273 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 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.

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 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 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 utility model discloses a gravitational acceleration testing device, which belongs to the technical field of physical electrics and comprises a base, two vertical plates are fixedly mounted on the upper surface of the base, a transverse plate is fixedly mounted at the top ends of the two vertical plates, an electromagnet is fixedly mounted on the lower surface of the transverse plate, a weight block is magnetically adsorbed on the electromagnet, and the weight block is fixedly mounted on the upper surface of the base. Two sliding sleeves are mounted on the outer surface of the vertical plate in a sliding manner; the electromagnet is arranged to attract the weight block, the weight block is attracted and released through power-on and power-off of the electromagnet, the photoelectric timing sensor is used for timing when the weight block passes, and the speed sensor is used for measuring the speed when the weight block passes. The distance between the upper sliding sleeve and the lower sliding sleeve is marked in cooperation with the graduated scale and the indicating needle, then a more accurate gravitational acceleration value can be obtained, a user does not need to hold the small ball to release the gravitational acceleration, the user does not need to hold a stopwatch to time, and good measurement accuracy is guaranteed.

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.

The invention discloses a drop-out fuse state monitoring system, method and device, a medium and equipment. The system comprises a gravitational acceleration sensor, a processing unit and a communication terminal. The at least two gravitational acceleration sensors are configured to collect the acceleration variable quantity and the gravity component of the drop-out fuse, and the acceleration variable quantity and the gravity component are sequentially collected; when any acceleration variation exceeds a preset threshold value, generating an interrupt request; the processing unit is configured to receive the interrupt request, obtain 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 on-off state information of the drop-out fuse is sent to a communication terminal; and if the gravity components of all the gravity acceleration sensors are inconsistent, restarting all the gravity acceleration sensors. According to the embodiment of the invention, the action of the fuse can be captured in time, and resource waste and misjudgment can be avoided.

The invention belongs to the technical field of drainage of mechanical equipment, and discloses an axial fan drainage device which comprises a drainage tank, a communicating pipe and a drainage pipe. The top of the drainage tank is lower than the lowest position of the axial fan, a drainage valve is arranged at the bottom of the drainage tank, the height of the drainage tank meets the condition that h is larger than p / rhog, h is the height of the drainage tank, p is the absolute value of the maximum negative pressure value formed in the axial fan, rhog is the ponding density, and g is the gravitational acceleration. The first end of the communicating pipe is communicated with the axial fan, and the second end is communicated with the drain tank. The first end of the drainage pipe is communicated with the lowest position of the axial fan, and the second end is communicated with the drainage tank. The same negative pressure is kept in the drainage tank and the axial fan, accumulated water in the axial fan is discharged into the drainage tank through the drainage pipe under the action of gravity, after the liquid level of the accumulated water in the drainage tank reaches a certain height, the gravity of the accumulated water can overcome suction force formed by the negative pressure in the drainage tank, and the accumulated water can be smoothly discharged from the drainage valve at the bottom of the drainage tank.

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.