45 results about "Horizontal coordinate system" patented technology

An optical fiber sensing method and sensing system for straightness of the scraper conveyor is provided. The sensing method includes the following steps: obtaining the horizontal strain and vertical strain of the corresponding grating measuring point of the scraper conveyor by the optical fiber shape sensor; calculating the horizontal curvature and vertical curvature of the grating measuring point; inserting multiple interpolation nodes between the curvature values of two adjacent grating measuring points; transforming the horizontal curvature and the vertical curvature into the horizontal coordinate value in the horizontal coordinate system and the vertical coordinate value in the vertical coordinate system respectively; superimposing the horizontal coordinate value and the vertical coordinate value to obtain the three-dimensional spatial coordinate values of the grating measuring point and the interpolation node; and obtaining the curves of the optical fiber shape sensor on the horizontal plane, the vertical plane, and the three-dimensional space respectively.

The invention belongs to the technical field of ocean engineering, and provides a deep sea riser spatial configuration inversion method. Dividing the deep sea riser into a plurality of pipe section units by taking the tilt angle sensor as a node; discretizing each pipe section unit into a plurality of infinitesimal sections, and projecting each infinitesimal section in a horizontal coordinate system and a vertical coordinate system to obtain a space curve length equation of each pipe section unit; constructing projection expressions of the space curve of each pipe section in a horizontal coordinate system and a vertical coordinate system in combination with inclination angle information; relative coordinates of the upper end point and the lower end point of each pipe section unit in the pipe section unit local coordinate system where the pipe section unit is located are solved through iteration; and converting the relative coordinates of each pipe section unit in the local coordinate system of each pipe section unit into absolute coordinates under the global coordinate system, and integrating the absolute coordinates of each pipe section unit under the global coordinate system to obtain the deep sea riser spatial configuration. The method realizes spatial configuration reconstruction of the riser in a complex marine environment, and has higher robustness.

A kind of compound inertial system attitude simulation test method, compound inertial system obtains launch system initial attitude angle by initial alignment mode;In dynamic loading process, the inertial data of compound inertial system is collected, and the angle signal of attitude simulation platform excitation is synchronously acquired;The attitude of compound inertial system is converted from launch system to local horizontal coordinate system by navigation solution method, while the angle signal of attitude simulation test platform is converted to the attitude angle of local horizontal coordinate system, and relevant operation is carried out, to obtain the dynamic performance parameter of compound inertial system.

The invention discloses a deepwater collaborative operation platform dynamic relative positioning system and method, and relates to the field of deep sea engineering, and the system comprises a first operation platform which is symmetrically provided with a first beacon and a second beacon along a central axis; a third beacon and a fourth beacon are symmetrically arranged on the second working platform along the central axis; the dynamic positioning network is formed by continuously carrying out bidirectional distance measurement among beacons; the edge calculation unit is arranged on the second operation platform and comprises a data acquisition interface and a data processing mechanism; the data acquisition interface is used for receiving original distance observation data and attitude data and depth data of each beacon; and the data processing mechanism unifies all beacon coordinates to a horizontal coordinate system by fusing the distance measurement data, the depth data and the attitude data, and solves the three-dimensional relative position and the relative yaw angle between the two platforms. According to the system and method, multi-source data fusion and edge calculation are utilized, the problem of deepwater transmission delay can be solved, and high-precision real-time feedback of dynamic relative poses between collaborative operation platforms can be achieved.

