229 results about "Gravitational acceleration" patented technology

The invention relates to the technical field of control systems, in particular to an unmanned aerial vehicle flight control multi-sensor attitude confidence calculation method, which comprises the steps of multi-source sensor data acquisition, sensor independent attitude calculation, confidence coefficient dynamic evaluation, multi-modal data fusion, attitude error compensation and optimization and real-time verification and fault-tolerant processing. Compared with a fixed weight distribution scheme in the prior art, the method has the advantages that the attitude calculation precision is limited possibly, and particularly when the sensor data quality is influenced by environmental factors, the scheme adopts a strategy of checking the data quality in real time, judging the environmental state and dynamically distributing the weight; the validity of sensor data is effectively identified by verifying whether the acceleration modulus length is close to the gravitational acceleration or not and whether the magnetic field intensity is stable or not; meanwhile, the weight of each sensor is flexibly adjusted according to different environment states such as static, maneuvering or magnetic interference of the unmanned aerial vehicle, so that the self-adaptive capability and accuracy of attitude calculation are remarkably improved.

The invention discloses an unmanned aerial vehicle hovering control method and system based on a laser scanning reference, and belongs to the field of unmanned aerial vehicle control. The control method comprises the following steps: when a laser receiver receives a laser signal generated by a swinger through scanning at an elevation benchmark, obtaining the relative height of the laser receiver and an elevation datum plane according to the laser signal, and setting the target hovering height of the current unmanned aerial vehicle according to the relative height, in each control period, the following steps are executed: acquiring position information through the RTK module, and acquiring attitude data through the inertial measurement unit; three height data are obtained according to the real-time laser signal, the position information change and the attitude data change, the height feedback quantity in the gravitational acceleration direction is obtained after the height data are preprocessed and filtered, and real-time hovering control is conducted on the unmanned aerial vehicle according to the height feedback quantity. And the gravity acceleration direction parameter change information of the laser receiver, the inertial measurement unit and the RTK module is fused to realize high-precision position control.

The invention relates to the technical field of inertial navigation and sensor fusion, in particular to a multi-sensor fusion and adaptive filtering attitude estimation method, which comprises the following steps: S1, acquiring sensor data of a gyroscope, a magnetometer and an accelerometer, and respectively acquiring angular velocity, magnetic field direction and gravitational acceleration information; s2, angle information is obtained, and magnetometer and accelerometer sensor data are converted into attitude information; s3, carrying out weighting processing on the angle information and the attitude information through a fading memory weighting method and a limited memory weighting method; S4, carrying out filtering fusion on the weighted angle information and attitude information through an RAEKF filtering fusion algorithm; s5, an adaptive factor and a robust factor are introduced into the RAEKF filtering fusion algorithm; s6, outputting attitude angle estimation; according to the method, the theoretical contradiction that long-term drifting and stability cannot be achieved at the same time is fundamentally solved, stable precision is kept under abnormal data interference, and the robust performance is remarkably improved.

The invention discloses a multi-parameter distortion compensation method for a fractured rock mass seepage similar model test, and relates to the technical field of rock mass engineering physical model tests. The method comprises the following steps of: firstly, determining two constraint conditions that the fluid property is invariable and the gravitational acceleration is invariable, correspondingly selecting a basic physical quantity and extracting a core criterion; then analyzing three types of distortion sources of geometric dimensions, dielectric materials and boundary conditions, and establishing a distortion function according to result parameters of seepage flow velocity, seepage flow and seepage pressure; secondly, parameters difficult to control are selected as distortion items, parameters easy to regulate and control are selected as compensation items, the distortion items are substituted into a distortion function to obtain a distortion ratio, the optimal distortion ratio of the compensation items is solved based on a compensation balance formula, and the parameters are adjusted; and finally verifying the interval range of the actually measured distortion ratio. According to the method, the multi-source distortion coupling influence is accurately quantified, the compensation pertinence and precision are improved, operation is easy and convenient, universality is high, and reliable support is provided for underground engineering seepage research.

