103 results about "Elevation angle" patented technology

The application discloses a two-dimensional Root-MUSIC angle automatic pairing method and system based on signal receiving timing, and specific steps of the method are as follows: step 1, a Root-MUSIC algorithm mathematical model suitable for angle estimation of two orthogonal arrays of an L-shaped array is constructed, the Root-MUSIC algorithm is applied to the two orthogonal arrays respectively, and a set of azimuth angles and a set of elevation angles are estimated; step 2, timing detection and dynamic grouping are carried out based on signal arrival timing, and simultaneous multi-signal receiving processing is converted into a single-signal processing flow organized according to timing; the Root-MUSIC algorithm is executed on each group of signals, and pairing of the azimuth angles and the elevation angles is automatically completed; and step 3, the pairing result of step 2 is stored, and whether the pairing process is ended is judged, if yes, the angle pair is output in sequence. The application constructs a joint processing mechanism of timing detection-dynamic grouping-serial processing, converts traditional multi-dimensional matching calculation into a simple timing alignment operation, and makes angle pairing become a natural derivative result of the signal processing flow.

The application discloses a multi-rotor unmanned aerial vehicle terminal guidance method and device, equipment and storage medium, belongs to the unmanned aerial vehicle control technical field, the method comprises the following steps: acquiring the line-of-sight elevation angle, line-of-sight elevation angle speed, line-of-sight azimuth angle speed and body line-of-sight azimuth angle output by the strapdown seeker on the unmanned aerial vehicle; acquiring the throttle value of the unmanned aerial vehicle before switching terminal guidance; calculating the terminal guidance command including throttle, roll, pitch and heading angle rate command according to the above guidance information and throttle value; finally, the command is executed by the inner loop controller of the unmanned aerial vehicle until the target is hit. The application can realize accurate terminal guidance only by using the information of the on-board seeker without relying on GNSS signals, has the advantages of simple calculation, high reliability and low cost, and is suitable for striking tasks on ground stationary or low-speed maneuvering targets in a navigation signal denial environment.

The application provides a SAR ground calibration corner reflector auxiliary installation device and installation method, which comprises a mounting frame, an azimuth angle adjusting device, an elevation angle adjusting device and a reference assembly. The mounting frame is used for supporting on the ground. A triangular pyramid positioning body is connected with an elevation angle pointer of the elevation angle adjusting device through a telescopic connecting rod, and the azimuth angle adjusting device is used for adjusting the azimuth angle. The elevation angle adjusting device rotates synchronously with the azimuth angle pointer of the azimuth angle adjusting device, and the rotation plane of the elevation angle pointer is perpendicular to the azimuth angle pointer. When the azimuth angle and the elevation angle are adjusted to the position, the bottom edge of the reference surface of the triangular pyramid positioning body is parallel to the flight line, and the reference surface is coincided with a straight line which is perpendicular to the flight line and passes through the calibration point. At this time, the posture of the triangular pyramid positioning body is the same as that of the corner reflector. Since the triangular pyramid positioning body is similar to the corner reflector, the corner reflector only needs to be rotated to the position which is coincided with the triangular pyramid positioning body.

This application relates to the fields of underwater acoustic engineering, marine engineering, and sonar technology, and particularly to a passive localization method and system for deep-sea horizontal array sound sources based on high-precision azimuth estimation. The method samples the sound source signal using a horizontal array and estimates the earliest arrival time. After Fourier transform and phase compensation, a fringe slope cost function is constructed and a reference value is obtained through blind search. This reference value is then combined with frequency-shifted data beamforming to obtain a high-precision azimuth angle, while conventional beamforming obtains the solid angle, decoupling to obtain the elevation angle. The theoretical time delay for different assumed depths is then calculated, and the measured time delay spectrum is obtained from the broadband beam output. After matching the two, the actual depth of the sound source is determined by the minimum value of the cost function. This application reduces the computational load, decouples the azimuth and elevation angles of the horizontal array, solves the problems of horizontal arrays lacking elevation angle estimation capabilities and depth ambiguity in traditional methods, and improves the efficiency and accuracy of passive localization of deep-sea sound sources.

