64 results about "Gps positioning system" patented technology

The invention discloses an unmanned aerial vehicle inspection defect image recognition system and method, and relates to the technical field of image recognition, and the system comprises an unmanned aerial vehicle platform, an image collection module, an image processing module, a defect detection and recognition module, and a report generation module. The unmanned aerial vehicle platform comprises an unmanned aerial vehicle body, a high-definition camera, an infrared thermal imager, a cloud processing center, a GPS positioning system and a data transmission module. According to the method, the image collected by the unmanned aerial vehicle is subjected to preprocessing such as denoising, then feature extraction is performed, the influence of factors such as environment and weather on the shot image is effectively eliminated, the defect type of the inspection target is accurately identified through the defect identification model, the identification result is more accurate, the influence on defect identification judgment of the inspection target is avoided, and the inspection efficiency is improved. The efficient, accurate and real-time inspection and defect identification of the target area are realized, the model is optimized and updated regularly, and the accuracy and efficiency of identification can be improved.

The invention provides an unmanned aerial vehicle positioning method and system, an unmanned aerial vehicle and a medium, and the method comprises the steps: firstly, obtaining inertial motion data and visual perception data in real time, and continuously providing the inertial motion data through employing the characteristic that an inertial sensor is not limited by a signal environment, so as to avoid a positioning interruption problem when a positioning signal is weak; meanwhile, the spatial pose data is generated by performing pose analysis on the visual perception data, and the first position information is generated by combining the preset satellite map database in a matching manner, so that the defect of inertial navigation accumulative errors is made up. The inertial motion data, the spatial pose data and the first position information are fused and calculated to generate the second position information, and the second position information is converted into the GPS signal and accessed to the GPS system of the unmanned aerial vehicle, so that the error defect of a single sensor can be effectively inhibited, continuous and accurate positioning in a complex environment is realized, and the positioning accuracy is improved. The problem of application limitation of a traditional GPS positioning system in special environments with weak positioning signals and the like is fundamentally solved from the technical level.

The invention provides a trestle active wave compensation method based on multi-sensor fusion positioning, and relates to the technical field of wave compensation of maritime work equipment, and the method specifically comprises the following steps: S1, collecting ship data of a laser radar, an inertial sensor I MU and a GPS positioning system, processing the ship data through improved Kalman filtering, and achieving marine precise positioning of a ship; s2, establishing a coordinate system, taking a ship as an initial state when the ship is lapped to a wind power tower at the tail end of a static underwater trestle, and establishing a rectangular coordinate system O by taking the rotation center of the ship as an original point; s3, according to the swaying, surging, yawing, rolling, pitching and heaving information, obtained by an attitude sensor MRU, of the ship at the instantaneous moment, the target position quantity of each joint of the trestle is calculated through motion attitude inverse solution; and S4, each joint is controlled to stably move to a target position, and wave compensation is completed. According to the invention, by designing the Kalman filtering system for multi-sensor fusion positioning, the position of the ship can be positioned more accurately, and the active wave compensation precision of the trestle can be improved.

The invention discloses a ship intelligent cargo tracking and monitoring method and system, and the method comprises the steps: building a ship intelligent cargo tracking and monitoring frame based on a GPS positioning system and an Internet system, building a cargo tracking and monitoring APP, registering and building account information, registering cargoes, receiving and verifying the cargoes, and tracking the cargoes. Real-time monitoring and cargo inquiry are carried out on ship cargo transportation conditions; a consigner inquires cargo transportation information and receives the cargo through a cargo tracking and monitoring APP system; the cargo arrives at a transportation destination and receives cargo information with a consignee; and the consignee confirms cargo receiving and carries out transportation evaluation. According to the intelligent ship cargo tracking and monitoring method, actual transportation of cargoes is known through GPS positioning tracking, temperature tracking detection, humidity tracking detection, video tracking detection, vibration tracking detection, inclination tracking detection, pressure tracking detection and time tracking detection of ship cargoes.

