58 results about "Ecompass" patented technology

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.

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 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.

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 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.

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.

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.

The application discloses a ground stress testing device and testing method, which comprises a pressurized water injection device, a drill pipe, an upper packer, a rotatable flow guide plate, an electronic compass and a lower packer. One end of the drill pipe is communicated with the pressurized water injection device, and the other end is communicated with a water inlet of a channel switching valve. The channel switching valve further comprises a first water outlet channel and a second water outlet channel which are selectively communicated with the water inlet. The upper packer is communicated with the first water outlet channel. The rotatable flow guide plate comprises a central flow guide pipe which is rotatably arranged between the upper packer and the lower packer, and flow guide blades which are arranged on the central flow guide pipe. A flow guide slit is arranged on the flow guide blades. When water flows into the central flow guide pipe and is sprayed through the flow guide slit, the flow guide blades rotate and drive the electronic compass to rotate, so that the automatic tracking of the water pressure crack direction is realized. The lower packer is connected with the upper packer through a rigid pipeline. The application has simple structure, low manufacturing cost, and can measure the stress size and direction of rock mass simultaneously.

The application provides a geomagnetic dynamic iron drift compensation method and device, a storage medium and a terminal device, and applies to the technical field of electronic compass calibration. The method comprises the following steps: in response to a geomagnetic iron drift compensation trigger condition, controlling an excitation coil integrated in a geomagnetic sensor package to generate an excitation magnetic field in at least three linearly independent positive and negative direction pairs in sequence according to a preset sequence; obtaining original magnetic field measurement data of the geomagnetic sensor in each direction in the at least three linearly independent positive and negative direction pairs; determining a soft iron interference matrix based on the original magnetic field measurement data in each direction and the corresponding excitation magnetic field, wherein the soft iron interference matrix represents magnetic field distortion; determining a hard iron offset vector based on the soft iron interference matrix and the original magnetic field measurement data in any direction; and compensating real-time output of the geomagnetic sensor according to the soft iron interference matrix and the hard iron offset vector. The method is used to achieve the effect of high-precision, adaptive and real-time dynamic compensation of geomagnetic iron drift.

The invention provides a geomagnetic dynamic iron drift compensation method and device, a storage medium and terminal equipment, and is applied to the technical field of electronic compass calibration. The method comprises the following steps: in response to a ground magnet drift compensation trigger condition, controlling an excitation coil integrated in a geomagnetic sensor package to sequentially generate excitation magnetic fields in at least three linearly independent positive and negative direction pairs according to a preset sequence; obtaining original magnetic field measurement data of the geomagnetic sensor in each direction of at least three linearly independent positive and negative direction pairs; based on the original magnetic field measurement data in each direction and the corresponding excitation magnetic field, a soft iron interference matrix is determined, and the soft iron interference matrix represents magnetic field distortion; determining a hard iron offset vector based on the soft iron interference matrix and the original magnetic field measurement data in any one of the directions; and compensating the real-time output of the geomagnetic sensor according to the soft iron interference matrix and the hard iron offset vector. The method is used for achieving the effect of high-precision, self-adaptive, real-time and dynamic compensation of earth magnet drift.

The invention discloses a base station antenna pattern measuring device and method based on unmanned aerial vehicle attitude perception, and belongs to the technical field of wireless communication and antenna test.The device comprises an unmanned aerial vehicle platform, a central processing module, a signal receiving and storing module, a carrying three-dimensional holder and sensing equipment, the sensing device comprises an RTK-GPS, an IMU and an electronic compass. At each measuring point, the deviation between the current angle and the expected angle of the holder is calculated in real time and serves as the input of a controller, a holder driving instruction is generated, and closed-loop control is achieved; and recording pose information of each measurement point, receiving a base station signal at each measurement point, and recording and storing an original signal so as to generate a base station antenna pattern. According to the invention, high-precision and automatic measurement of the base station antenna pattern is realized, and the on-network actual performance of the antenna can be accurately recovered.

