3675 results about "Observation data" patented technology

The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle flight path positioning method and system based on multi-source information fusion. The method comprises the following steps: acquiring an original observation data stream of an unmanned aerial vehicle in real time through a sensor array, and preprocessing to output a multi-source data sample set; calculating relative motion increment between adjacent key frames through an IMU pre-integration model, and extracting local pose estimation through a visual geometric calculation method; evaluating the confidence of each sensor in real time to dynamically generate an adaptive weight coefficient; and constructing a tight coupling fusion filter taking position, speed and attitude errors as core state quantities, and outputting a global optimal trajectory of the unmanned aerial vehicle. According to the invention, the weight is dynamically distributed through the real-time confidence of the sensor, the multi-source data association is fully mined, and the flight path positioning precision and environmental adaptability of the unmanned aerial vehicle are improved.

The invention discloses an InSAR (Interferometric Synthetic Aperture Radar) and GNSS (Global Navigation Satellite System) robust adaptive fusion method for high-precision three-dimensional surface deformation monitoring, which belongs to the technical field of space geodetic survey and remote sensing, and comprises the following steps of: constructing a time sequence deformation field based on a small baseline set time sequence InSAR processing technology, and resampling GNSS observation data to a grid consistent with the InSAR by using Kriging spatial interpolation; a Helmert variance component estimation method is adopted to adaptively estimate variance components of InSAR and GNSS data, and reasonable weight fixing of a multi-source observation value is achieved; iterative reweighted least square estimation is introduced, outlier influences in various observation data are dynamically restrained through a Tukey double-weight function, robust optimization of a fusion model is achieved, and therefore a high-precision three-dimensional deformation field is reconstructed. The method comprises the steps of Helmert weight fixing, IRLS robust, variance component updating and a closed-loop feedback mechanism of weight matrix optimization.

The invention provides an ocean intelligent forecasting large model construction method, and relates to the field of ocean forecasting, and the method specifically comprises the following steps: obtaining multi-source ocean observation data, and constructing a high-resolution ocean analysis data set which is subjected to quality control, space-time registration, standardization and data set division processing through multi-source observation data fusion and numerical mode assimilation; constructing a basic prediction model, and performing multi-scale fusion on the frequency domain enhanced features and the spatial local features by using the basic prediction model; the trained basic prediction model is operated in a set area range, and an output result of the basic prediction model is recovered to an original physical quantity value through inverse standardization; and comparing the rolling output of the basic prediction model with observation data or a high-resolution mode result through a correction module, learning an error, outputting a correction quantity, and superposing the correction quantity with an original prediction result to obtain a prediction field. According to the technical scheme, the problem that the ocean forecasting model in the prior art cannot meet the requirement of a complex application scene is solved.

The invention provides a new energy electric power meteorological prediction method and device based on a multi-modal large model, and belongs to the field of meteorological prediction. The method provided by the invention comprises the steps of obtaining multi-source meteorological observation data and new energy station operation data, and generating a multi-modal fusion feature; a large meteorological prediction model is constructed, the large meteorological prediction model adopts a dynamic graph neural network structure, nodes represent geographic space positions, edges represent spatial adjacent relations, and node features comprise numerical values of meteorological elements; using the multi-modal fusion features to train the meteorological prediction large model, and minimizing a meteorological element prediction error; and inputting real-time multi-source data of a to-be-predicted area into the trained meteorological prediction large model, and outputting meteorological types and meteorological element values of the to-be-predicted area within a preset duration. According to the method and the device provided by the invention, the problems of insufficient accuracy of new energy electric power weather prediction, weak combination of geographical and physical rules and difficulty in adaptation to different weather types can be solved.

