1306 results about "Filter algorithm" patented technology

The invention discloses a vehicle-mounted Beidou positioning deviation self-calibration system fused with inertial navigation information, and relates to the technical field of navigation and positioning. The method is used for solving the problems of positioning deviation accumulation and signal failure in a complex environment. The system realizes space-time alignment of inertial navigation and Beidou observation data through timestamp interpolation and coordinate system conversion, and constructs a multi-source synchronous data stream. A difference value between an inertial navigation calculation speed and a Beidou Doppler speed is analyzed based on a vehicle incomplete constraint model, and a weight factor is generated in combination with a confidence threshold to suppress abnormal observation. A geometric matching error is calculated through a high-precision lane map curvature and a vehicle steering angle, and candidate tracks are screened to generate transverse calibration parameters. The noise covariance is dynamically adjusted through a tight coupling filtering algorithm, the mode is switched to a lane constraint calibration mode when a Beidou signal is interrupted, inertial navigation errors are compensated through error boundary constraint, and stable output is achieved. Multi-source data deep fusion and adaptive robust calibration are realized, and system robustness and positioning continuity are improved.

The invention relates to the technical field of image processing, and discloses a detection method, system and equipment for intelligent welding of pipe pile splicing and a medium. The method comprises the steps that noise reduction is conducted on a target weld seam image through a filtering algorithm, registration and splicing are conducted on the image through feature matching, and a weld seam unfolding image is obtained; segmenting the weld joint expanded image by using a deep learning network, and extracting a weld joint center line and surface features to obtain weld joint feature data; defect detection and recognition are conducted on the weld joint feature data, hierarchical calculation is conducted through a rule set, and weld joint quality data are obtained; parameter mapping is conducted according to the weld joint quality data, a welding parameter instruction is generated, welding process variables are adjusted, and target welding parameters are obtained; and the welding seam quality data and the target welding parameters are stored, and a quality report is generated through data analysis. The detection accuracy of intelligent welding for pipe pile splicing is improved.

The invention discloses an electric power cabinet comprehensive monitoring method and system based on multiple sensors and a power distribution cabinet, and relates to the technical field of sensor monitoring. During operation of the system, various sensor data are collected from an electric power cabinet and the surrounding environment of the electric power cabinet, and electromagnetic environments, equipment states and environmental parameters inside and outside the electric power cabinet are monitored in real time; the method comprises the following steps: preprocessing original sensor data through a signal filtering algorithm, extracting feature information related to electromagnetic interference (EMI) from the processed data, calculating and obtaining an EMIindex through a machine learning algorithm, performing state evaluation and fault prediction on equipment in the power cabinet, providing early warning of fault types and giving maintenance suggestions, when the electromagnetic interference intensity exceeds the standard or an equipment fault occurs, a real-time alarm signal is automatically triggered through an intelligent judgment mechanism, a system self-adaptive control mechanism is started, an electromagnetic environment index and an equipment state report are generated, and remote monitoring is carried out on the electric power cabinet.

The invention relates to the technical field of battery management systems, and particularly discloses a battery signal acquisition precision optimization method of a BMS (Battery Management System), which comprises the following steps of: dynamically adjusting a covariance matrix of process noise and measurement noise by monitoring the voltage, current and temperature of a battery in real time so as to cope with the change of the working state of the battery; according to the change trend of the charge and discharge rate and the temperature, noise parameters are predicted and corrected, and the adaptability of the system in an extreme environment is improved; in combination with data from a plurality of sensors, weighted average and a self-adaptive adjustment mechanism of a Kalman filter are adopted, so that evaluation of the system on signal quality of different sensors and effective suppression of noise are enhanced; aiming at the sudden change of the battery state, the system can be ensured to quickly respond by automatically adjusting the filtering algorithm, the accurate monitoring of the battery health state is ensured, the stability and the accuracy of the battery management system can be improved, and the problem of estimation error under the extreme working condition of a traditional method is solved.