The utility model belongs to the technical field of geological survey tools, and particularly discloses a comprehensive measuring rope device capable of improving geological profile measurement precision and efficiency. A wire wheel of the device is of a circular ring structure, the outer circle face of the wire wheel is concavely provided with a containing groove, the wire wheel is rotationally arranged on a circular handle in a sleeving mode, a crank is connected with the side face of the wire wheel, one end of a wire passing device is connected with the handle, the other end of the wire passing device extends to the outer side of the outer circle face of the wire wheel, a measuring rope is wound in the wire wheel containing groove, and one end of the measuring rope penetrates through the wire passing device and extends outwards; the electronic compass and the infrared sighting device are respectively arranged at one end, far away from a hand, of the line passing device, the sighting target is independently arranged or fixedly connected with the end part of the measuring rope extending outwards, and the sighting target can receive a signal of the infrared sighting device. The electronic compass, the infrared sighting device and the measuring rope retracting and releasing mechanism are integrated into a whole, so that the measuring efficiency is improved, the measuring accuracy of the azimuth angle and the slope angle of the compass is also improved, and the multifunctional compass has the characteristics of being convenient to carry, simple in structure, high in measuring efficiency and measuring accuracy and convenient to carry.

The invention provides a multi-module day and night dual-purpose multi-target detection telescope, which is applied to the technical field of multi-target detection, and comprises an infrared imaging module used for collecting a thermal radiation signal of a target object under a first illumination condition and processing the thermal radiation signal to generate infrared imaging data; the low-light imaging module is used for collecting a visible light signal under a second illumination condition and processing the visible light signal to generate low-light imaging data; the microwave radar module is used for transmitting a microwave signal, receiving a reflection signal and generating microwave radar detection data based on the reflection signal; the wireless transmission module is used for packaging and sending the infrared imaging data, the low-light imaging data and the microwave radar detection data; the electronic compass module is used for measuring the orientation of the multi-module day and night dual-purpose multi-target detection telescope by using a geomagnetic field induction technology and generating azimuth angle data; and the display module is used for generating target detection display data according to the infrared imaging data, the low-light imaging data, the microwave radar detection data and the azimuth angle data and displaying the target detection display data.

The present invention relates to a calibration device for an aerial vehicle and a station device for an aerial vehicle including same, wherein, in a state in which a first coil unit for Z-axis correction and a second coil unit for Z-axis correction are positioned on the upper and lower sides of an aerial vehicle and a first coil unit for XY-axis correction and a second coil unit for XY-axis correction are positioned on both sides of the aerial vehicle, the aerial vehicle is rotated in a plane by using an aerial vehicle rotation unit to measure a magnetic field change value in the three-axis direction of an electronic compass in the aerial vehicle, and the measured magnetic field change value in the three-axis direction of the electronic compass is compared with a three-axis magnetic field value of the Earth to automatically calibrate a navigation sensor in the aerial vehicle, thereby improving the accuracy of calibration of the aerial vehicle and significantly reducing costs and time required for calibration work.

A large-range laser ranging and positioning instrument comprises an instrument shell (21), a key (2), a display screen (6), a TYPE-C interface (12) and a battery (15), a laser ranging module (16) and a gun sight telescope (17) are installed on a bottom plate (14) of the instrument shell (21) in parallel, and a laser emitting lens (9) and a laser receiving lens (10) of the laser ranging module (16) and an objective lens (8) of the gun sight telescope (17) are arranged on the same side of the instrument shell (21). The laser emission lens (9) is exposed through a rear panel (11) of the instrument shell (21); the rear panel (11) is also provided with a TYPE-C socket (12); and an electronic compass module (19) and a pitch angle module (20) are respectively arranged on the bottom plate (14) on the left side of the gun aiming telescope (17). The positioning distance can be more than 10 kilometers, the longitude and latitude coordinates, the slope distance, the horizontal distance, the azimuth angle and other position parameters of a target point can be quickly obtained only through simple operation, comprehensive and accurate navigation information is provided for other applications, and the method is applied to the field of position measurement.