The invention relates to the technical field of unmanned aerial vehicle navigation and control, and discloses an unmanned aerial vehicle indoor and outdoor seamless navigation method fusing Beidou and visual positioning. Comprising the following steps: S1, synchronously acquiring original observation data of a Beidou satellite navigation system of an unmanned aerial vehicle, an image sequence acquired by a visual sensor and inertial data of an inertial measurement unit; s2, processing the original observation data of the Beidou satellite navigation system to obtain the position of the unmanned aerial vehicle, according to the unmanned aerial vehicle indoor and outdoor seamless navigation method and system fusing Beidou and visual positioning, through a self-adaptive fusion filter module, the fusion weight of the unmanned aerial vehicle and visual positioning is dynamically adjusted according to the Beidou signal quality; smooth transition of indoor and outdoor navigation main sources is achieved, pose jump is effectively avoided, a tight coupling depth fusion algorithm is adopted, the precision and robustness of the system are improved, the continuous and stable flight capacity of the unmanned aerial vehicle in complex indoor and outdoor environments is ensured, and the application scene is expanded.

The invention discloses a geological structure three-dimensional reconstruction and analysis system based on multi-modal data fusion, and relates to the technical field of geological exploration information. The method comprises the following steps: acquiring and normalizing multi-source heterogeneous geological observation data through a preprocessing module, and generating basic data and a data coverage density map; the adaptive fusion module performs analysis to generate a dynamic adaptive weight field, and performs weighted fusion on the data to obtain a primary three-dimensional geological data volume; the construction and optimization module constructs a three-dimensional space residual field in a vector form based on the difference between the fusion body and the original data, and deduces the geometric morphology of the geological interface; the reconstruction module ensures the consistency between model layers through hierarchical bidirectional belief propagation processing; the quantification module calculates an uncertainty index; and the visualization module finally generates a three-dimensional geological scene. According to the method, the problems of conflict resolution and reliability evaluation in multi-source geological data fusion are effectively solved, and the precision of the three-dimensional geological model and the engineering decision support capability are improved.

The invention discloses a power transmission line state simulation and prediction method based on digital twinning, and the method comprises the following steps: accessing meteorological data, electrical data, space and asset data and historical state data, carrying out the preprocessing, and generating a multi-source spatial-temporal feature sequence set; constructing a double-domain cross-coupling time convolution twinborn model, and obtaining corresponding feature representation through a quick response path and a slow response path; physical consistency state representation is generated through a physical constraint cross gating layer; outputting a prediction result set through a simulation engine; online observation data are obtained, and the model is corrected based on virtual and real residual errors; and generating a current prediction result set by using the corrected model, and converting the current prediction result set into a scheduling and operation and maintenance strategy set. According to the method, the double-domain cross-coupling time convolution twin model and a virtual-real closed-loop correction mechanism are adopted, multi-scale state simulation prediction of the power transmission line is achieved, and the method has the advantages of being high in precision, robustness and performability.

The invention provides a high-temporal-spatial-resolution surface temperature reconstruction system for urban thermal environment refined monitoring, and relates to the field of electric digital data processing. Comprising a multi-source heterogeneous data intelligent acquisition and preprocessing module, an urban thermal environment multi-dimensional feature knowledge modeling module, a physical constraint deep learning surface temperature reconstruction module and an intelligent monitoring early warning and decision support module. The multi-source heterogeneous data intelligent acquisition and preprocessing module is responsible for collecting and preprocessing various remote sensing and ground observation data, and the urban thermal environment multi-dimensional feature knowledge modeling module constructs a knowledge system of an urban underlying surface, a three-dimensional form and a thermal process. The physical constraint deep learning surface temperature reconstruction module is used for realizing accurate reconstruction of high temporal-spatial resolution surface temperature, and the intelligent monitoring early warning and decision support module converts a reconstruction result into visual display, risk early warning and regulation and control decision suggestions; according to the system, high-precision, physically consistent and interpretable urban surface temperature reconstruction can be realized.