The invention provides a method and a device for determining the area of a side slope slippage region, and electronic equipment, relates to the technical field of side slope slippage detection, and is used for automatically detecting the side slope slippage region and accurately outputting the area of the side slope slippage region. The method comprises the following steps: determining Beidou coordinates of a target corresponding to a Beidou detection station; determining a point cloud coordinate of each target from the detection point cloud; mapping the detection point cloud into a Beidou coordinate system to obtain an absolute point cloud; mapping the reference point cloud and the absolute point cloud into a slope horizontal coordinate system to obtain a reference horizontal point cloud and an absolute horizontal point cloud; a plane formed by a horizontal axis and a longitudinal axis of the slope surface horizontal coordinate system is parallel to the main plane of the slope; constructing slope surface horizontal grids, determining the elevation difference of each slope surface horizontal grid based on the reference horizontal point cloud and the absolute horizontal point cloud, and identifying at least one continuous slip area based on the elevation difference of the slope surface horizontal grids; and obtaining the area of the slope slippage region based on the grid area corresponding to the continuous slippage region.

The invention particularly relates to a step scanning control method based on path planning and forward compensation. The step scanning control method comprises the following steps: calculating an observation distance from an optical axis to a current pointing direction by using a height difference between a photoelectric turret and an observation target and a platform coordinate system attitude matrix; then, calculating an attitude angle, an azimuth angle and a pitch angle of the equivalent observation ray under a flight path horizontal coordinate system by using the observation distance, an aircraft center geographic position matrix and a platform coordinate system attitude matrix; then, obtaining a scanning track speed according to the path planning information, and then calculating an optical axis scanning angular speed instruction corresponding to the scanning track; and finally, performing feedforward compensation on the flight speed of the aircraft and the earth rotation angular velocity, and calculating to obtain an optical axis scanning inertia angular velocity instruction. According to the method, on the basis of an optical axis scanning angular velocity instruction generated by a path planning trajectory velocity angular velocity, forward compensation is performed on an optical axis scanning angular velocity instruction generated by the flight speed of an aircraft and the earth rotation angular velocity, and the method is visual and effective.

The invention discloses an unmanned aerial vehicle attitude determination method based on a low-orbit satellite communication signal, and the method comprises the steps: converting a vehicle coordinate system of the attitude of an unmanned aerial vehicle into a direction cosine matrix of a local horizontal coordinate system, and obtaining an attitude matrix of the unmanned aerial vehicle; establishing a covariance matrix of single-difference combination observation values of the low earth orbit satellite and the unmanned aerial vehicle, and solving a direction cosine matrix by using the covariance matrix of the observation values; respectively solving an attitude matrix and a covariance matrix of the unmanned aerial vehicle, and constructing an unmanned aerial vehicle attitude determination model by using the solution of the attitude matrix and the solved covariance matrix to obtain a general model for estimating the attitude of the unmanned aerial vehicle by using low-orbit satellite signals; and measuring and calculating the pose of the unmanned aerial vehicle by using the general model for estimating the pose of the unmanned aerial vehicle by using the low-orbit satellite signal. Accurate and high-precision high-frequency dynamic attitude measurement of the unmanned aerial vehicle in a signal shielding or interference environment can be realized, the precision is not reduced in the measurement process, and the problem of accurate attitude determination of the unmanned aerial vehicle in the modern unmanned aerial vehicle application process can be solved.

The invention provides a pipeline axis positioning method and device, equipment and a storage medium. Comprising the following steps: obtaining original point cloud data of a to-be-positioned pipeline, carrying out attitude calculation processing to obtain axis parameters, and carrying out length segmentation processing on the original point cloud data to obtain spliced point cloud data and to-be-spliced point cloud data; updating the axis parameters according to the spliced point cloud data to obtain an updated spliced pipeline axis; acquiring inertial measurement unit data of a to-be-positioned pipeline, and calculating a spatial pose relationship between a radar coordinate system corresponding to the to-be-positioned pipeline and a pipeline horizontal coordinate system in combination with the updated spliced pipeline axis; determining the point number and chord length of the to-be-spliced pipeline in combination with the to-be-spliced point cloud data so as to screen effective to-be-spliced point cloud data in the to-be-spliced point cloud data; and according to the pipeline distance to the updated spliced pipeline axis, performing classification extraction processing on the effective to-be-spliced point cloud data to obtain target to-be-spliced pipeline data. And the positioning accuracy of the pipeline axis is improved.

