426 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 belongs to the technical field of spinning tension control, particularly relates to an intelligent self-adaptive spinning tension control method and system, and aims to solve the problems that an existing traditional tension control method often depends on simple PID (Proportion Integration Differentiation) control and is difficult to deal with complex dynamic changes, and the control precision is high. In order to solve the problems of low tension control precision, low response speed and incapability of adapting to various textile materials and process requirements in the prior art, the invention provides the following scheme: the method comprises the following steps of: 1, establishing a detailed tension dynamic model based on the Newton's second law and the quality, acceleration, friction force, gravitational acceleration and external disturbance factors of a fabric in a textile process; 2, converting a kinetic equation of a time domain into a complex frequency domain, and establishing a transfer function of a Laplacian domain to describe the response of the system to input and disturbance; the response speed and stability of the control system are improved, the controller further has the adaptive capacity, and control parameters can be adjusted according to real-time feedback so as to meet control requirements under different working conditions.

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 an IMU (inertial measurement unit) attitude estimation method based on rolling window variance detection, which comprises the following steps: acquiring acceleration data and gyroscope data from an inertial measurement unit, the acceleration data being used for providing gravity direction information, and the gyroscope data being used for providing angular velocity information of a sensor; generating a rotation matrix by using gyroscope data, and calculating an Euler angle based on the rotation matrix; attitude estimation is performed by fusing an Euler angle generated from gyroscope data and an attitude angle calculated from gravitational acceleration. According to the method, a rolling window variance detection mechanism is adopted, the vibration degree of the environment where the IMU is located can be detected in real time, the weight of acceleration data is dynamically adjusted according to the vibration strength, and when it is detected that the vibration is high, the influence of accelerometer data in attitude estimation is reduced, so that the interference of the vibration on attitude estimation is reduced; under the condition of weak vibration, the weight of the acceleration data is increased, and the accuracy and stability of attitude estimation are improved.

The invention relates to a hollow-core optical fiber guide type cold atom inertia measurement system and a use method, and belongs to the technical field of cold atom interference measurement inertia. The hollow-core optical fiber guide type cold atom inertia measurement system comprises a vacuum cavity assembly, a laser coupling module I, a laser coupling module II, a cold atom group preparation module and a gravitational acceleration measurement module, according to the invention, a uniform light potential well is constructed by using the hollow-core optical fiber with low loss, high bandwidth and large core diameter, long-distance constraint and guidance are carried out on the cold atom ensemble, and a guide light field applies an optical fiber radial constraint force to the atom ensemble, so that the degree of freedom of motion of the atom ensemble in a non-measurement direction can be inhibited; gravity measurement in a dynamic environment and gravity component measurement in any vector direction are achieved, meanwhile, the size and power consumption of the system are reduced, and integration and engineering of the system are achieved.

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 fault diagnosis, in particular to a sun gear fault tooth positioning method based on combination of rotor sensing and tidal period effect, which comprises the following steps of: fixing a sensor module on an input shaft of a planetary gear box through a thermocouple adhesive, establishing a reference frame of a fixed shaft system and a rotating coordinate system, collecting radial vibration signals, and determining the radial vibration signals; mathematical modeling analysis is carried out on the collected radial vibration signals, and low-frequency components of the vibration signals are extracted by using a low-pass filter and can be used as absolute phase reference signals; the method comprises the following steps: performing time domain compensation on a meshing event of a sun gear and a single planetary gear by calculating meshing dynamic excitation time offset of the sun gear and simplifying a gearbox model, and ensuring the integrity of the single-tooth meshing times of the sun gear in a complete meshing period, so as to accurately analyze the meshing characteristics of each single tooth of the sun gear and the planetary gear; a sun gear fault working condition is simulated through an experiment, and periodic change of fault tooth meshing is analyzed; deterministic components and random components in the vibration signals are separated through cepstrum analysis; a band-pass filter is used for extracting gear meshing components from deterministic components; a minimum entropy deconvolution filtering technology and a square envelope technology are used for carrying out fault feature enhancement on random components; finally, absolute phase reference provided by gravitational acceleration of a rotor perception sensor is used, and a tidal period effect is combined; and calculating a single-tooth meshing frequency code of the fault tooth lag absolute phase reference point, and determining the position of the fault tooth by using different codes corresponding to different fault positions. The complexity of the monitoring system is effectively reduced, the influence of monitoring equipment on the operation of the planetary gear box is reduced, and the fault positioning accuracy of the sun gear is effectively improved.

