312 results about "Guidance system" patented technology

The invention relates to a dynamic cooperative path planning and autonomous landing control method for an unmanned aerial vehicle and an unmanned ship, and the method comprises the following steps: collecting the state data of the unmanned ship and the unmanned aerial vehicle and the high sea condition environment data, and carrying out the data fusion processing; an improved fast extended random tree algorithm is adopted to plan a safe navigation path for the unmanned ship, the generated path of the unmanned ship is optimized based on an unmanned ship motion model considering environmental interference, and a model prediction control algorithm is adopted to plan a path for the unmanned ship to fly to a predicted landing point of the unmanned ship. Dynamic cooperation between the unmanned ship and the unmanned aerial vehicle is realized through information interaction between the unmanned ship and the unmanned aerial vehicle; the unmanned aerial vehicle recognizes an unmanned ship landing identifier through a visual servo guide system, calculates the position and attitude deviation relative to a landing point, adjusts flight control parameters according to interference conditions by using an adaptive control algorithm, and performs trajectory prediction compensation in combination with an unmanned ship motion model to realize autonomous landing. Compared with the prior art, safe landing of the unmanned aerial vehicle on the unmanned ship under the high sea condition is achieved.

The technology disclosed teaches distributed networks and methods for cloud processing for global navigation satellite system (GNSS) interference data from a plurality of GNSS receivers to alert aircraft personnel to GNSS spoofing of aircraft guidance systems. The technology disclosed includes receiving at a cloud-based server, GNSS interference data from the plurality of GNSS receivers, analyzing the GNSS interference data upon receipt, identifying an interference event from the analyzed GNSS interference data, and in response to an identified interference event, the cloud-based server providing an alert to EFB tablet devices onboard the aircraft thereby causing notification of aircraft personnel of a potential spoofing event.

The invention discloses a wind power unmanned ship path tracking control method based on active disturbance rejection linear quadratic regulation control. The method comprises the following steps: building kinematics and dynamics models based on a ship body physical structure and a system parameter identification method; according to the method, a linear quadratic regulator (LQR) is introduced into an active disturbance rejection control framework, and the strong disturbance compensation capability of the ADRC and the control accuracy of the LQR are combined; an unmanned ship guidance system is constructed based on the model, a dynamic curvature navigation control (DCNC) algorithm is adopted to dynamically adjust the navigational speed, and path tracking is ensured by controlling the course angle. The method for calculating the weight proportion of the LQR coefficient in real time overcomes the system instability caused by environment change in actual engineering application to a certain extent; the ADRC control strategy adopted by the invention effectively improves the robustness and optimality of the system.

The invention provides a reusable rocket landing stage starting height prediction method, a guidance system and a processor, and aims to dynamically and accurately determine the ignition time of an engine by constructing a real-time online starting height prediction model based on an energy conservation principle and combining multiple safety thresholds (including an allowable starting height upper limit and a standby starting height lower limit) so as to predict the starting height of the rocket in a landing stage. And the safety and fuel optimality in the whole flight envelope are ensured, so that the reliability, accuracy and economical efficiency of the reusable rocket landing are remarkably improved. The problems that in the prior art, engine starting height prediction precision and robustness are insufficient, online adaptation to uncertainty of a complex flight environment cannot be achieved, and safety margin consideration is insufficient are solved, and potential safety risks are thoroughly eliminated.

The invention discloses a wearable path guiding system based on visual-tactile cross-modal mapping. The wearable path guiding system adopts a three-module architecture, namely a visual environment sensing module, a simplified path planning module and a tactile guiding module. The environment perception module constructs an incremental scene map with semantic annotations based on a depth camera. And the simplified path planning module is used for generating a steering vector containing gait information and a steering angle according to the advancing direction and simplified path pointing and performing real-time iterative optimization to realize real-time matching of the advancing direction of the user and the target direction. And the tactile guidance module is used for realizing synchronization of gait and tactile stimulation, generating priority gradient intensity field tactile feedback with a direction indication characteristic according to path deviation information, correcting the advancing direction, and starting the voice auxiliary module when multiple times of tactile correction do not reach the expectation. The method is suitable for a visual signal limited scene, the visual signal is mapped into the tactile signal to realize self-adaptive synchronization with the motion rhythm, and path guidance is completed.

