310 results about "Elevation angle" patented technology

The invention discloses a multi-GNSS satellite signal power abnormity real-time monitoring method. The method comprises the following steps: acquiring real-time observation data of an observation station network which is uniformly distributed globally; when the linear relation between the carrier-to-noise ratios of different frequency signals of each satellite in each observation station and the dynamic monitoring threshold value related to the elevation angle of each satellite are determined, one signal is used for predicting another signal by using the linear coefficient, and the deviation between an actual value and a predicted value is calculated; calculating a satellite elevation angle of the real-time observation data, and determining a monitoring threshold value of the current satellite at the current moment according to the satellite elevation angle; and counting an average value of the deviations of all satellites monitored by all observation stations at the current moment, and marking that the power of the current satellite at the current moment is abnormal when the absolute deviation of the current satellite is greater than a monitoring threshold value. According to the invention, on the basis of the carrier-to-noise ratio linear relation of different frequency signals and the dynamic monitoring threshold, real-time monitoring of various power abnormal scenes including natural interference, man-made interference, satellite active power adjustment and the like is realized.

The invention relates to the technical field of satellite communication, in particular to a dynamic beam adjustment system for medium and low orbit satellite communication. Comprising a beam demand sensing unit; the dynamic beam calculation unit counteracts the influence of a complex environment on beam coverage through a multi-factor cooperative compensation mechanism; the beam execution adjustment unit is used for realizing beam accurate pointing and interference suppression through an adaptive phase optimization algorithm; and a satellite-ground cooperation unit. Through a multi-factor cooperative compensation mechanism, a beam theory pointing angle is calculated based on a spherical geometrical relationship, compensation amounts are determined by combining satellite motion, user movement and atmospheric refraction, and a communication scene is determined according to a satellite elevation angle, a user terminal motion speed and a communication link signal-to-noise ratio. The weight of each compensation amount is dynamically adjusted and synthesized into the total compensation amount, and finally the actual beam pointing angle is obtained, so that the coupling influence of multiple factors on beam coverage in a complex environment is effectively counteracted, and the beam pointing precision is improved.

The invention relates to a double-antenna BDS-R real-time water level monitoring method and an integrated device, and belongs to the technical field of GNSS remote sensing. The method comprises the following steps: data acquisition; data processing: firstly decoding the received data, and extracting a double-frequency pseudo range and a carrier phase observation value; a second step of performing quality control on the decoded data, including constraint of an elevation angle and an azimuth angle, cycle slip detection and the like, and eliminating non-water-surface reflection signals and abnormal data; a third step of establishing a double-difference observation equation based on the pseudo-range and carrier phase observation value, introducing a horizontal baseline constraint into the observation equation, and enhancing the resolving stability through virtual observation quantity; fourthly, Kalman filtering is used for achieving per-epoch baseline estimation, and a least square ambiguity decorrelation adjustment (LAMBDA) method is used for solving a baseline fixed solution; and finally calculating the water level of the current epoch by using the baseline vector. And transmitting data. According to the invention, the problems of poor real-time performance, complex deployment and high cost in the existing water level monitoring technology are solved.

Disclosed in the present invention are a method and apparatus for constructing an ionospheric mapping function model, a device, and a storage medium. The method comprises: acquiring historical slant total electron content data of an ionosphere; in the historical slant total electron content data, taking, as a corresponding historical vertical total electron content value, a historical slant total electron content value corresponding to a satellite elevation angle greater than a preset angle, and calculating a corresponding historical mapping function value; acquiring a corresponding Modified Julian Day, local time, satellite elevation angle and azimuth angle of an ionospheric pierce point; and on the basis of the historical mapping function value, the Modified Julian Day, the local time, the satellite elevation angle, and the azimuth angle of the ionospheric pierce point, training a preset LSTM model by taking the Modified Julian Day, the local time, the satellite elevation angle and the azimuth angle of the ionospheric pierce point as inputs and taking the historical mapping function value as an output, so as to obtain an ionospheric mapping function model. The present invention can improve the accuracy of ionospheric mapping functions.