The invention belongs to the technical field of crossing of environmental engineering and ocean dynamics, and particularly relates to a tidal dynamics prediction method and control device for a seawater desulfurization system, and the method comprises the steps: constructing a time-space coupling prediction model fusing multi-source hydrological observation data, and introducing a nonlinear dynamic weight distribution mechanism; the influence of terrain constraint, wind stress disturbance and upstream runoff on tidal propagation is quantified in real time, and a rolling prediction sequence of tide level phase, flow velocity gradient and salinity disturbance in the next three hours is output; the prediction result drives the scheduling of a desulfurization pump set, the adjustment of spraying density and the matching of aeration intensity, and the model weight is corrected on line based on the actually measured feedback of desulfurization efficiency to form closed-loop control. By means of the technical scheme, accurate cooperation of the operation parameters of the desulfurization system and tidal dynamics is achieved, meaningless energy consumption is reduced while the desulfurization efficiency is guaranteed, and the utilization rate of the desulfurization agent and the stability of the system are improved.

The invention relates to a temperature field prediction and parameter inversion method based on a physical constraint generative adversarial network. The method comprises the following steps: acquiring sensor data and sampling random latent variables; constructing a generative adversarial model comprising a generator, a discriminator, an auxiliary parameter generator and an auxiliary variational encoder based on sensor data and a physical constraint partial differential equation; by minimizing reverse KL divergence and introducing physical consistency constraints, boundary condition constraints and information entropy regularization items, parameters of a generative adversarial model are jointly optimized; after offline training is completed, new space-time coordinates and random latent variables are input, a temperature field prediction result is obtained through a trained generator, and PDE parameter estimation of a corresponding position is obtained through an auxiliary parameter generator. Compared with the prior art, the method can perform unified modeling and prediction on the space-time dynamic system dominated by the random partial differential equation, and has generalization ability under uncertainty quantization, physical parameter estimation and sparse observation data.

The invention provides a meteorological-power collaborative prediction method and device, and belongs to the field of new energy power systems. The method provided by the invention comprises the steps of determining condition parameters of a prediction task and a prediction site, wherein the condition parameters at least comprise multi-source meteorological observation data and new energy station operation data; according to the multi-source meteorological observation data and a pre-trained meteorological prediction large model, generating a future time sequence meteorological prediction result of the prediction site in a future time period; according to the time scale of the prediction task and historical weather conditions, adaptively matching a corresponding parameter set of the pre-trained power prediction large model; and inputting the future time sequence weather prediction result into the large power prediction model to generate a new energy power prediction result of the new energy station. According to the meteorological-power collaborative prediction method and device provided by the invention, the technical problems that the collaboration of meteorological prediction and power prediction in a new energy power system is insufficient, the precision is limited, and a complex scene is difficult to adapt can be solved.

Provided in the present invention are a power-distribution-network self-healing method and system taking photovoltaic output into consideration. The method comprises: acquiring historical operation data of a photovoltaic power station and irradiance observation data from a meteorological station; on the basis of the historical operation data of the photovoltaic power station and the irradiance observation data from the meteorological station, predicting the generated power of the photovoltaic power station by using a convolutional long-short-term memory recurrent neural network model that takes sparrow search into consideration; on the basis of the generated power of the photovoltaic power station, a segment-switch state of a power distribution network and a network topology of the power distribution network, constructing an objective function and a constraint condition for a power-distribution-network self-healing model, and obtaining the power-distribution-network self-healing model; solving the power-distribution-network self-healing model by using a propagation search algorithm, so as to obtain an optimal recovery strategy; and executing the optimal recovery strategy by means of segmented switches and node loads. The present invention can realize self-healing of a power distribution network while ensuring the minimum power generation cost of a distributed power source, the minimum network loss and the minimum node voltage deviation.

