328 results about "Frame of reference" patented technology

A method of programming an industrial robot (100), with a robot manipulator (110) and robot controller (120), comprises: recording movements of the robot manipulator during a demonstration-based robot programming session, for thereby obtaining a robot trajectory; acquiring a video of the robot programming session; and generating, on the basis of the robot trajectory and the video, a robot program (C) executable by the robot controller, wherein the robot program includes at least one motion command which is expressed in a first reference frame (0 1). The method further comprises capturing operator input data indicating a first object (151) in an image in the video. The generated robot program includes a command to identify a position of an object resembling the first object in a work area (150) of a robot which executes the robot program; and the first reference frame is defined with respect to the identified position of the object resembling the first object.

In various examples, head pose prediction for automotive occupant sensing systems and applications is presented. The systems and methods described herein provide for a machine learning model trained using a dataset that comprises ground truth head pose data computed using a registered head model of a training subject. While operating a vehicle, one or more cameras and a depth sensor capture synchronized images of the training subject. To compute a ground truth 3D head pose, angular deviations between a 3D point cloud and the registered head model may be computed to obtain a 3D ground truth head pose measurement. Using an extrinsic calibration transform, the head pose measurement may be mapped into the sensor coordinate frame. Training samples may be produced for training the machine learning model that comprise an optical image frame and the head pose measurement transposed into the frame of reference for that optical image frame.

The invention discloses a flood risk map result data coupling and management method, and relates to the technical field of hydrological information processing and geographic information systems, and the method comprises the following steps: obtaining hydrological data and topographic data required by flood risk assessment, including water level time sequence data, submerging depth data and TIN topographic data, and carrying out standardized conversion on data in different formats, and carrying out unified alignment based on a coordinate reference system. According to the method, the coupling precision of the hydrological data and the topographic data is improved through the adaptive Delaunay triangulation algorithm, and simulation distortion caused by time-space mismatching is avoided; the storage is optimized by adopting a topological optimization GeoJSON data structure, so that the query and management efficiency is improved; gPU acceleration rendering and LOD layering technologies are combined, the real-time visualization capability of flood simulation is improved, and efficient and accurate data support is provided for flood prevention emergency management and water conservancy decision making.

The invention provides a projection coordinate direct conversion error correction method based on a neural network and related equipment, and relates to the technical field of coordinate conversion. The method comprises the following steps: acquiring projection coordinates under a first reference system to be converted; for the projection coordinates to be converted under the first reference system, obtaining the projection coordinates of the projection coordinates under the second reference system through polynomial fitting; inputting the projection coordinates in the first reference system and the projection coordinates, obtained by fitting, in the second reference system into a trained neural network model to judge whether a conversion error is within a preset error range; and if the conversion error is not in the preset error range, correcting the projection coordinate under the second reference system obtained by fitting according to the error statistic corresponding to the control point set. According to the method, the projection coordinate conversion precision under different reference systems can be improved on the premise of consuming less time resources and computing resources.

The invention relates to the technical field of robot control, in particular to a complex distribution network operation environment-oriented mechanical arm track obstacle avoidance control method, which comprises the following steps of: acquiring geometric information of an operation environment, a mechanical arm body posture and a grabbed target object through a multi-modal sensor; performing time synchronization and coordinate system calibration on the information to obtain environment data under a unified reference system; on the basis of the environment data, discretizing a work space into a three-dimensional voxel grid, calculating the occupancy probability of each voxel, and generating a probability occupancy model in combination with dynamic obstacle recognition and motion prediction; according to the method, through multi-modal sensing and unified reference system modeling, the problem that dynamic obstacle avoidance fails due to the fact that most of traditional mechanical arm track control methods adopt static environment hypothesis and cannot sense dynamic environment changes in real time and cannot unify multi-source information reference is solved.

The invention discloses a space grid method for interconversion of geodetic height and barometric height, and belongs to the technical field of aviation navigation and geographic information systems. According to the method, the mutual conversion of geodetic height and barometric height is realized through establishing a global space-time grid reference system, establishing a space-time grid data base, converting barometric height to geodetic height, inversely converting the geodetic height to the barometric height, and carrying out reference conversion, data fusion and grid compression between the barometric heights. According to the method, the vertical availability of the height estimation value obtained through air pressure measurement within the height range within the stratosphere can be improved, the method is suitable for most weather conditions, the height estimation value with the precision reaching the ten-meter level can be achieved, and compared with an existing ISA-based method, the precision is higher, the application range is wider, and the application range is wider. The method can effectively improve the reliability of flight control systems of various aircrafts, and has wide application prospects in urban air traffic operation.