The invention discloses a method and a device for identifying and positioning an aerial visual angle blind area target, and belongs to the field of computer vision and remote sensing. The method comprises the following steps: acquiring multi-sensor data of a laser radar, a camera, an IMU and a GNSS; converting the laser radar point cloud to a local horizontal coordinate system, and identifying an area with an elevation mutation feature as a blind area detection candidate area; identifying a specific type and a pixel range of an aerial visual angle blind area target; and point cloud data corresponding to the target mask is extracted, the three-dimensional coordinates of the target in a geocentric geodetic coordinate system are solved in combination with the pose and coordinate information of the unmanned aerial vehicle, and the center position of the target is calculated to realize accurate positioning. According to the method, through the technical route of laser radar point cloud detection candidate area coarse positioning, image semantic segmentation accurate recognition and coordinate mapping resolving, the problems that efficient recognition and positioning are difficult and the accuracy is low in the prior art are solved, and type recognition and high-precision positioning of the aerial visual angle blind area target are achieved.

The invention provides an inertial navigation error correction method and device based on photoelectric equipment image target detection, and belongs to the technical field of photoelectricity, and the method comprises the following steps: obtaining a photoelectric image of a to-be-detected target based on a pre-correction attitude angle of photoelectric equipment; performing target detection on the photoelectric image to obtain a target deviation angle; obtaining a horizontal coordinate system deviation angle based on the target deviation angle and the image rotation angle; obtaining an inertial navigation correction angle of the photoelectric equipment based on the horizontal coordinate system deviation angle and the tracking turntable direction; and performing inertial navigation error correction on the photoelectric equipment based on the inertial navigation correction angle. According to the inertial navigation error correction method and device based on photoelectric equipment image target detection, the inertial navigation error can be effectively reduced, and the pointing precision of photoelectric equipment is improved.

The invention discloses an IMU installation angle estimation method, device and equipment and a storage medium, and the method comprises the steps: detecting a motion state of a target vehicle, and obtaining navigation data and IMU data when the target vehicle is in a uniform linear motion state; performing coordinate system conversion according to the navigation data and the IMU data; based on the uniform linear motion state features, a constraint equation is established, and the constraint equation represents that the vehicle displacement direction under the local horizontal coordinate system is consistent with the vehicle advancing direction under the vehicle body coordinate system; the influence of the roll angle is eliminated through decoupling processing in the constraint equation, and estimated values of the pitching installation angle and the yaw installation angle are obtained; performing optimal value solving on the installation angle estimation values corresponding to the uniform linear motion segments by adopting a least square method in an offline mode; and updating the estimated value of the installation angle in real time by adopting a sequential least square adjustment method in an online mode. According to the method, the estimation stability and precision are improved by utilizing the constant-speed linear motion state parameters and the offline and online modes.

This invention discloses a blind zone detection method for handheld point cloud scanning based on the interaction between the acquisition area and the boundary, relating to the fields of 3D scanning and point cloud data processing technology. The method first acquires the device pose and local point cloud, preprocesses it, and then transfers it to a global horizontal coordinate system. A boundary feature extraction engine is used to identify room boundary lines and project them to form a 2D boundary contour map. Simultaneously, an effective acquisition loop is dynamically constructed and projected based on the effective measurement range parameters of the laser scanner and the current ambient lighting conditions. Boolean operations are performed on the effective acquisition loop and the boundary contour map to identify uncovered boundary segments as potential blind zones. The occlusion state is determined using the temporal information of continuous frame point clouds and a ray casting algorithm to identify the effective blind zone. This invention reduces the 3D integrity determination to 2D planar geometric intersection, eliminating the need for prior models and enabling real-time identification of dynamic occlusion and acquisition blind zones. This results in high computational efficiency and significantly improves the success rate and coverage integrity of handheld scanning operations.