The invention discloses a variable gain inversion maneuvering target interception guidance method considering attack angle constraint, and belongs to the technical field of aircraft guidance control. The implementation method comprises the following steps: considering necessary conditions for interception success and end attack angle constraints, based on trajectory shaping, representing a sight angle reference profile by constructing a polynomial function taking a flied distance as an independent variable, and realizing reduction of initial and end constraints; the profile only utilizes missile-target relative information and does not depend on motion information of the target, so that the profile is suitable for intercepting targets in various motion forms. In order to accurately track a line-of-sight reference profile, adverse effects of aircraft control input saturation constraint and target maneuvering interference on a guidance system are considered, an input saturation compensator and a finite time interference estimator are introduced, and a variable gain interception guidance law is designed based on an inversion control architecture. And the aircraft can accurately track the profile and can intercept the maneuvering target at an expected angle at the same time. The method has the advantages of low required overload, high interception precision and good robustness.

The invention discloses an error envelope performance evaluation method for a take-off and landing guide system of an aviation navigation network, which relates to the technical field of satellite navigation and comprises a single-frequency pseudo-range domain error envelope model evaluation method, a double-frequency pseudo-range domain error envelope model evaluation method and a double-frequency positioning domain error envelope model evaluation method. The evaluation method comprises the following steps: S1, screening observation data, carrying out carrier phase smoothing filtering processing, and extracting a pseudo-range single-difference residual error; s2, constructing an error envelope model; and S3, error envelope confidence evaluation and error envelope tightness evaluation are carried out. According to the error envelope performance evaluation method for the take-off and landing guide system of the aviation navigation network, selection of a specific error envelope model in integrity evaluation is facilitated, a satellite-based precision take-off and landing guide system integrity monitoring system can be assisted to obtain a lower protection level relatively easily, and the usability of the system is improved.

The invention belongs to the technical field of unmanned aerial vehicle accompanying flight, and particularly relates to a guiding system based on a vehicle-mounted accompanying flight unmanned aerial vehicle, which comprises the steps of carrying out state calculation on the unmanned aerial vehicle, judging whether the unmanned aerial vehicle reaches a take-off condition, checking battery power endurance of the unmanned aerial vehicle, whether a communication link is stable, and whether sending and receiving states of a control instruction are normal. The vehicle-mounted interaction platform is in signal transmission with the vehicle-mounted terminal, obtains the position information and state of the unmanned aerial vehicle in real time, maps the position information and state to a vehicle-mounted terminal screen and keeps a real-time interaction state with the unmanned aerial vehicle, and the vehicle-mounted terminal obtains the flight normal state information and the flight dynamic information of the unmanned aerial vehicle in real time and controls the unmanned aerial vehicle according to the two-state information of the unmanned aerial vehicle. The vehicle-mounted terminal can select to take over or the vehicle-mounted trusteeship platform to perform trusteeship, and the control system can send a landing instruction. According to the invention, exploration operation tasks in a large area can be completed more quickly and autonomously, dangers possibly foreseen by vehicles are avoided or eliminated, the driving safety is improved, and the dependence of the unmanned aerial vehicle on manual control is reduced.

The invention belongs to the technical field of civil aviation, and particularly relates to a portable visual parking guiding system which comprises a portable image device used for generating an environment reference file when a worker is placed at an entrance of a target parking area; the target locking and contour snapshot acquisition unit is used for generating an integrated contour in three rounds of iteration by adopting an accumulation and superposition strategy after the target enters a preset sensing range; calculating a positioning vector set according to a position relation between the integrated contour and a set ideal parking attitude, and writing the positioning vector set into an instruction buffer queue; and the guide visual output unit is used for reading the instruction buffer queue and synchronously displaying character prompts on an interface of the handheld end. The method can continuously provide high-precision, strong-robustness and low-power-consumption parking guiding capability within millisecond-level time delay under the condition that fixed infrastructures and manual calibration are not needed.