1. Name of the product in this design: 3D Electronic Compass. 2. Purpose of this design: A sensor used to measure the geographical orientation angle and tilt angle of an object. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention provides a multi-camera vertical direction coordinate calibration method and device and electronic equipment, multiple cameras comprise a first camera and at least one second camera, and an electronic compass is arranged in the first camera. The method comprises the following steps: in a vertical plane, controlling a first camera to face a preset direction and collect a first image, and controlling a second camera to rotate from an initial position along a set direction and collect a second image; lenses of the first camera and the second camera face the same direction in the horizontal direction; obtaining the rotation angle of the second camera and the number of feature points in the overlapping area of the second image and the first image at each rotation angle; according to the corresponding relation between the rotation angles and the number of the feature points in the overlapped area under each rotation angle, obtaining an overlapped feature point change curve; the vertical direction coordinates of the second camera are calibrated according to the curve and the vertical direction coordinates of the first camera, the hardware cost of multiple cameras is reduced, interference of external factors is eliminated, and the accuracy of calibration results is improved.

The application belongs to the technical field of electronic compass calibration, and discloses a simple and independent calibration method and system for an electronic compass, which comprises the following steps: loading factory modification parameters, and solving the spatial posture of the device in real time; guiding the user to place the device horizontally, and completing a complete circular motion around the Z axis and the X axis or the Y axis respectively, and synchronously collecting six-axis sensor data; extracting and compensating the offset vector by using an extreme value estimation algorithm, and solving the parameters of each axis based on a linear least square method; and calculating the calibration quality score and storing the optimized parameter matrix. The application realizes the independent and rapid calibration of the electronic compass by means of two-axis spatial motion guidance and real-time state feedback without the need of external special calibration equipment, solves the problems of the existing method, such as the dependence on special equipment, the complexity of operation, and the difficulty in adapting to dynamic interference, and significantly reduces the dependence on the calibration environment, and improves the availability and operation efficiency of the on-site calibration.

The invention relates to the technical field of course angle calculation, and particularly provides a three-dimensional electronic compass dynamic angle compensation method and system, and the method comprises the steps: obtaining acceleration information, angular velocity information and geomagnetic vector information; performing credibility evaluation on the acceleration information, the angular velocity information and the geomagnetic vector information to obtain acceleration credibility, angular velocity credibility and geomagnetic vector credibility; determining a target parameter combination of an attitude resolving algorithm according to the reliability of the acceleration and the reliability of the angular velocity, and then acquiring attitude information according to the acceleration information and the angular velocity information by using the attitude resolving algorithm; determining a target parameter combination of a course angle calculation algorithm according to the reliability of the geomagnetic vector, and then acquiring a course angle according to the attitude information and the geomagnetic vector information by using the course angle calculation algorithm; according to the method, an attitude calculation algorithm and a course angle calculation algorithm can adapt to acceleration change, angular velocity change and external magnetic field interference of a carrier in the movement process.

The utility model discloses a module formula portable wind measuring tool belongs to wind measuring tool technical field. Including wind measuring module main part, the inside of wind measuring module main part is equipped with electronic compass sensor, and the electronic compass sensor part extends to the outside of main part, and the wind adjusting platform includes rotary position sensor and force arm mechanism, is used for automatic direction finding, and the wind measuring wind wheel includes rotary motor and calibration platform, and rotary motor stator fixedly embeds, and rotor is directly connected with wind wheel, the utility model discloses the accurate south direction data of getting through the extension type electronic compass sensor of wind measuring module main part built -in, combines the wind vane angle signal of rotary position sensor detection in the wind adjusting platform, and the real wind direction is calculated through treater, does not need to rely on artificial subjective judgment, and simultaneously cooperates the data reliability of wind vane mark strip and can be verified fast, solves the problem of the lack of direction reference, reduces the wind direction measurement error, provides accurate direction data support for wind farm inspection, construction.

The application provides a precision calibration method, a chip, an equipment, a medium and a program product. The method comprises the following steps: the method is applied to a first chip, the first chip is installed in an electronic equipment, an electronic compass is also installed in the electronic equipment, the method comprises the following steps: running a low-power mode; in response to the electronic equipment being lifted, the low-power mode is exited, and the precision of the electronic compass is calibrated to obtain a calibration result; in the case that the calibration result meets a first condition, the low-power mode is started, and the first condition comprises that the calibration result meets a calibration success condition. The running state of the low-power mode is adjusted in a timely manner according to the demand of the electronic compass, the power consumption overhead of the electronic equipment is reduced, and the power consumption space pressure of the electronic equipment is relieved.