The invention provides a satellite-borne multi-band synthetic aperture radar signal processing optimization method and system, and relates to the technical field of signal processing, and the method comprises the steps: obtaining original echo data of a satellite-borne multi-band synthetic aperture radar, carrying out Doppler center frequency estimation, carrying out two-dimensional matrix product operation, and obtaining compensation echo data; distance direction position information and scattering intensity information are obtained based on a distance direction matching filtering algorithm of sub-band decomposition; determining spatial distribution density, performing adaptive block processing, and performing phase error modeling in each block to generate a continuous phase correction function; performing wavelet domain convolution operation to obtain corrected echo data, obtaining a multi-band two-dimensional image, extracting a multi-dimensional feature vector through a deep neural network, performing weight learning, performing nonlinear weighted fusion, and performing adaptive histogram equalization enhancement to determine a synthetic aperture radar imaging result.

The invention provides a satellite navigation and atmosphere fusion positioning method and system based on an inertial navigation system, and relates to the field of navigation. The method comprises the following steps: firstly, acquiring multi-source navigation original data, including inertial navigation data, satellite navigation data and atmosphere information data; performing feature extraction through deep learning to obtain multi-modal feature data; and performing quality evaluation on the satellite navigation data, and judging whether the satellite navigation signal is effective or not. When the satellite navigation signal is effective, carrying out combined navigation calculation by adopting a federated filtering algorithm, and establishing an atmospheric information error model; and when the satellite navigation signal is invalid, the error model is utilized to compensate the atmosphere information, and is fused with inertial navigation data, so that high-precision navigation is realized, and the flight safety of the unmanned aerial vehicle in a complex environment is guaranteed.

The invention discloses a multi-dimensional information integrated transformer health state monitoring method, which relates to the technical field of power systems, and comprises the following steps: deploying a multi-source sensor, collecting various signals of a transformer, and carrying out signal conditioning and analog-to-digital conversion on analog signals collected by the sensor; performing timestamp alignment on the received multi-source heterogeneous data, and eliminating data noise by adopting a filtering algorithm; key features which are sensitive to the health state of the transformer and complement each other are selected from the extracted feature values to form a health state evaluation index set; setting a sliding time window, obtaining historical data in the window, performing normalization processing on the data, calculating the information entropy and the variation coefficient of each index, and fusing the information entropy and the variation coefficient to obtain the dynamic weight of each index; obtaining a health state index of the transformer according to the normalized value and the dynamic weight; and displaying the health state index and the change trend thereof in real time, and setting an early warning threshold value and an alarm threshold value of the health state index.

The invention relates to the technical field of three-dimensional imaging, and discloses a high-precision underwater structured light three-dimensional point cloud imaging method and system, and the method comprises the following steps: deploying a plurality of sensor nodes, monitoring the temperature, salinity and turbidity key parameters of a water body in real time, selecting proper light source wavelength and power according to the collected data, and carrying out the three-dimensional point cloud imaging of the underwater structured light. It is ensured that the optimal signal-to-noise ratio is obtained under the current condition, and meanwhile the exposure time and gain setting of the camera are initialized. According to the method, the optimal signal-to-noise ratio is obtained by monitoring water body conditions in real time and dynamically adjusting light source characteristics, the optimal structured light pattern is predicted by using a machine learning model, scattering noise is removed, advanced registration and fusion algorithms and an accurate phase unwrapping method are applied, and a high-quality comprehensive structured light pattern is generated. Point cloud gaps are filled through a geometric correction algorithm and an interpolation / filtering algorithm, so that a reconstruction model is closer to the surface of a real object.

The invention relates to the technical field of inertial assistance, in particular to a Beidou high-precision space-time reference dynamic compensation system based on inertial assistance, which is characterized in that an inertial measurement unit module is used for measuring original measurement data, and the original measurement data comprises a carrier phase and a Doppler observation value; the processing unit module is used for fusing the inertial measurement unit, executing real-time environment perception and dynamic modeling, classifying an operation environment and predicting error characteristics; performing an adaptive robust fusion filtering algorithm that dynamically adjusts filter parameters and switches a filter model to estimate the position and attitude of the carrier; and in combination with radio wave precision single-point positioning enhancement service, super-tight combination signal tracking and integrity monitoring are realized, an estimated inertial assistance system state is fed back to a tracking loop of the multi-frequency Beidou receiving module, and real-time fault detection is performed on original measurement data.

