10 results about "Orientation measurement" patented technology

A method is provided. The method includes: obtaining global position and orientation information of a first trajectory point; determining at least one pair of second trajectory points based on the global position and orientation information; obtaining a relative position and orientation estimation information and a relative position and orientation measurement information of each pair of second trajectory points; and calculating a local rotation offset at the first trajectory point based on the relative position and orientation estimation information and the relative position and orientation measurement information of each pair of second trajectory points in the at least one pair of second trajectory points to correct the global position and orientation information.

This invention relates to the field of sensor measurement technology and discloses a multimodal sensor orientation measurement fusion system, aiming to solve the problems of insufficient time synchronization accuracy, limited sensor anomaly detection and compensation capabilities, and degraded fusion performance under nonlinear noise environments in multimodal sensor orientation measurement. The system includes a sensor array module, a spatiotemporal alignment preprocessing module, a multimodal feature extraction and encoding module, an adaptive weighted fusion decision module, and a system output and feedback control module. Through hardware synchronous sampling, phase-locked loop clock compensation, extrinsic parameter calibration, adaptive feature extraction, sensor health assessment, and improved capacitive Kalman filter fusion, combined with a closed-loop correction mechanism, it achieves high-precision, robust, and adaptive orientation measurement, effectively improving state estimation accuracy and system stability.

The present application relates to the technical field of azimuth measurement, in particular to a method for measuring the azimuth and distance between a ship and other objects, comprising the following steps: obtaining latitude, longitude, time and heading and checking the matching, combining echo and azimuth line to screen superimposed heading, matching distance mark circle and range screening, fusing direction distance correlation screening, checking consistency and removing abnormalities. In the present application, by establishing time correlation and consistency constraints of multi-source navigation elements, latitude, longitude and heading are formed into a unified reference and abnormality is removed, the stability of the measurement reference is improved, deviation identification and screening are carried out in combination with the relationship between echo direction and angle, the consistent performance of direction determination is enhanced, distance verification is carried out using spatial relationship and range information and time matching constraints are introduced, the influence of interference is reduced, a unified relationship is constructed in the fusion stage of azimuth and distance and consistency comparison is carried out, the measurement stability and data fusion reliability in differentiating environment are improved through sequential continuity identification and abnormality filtering.

This invention is a multi-robot encirclement and collision avoidance control method based on pure orientation information, belonging to the field of multi-robot system cooperative control technology. The method includes: constructing a kinematic model of a nonholonomically constrained multi-robot system and a moving target; implementing an observer for each robot based on pure orientation measurement to estimate its relative position to the moving target; using the relative position information estimated by the observer as state feedback and introducing a collision-free reference trajectory generated by the auxiliary multi-robot system, designing a dynamic controller, and ultimately achieving stable encirclement and global collision avoidance of the nonholonomically constrained robots around the moving target. This invention enables state estimation using only the unit vector of relative orientation and robot velocity without relying on distance measurement, achieving multi-robot collision avoidance encirclement and formation control with a fused collision avoidance mechanism based on pure orientation information, and realizing high-precision stable encirclement of maneuvering targets.

An orientation of a rover, such as a surveying rod or a robot, is used for tilt-compensated surveying. A surveying device, separate from the rover measures a position of a first part of the rover. A position of a second part of the rover is calculated based on measuring the position of the first part of the rover, the orientation of the rover, and a known relation between the first part of the rover and the second part of the rover.

This invention relates to the field of navigation and positioning technology, and discloses an unmanned inspection autonomous navigation, positioning, and orientation calibration method, comprising: acquiring acceleration information and extracting gravity vectors from it to establish a horizontal reference plane; collecting three-dimensional point cloud data of the environment and dividing it into time-series data segments according to the sampling time; performing pose compensation on the ranging point based on angular rate data and mapping it to a time reference coordinate system; orthogonally projecting the compensated ranging point onto the horizontal reference plane to generate a two-dimensional projection distribution map; extracting the principal axis direction of the structure and performing geometric alignment with the orthogonal constraint rules of the building, and using angular deviation to correct heading drift. This invention uses gravity vectors to establish an absolute physical horizontal reference, transforming orientation measurement into orientation based on physical vectors. Combined with the orthogonal constraint mechanism inherent in industrial scenarios, it can effectively eliminate coupling errors introduced by attitude fluctuations and solve the problem of heading cumulative drift under long-period operation of inertial systems.