The invention discloses an intelligent solar unmanned logistics distribution control method and system, and relates to the technical field of renewable energy sources, and the method comprises the steps: obtaining real-time weather data and a current geographic position through a vehicle-mounted meteorological sensor and a GPS positioning system; the intelligent energy management system analyzes weather and geographic position data and calculates expected energy output of the solar panel; based on the distribution task list and the current geographic position, a distribution route is planned, the feasibility of the route is evaluated, and an optimal distribution route is generated; according to the optimal distribution route and the current position of the sun, the vehicle speed and the battery use strategy are dynamically adjusted; and after the distribution task is completed, summarizing the distributed energy consumption data and the solar panel efficiency report, and optimizing a dynamic path planning algorithm. Through a series of intelligent control methods, the energy utilization efficiency and the task execution reliability of the unmanned logistics distribution system are improved, and the distribution service quality and the customer satisfaction are further improved through continuously optimizing the path planning algorithm.

The utility model provides a weeding and film mulching integrated robot, and particularly relates to the technical field of agricultural equipment. The robot comprises a robot body; the robot body comprises an electric control box, two groups of crawler belt moving mechanisms and an image acquisition mechanism; the electric control box is arranged above the two sets of crawler belt moving mechanisms through the rack. A motor box is arranged at the bottom of the electric control box; a solar panel and two groups of lead screw mechanisms are arranged at the top of the electric cabinet; a control system, a laser assembly, a GPS positioning system and a power supply device are arranged in the electric control box; the rear end of the electric control box is connected with the film covering mechanism through a telescopic pull rod; the telescopic pull rod can drive the film covering mechanism to ascend and descend through the lead screw mechanism. Two groups of rotating bases are symmetrically arranged at the bottom of the motor box; the bottom of the rotating base is connected with a laser transmitter through a telescopic mechanical arm. The laser weeding and film covering device has the functions of laser weeding and film covering, does not need chemical agents, is compact in structure, accurate, efficient and safer and healthier.

The invention discloses a control system based on a GPS (Global Positioning System) and a center pivot type sprinkling irrigation machine land angle arm. The control system comprises a center pivot tower and a rotating pivot fixed at the center of an irrigation plot; the central pivot type sprinkling machine serves as a main span body, and the starting end of the central pivot type sprinkling machine is connected with the central pivot tower; the land angle arm straddle body is mounted at the tail end of the central pivot type sprinkling machine; the landing angle arm controller comprises a GPS positioning system and a wheel control system, and the wheel control system calculates and detects the wheel angle in real time according to the wheel zero position; the base station provides position information for the anchor arm controller; the wireless communication LoRa module is used for sending the position information of the base station to a foot margin arm controller through the wireless communication LoRa module and providing a centimeter-level high-precision positioning information differential source for a GPS (Global Positioning System); and the screen module is used for displaying the running state and track information of the anchor arm in real time, setting parameters of the anchor arm and alarming fault information. The method is convenient to operate, can plan the track of the anchor arm, avoids obstacles in track planning, and realizes good operation driving.

The invention discloses a power optimization control method of an automatic driving tractor based on an unmanned aerial vehicle, and belongs to the technical field of intelligent unmanned driving control. The method aims at solving the problems that an existing intelligent tractor depends on a GPS positioning system, so that the use area is limited, and the energy efficiency is not fully considered. Field data are collected through aerial photography of the unmanned aerial vehicle, a GI map is constructed, obstacles are recognized, and the data are sent to a tractor control system to plan an optimal path and motion control parameters. According to the deviation between the current position and the target position, the target values of the driving system, the auxiliary power system, the braking system and the steering system are optimized, optimal application of energy is achieved, and the system operation efficiency is improved. According to the method, the cost of a GPS positioning module and a related data center can be saved, the difference of communication signals in different areas is ignored, and the energy utilization is optimized while the working efficiency is improved.