The invention discloses a BIM model automatic generation method and system based on point cloud data, and belongs to the field of building information modelling, and the transmission method comprises the steps: obtaining original point cloud data, and employing a filtering algorithm based on point cloud density adaptive adjustment to carry out the preprocessing of the point cloud data; constructing a voxel octree structure for the preprocessed point cloud data, and performing semantic classification on the point cloud; geometric modeling is carried out based on the segmented point cloud subsets, and a fitting algorithm is adopted to carry out shape completion on a point cloud area; semantic annotation is carried out on the components subjected to geometric reconstruction, a corresponding relation between component types and spatial attributes is constructed, fusion features based on a point feature histogram and a local curvature are adopted, and classification is carried out; a standard BIM component family is converted, and a three-dimensional BIM model is constructed through the mapping relation. According to the method, the voxel octree data structure and the deep semantic segmentation neural network model are combined, division and semantic recognition are performed on the point cloud data, the intelligent degree of the model is improved, and manual intervention is reduced.

The invention relates to the technical field of data processing, in particular to an anti-interference six-dimensional sensor acquisition system, which comprises a multi-modal signal fusion module for receiving original acquisition data of a six-dimensional sensor and realizing fusion of the acquisition data of all sensors based on a self-adaptive dynamic weight distribution algorithm; the intelligent error compensation module is used for performing forward compensation on errors in the six-dimensional sensor data so as to improve the accuracy of the data; the correction feedback module is used for carrying out self-correction on the data acquired by the six-dimensional sensor at an application end and carrying out feedback adjustment on sampling parameters according to a correction result; according to the method, a self-adaptive covariance matched filtering algorithm is adopted, a noise covariance matrix is dynamically adjusted and measured in combination with Kalman filtering, the denoising effect is improved, and the optimal signal quality is ensured to be kept under different noise levels by setting a dynamic smoothing factor and adaptively adjusting a data smoothing process.

The invention discloses a ship inclination measurement method and system based on Kalman filtering fusion, and relates to the technical field of ship stability measurement, and the method comprises the steps: multi-sensor synchronous data collection, state space modeling and Kalman filtering fusion, adaptive dynamic adjustment of process noise, drift compensation, and fault tolerance and output. When the method and the system provided by the invention are used for measuring inclination, inclination angle error accumulation caused by gyroscope zero offset integral error, accelerometer dynamic interference, sensor noise and temperature drift, GNSS dependency and the like can be effectively avoided, available precision can still be maintained through multi-sensor depth coupling and an intelligent filtering algorithm, and the accuracy of inclination measurement is improved. The method is simple in operation, independent of satellite data, higher in stability, capable of greatly reducing hardware cost compared with GNSS and IMU schemes, and especially has the advantages of being simple in cost and installation configuration in ship refitting; and the method is also suitable for GNSS rejection or cost sensitive scenes such as inland ships, unmanned ships, offshore buoys and the like.

The invention discloses an optical cable fault diagnosis system and method based on a vibration filtering algorithm, relates to the technical field of optical cable fault diagnosis, and solves the problems of low efficiency, long response time and the like in the prior art and the technical problem that the health condition of an optical cable is difficult to comprehensively assess through single optical power data. The quality data of the optical cable are acquired; training an artificial intelligence model based on the historical vibration signal data to obtain an optical cable fault identification model; recognizing the vibration data based on an optical cable fault recognition model to obtain a recognition result; calculating an optical cable aging evaluation coefficient based on the vibration signal data and the optical power loss data; constructing an optical cable aging evaluation coefficient correction model based on the environment data to correct the optical cable aging evaluation coefficient obtained through calculation, and obtaining a target optical cable aging evaluation coefficient; and judging whether to carry out fault early warning based on the identification result and the target optical cable aging evaluation coefficient. The technical problem is solved.