The invention relates to a pan-tilt angle calculation method and device, an electronic device and a storage medium, and the method comprises the steps: obtaining initial gravitational acceleration data and initial angular velocity data, determining reconstructed gravitational acceleration data according to the initial gravitational acceleration data and the initial angular velocity data, and calculating the angle of a pan-tilt according to the reconstructed gravitational acceleration data; and determining an observation model according to the initial gravitational acceleration data, determining real gravitational acceleration data according to the reconstructed gravitational acceleration data and the observation model, obtaining a carrier coordinate gravitational acceleration, and determining a cradle head attitude angle according to the carrier coordinate gravitational acceleration and the real gravitational acceleration data. According to the method and the device, the problem of how to accurately calculate the attitude angle of the unmanned aerial vehicle holder is solved, noise interference is reduced, the real gravitational acceleration is restored, and the stability augmentation control capability of the holder is effectively improved.

The invention discloses a long-distance pressure water conveying pipeline retention air mass discharging method which comprises the following steps: S1, in the water filling process of a long-distance pressure horizontal water conveying pipeline, detecting whether retention air mass exists in the pipeline or not through a flow-pressure difference correlation analysis method; s2, when the retained air mass exists in the horizontal water conveying pipeline, geometric parameters of the retained air mass in the horizontal pipeline are obtained based on an ultrasonic imaging inversion technology, and a dimensionless number n is calculated according to the geometric parameters; s3, when n is larger than 0.8, according to the critical Friedel number, the gravitational acceleration and the diameter of the water conveying pipeline, the starting flow speed of the retention air mass is calculated; s4, when n is smaller than or equal to 0.8, multiple stresses of the retained air mass in the horizontal water conveying pipeline are calculated according to the geometric parameters, and the starting flow speed of the retained air mass is calculated through the multiple stresses; and S5, a water conveying power mechanism of the water conveying pipeline is controlled to adjust the flow of the water conveying pipeline till the average flow speed of the water conveying pipeline is larger than the starting flow speed, and the retained air mass is conveyed to a downstream exhaust valve of the water conveying pipeline to be discharged.

The invention provides a dual-mode gravitational acceleration precision measurement system and method based on a light floating effect. According to the system, a 1064nm laser double-beam correlation structure is adopted, a strong focusing light trap is formed in a gravity orthogonal direction, and micron-sized silicon dioxide particles are stably captured. In the absolute measurement mode, the acousto-optic modulator is used for controlling the on-off of the laser, the high-speed position detection module is used for detecting and recording the free falling motion trail of the particles and the displacement amplitude showing the resonance state after re-capturing, and the absolute gravitational acceleration parameter is inverted. In a relative measurement mode, weak focusing 532nm laser is configured along the gravity direction to construct a gravity compensation light trap, and after absolute gravitational acceleration reference measurement is completed, the laser is modulated by an acoustic optical modulator to accurately balance the gravity of particles, so that the particles enter a quasi-balance state. When the external gravitational field changes slightly, the characteristic displacement of the particles in the gravity direction is extracted, and the change of the relative gravitational acceleration can be monitored continuously.

The invention discloses a double-electric-drive-axle commercial vehicle driving anti-skid control method, system, equipment and medium, and relates to the field of automobile control, and the method comprises the steps that when a target vehicle is in a sliding state, the initial rolling radius is determined for each driving wheel according to the real-time reference vehicle speed and the real-time angular speed of the driving wheel; determining a reference rolling radius based on the initial rolling radius and the initial rolling radius at the previous moment; determining the real-time rolling radius of the driving wheel according to the reference rolling radius, the load parameter, the real-time motor torque, the maximum value of the motor torque and the real-time transverse acceleration; determining the real-time slip rate of the driving wheel according to the real-time rolling radius, the real-time wheel speed of the driving wheel and the real-time reference vehicle speed; and determining a target torque according to the real-time motor torque, the speed reducer speed ratio, the real-time rolling radius, the gravitational acceleration, the real-time slip rate, the whole vehicle mass, the target slip rate and the driver demand torque, and performing anti-slip control based on the target torque. The rolling radius can be accurately determined, the slip rate accuracy is improved, and precise anti-slip control is achieved.