The invention relates to the technical field of GPS positioning systems, and discloses a GPS positioning correction method and system, and the method comprises the following steps: S1, carrying out the fusion collection of multi-source heterogeneous data, and obtaining the motion state data of a carrier in a variable bandwidth sampling mode, S2, carrying out the deep feature extraction and preprocessing, and carrying out the extraction of a spatial-temporal feature extraction network based on deep learning, the method comprises the following steps: S1, mining potential features of data in time series and spatial distribution, S3, dynamic environment perception and error modeling, and S4, intelligent collaborative error correction. According to the invention, through the established deep Q network, multi-source data characteristics including GPS positioning data, inertial measurement unit data, air pressure and meteorological data and the like are used as input, and environment information can be comprehensively captured. Through deep mining and analysis of the data, the model can more accurately identify the type of the environment where the carrier is located, and meanwhile, by utilizing a reinforcement learning mechanism and setting a reward function, the model is encouraged to accurately identify the type of the environment and evaluate the interference degree, and the adaptability of an error model can be remarkably enhanced.

The invention provides an unmanned aerial vehicle guiding beacon for automatic positioning in a deep sea subsurface buoy recycling process, which comprises a rubber rod antenna, a carbon fiber connecting rod, a floating ball and a main body control and battery sealing cabin which are sequentially connected from top to bottom, a GPS antenna horizontal supporting rod is arranged between the rubber rod antenna and the carbon fiber connecting rod, and GPS antennas are arranged at the two ends of the GPS antenna horizontal supporting rod; a double-antenna GPS positioning module, a lithium battery, a data radio module and a control system are arranged in the main body control and battery sealing cabin; and a mechanical pressure switch for sensing the seawater pressure change is arranged at the top of the main body control and battery sealing cabin. The unmanned aerial vehicle guiding beacon and the deep sea subsurface buoy are combined based on the double-antenna GPS positioning system, and the unmanned aerial vehicle guiding beacon can suspend in the deep sea and freely and vertically float on the sea surface and has the functions of diving and floating together with the deep sea subsurface buoy, automatically sleeping, automatically starting up, transmitting the position of the subsurface buoy, automatically guiding the unmanned aerial vehicle to fly above the subsurface buoy and the like.

The invention discloses a system for judging a dragging relation between a powered headstock and an unpowered trailer, and relates to the field of systems for judging the dragging relation between the powered headstock and the unpowered trailer, which comprises a powered vehicle-mounted terminal and an unpowered vehicle-mounted terminal, each of the powered vehicle-mounted terminal and the unpowered vehicle-mounted terminal comprises a near-field Bluetooth local area network, an inertial navigation system, a Beidou / GPS positioning system, a 2G / 4G network access system, a platform management system and a solar power supply. According to the invention, through the near-field Bluetooth local area network, the unpowered vehicle-mounted terminal can conveniently send the Bluetooth short-distance networking application to the powered vehicle-mounted terminal through the near-field Bluetooth local area network, so that networking between the unpowered vehicle-mounted terminal and the powered vehicle-mounted terminal in the range is realized; relative dynamic and static states and position error information are determined through a carried inertial navigation system and a Beidou / GPS positioning system, and comparison is carried out according to the dynamic and static states of the unpowered vehicle-mounted terminal and the power vehicle-mounted terminal and the position information of the unpowered vehicle-mounted terminal and the power vehicle-mounted terminal.

The invention discloses a four-section type alignment parking method for a transport vehicle and a gantry crane, belongs to the technical field of automatic driving accurate alignment parking, and is technically characterized by comprising a long-distance coarse positioning stage, a middle-distance accurate positioning stage and a short-distance fine adjustment stage, in the long-distance coarse positioning stage, relative position information of the vehicle and the gantry crane is obtained through a millimeter-wave radar and a GPS positioning system, and a driving route for driving to an approximate area of the gantry crane is planned; in the middle-distance accurate positioning stage, scanning the three-dimensional contour of the gantry crane through a laser radar and identifying an identifier through a visual sensor, fusing data to accurately calculate the relative position deviation of the vehicle and the gantry crane, and controlling the driving direction and speed of the vehicle; in the close-range fine tuning stage, the ultrasonic sensor is used for detecting the distance between the vehicle and surrounding objects, the inertial measurement unit is used for measuring the vehicle posture, the automation level and the operation efficiency of port logistics are remarkably improved, and the operation safety is enhanced.