The invention provides a two-axis turntable image rotation eliminating method based on inertial navigation data, which comprises the following steps: acquiring an original image in real time by an image acquisition device mounted on a two-axis turntable, and determining parameter information of a video texture map according to the original image; calculating a rotation transformation matrix A1 by using azimuth data and pitch angle data generated by rotation of the rotary table, and calculating a rotation transformation matrix A2 by using inertial navigation data of an inertial navigation system; converting a normal vector of a horizontal plane from a horizontal coordinate system xlylzl to a sensor coordinate system xsyszs, and calculating an image spinor alpha; and carrying out image rotation elimination display on the video texture map by taking the image rotation alpha as a rotation parameter and utilizing a rotation and cutting mechanism of OpenGL (Open Graphics Library). According to the attitude angle of the base of the two-axis rotary table and the axis angle data of the two-axis rotary table, the angle amount of the horizon line projected in the image space is calculated, the angle amount serves as the rotation compensation amount during display, namely, the image spinor alpha, and display is achieved through the rotation and cutting mechanism of OpenGL.

The application provides a telescope and a telescope positioning method, wherein a geomagnetic sensor and a gravity accelerometer of the telescope are used to detect geomagnetic field information and a gravity direction, a horizontal coordinate system is established based on the geomagnetic field information, and an azimuth and an altitude of the telescope in the horizontal coordinate system are determined based on the gravity direction and the horizontal coordinate system, so that preliminary positioning of the telescope is realized, and learning and use of beginners are facilitated.

The invention particularly relates to a photovoltaic sun-chasing system based on a Beidou satellite, and relates to the technical field of photovoltaic energy utilization and satellite navigation. An algorithm processing module; a control execution module; and a man-machine interaction module. According to the method, the declination angle, the hour angle, the elevation angle and the azimuth angle of the sun are accurately calculated on the basis of the horizontal coordinate system and the spherical triangular transformation relation in combination with the product day and the time difference, then the incremental PID closed-loop control algorithm is matched, the real-time attitude feedback of the gyroscope is fused, the angle deviation caused by wind load and mechanical wear can be dynamically corrected, and by adjusting the step number and the speed of the stepping motor, the control precision is improved. Therefore, the photovoltaic cell is always accurately aligned with the sun, and power generation loss caused by tracking deviation is avoided.

A kind of double-axis frame inertial navigation system error self-calibration and compensation method, under static base condition, in 8 frame angle position locking platform, acquisition accelerometer measurement value, calculate the specific force measurement value of inertial navigation system in each locking position platform coordinate system, and calculate the attitude matrix of inertial navigation system in each locking position platform coordinate system to local horizontal coordinate system, obtain the acceleration of inertial navigation system in each locking position local horizontal coordinate system, as error observation quantity.Using total least squares algorithm to obtain the residual of error coefficient, correct the estimated value of measured parameter, carry out iterative calculation until meeting iteration convergence criterion, obtain the self-calibration result of each error coefficient;Through the self-calibration and compensation of error coefficient, the influence of shaft system non-orthogonal error on the attitude measurement precision of double-axis frame inertial navigation system carrier or base can be improved.

An optical fiber sensing method and sensing system for straightness of the scraper conveyor is provided. The sensing method includes the following steps: obtaining the horizontal strain and vertical strain of the corresponding grating measuring point of the scraper conveyor by the optical fiber shape sensor; calculating the horizontal curvature and vertical curvature of the grating measuring point; inserting multiple interpolation nodes between the curvature values of two adjacent grating measuring points; transforming the horizontal curvature and the vertical curvature into the horizontal coordinate value in the horizontal coordinate system and the vertical coordinate value in the vertical coordinate system respectively; superimposing the horizontal coordinate value and the vertical coordinate value to obtain the three-dimensional spatial coordinate values of the grating measuring point and the interpolation node; and obtaining the curves of the optical fiber shape sensor on the horizontal plane, the vertical plane, and the three-dimensional space respectively.