The invention discloses a multi-view three-dimensional reconstruction method and device based on reliable anchor point guidance and a medium, and the method comprises the steps: firstly extracting a high-confidence anchor point from a multi-view image, optimizing auxiliary visual angle selection with the visibility of the anchor point as a constraint, and achieving the stable diffusion of a depth initial value through confidence propagation; in the reconstruction stage, deformation parameters of local patches are adaptively adjusted according to scale differences and elevation angle changes between visual angles, so that geometric consistency and detail fidelity of depth estimation are enhanced; and finally, dynamically adjusting a point cloud sampling strategy according to anchor point density distribution and a visual angle overlapping rate, and realizing dense three-dimensional reconstruction with noise suppression and continuous structure. The method can maintain the reconstruction precision and stability under the conditions of complex visual angles and multiple types of images, is suitable for the scenes of engineering surveying and mapping, intelligent monitoring, unmanned aerial vehicle photogrammetry, digital twin model updating and the like, and has the characteristics of high robustness, high precision and good expandability.

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 relates to the technical field of positioning and navigation, and discloses an embedded AGV positioning and navigation method based on differential GNSS, which comprises the following steps: arranging a plurality of passive GNSS patch antennas on the top of a vehicle in a circumferential manner; combining the carrier-to-noise ratio and the elevation angle information output by double receivers to construct a low-elevation satellite set; calculating the carrier-to-noise ratio difference on the symmetrical antennas; and performing periodic analysis to extract the environmental shielding law and divide phase intervals. The system can dynamically select the optimal antenna combination in each phase interval, and realizes real-time differential navigation solution in the navigation operation, so that the signal attenuation and navigation interruption problems caused by the narrow lane shielding can be effectively overcome, and the high-precision, stable and continuous navigation of the AGV in a complex environment can be ensured.

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.

The invention provides a ground GNSS differential data correction method and device, and the method comprises the steps: obtaining a pseudo range and a carrier phase, calculating a whole cycle jump value of the carrier phase through employing an M-W combination function and an ionosphere delay change rate, and correcting a carrier phase value through employing the calculated whole cycle jump value of the carrier phase. The influence of station-satellite geometric distance is eliminated, the influence of ionosphere change is considered, and the method is suitable for cycle slip detection in a dynamic environment; according to the method, a self-adaptive threshold model is constructed on the basis of Turbo Edit cycle slip detection in a flight dynamic observation environment, cycle slip misjudgment at a low satellite elevation angle is reduced, and the influence of too low sampling rate on GF combined cycle slip detection performance is weakened to a certain extent; and a technical guarantee is provided for applying the GNSS differential data to the flight test.

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 application proposes a sliding-window type electrically controlled beam scanning conical antenna array, comprising a conical antenna support, antenna elements, and a beam control network. The conical antenna support consists of 13 trapezoidal surfaces with an elevation angle of 5°. There are 14 antenna elements in total. Two antenna elements located on the same trapezoidal surface are fed to antenna elements on their adjacent trapezoidal surfaces via unequal phase feeding to form two high-gain antennas. These two high-gain antennas combine to form a high-gain beam. Simultaneously, the high-gain antennas combine with their adjacent antenna elements to form a directional beam. The remaining adjacent antenna elements can also combine to form directional beams. The conical antenna array has 12 directional beams, with a pointing angle difference of 30° between adjacent beams. The beam control network can achieve rapid switching between the 12 beams, realizing sliding-window type electrically controlled beam scanning and forming 360° azimuth coverage. This sliding-window type electrically controlled beam scanning conical antenna array significantly reduces costs while possessing sliding-window type electrically controlled beam scanning capabilities.

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.

This invention discloses a dual-station three-dimensional cross-location method based on grid search, belonging to the field of electronic countermeasures reconnaissance technology. Based on the azimuth-elevation angle vectors measured by reconnaissance equipment at two stations (air or ground), the direction-finding vectors of the corresponding radiation sources at each station are transformed into a northeast-sky coordinate system with their respective stations as the origin. Then, the dual-station direction-finding vectors are transformed into the same coordinate system using a coordinate system transformation method. The coordinates of the radiation sources are searched using a grid search method that minimizes the straight-line distance between opposite planes. Finally, the coordinates of the radiation sources searched multiple times are clustered to obtain the optimal positioning coordinates.

The invention discloses a horizon astronomical telescope pointing error correction method based on machine learning. The method comprises the following steps: recording fixed star data; constructing a telescope rack pointing model, calculating a model coefficient, performing coarse correction on a new observation target, accumulating observation data, and preprocessing the observation data; training the preprocessed training set data by using an XGBoost regression model, predicting condition parameters of a new observation target by using a trained error prediction model to obtain normalized azimuth angle deviation and elevation angle deviation predicted values of the new observation target, and carrying out reverse normalization processing on the predicted values to obtain an actual rack deviation angle; and superposing the rough correction deviation angle and the actual rack deviation angle to serve as a final offset to be injected into a telescope rack tracking program so as to realize correction of a pointing error. According to the invention, the pointing error can be within a very small range, and the pointing precision of the horizon telescope can be effectively improved.