The invention discloses an intelligent guidance system and method for predicting ship navigation disturbance release based on machine learning. The intelligent guidance system comprises a data acquisition module, a machine learning analysis module and a ship navigation prediction feedback module. A channel water pollution prediction model is constructed through a machine learning algorithm, the concentration of pollutants in overlying water of a channel after a ship passes is predicted in real time, and an optimal route is recommended after water environment protection and economic benefits are comprehensively considered, so that the ship is guided to sail. The problem that endogenous pollution release caused by ship navigation disturbance is difficult to predict and control is solved, ecological protection is considered while ship transportation is developed, the method has the advantages of automation, high efficiency, accuracy, flexibility and the like, and technical support is provided for controlling water environment risks in a navigation channel.

The disclosed invention introduces an advanced Visual Alarm and Guidance System designed to significantly enhance safety in industrial environments. This innovative system integrates state-of-the-art computer vision and light projection technologies, along with trajectory prediction algorithms, to dynamically identify potential hazards and guide workers in real-time out of potential collision pathways. It marks a considerable advancement over traditional safety methods by not only detecting imminent dangers but also providing clear, visual navigation aids. This system is adaptable to various high-risk settings, seamlessly integrates with existing infrastructures, and offers a novel approach to real-time, visual safety management in industrial settings.

An aircraft-based strategic and tactical interactive guidance system for ground operations includes position sensors for determining position information of an aircraft engaged in taxi operations (e.g., gate to takeoff, touchdown to gate) at an airport. The guidance system stores airport database information about runways, taxiways, hazards, gates, and other airport features. The guidance system analyzes and parses verbal taxi instructions from the airport control facility, into a navigation path. The guidance system fuses the navigation path with the airport database information and the aircraft's position information to present, via an interactive display surface, a strategic display, e.g., providing an overhead view of the current aircraft position, its assigned gate or destination, and the navigation path incorporating the prescribed runways and / or taxiways via which the aircraft will reach said destination. The pilot may modify the displayed navigation path via the interactive display surface.

The invention discloses a power transmission equipment health state real-time evaluation and operation and maintenance guidance system and method. The method comprises the following steps: collecting inspection data of power transmission equipment according to a preset inspection route through an unmanned aerial vehicle; real-time operation data is acquired and equipment inspection data is received through an equipment data acquisition module, and preprocessing is carried out; real-time operation data and equipment inspection data sent by an equipment data acquisition module are received through an equipment state detection module, and the equipment operation state of the power transmission equipment is determined; through the operation and maintenance guidance module, the equipment operation state sent by the equipment state detection module is received, the alarm information is generated according to the equipment operation state and the early warning state threshold, the operation and maintenance guidance data is determined, and the operation and maintenance guidance data is recorded, so that the inspection efficiency and precision are improved, and the labor cost and risk are reduced; and potential faults can be quickly identified and early warning information can be generated, so that maintenance measures can be taken in time, and the efficiency and accuracy of power transmission equipment management are improved.

Systems and methods for use in automatic alignment of prefabricated building modules. Mating alignment structures on a new module and one more placed modules or mounted pilots interact as the new module is lowered to align edges of the new module relative to the placed components. Different alignment structure types are used to provide different degrees of positional alignment for different edges of a module during installation. When two edges of a module are simultaneously constrained, a horizontal position of one edge is constrained to a greater degree than the second edge. Alignment structures also can be configured so the degree of position constraint on a particular edge varies and to change which module edges are constrained as a module is lowered into position. The system and methods are suitable for use with prefabricated building modules having preinstalled interlocking façade panels.

The technology disclosed teaches distributed networks and methods for cloud processing for global navigation satellite system (GNSS) interference data from a plurality of GNSS receivers to alert aircraft personnel to GNSS spoofing of aircraft guidance systems. The technology disclosed includes receiving at a cloud-based server, GNSS interference data from the plurality of GNSS receivers, analyzing the GNSS interference data upon receipt, identifying an interference event from the analyzed GNSS interference data, and in response to an identified interference event, the cloud-based server providing an alert to EFB tablet devices onboard the aircraft thereby causing notification of aircraft personnel of a potential spoofing event.