This invention belongs to the field of BeiDou deformation monitoring technology, specifically disclosing a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation environments. First, the elevation and azimuth information of the satellites are extracted from the observation data of the GNSS monitoring station. Then, cutoff elevation angle points are continuously extracted using the elevation and azimuth information. Next, the cutoff elevation angle points are smoothly fitted, and the smoothed fitting curve is obtained. Finally, the occlusion area and occlusion rate are calculated by integration. This invention requires no external equipment, relying solely on the observation data collected by the receiver. Furthermore, the observation data itself inverts the occlusion, naturally including the comprehensive occlusion effects of terrain, vegetation, buildings, and dynamic mechanical equipment. It can also automatically update as the observation data is updated, thus adapting to the dynamic changes in the occlusion environment. This invention is simple to operate, can be automated, and is particularly suitable for environmental self-assessment after rapid deployment of UAVs.

The present invention relates to a portable, minimally invasive training system that simulates laparoscopic navigation. The system is designed considering optimal performance parameters, such as the instrument manipulation angle, elevation angle, azimuth angle, intracorporeal / extracorporeal instrument ratio, and ergonomics, among others. It features optics that emulate a zero-degree laparoscope / neuroendoscope and has USB connectivity for use with any computer to provide visual feedback.

This invention discloses a UAV phase correction method, device, apparatus, and storage medium based on miss distance fusion calculation. The method combines low-light television miss distance extraction with a fast phase correction algorithm. Specifically, the method includes: acquiring hovering deviation data via low-light television using a servo system; calculating accurate angular information data between the UAV and the antenna; recording the antenna encoder angle at the moment the miss distance is zero; adjusting the antenna azimuth and elevation angles; reading the miss distance value and output voltage value respectively; calculating the phase and directional sensitivity coefficients; and adding the obtained phase shift value and directional sensitivity coefficients to the digital baseband. This invention solves the technical problem of errors in fast phase correction algorithms when using UAVs as beacons, where inaccurate directional sensitivity leads to the digital baseband receiving and demodulating error voltage failing to accurately reflect the true target spatial position, ultimately affecting tracking and measurement.

This invention relates to the field of radar signal processing technology, and provides a method, apparatus, device, medium, and product for angle estimation of array signal radar. The method includes: acquiring the range-Doppler matrices corresponding to the sum channel, azimuth difference channel, and elevation difference channel of the array signal radar; decomposing the complex values ​​of the range-Doppler matrices of each of the three channels into real and imaginary components to obtain six real matrices; combining the six real matrices into a six-channel input tensor; inputting the input tensor into a pre-trained deep learning model to obtain the horizontal and elevation angle deviations of the target relative to the beam center output by the pre-trained deep learning model. This effectively extracts and fuses multi-scale spatial global features, adaptively learns the nonlinear mapping relationship between the signal and the angle deviation, reduces dependence on system calibration, enhances robustness, and achieves high-precision and high-stability estimation of the target angle deviation of the array signal radar.

This invention discloses a multipath error fusion correction method and system based on BeiDou multi-orbit differences. The method includes: collecting BeiDou carrier phase observation data from a reference station and a monitoring station; obtaining double-difference residuals through preprocessing and double-difference calculation, and converting them into single-difference residual sequences; classifying BeiDou satellites into three categories based on their orbital types: geostationary orbit satellites, inclined geosynchronous orbit satellites, and medium Earth orbit satellites; extracting stable background information from the GEO residuals, slowly changing information from the IGSO residuals, and anomalous disturbance information from the MEO residuals by combining satellite azimuth and elevation angle information; constructing a basic hemispherical model based on the stable background information of each satellite, and using the stable background information, slowly changing information, and anomalous disturbance information to constrain and update the basic background correction value, generating the current epoch multipath correction value; and applying the correction value to the corresponding satellite observation value to complete the observation correction and deformation monitoring calculation.