The present invention relates to the technical field of algae content monitoring. Disclosed is an algae content information monitoring method based on multi-source remote sensing data. The present invention comprises: acquiring multi-source remote sensing data comprising satellite remote sensing data, unmanned aerial vehicle remote sensing data and ground monitoring data, and preprocessing the data, involving radiation correction, geometric correction and noise elimination; and fusing the multi-source data into a trained algae monitoring model for prediction, and using Kalman filtering to assimilate observation data and model prediction data. The present invention fuses observation data and model prediction data by means of Kalman filtering technology, so as to dynamically adjust the model state, such that the model can more accurately reflect the actual observation situation. The Kalman filtering optimizes the real-time prediction capability of models by balancing the uncertainties between observation data and prediction data, thereby ensuring the accuracy and real-time performance of monitoring results, and also ensuring the reliability and adaptability of models under various environmental conditions.

The invention discloses a method for judging an RTK abnormal value in an automatic driving integrated navigation system, and relates to the technical field of automatic driving high-precision integrated navigation, and the method comprises the steps: collecting RTK observation data, inertial measurement unit data, a wheel speed pulse signal and LiDAR point cloud data, carrying out timestamp alignment and coordinate system unification, and generating a fusion data value; calculating a carrier-to-noise ratio weight signal quality index of the satellite through the fused data value, and generating a signal quality report; and combining the signal quality report, the current satellite geometric accuracy factor and the vehicle motion acceleration, calculating a residual threshold, constructing a coriolis force compensated double-integral prediction model by using inertial measurement unit data, and predicting the position of the vehicle at the current moment. According to the method, multi-dimensional features such as satellite signal quality, vehicle motion state and residual analysis are fused through multi-source decision, and the anomaly detection capability of complex scenes such as urban canyons is effectively improved.

The invention discloses a low-altitude wind field prediction method and system based on a space-time diagram convolutional network, and relates to the technical field of weather forecast and wind energy utilization, and the method comprises the steps: collecting wind field observation data and physical field data of all nodes of a target region, a dynamic space-time diagram is constructed based on a flow function-vorticity theory through a dynamic diagram construction module; extracting spatial information through a graph attention network to obtain a spatial feature tensor; the spatial feature tensor and the physical field data are processed by a PhysFusion-TransTCN encoder to obtain the deep spatial and temporal features of the wind field; performing hierarchical feature aggregation on the wind field deep spatial-temporal features through an output module to obtain a wind field prediction result of the target area; a wind field physical mechanism is deeply fused, multi-scale spatial-temporal feature fusion is realized, and prediction result precision and physical rationality are ensured.

The invention relates to the technical field of data anomaly detection, in particular to an intelligent treatment anomaly detection method and system based on dynamic space-time hypergraph evolution. Self-adaptive modal decoupling and multi-view embedding are carried out based on the obtained original observation data to obtain initial node representation, and the initial node representation comprises variational modal-based signal decoupling and multi-view space-time embedding coding; performing dynamic evolution hypergraph structure learning based on the obtained initial node representation to obtain a deep feature tensor, including dynamic hyperedge generation based on metric learning and space-time hypergraph convolution evolution; performing multi-scale time sequence prototype memory prediction based on the deep feature tensor, including multi-scale time sequence feature extraction, prototype memory reading and reconstruction and future prediction of reconstructed features; according to the method, the problems that sudden anomalies are difficult to pre-judge and the depth model lacks interpretability are solved.

The invention relates to the technical field of geophysical exploration, in particular to a multichannel deep learning magnetotelluric inversion method based on physical information constraint. The method comprises the following steps: generating a synthetic data set containing a geoelectric model and forward modeling response thereof, and adding a noise simulation actual observation condition; constructing a hybrid network architecture combining Transform and U-Net, taking apparent resistivity and impedance phase as dual-channel input, extracting global features by using an encoder, gradually recovering spatial resolution through a decoder, and outputting an underground resistivity model; network training adopts a composite loss function fusing model loss and data loss, and an inversion process is constrained by introducing a magnetotelluric forward modeling physical rule, so that a result is ensured to fit observation data and conform to a physical mechanism; after training is completed, preprocessed actual measurement data are input into the model, and a resistivity image can be directly obtained. The method is used for geological structure identification and reservoir interpretation, and the inversion precision and reliability are effectively improved.

