of the electronic compass. If the verticality exceeds the standard, the alarm will sound. This method can effectively detect the verticality of the tower crane in real time. Connecting the main controller to a mobile phone allows for real-time reading of the tower crane's verticality information on the mobile phone. If the verticality exceeds the standard, the mobile phone can also issue an alarm; thus, it can promptly detect abnormalities in the verticality of the tower crane.

The utility model discloses an anti-vibration electronic compass structure, which comprises an electronic compass main body and four groups of damping components respectively arranged at four corners of the electronic compass main body, mounting holes are arranged at the four corners of the electronic compass main body, and each group of damping component comprises an outer sleeve arranged in the corresponding mounting hole. A mounting sleeve is coaxially arranged in the outer sleeve, the outer wall of the mounting sleeve is connected with the inner wall of the outer sleeve through a plurality of transverse elastic pieces, the two ends of the mounting sleeve are connected with the electronic compass main body through longitudinal elastic pieces respectively, and transverse vibration and longitudinal vibration of equipment during working can be absorbed through the transverse elastic pieces and the longitudinal elastic pieces; the vibration reduction effect is good, parts on the electronic compass main body are prevented from being damaged due to vibration, and the service life of the electronic compass is prolonged.

The invention discloses an STM32-based multi-communication technology fusion unmanned vehicle digital twin positioning system, and aims to solve the problems of insufficient positioning precision and difficulty in multi-communication technology integration caused by a multi-path effect and non-line-of-sight propagation in a complex industrial environment. The system adopts a hardware layer double-board modular design, integrates UWB, GPS / BD dual-mode satellites, IMU (MPU6050), electronic compass (QMC5883), WiFi / BT and NB-IoT modules, guarantees signal integrity and electrical isolation through PCB optimization and multi-stage LDO voltage stabilization, and constructs a multi-source sensor fusion hardware basis. According to the system, a unique digital ID of equipment is established based on an industrial internet identification analysis system to realize cross-domain secure transmission of data, an electromagnetic path is rehearsed by using a ray tracing technology based on a digital twin closed-loop optimization mechanism, multi-domain characteristic differences of physical and virtual signals are extracted through wavelet transform, and optimal position estimation is output in combination with Bayesian inference. And meanwhile, an A * / D * Lite algorithm is adopted to realize dynamic path planning and obstacle avoidance. A four-layer architecture including a hardware layer, a network layer, a data layer and an application layer is integrally constructed, and real-time interaction of a physical entity and a virtual model and iterative optimization of a positioning result are realized. The system improves the positioning precision of complex scenes, effectively inhibits multipath interference, improves the reuse rate of hardware resources, and is suitable for the high-precision positioning requirements of unmanned vehicles in the fields of intelligent logistics, industrial automation and the like.

The invention discloses a differential speed control assembly of a dual-motor coaxial reverse propeller power device, an application method and an aircraft, and belongs to the field of aircraft power devices. The assembly comprises a double-circuit power supply controller, a power battery pack, a controller power line, a first signal line, a double-shaft tilt angle sensor, a second signal line, a horizontal electronic compass sensor, a first power line, a first motor, a second power line and a second motor. The application method comprises the steps that the horizontal electronic compass sensor and the double-shaft tilt angle sensor provide data signals for the double-circuit power supply controller, and the double-circuit power supply controller regulates and controls the rotating speed of the first motor and the rotating speed of the second motor to adjust the reaction torque so as to stabilize the attitude of the aircraft. The aircraft is an aircraft using the assembly and the application method.

The utility model relates to an oil level checking device for a main transformer capsule oil conservator. The transformer oil conservator oil level gauge can display the real position of the oil level in a transformer oil conservator and verify the oil conservator oil level gauge. According to the technical scheme, the device comprises a pressure sensor and a laser range finder which are connected through an RS485. The pressure sensor comprises a pressure transmitter and a DC-DC voltage reduction module which are electrically connected with the RS485 wireless module. The laser range finder comprises a control system, a laser range finder, a three-dimensional electronic compass and a DC-DC step-down module which are electrically connected with the RS485 wireless module respectively; the laser range finder measures the distance between the laser range finder and the main transformer expansion tank and the distance between the laser range finder and the pressure sensor, and transmits the distances to a control system of the laser range finder; the three-dimensional electronic compass measures the included angle between the plane where the base of the laser range finder is located and the horizontal plane and transmits the included angle to a control system of the laser range finder. The pressure transmitter obtains the pressure value of the oil outlet of the main transformer through measurement and transmits the pressure value to the control system.

The invention relates to the technical field of airport clearance measurement, and particularly discloses an airport clearance obstacle measurement method and device. According to the airport clearance obstacle measuring device, the laser ranging assembly, the GPS positioning module, the three-axis acceleration sensor, the electronic compass and the air pressure altitude sensor are integrated, collected data of obstacles and observation points are calculated and processed through the MCU of the main control module, and the result of whether the obstacles are too high or not can be automatically generated. Meanwhile, the calculation method disclosed by the invention does not need to carry out specific modeling on the obstacle and interference comparison on the airport flight area limiting surface, and only needs to compare the elevation of the obstacle with the limiting height of the limiting surface of the point where the obstacle is located to obtain a result, so that the calculation process is simple and can be realized with less calculation force; and the measurement and calculation processes are more efficient.

