52 results about "Ekf algorithm" patented technology

The present invention relates to the technical field of lithium battery state estimation, and in particular to a fuzzy EKF-AH algorithm-based state of charge (SOC) estimation and correction method for a lithium iron phosphate battery. The method comprises: by taking a certain startup of an energy storage device as a start, a BMS reading an SOC and a state of health (SOH) at the previous shutdown, and on the basis of a standby time, selecting an open circuit voltage (OCV) or an EKF algorithm to correct the SOC; using an EKF-AH algorithm to estimate the SOC, establishing, on the basis of fuzzy control, a fuzzy rule library associated with the SOC and the SOH, and dynamically adjusting a weight and a measurement noise deviation of the EKF-AH algorithm; and calculating estimation differences between the EKF algorithm and an ampere-hour integration method, and if the sum of the estimation differences is greater than a corresponding threshold, issuing an SOH correction warning. The present invention improves the estimation accuracy of the entire life cycle of the lithium iron phosphate battery, and assists the correction of the SOH.

The invention relates to a heading machine pose measurement and control method and system based on visual direction finding and communication distance measurement. The system comprises a base station end measuring system in a roadway, a mobile end measuring system on a heading machine body and a motion control module. The method comprises the following steps: S1, establishing a base station end coordinate system; s2, establishing a mobile terminal coordinate system; s3, the base station side identifies and measures the vector information of the characteristic light source of the mobile terminal through a visual sensor; s4, the base station end and the mobile end measure the distance between the base station end and the mobile end through communication ranging equipment; s5, calculating the three-dimensional position of the mobile terminal in the coordinate system of the base station terminal based on the vector information and the distance information; s6, according to the three-dimensional position and the inertial measurement data of the mobile terminal, carrying out combined navigation calculation based on an EKF algorithm; and S7, performing pose control based on a combined navigation calculation result. According to the invention, a means of combining visual direction finding, communication distance measurement and inertial measurement is adopted, so that the position measurement precision is improved.

The invention relates to the technical field of space flight and aviation, in particular to a low-delay communication control system and method for an analog machine in a fixed flight training course. The control system comprises a multi-source sensor fusion module, a data simplification processing module, a dynamic time delay optimization communication framework, a distributed intelligent decision-making terminal, a virtual-real mapping synchronous controller, a milli delay regulation and control module and an intelligent sensing alarm interaction module. According to the invention, 4G, 5G and satellite double links are integrated, an optimal link is dynamically selected by adopting a Q-Learning algorithm, millisecond-level time delay control is realized, transmission reliability is improved through a packet loss rate compensation algorithm, multi-sensor data is fused based on an FPGA hardware accelerator and an EKF algorithm, and a data compression ratio is improved in combination with Huffman coding and Kalman filtering. The bandwidth requirement is greatly reduced, through software and hardware collaborative optimization, the end-to-end time delay is reduced to be within hundreds of milliseconds, the virtual-real synchronization precision is improved to the centimeter level, and the decision response speed is improved by two times.

The invention relates to a heading machine pose measurement and control method and system based on bidirectional vision. A system used by the method comprises a base station end measuring system in a roadway, a mobile end measuring system on a heading machine body and a motion control module. The method comprises the following steps: S1, establishing a base station end coordinate system; s2, establishing a mobile terminal coordinate system; s3, the base station end identifies and measures the three-dimensional position information of the feature light source of the mobile end under the coordinate system of the base station end through a binocular vision sensor; s4, the mobile terminal identifies and measures the vector information of the laser beam of the base station end through a visual sensor; s5, carrying out combined navigation calculation based on an EKF algorithm; and S6, performing pose control based on a combined navigation calculation result. According to the invention, a means of combining bidirectional vision measurement and inertia measurement is adopted, so that the cost requirement on a high-precision inertia measurement unit is reduced.