The invention discloses a multi-missile self-learning differential game cooperative guidance method based on disturbance feed-forward compensation, and the method comprises the steps: providing a finite-time convergence sliding-mode nonlinear expansion state observer for solving the problems of unknown partial parameters and external disturbance in a multi-missile cooperative guidance system; a sliding mode control method is combined with an extended state observer, a novel fixed-time convergence sliding mode surface and a sliding mode reaching law are constructed, and real-time estimation and efficient compensation of unknown disturbance in a system are achieved. Strictly proving the fixed convergence time of the observer by using a Lyapunov function, and analyzing a disturbance estimation error; compared with a traditional ESO, the method has the advantages that the speed and precision of state tracking are remarkably improved, and the anti-interference capability of the multi-missile cluster in a complex interference environment is effectively improved.

An aircraft pylon comprising a box-section primary structure and at least one tank positioned inside the primary structure. To facilitate mounting or demounting the tank, the pylon is equipped with a guide system configured to move the tank from its mounted position toward a through-hole, including a guide rail fastened to the primary structure and positioned above the tank and a guide pin fastened to the tank cooperating with the guide rail so that the tank is supported by the guide rail and is able to slide along the latter. This guide system contributes to simplifying manipulation of the tank when mounting or demounting the tank by at least partly compensating its weight and guiding the tank.

A while-drilling acoustic auto-tracking wellbore tool and a method for using same. The tool comprises: a power generation and communication system (100), which comprises a power generation system and a communication system, wherein the communication system is used for bidirectional transfer of measurement data and a control instruction; a power and measurement and control system (200), which comprises a measurement while drilling system, wherein the measurement while drilling system is used for measuring inclination and azimuth data of a newly drilled borehole, and transmitting the data to the communication system; and an acoustic measurement and guidance system (300), which comprises an acoustic emission and measurement and control system, wherein the acoustic emission and measurement and control system is used for emitting an acoustic signal in the newly drilled borehole, receiving a return signal and transmitting the return signal to the communication system. The solution solves the difficult problems of communicating a newly drilled well and an old borehole, determining the distance between a drill bit and the old borehole in real time, etc. The acoustic emission and measurement and control system emits the acoustic signal in the newly drilled borehole, receives the return signal and transmits the return signal to the communication system, and the position of a wellbore is dynamically scanned and monitored in an acoustic while-drilling manner, thereby achieving the aim of performing measurement while drilling.

The invention discloses a marine ranch cruising task-oriented drum sailboat event triggering optimization control method. The method comprises the following steps of: constructing a three-degree-of-freedom nonlinear mathematical model of a drum sailboat; generating a virtual reference path based on the waypoints by using LVS so as to obtain a guidance law and a position error; improving the guidance law by using a limited boundary circle rule to obtain an improved ILVS guidance law, and further obtaining a heading error; designing a virtual control law based on the actor-commentator neural network; a dynamic surface control technology is introduced to filter the virtual control law and define a dynamic error, and a robust neural damping technology is used to carry out robustness processing on a nonlinear term; designing intermediate control input by combining the actor-commentator neural network, the dynamic error subjected to robust processing and the derivative of the filtered virtual control law; designing an integral dynamic event triggering mechanism, and designing a ship path tracking controller by combining an adaptive compensation technology and intermediate control input; according to the invention, the communication load of a guidance system can be effectively reduced, the practicability of the controller in a dynamic marine environment is effectively improved, and the cruise precision of a marine ranch is guaranteed.

The invention relates to the field of aviation safety, in particular to a low-altitude flight safety co-guidance system, which comprises a flight airspace delimiting module, an image intelligent identification module, a position determination module, a collision risk judgment module, a route planning module and a management database, and is characterized in that an identification model is constructed through a convolutional neural network, and a flight airspace image is acquired; the method comprises the following steps: identifying a moving object and a fixed obstacle in a flight airspace, performing position marking on the moving object and the fixed obstacle in a flight airspace image, predicting a movement track of the moving object in the flight airspace image, further judging whether the aircraft has a collision risk, and determining the collision risk position of the aircraft. A heuristic search algorithm is utilized to output a safe flight path fragment, the whole process from environment perception to risk response is covered, and the possibility of collision accidents of the aircraft is greatly reduced.