This application provides a UAV positioning method, system, UAV, and medium. In this method, firstly, inertial motion data and visual perception data are acquired in real time. The characteristic of inertial sensors, which are not limited by signal environment, continuously provides inertial motion data to avoid positioning interruption when the positioning signal is weak. Simultaneously, spatial pose data is generated by performing pose analysis on the visual perception data, and first position information is generated by matching it with a preset satellite map database, compensating for the accumulated errors of inertial navigation. By fusing the inertial motion data, spatial pose data, and first position information to generate second position information, and converting it into a GPS signal and connecting it to the UAV's GPS system, the error defects of a single sensor can be effectively suppressed, achieving continuous and accurate positioning in complex environments. This fundamentally solves the application limitations of traditional GPS positioning systems in special environments such as weak positioning signals.

The invention discloses a hoisting method for an overwater box transformer substation, relates to the technical field of power equipment installation, and aims to solve the problems that in the prior art, in the hoisting process of the overwater box transformer substation, stability is poor, safety is low, and hoisting efficiency and installation quality are difficult to guarantee. The method comprises the following steps: surveying the mounting position of a water box transformer substation, measuring water depth, water velocity, wind direction, wind speed and underwater topography information, selecting a time period when the wind power is less than level 3 and the water velocity is less than 1m / s according to the surveying result to carry out hoisting operation, selecting a hoisting ship with sufficient bearing capacity and good stability, and mounting a GPS positioning system and a laser positioning system on the hoisting ship, hoisting equipment matched with the weight and the size of the water box transformer substation is arranged, the hoisting equipment is comprehensively checked and maintained, and a pulling force test is conducted on a hoisting rope. The hoisting device has the advantage that the hoisting stability, safety, hoisting efficiency and mounting quality of the water box transformer substation are effectively improved.

The utility model discloses a floating support installation ship suitable for different notches and double floating supports, and particularly relates to the field of ocean engineering, the floating support installation ship comprises a floating support barge main body, and the top of the floating support barge main body is fixedly connected with a second floating support barge; a mast is fixedly connected to the middle of one side of the top of the second floating barge, and an anemorumbometer is fixedly connected right in front of the middle of the surface of the mast. When the floating barge is used, the floating barge body and the second floating barge are fixedly connected to enhance the overall stability and bearing capacity, the anemorumbometer and the GPS integrated on the mast provide accurate environment and position information for operation, safety and high efficiency are ensured, flexible combination of the multiple barges is achieved through the connecting bridges and the connecting floating plates, and the overall stability and bearing capacity of the floating barge are improved. And the fender device effectively protects the ship body from being collided and damaged, the hydraulic pump and the hydraulic pipeline drive the sliding guide plate to accurately move in the connecting notch, and accurate control and safe fixing in the mounting process are achieved in combination with the locking mechanism.

The present invention discloses an auxiliary steel structure installation and lifting system based on a GPS positioning system and a lifting method thereof, comprising at least three groups of rope assemblies for simultaneously binding a plurality of steel materials, wherein the rope assemblies comprise steel cables, and the present invention relates to the technical field of steel structure construction. The auxiliary steel structure installation and lifting system based on a GPS positioning system and a lifting method thereof can bind a plurality of steel materials together for lifting by setting a plurality of rope assemblies, and by installing a separation positioning assembly on the steel cables of the rope assemblies, the steel materials can be positioned when they are bound and lifted so that they do not directly contact each other, and when binding, only the rope assemblies need to be spread out, and then the steel materials are placed at intervals, and the interval binding can be automatically achieved when lifting, a baffle is used, and a rotating tube is arranged at the bottom of the steel material, so that the steel material can be pushed out at any time during the lifting process, so that it is convenient to be welded and fixed with other steel structures, so as to achieve the effect of lifting and installing at the same time, and improve the installation efficiency.

