47 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.

The present application relates to a kind of unmanned aerial vehicle impact interception methods based on monocular vision, the azimuth measurement information and angle measurement information of target unmanned aerial vehicle are calculated by target detection algorithm based on monocular vision;Azimuth measurement information and angle measurement information are used, through orthogonal projection matrix and algebraic transformation, non-linear measurement is converted into pseudo-linear form, then pseudo-linear adaptive Kalman filtering algorithm is carried out to estimate the position of target unmanned aerial vehicle, finally, unmanned aerial vehicle maneuvering strategy is used to control impact unmanned aerial vehicle to realize the impact interception of target unmanned aerial vehicle.The method of the present application is obviously improved in system noise robustness, target state estimation accuracy and pursuit efficiency.The present application also relates to impact unmanned aerial vehicle guided by the above impact interception method.

Systems and techniques are provided for determining a pose. A process can include obtaining inertial measurement unit (IMU) data from an IMU associated with a device. The IMU data can be used to determine a propagated state associated with a state estimation engine, wherein the propagated state includes an initial orientation estimate corresponding to a pose of the device. The state estimation engine can comprise an Extended Kalman Filter (EKF). A predicted orientation measurement can be generated using a first machine learning network to process the IMU data and the initial orientation estimate included in the propagated state associated with the state estimation engine. An updated state associated with the state estimation engine can be determined based on using the predicted orientation measurement to update the propagated state. A device pose estimate can be determined based on the updated state associated with the state estimation engine.

A calibration assembly for a guided vehicle. The calibration assembly includes an orientation marker that operably engages with a first guidance apparatus of the guided vehicle. The calibration assembly also includes an imaging assembly that operably engages with and is in electrical communication with a second guidance apparatus of the guided vehicle. When the imaging assembly captures the orientation marker at a translated position for at least one cycle, the imaging assembly calibrates a rotational displacement between a first guidance direction of the first guidance apparatus and a second guidance direction of the second guidance apparatus based on an angular displacement of the orientation marker measured between a zeroed position denoting the first guidance direction and the translated position.

According to an aspect, there is provided a method of determining a location of a device on a surface of a body part of a subject that is treated by the device during a treatment operation. The device is for performing the treatment operation on the body part, and the device comprises one or more orientation sensors for measuring the orientation of the device in a reference frame of the device. The method comprises obtaining a three dimensional, 3D, representation of the body part, the 3D representation comprising normal vectors for respective positions on the surface of the body part; receiving a plurality of orientation measurements from the one or more orientation sensors representing orientation of the device during the treatment operation on the body part; processing the received orientation measurements to determine a sequence of orientations of the device during the treatment operation; and comparing the determined sequence of orientations of the device to the normal vectors and respective positions of the normal vectors to determine the location of the device on the surface of the body part during the treatment operation.

The invention provides a target position positioning device and method. In the device, a display unit is configured to be in a transparent mode and is located right in front of the eyes of an operator; when the to-be-rescued target is located in the center of the display unit, the marking assembly marks and confirms the to-be-rescued target and sends a distance measurement instruction to the head tracker; a head tracker is worn on the head of the operator, and when the head tracker receives a distance measurement instruction, the direction of a to-be-rescued target is determined based on the rotation direction of the head of the operator, the distance between the to-be-rescued target and the head tracker is measured, and the direction and the distance are sent to a signal processing unit; the signal processing unit determines the position of the to-be-rescued target according to the orientation and the distance sent by the head tracker, and sends the position of the to-be-rescued target to the display unit; the display unit displays the position of the to-be-rescued target and the area where the to-be-rescued target is located, and positioning and indicating of the position of the to-be-rescued target can be achieved on ocean ships, rescue airplanes, lifeboats and the like.

In one embodiment, an oral care system is disclosed that includes an oral care device and at least one programmable processor. The oral care device includes a head having a reference face, a light source, at least one orientation sensor generating orientation data corresponding to orientation measurements of the reference face during a freeform oral care routine, and at least one optical sensor generating optical sensor data representing optical feedback resulting from the light from the light source being incident upon sections of the oral cavity. The processor, based on the orientation data, determines which optical sensor data corresponds with which of the sections of the oral cavity. For each section of the oral cavity, based on the corresponding optical sensor data, the processor determines an oral care characteristic.

The application discloses a multi-submersible cooperative positioning method based on distance and angle of arrival composite measurement, and relates to the field of underwater multi-submersible cooperative positioning. The application introduces direction measurement as a supplement on the basis of distance measurement, and based on composite measurement information, realizes distributed data fusion of each submersible under the premise of less communication energy consumption, alleviates the influence of factors such as cumulative error in inertial measurement of the submersible and underwater harsh environment on the positioning performance of the submersible, and achieves the purpose of improving the positioning precision of the submersible.