The invention belongs to the technical field of electronic countermeasure and target positioning, and relates to a TDOA radiation source tracking and trajectory prediction method based on EKF. The method comprises the following steps: S1, setting N sensor nodes to measure a TDOA observation value; s2, establishing a radiation source motion state space model; s3, calculating a Jacobian matrix to linearize the nonlinear observation equation; s4, executing an EKF prediction and updating step, and updating state estimation by using a TDOA observation value; s5, predicting a future trajectory based on the current state; and S6, performing loop execution to realize continuous tracking. According to the method, the nonlinear problem of TDOA positioning is solved through the EKF algorithm, high-precision tracking and trajectory prediction of the high-speed moving radiation source are achieved, good robustness and real-time performance are achieved, the algorithm complexity is moderate, and the method is suitable for accurate positioning of the moving radiation source in an electronic countermeasure system.

The invention discloses a lithium ion battery SOC (state of charge) and SOH (state of health) joint estimation method based on an FOMISUKF-EKF algorithm. The method comprises the following steps: acquiring dynamic response and static characteristic data required by battery modeling; selecting a fractional order equivalent circuit model and establishing a state-space equation; identifying each parameter value of the model by adopting an ant colony algorithm; after the identified initial parameters are injected into the algorithm, SOC estimation under a micro scale is realized based on fractional order unscented Kalman filtering and a multi-innovation sliding mode observer; and when a preset period is met, switching to a macroscale, taking the SOC sequence as input, and performing joint identification on the battery parameters and SOH by adopting an EKF algorithm. According to the method, the multi-information theory and the sliding-mode observation algorithm are introduced on the basis of the traditional UKF algorithm, the sliding-mode observer is used as the state variable of the input end estimation system, the influence of system parameter change and external disturbance can be reduced to a certain extent, and rapid convergence and effective suppression of measurement noise are realized.

The invention belongs to the technical field of intelligent health monitoring and wearable equipment, and particularly relates to an intelligent wearable terminal health data real-time synchronous monitoring system which comprises a multi-mode interface dynamic sensing subsystem, a self-adaptive light path compensation subsystem, a physical layer compensation coprocessor, a main application processor and a wireless transmission module. The method is characterized in that the dynamic state of an interface is sensed in real time through an MEMS pressure array, an IMU and a ToF displacement unit, the contact state is fused and estimated through an EKF algorithm, an MEMS micro-reflector is driven to implement closed-loop optical compensation, and an incident light path is stabilized; and meanwhile, the compensation metadata and the PPG signal are packaged into a fusion data frame, and the fusion data frame is synchronously transmitted to a remote platform in real time. Through high-frequency closed-loop control of the MEMS micro-reflector, the system can eliminate noise before the noise is injected into a signal link, so that the purity and fidelity of an original PPG signal are fundamentally ensured, and the heart rate monitoring precision under strong interference scenes such as strenuous exercise and the like is greatly improved.

The invention provides a lithium battery parameter and state estimation method, system and device based on multi-scale Kalman filtering, and a medium. The method comprises the following steps: S1, establishing a battery model; s2, testing the open-circuit voltage of the lithium ion battery to obtain an OCV-SOC fitting curve; s3, discretizing the model state equation of the battery model to obtain a battery model state equation; and S4, acquiring sampling data of the lithium battery, inputting the sampling data into a battery model state equation, estimating the SOC according to a calculation result of the battery model state equation by using an MIUKF algorithm in each time period of the microscopic time scale, obtaining a corresponding OCV according to the OCV-SOC fitting curve and the SOC, performing battery parameter online identification by using an EKF algorithm at each time of the macroscopic time scale, and obtaining a battery parameter online identification result. And updating the battery model state equation by using the identified battery parameter estimation value. According to the method, the SOC estimation error is obviously reduced, the problem of poor SOC estimation precision caused by parameter change in the working process of the lithium battery is solved, and the precision and robustness are improved.