The invention relates to the technical field of geological monitoring, and discloses a side slope deformation monitoring method based on spaceborne synthetic aperture radar, which comprises the following steps: S1, data acquisition: acquiring multi-source spaceborne synthetic aperture radar (SAR) data of a side slope area, the multi-source spaceborne SAR data comprising C-band SAR data and L-band SAR data; s2, self-adaptive preprocessing: self-adaptive preprocessing is performed on the multi-source spaceborne SAR data according to a ground surface coverage scene of a slope area, and the ground surface coverage scene comprises a low vegetation area, a medium-high vegetation area, a flying dust interference area and a high and steep terrain area. According to the slope deformation monitoring method based on the spaceborne synthetic aperture radar, a self-adaptive wave band fusion strategy is adopted for different vegetation coverage scenes, a time sequence coherence enhancement algorithm is combined, the vegetation area monitoring precision is remarkably improved, and noise signals are effectively eliminated and interference errors are reduced through flying dust and construction interference dynamic identification and a multi-dimensional filtering algorithm.

The invention provides an intention guide pushing method and system based on geographic position information and multimedia interaction. The method comprises the following steps: constructing an interest model based on a geofence technology and a deep neural network; generating a user activity intention prediction result based on the interest model, obtaining a behavioral rhythm analysis result by using a Bayesian network and a time sequence prediction algorithm based on the user activity intention prediction result, and constructing a user and place relation graph by using a graph theory algorithm based on determining the optimal pushing opportunity of the behavioral rhythm analysis result. Generating a time sensitivity optimization scheme; generating customized content based on a time sensitivity optimization scheme, processing the customized content by adopting an emotion analysis method, a collaborative filtering algorithm, an auto-encoder and a multi-head attention mechanism to obtain final content, adjusting the final content through an instant feedback mechanism, and generating a multimedia push packet; according to the invention, the performance and service quality of the intelligent pushing system are improved, and more accurate and personalized recommendation experience is provided for the user.

The invention discloses an environmental protection facility state monitoring and diagnosing method and system based on vibration and infrared detection, and the method comprises the following steps: collecting vibration and temperature data of environmental protection facility equipment, removing noise and environment interference through a filtering algorithm, and carrying out the standardization processing; extracting features of the data through a space-time convolutional network; performing deep fusion on the features by using an adaptive feature transformation network; performing abnormal mode detection; analyzing potential reasons of the abnormal mode by using a causal inference model, and generating a fault diagnosis report; a real-time processing strategy is generated, and the operation state of the environmental protection facility equipment is controlled in real time; and the fault diagnosis result and the instant processing strategy are uploaded to a cloud management platform, a notification is sent to related maintenance personnel, and remote monitoring and collaborative maintenance are realized. According to the method, the space-time convolutional network and the causal inference model are adopted, the faults of the environmental protection facility equipment are effectively identified, a proper emergency processing strategy is generated according to the real-time monitoring data, and the accuracy and response efficiency of equipment fault diagnosis are improved.

The invention provides an industrial robot welding track real-time optimization method and system based on deep learning, and relates to the technical field of industrial robots, and the method comprises the steps: collecting three-dimensional point cloud data, carrying out the multi-scale processing to generate a high-precision curved surface, constructing a welding seam feature descriptor, and carrying out the real-time optimization of the welding track of an industrial robot; and the mapping relation between the technological parameters and the welding posture is optimized on the basis of a multi-target reward function, the mapping relation is converted into an initial movement track, the track is dynamically optimized through a segmented self-adaptive optimization model and a variable structure filtering algorithm, and self-adaptive adjustment of the welding process is achieved. The welding precision and quality of the complex curved surface are improved, and the adaptability and stability of robot welding are enhanced.