The invention relates to a method (100) for reconstructing elevation information (2a) from measurement data (2), which is recorded with at least one radar device (1) and contains a two-dimensional spatial distribution (3) of at least one physical measurement variable, wherein the measurement data (2) is delivered (110) as an input variable (5) to at least one generator module (4) configured as a neural network, and wherein at least one output variable (6) is called up (120) from the generator module (4), which is a measure of how great an elevation angle (6a) at which radar radiation is reflected by at least one object to the radar device (1). A method (200) for training a generator module (4) for use in the method (100) is also described. A method (300) with a complete chain of actions up to the maneuvering of a vehicle (50) is also described.

This invention discloses a high-precision geographic data system device and its multi-source data fusion processing method, belonging to the field of geographic information acquisition technology. The data collector adopts a modular design, including a multi-frequency GNSS positioning module, a multi-sensor collaborative system, a data processing and fusion module, a power supply and communication module, and a rugged structure. The GNSS module, combined with an IMU unit, achieves centimeter-level RTK positioning and maintains continuous positioning through inertial navigation and visual SLAM even in signal-blocked environments. Environmental sensors provide weather correction to improve elevation accuracy; the image unit synchronizes with the GNSS second pulse to achieve image marking. The outer shell employs layered electromagnetic shielding and IP67 protection design, and the antenna bracket allows for stepless adjustment of the elevation angle to reduce multipath errors. The system supports 5G and LoRa adaptive communication, enabling real-time data upload and edge fusion processing. This invention has the advantages of high positioning accuracy, strong environmental adaptability, and high data acquisition efficiency, and is suitable for scenarios such as surveying, emergency rescue, and geographic monitoring.

This invention discloses a method for extracting ionospheric scintillation factors based on DORIS dual-frequency observations, belonging to the field of space weather monitoring and satellite navigation technology. By constructing a cycle slip detection and low elevation angle control method suitable for the DORIS system, the RODTI (Rate of Change in Total Electron Content) factor of the ionosphere is extracted. A two-dimensional grid background field of ROTI is constructed using GPS observation data from IGS stations, achieving spatiotemporal matching between DORIS and GPS scintillation factors. Furthermore, a support vector regression method considering latitudinal constraints is introduced to normalize and correct the RODTI amplitude, solving the problem of inconsistent scintillation factor amplitudes between different observation systems. This yields a more accurate RODTI with amplitudes consistent with ROTI, thus forming a complete method for extracting ionospheric scintillation factors based on DORIS dual-frequency observations. This method can reliably reflect the spatiotemporal distribution characteristics of ionospheric scintillation on a global scale, providing a new data source for constructing a multi-source ionospheric scintillation dense monitoring network covering oceans, polar regions, and other areas, and has broad applicability.

The application discloses a ground-based space target monitoring radar atmospheric refraction error correction method. The ground-based space target monitoring radar atmospheric refraction error correction method comprises the following steps: based on the vertical distribution of atmospheric refraction index and the radar elevation angle measurement value, the signal propagation path is accurately recursively calculated by using the refraction theorem and geometric relationship, the corresponding elevation angle, geocentric angle and target apparent distance of different heights are calculated, and a one-to-one corresponding relationship between the apparent distance and the distance, the elevation angle measurement error is established; then, according to the radar distance measurement value, the radar distance and the elevation angle measurement error are calculated by interpolation, and finally, the distance and the elevation angle measurement error caused by the atmospheric refraction of the space target monitoring radar are corrected. The ground-based space target monitoring radar atmospheric refraction error correction method has higher error calculation precision under the condition of given layer interval, has more stable error correction performance, and can more accurately correct the atmospheric refraction error of the space target monitoring radar.