The present application relates to a method and device for rapid orientation of a polarized light field of a bionic polarized light compass. The method comprises: establishing a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera; selecting multiple polarized measurement points corresponding to the circular area in the collected polarized image according to the mapping relationship; respectively calculating the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the offset measurement points, using the Stokes method to calculate the polarization angle according to the brightness mean, and using the polarization angle as the solar azimuth in the horizontal coordinate system; obtaining the solar azimuth in the navigation coordinate system by searching the astronomical almanac; obtaining the carrier's heading information according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system. The method simplifies the calculation process of the polarized light orientation algorithm, improves the output frequency of the compass, and also provides guidance for the optimization design and practical application of the polarized light compass.

The present application belongs to the technical field of ocean engineering, and provides a deep-sea riser space configuration inversion method. An inclination sensor is used as a node, and the deep-sea riser is divided into a plurality of pipe segment units; each pipe segment unit is discretized into a plurality of micro-segment units, and each micro-segment unit is projected in a horizontal coordinate system and a vertical coordinate system to obtain a space curve length equation of each pipe segment unit; in combination with inclination information, a projection expression of the space curve of each pipe segment unit in the horizontal coordinate system and the vertical coordinate system is constructed; the relative coordinates of the upper end point and the lower end point of each pipe segment unit in the local coordinate system of the pipe segment unit are iteratively solved; the relative coordinates of each pipe segment unit in the local coordinate system of each pipe segment unit are converted into absolute coordinates in a global coordinate system, and the absolute coordinates of each pipe segment unit in the global coordinate system are integrated to obtain the space configuration of the deep-sea riser. The method realizes the reconstruction of the space configuration of the riser in a complex marine environment, and has higher robustness.

The invention provides a testing machine non-horizontal state high-speed camera exterior orientation element calibration method. The method comprises the following steps: 1, obtaining a space three-dimensional coordinate of a to-be-measured point; 2, constructing a reference plane by using the fuselage left side front-back pitching control points and the fuselage right side front-back pitching control points; 3, solving an intersection line P1P2 of the reference plane and the plane XOY of the measurement coordinate system; 4, converting the space three-dimensional coordinate of the point to be measured into a first temporary coordinate system; 5, converting the space three-dimensional coordinate of the point to be measured from the first temporary coordinate system to a second temporary coordinate system; 6, converting the space three-dimensional coordinate of the point to be measured under the second temporary coordinate system to be under the initial coordinate system of the testing machine; 7, converting the space three-dimensional coordinate of the point to be measured under the initial coordinate system of the testing machine to a third temporary coordinate system; and 8, performing coordinate conversion on the spatial three-dimensional coordinates of the to-be-measured point in the third temporary coordinate system to obtain the spatial three-dimensional coordinates of the to-be-measured point in the final airframe horizontal coordinate system.

This invention discloses a robust and interference-resistant 3D point cloud localization method and system, belonging to the field of robot navigation technology. The method includes: projecting the original point cloud of a 3D LiDAR onto a virtual horizontal coordinate system using attitude data from an inertial measurement unit (IMU) to eliminate the influence of uneven road surfaces; adaptively selecting and fusing the results of the LiDAR and wheel speed measurement units based on the data quality of the pose estimation units such as wheel speedometers to generate reliable pose priors; and performing high-precision pose optimization using the geometric information contained in the local normal vectors during point cloud matching. This invention also includes a fast relocalization mechanism. This invention can significantly improve the robustness and accuracy of robot localization in complex environments, ensuring continuous and safe operation, and is mainly used in autonomous mobile platforms such as wheeled inspection robots.