The invention discloses an underground space personalized intelligent guidance system based on spatial layout, which comprises a positioning hardware network, a navigation calculation server, user terminal equipment and a data transmission network, and is characterized in that the navigation calculation server is internally provided with a complex spatial database and stores a three-dimensional map of an underground space and function distribution data of each region; the system further comprises a special positioning algorithm processing unit and a path planning processing unit, the positioning algorithm processing unit is responsible for fusing multi-source data from Wi-Fi, Bluetooth and a high-precision inertial measurement unit IMU to achieve accurate positioning, and the path planning processing unit is based on a NavMesh navigation grid and an improved A * algorithm. And a multi-target path is generated in combination with real-time personnel density distribution data, an optimal path and a plurality of recommended paths are provided, and personalized route suggestions are generated according to specific requirements of users. According to the method, the limitation of a traditional navigation mode in dealing with the complexity of the underground space is overcome, and accurate navigation and personalized guidance of the user in the underground space are realized.

The invention discloses an eVTOL take-off and landing management system and method based on a mobile take-off and landing platform. The eVTOL take-off and landing management system comprises a low-altitude flight scheduling system, a take-off and landing platform system, an approach management system, a radio height feedback system, an RTK differential positioning system, a Beidou positioning system, a guiding system, an undercarriage fixing system, a recording system and a process feedback system. By using the take-off and landing management system, an eVTOL flexible take-off and landing application channel is opened, and an important guarantee is provided for the mobile take-off and landing platform to take off and land the eVTOL; by means of the mobile take-off and landing platform, take-off and landing at any suitable position in the eVTOL field are achieved, the problem that take-off and landing can only be conducted at a fixed take-off and landing point is solved, and a foundation is laid for wide application of the eVTOL; various sensing systems and intelligent computing systems are applied, technical support is provided for eVTOL take-off and landing, the take-off and landing difficulty is lowered, and human intervention is reduced.

The invention belongs to the technical field of airborne laser beam driving composite space coding guidance, and particularly relates to an airborne remote control guidance device which comprises a guidance system and a receiving system, and the guidance system comprises a television observing and aiming assembly, a laser guidance assembly, a wireless display control assembly, a stabilized platform and a guidance unmanned aerial vehicle; the receiving system comprises an optical assembly, a detector, a signal processing module, a transmission display assembly and a receiving unmanned aerial vehicle; the wireless display control assembly is operated to control the laser guidance assembly to emit an information field, the signal processing module adjusts and controls the position of the receiving unmanned aerial vehicle after receiving an instruction of the information field, and the receiving unmanned aerial vehicle attacks a target according to the instruction. According to the invention, accurate strike of air-to-ground targets and air-to-air targets can be realized by using a laser beam driving guidance mode.

A system and a method for defining and maintaining slope and cross-slope parameters during construction vehicle operations are provided. Data associated with an attachment positioned at reference points on the terrain and the corresponding location and elevation information from a location sensor are obtained. Based on this data, the processing unit calculates slope and cross-slope parameters by analyzing the differences in elevation and the horizontal distances between the reference points. As a result, guidance information is generated for real-time operator feedback or for the automatic adjustment of the attachment. The system includes a location sensor (e.g., GNSS) and optical sensors (e.g., LiDAR) for calculating the slope and cross-slope values, and for controlling operation of the attachment to ensure that the grading or earthmoving matches defined specifications.

The invention discloses a guiding system and method for penetrating through a special site through horizontal directional drilling, and relates to the technical field of horizontal directional drilling. Comprising a control system, a sensor arranged at the end of a drill rod or a drill bit and used for collecting position signals of the end of the drill rod or the drill bit, a guiding instrument used for receiving signals of the sensor and a carrying device used for carrying the guiding instrument, and the guiding instrument is used for transmitting the received signals of the sensor to the control system. And data analysis and processing are carried out through the control system. By arranging the carrying device, the guiding instrument synchronously moves along with the drill rod, the problems that the guiding instrument cannot be held by a person to reach a special site in a long distance or the guiding positioning is unstable and the precision is reduced when the guiding instrument is carried by a ship are solved, the personnel safety is ensured, and the position of a drill bit is corrected in real time through the control system; the drill bit is kept at the preset position all the time, and it is guaranteed that an actual guide hole is consistent with a penetrating design curve track.