The application discloses a high-cost-performance all-weather antenna precise star tracking implementation method and system, and relates to the fields of antenna tracking and satellite application. The method comprises the following steps: obtaining antenna position data, satellite orbit data and bit protection data; calculating the spatial orbit position of a satellite in a future time period, generating antenna guide data after correcting the pointing error of the antenna; publishing the antenna guide data to an antenna control unit; and controlling the antenna to point to the satellite according to the antenna guide data. The antenna guide data is format data of the azimuth angle, the elevation angle and the polarization angle required by the antenna for precise star tracking at any time and any geographical position. The antenna control unit is an execution mechanism for adjusting the azimuth angle and the elevation angle of the antenna. The application simplifies the construction complexity of an antenna tracking system, shortens the construction period, and realizes the function of precise star tracking of the antenna under all-weather conditions at low cost, and is suitable for the automatic tracking of high, medium and low orbit satellites.

This invention discloses a method for joint parameter estimation of rotating targets based on vortex electromagnetic waves, comprising: establishing a typical detection scenario and obtaining mathematical models of the target's range, azimuth, and elevation angles in the radar coordinate system; establishing an electromagnetic vortex echo signal model and defining the parameter vector to be estimated; performing maximum likelihood estimation on the parameter vector to be estimated based on the echo time-domain signal to obtain the maximum likelihood estimator; performing time-frequency analysis on the echo signal under the multi-scattering point model, extracting the skeleton from the time-frequency spectrum to obtain the rotating Doppler curve; estimating unknown parameters from the rotating Doppler curve; and performing error analysis on the parameter vector to be estimated to derive its joint Cramer-Rao bound. Compared with traditional methods for detecting local peak points, the joint parameter estimation method for rotating targets based on vortex electromagnetic waves provided by this invention has higher accuracy and can accurately estimate the position of the rotating target.

To provide a weed control device for rice paddies that further improves power generation efficiency and prevents a decrease in work efficiency caused by power shortages. [Solution] A weeding device for paddy fields 100 is configured to automatically travel across a field, comprising a float body 101 with a solar panel 102 positioned on its upper part, a screw propulsion mechanism 103 equipped with a screw positioned on its lower part, and further comprising a positioning device s1 for acquiring location information and a timing unit s4 for acquiring timing information, It is equipped with a solar azimuth calculation unit C1 that calculates the sun's azimuth and elevation angle based on acquired location information and timing information. The solar panel 102 is installed at an angle to the float body 101. The above problem is solved by a paddy field weeding device 100 that controls the direction of travel so that the azimuth of the sun SN calculated by the solar azimuth calculation unit C1 and the elevation direction Fg of the solar panel 102 are facing the same direction during automatic driving.

A three-dimensional passive positioning system and method for airborne maneuvering targets based on single-satellite enhancement is disclosed. The system, comprising a satellite receiving subsystem and a shore-based receiving subsystem, receives electromagnetic radio frequency signals emitted by the airborne maneuvering target. After preprocessing, it analyzes the obtained radiation source data to acquire signal segment data, along with the measured azimuth and elevation angles of the current radiation source position relative to the shore-based receiving subsystem. Simultaneously, it combines real-time satellite position data with signal segment data for airborne target radiation source positioning, obtaining the three-dimensional coordinate information of the airborne maneuvering target. This allows for complete positioning and tracking of the airborne target's maneuvering process, meeting the requirements of airborne target positioning missions.

This invention discloses a dual-axis error calibration method for phased array weather radar based on the apparent motion trajectory of the sun, comprising the following steps: Step 1, calculation of the sun pointing angle; Step 2, selection of azimuth scanning parameters based on calibration error and azimuth deviation estimation; Step 3, evaluation of elevation angle calibration accuracy based on azimuth scanning time and apparent solar motion; Step 4, sampling of solar radiation signals; Step 5, extraction of peak values ​​in pulse-by-pulse repetition cycles and acquisition of dual-axis calibration coefficients. The method disclosed in this invention can generate dual-axis error calibration coefficients for X-band phased array weather radar that simultaneously meet high timeliness and high accuracy requirements. This is of great significance for effectively improving the detection capabilities of X-band phased array weather radar in mobile and unattended field applications.