The application discloses a deep water cooperative operation platform dynamic relative positioning system and method, and relates to the field of deep sea engineering.The system comprises: a first operation platform, which is provided with a first beacon and a second beacon symmetrically along a central axis; a second operation platform, which is provided with a third beacon and a fourth beacon symmetrically along a central axis; a dynamic positioning network, which is formed by continuously performing bidirectional ranging between the beacons; an edge computing unit arranged on the second operation platform, which comprises a data acquisition interface for receiving original distance observation data, attitude data and depth data of the beacons and a data processing mechanism; and the data processing mechanism unifies all beacon coordinates to a horizontal coordinate system by fusing ranging data, depth data and attitude data, and calculates a three-dimensional relative position and a relative yaw angle between the two platforms.The system and method utilize multi-source data fusion and edge computing, can overcome the problem of deep water transmission delay, and can realize high-precision real-time feedback of the dynamic relative position and pose between the cooperative operation platforms.

A double-shaft frame type inertial navigation system error self-calibration and compensation method comprises the following steps: under the condition of a static base, locking a table body at eight frame angular positions, collecting measured values of an accelerometer, calculating specific force measured values of an inertial navigation system under a table body coordinate system at each locking position, and calculating the error of the inertial navigation system according to the specific force measured values; and calculating an attitude matrix of the inertial navigation system from the table body coordinate system to the local horizontal coordinate system at each locking position to obtain the acceleration of the inertial navigation system under the local horizontal coordinate system at each locking position, and taking the acceleration as an error observed quantity. Solving the residual error of the error coefficient by adopting a total least square algorithm, correcting the estimated value of the measured parameter, and carrying out iterative calculation until an iterative convergence criterion is met, so as to obtain the self-calibration result of each error coefficient; through self-calibration and compensation of the error coefficient, the influence of the non-orthogonal error of the shaft system on the attitude measurement precision of the carrier or the base of the double-shaft frame type inertial navigation system can be improved.

According to one aspect of a vehicle state amount estimation device and a vehicle control device according to the present invention, a sensor coordinate system acceleration and a sensor coordinate system angular velocity output by an inertial sensor are subjected to coordinate transformation to obtain a horizontal coordinate system acceleration and a horizontal coordinate system angular velocity, an estimated speed of a vehicle is obtained by integrating an arithmetic expression of a horizontal coordinate system including the horizontal coordinate system acceleration and the horizontal coordinate system angular velocity, and a vehicle body slip angle is estimated on the basis of the estimated speed. Thus, a reduction in accuracy of the estimation of the vehicle body slip angle based on the output of the inertial sensor can be suppressed even when the inertial sensor is mounted in a tilted orientation on the vehicle.

The invention discloses a sun tracking method based on an underwater Snell window external polarized light field, which belongs to the technical field of underwater polarized light navigation, and comprises the following steps: calculating an underwater observation vector elevation angle under a horizontal attitude according to attitude angle information; the method comprises the following steps: acquiring an underwater Snell window external polarized light image under a horizontal coordinate system, performing Stokes vector calculation on the underwater Snell window external polarized light image, and constructing an incident light coordinate system after solving a polarization angle image outside a Snell window; deducing a polarization E-vector corresponding to each pixel position under a horizontal coordinate system by using a relation between the polarization E-vector and an incident light coordinate system; according to the polarization E-vector, combining geometric constraints of the polarization E-vector and the underwater refracted sunlight vector to derive the underwater refracted sunlight vector; and according to the underwater refracted sunlight vector, calculating an atmospheric incident sunlight vector, and calculating a zenith angle and an azimuth angle of the atmospheric incident sunlight vector. According to the method, the accuracy of resolving the solar azimuth of the polarized light field outside the Fresnel window in the complex underwater environment is improved.

This invention belongs to the field of positioning technology and discloses a method, system, computer equipment, and storage medium for locating agricultural machinery vehicles in greenhouses. The method includes: acquiring several consecutive photos of working scenes and IMU data of each photo; obtaining camera relative pose data and IMU relative pose data for each photo; constructing a 3D camera position map and extracting the camera relative coordinates of each photo from the 3D camera position map; obtaining the gravity, camera velocity, and camera scale of each photo based on the camera relative pose data and IMU relative pose data; transforming the camera relative coordinates of each photo in the 3D camera position map to a horizontal coordinate system; and finally fusing GNSS satellite data and the camera relative coordinates of each photo in the horizontal coordinate system to obtain the positioning coordinates of the agricultural machinery vehicles. This method can accurately determine the positioning coordinates of agricultural machinery vehicles, ensuring accurate positioning, and is cost-effective.