The invention belongs to the field of attitude estimation, and discloses a SigKAN network assistance-based Kalman filtering attitude estimation method, which comprises the following steps of: establishing a discrete time state equation and a measurement equation, and modeling a disturbance component and a reference component; a SigKAN model is trained; a SigKAN model is used to predict the dynamic characteristics of the noise; removing a disturbance component by using a Kalman filtering algorithm, and initializing state variable priori estimation and a covariance matrix thereof; calculating a residual error and a covariance thereof by using the measurement information, calculating a Kalman gain, and obtaining a state variable estimation value and a covariance matrix thereof; the gravitational acceleration and the geomagnetic field serve as observation vectors, a reference vector is obtained, attitude calculation is conducted through a QUEST algorithm, and an attitude estimation quaternion is obtained; and obtaining attitude estimation at all moments. According to the method, the dynamic characteristics of disturbance are learned by adopting the SigKAN network, disturbance estimation is carried out by assisting the filter in a mode of dynamically adjusting process noise covariance, and the anti-interference capability of a traditional Kalman filter is enhanced.

The invention relates to the technical field of wave simulation generation, in particular to a high-gravity field wave simulation method. The high-gravity field wave simulation method comprises the following steps: in a high-gravity field, performing similarity rate verification on a high-gravity field wave making similarity relationship between a predetermined wave height and a frequency dimensionless quantity; under the condition that the similarity rate verification is consistent, calibrating parameters of the super-gravity field wave making similarity relationship; and according to the super-gravity field wave making similarity relationship of the calibration parameters, performing super-gravity field wave simulation. According to the invention, waves in different environments in a super-gravity field can be accurately simulated, a transfer function can be accurately constructed, and the influence of physical quantities such as different motion amplitudes, different frequencies and different gravitational accelerations on wave making can be accurately evaluated.

The invention provides a radiation dose evaluation method and system based on radiation environment monitoring data, and relates to the technical field of radiation environment monitoring. The method comprises the following steps: recording the release source intensity of each nuclide at a release point, drawing an equally-spaced concentric arc grid, calculating the release height by combining the ground and the release point air pressure, air density and gravitational acceleration, and assigning nuclide hazard factors to the outer edge of the grid; according to the distance between the release point and the outer edge of the grid, diffusion parameters are calculated by using an empirical formula, a Gaussian atmospheric diffusion model is constructed in combination with the release height and hazard factors, and nuclide air activity concentration is output; comparing the total effective dose with a preset threshold value to calibrate a diffusion range, quantifying the radiation dose per unit area, and dividing atmospheric stability coefficient grades; constructing three types of correction factors of release height, material state and weather condition, establishing a comprehensive dose evaluation formula by combining the unit area radiation dose and the correction factors, comparing a preset threshold value, judging a risk level, and performing periodic updating.

The invention relates to the technical field of live ammunition point positioning, in particular to a simulated live ammunition point accurate positioning method. According to the method, the time and the displacement value of track segmentation are calculated based on the shooting parameter set, the coordinate set of each track segment is defined, the longitudinal deviation value is calculated in combination with the gravitational acceleration, segmentation processing of track generation is refined, the track calculation accuracy is ensured, and the target range is determined by judging the relation between the coordinate points and the target range point by point. The Euclidean distance between candidate points and the center of the target is calculated in combination with a gradient descent method, the screening process of hit point positions is optimized, the offset between a to-be-hit point and the center of the target is reduced by adjusting the initial velocity and the shooting angle of a bullet for multiple times, coordinate points exceeding the boundary of a target range are corrected through a quadtree segmentation algorithm, and the accuracy of target shooting is improved. The re-segmentation calculation of the track points meets the constraint condition of the space boundary, the effectiveness of the track point set and the accuracy of the drop point positioning are improved, and comprehensive data support is provided for weapon debugging and training.