The invention belongs to the technical field of satellite navigation, and discloses a fisheye image dichotomy NLOS satellite detection method, system and device and a medium, and the method comprises the steps: obtaining a city scene image collected by a fisheye camera; inputting the scene image into a segmentation model for sky and non-sky dichotomy segmentation, and outputting an initial semantic mask; wherein the segmentation model is constructed based on a U-Net network and an attention mechanism; performing logical correction on the initial semantic mask through morphological closed operation and connected domain analysis on the basis of physical characteristics of continuous distribution of the sky region to obtain an accurate segmentation result; and in combination with a satellite azimuth angle, an elevation angle and a fisheye imaging model, mapping a satellite direction to a corresponding pixel coordinate of an accurate segmentation result, and completing satellite propagation type determination according to a pixel category. According to the technical scheme, efficient and accurate NLOS satellite detection can be realized.

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.

The application provides a light measurement equipment simulation training method and system based on dynamic trajectory modeling, relates to the technical field of simulation training, and comprises the following steps: acquiring a plurality of components of a light measurement equipment, and constructing an initial three-dimensional component model; performing parameter configuration on the initial three-dimensional component model based on initial parameters of the plurality of components; determining a target theoretical trajectory, and performing dynamic trajectory modeling through a plurality of spatial orthogonal coordinate systems; calculating a sun elevation angle and an azimuth angle of the sun relative to a target point; mapping to the initial three-dimensional target model for simulation training, and determining a plurality of simulation scenes; performing simulation rehearsal on the light measurement equipment, adjusting the simulation rehearsal result for deviation, and obtaining a three-dimensional target model. The application solves the technical problem that, in the prior art, due to the lack of adaptability to complex scenes and environmental changes, it is difficult to reproduce scenes, and the simulation result has a large deviation. Through the implementation of high-precision simulation scene construction, the simulation precision of the light measurement equipment is improved.

Low elevation angle nulling antenna (LEANAs) designs seek to address interference from sources along the direction of the horizon. However, in many applications, including global navigation satellite systems (GNSS), the signal sources of interest may at a number of elevations and azimuths as may interference sources. Accordingly, a controlled radiation pattern antenna (CRPA) may be employed to selectively null at one or more elevations and azimuths. However, in many applications such as GNSS continuous real-time signal acquisition is required such that the GNSS cannot be offline whilst interference sources are identified. Embodiments of the invention provide for continuous real-time signal acquisition with interference signal location acquisition and CRPA null generation.

The application provides a standard single point positioning method based on a big data cross-modal residual model compensation, adopts a non-directional graph to establish the connection between the time and the residual, the space and the residual, the satellite elevation angle and the residual, and the satellite azimuth angle and the residual conditions, then utilizes random walk to establish the global relationship, and finally performs cross-modal representation learning on the tuples generated by the random walk to establish a historical relationship model. In prediction, the final prediction result is obtained according to the input space condition, the satellite elevation angle condition and the satellite azimuth angle condition combined with the output strategy. The residual is finally compensated into the standard single point positioning algorithm. The application has higher precision, does not need to depend on external networks at all times, and can ensure that the update of the model can be used for localization calculation with the best precision within 60 days.

The invention discloses a millimeter wave radar point cloud generation method with freezing mechanism static filtering and local interpolation angle measurement. According to the method, exponential moving average (EMA) static clutter suppression with a freezing mechanism is carried out on a distance-Doppler unit, and a smoothing coefficient is temporarily improved to freeze background update when a suspected human body scattering target is detected, so that a slow target is prevented from being filtered out; and calculating a coarse grid spatial spectrum for the candidate units by adopting adaptive diagonal loading two-dimensional minimum variance undistorted response (MVDR), reconstructing a fine grid spatial spectrum in a peak neighborhood based on local Kriging interpolation of a Gaussian variation function so as to obtain a high-resolution azimuth angle and a pitch angle, and finally generating a three-dimensional point cloud in combination with the distance. Compared with the prior art, the method has the advantages that clutter suppression robustness is improved and false alarm and leak detection are reduced under the complex indoor slowly-changing background, and meanwhile, the angle measurement resolution is improved on the premise that the calculated amount is controlled through local interpolation.