The invention relates to a method of determining one or more conditions, of a geographical line, GL, or its surroundings. The method comprises: acquiring geo-referenced earth observation data representing one or more spatially overlapping imagery layers covering from an aerial or space perspective a specific region of interest, ROI, of the Earth's surface, the ROI comprising the GL; geometrically transforming the geo-referenced observation data, at least in parts, into a local internal frame of reference of the GL within the ROI to obtain a mapping of the geo-referenced observation data to respective corresponding coordinates within the local internal frame of reference of the GL; and evaluating the mapped earth observation data as represented in the local internal frame of reference of the GL according to a classification scheme to obtain therefrom evaluation data representing a classification of one or more properties of the GL or of its surroundings according to one or more conditions of the GL.

The invention relates to the technical field of deep mineral exploration, and discloses a deep metal mine multi-source geophysical data real-time fusion system. The system comprises a data access module which divides detection dimensions according to physical field types so as to receive original data; the space-time registration module is used for establishing mapping between original data and a unified space-time reference system through timestamps and space coordinates; the feature extraction module is used for extracting key features from the registration data, determining weights according to physical meanings and constructing a feature association network; the fusion decision module identifies an abnormal value and adjusts a network topology structure based on the credibility of the network evaluation data; and the real-time updating module is used for optimizing the fusion priority and algorithm parameters and generating a real-time fusion result library. According to the system, real-time fusion of multi-source geophysical data is realized, and systematicness and timeliness of data processing are improved.

A method for machine monitoring is disclosed. The method uses a fast time-domain cascading failure simulation approach based on implicit Backward Euler method (BEM) with stiff decay property. The method also exploits a predictor-corrector approach (PC-approach) to fully address the hyperstability issue in BEM, a dynamic model applying Trapezoidal method (TM) for numerical integration, and / or a center of inertia (COI) reference frame-based approach. Other aspects, embodiments, and features are also claimed and described.

The invention discloses a method for improving the performance of double-independent quantum key distribution of actual reference system measurement equipment, belongs to the technical field of quantum key distribution (QKD), and aims to improve the performance of the double-independent quantum key distribution when non-ideal factors such as a post-pulse effect of a detector and finite sample statistical fluctuation are considered. The invention relates to a method and a system for improving the performance of a reference system measurement device by introducing an advantage extraction technology into a double independent quantum key distribution (RFI-MDI-QKD) protocol of the reference system measurement device. Simulation results show that when the post-pulse effect and the statistical fluctuation effect are considered, the advantage extraction method can effectively improve the security key rate and the security transmission distance of the RFI-MDI-QKD protocol on the premise of not changing optical hardware. According to the invention, a valuable reference technology can be provided for practical research of the RFI-MDI-QKD system.

Methods and apparatus for providing self-contained guidance, navigation, and control (GN&C) functions for a vehicle moving through an environment on or near the ground, in the air or in space without externally provided information are disclosed. More particularly, one embodiment of the present invention includes a Heading Sensor (36), an Absolute Location Sensor (38), a timer (40), a Range Doppler Processor (42), a Navigation Reference Sensor (44), an Area Range and a Velocity Sensor (46) which provide enhanced navigation information about a universal reference frame (22) and one or more targets (20).

The invention relates to the technical field of intelligent visual inspection, and discloses an unmanned aerial vehicle target tracking method, which comprises the following steps: acquiring a reference image sequence in a specified time window, including multiple frames of reference images about a tracked object; performing target detection on each frame of reference image to obtain a reference state vector of the tracking object, and forming a state vector sequence by using the reference state vector corresponding to each frame of reference image; predicting a state vector of the tracking object at the prediction moment according to the state vector sequence to obtain a predicted state vector of the tracking object; and inputting the prediction state vector into a reinforcement learning strategy network, and generating a control instruction of the unmanned aerial vehicle at the current moment so as to control the unmanned aerial vehicle to track the tracked object, wherein the reward function of the reinforcement learning strategy network is determined according to the prediction state vector in the training process. The method has the beneficial effects that real-time fusion of target detection and unmanned aerial vehicle control is realized, and the accuracy and the reliability of the unmanned aerial vehicle when the unmanned aerial vehicle tracks a tiny target are improved.