A positioning and rescue device for an unmanned underwater vehicle, comprising a battery (1), a switch (2), a protective resistor (3), an electromagnetic relay (4), a master control chip (5), a GPS positioning system (6), an igniter (7), a partition (8), an air bag (9), a shell (10), and a rope (11). The battery (1), the switch (2), the protective resistor (3), the electromagnetic relay (4) and the master control chip (5) are sequentially connected by means of wires to form a series circuit, and the igniter (7) and the GPS positioning system (6) are separately connected to the master control chip (5) by means of wires; two normally open contacts of a control loop of the electromagnetic relay (4) are respectively connected to two ends of a general power supply (15).

An integrated physiological monitoring system and method for tracking movement efficiency in various activities, including cycling. The system comprises a flexible substrate for skin contact, with integrated sensors for measuring perspiration, heatflux, heart rate, and gastric emptying rate as well as a GPS positioning system for tracking distance, velocity, and elevation. The system's programmable logic calculates energy expenditure and movement efficiency metrics, such as calories per mile and calories per mile-per-hour, based on the combined physiological and GPS data. The system also features a wireless communication system for transmitting these metrics to multiple display devices, including smartwatches, smartphones, and bicycle handlebar-mounted displays. Real-time efficiency optimization recommendations are also provided based on current physiological state, GPS-derived terrain analysis, and target performance goals.

1. The name of the design product: connector (MINI FAKRA). 2. The use of the design product: the design product is used for the connection of radio frequency signals or other signal transmission between GPS positioning system, remote control system, vehicle telephone system, satellite radio and other equipment. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

The present application discloses a positioning offset correction method, which is applied to a device, wherein the device is driven by a navigation and positioning system, and the method includes: acquiring a target image, and identifying a target pattern of the target image through a recognition model; when the target pattern is identified, recording the first state and the first positioning position of the device; when the device returns to the first positioning position through the navigation and positioning system, recording the second state and the second positioning position; adjusting the device from the second state to the first state, and recording the third positioning position; determining the positioning offset of the navigation and positioning system according to the second positioning position and the third positioning position, and correcting the navigation route of the navigation and positioning system according to the positioning offset. In the above manner, the device recognizes the target pattern and adjusts its own state according to the target pattern. When the device state is equal to the initial state, if the positioning position of the navigation and positioning system is different, the positioning offset of the navigation and positioning system such as the Beidou navigation system and the GPS positioning system is automatically corrected, so that the trajectory is more accurate during automatic navigation.

The invention relates to the technical field of foundation reinforcement, and discloses an operation method of a water jet accurate breaking method DCM pile head underwater robot, which comprises the following steps: detecting the strength of a DCM pile, guiding the underwater robot to move by adopting a GPS positioning system, determining the position of the DCM pile needing elevation adjustment, and moving a high-pressure water outlet to the standard height of the top end of the DCM pile. Calculating initial force CL and time t required for cutting off the high-pressure water outlet, adopting the initial force CL to control the force when the high-pressure water outlet sprays out, and adopting the time t to control the high-pressure water outlet to rotate 90 degrees at a constant speed to cut off the part exceeding the designed elevation; the underwater moving mechanism is fixed to the underwater robot and located above the pile head, the water flow is accelerated to the extremely high speed through the four fine high-pressure water outlets, the water flow forms the cutting effect on the surface of the DCM pile, the part exceeding the designed elevation is removed, the pile top elevation of the DCM pile is effectively adjusted, and smooth construction is ensured.

This invention discloses an agricultural machinery operating condition data acquisition device and method, including a data acquisition module. The data acquisition module is sequentially connected to a sensor module, a controller module, a GPS positioning system module, and a camera module. The sensor module is sequentially connected to a temperature sensor unit, a pressure sensor unit, a fuel level sensor unit, and a speed sensor unit. The controller module is sequentially connected to a stroke controller unit and an engine control unit. This invention, based on the characteristics of agricultural operations and combined with the actual operation process, uses data to assist each other to identify the working and stopping states of the tractor, obtains all data after the tractor starts working, eliminates invalid data from non-normal working states, and performs relevant algorithm analysis to obtain the actual fuel consumption data during operation. This device can accurately reflect the different fuel consumption data consumed by different operating methods in the actual operation of agricultural machinery.