The invention provides a high-precision intelligent welding system adapting to complex working conditions, and relates to the technical field of laser welding. The high-precision intelligent welding system adapting to the complex working conditions comprises the steps of S1, based on a high-resolution visual sensor and a laser scanner, S2, based on preprocessed point cloud data, S3, based on a workpiece three-dimensional model, S4, based on an optimized welding path and a material attribute database, S5, based on a dynamic welding parameter set, S6, based on a real-time welding track, and S7, based on multi-sensor monitoring data. S8, based on a defect detection report; and S9, based on a repaired welding result and historical welding data. According to the invention, the geometric data of the workpiece are collected through the high-resolution visual sensor and the laser scanner, the filtering algorithm is applied to remove noise to generate high-quality point cloud data, and a subsequent processing foundation is laid; workpiece features are identified by using a point cloud processing algorithm and a machine learning method based on the point cloud data, and an accurate digital model is generated through a three-dimensional reconstruction algorithm.

The invention provides a vehicle cluster tunnel access positioning method based on intelligent cooperation and a vehicle-mounted terminal, relates to the technical field of intelligent driving control, and solves the problems of positioning interruption, inertial navigation error accumulation and insufficient cooperative positioning reliability caused by satellite signal failure of a vehicle cluster in a tunnel scene. The method comprises the following steps: judging whether each vehicle enters or exits from a tunnel area, when part of vehicles enter a tunnel, dynamically selecting a reference node from vehicles with effective satellite signals outside the tunnel, and broadcasting original observation values of the satellite signals; establishing a relative position constraint model of a vehicle cluster, acquiring relative position data of adjacent vehicles in real time among the vehicles, and performing dynamic weighted fusion on observation values, IMU data and relative position data of the vehicles with effective satellite signals by adopting a combined filtering algorithm; the satellite signal failure vehicle performs positioning calculation by combining the broadcast observation value with the IMU data and the relative position constraint model; and pre-capturing satellite signal loop parameters when driving out of the tunnel.

The invention discloses a homogeneous real estate space intelligent search method and system based on space partition, and relates to the technical field of space data processing and intelligent search. According to the homogeneous real estate space intelligent search method and system based on space partition, the data of the target real estate area is obtained and preprocessed, so that the accuracy and integrity of the data are ensured; dividing the pre-processed area into a plurality of space subareas through a geographic information system, extracting homogeneous features through a clustering algorithm, and analyzing a peripheral matching adaptation degree index of each subarea in combination with geographic position preference of a user to form a homogeneous house resource set; and searching and matching the homogeneous house resource set through a collaborative filtering algorithm, generating a user recommended house resource list, calculating a matching degree index of house resources in each partition, setting a dynamic feedback mechanism, and sorting the recommended house resource list in real time, so as to improve the user satisfaction. Personalized housing resource recommendation is provided for the user, and the convenience and accuracy of real estate transaction are improved.

The invention relates to the technical field of education management, in particular to a practical training teaching and evaluation management system, and aims to ensure that each task strictly corresponds to a teaching target by acquiring practical training task parameters and establishing a mapping relationship between practical training tasks and a teaching outline through a knowledge graph, and to realize practical training teaching and evaluation management by utilizing integration and mapping of multi-source data. A data basis is provided for subsequent analysis; a collaborative filtering algorithm is utilized to match student ability and training task requirements, and a matching degree score is output, so that the rationality of training task allocation is improved; the training process of the students is monitored and evaluated in real time through a multi-modal data intelligent analysis technology, and timely feedback is provided for teachers and the students; the skill tree is dynamically constructed and updated through a multi-modal evaluation result, a personalized practical training task recommendation sequence is generated, and the structure and node attributes of the skill tree are adjusted in time according to the actual learning condition and ability development of students, so that the skill tree has better pertinence and adaptability, and the learning efficiency is improved.