This invention discloses a parking monitoring system, including a parking monitor and a ground information system. The parking monitor is installed on a vehicle and typically includes a beacon processing unit, a parking identification unit, an information processing unit, a communication unit, and an electronic compass. The ground information system includes a parking area marking unit and an information source device. A starting information source device is installed on the ground at the parking starting point, and the starting information source device stores parking and location-related information. The beacon processing unit is a distance-limited transceiver module with beacon search and beacon broadcast functions that can be switched. Beacon processing units are interconnected; the information broadcast module of the previous parking sequence provides valid beacon information to the information search module of the next parking sequence, and the beacon broadcast searches a specific distance and / or guides to form a continuous parking order in the parking succession area. The parking monitoring system involved in this invention has the advantages of low cost, ease of use, reduced manpower assistance, simple construction, and strong socio-economic benefits.

The invention relates to the technical field of unmanned aerial vehicle swarms, and discloses an unmanned aerial vehicle swarm multi-task target self-brushing adjustable distribution device and method, and an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a master controller, a camera and an adjusting mechanism, the master controller is connected with the camera and the adjusting mechanism, and the camera is connected with the adjusting mechanism. Through arrangement of a multi-task target self-brushing adjustable distribution mechanism and an adjusting mechanism, a main reference angle marker of one unmanned aerial vehicle acquires angle information of a corresponding electronic compass as a main reference angle, and other electronic compasses acquire angles of corresponding cameras; the set included angle between the cameras between every two adjacent unmanned aerial vehicle bodies is adjusted through the adjusting assembly, distribution of self-brushing adjustment of multi-task targets is completed, all the cameras inspect all the targets, the use convenience of the module is improved, and the inspection efficiency is improved.

The present invention discloses a high-precision pH sensor control system and method applicable to a mobile platform, which includes a main controller, an acceleration sensor electronic compass module, a pressure sensor module, an LED module, a photodiode module, a flowmeter module, a reagent pump and sample pump drive module, an SD card storage module, a Bluetooth communication module, and a power management module. The acceleration sensor electronic compass module, the pressure sensor module, the LED module, the photodiode module, the flowmeter module, the reagent pump and sample pump drive module, the SD card storage module, the Bluetooth communication module, and the power management module are all connected to the main controller. The control system is installed on the mobile platform, and reagents and seawater are pumped in proportion according to the moving speed of the mobile platform for pH detection, and pressure correction is performed on the detected pH. The present invention can achieve real-time high-precision detection of the pH of seawater during the high-speed movement of the mobile platform.

This invention discloses a navigational ADCP measurement vessel orientation warning system based on sensor data fusion, belonging to the field of hydrological measurement technology. It includes: a sensor data acquisition module, which collects target vessel sensor data in real time based on electronic compass and gyroscope sensors; a data processing module, which uses a Kalman filter fusion algorithm to establish an attitude estimation state-space model, recursively predicts the target vessel's heading angle through state equations, and combines observation equations with real-time sensor data information to obtain the optimal estimated value of the heading angle, acquiring the real-time heading angle after data fusion; a lighting control module, which sets a heading angle threshold range to determine the real-time heading state of the vessel; if the real-time heading angle is continuously and stably within a preset angle range for more than 1 second, a corresponding color control signal is dynamically generated; and a fault self-checking module, which defines and executes a periodic self-checking and online calibration process for the electronic compass and gyroscope sensors. This invention improves the maintainability of the system.

The invention discloses a solar azimuth continuous tracking device and method based on an electronic compass, the solar azimuth continuous tracking device comprises a solar panel, a controller and a motor, the input end of the controller is connected with the electronic compass and a GPS, and the output end of the controller is connected with the motor; the controller obtains the electronic perpetual calendar, calculates the position of the sun corresponding to each specific time, and drives the solar panel to change the direction along with the movement of the sun illumination through the motor. According to the solar azimuth continuous tracking device and method based on the electronic compass, the sun position corresponding to each specific time is calculated through the controller, and then the whole device is controlled to be adjusted to a proper position angle, so that the panel of the solar panel can vertically face the sunlight direction; therefore, the direction of the solar panel is changed along with the movement of sunlight, the optimal irradiation angle of sunlight is kept, and the absorptivity of sunlight energy is improved.

A kind of probe for underwater pipeline depth electromagnetic method measurement and electromagnetic measurement method.The present application applies a three-component orthogonal coil group installed in a non-metallic material shell as a measurement sensor of electromagnetic signal, and a three-dimensional electronic compass, together with an embedded circuit board to form a measurement probe, for electromagnetic measurement of the position and depth of covering of underwater steel pipelines and cables.The probe is lowered into the water through a telescopic connecting rod, and is connected to a main device on the equipment of a mother ship by a umbilical cable, which is responsible for parameter setting and display and storage of measurement results.During the detection process, the probe is towed vertically along the pipeline by the mother ship in the form of a towfish, and the azimuth angle data measured by the compass are uploaded to the main device, which calculates the position of the target pipeline and the thickness of the covering layer.The present application can be widely applied to the measurement of the position and depth of covering of underwater steel pipelines and cables in rivers and oceans.