This invention discloses a multi-technology combined measurement method for ultra-long undersea twin-tunnel railway tunnels and service tunnels, including GNSS measurement outside the tunnels, traverse measurement considering vertical deviation correction, coordinate transfer measurement from free stations in deep shafts, and combined measurement of free stations, intersecting double traverses, and gyro-orientation inside the tunnels. Where the undersea tunnels are relatively short at the connecting points of the cross tunnels, a denser stationing method is used for direction and distance transfer. Combined traverses are used inside the tunnels to enhance azimuth accuracy with gyro-orientation measurement. This invention leverages the advantages of GNSS and total stations, improving the efficiency of deep shaft measurement in long tunnels and enhancing the accuracy of coordinate transfer in deep shafts. Furthermore, the denser stationing method used inside the cross tunnels for direction and distance transfer, along with closed-loop networking between different cross tunnels, improves the reliability of tunnel plane control measurement accuracy and ensures complete consistency of the coordinate systems of the left and right tunnels and the service tunnel.

Method for calibrating a terrestrial observation device (1) comprising a viewing member (3) defining a sight axis, a range finder (6) for determining a distance from a reference point being located on the sight axis, an orientation-measuring member (7) for measuring the orientation of the sight axis to determine a current orientation of the sight axis, a display unit (4) and an electronic processing unit (5). The method comprises the steps, commanded by the processing unit, of: displaying a mapping-image on the display unit, corresponding to a current position of the observation device; representing the current position and the sight axis from the current orientation on this mapping-image; having a user indicate, on the mapping-image, the reference point aimed at with the range-finder, and determining the position of the reference point indicated by the user on the mapping-image; and deducing from this, a correction parameter of the current orientation of the sight axis. Terrestrial observation device for implementing that method.

The invention discloses a man-made forest stand structure and function integrated monitoring system and method based on multi-source data fusion in the technical field of man-made forest monitoring, and the system comprises a movable ground monitoring box, one side of which is provided with a gap groove for accommodating single trees; the unmanned aerial vehicle is used for carrying out multi-view observation on a single tree crown; the two parking platforms are symmetrically distributed on the ground monitoring box, located on the two sides of the notch groove and used for allowing the unmanned aerial vehicle to take off and land, and the unmanned aerial vehicle takes off from one parking platform and flies around the single tree along a preset flight path in the vertical plane so as to collect stand structure data of the bottom, the top and the side of the crown of the single tree. According to the system, multi-source data acquisition is achieved through the unmanned aerial vehicle and the ground monitoring assembly, the parking platform and the ground monitoring assembly are driven to synchronously and accurately rotate through the orientation conversion mechanism, unmanned aerial vehicle multi-path canopy collection and ground circumferential all-dimensional measurement are achieved, and the integrity of canopy structure data and the three-dimensional reconstruction precision are remarkably improved.

The invention discloses an unmanned aerial vehicle target positioning method, system and device based on a space-time triangular relation, a medium and a product, and relates to the field of target tracking and navigation, and the method comprises the steps: obtaining observation data; the observation data comprises an observer position and a target azimuth angle; the observer is an unmanned aerial vehicle; based on the target motion model and the geometrical relationship, constructing a linear constraint equation for the observation data, and forming an overdetermined equation set; solving the overdetermined equation set by adopting a least square method to obtain a target state estimation value; calculating an estimated distance from the observer to the target based on the target state estimation value; calculating a radial velocity and a tangential velocity based on the estimated distance; calculating a desired speed based on the radial speed and the tangential speed; and determining a control instruction based on the expected speed, and driving an observer to move around the target based on the control instruction to realize target positioning. According to the invention, for a high-speed moving target, real-time positioning and surrounding of the target are realized only by using orientation measurement data of an observer.

An information processing apparatus comprising a memory storing instructions; and a processor executing the instructions causing the information processing apparatus to acquire sensor information from a sensor mounted on a moving body, generate map data based on the sensor information, calculate a use appropriateness degree of the map data based on at least one of the sensor information and the map data, and determine whether or not to use the map data in a position and / or orientation measurement of the moving body that is based on the use appropriateness degree.

The invention provides a shafting installation error calibration method for photoelectric comprehensive monitoring equipment, the equipment adopts a common azimuth axis integrated design and comprises a plurality of coordinate systems from an optical axis to an IMU (Inertial Measurement Unit) body, and a plurality of groups of installation error angles exist among the coordinate systems. The method comprises the following steps: firstly, establishing a coordinate system conversion matrix and deducing and constructing a compensation model for decomposing height and azimuth measurement errors into constant zero offset and related items of a target height angle; on the basis of the model, aiming at the characteristics of different error terms, mechanical adjustment is adopted to eliminate negligible terms, digital calibration is carried out through combination of azimuth axis rotation modulation and IMU output calculation, external field zero calibration is carried out through RTK and a target, and finally systematic and high-precision compensation of all shaft system installation errors is achieved. According to the method, theoretical modeling and engineering practice are combined, the influence of complex shafting errors on the equipment precision is effectively eliminated, the measurement precision and reliability of the photoelectric comprehensive monitoring equipment are remarkably improved, and the method has systematicness and universality.

