227 results about "Euler angles" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention relates to the technical field of intelligent sensing and data fusion, in particular to a real-time motion guidance and error correction method and system based on multi-source data analysis, and the method comprises the following steps: S1, synchronously collecting the motion data of a user through a hardware-synchronized multi-source sensing network, completing the timestamp alignment and standardization processing of the multi-source data, and obtaining the motion data of the user; outputting standardized motion data with a unified time sequence; and S2, performing multi-sensor data fusion processing on the standardized motion data, and reconstructing three-dimensional human body joint posture data based on a state estimation algorithm. Through a time sequence mode recognition algorithm, in combination with various motion data such as joint Euler angles and angular velocities, accurate recognition is performed on different motion stages, through recognized stage labels, a user personalized model is called to dynamically generate an evaluation threshold value of the current stage, then motion deviation diagnosis is performed, and the accuracy of motion deviation diagnosis is improved. The problem caused by the fact that the motion stages cannot be distinguished due to the fact that a fixed threshold value is used is effectively solved, and adaptability and accuracy of posture deviation diagnosis are remarkably improved.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

The invention provides a 6D attitude rapid estimation method and device for a target object, and relates to the field of electrical digital data processing in the technical field of machine vision and perception, and the method comprises the steps: obtaining an RGB image and a depth image of the target object, inputting the RGB image into a segmentation model, and obtaining a binary mask of the target object; acquiring a camera internal reference matrix, and constructing a curved surface point cloud matrix of the target object according to the depth image, the binary mask and the camera internal reference matrix; constructing a cubic package of the target object, and constructing a fitting penalty function according to the curved surface point cloud matrix and the cubic package; according to the curved surface point cloud matrix, the cubic package and the fitting penalty function, gradient vectors of the center point and the Euler angle of the target object are obtained through calculation; and performing iterative solution on the gradient vectors of the central point and the Euler angle through a gradient descent algorithm to obtain optimal solutions of the central point and the Euler angle, and taking the optimal solutions of the central point and the Euler angle as the 6D attitude of the target object.

The invention discloses a seven-degree-of-freedom mechanical arm trajectory planning method based on null space optimization, relates to the technical field of mechanical arm intelligent control, and aims to solve the problems that an existing mechanical arm trajectory planning method easily causes sudden posture change and affects trajectory continuity and motion stability when Euler angle velocity is adopted for posture planning. According to the method, the Jacobian matrix is adopted for operation without depending on a complex inverse kinematics calculation process, and the method can be suitable for redundant mechanical arms of any configuration; according to the method, the tail end trajectory is planned in a pose matrix mode, joint layer optimization is achieved through a null space formed by redundant freedom degrees, pose sudden change easily caused when the Euler angle velocity is adopted for pose planning is avoided, and the continuity and motion stability of trajectory planning of the mechanical arm are improved.

The invention discloses an Internet of Vehicles channel modeling method considering antenna attitude vibration, and the method comprises the steps: building an accurate vibration model of an antenna three-dimensional attitude through precisely modeling vehicle body tiny vibration caused by bumping, steering and other factors in vehicle driving into micro-motion of an antenna attitude at three time-varying Euler angles of pitching, rolling and yawing; the time-varying attitude is introduced into a coordinate system rotation matrix, the random vibration characteristic parameterization of the antenna in a three-dimensional space is realized, and then the random vibration characteristic parameterization is coupled to the evolution of key parameters of a channel model, so that the channel rapid fluctuation and beam mismatch effect caused by the antenna attitude jitter can be more accurately reproduced; the method can effectively solve the problems that in the prior art, due to the fact that microcosmic vibration of an antenna is ignored, the fidelity of a model is low, and characterization of a key beam mismatch effect in millimeter wave communication is seriously insufficient, and can provide theoretical basis and data support for performance evaluation and beam management algorithm design of a high-dynamic and high-reliability car networking system.