The invention relates to a method and system for estimating the state of charge of a lithium iron phosphate battery, and the method comprises the steps: obtaining the cell parameters of the lithium iron phosphate battery: calculating the OCV slope based on the cell parameters and an OCV-SOC relation curve graph through employing an improved EKF algorithm; wherein the improved EKF algorithm is that an S-shaped weighting function is introduced into a classical EKF algorithm to weight the OCV slope; and calculating an SOC value based on the weighted OCV slope. According to the invention, the SOC accurate estimation of the lithium iron phosphate battery in the voltage platform area can be realized. Based on an improved extended Kalman filtering algorithm, the SOC estimation precision is improved, the reliability of SOC calculation of a platform area is enhanced, and accurate calculation of the SOC of the lithium iron phosphate battery in the voltage platform period can be realized without a high-complexity algorithm.

The invention relates to a self-adaptive all-attitude heading estimation method taking a portable terminal as a carrier, which adopts two groups of Euler angles to represent the attitude of the portable terminal, solves the problem of singular value existing in a single representation method, and can correctly solve the heading angle of the equipment under the condition that any pedestrian carries the terminal equipment. An EKF algorithm based on quaternion is adopted for attitude updating, then quaternion is directly converted into two groups of Euler angles, data of an accelerometer and a magnetometer are fused in the method, calibration is provided for attitude updating, and compared with a method for performing attitude updating on the two groups of Euler angles, the precision is higher, and the reliability is higher; the course angles in the two groups of Euler angles are fused by using the adaptive factor, and frequent attitude switching is not needed, so that the condition that the attitude of the portable terminal equipment is changeable during use is better met; through a weight distribution method, the situation of numerical jump of the final output course angle is optimized, and the precision and stability of the result are ensured.

The invention discloses a permanent magnet synchronous motor sensorless current reconstruction method suitable for an electric aircraft, which comprises the following steps: switching modes of a motor control system of the electric aircraft through a fault detection module and a switch, the modes comprising normal operation and fault tolerance; whether a current sensor fails or not is detected in real time through a fault detection module, if the current sensor fails, a direct-current bus current signal is obtained through single-resistor sampling, another phase of current and rotor position and rotating speed information are reconstructed in real time through an EKF method, third phase of current is calculated in combination with the Kirchhoff's current law, and the third phase of current is calculated. And position-sensorless vector control is realized. According to the invention, by combining the single-resistor sampling technology and the EKF algorithm, the three-phase current, the rotor position and the rotating speed of the motor can be reconstructed at the same time only through a single sampling resistor, the feedback current of the motor can be normally obtained under the condition that the current sensor fails, and the safe flight of an airplane is ensured.

The application discloses a kind of EKF-based photovoltaic inverter IGBT thermal network online parameter identification method, comprising the following steps: S1, using third-order Cauer network, the heat transfer path of IGBT module establishes IGBT thermal network discrete state space model;S2, based on IGBT thermal network discrete state space model, design EKF algorithm for thermal parameter joint estimation for the synchronous estimation of state and parameter;S3, using current sensor and voltage sensor real-time acquisition IGBT current waveform, voltage waveform, and preprocessing;S4, in the embedded microcontroller of photovoltaic inverter, with fixed sampling period, EKF algorithm is operated, time update and measurement update are sequentially executed in each cycle, and the optimal estimation value of current time updated thermal parameter and junction temperature estimation value are output.The application can track the actual thermal characteristics of IGBT in real time, solve the parameter mismatch problem, and realize dynamic online identification of thermal parameters.

The invention discloses a liquid level indication anti-leakage tray based on a weight sensor. The liquid level indication anti-leakage tray is characterized in that the weight sensor detects weight signals of chemicals in a liquid medicine barrel; the signal processing module converts signals detected by the weight sensor into liquid level height, the liquid level height is converted into liquid level percentage, the liquid pumping rate of a liquid medicine pump is calibrated online in real time through RLS, the reference pump speed is input into an EKF algorithm, the liquid level height is fused through the EKF algorithm, a nonlinear kinetic model is constructed to predict the liquid level track, and the liquid level return time is calculated. Calculating safety trigger time according to the liquid level return-to-zero time, designing a dynamic calculation interval function based on the remaining time, and adaptively adjusting the execution frequency of a prediction algorithm according to the liquid level height and the liquid level change rate; and the signal output module sends a shutdown control signal to the liquid medicine pump according to the time point of the safety triggering time. The liquid level monitoring function of converting the weight into the liquid level is achieved, and when the liquid level of liquid medicine is about to be zero, the liquid medicine pump is automatically stopped working.