The invention discloses a robust anti-interference 3D point cloud positioning method and system, and belongs to the technical field of robot navigation. The method comprises the following steps: projecting an original point cloud of a 3D laser radar to a virtual horizontal coordinate system by using attitude data of an inertial measurement unit so as to eliminate the influence caused by the uneven road surface; according to the data quality of pose calculation units such as the wheel speedometer, the results of the laser speedometer and the wheel speedometer are adaptively selected and fused, and reliable pose priori is generated; in a point cloud matching process, high-precision pose optimization is carried out by using geometric information contained in a local normal vector. The invention also comprises a rapid relocation mechanism. The method can significantly improve the positioning robustness and accuracy of the robot in a complex environment, ensures the continuity and safety of operation, and is mainly used for autonomous mobile platforms such as wheel type inspection robots.

The invention relates to the technical field of underwater target positioning, in particular to an underwater target ultra-short baseline positioning method and system considering sound ray bending, and the method comprises the steps: firstly obtaining the time difference of arrival of sound signals received by two hydrophones at any adjacent position; all independent time difference of arrival observation values form an observation vector; calculating the optimal estimated value of the direction of arrival according to the principle of least squares; calculating a beam initial incident angle according to the direction of arrival and a rotation matrix obtained by an attitude sensor on the ultra-short baseline system; calculating the horizontal displacement and depth of the underwater target by adopting a constant gradient sound ray tracking method based on the wave beam initial incidence angle, the sound signal propagation time delay obtained by the ultra-short baseline system and the immersion depth of the ultra-short baseline system; and finally, calculating a coordinate vector of the underwater target in a local horizontal coordinate system by using the direction of arrival and the horizontal displacement and depth of the underwater target. According to the method, the influence of sound ray bending on ultra-short baseline distance measurement and direction finding is considered, and the positioning precision of the underwater target is improved.

A self-calibration method for frame non-orthogonality error and accelerometer error in a dual-axis frame inertial system is proposed. Under static base conditions, the platform is locked at 10 frame angular positions, accelerometer measurements are collected, and the specific force measurement of the inertial system in the platform coordinate system at each locked position is calculated. The attitude matrix of the inertial system from the platform coordinate system to the local horizontal coordinate system at each locked position is also calculated, yielding the acceleration of the inertial system in the local horizontal coordinate system at each locked position, which is used as the error observation. The residuals of the error coefficients are calculated using a total least squares algorithm, and the estimated values ​​of the measured parameters are corrected. Iterative calculations are performed until the iterative convergence criterion is met, obtaining the self-calibration results for each error coefficient. Through the self-calibration and compensation of the error coefficients, the accuracy of attitude measurement of the dual-axis frame inertial system carrier or base affected by the non-orthogonality error of the axis system can be improved.

The invention discloses an active solar tracking device and a reference positioning method and a control method thereof, and relates to the field of solar tracking equipment. The control method comprises: calibrating the coordinate system of the solar tracking device to coincide with the horizontal coordinate system of the solar position, reading the current clock information and the local longitude, latitude and altitude information by a controller module using geographic information and a clock module, calculating the solar position vector of the sun in the horizontal coordinate system of the solar position using the read information, calculating the altitude angle and azimuth angle of a sunlight working mirror in the horizontal coordinate system of the solar position according to the solar position vector, and controlling two motor drive modules to rotate and drive the sunlight working mirror to rotate to a corresponding angle by using a controller module to send a pulse signal proportional to the altitude angle and the azimuth angle, so that the solar tracking device can work in either a heliostat or a heliocentric mode as required, thereby increasing the function of the solar tracking device and expanding its application range.