The invention relates to the technical field of line defect identification, and discloses an overhead line defect intelligent identification and positioning system, which comprises a span reference system construction module for constructing a span reference system; the catenary fitting module is used for fitting a catenary curve; the wire temperature inversion module is used for obtaining the real temperature of the surface of the wire through inversion; the temperature-induced sag expectation calculation module is used for carrying out iterative solution to obtain temperature-induced sag expectation; the candidate position scanning module is used for scanning to obtain a candidate position set; and the defect positioning module is used for generating a positioning coordinate in the span reference system when the transverse and vertical displacement ratio of the candidate position is greater than or equal to the lead defect threshold value. According to the method, the real temperature of the surface of the wire is inversed, the temperature-caused sag expectation is constructed, the influence of the temperature on the sag is corrected, the normal sag change caused by the temperature is prevented from being misjudged as a defect or missed detection of a real defect is avoided, a noise reference is established by a tower cross arm and other rigid structures, the defect is judged in combination with physical noise, and the defect recognition accuracy is improved.

Methods and apparatus for providing self-contained guidance, navigation, and control (GN&C) functions for a vehicle moving through an environment on or near the ground, in the air or in space without externally provided information are disclosed. More particularly, one embodiment of the present invention includes a Heading Sensor (36), an Absolute Location Sensor (38), a timer (40), a Range Doppler Processor (42), a Navigation Reference Sensor (44), an Area Range and a Velocity Sensor (46) which provide enhanced navigation information about a universal reference frame (22) and one or more targets (20).

The invention provides a method and a device for determining detonation wave characteristics in a detonation tube, electronic equipment and a medium, and relates to the field of detonation wave characteristic research, and core flow field characteristics can be completely captured by accurately acquiring a detonation tube space propagation area and multi-layer real grid data and combining with a flow field control equation solution under an inertial reference system. The initial speed of the reference system is dynamically updated based on the wave speed of the detonation wave, it is ensured that the key area of the detonation wave is always located in the computational domain, and data distortion caused by core flow field deviation is avoided. Multiple times of iteration solving are carried out to obtain multiple detonation wave velocities, so that single calculation errors and wave surface fluctuation interference are effectively reduced, and the data reliability is improved. The propagation stability, the development stage and the energy characteristics can be comprehensively analyzed based on multiple groups of detonation wave velocities, the limitation of single data is broken through, accurate data support is provided for detonation wave mechanism research and structure optimization, and the scientificity of characteristic analysis is enhanced.

The embodiment of the invention discloses a system address mapping method and device, equipment and a storage medium, and the method comprises the steps: dividing a preset reference system address into a plurality of address fields, and carrying out the segmentation mapping according to a physical address corresponding to a single storage page, thereby obtaining a target system address. The storage area corresponding to the first type of address field in the plurality of address fields is used for storing protection data and a data check code corresponding to the protection data, and the storage area corresponding to the second type of address field is used for storing non-protection data; therefore, when data access is performed through the target system address, the protected data and the corresponding data check code can be read for the protected data so as to ensure the reliability of data reading, and meanwhile, for the non-protected data, the second type address field is not divided according to the first type address field, so that the data access efficiency is improved. Therefore, the second type address field is an address which can be continuously accessed, and the access efficiency of the non-protected data can be improved.

The technology disclosed relates to calibrating frames of reference having overlapping fields of view. In particular, it relates to observing motion of an object of interest as it passes through overlapping fields of view of a first frame of reference and a second frame of reference, and calibrating the second frame of reference, based at least in part, on a capture from the first frame of reference and a capture from the second frame of reference.

The invention relates to the technical field of water ecological environment remote sensing monitoring, in particular to a river total nitrogen concentration remote sensing estimation method based on multi-source data fusion, and the method comprises the following steps: S1, obtaining and processing total nitrogen measured data, and unifying time and a coordinate reference system; s2, processing the Landsat 8 / 9 image, and extracting water body reflectivity and remote sensing indexes; s3, ERA5-Land meteorological data are acquired, and derivation indexes are calculated; s4, DEM elevation data are extracted; s5, fusing the multi-source data to generate a table type data set; s6, screening sensitive indexes based on SHAP and correlation; s7, constructing and evaluating an inversion model; s8, extracting an MNDWI water body mask; s9, generating a feature stack and inverting and outputting a total nitrogen concentration diagram; according to the method, through fusion of multi-source data, construction of a high-precision inversion model and a cloud platform automatic processing flow, high-temporal-spatial-resolution, stable and reproducible remote sensing estimation of the total nitrogen concentration of the river is realized, and the monitoring efficiency and the application value are effectively improved.