The application discloses a satellite solar cell array rotation angle estimation method, which comprises the following steps: step 1, establishing an earth inertial coordinate system, a satellite body coordinate system and a solar cell array coordinate system, and defining a satellite solar cell array rotation angle; step 2, establishing a state equation of an augmented state composed of a sun vector, the solar cell array rotation angle and a gyro constant drift noise; step 3, calculating an augmented state quantity estimation value by using an extended Kalman filter; and step 4, calculating a satellite solar cell array rotation angle estimation value. The method fuses gyro angular velocity and sun sensor vector data, constructs a nonlinear dynamic model containing a sun vector, a rotation angle and a gyro bias, and designs an EKF algorithm to estimate the solar cell array rotation angle in real time, thereby solving the strong dependence of a traditional scheme on a star sensor and a mechanical sensor, and significantly improving the autonomous recovery capability and energy guarantee reliability of a satellite in an extreme fault scene.

The invention discloses a built-in permanent magnet synchronous motor MTPA control method based on an improved EKF algorithm, and belongs to the field of permanent magnet synchronous motor high-performance control. According to the method, a dynamic forgetting factor multi-information extended Kalman filter algorithm is provided for solving the problems of MTPA trajectory offset and operation efficiency reduction caused by IPMSM key parameter time variation, and the algorithm adaptively adjusts historical data weight through a dynamic forgetting factor mechanism to realize rapid tracking when parameters suddenly change; and a multi-information theory is utilized to fuse historical information, so that noise is effectively suppressed, and the steady-state estimation precision is improved. The algorithm serves as an online identification module to be embedded into an MTPA control system, accurate quadrature-axis inductance and permanent magnet flux linkage can be obtained in real time, the current distribution angle is dynamically corrected, and therefore it is ensured that the motor stably operates along the optimal efficiency track under the full working condition. The method does not need extra signal injection, and has high precision, strong robustness and good engineering practicability.

The invention provides an unmanned aerial vehicle maneuvering target prediction and tracking method based on an improved dynamic window method, and the method comprises the following steps: S1, building an unmanned aerial vehicle kinematic model and maneuvering target multi-model state estimation, and obtaining a constant speed CV model, a constant steering rate speed CTRV model and an unmanned aerial vehicle system state equation of a maneuvering target; s2, based on the model, adopting an IMM-EKF algorithm of a self-adaptive model probability to obtain a prediction track cluster of the maneuvering target; s3, constructing a potential field virtual target point based on the predicted trajectory cluster of the maneuvering target and an unmanned aerial vehicle system state equation; and S4, combining the potential field virtual target point with the improved DWA algorithm to obtain an unmanned aerial vehicle control instruction, and executing the instruction to perform target prediction and tracking. Compared with the prior art, the method has the advantages that the technical problems that a traditional DWA algorithm is insufficient in target maneuverability adaptation, prone to falling into local optimum and low in tracking efficiency in maneuvering target tracking are solved, and the like.

The application discloses an electromagnetic array positioning method and device based on LSTM-EKF fusion and a readable medium, and relates to the electromagnetic positioning field.The method comprises the following steps: calculating the relative distance between each electromagnetic transmitting module and an electromagnetic receiving module at the current time through a magnetic dipole model; acquiring the position coordinates of each electromagnetic transmitting module, constructing input data together with the relative distance between each electromagnetic transmitting module and the electromagnetic receiving module at the current time, and inputting the input data into a trained position coordinate prediction model of the electromagnetic receiving module to output the prediction value of the position coordinates of the electromagnetic receiving module at the current time; initializing the estimated value of a state vector and a covariance matrix thereof to obtain an initial estimated value of the state vector and an initial covariance matrix, and inputting the initial estimated value of the state vector and the initial covariance matrix into an EKF algorithm to output the final estimated value of the state vector.The application solves the problems of the existing electromagnetic positioning technology, such as noise sensitivity, susceptibility to metal interference, significant decline in positioning accuracy and limited working range.