The invention discloses a method, a device and equipment for generating a stability control strategy of a wind power grid-connected system based on digital twinning and a medium. The method comprises the following steps: acquiring historical operation data and wind power operation data of the wind power grid-connected system; constructing a digital twinborn model and acquiring real-time measurement data according to the historical operation data in combination with a topological structure of the wind power grid-connected system; calling a preset filtering algorithm to perform state estimation optimization according to the real-time measurement data, and determining an optimal system state; extracting feature state vectors from the optimal system state and the wind power operation data; and predicting the feature state vector according to a built-in strategy through a preset target reinforcement learning model, generating a stability control strategy instruction, and issuing the stability control strategy instruction to a corresponding module in the wind power grid-connected system, thereby effectively improving the adaptability of wind power grid-connected control.

The invention provides a pressure pipeline corrosion on-line monitoring method and system, and relates to the technical field of pipeline monitoring, and the method comprises the steps: obtaining three-dimensional point cloud data, obtaining reduced sampling point cloud data through an octree filtering algorithm, constructing a geometric feature scattering matrix, inputting a multi-scale fusion twin network, and learning feature differences through a contrast loss function. Generating a corrosion probability distribution diagram; on the basis of an iterative nearest point algorithm, registering the corrosion probability distribution diagram, extracting a corrosion overrun area, performing overlay analysis on the corrosion overrun area and the pipeline stress concentration area, and determining a high-risk corrosion area; the method comprises the following steps: arranging a sensor array around a high-risk corrosion area, acquiring sensor corrosion signals, performing variational mode decomposition, extracting intrinsic function components related to corrosion characteristics, performing sparse representation on the intrinsic function components, constructing a dispersion compensation matrix, and determining a corrected sparse characteristic matrix; and inputting into a multi-core extreme learning machine discriminator to judge whether leakage occurs in the high-risk corrosion area.

The invention discloses an electroencephalogram signal frequency domain feature extraction optimization method and system, and relates to the technical field of biomedical signal processing, and the method comprises the steps: obtaining a time domain signal; carrying out noise removal processing on the acquired time domain signal by adopting an adaptive noise filtering algorithm to obtain a processed time domain signal; performing spectral analysis on the processed time domain signal through a frequency domain conversion algorithm to generate a frequency domain signal; dividing frequency bands of the frequency domain signal according to different frequency ranges to obtain decomposition signals of a plurality of frequency bands; extracting frequency domain features from the decomposed signals, and summarizing the extracted frequency domain features to generate an initial feature set; performing dimension reduction processing on the initial feature set by applying a dimension reduction technology to obtain an optimized feature set; and classifying the optimized feature set by using a machine learning model suitable for a classification task to obtain a classified feature set. The method solves the problems that in the prior art, the current electroencephalogram signal processing efficiency is poor, and the practical application of the electroencephalogram signals is affected.

The invention relates to the field of signal processing, and discloses an FPGA-based dynamic multi-modal signal fusion algorithm and an adaptive noise suppression system, and the algorithm comprises a signal collection module which is used for collecting signals of different modals through a multi-modal sensor, adding a timestamp and a sensor identifier to each modal signal, and obtaining an original signal; the space-time calibration module is used for performing time synchronization and space external parameter calibration on the original signal and outputting a space-time aligned single-mode signal; and the noise suppression module is used for mapping high-dimensional signals to low-dimensional Riemannian manifolds through a manifold embedding algorithm for each single-mode signal aligned in time and space, and suppressing non-Gaussian noise by using a manifold thermonuclear filtering algorithm. Space-time labels are given to multi-mode signals by means of a signal acquisition module, time deviation and space position difference between sensors are eliminated through a space-time calibration module, and non-Gaussian noise is filtered out through a noise suppression module based on manifold learning and intrinsic characteristics of the signals are reserved.

The invention discloses an intelligent hardware equipment monitoring method based on the Internet of Things, which comprises the following steps of: acquiring data such as sensor signals, temperature power consumption of a processor, voltage and current of a power supply module and the like in real time, processing the data by applying technologies such as a filtering algorithm, a causal inference model and time sequence analysis and judging the performance change of a component; and inputting the processed data into a pre-training regression model, predicting the residual life of each component and generating a health score, integrating the health scores of each component, introducing a dynamic correlation analysis and adaptive weight adjustment mechanism, constructing a system-level health state report, and generating a priority maintenance plan for high-risk components based on the report. Intelligent evaluation and prediction of the health state of the hardware component are realized, interruption of operation of the monitoring system due to hardware faults is effectively avoided, and the reliability and maintenance efficiency of the system are improved.