The invention relates to the technical field of inertial navigation, in particular to an inertial navigation data correction method based on a neural network, which comprises the following steps: firstly, collecting original data of an inertial measurement unit and preprocessing; secondly, generating an attitude error label by using a high-precision reference system, and constructing a training data set containing historical time sequence information in a sliding window mode; then constructing a hybrid neural network model, and performing iterative training by using the training data set; and finally, in real-time navigation, obtaining an inertial data sequence at the current moment by maintaining a historical data buffer area, inputting a trained model to predict an error compensation value, correcting an original calculation attitude, and outputting the corrected original calculation attitude. The method gets rid of dependence on an accurate physical model through a data driving mode, utilizes the hybrid neural network to deeply mine time sequence accumulation characteristics of inertial data, realizes long-endurance high-precision autonomous navigation, and remarkably inhibits divergence of attitude errors.

One example provides a laser measurement system comprising an alignment artifact attached to a global reference frame. The alignment artifact has features that define corresponding reference points. A controller is configured to obtain metadata comprising expected locations of the corresponding reference points for the features within a target view during a scan. The controller is also configured to obtain a raw point cloud of the alignment artifact within a scanner reference frame. The controller is further configured to determine scanned features from the raw point cloud, and locations of corresponding scanned reference points to form a set of scanned locations. The controller is also configured to determine a transformation matrix to transform coordinates between the scanner reference frame and the global reference frame based at least upon the set of expected locations, the set of scanned locations, and a common direction vector for a plurality of laser line scanners.

The invention discloses a self-adaptive federated Kalman filtering method based on detectability and information entropy, which is characterized by comprising the following steps of: firstly, constructing a multi-source navigation system comprising an INS (Inertial Navigation System), a DVL (Digital Video Library) and a USBL (Universal Serial Bus Library); the INS is used as a global reference system of the multi-source navigation system; a plurality of first sub-filters and second sub-filters are respectively arranged in the DVL and the USBL; then, establishing a DVL error measurement equation of the first sub-filter and a USBL error measurement equation of the second sub-filter, and calculating a detectability quantitative index and a comprehensive information entropy of the sub-filters; calculating an information distribution factor of each sub-filter based on the detectability quantitative index and the comprehensive information entropy; and based on the information distribution factors, a main filter of the multi-source navigation system performs state estimation of each sub-filter and weighted fusion of covariance, and outputs navigation information. According to the method, the influence degree of each sub-filter on the output navigation information can be dynamically adjusted through the information distribution factors, and the precision and fault tolerance of autonomous navigation of the system are improved.

Disclosed are systems and methods for motor control using optimal efficiency reference generation. An electronic controller can determine current values of a motor in a rotating reference frame. Each current value can be associated with a dimension of a set of dimensions of the rotating reference frame. The electronic controller can further determine flux linkage values for each dimension of the set of dimensions of the rotating reference frame based on the current values using an optimization cost function that accounts for motor speed, copper loss, and core loss. The electronic controller can further determine target flux linkage values for each dimension of the set of dimensions of the rotating reference frame. The electronic controller can then control a power switch network coupled between a power source and the motor based on the flux linkage values and the target flux linkage values.

This invention relates to the field of intelligent monitoring technology, and discloses an intelligent monitoring system and method for injection molding processes using injection molds. The system includes: acquiring synchronous operation signals from mold opening to the ejection window, mapping their time series to an ejection relative stroke reference system constructed based on the ejector plate displacement; calculating the deflection resistance trajectory bending degree based on the normalized derivative transformation of the extracted force relative to the relative stroke reference system; extracting morphological parameters and demolding work offset, and combining them to construct a state vector; constructing a classification space using a reference sample library, and optimizing a preset classifier using a particle swarm optimization algorithm; inputting the state vector to be measured into the classifier to output the continuous anomaly probability and the abnormal fluctuation work amount; and finally calculating the work concentration point and mapping it to the corresponding mold condition node. This invention can overcome the limitations of the time domain and rigid thresholds, identify abnormal demolding actions within a very short window early, and achieve precise positioning.