The invention relates to a large underground cavern group crustal stress field inversion method under a complex geological condition, and provides a method for inversing a crustal stress field of a large underground cavern group by taking a river valley center line or a ridge line as an inversion numerical model boundary to solve the problems that underground cavern group crustal stress measured data is discrete and difficult to accurately predict under the background of deep river valley terrain and multi-fault development. And selecting actual measurement points which are far away from the fault and are in three-dimensional distribution. The method comprises the following steps: acquiring a displacement boundary and a gravitational acceleration magnitude of a three-dimensional numerical model through limited measured data by adopting stepwise multiple linear regression and evolutionary neural network joint inversion, positively loading the displacement boundary and the gravitational acceleration magnitude to a model boundary to obtain a regional crustal stress field, and extracting measured point data for preliminary verification; and simulating caving excavation, and analyzing whether the stress concentration area is consistent with the observed stress type damage position or not. The method integrates the advantages of the two methods, more optimal solutions can be selected, the problem that precision and calculated amount are difficult to consider in stress field prediction of the complex structure motion area is solved, and the method is suitable for crustal stress field prediction of the complex structure area.

The invention provides an anti-interference visual detection method and system based on machine learning, and relates to the technical field of data processing, and the method comprises the steps: obtaining a to-be-detected object image; performing feature extraction on the image of the object to be detected to obtain multi-dimensional feature data including color, geometric morphology, motion state and image quality; performing anomaly detection and quality evaluation processing on the multi-dimensional feature data through a hierarchical machine learning model, and outputting processed reliable feature data; based on the reliable feature data, identifying different types of interferences in the to-be-detected object image, and performing interference compensation on the reliable feature data influenced by the different types of interferences; based on a pre-calibrated measurement basis, the reliable characteristic data after interference compensation is converted into an actual physical quantity, and the actual physical quantity comprises a corrected physical pendulum length; and determining the gravitational acceleration of the to-be-detected object according to the corrected physical pendulum length so as to complete anti-interference visual detection.

The invention discloses an omnidirectional geophone inclination angle calibration method and system, and a computing device. The method comprises the following steps: enabling an X component, a Y component and a Z component of an omnidirectional geophone to coincide with an X axis, a Y axis and a Z axis of an accelerometer respectively; the polarity of each component of the omnidirectional geophone is correspondingly consistent with that of each component of the accelerometer; the positive and negative directions of the X axis, the Y axis and the Z axis of the accelerometer are made to coincide with the gravity acceleration direction, and acceleration values output by the accelerometer in the six postures are obtained; calculating an acceleration calibration coefficient of the accelerometer based on the obtained acceleration value; based on the acceleration calibration coefficient, calibrating an acceleration value output by the accelerometer in any attitude; calculating an inclination angle value of the omnidirectional geophone based on the calibrated acceleration value; and calculating a seismic data calibration matrix of the omnidirectional geophone based on the dip angle value and calibrating seismic data output by the omnidirectional geophone. The method can eliminate the influence of the attitude of the omnidirectional detector on the output seismic data.

A star infiltration device and method of measuring the gravitational acceleration and soil-bearing capacity of a star are provided. The infiltration device is multifunctional and has a variable ramming frequency intensity. It comprises an infiltrator in which a rammer is driven by solenoid coils to move up and down in a conducting pipe to cause the infiltrator to penetrate a layer of star soil. Planetary gravitational acceleration is measured while the infiltrator is in the penetration state, star soil softness is evaluated during the penetration process, and star soil thermal parameters and temperature fluctuations are measured after penetration.

The present application discloses a monitoring system, method, device, medium and equipment for the state of a drop-out fuse. The system includes a gravity acceleration sensor, a processing unit and a communication terminal; at least two gravity acceleration sensors are configured to collect the acceleration change amount and the gravity component of the drop-out fuse, and the acceleration change amount and the gravity component are collected in sequence; when any acceleration change amount exceeds a preset threshold, an interrupt request is generated; the processing unit is configured to receive the interrupt request, obtain the gravity components of all the gravity acceleration sensors and perform consistency verification; if the gravity components of all the gravity acceleration sensors are consistent, the opening and closing state information of the drop-out fuse is sent to the communication terminal; if the gravity components of all the gravity acceleration sensors are inconsistent, all the gravity acceleration sensors are restarted. The embodiments of the present application can not only capture the fuse action in time, but also avoid resource waste and misjudgment.