A step counting method and apparatus. The step counting method includes: obtaining a first acceleration, a second acceleration, and a third acceleration of three axes of an acceleration sensor in a terminal device within a preset time period; determining a change in motion of a user within the preset time period based on the first acceleration, the second acceleration, and the third acceleration within the preset time period; and in a case that the change in motion of the user within the preset time period is greater than or equal to a preset variance threshold, determining a quantity of steps of the user within the preset time period based on a resultant acceleration of the first acceleration, the second acceleration, and the third acceleration within the preset time period and a gravitational acceleration.

The invention relates to an asteroid gravitational field reconstruction method based on an embedded mathematical knowledge neural density field, and the method comprises the steps: completing the sampling of data points based on an asteroid mass point group model, and constructing a function solver from a spatial position to density; constructing a spatial sampling point function to obtain spatial densities of spatial points at different positions; aiming at the space points, utilizing an asteroid visual three-dimensional model to obtain star shell information, and screening the space points as prior information inside and outside a star shell; screening results of the density function solver according to prior information; further calculating a Laplace equation of the data points by using a partial differential equation solver, and calculating a gravitational acceleration equation of external space points of the star by using numerical integration; constructing a total loss function; error back propagation is carried out, and network parameters are optimized; recalculating the internal space point density of the star to obtain the internal density distribution of the asteroid; and further calculating the value of the gravitational acceleration of each position in the space to obtain asteroid external gravitational field distribution.

The invention relates to the technical field of elevator anti-falling, in particular to a high-rise building construction elevator anti-falling device which comprises an elevator frame, an elevator material frame is movably installed in the elevator frame, and an anti-falling mechanism is fixedly installed on the outer side of the elevator material frame. During application, the rotation limiting set is matched with the transmission assembly, a mechanical anti-falling system is constructed, when a circuit system loses efficacy, the electronic limiting set loses action, the elevator material frame rapidly falls under the influence of gravitational acceleration, the gear and the rack are driven to rotate in a meshed mode, and then the mounting disc rotates at a high speed; the centrifugal force promotes the load bearing sliding plate and the load bearing ball to drive the inner clamping frame to move outwards and be buckled to the outer clamping frame, the rotating shaft and the elevator material frame are fixed, during normal use, the elevator material frame ascends and descends at a constant speed, the centrifugal force is small, the inner clamping frame and the outer clamping frame are not clamped, normal operation of the elevator material frame is guaranteed, and the equipment safety is improved through double guarantees.

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 relates to a method for offset compensation (22) of a signal offset (42) in a measurement signal (26) of a pressure sensor (10), comprising the steps of providing (24) the pressure sensor (10), which provides the measurement signal (26) as a function of a deflection of the sensor element (12) that is dependent on a pressure at the pressure sensor (10) and which has an insulating mass (18) on the sensor element (12) for protection against environmental influences, detecting (28) a total acceleration (30) acting on the pressure sensor (10), comprising a gravitational acceleration component (32) and / or an acceleration (33), accessing calculation parameters (35) stored in a memory unit (34),Calculating (36) an offset pressure (38) acting on the sensor element (12) at least via the mass of the insulating compound (18) and the total acceleration (30) acting thereon, depending on at least one of the calculation parameters (35) and the total acceleration (30), and compensating (40) at least the signal offset (42) corresponding to the calculated offset pressure (38) in the measurement signal (26). Furthermore, the invention relates to a method for operating (58) a pressure sensor (10) and a pressure sensor (10).