The invention relates to the technical field of array antennas, in particular to a sparse linear array beam forming method and system with unit rotation and mutual coupling considered. Array elements are obtained, Euler angle derivation is carried out on rotation of the array elements around the z axis, and a radiation electric field after rotation is obtained; setting a beam forming target according to the electric field of the radiation field; according to a beam forming target, optimizing the position, the rotation angle and the excitation phase of an array element by adopting a random optimization algorithm, and generating an initial beam scheme; an active directional diagram is extracted from the initial beam scheme according to full-wave simulation, the active directional diagram is combined with a CAL-SAPSO algorithm to optimize the array element position, the rotation angle and the excitation phase, and a final array element directional diagram is generated; according to the invention, by introducing array element rotation and considering a mutual coupling effect, efficient beamforming of the sparse wiring array is realized, the radiation characteristic of the antenna array can be adjusted more finely, the peak side lobe level and the cross polarization level are effectively reduced, and the overall performance of the system is improved.

The invention relates to the technical field of position control, in particular to a servo closed-loop full-automatic plugging visual control method and system, and the method comprises the following steps: obtaining a static direction and an attitude angle of a plugging interface, constructing a reference configuration, calculating a current attitude deviation and an inclination angle to generate an offset configuration, extracting an offset angle comparison tolerance, and adjusting a servo actuator. According to the method, the attitude judgment precision is improved by collecting the attitude angles of the contact pin and the interface to construct the angle vector, calibrating and generating the reference configuration, the direction deviation index is formed by combining the attitude deviation and the inclination angle, and the direction recognition accuracy is enhanced; an adjusting instruction is generated through the difference value of the deviation angle and the Euler angle, dynamic response and self-adaptive adjustment are achieved, current, position and speed changes in disturbance signals are synchronously collected, disturbance vectors are constructed, the trend is analyzed, the plugging state is judged, stability monitoring and closed-loop adjustment are achieved, and plugging consistency and control precision are improved.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention discloses a microstructure digital processing method and system for a metal material EBSD result, and the method comprises the steps: defining the physical orientation of a material, namely describing the orientation of a crystal through three continuous rotations; performing image processing on the acquired microstructure image to obtain a distribution rule of crystal grains; the microstructure of the material is re-identified and combined, and small crystal grains which cannot be identified in EBSD data processing software are eliminated; assigning the microstructure image obtained by re-identification to obtain a material microstructure segmentation result; and linking the crystal grains with Euler angle orientation exported from EBSD data processing software to obtain orientation distribution data of the microstructure of the material. On the basis of EBSD data processing software, grain distribution and Euler angle orientation information in the EBSD data processing software are extracted, the Euler angle orientation information can be used for subsequent cellular automaton model and theoretical analysis, the resolution can be adjusted according to needs, and the recognition precision is improved.

The invention relates to the technical field of flight control, in particular to a thrust vector type short-range vertical take-off and landing aircraft hovering control method and device, and the method comprises the steps: building a thrust vector type short-range vertical take-off and landing aircraft hovering dynamic model based on the nonlinear relation of the aircraft speed, the Euler angle, the angular speed, the thrust and the torque; designing a reconfiguration controller of a power system of the thrust vector type short-range vertical take-off and landing aircraft, and designing a hovering controller of the thrust vector type short-range vertical take-off and landing aircraft; designing an extended state observer used for estimating a nonlinear term and a state derivative in the hovering dynamics model; and feeding back the estimated nonlinear term and the estimated state derivative of the extended state observer to a hovering controller so as to carry out hovering control on the thrust vector type short-distance vertical take-off and landing aircraft. Therefore, the problem that efficient decoupling and robust control of multiple execution mechanisms in an aircraft system are difficult to realize by a dynamic inverse-based hovering control method in related technologies is solved.