The invention discloses a straddle double-body type AGV accurate docking method based on dynamic weight correction, and belongs to the field of robot motion driving and control. The implementation method comprises the steps that in the process that a transfer AGV in a dense parking area is in butt joint with a commercial vehicle, a cloud scheduling system determines the position of the commercial vehicle to be transferred through a GPS positioning system, a vehicle taking coarse path is planned according to the position, and the path is sent to the AGV; when the distances between the to-be-transferred commercial vehicle and the commercial vehicles on the two sides of the to-be-transferred commercial vehicle are inconsistent, the AGV can sacrifice certain butt joint precision with the target vehicle, the distance safety of the two sides is guaranteed, and the distance between the AGV and the two sides of the commercial vehicles in the AGV is achieved, so that the vehicle taking function is achieved under the limit condition. The distance difference between the to-be-transferred commercial vehicle and the commercial vehicles on the two sides is detected in real time, the butt joint path between the AGV and the commercial vehicles is dynamically adjusted, it is ensured that safe and accurate butt joint can still be achieved under the condition that the distance difference exists between the AGV and the adjacent commercial vehicles, and the accurate butt joint efficiency is improved by optimizing path planning.

The application discloses an unmanned driving method and loading equipment, which comprises the following steps: providing a global positioning service through a GPS, and realizing high-precision positioning of a vehicle by sensing the attitude and motion state of a transportation device in real time through an IMU gyroscope and an accelerometer sensor; calculating the best path between a transportation point and a storage point of an open-pit coal mine through geographical position information of the open-pit coal mine and position information of the storage point, and completing route planning of the transportation device through an intelligent algorithm; and controlling the transportation device in real time through a remote monitoring system and a control system. The unmanned driving method and the loading equipment position the coal mine and the transportation device through a GPS positioning system, sense the motion state of the device in real time through a gyroscope and an accelerometer sensor in the IMU, calculate the best route through an intelligent algorithm, and remotely control the transportation device through a remote monitoring system and a control system, so that the unmanned driving effect is realized.

The embodiment of the present application relates to the technical field of rail transit, and discloses a portable on-boarding instrument based on optical fiber inertial navigation and a cloud management system, the on-boarding instrument comprising an audio sensor, an inertial navigation system, a GPS positioning system, a central processing unit and a communication module; the audio sensor collects noise signals in a train compartment; the inertial navigation system measures acceleration data and vibration data of the train, and determines real-time speed and inertial navigation mileage of the train according to the acceleration data when there is no GPS signal or when there is a GPS signal; the GPS positioning system obtains longitude and latitude information of the train when there is a GPS signal; the central processing unit uploads the noise signals, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information to a predetermined cloud platform through the communication module. In the above manner, the embodiment of the present application can comprehensively collect and detect various data in the train running process, the train positioning data based on the inertial navigation mileage and the longitude and latitude information has high accuracy, and the cloud platform is used to uniformly and efficiently manage the data.

The utility model discloses an accurate positioning hoisting device suitable for a large water depth environment, and relates to the technical field of underwater engineering equipment, the accurate positioning hoisting device comprises a hoisting ship and a dam body, the dam body is located below the hoisting ship, the top of the hoisting ship is fixedly provided with a crane control room, and the left side and the front side of the crane control room are both fixedly provided with suspension arms; two winches are fixedly installed on the top of the hoisting ship and located on the left side and the right side of the front portion of the crane control room correspondingly. Accurate underwater topographic data are obtained through the multi-beam depth sounder and the sonar device, detailed submarine topographic maps are provided, operators can comprehensively know the working environment, potential dangers and obstacles are avoided, a lifting ship and a lifting component can be accurately positioned in combination with the real-time dynamic positioning function of the GPS positioning system, and the working efficiency of the lifting ship and the lifting component is improved. Each step is ensured to be carried out at a preset position, so that the operation safety is improved, the personal error is reduced, and the efficient operation is ensured.