The invention discloses a multi-robot cooperative positioning method and system based on UWB relative distance measurement, relates to the technical field of multi-robot cooperative positioning, and aims to solve the problem of cluster cooperative autonomous navigation of a multi-robot system in an environment that external navigation equipment is unavailable or weak communication exists. According to the technical key points, a state model of a multi-robot cooperative positioning problem and a UWB relative measurement model are established, and a linearization error state system is deduced; the reason of inconsistency of standard extended Kalman filtering in cooperative positioning is analyzed, and the essence of the standard extended Kalman filtering is revealed to be from considerable asynchronization between an original nonlinear system and a linearization error state system of an estimator. The invention designs a method based on linear time-varying transformation, constructs a KD-EKF algorithm with a time-invariant and unobservable subspace, and performs Monte Carlo contrast simulation to verify that the KD-EKF has higher positioning precision and better consistency compared with a standard EKF method and an FEJ-EKF method. A multi-robot system experimental platform based on the Tucker ground robot is developed, and experimental verification is carried out on the designed KD-CL algorithm. Experimental results verify the superiority and effectiveness of the proposed algorithm.

The application discloses a kind of real-time positioning method, device and readable medium for permanent magnet under fast motion, it is related to permanent magnet positioning field using random walk model as the motion state model of permanent magnet, and the pose of permanent magnet and the covariance matrix related to state vector are predicted in combination with EKF algorithm, and the predicted pose and covariance matrix are updated by Kalman gain, the final pose of permanent magnet is obtained after iteration operation, can effectively improve the precision and accuracy of positioning, the relationship between the moving speed of permanent magnet and positioning precision is established, so as to know that the tracking performance of the application in fast moving target has been greatly improved, so as to greatly expand the application scene of permanent magnet positioning, solve the problem that permanent magnet is difficult to be positioned under fast motion, and positioning precision is low.

This invention provides a substation equipment installation guidance and control method and system based on semantic perception and EKF algorithm, belonging to the field of substation equipment installation guidance and control technology. To address the technical problems of current substation equipment installation guidance methods relying on manual experience, resulting in poor installation accuracy, dependence on stringent auxiliary markers, and inability to adapt to unstructured installation environments, this invention preprocesses the raw point cloud data of the acquired equipment, including voxel downsampling and statistical outlier removal, filtering out dust and noise from the construction site. The unordered point cloud is classified into base, equipment, ground, or background, and then subjected to perception processing and semantic segmentation. In the segmented point cloud data, the flange plane is extracted using a random sampling consistency algorithm, and the bolt hole center coordinates are identified using a clustering algorithm. Coarse and fine registration strategies are employed for virtual-real registration operations. This invention is applied to substation equipment installation guidance.

This invention belongs to the field of foreign object detection technology on railway tracks, specifically disclosing a method for detecting foreign objects on railway tracks based on millimeter-wave radar sensors and camera sensors. The method includes the following steps: a millimeter-wave radar sensor detects and obtains point clouds, which are then preprocessed to obtain a large frame dataset; a camera sensor captures image data, which is then processed using a lightweight YOLOv5s algorithm to obtain the Region of Interest (ROI). C Synchronize the large frame dataset and image data in time, and then project the large frame dataset onto the pixel coordinate system to generate the Region of Interest (ROI). R ROI R and ROI C Form a fusion detection box; calculate each ROI using a decision-level fusion method based on intersection-union ratio. R and its corresponding ROI C The overlap is used to obtain a preliminary fusion result; the EKF algorithm processes the uncertain targets in the preliminary fusion result and outputs the fusion result; the obtained definite targets represent the detected obstacles. This invention uses millimeter-wave radar and camera information fusion technology, which significantly improves detection accuracy and real-time performance, thereby enhancing the safety of railway track traffic.