The invention relates to the technical field of vehicle mass measurement, in particular to a vehicle mass estimation method, device and equipment and a storage medium. The method comprises the steps that the effective bearing area of the air spring, the effective rigidity of the mechanical spring and the unsprung and compensation mass are obtained; collecting the current deviation height of the air spring and the current air pressure intensity in an air spring cavity through a sensor; calculating the first mass of the compressed air spring according to the effective bearing area, the current gas pressure and the gravitational acceleration; calculating a second mass of the compression mechanical spring according to the effective rigidity, the current offset height and the gravitational acceleration; and according to the first mass, the second mass, the unsprung mass and the compensation mass, the estimated whole vehicle mass is obtained. According to the invention, the technical effects of high precision, real-time performance, simple system integration and high environmental adaptability can be achieved when the mass of the whole vehicle is estimated.

The invention provides an aircraft collaborative gravity navigation system and method, and belongs to the technical field of navigation. The navigation system is composed of a high-precision distance and direction finding unit, an inertial navigation unit, a global gravity field model database unit, a positioning calculation unit and a filtering estimation unit. The specific implementation process of the navigation method comprises the steps of obtaining the relative position between the aircrafts by using distance and direction finding data between the aircrafts, extracting the relative gravitational acceleration by using polynomial fitting, carrying out positioning calculation based on the relative gravitational acceleration and the relative position, carrying out Kalman filtering correction by fusing a positioning calculation value and inertial navigation information, and finally obtaining the navigation result. And high-precision autonomous navigation is realized. According to the navigation system and method, autonomous navigation is achieved only through inertial navigation data and distance and direction finding data between the aircrafts, dependence on satellite navigation is completely eliminated, and the navigation system and method are suitable for autonomous navigation of aircrafts such as middle-high altitude long-endurance unmanned aerial vehicles.

This invention discloses a method and apparatus for calculating vehicle acceleration. The method establishes gravitational acceleration component equations based on a first set of acceleration models and a second set of acceleration models. It determines the total acceleration vector of a second sensor based on the vector coordinates of the second coordinate system relative to the first coordinate system. Based on the vector coordinates of the second coordinate system relative to the first coordinate system, it calculates the total rotational angular velocity vector and the total rotational angular acceleration vector of the second sensor in the first coordinate system. Based on the total acceleration vector, the total rotational angular velocity vector, and the total rotational angular acceleration vector, it calculates the summed acceleration vector of the second sensor at the origin of the first coordinate system. Based on the resultant acceleration vector and the summed acceleration vector in the first coordinate system, it establishes acceleration equations. Finally, it establishes and solves a joint system of equations based on the gravitational acceleration component equations and the acceleration equations to obtain the motion acceleration of each axis in the first coordinate system. This method improves the accuracy of vehicle acceleration calculation.

The invention provides a course rapid initial alignment method and device for vehicle-mounted integrated navigation, and relates to the technical field of navigation calibration, and the method comprises the following steps: based on three-axis acceleration data, eliminating a component of gravitational acceleration in a horizontal direction through attitude compensation, and obtaining a horizontal longitudinal acceleration measurement value; carrying out plane coordinate projection based on the GNSS positioning data to obtain a track point sequence; determining the horizontal displacement length of the current track point and other track points in the track point sequence; on the basis of the horizontal longitudinal acceleration measurement value and the track point sequence, the motion direction is judged through the speed change trend and the horizontal acceleration direction, the current track angle is corrected, and a corrected course angle is obtained; and based on the corrected course angle and the Z-axis angular velocity of the gyroscope measured by the IMU module, estimating the course angle error and the zero offset of the gyroscope by adopting an adaptive Kalman filtering algorithm, and outputting the corrected course angle. According to the invention, fast and accurate course initialization of combined navigation in a low-speed equipment operation scene can be realized.

The invention relates to an out-of-levelness estimation method, device and equipment of an inclinometer and a medium, and belongs to the technical field of inclinometers. The method comprises the following steps: in a hardware environment without a gyroscope, acquiring initial attitude angle information through accelerometer data sampling and alignment; performing attitude matrix construction, navigation coordinate system projection, Kalman filter modeling, attitude error calculation and error compensation to equivalently realize a gyroscope-free zero-velocity correction effect, and obtaining a final attitude angle; a self-adaptive Kalman filter based on gravity acceleration module value constant constraint is provided, so that the influence of external interference on the measurement precision can be reduced; and finally, performing smooth filtering on the final attitude angles at a plurality of adjacent sampling moments, and outputting high-precision and high-stability unlevelness. According to the method, under the condition that the hardware cost is not increased, the measurement precision and stability of the inclinometer on the out-of-levelness are improved.