The present invention discloses an underwater pillow bag throwing and positioning method and a throwing device. The underwater pillow bag throwing device is placed at the edge of the flat plate of a throwing boat, and it includes a placement bottom plate and a GPS positioning system and a multibeam instrument arranged on the placement bottom plate and used for positioning the throwing location of the pillow bag. A lower notch is provided on the lower surface of the placement bottom plate and near the solid part. A limiting launching cylinder is movably arranged inside the lower notch. The limiting launching cylinder generates an angle not only in the horizontal direction but also in the vertical direction. A throwing anchor rod is arranged through the inside of the launching cylinder. One end of the throwing anchor rod is a throwing anchor hook, and the other end of the throwing anchor rod is provided with a steel wire rope. The steel wire rope is wound on a winding assembly arranged on the placement bottom plate. An electromagnetic ejector is arranged on the launching cylinder and used for rapidly impacting the throwing anchor rod and ejecting the throwing anchor rod out of the launching cylinder. The present invention realizes the function of accurately placing the pillow bag.

The invention relates to the technical field of floating support position measurement, and discloses a floating support installation-oriented multi-sensor vertical position measurement method, which comprises the following steps of 1, acquiring measurement data of a floating support barge, measurement data of a jacket and sensing data of a sea surface environment through a GPS (Global Positioning System) and a sensing device, and classifying to form a data set; 2, the ship buoyancy center and the jacket buoyancy center and the relative distance between the ship buoyancy center and the jacket buoyancy center are analyzed at the same time point, and the comprehensive analysis and measurement accuracy is high; 3, the change trend of the ship buoyancy center and the jacket buoyancy center is analyzed, and the fluctuation ratio is generated; 4, analyzing the influence degree of various factors on floating support installation, and generating a stability coefficient; and 5, judging whether a collision risk exists between the floating barge and the jacket or not and whether environmental factors seriously influence the accuracy of floating mounting or not, and outputting corresponding suggested measures, so that the mounting is dynamically adjusted to be more stable.

The invention discloses a sub-second clock synchronization circuit of a Beidou / GPS positioning system, which comprises a Beidou / GPS signal receiving unit, a low pulse output unit, an external pulse generator, a pulse accumulation unit and a data acquisition unit, and is characterized in that the Beidou / GPS signal receiving unit receives synchronous satellite signals and outputs whole-second clock synchronization signals; the low pulse output unit receives a whole second clock synchronization signal, outputs a high pulse signal in each whole second and inputs the high pulse signal to the pulse accumulation unit, an external pulse generator generates a pulse signal with a period of t seconds and inputs the pulse signal to the pulse accumulation unit, and the pulse accumulation unit accumulates the input pulse signals in a whole second time and outputs the accumulated pulse signal to the clock synchronization unit. The accumulated value is X, and the sub-second clock value is Ts = X * t. The sub-second clock synchronization circuit can perform whole-second automatic zero clearing and automatically start sub-second counting, errors of an external pulse generator are not accumulated, no accumulated error exists, and the sub-second clock synchronization circuit can operate for a long time to keep sub-second synchronization and does not need calibration.

The invention discloses a surveying and mapping device for mineral resource planning and design. The surveying and mapping device comprises a machine body, a flight driving assembly and a surveying and mapping unit, fixed wing plates are arranged on the two sides of the aircraft body, an empennage is arranged at the tail end of the aircraft body, the surveying and mapping unit is installed on the inner sides of the fixed wing plates in an embedded mode, the flight driving assembly is fixedly installed on the bottom faces of the fixed wing plates, and a control end and a power module are fixedly installed in the aircraft body. According to the invention, the flight driving assembly supports various complex actions such as hovering, vertical take-off and landing, rising and advancing, and it is ensured that the aircraft can flexibly cope with various surveying and mapping tasks. And the visual measurement group is synchronously and asynchronously driven by the first steering engine and the second steering engine, so that the double-axis deflection of the measuring head is accurately controlled, and the flexibility and the precision of measurement are further improved. The laser scanning system is combined with the flight control system, large-area mining area surveying and mapping are completed through automatic cruise, three-dimensional point cloud data of a mining area are obtained in real time, and accurate data calibration is achieved through combination with the GPS positioning system and the inertial measurement unit.