The invention discloses an IMU (Inertial Measurement Unit) drift error calibration method for long-term attitude measurement of an industrial robot. The IMU drift error calibration method comprises the following steps: deducing a pose matrix between a robot base coordinate system and a navigation coordinate system; deriving a pose matrix between a robot tail end coordinate system and a sensor body coordinate system; kinematics modeling is conducted on the industrial robot, and motion parameters are obtained; deriving a homogeneous transformation matrix between two adjacent joints according to the kinematic parameters; acquiring actual joint corner information when the robot runs and actual information measured by a tail end IMU when the robot runs; wherein the actual information of the IMU comprises actual angular velocity information and actual attitude information; the collected actual joint rotation angle information is substituted into the homogeneous transformation matrix, theoretical attitude information of the tail end of the robot is obtained, and the theoretical attitude information is converted into a navigation coordinate system; converting the theoretical attitude information converted into the navigation coordinate system into an Euler angle; designing a Kalman filter; according to a Kalman filter, data fusion of theoretical attitude information and actual attitude information is completed, and calibration is achieved. According to the method, joint angle information, the industrial robot end theoretical attitude obtained through forward kinematics calculation of the kinematics model and actual attitude data obtained through IMU measurement are fused, and accumulated error calibration formed in long-term attitude measurement of the IMU is achieved.

An acoustic resonator includes a substrate, a lithium tantalate layer disposed over the substrate, and a transducer on the lithium tantalate layer. The lithium tantalate layer has a crystalline orientation defined by a first Euler angle (λ), a second Euler angle (μ), and a third Euler angle (θ), and the first Euler angle (λ), the second Euler angle (μ), and the third Euler angle (θ) are chosen such that an acoustic plate mode (APM) is a dominant mode excited in the acoustic resonator.

The invention discloses a reconfigurable exoskeleton power-assisted robot, a control method, equipment and a storage medium. The control method comprises the following steps that human body motion data are collected in real time through a sensor module; calculating an Euler angle by adopting a quaternion fusion algorithm; predicting a target position based on Kalman filtering; compensating a tracking error through a PID controller; switching a working mode according to the motion state; according to the invention, single interaction limitation is broken through, operation convenience and function expandability are both considered, and efficient man-machine cooperation is realized.

The invention relates to the technical field of attitude estimation, in particular to an attitude estimation method in a magnetic interference environment, which comprises the following steps of: obtaining a conversion relation between an Euler angle and a quaternion; calculating the quaternion at the next sampling moment; respectively solving a first state transition matrix, a first process noise matrix and a first prior covariance according to the first state equation; respectively solving a second state transition matrix, a second process noise matrix and a second prior covariance according to a second state equation; elements in the nb-series rotation matrix are used as observed quantities of state variables in the parameter-series rotation matrix, a corresponding Kalman gain is calculated, and a Jacobian matrix is designed by using the observed quantities; calculating an observation noise covariance matrix by using the Jacobian matrix; updating the Kalman gain by using the observation noise covariance matrix; and updating the state equation and the posterior covariance by using the updated Kalman gain and the observed quantity. The method solves the problem of how to prevent the calculation of the roll angle and the pitch angle from being influenced by magnetic interference when the magnetic interference exists.

The invention discloses a method and a device for solving direction perception disorder caused by a rotating mirror, and solves the problem that an adjacent tissue structure outside a part is difficult to determine after endoscopic examination rotation in a similar upper digestive tract wall internal lesion. The method comprises the following steps: acquiring pose information of an endoscope in an electromagnetic navigation system of a lumen target position and a corresponding image in the lumen as a reference pose; obtaining a track pose of the endoscope after the view field is adjusted in the electromagnetic navigation system and a corresponding intraluminal image, and determining an Euler angle of each track point according to the track pose; obtaining a track pose of the endoscope after the view field is adjusted in the electromagnetic navigation system and a corresponding intraluminal image, and determining an Euler angle of each track point according to the track pose; performing three-dimensional reconstruction on the lumen and the adjacent tissue thereof according to the lumen image map, and performing corresponding rotation according to the rotating mirror angle and the corresponding image in the lumen to obtain the rotated lumen and the adjacent tissue thereof; according to the invention, after the endoscope rotates to the optimal visual field, the adjacent tissues outside the endoscope can be clearly known.