The invention relates to the technical field of circuit breakers, and discloses a high-low voltage circuit breaker propelling mechanism which comprises a switching-off mechanism, a frame assembly is fixedly installed on the inner wall of the switching-off mechanism, a communication assembly is installed on the inner wall of the switching-off mechanism, and an operator pulls a spring reset rod to drive a radian stop block to move. Then a connecting rod is pushed to ascend to drive a balancing weight, a sliding rod, a spring ring and a connecting block to synchronously ascend, the connecting block ascends to push a moving contact on a moving contact supporting piece to be in contact with a static contact to enable current to be connected, when the current is large, a spring ejector rod downwards pushes an L-shaped plate to descend to enable a radian stop block to be separated from a fixing ring again, and at the moment, the connecting rod is pushed to ascend to drive the balancing weight, the sliding rod, the spring ring and the connecting block to synchronously ascend. The spring ring and the balancing weight return, and a larger initial driving force is provided by utilizing the elastic potential energy of the spring of the spring ring and the gravitational acceleration of the balancing weight, so that the moving contact supporting piece and the static contact can be quickly separated for a larger distance, the duration time of an electric arc is shortened, and the continuous combustion of the electric arc is effectively prevented.

The invention relates to a method for quickly acquiring ramp information and a vehicle running state, which is based on a first acceleration sensor parallel to the vehicle running direction and a second acceleration sensor perpendicular to the first acceleration sensor. Synchronously measuring to obtain a first acceleration component along the slope surface direction and a second acceleration component vertical to the slope surface direction; according to the projection relation between the second acceleration component and the gravitational acceleration in the direction perpendicular to the slope surface, the slope angle and the running acceleration of the current ramp are analyzed; and torque compensation control is conducted on a vehicle driving motor through the slope angle and the running acceleration. Aiming at the limitation of ramp detection of the existing GPS and gyroscope, a ramp information and vehicle running state acquisition system which is low in cost, high in real-time performance and adaptive to a whole scene is constructed by taking double vertical acceleration sensors as a basic core; the problems of slow ramp detection response, high cost, insufficient precision and load interference of the industrial vehicle in a closed and complex scene are effectively solved.

An object of the present invention is to provide a flow velocity measuring system in which a sensor is not in contact with water and which can measure a flow velocity of water with a simple configuration. Another object of the present invention is to provide a novel flow rate measurement system capable of measuring a flow rate of water based on the flow velocity.SOLUTION: The flow velocity measuring system includes a drainage pipe, a distance sensor, and a measuring unit, the drainage pipe being capable of discharging water from a water discharge port in a horizontal direction, the distance sensor being disposed at an arbitrary position facing the water discharge port at a horizontal distance D and a vertical distance Y from the water discharge port and being capable of detecting a horizontal distance Xo from the water discharge port to water, the measurement means is capable of measuring the flow velocity Vo of the water discharged from the water discharge port from Xo, D, Y, and the gravitational acceleration g.SELECTED DRAWING: Figure 1

This invention relates to a method for calculating the restoring force caused by the surface tension of liquid fuel in a storage tank: A ground-based scaled-down storage tank control group is constructed, comprising three sets of scaled-down storage tanks, with each set consisting of two tanks filled with different test solutions; a ground swaying test is conducted on the ground-based scaled-down storage tank control group, and the first-order swaying fundamental frequency is recorded; the first-order resonance process of each ground-based scaled-down storage tank in the ground swaying test is equivalent to that of a simple pendulum model; and the gravitational acceleration g between the control groups formed by the same scaled-down storage tank radius and different test solutions is calculated. mn Based on the proportional relationship between the internal liquid surface tension and the equivalent acceleration generated by the internal liquid surface tension, the equivalent acceleration generated by the internal liquid surface tension of the scaled-down tanks in various locations is calculated. According to the principle that the liquid-filled tank of the spacecraft is proportional to the Bond number of the on-orbit environment, the equivalent acceleration generated by the internal liquid surface tension under the actual on-orbit operating conditions is extrapolated, and then converted into the restoring force caused by the surface tension of the liquid fuel inside the tank.