A system and method for providing airport docking guidance for an aircraft includes supplying, from an airport gate database, airport gate data parking data indicative of gate position points and a gate aircraft parking headings. Aircraft data is supplied from an aircraft data source. Position error data is supplied from a position error receiving system. Airport gate data for one airport gate is retrieved. A processing system processes the aircraft data and the position error data to determine, for the one airport gate, an aircraft position point, an aircraft position deviation, and an aircraft heading deviation. The position error data may be supplied from a ground-based position error transmission system that at least selectively determines, from airport gate data and a ground-based position measurement system, the position error data and transmits the position error data.

The invention relates to the technical field of inertial navigation, in particular to an indexing mechanism angle increment observation-based RINS (Remote Inertial Navigation System) rapid zero offset estimation and alignment method, which comprises the following steps: S1, defining a used reference coordinate system; s2, powering on the rotary inertial navigation system, resetting the module, and returning the sky axis to the zero position; s3, a data acquisition module acquires data output by the k-th frame of inertial measurement unit and an indexing mechanism photoelectric encoder; performing attitude, speed and position calculation on the data of the kth frame by using a data processing computer to obtain an inertia calculation result of the kth frame; s4, the data processing computer performs initial alignment of the kth frame; according to the method, the observability of the zero offset and course angle error of the sky-direction gyroscope in the initial alignment process can be remarkably improved, so that the zero offset and course angle error estimation of the gyroscope is faster in convergence and higher in precision; and the initial alignment time of the rotary inertial navigation system can be obviously shortened, the starting preparation time of the carrier is greatly shortened, and the quick response capability of the carrier is effectively enhanced.

The invention discloses a head-up guidance system for an aircraft takeoff process. The system comprises a display panel for mode selection and notification, a sensor group, a flight management system, a takeoff guidance calculation module, a symbol picture generation module and head-up display equipment. The method is used for a head-up guidance system and mode switching logic in the takeoff process of an aircraft, is suitable for various large transportation aircrafts, and has universality.

The invention relates to the technical field of telescope control, in particular to a closed-loop tracking guiding method and guiding system for a telescope, and the method comprises the steps: setting a triggering frequency as an integral multiple of a frequency for receiving an actual guiding direction, and determining whether to trigger the telescope guiding or not according to the multiple. And according to a target miss distance and encoder pointing fitting trajectory formula, calculating a target reference guide pointing direction, superposing the target reference guide pointing direction and the target miss distance, obtaining an actual guide pointing direction for guiding the telescope to rotate, and guiding the telescope to rotate to track the target. The method does not need to consider the time alignment problem of each module, effectively reduces the jitter degree of the target in the visual field, and improves the tracking precision.

The invention discloses a PGK precise guidance system and method for missiles, and belongs to the technical field of electric data processing. In the system, a guided missile is provided with a PGK suite, a first infrared camera obtains first image information of a target object hit by the guided missile, and a second infrared camera obtains second image information of the target object hit by the guided missile; the inertial measurement component measures the angular velocity and the acceleration of the missile provided with the PGK suite; according to information provided by the first infrared camera, the second infrared camera and the inertial measurement part, the navigation system calculates a sight line unit vector, a sight line rotation rate, a velocity vector and a distance to a target object of the missile provided with the PGK suite at time k relative to the target object, and provides the information to the control module, wherein the sight line unit vector, the sight line rotation rate, the velocity vector and the distance to the target object are calculated by the navigation system according to the information provided by the first infrared camera, the second infrared camera and the inertial measurement part; the control module comprises a reinforcement learning module, and the reinforcement learning module generates a flight instruction at the time k according to the optimal line-of-sight curvature control strategy. According to the invention, a GPS module is not used, so that interference by terrestrial magnetism and artificial electromagnetic signals is avoided, and the striking precision is high.