The invention relates to the technical field of intelligent control, and discloses a water-saving fertilization variable control method suitable for sandy soil, and the method comprises the steps: obtaining collection data based on a sensor; and establishing and updating an infiltration-storage-leaching loss prediction model of the sandy soil according to the collected data, performing state estimation on soil moisture and nutrient states, and calculating root layer moisture deviation, fertilizer concentration deviation and deep seepage risk. And executing model predictive control in the rolling time domain to obtain a control result. And executing water-saving fertilization operation according to the control result. In the execution process, the soil volume moisture content, the soil water potential, the soil conductivity and shallow layer leakage observation data are fused, the prediction model is corrected, the control result is dynamically adjusted according to the correction result, and when the environment wind speed exceeds a set threshold value, the spray irrigation parameters are corrected. The fine level of control is improved, deep layer leakage can be inhibited under the sandy soil condition, water and fertilizer balance of a root layer is guaranteed, and external disturbance is coped with.

The invention relates to the technical field of dam safety monitoring, in particular to a method and system for improving dam GNSS deformation monitoring precision through base station and observation station combined network adjustment. The method comprises the following steps: arranging base stations and monitoring points to form a GNSS monitoring network; gNSS original observation data are collected in real time and preprocessed; constructing a joint network adjustment model, and taking base station coordinates as constraints and monitoring point coordinates as to-be-estimated parameters; performing baseline resolving based on the double-difference carrier phase observed quantity to obtain a baseline vector and a covariance matrix thereof; carrying out overall adjustment on the baseline vector by adopting a robust estimation method, and solving an optimal coordinate estimated value and precision information of the monitoring point; carrying out deformation analysis on the basis of the adjusted coordinate time sequence, and extracting tendency, periodicity and abnormal deformation; and outputting a deformation monitoring result, and carrying out visual display and early warning. According to the method, the precision and reliability of dam deformation monitoring are effectively improved through combination of network adjustment and robust estimation.

The invention discloses a water turbine operation state monitoring method based on digital twinning, which comprises the following steps: collecting vibration and pressure signals of limited measuring points of a water turbine in real time to form observation data; establishing a physical constraint Fourier operator network based on the observation data, and obtaining an operation state prediction result; performing data assimilation processing on a prediction result by using the observation data as a constraint condition through an iteration set Kalman smoother; the Fourier operator network is corrected through feedback of an optimization estimation result; and reconstructing vibration and pressure states of unmeasurable positions of the water turbine, realizing state field reconstruction, and judging abnormal positions and types. Accurate monitoring and real-time abnormity early warning of the running state of the water turbine can be achieved, and the monitoring accuracy and stability are improved.

The invention provides a robot motion control model training method, device and equipment based on deep reinforcement learning, a robot and a medium, and relates to the technical field of robots. The method comprises the following steps: acquiring a first potential vector obtained after a student encoder encodes robot body observation data, and a second potential vector obtained after a teacher encoder encodes privilege observation data; based on the current training step number and a preset probability function, calculating a sampling probability for controlling a fusion proportion of the first potential vector and the second potential vector; fusing the first potential vector and the second potential vector based on the sampling probability to generate a third potential vector, and inputting the third potential vector into a strategy network; and updating the parameters of the policy network based on the value estimation of the current state output by the value network and the action policy output by the policy network. According to the method, updating oscillation caused by sudden change of input distribution in the training process of the strategy network can be avoided, the training efficiency is improved, and the training cost is reduced.