This invention relates to the field of MEMS sensors and discloses a method and system for correcting single-axis abrupt changes in MEMS sensors, including the following steps: S1, obtaining the local gravitational acceleration reference value g at the deployment location of the target MEMS sensor; In this invention, through a dual judgment mechanism of modulus deviation and inter-axis correlation coefficient, it is possible to accurately distinguish between interference abrupt changes and real motion. Modulus deviation is used to initially screen abnormal data, while inter-axis correlation coefficient further verifies the authenticity of the abrupt change, effectively avoiding the problem of incorrect correction caused by relying on only a single indicator in the prior art. Furthermore, based on the physical law of conservation of the three-axis acceleration vector sum under static measurement, the abrupt axis is corrected using stable data of the other two axes, and an inter-axis coupling correction factor is introduced to compensate for manufacturing process deviations. The corrected data has high accuracy, and the total modulus deviation can be stably controlled within a preset threshold range, significantly improving the data accuracy of MEMS sensors in outdoor static measurement scenarios.

The invention provides a three-dimensional pose determination method and device based on a vehicle and the vehicle, and relates to the technical field of vehicles, and the method comprises the steps: obtaining first IMU data of a vehicle-mounted IMU under the condition that the vehicle is in a target state at a first moment, and obtaining second IMU data of the vehicle-mounted IMU under the condition that the vehicle is not in the target state at a second moment; a first attitude angle prediction value of the vehicle at the first moment is determined, and a first gravity residual error is determined according to the gravitational acceleration and the first attitude angle prediction value of the vehicle at the first moment; based on the IMU data and the corresponding three-dimensional position coordinate observation value collected in the first time period and the wheel speed data collected by the vehicle-mounted wheel speed meter in the first time period, constructing a vehicle three-dimensional pose estimation model; and obtaining an attitude angle predicted value and a three-dimensional position coordinate predicted value at the next moment by using the model based on IMU data acquired at the current moment and wheel speed data acquired at the current moment.

The invention relates to the technical field of vehicles, in particular to an EMB target braking force calculation method, device and system and a medium. The method comprises the steps that the mass of a whole vehicle is estimated based on the output torque of an engine / motor, the transmission ratio of a transmission, the transmission ratio of a main speed reducer, the effective radius of a tire and the current acceleration of the vehicle; the required total braking force is determined according to the treading depth of the driver and the mass of the whole vehicle; estimating the current gradient based on the gravitational acceleration, the acceleration obtained by the acceleration sensor and the acceleration obtained by differential of the vehicle speed, and correcting the total braking force according to the current gradient to obtain the corrected total braking force; the braking force distributed to the front axle and the rear axle is determined according to the longitudinal acceleration and the corrected total braking force, and when the vehicle is in the steering state, the braking force distribution proportion of the wheels on the two sides is adjusted according to the actual lateral acceleration and the target lateral acceleration so as to determine the EMB target braking force of each wheel; the reliability and adaptability of the braking system can be improved.

The invention relates to the field of MEMS sensors, and discloses an MEMS sensor single-axis abrupt change correction method and system, and the method comprises the following steps: S1, obtaining a local gravitational acceleration reference value g of a target MEMS sensor deployment position; according to the method, the interference sudden change and the real motion can be accurately distinguished through a dual judgment mechanism of the die length deviation and the inter-axis correlation coefficient, the die length deviation is used for preliminarily screening abnormal data, the inter-axis correlation coefficient further verifies the authenticity of the sudden change, the problem of error correction caused by dependence on a single index in the prior art is effectively avoided, and the accuracy of the error correction is improved. And based on the physical law of three-axis acceleration vector and conservation under static measurement, the abrupt change axis is corrected by utilizing stable data of other two axes, and an inter-axis coupling correction factor is introduced to compensate the manufacturing process deviation, so that the corrected data is high in precision, and the total mold length deviation can be stably controlled within a preset threshold range. And the data accuracy of the MEMS sensor in an outdoor static measurement scene is obviously improved.