The invention discloses a non-contact geological occurrence measuring device, a measuring method, equipment and a medium, and particularly relates to the technical field of geological survey, the technical key points are as follows: an electronic compass module is used for acquiring the geographic orientation of a measuring point; the distance measuring module is used for acquiring distance values from the measuring points to a plurality of target point positions on the to-be-measured structural surface; the attitude sensing module is used for acquiring attitude data of the measuring device; and the data processing module is used for constructing a three-dimensional space coordinate system based on the geographic orientation acquired by the electronic compass module, and calculating the geological occurrence of the to-be-measured structural plane by using the distance value measured by the distance measuring module and the attitude data acquired by the attitude sensing module in combination with the three-dimensional space coordinate system.

The present disclosure provides a deep rock mass three-dimensional ground stress measuring device and method, and relates to the technical field of geological surveying. The device comprises: a stress gauge integrated with a distributed optical fiber sensor and a three-dimensional electronic compass is installed at a predetermined depth in a borehole; the azimuth and inclination of the borehole are automatically obtained through the three-dimensional electronic compass; the reflected wavelength data is collected through the distributed optical fiber sensor before and after the full stress release operation on the borehole wall surface; the wavelength data and the directional data are transmitted to a data processing unit, which automatically calculates and outputs the three-dimensional ground stress tensor and the principal stress in the geodetic coordinate system according to the principle of full stress release of the local borehole wall surface. Thus, the problems of low efficiency, large error and difficulty in realizing multi-point synchronous in-situ monitoring caused by the complicated manual installation, the dependence on external equipment for posture measurement and the limitations of single-point measurement in the traditional method are solved, and the full-process automatic, high-precision and expandable three-dimensional ground stress in-situ measurement is realized.

The invention relates to a long-endurance underwater small target autonomous detection AUV (Autonomous Underwater Vehicle), which sequentially comprises a collision avoidance unit, a collision avoidance unit, a collision avoidance unit and a collision avoidance unit from a bow part to a tail part along the axial direction, and the collision avoidance unit comprises a collision avoidance sonar and an electronic compass; the small target detection unit comprises a flash lighting lamp and a synthetic aperture sonar, and two transducers of the synthetic aperture sonar are symmetrically installed on the broadside of the head of the AUV; the front electronic cabin unit comprises a communication sonar, a depth gauge, an exchange board, a sensing processing board, a first liquid leakage sensor and a first semicircular secondary lithium battery; and the navigation unit comprises wireless communication positioning equipment, inertial navigation equipment and a Doppler log. Through multiple means of integrating high-resolution detection load, optimizing platform energy and power efficiency, adopting light-weight and high-strength structural design and the like, the ultra-long endurance working capacity of the AUV is achieved, and the imaging quality and autonomous detection efficiency of the AUV on underwater small targets are remarkably improved.

This invention discloses a camera accessory, device, system, and application for measuring stratigraphic parameters. The camera accessory may include: a housing, a measuring component disposed on the outer surface of the housing, an electronic compass and a processor installed inside the housing; the measuring component and the electronic compass are electrically connected to the processor; the measuring component includes at least three electronic rangefinders and at least two electronic protractors; at least two electronic rangefinders are movably connected to the housing, and the at least three electronic rangefinders are used to measure the distance between the camera accessory and the target measurement surface; the at least two electronic protractors measure the angle between the at least two electronic rangefinders and the outer surface of the housing; the electronic compass is used to measure the dip and tilt angle of the space where the camera accessory is located; the processor determines the attitude of the target measurement surface based on the distance, the angle, and the dip and tilt angle. Measurements can be performed without reaching the actual measurement location, enabling non-contact measurement and avoiding the risks of on-site measurement in dangerous areas and the abandonment of measurement points.