The invention discloses an environmental data processing method and system based on ocean engineering, and relates to the technical field of data processing, and the method comprises the steps: receiving an original observation data flow through a multi-source data preprocessing module, and carrying out the dynamic noise filtering and abnormal value adaptive detection; fusing the multi-source heterogeneous data through a multi-scale data fusion module, and embedding the fused multi-source heterogeneous data into a marine kinetic equation as a soft constraint; non-linear evolution features are extracted from the fusion data through a feature extraction and state representation module, and a high-dimensional environment state vector is constructed; real-time prediction of model parameters is executed through online learning and an inference engine; and performing uncertainty propagation calculation on the processing flow through a confidence evaluation module and generating a final environment state report. According to the method, the adaptive capacity of data preprocessing can be remarkably improved, the physical consistency of multi-source data fusion is improved, the nonlinear evolution law of ocean phenomena is accurately captured, and continuous online optimization and edge side low-delay response of model parameters are achieved.

The invention provides a coal mine high-precision three-dimensional geological modeling method and system based on multi-source heterogeneous data fusion, and relates to the technical field of coal mine geological modeling. The method comprises the following steps: establishing a unified semantic reference system and a time-space coordinate reference, and generating an alignment anchor point set; mapping the multi-source observation data to form an alignment feature set and calculating a source weight; according to a multi-evidence consistency rule and geomechanical prior inversion, a discontinuous geological structure is obtained; constructing an implicit stratigraphic function and applying a boundary jump condition to solve a stratigraphic boundary set; and taking the stratum boundary as a framework, and executing anisotropic joint estimation to obtain a property distribution model and an uncertainty result. According to the method, integrated modeling of the geological structure and the property of the complex structure area is achieved, and the precision, the stability and the credibility of the three-dimensional geological model are remarkably improved.

The invention provides an automatic processing method for real-time observation data of an ocean station, and belongs to the technical field of ocean observation data processing. A wavelet packet decomposition multi-scale noise separation algorithm is established to distinguish environmental noise and real signals, dual-sensor redundancy configuration is combined with Bayesian inference to identify sensor drift, and a calibration coefficient is updated in real time through a recursive least square method. A one-dimensional time sequence is mapped to a high-dimensional phase space by utilizing a phase space reconstruction algorithm to realize high-precision prediction of a chaotic signal, a hierarchical data storage architecture is established, and a data migration strategy is iteratively optimized through a hierarchical correlation degree function; the technical problem that time synchronization signals are difficult to reconstruct accurately according to asynchronous sampling data of multiple sensors of an ocean station is solved.

The invention relates to the technical field of weather forecast, discloses a method for classifying severe convection weather forecast, and aims to solve the problem that complexity of severe convection weather requires multi-dimensional data support, so that a three-dimensional data acquisition network covering'ground-air-sky 'needs to be constructed. Ground observation data need to include minute-level rainfall, hourly air temperature and humidity (emphatically paying attention to humidity difference between 850hPa and 500hPa and reflecting unstable stratification) and 10-minute average wind speed of a meteorological station, and high-altitude detection data need to extract temperature vertical profiles (calculating convective condensation height LCL) and wind speed vertical shear (shear values of 0-3km and 0-6km) at 08 o'clock and 20 o'clock every day. According to the method for classifying severe convection weather forecast, new signals (such as sudden cloud top brightness temperature drop) observed in real time are rapidly absorbed, and meanwhile, the method is adaptive to severe convection characteristic differences of different areas (such as mountainous areas and plains) and different seasons, so that the forecast precision is improved, and the requirements of refined disaster prevention for high-accuracy and high-timeliness forecast are met.

The invention provides a regional interference signal detection method and device based on a Beidou router, and the method comprises the steps: obtaining reference broadcast ephemeris data of a network platform and local ephemeris data received by the Beidou router, carrying out the data integrity calculation, and judging whether the local ephemeris data are missing or not; performing same-epoch data comparison on the reference broadcast ephemeris data and the local ephemeris data, and judging whether the local ephemeris data has deception signals or not; calculating a visible satellite integrity rate in a fixed time window based on the observation data of the Beidou router, and judging whether interference signals exist in the observation data or not; analyzing by utilizing the cycle slip ratio and the carrier-to-noise ratio of the observation data, and judging whether interference signals exist in the observation data or not; under the condition that local ephemeris data do not have missing and deception signals and the observation data do not have interference, whether the observation data have the deception signals or not is judged based on pseudo-range single-point positioning and inter-epoch carrier phase difference velocity measurement, and the method can improve the reliability of Beidou signal interference detection.