The application discloses a method for measuring surface accuracy of large reflector antenna at different elevations, and belongs to the technical field of large reflector antenna measurement. The method first measures the surface accuracy of the large reflector antenna at a working elevation by using a photogrammetry method, and takes the working elevation as a measurement reference of the surface accuracy at different elevations; then, the method uses a radio source method to measure noise power levels of the antenna aiming at a same radio source, a background cold space and a normal temperature load at the reference position and at different elevations by using a spectrum analyzer; since the gain deviation is caused by the different elevations of the antenna, the surface accuracy of the large reflector antenna at different elevations is obtained through a calculation formula. The method is simple and easy to implement, and has high popularization and application value.

The application discloses a ground space pointing precision testing method for a large-defocus two-dimensional tracking and detecting system, and solves the technical problem that the existing space pointing precision testing method for a two-dimensional tracking and detecting system is not applicable to the space pointing precision testing of a large-defocus two-dimensional tracking and detecting system, and comprises the following steps: adjusting the azimuth angle and the elevation angle of the large-defocus two-dimensional tracking and detecting system to be 0 degrees, aiming at the large-defocus two-dimensional tracking and detecting system by using a first autocollimation theodolite, adjusting the position of a second autocollimation theodolite, aiming at the large-defocus two-dimensional tracking and detecting system, then mutually aiming at each other by the first autocollimation theodolite and the second autocollimation theodolite, and finally calculating the space pointing azimuth error and the elevation error of the large-defocus two-dimensional tracking and detecting system according to the measured azimuth angle and the elevation angle.

This invention relates to a method and system for resisting satellite navigation spoofing using an array antenna based on integrated navigation, belonging to the field of integrated navigation technology. It can improve system robustness and solve the problem of satellite navigation receiver terminals being susceptible to external spoofing interference. The method includes: S1, calculating the current carrier attitude based on the angular rate, specific force information, and magnetic flux information output by the inertial measurement unit; S2, calculating the projection of the true direction vector of the currently visible satellite in the geographic system, then projecting it onto the array antenna coordinate system according to the carrier attitude, and calculating the elevation angle and azimuth angle of the visible satellite relative to the array antenna coordinate system; S3, sampling and down-converting the satellite signal of the current epoch using digital frequency storage technology, and continuously adjusting the zero-point direction using array antenna directional nulling technology to detect whether a spoofing signal enters; S4, determining the direction of arrival of the spoofing signal; S5, shaping the array antenna radiation pattern; S6, adjusting the beam pointing to suppress the entry of spoofing signals.

This application discloses a method for calibrating the optical axis pointing of a high-speed camera based on linear vector projection slope matching. The method simulates the projection of a calibration plate's linear vector onto the image plane and matches it with the actual extracted linear slope to directly calculate the azimuth and elevation angles of the optical axis pointing. First, a calibration plate with at least two non-parallel linear vectors distributed on its surface is fabricated, and a coordinate system is established using the calibration plate as a reference. Then, the calibration plate is photographed, and the image plane slope of the selected linear vector is extracted. The selected linear vector is simulated and projected onto the image plane to obtain a two-dimensional projection vector containing the azimuth angle A and the elevation angle E. Finally, the optical axis pointing parameters of the high-speed camera are calculated by matching the simulated projection slope with the actual extracted slope. This application also provides a method for verifying the correctness of the calibration results. This method decouples pose parameters, simplifies calibration plate fabrication and data processing, and provides accurate external parameter support for high-precision spatial attitude testing of high-speed recording equipment.

The application discloses an angle adjusting method and device for shooting a hot spot of a photovoltaic power station by using a UAV, and belongs to the technical field of image acquisition and analysis, and comprises the following steps: S1, acquiring basic data; S2, calculating an optimal flight height according to an infrared camera focal length, a flight angle, an installation angle of a photovoltaic cell panel, an illumination intensity, a solar elevation angle, a wind speed and an environmental temperature change; S3, adjusting a pitch angle of the infrared camera according to the optimal flight height, the solar elevation angle, the illumination intensity, the wind speed, the environmental temperature change, the infrared camera focal length and a straight-line distance of a starting point; and S4, calculating a shortest flight path according to the optimal flight height, a UAV flight speed, a shooting task time, an image resolution, the flight angle, the solar elevation angle, an environmental temperature value before the UAV flight, the illumination intensity, the wind speed and the environmental temperature change. The application can improve the precision of hot spot detection.