The invention provides a spacecraft attitude orbit navigation initial value on-orbit establishment method and device, and belongs to the technical field of spacecraft navigation.The method comprises the steps that a navigation system single-machine product configuration scheme and a single-machine installation layout scheme are designed; judging whether the platform is successfully separated from the mother platform or not; the self angular rate is damped; performing slow rotation search around two axes of the body, and preliminarily establishing an inertial system attitude initial value; carrying out slow rotation search around two axes of the body, and preliminarily establishing an initial speed value of the earth fixed connection position; performing attitude maneuver based on the inertial system attitude initial value and the earth fixed connection system position speed initial value, and adjusting the attitude to a final stable direction capable of capturing the attitude and the position speed at the same time; and according to the attitude and position speed result, calculating the position speed and attitude result under the expected reference system as a final inertial navigation initial value. According to the invention, a software and hardware interface for information transmission does not need to be arranged between the spacecraft and the release mother platform, and the capability of on-orbit self-establishment of inertial navigation attitude and position speed initial values is realized.

Video coding using warped motion compensation is described. Extended rotations for the warped motion compensation can be explicitly signaled. For example, motion parameters for predicting the current block and a rotation angle can be decoded. A warping matrix is obtained using the motion parameters and the rotation angle, and a prediction block is obtained by projecting the current block to a quadrilateral in a reference frame. Also described is determining a prediction model of the current block and obtaining a prediction block by projecting the current block to a quadrilateral in a reference frame. Determining the prediction model can include determining whether to predict the current block using a motion vector, a local warping model, or a global motion model, obtaining motion parameters of the prediction model, decoding a rotation angle, and obtaining a warping matrix using the motion parameters and the rotation angle.

The invention relates to a device for reflecting daylight in a fixed direction chosen by the user, despite the sun's movement. The device is distinguished by its ability to be placed in any position and requires no calibration by the user. It positions itself in the Earth's frame of reference using an accelerometer coupled to a solar sighting system, which allows it to determine its position in the Earth's frame of reference and orient the mirror to maintain a constant direction of the reflected beam. The beam is unaffected by any cast shadows, and the system's accuracy is increased compared to compass-based devices. (Shorthand figure: Figure 1)

A surveillance system for the optimal calculation of the real-time simultaneous locations of multiple targets. The surveillance system uses the known locations in a given 2- or 3-dimensional frame of reference of possibly moving in a known path or statically located detection units for the simultaneous calculation in real-time of the locations of multiple targets that are either transmitting a coded identification signal at regular time intervals or are detected through the return of energy of unidentified targets. The calculated position for each target includes a point in the frame of reference most likely to be the actual position of the target based on the expected variability of the coded identification signals, along with a probability map, such as a 2-dimensional ellipse or 3-dimensional ellipsoid, separately for each target, presenting the likelihood of the actual position of the target being within a particular region of the frame of reference.

An example method of video decoding includes receiving a video bitstream comprising a plurality of frames, and identifying a set of reference frames for a current frame of the plurality of frame. When a first reference frame from the set of reference frames has an index that is closest to an index of the current frame, the first reference frame is selected as a primary reference frame. The method also includes obtaining respective contexts for the primary reference frame and a secondary reference frame, and initializing a current frame context for the current frame by performing a weighted average of the respective contexts. The method further includes entropy decoding one or more syntax elements for the current frame using the current frame context, and reconstructing the current frame using information of the one or more syntax elements.

The invention belongs to the technical field of navigation, and discloses a navigation positioning method based on multi-source data fusion, which comprises the following steps: an error equation of an inertial navigation system is calculated, and a system state equation is the error equation of the inertial navigation system and mainly comprises attitude, speed, position and inertial device error equations; and calculating an inertia / TACAN state equation. Filtering state fusion estimation is calculated, an inertial navigation system serves as a reference system, other satellite navigation systems and the inertial navigation system form a sub-filter, state estimation is conducted through Kalman filtering, and then a filtering result is sent to a main filter for information fusion. Through the steps, the influence of a single navigation system on the airborne navigation system is effectively reduced, and the reliability of the navigation system in a complex electromagnetic environment is improved.

Systems and methods for forming a patient tracker for detecting movement are provided. The patient tracker comprises a reference frame positioned on a patient; and at least one marker positioned on the patient and spaced from the reference frame, wherein the reference frame and the at least one marker are registered using an X-ray imaging device, and wherein a location of the patient tracker is defined based on the registration of the reference frame and the at least one marker. The registration of the reference frame and the at least one marker may be based on one or more images obtained from the X-ray imaging device. The reference frame may include at least four markers.