This invention relates to the field of navigation and orientation measurement technology, specifically to a method for applying pesticides using unmanned aerial vehicles (UAVs) with BeiDou navigation. When the UAV executes its application route, it extracts the carrier phase observations and pseudorange observations of the BeiDou three-frequency signals in real time, and calculates the ionospheric higher-order term residuals and multipath effect feature vectors generated when passing through the crop canopy. This feature vector is input into a canopy density-navigation error mapping model, which outputs a three-dimensional positioning offset correction. The flight control system updates the three-dimensional spatial coordinates of the current track point accordingly. Simultaneously, the spray controller adjusts the atomizing nozzle pressure and spray flow rate based on the aforementioned feature vector. This invention binds the physical variation characteristics of the navigation signal to the physical structure of the canopy, eliminating the fixed track offset caused by crop canopy shading, overcoming the defects of missed and repeated spraying at the work boundary, and achieving physical synergy between navigation error correction and variable-rate application.

Provided is a device for measuring a position and an orientation of a construction machine (40), the device including a specified point position calculating section and an orientation calculating section. The specified point position calculating section calculates a position of a specified point in a work implement (44) of the construction machine (40), i.e., a specified point position, based on a position of a pointer mounted to the work implement (44) and posture information related to a posture of the work implement (44) at a prescribed control cycle. The orientation calculating section calculates an orientation of a body (42) of the construction machine (40) based on a last specified point position calculated by the specified point position calculating section, i.e., a last specified point position, and a current specified point position calculated this time, i.e., a current specified point position, only when a measurement permission condition is satisfied. The measurement permission condition includes that current posture information corresponding to the current specified point position is different from last posture information corresponding to the last specified point position.

This invention discloses a gyroscope orientation calibration method for high-altitude tunnel shaft measurement, belonging to the field of precision measurement technology in tunnel engineering. It includes station setup and measurement cycle planning steps; standardized acquisition of multi-cycle gyroscope north-finding raw data; elimination of outliers through gross error detection algorithms; simultaneous acquisition of station air pressure and temperature sequence data and coupled analysis; establishment of a correction model to achieve real-time dynamic correction of the gyroscope suspension zero position; and precise orientation measurement and azimuth calculation. Finally, consistency checks are performed on the measurement data to complete a comprehensive evaluation and error correction of the gyroscope orientation calibration accuracy. This invention is suitable for extreme environments with high altitude, low air pressure, and large temperature differences, effectively suppressing gyroscope suspension zero-position drift, improving the quality of observation data and outlier identification capabilities, significantly improving the accuracy and stability of gyroscope orientation measurement, and providing a comprehensive calibration result verification system. It can provide a precise azimuth measurement benchmark for high-altitude tunnel shaft construction.

The application discloses a dual-target azimuth aiming measurement system, comprising an optical path module, an azimuth information measurement module and an aiming module, wherein the optical path module comprises a first optical path for equating a high-position dual target to a dual equivalent target and a second optical path for realizing optical transmission between a north reference and the dual equivalent target; the azimuth information measurement module is used for providing north azimuth information to the aiming module in real time after initial alignment of the north azimuth; and the aiming module is used for aiming based on a preset aiming procedure according to the north azimuth information of the azimuth information measurement module, so as to obtain the north azimuth information of the high-position dual target. The application replaces a serial working mode of a conventional single-target aiming mode of searching north first and aiming later, solves the problem that the north searching measurement time influences aiming rapidity, realizes rapid and high-precision measurement of dual-target azimuths with large height difference, and has the capability of long-term duty and rapid and automatic completion of target azimuth measurement.