The application discloses a kind of near-field beamforming and codebook design method of columnar antenna array, comprising: modeling near-field columnar antenna array, by the geometric position relationship of user and antenna array, expression of beam focusing vector is obtained by simplifying;Respectively in elevation angle domain, azimuth angle domain and distance domain, the closed-form solution of corresponding beamforming gain is obtained by calculating beamforming gain;By controlling the correlation of beam focusing vector focused on different positions, respectively, the sampling method of elevation angle domain, azimuth angle domain and distance domain is obtained;Sampling is carried out to elevation angle domain, and azimuth angle sampling value and distance sampling value are obtained on the plane corresponding to elevation angle sampling value, finally obtain the three-dimensional codebook for near-field columnar antenna array beamforming.The application can effectively represent the beamforming gain of near-field columnar antenna array, meet the constraint of the correlation between code words, and focus signals to the expected position.

This invention proposes a direction-of-arrival (DOA) estimation method based on a sparse circular array using the golden ratio. The method defines the antenna position and three-dimensional coordinates using the golden ratio, constructing a sparse array. A DOA vector is established based on the azimuth and elevation angles, and the path difference and phase difference are calculated. These are then combined with multi-shot data to form a covariance matrix. To improve robustness under low snapshot and low signal-to-noise ratio conditions, adaptive diagonal loading is employed to adjust the noise eigenvalue distribution and enhance the distinguishability between the signal and noise subspaces. Addressing the issues of traditional MUSIC algorithms' accuracy depending on step size and poor real-time performance, a three-step search is designed: a coarse search to locate local maxima, a ternary trigonometric iteration to narrow the interval, and a fine search followed by quadratic surface fitting to eliminate grid errors. This method effectively suppresses sparse array grating lobes, balancing high accuracy and real-time performance.

The application relates to an unattended inspection method, system, equipment and medium for a mountain photovoltaic power station, and belongs to the technical field of photovoltaic power station inspection. After receiving an inspection task triggering instruction, a power station area digital elevation model and a photovoltaic module layout matrix are called. Current all-sky fisheye images, irradiance data, power station geographical positions and output currents and voltages of photovoltaic module groups are acquired. Cloud layer regions in the fisheye images are identified, cloud layer shielding of the photovoltaic modules at a future t time is judged, and a cloud shielding coefficient matrix is generated. The solar elevation angle and the azimuth angle are calculated in combination with the power station geographical positions, and a theoretical terrain shadow matrix is generated. The comprehensive light state value of the photovoltaic modules is determined according to the two matrices, and a light state situation map is drawn. The group string power deviation is calculated according to the current and voltage data, the light state situation map is combined to generate an inspection list, and the flight inspection route of a drone is planned according to the inspection list, so that efficient operation and maintenance of the mountain photovoltaic power station are realized.

The application discloses a camera and object point combined parallax angle parameterized bundle adjustment method and system, comprising the following steps: 1) obtaining remote sensing images by aerial photography of a measurement area, extracting and matching homonymous image point observation values of all remote sensing images; 2) arranging two prior anchor points to form a baseline and establish an angle reference frame; 3) uniformly parameterizing a camera pose, a photographic center position and a three-dimensional connection point position by a direction angle, an elevation angle and a parallax angle; 4) constructing a collinear observation equation to perform bundle adjustment calculation and jointly obtain the camera pose, the photographic center coordinates and the ground point coordinates. On the basis of parallax angle parameterization of the three-dimensional connection point, the photographic center and the camera pose are further uniformly incorporated into the angle parameterization system, so that the ill-conditioned and numerical instability problems under small parallax and weak control conditions are effectively improved, and the convergence and stability of the adjustment calculation are improved. The application is suitable for regional network adjustment of aerospace remote sensing images.