This invention discloses a path planning method for an unmanned surface vehicle (UAV) with autonomous obstacle avoidance. The method first constructs a state vector describing the UAV's navigation state, then uses the EKF algorithm to combine the state vector with the predicted vector to obtain a predicted vector. Simultaneously, it detects all obstacles near the UAV and the motion state of each obstacle, sets multiple feature parameters, and determines the value of each feature parameter based on the motion state of each obstacle. A command model is established, and control commands are derived by combining the predicted vector and feature parameter values. Constraints are established, and the final command to control the UAV's movement is obtained by combining these constraints with the control commands. An adaptive learning model is established to judge the constraint states; if the state is unfavorable, it is updated. This method ensures the UAV will not collide with obstacles through constraints, guaranteeing safety. The judgment is rapid and highly reliable, and the adaptive learning model helps ensure the UAV's operational efficiency.

This invention relates to the field of smart grid technology, and more specifically to a method and system for optimizing the tracking and communication of inspection vehicles. The method includes: constructing a RIS-ISAC-NOMA system framework for smart grid application scenarios; in non-line-of-sight (NLOS) scenarios, utilizing a reconfigurable smart metasurface (RIS) to transform NLOS paths into equivalent virtual line-of-sight (LOS) paths, and adjusting the propagation path of ISAC signals in real time; designing a vehicle tracking and prediction method based on the EKF algorithm, thereby achieving efficient real-time vehicle perception and communication; and combining NOMA technology to propose a power allocation optimization scheme for multiple inspection vehicles, further improving the system's communication rate and resource utilization efficiency. Simulation results also verify the advantages of the proposed system in terms of communication performance and resource utilization. This invention can significantly improve the overall system performance while reducing pilot signal overhead.

The invention relates to the technical field of aerial robot navigation perception, and provides a flying object detection algorithm based on a laser radar. According to the target detection algorithm provided by the invention, point cloud data is obtained mainly through a laser radar, then a high-confidence free space voxel map is constructed, and the robustness problem of dynamic object detection in a complex environment is solved by combining hierarchical clustering and a motion tracking algorithm. Meanwhile, a voxel marking strategy is combined, pose transformation is provided through a front-end SLAM algorithm, point cloud data are processed in real time, a u-depth graph and a v-depth graph generated by radar point cloud are used for detecting a dynamic object, and an EKF algorithm is applied to track the object. After actual operation, the method has a good recognition effect on the dynamic obstacles in the air, and can recognize and track a plurality of dynamic obstacles in the air at the same time. Meanwhile, in the detection process, the algorithm delay is low, and the requirements for the real-time performance and accuracy of dynamic detection can be well met.

The application discloses a scanning radiation source tracking method based on filtering, which comprises the following steps: firstly, an observation station acquires a received pulse signal of a scanning radiation source and records a sampling time, performs beam fitting on the pulse signal through a beam fitting model, and estimates an interception time of a pulse signal peak value; secondly, a scanning rate is estimated by using a time difference of pulse signal peak values intercepted by the observation station for two adjacent times, and a scanning angle difference is calculated based on scanning time differences of different observation stations; finally, an extended Kalman tracking positioning is performed by taking the scanning angle difference as an observation variable, the scanning angle difference is estimated and compensated by using a tracking result, so that joint estimation of a scanning radiation source position and a scanning rate is realized. The application fully utilizes characteristics of the scanning radiation source and influences of relative motion relations of the observation station and the radiation source on the scanning angle difference, and combines an EKF algorithm to correct the scanning rate, so that tracking precision of the moving radiation source is improved.

The invention discloses a satellite solar cell array rotation angle estimation method, which comprises the following steps of: 1, establishing an earth inertial coordinate system, a satellite body coordinate system and a solar cell array coordinate system, and defining a satellite solar cell array rotation angle; step 2, establishing a state equation of an augmented state composed of a sun vector, a solar cell array rotation angle and gyro normal drift noise; step 3, calculating an augmented state quantity estimated value by using extended Kalman filtering; and 4, calculating a rotation angle estimation value of the satellite solar cell array. According to the method, the angular velocity of the gyroscope and vector data of the sun sensor are fused, a nonlinear dynamic model containing the sun vector, the rotating angle and the gyroscope bias is constructed, the EKF algorithm is designed to estimate the rotating angle of the solar cell array in real time, the problem that a traditional scheme is highly dependent on a star sensor and a mechanical sensor is solved, and the reliability of the system is improved. And the autonomous recovery capability and the energy guarantee reliability of the satellite in an extreme fault scene are obviously improved.