The invention relates to a shaft system response calculation method considering gyroscope bending-torsion coupling, which comprises the following steps: establishing a gyroscopic effect model based on the gyroscopic effect and Euler angle decomposition absolute angular velocity of a rotor; hydraulic excitation and coupling torque generated by the hydraulic excitation are calculated; the total kinetic energy and the total potential energy of the shaft system including the gyroscopic effect are calculated, and a dynamic response model of the shaft system of the water-turbine generator set is established based on the Lagrange equation. According to the method, a bending-torsion coupled vibration nonlinear mathematical model containing a gyroscopic effect and hydraulic excitation is constructed, the influence of the gyroscopic effect on shafting vibration characteristics, the hydraulic excitation and coupling torque generated by the hydraulic excitation are considered, and total kinetic energy and total potential energy containing the gyroscopic effect are integrated; the problem that vibration coupling factors are not fully considered in the prior art is solved, and the shaft system power precision of the water-turbine generator set is improved. The method has important practical significance for preventing major vibration accidents of the hydropower station, and the operation stability of the water-turbine generator set can be improved.

The invention discloses an optical satellite drift angle accurate calculation and attitude correction method and system, and relates to the technical field of satellite attitude control, and the method comprises the steps: calculating a prime unitary circle curvature radius according to a WGS84 ellipsoid parameter, and converting the geodetic coordinate of a ground target point into an ECEF rectangular coordinate; calculating Julian days based on UTC time, determining an age difference angle and a nutation angle, and converting an ECEF coordinate into a J2000 coordinate; calculating the projection of the earth rotation angular velocity in a J2000 coordinate system, and determining a relative velocity vector; determining an orthogonalized body coordinate system in combination with a unit vector from the target satellite to the ground target point; and projecting the relative velocity vector to a body coordinate system, calculating a drift angle and a double-rotation-sequence Euler angle, and correcting a real-time execution attitude by rotating a matrix around a Z axis. According to the method, high-precision image motion compensation can be realized, the imaging quality of a high-resolution optical satellite in a complex task scene is improved, and a technical foundation is laid for wide application of sub-meter remote sensing images.

The invention discloses a mobile crane control method and system based on space attitude perception, and relates to the technical field of cranes, and the method comprises the following steps: obtaining first crane data; according to the first crane data, calculating tower section center point coordinates and Euler angle attitudes based on a binocular vision three-dimensional reconstruction algorithm to obtain second crane data; inputting the second crane data into a self-adaptive fuzzy PID (Proportion Integration Differentiation) controller, and generating a hydraulic valve opening degree control instruction by combining pre-acquired environmental data and load weight dynamic setting control parameters; and controlling and driving a crane slewing mechanism according to the hydraulic valve opening control instruction. The method is used for solving the problems of insufficient target positioning precision of the mobile crane and poor stability of a control mechanism under complex working conditions.

The invention relates to the technical field of radio frequency filters, in particular to a 13GXBAR filter design method based on a lithium niobate film. The Euler angle of the lithium niobate thin film is subjected to simulation setting in finite element simulation software, admittance responses under different cutting angles are obtained, an admittance curve with a large electromechanical coupling coefficient and complete stray mode suppression is obtained, the tangential angle is used for simulating an electrode material, the interdigital logarithm, the interdigital distance, the thin film thickness and the metallization ratio, and an admittance curve with a large electromechanical coupling coefficient and complete stray mode suppression is obtained. The method comprises the following steps of: constructing a plurality of resonators, obtaining impedance of each resonator, obtaining material parameters of the corresponding resonator, constructing a three-dimensional force-electricity coupling model of the lithium niobate resonator, carrying out layout design on the physical model in finite element simulation software through a field-circuit coupling method, and coupling force-electricity-sound multi-physical fields to obtain an S parameter curve of the designed XBAR filter; and whether the S parameter result is consistent with the target is verified, so that the forward design of full-simulation driving is realized.