The application relates to a method for quickly obtaining the gain of an incident signal based on an antenna directional diagram. The method comprises the following steps: setting an antenna pointing angle; constructing an antenna horizontal plane axial vector and an antenna vertical plane axial vector according to the antenna pointing angle; constructing a signal transmitting vector or a signal receiving vector according to a signal transmitting angle or a signal receiving angle; calculating the included angle between the signal transmitting or receiving angle and the antenna vertical plane axial vector to obtain the zenith angle of the signal transmission or reception; calculating the elevation angle of the signal transmission or reception relative to the original antenna directional diagram according to the zenith angle; calculating the included angle between the signal transmitting or receiving angle and the antenna horizontal plane axial vector to obtain the azimuth angle of the signal transmission or reception; and searching for the corresponding gain value in a pre-constructed antenna directional diagram two-dimensional data model according to the elevation angle of the signal transmission or reception relative to the original antenna directional diagram and the azimuth angle of the signal transmission or reception. The method can solve the problem of quickly obtaining the antenna gain in simulation.

The invention discloses a broadcast ionosphere model adaptive selection method for a GNSS (Global Navigation Satellite System) terminal, which comprises the following steps: receiving navigation message information broadcasted by each GNSS system in real time, and obtaining various broadcast ionosphere model parameters; calculating the geographic latitude corresponding to the ionospheric puncture point according to the current position coordinate of the user, the satellite elevation angle and the azimuth angle; according to the geographic latitude and the time period of the current calculation time, selecting an optimal broadcast ionosphere model under the current space-time condition; and according to the optimal broadcast ionosphere model and the broadcast ionosphere model parameters, calculating to obtain a correction value of the ionosphere delay amount. According to the invention, by selecting the optimal broadcast ionosphere model in the current environment, the positioning precision is improved, the error of a certain model is prevented from being amplified, the advantages of each broadcast ionosphere model are exerted, and the stability and consistency of system positioning are improved; dynamic environment change is supported, and good space-time adaptive capacity is achieved; and model selection is realized only at a user side without modifying the broadcasting format of the existing satellite message.

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.

The present application provides a distance estimation device capable of estimating the distance between a power receiving device and a power supplying device in real time. The distance estimation device includes: a position deriving section that converts a first position of a marker included in an image acquired by a fisheye lens with respect to an image acquisition section into a second position in polar coordinates on a first plane including a first axis and a second axis; and an elevation angle acquisition section that acquires a first elevation angle of a position on a second plane including the first axis and a third axis after the first position is projected onto the second plane with respect to the third axis based on the second position, wherein a distance in the direction of the first axis between the image acquisition section and the marker is estimated based on coordinates of an upper end of the marker included in the image with respect to the third axis and an azimuth angle with respect to the first axis, coordinates of a lower end of the marker included in the image with respect to the third axis and an azimuth angle with respect to the first axis, and a length between the upper end and the lower end, and a distance in the direction of the third axis between the image acquisition section and the marker is estimated based on the first elevation angle and the distance in the direction of the first axis.

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.

The invention provides a novel slot flat plate scattering portable antenna system, which is applied to the technical field of antenna scattering communication. Comprising an antenna surface subsystem, a servo turntable subsystem and a foldable tripod unit, wherein the servo turntable subsystem and the foldable tripod unit are mounted on a back plate of the antenna surface subsystem, and the foldable tripod unit supports the servo turntable subsystem; the antenna surface subsystem transmits and receives electromagnetic wave signals; the servo turntable subsystem bears and drives the antenna surface subsystem to perform azimuth and pitching rotation, and comprises an azimuth assembly, a pitching assembly, an ultrasonic sensor and a servo control system; the ultrasonic sensor measures the real-time distance from the back plate; the servo control system determines a current pitch angle according to the real-time distance; and under the condition that the current azimuth angle and the current pitch angle of the antenna surface subsystem meet the preset condition of the alignment target, the azimuth assembly and the pitch assembly are controlled to stop running. The problems that an existing portable antenna is large in size, tedious in erection, low in attitude adjustment intelligent degree, too large in weight and insufficient in modular design are solved.

The invention discloses a calculation method for determining satellite azimuth pitching through TLE data, relates to the technical field of satellite azimuth pitching calculation, and remarkably improves the cooperation precision of satellite azimuth pitching angle calculation by dynamically calibrating the local UTC time of multiple ground stations. In scenes of satellite measurement and control, deep space exploration, emergency communication and the like, according to a traditional method, due to clock asynchronism, calculation results of all stations are inconsistent, and beam pointing or relay tracking continuity of an antenna array is affected; according to the method, the satellite position deviation is creatively utilized to reversely deduce the time error, the space deviation is mapped into the time calibration amount, the time reference is directly unified from the data level, and high-cost deployment depending on external clock synchronization equipment is avoided.