The invention relates to the technical field of target positioning, and particularly discloses a target positioning method and system based on a radar photoelectric fusion technology, and the method comprises the steps: collecting the radar data and image data of a target; the radar data and the photoelectric image data are processed, micro-Doppler features are extracted from the radar data, and PCA dimension reduction processing is performed on the photoelectric image data; time synchronization is realized, the photoelectric sensor is calibrated, and a space conversion model of the radar and the photoelectric sensor is established to realize space registration; carrying out data layer fusion, feature layer fusion and decision-making layer fusion; based on the fused data, adopting an EKF algorithm to carry out target positioning, and adopting an MHT algorithm to carry out multi-target tracking management; and constructing a performance evaluation index system, and optimizing system parameters according to a performance evaluation result by adopting a self-adaptive parameter adjustment algorithm. The accurate positioning tracking algorithm and the performance optimization mechanism guarantee the stable and efficient operation of the system.

The application relates to a lithium iron phosphate battery state of charge estimation method and system, which comprises the following steps: obtaining a battery cell parameter of a lithium iron phosphate battery; based on the battery cell parameter and an OCV-SOC relationship curve, an improved EKF algorithm is used to calculate an OCV slope; wherein the improved EKF algorithm is that a sigmoid weight function is introduced into a classical EKF algorithm to weight the OCV slope; and based on the weighted OCV slope, an SOC value is calculated. The application can realize accurate SOC estimation of the lithium iron phosphate battery in a voltage platform region. Based on an improved extended Kalman filter algorithm, the SOC estimation accuracy is improved, the reliability of platform region SOC calculation is enhanced, and without a high-complexity algorithm, accurate calculation of the lithium iron phosphate battery SOC in the voltage platform period can be realized.

The invention discloses a casting cutting and polishing robot trajectory optimization method based on vision and genetic algorithms, which comprises the following steps: comparing casting point cloud data with a standard mathematical model, extracting the number and coordinates of casting riser feature points, and generating an initial cutting trajectory; determining a tool tail end movement track of the cutting robot through a visual mileage calculation method; iMU sensor data of the cutting robot are collected, the track data and the IMU sensor data are fused through an EKF algorithm, and the fused tool tail end position and posture are output; by taking the total arrival time, precision and total energy consumption of casting riser cutting as optimization objectives, constructing a multi-objective optimization function; constructing a constraint condition, solving the multi-objective optimization function through a genetic algorithm to obtain an optimal cutting track of the cutting robot meeting the constraint condition, and cutting the casting riser; according to the method, collaborative optimization of cutting time shortening, energy consumption reduction and precision improvement can be achieved on the premise of meeting robot kinematics constraint and casting process requirements.

The invention discloses an EKF-based multi-rotor failure detection method and a failure state estimation system thereof, and belongs to the technical field of aircraft rotor failure detection, and the method comprises the following steps: S1, constructing a dynamic model of a multi-rotor aircraft; s2, designing a state vector including power unit efficiency; s3, establishing a state equation and an observation equation of the EKF; s4, performing state estimation by applying EKF; s5, power failure detection; constructing an aircraft state space model which comprises the output efficiency of each power unit and serves as a to-be-estimated state quantity; an EKF algorithm is utilized to estimate the aircraft state including the efficiency of each power unit in real time; whether the power unit breaks down or not is judged by monitoring whether the estimated efficiency of the power unit or the reciprocal of the power unit changes remarkably deviating from a normal value or not; according to the multi-rotor failure detection method, the production cost of the unmanned aerial vehicle is effectively reduced, the flight safety is enhanced, and real-time estimation and detection of power failure can be realized.