The invention discloses an unmanned aerial vehicle positioning method and device based on an oblique photography model and a storage medium, and the method comprises the steps: obtaining a three-dimensional coordinate system for constructing the oblique photography model, and the oblique photography model comprises a model original point; converting real-time coordinate information acquired by the unmanned aerial vehicle into a three-dimensional coordinate system to obtain three-dimensional coordinates; determining a three-dimensional attitude angle of the unmanned aerial vehicle in the three-dimensional coordinate system according to the Euler angle obtained by the unmanned aerial vehicle; and determining a target pose parameter of the unmanned aerial vehicle according to the three-dimensional coordinate and the three-dimensional attitude angle. According to the scheme, the positioning efficiency of the unmanned aerial vehicle can be improved.

The invention discloses an aircraft control method based on barometric altitude compensation and attitude calculation of dual-sensor fusion, and the method comprises the steps: carrying out the temperature compensation and attitude calculation through collecting the data of a barometric sensor and an inertial measurement unit, and obtaining an original altitude and an Euler angle; processing the original height based on an alpha-beta filter to obtain an air pressure estimation height, and calculating an inertial navigation height and a vertical speed through attitude conversion integral; a self-adaptive complementary filtering strategy is adopted, the fusion weight is dynamically adjusted according to the air pressure estimation height variance, the high-frequency inertial data and the low-frequency air pressure data are fused, and accurate fusion height and vertical speed are output; finally, constructing a cascade controller, and calculating a target vertical speed instruction by an outer ring according to the expected height deviation; the inner ring generates an actuator signal based on the deviation to drive a motor; height stable control is achieved, so that drifting is effectively restrained, the precision and the response speed are improved, and reliable height control of the aircraft under vibration or air pressure changes is achieved.

The invention discloses a freight spaceship reentry recovery attitude cooperative control method. The method comprises the following steps: S1, determining key attitude indexes in a freight spaceship reentry recovery process; s2, collecting atmospheric environment parameters in a reentry process, and meanwhile, obtaining earth gravitational field distribution data to provide environment input for a subsequent attitude control algorithm; s3, based on the Newton's second law and the Euler equation, establishing a kinetic model of the freight spaceship, establishing an attitude kinematics model by adopting a quaternion method or an Euler angle method, and establishing an execution mechanism model for a propulsion system of the freight spaceship; through sub-filter local estimation and main filter global weighting, noise and abnormal values are effectively filtered, attitude estimation precision is improved, instruction distribution adopts a pseudo-inverse method in combination with a weighted least square method, an initial instruction is obtained through the pseudo-inverse method, then secondary optimization is performed in combination with execution mechanism constraints, instruction oversaturation is avoided, and attitude estimation accuracy is improved. Extra redundant execution mechanisms are not needed, and the hardware cost is reduced.

A modified differential evolution process including a reseed operation is performed to estimate a plurality of Euler angles indicating orientations of a specified quantity of crystals approximating the crystallographic texture extracted from the material test data, the reseed operation comprising retaining a data point at a first place of a first population of data points, and replacing all other data points of the first population of data points prior to continued iterations, wherein the first population of data points is a collection of a plurality of all data points and each data point comprises the specified quantity of Euler angles, and the data point at the first place of the first population of data points is the data point within the first population of data points that best fits the material test data.

The application provides a dynamic motion trajectory extraction method based on Kalman filtering and repeated data screening, which comprises the following steps: installing IMU on a plurality of key motion joints of a dynamic living body, generating an initial trajectory data set through data collected by the IMU; setting a state space model based on the measurement data in the initial trajectory data set and Euler angles, and performing noise compensation on the initial trajectory data set through a Kalman filter; optimizing the initial trajectory data set after Kalman filtering through a repeated data screening (RDS) algorithm to obtain an optimized trajectory data set; and calculating the joint axis direction through the optimized trajectory data set, and constructing the dynamic motion trajectory of the dynamic living body according to the calculated joint axis direction and the angular velocity data after Kalman filtering. The method combines the Kalman filtering algorithm and the repeated data screening algorithm to extract the trajectory, and significantly improves the robustness and accuracy of the dynamic motion trajectory extraction of the living body.