The invention provides an accident consequence simulation calculation method based on mathematical physical model coupling solution, and the method comprises the steps: constructing an accident chain knowledge graph and a physical trigger graph, and building a causal relationship and physical constraints among equipment, states, events and consequences; gathering and mapping historical records, expert rules and online observation data into map entities and relationships, forming a baseline accident scene and calculating a baseline index; generating candidate paths by utilizing graph reasoning and coupled multi-physics field simulation, and realizing a closed loop of graph reasoning and physical solution through consistency check; performing scoring and disturbance simulation analysis on the candidate paths, and screening robust target paths; and carrying out high-fidelity simulation on the target path, identifying key nodes in combination with sensitivity analysis and a minimum cut-off set, and generating disposal suggestions and action priorities. According to the method, high-credibility prediction of accident evolution and emergency response closed-loop linkage are realized, and the method has high precision, high robustness and engineering implementability.

The invention discloses a data and physical dual-drive crack propagation prediction method, which belongs to the field of petroleum engineering and comprises the following steps: step 1, constructing a real observation data set and a sampling data set; step 2, constructing a hybrid architecture fusing a Transform encoder and a graph attention network; 3, three independent and parallel decoders are constructed to map the shared features into the geometric dimensions and mechanical parameters of the cracks; 4, establishing a physical loss function based on linear elastic fracture mechanics and a material balance principle, and combining the physical loss function with a data loss function to construct a mixed loss function for model training; and 5, predicting the geometric dimension and mechanical parameters of the fracturing crack by using the trained model. According to the method, physical priori knowledge is embedded into a multi-task deep learning framework, and physical loss is embedded into a loss function, so that the precision and interpretability of model prediction are remarkably improved.

The invention relates to the technical field of medical image intelligent analysis and artificial intelligence auxiliary diagnosis, in particular to a medical image disease course prediction system based on an industrial neural network, and the system comprises a reference generation module which is used for obtaining static image data; processing the static image data by using a physical perception neural network to generate a pure ideal state reference; a perturbation simulation module; the industrial kinetic parameters are used as perturbation terms to be superposed to a pure ideal state reference, and a theoretical damaged state is generated; the projection verification module is used for acquiring real multi-modal observation data; generating a real residual error; generating a theoretical residual error based on the theoretical damaged state and the pure ideal state reference; calculating a manifold coupling confidence coefficient; the closed-loop correction module is used for performing inversion optimization on the industrial kinetic parameters; outputting a disease course prediction result according to the manifold coupling confidence coefficient; according to the method, the problem that a traditional medical model lacks physical consistency explanation is solved, and the credibility of artificial intelligence auxiliary diagnosis is remarkably improved.

The invention discloses a quadruped robot inspection method based on multi-modal sensing fusion. The method comprises the following steps of: 1, initializing a global task, loading a basic navigation map, and generating the basic navigation map comprising topographic features, forbidden areas and parking positions; 2, autonomous navigation and dynamic correction of positioning deviation are realized according to laser radar SLAM data, and the positioning deviation is dynamically corrected according to real-time observation data; 3, dynamically switching or adjusting the gait strategy according to the terrain category, training the gait strategy of the quadruped robot to be matched with the terrain category, and generating a self-adaptive motion control instruction to adapt to the terrain in real time; and step 4, synchronously realizing parking area structured data acquisition and dynamic abnormal information perception through multi-sensor fusion, and realizing target state monitoring and abnormal event response in the inspection task. According to the invention, through collaborative innovation of the bionic motion platform and multi-mode intelligent detection, all-terrain coverage, total-factor perception and full-process autonomous intelligent inspection in a complex parking lot environment is realized.