The invention discloses an autonomous cognitive algorithm of a patrol robot hidden area based on a 3D laser radar, and relates to the technical field of artificial intelligence. The invention provides an autonomous cognitive algorithm for a patrol robot hidden area based on a 3D laser radar. The autonomous cognitive algorithm comprises the following steps: acquiring a non-ground point cloud by adopting a ground point cloud filtering algorithm; for the obtained non-ground point clouds, dividing concentric circle regions according to Euclidean distances, and performing Euclidean clustering on the point clouds in the concentric circle regions to obtain clustered point cloud clusters; according to the point cloud cluster, calculating an axis alignment bounding box, and obtaining a hidden point coordinate; and according to the point cloud cluster, calculating a directional bounding box, and calculating coordinates of a shielding point in a sight line shielding mode, thereby automatically calculating and obtaining a shielding angle. Therefore, by the adoption of the method, the hidden area is reasonably selected according to the angle information in the patrol process through the 3D laser radar data, the hiding effect is achieved, the patrol task is better completed, and high robustness and practicability are achieved.

The invention relates to the technical field of industrial robot path control, and discloses an industrial robot real-time path correction method, which comprises the following steps: acquiring current position information, speed information and acceleration information; calculating and generating a path error value by adopting an Euclidean distance; an error feedback control method and an inverse kinematics algorithm are combined to generate a correction matrix, and the angle, angular velocity, acceleration and angular acceleration parameters of the industrial robot joint are adjusted in real time; and further adjusting the motion trail parameters based on an improved Kalman filtering algorithm. Compared with the technical problems that in the prior art, path correction lags behind, precision is insufficient, and real-time path correction is difficult to achieve especially in a complex dynamic environment, due to the fact that multi-sensor fusion, a feedback control algorithm and an improved PID control algorithm are combined for use, the path is corrected in real time, error accumulation is reduced, and therefore the situation that path deviation is too large is avoided; and the production efficiency of the industrial robot in a complex environment is improved.

The invention discloses a control system and method for a thermal power generating unit and flywheel energy storage to cooperatively participate in power grid frequency modulation and a power grid frequency modulation method. According to the method, a low-pass filtering algorithm is abandoned, a tracking differentiator is used for decomposing a primary frequency modulation instruction of the thermal power generating unit, and decomposed low-frequency power components are distributed to the thermal power generating unit; high-frequency power components are distributed to the flywheel for energy storage, action times and output abrasion of the thermal power generating unit are reduced, and the service life of the unit is prolonged. A gain coefficient which adaptively changes along with the state of charge (SOC) and frequency deviation is introduced into the decomposed high-frequency power component, so that accurate matching requirements are facilitated, the energy utilization efficiency is improved, the frequency fluctuation of a power grid is better stabilized, and the quality of the power grid is improved; and meanwhile, a Logistic function for preventing the flywheel from being overcharged and overdischarged is introduced to restrain the theoretical response power of flywheel energy storage, deep charging and discharging of the flywheel are avoided, and therefore the loss of the flywheel is reduced.

The invention discloses a battery capacity performance testing method and device and a storage medium, and relates to the technical field of battery capacity performance testing. By constructing a dynamic load model and a multi-load test protocol and combining a high-precision data acquisition and filtering algorithm, adaptive data analysis and a machine learning regression model, the problems of difficulty in balancing precision and efficiency, large data acquisition error, fixed test protocol and the like in the traditional battery test are solved; by dynamically adjusting test parameters and environmental conditions, complex working conditions of the battery in actual use are accurately simulated, meanwhile, dynamic updating and optimization of a test protocol are achieved, the test precision, the data reliability and the test efficiency are remarkably improved, and a comprehensive, efficient and high-adaptability solution is provided for battery performance evaluation and health management.