The present invention belongs to the field of oil and gas exploration and development, and specifically relates to a magnetic measurement method for radial horizontal well trajectories. Magnetic field parameter measurements and inertial measurements are performed with a deflector as the magnetic field source and a jet nozzle as the measuring point. The nozzle attitude quaternion or Euler angle at each moment is calculated based on the inertial measurement and data fusion principle. A fixed coordinate system in the wellbore and a nozzle body coordinate system are established with the deflector and the nozzle as the origins, respectively, and the transformation matrix between the two coordinate systems is calculated based on the nozzle attitude data. Combined with the artificial magnetic field gradient parameters, magnetic flux density, and magnetic field data measured at the nozzle, the coordinate points of the nozzle in the fixed coordinate system in the wellbore are calculated by inverse derivation. The radial horizontal well trajectory can be obtained by linking the nozzle coordinates at each moment.

The utility model provides a kind of analytical modeling method of model measuring point three-dimensional coordinates and Euler angle, the utility model is suspended under crossbeam by crane by scanning workpiece, solve the deformation problem of large thin-walled part different from its working posture due to the workpiece to be scanned by gravity, scanner is installed at the end of manipulator, realize all-around scanning to workpiece, according to the distance signal of scanner to control the scanning distance between scanner and workpiece to be scanned, solve the fatigue of operator long time handheld scanner, while can stably keep scanner and workpiece to be scanned directly optimal scanning distance, the utility model can satisfy the automatic scanning of different size sheet metal parts in whole vehicle reverse engineering, solve the deformation problem of large sheet metal part different from its working posture due to gravity when being placed on traditional scanning platform, while three-dimensional coordinates and Euler angle of measuring point in whole vehicle crash test and body-in-white modal test can be obtained quickly, improve scanning efficiency, shorten reverse engineering cycle etc.

The present disclosure provides a method for determining the pose of an optical master hand, a surgical robot system. The determination method comprises: acquiring current quaternion data of the optical master hand at the current time; based on the current quaternion data and historical quaternion data of the optical master hand at a plurality of historical time points before the current time, determining a target quaternion data set; based on the target quaternion data set, determining a first quaternion matrix, the first quaternion matrix comprising the target quaternion data set, a target velocity set of the target quaternion data set, and a target acceleration set of the target quaternion data set; embedding the first quaternion matrix into a high-dimensional space to obtain a second quaternion matrix; performing position encoding on the second quaternion matrix to obtain a third quaternion matrix; based on the third quaternion matrix, using a network model to determine a target quaternion matrix with a dependency relationship; based on the target quaternion matrix, obtaining a target Euler angle, the target Euler angle representing the pose of the optical master hand at the current time.

The application discloses a kind of wideband helical antenna auxiliary vibrating rod positioning method, and the position and time information are obtained by receiving the signal sent by reference station through master control box, and then positioning is realized after processing calculation;Worker's head coordinate is collected by wideband single helix positioning antenna, and the coil number in vibrating rod is obtained by flexible antenna;Euler angle is collected by attitude angle sensor inside master control box, and the grip point coordinate is obtained by head coordinate and Euler angle, the distance from grip point to vibrating rod insertion end point is calculated, the coordinate of grip point is obtained, finally the insertion point coordinate of vibrating rod is calculated by the coordinate of grip point, this method is simple and feasible, and wideband single helix antenna provides stable positioning performance in complex signal environment, with high accuracy and high stability.

The present disclosure provides a gait analysis method and system, and an apparatus for improving a walking obstacle. The method includes: acquiring three-axis acceleration data and three-axis angular velocity data collected by an inertial sensor, and acquiring pressure data collected by a pressure sensor; performing a quaternion operation on the three-axis acceleration data and the three-axis angular velocity data to acquire three-axis acceleration and a three-axis Euler angle corresponding to a ground coordinate system; identifying a swinging state and a stationary state of feet based on the three-axis acceleration data and the pressure data; analyzing based on the three-axis acceleration, the three-axis Euler angle, and the swinging state and the stationary state of the feet to acquire gait parameters related to a straight walking process, a turning processing, a feet to ground angle, and a feet tremor; and uploading the gait parameters to a server.