The invention belongs to the technical field of gear transmission systems, and particularly discloses a rotating speed, torque and vibration isolation rate self-sensing method and system for a Halbach magnetic coupler and the Halbach magnetic coupler. The real-time acceleration of the position of the sensor rotating along with the coupling is measured, a vibration acceleration component and an angular acceleration component in the real-time acceleration are filtered out, a gravitational acceleration component with the frequency consistent with the rotating frequency of the coupling is obtained, and the angular velocity and angle information of the Halbach magnetic coupling are obtained; and comparing the angle difference between the two connecting shafts of the magnetic coupling, and calculating the torque and the vibration isolation rate of the magnetic coupling at the current moment by using the angle difference at each moment and the inherent parameters of the coupling. By the adoption of the technical scheme, the torque transmitted by the current annular Halbach array magnetic coupler and the vibration isolation rate of the current annular Halbach array magnetic coupler are calculated, and self-sensing of the rotating speed, the torque and the vibration isolation rate of the annular Halbach array magnetic coupler is achieved.

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 relates to the technical field of early warning platform construction, and discloses a port infrastructure marine environment disaster early warning platform construction method and system, and the method comprises the steps: obtaining the current time point, the current position and the current speed of a typhoon, and the air density and the gravitational acceleration of the height of the typhoon; constructing a motion equation, and calculating the speed of the typhoon at the next time point; calculating an adjacent value between the current time point and the next time point of the typhoon; updating the position and speed between the current time point and the next time point when the typhoon occurs to obtain an updated position, an updated speed and a typhoon path; calculating the typhoon wave height according to the typhoon path and the typhoon intensity; by updating the typhoon path in real time, the actual movement condition of the typhoon is reflected more accurately, subtle changes of the typhoon path can be captured better, real-time monitoring is achieved, and powerful data support is provided for construction of an early warning platform.

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 invention relates to a vehicle acceleration compensation method and device, and the method comprises the steps: obtaining an initial three-axis acceleration outputted by an accelerometer and an initial three-axis angular velocity outputted by a gyroscope in a static state of a vehicle; according to the initial three-axis acceleration and the initial three-axis angular velocity, initial state parameters related to the vehicle acceleration are determined; after the vehicle is started, the real-time three-axis acceleration output by the accelerometer at the current moment and the real-time three-axis angular velocity output by the gyroscope at the current moment are obtained; determining a real-time attitude angle at the current moment according to the real-time triaxial acceleration at the current moment, the real-time triaxial angular velocity at the current moment and the initial state parameter; according to the real-time attitude angle at the current moment, determining a real-time three-axis acceleration compensation component for the gravitational acceleration; and compensating the real-time three-axis acceleration by using the real-time three-axis acceleration compensation component to obtain the compensated real-time three-axis acceleration at the current moment.

The invention relates to the field of geologic structure detection, and discloses a coal mine hidden geologic structure detection method based on a full-space gravity field, which comprises the following steps of: performing array type measuring point arrangement in an underground limited space gravity field, acquiring gravitational acceleration of measuring points by adopting a gravimeter, identifying a source boundary of the gravity field based on boundary identification parameters, and determining a hidden geologic structure of a coal mine. The method comprises the following steps: carrying out multi-layer separation on a gravity potential field through a wavelet multi-scale decomposition method, carrying out source body embedding position prediction, carrying out three-dimensional inversion simulation on an irregular boundary and a combined inclined block model, determining basic parameters, establishing an inversion parameter library according to the basic parameters, and carrying out source body embedding position prediction; and testing the detection accuracy of the inversion method on the depth, the scale and the boundary of the model based on the inversion parameter library, obtaining known physical property information, performing gravity acceleration inversion of the measuring point through the inversion method, and obtaining and outputting a depth-residual gravity anomaly result map. The method is high in geological structure detection precision and is closer to a target body under the total space condition, and detection is not limited by underground conditions.

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 provides a pitch angle and roll angle determination method, a vehicle and a computer program product, which are applied to the field of vehicles, and the method comprises the following steps: acquiring inertial measurement unit (IMU) data and wheel speed meter data of a target vehicle; determining driving attribute information of each IMU data point based on the IMU data and the wheel speed meter data, and determining initial gravitational acceleration information corresponding to each IMU data point based on the IMU data; the initial gravitational acceleration information comprises acceleration components of gravitational acceleration in different directions; based on the driving attribute information, optimizing the initial gravitational acceleration information of the IMU data points to obtain target gravitational acceleration information; and determining a pitch angle and a roll angle of the target vehicle based on the target gravitational acceleration information. In this way, the accuracy of the pitch angle and the roll angle can be improved, and further, the effect is better when attitude estimation and driving planning are carried out based on the pitch angle and the roll angle.