An orientation measurement device (1) is provided with: a first angular velocity sensor (11) that has a first detection axis (11D) extending in the horizontal direction and detects a first angular velocity about the first detection axis (11D); a rotation mechanism (13) having a rotation shaft (13R) extending in the vertical direction and rotating the first detection shaft (11D) of the first angular velocity sensor (11) about the rotation shaft (13R); and a second angular velocity sensor (12) for correcting the rotation angle (alpha) of a first detection axis (11D) in the rotation mechanism (13), the second angular velocity sensor (12) having a second detection axis (12D) extending in the vertical direction and detecting a second angular velocity with the second detection axis (12D) as the rotation center.

A fill level measuring device configured for determining a fill level or volume of a filling material in a movable container, comprising a first sensor configured for a distance measurement, a second sensor configured for a position measurement or orientation measurement, and an evaluation unit configured to determine, by analyzing the position measurement or orientation measurement, whether the movable container has been moved since a previous fill level measurement, and to use, in a subsequent calculation of the fill level or volume from the distance measurement, a first calculation rule if the movable container has been moved since the previous measurement, and a second calculation rule if the movable container has never been moved since the previous measurement.

The invention relates to an unmanned aerial vehicle collision interception method based on monocular vision. The method comprises the following steps: calculating azimuth measurement information and angle measurement information of a target unmanned aerial vehicle through a target detection algorithm based on monocular vision; nonlinear measurement is converted into a pseudo-linear form through an orthogonal projection matrix and algebraic transformation by using azimuth measurement information and angle measurement information, and then the position of a target unmanned aerial vehicle is estimated by a pseudo-linear adaptive Kalman filtering algorithm. And finally, adopting an unmanned aerial vehicle maneuvering strategy to control the collision unmanned aerial vehicle to realize collision interception of the target unmanned aerial vehicle. The method provided by the invention has obvious improvement effects on system noise robustness, target state estimation precision and pursuit efficiency. The invention further relates to the impact unmanned aerial vehicle guided by the impact interception method.

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.

The invention provides a multidimensional parameter adaptive optimal passive positioning method based on time difference and orientation. The method comprises the following steps: carrying out quantitative evaluation on positioning performance by adopting multidimensional parameters; performing parameter region division based on fuzzy logic, realizing multi-dimensional parameter joint judgment decision, and selecting an optimal positioning mode; in different positioning modes, the weight in positioning calculation is dynamically adjusted according to the confidence degree of each observed quantity; and a smooth transition mechanism is designed, and continuity of a target positioning result is realized when different positioning modes are switched. According to the method, multi-dimensional parameters such as a geometric accuracy factor (GDOP), a signal-to-noise ratio (SNR), time difference measurement consistency and azimuth measurement reliability are comprehensively utilized, and a positioning mode with the highest positioning accuracy in a current system state is determined according to parameter information of each dimension.

A movable object includes: a vehicle body; a distance measurement part configured to measure a distance to a physical object; an orientation measurement part configured to measure an orientation angle of the vehicle body; and a control device connected to the distance measurement part and the orientation measurement part. The control device acquires a measurement value of a detection range from the distance measurement part, calculates a valid range of the detection range on the basis of the orientation angle acquired from the orientation measurement part, and invalidates the measurement value of an invalid range not included in the valid range.

A method, program product, apparatus and system for parking slot detection. The method involves obtaining a top-down representation of the surrounding area around a vehicle based on images from cameras mounted on the vehicle. The method comprises obtaining a top-down representation of a surrounding area around a vehicle, that is generated based images from cameras mounted on the vehicle. Detection of parking slot objects in the top-down representation is performed using an Artificial Neural Network (ANN)-based object detection model to detect parking objects from different classes, such as vacant, blocked, occupied, and indistinct. The model is configured to output a plurality of heat-maps, each of which is associated with an individual class of parking slot and a matrix of the same dimensions as the heatmap, indicating, in each cell, an orientation measurement indicating an orientation of a parking slot object that has a center at the respective cell.

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.

The invention relates to a system and a method for measuring the orientation of a side plate of an irregular box body, and belongs to the field of automatic packaging of irregular box bodies. The measuring system comprises a first detection plate which is arranged on the side of the irregular box body and is vertically arranged and a second detection plate which is arranged above the irregular box body and is horizontally arranged, the first detection plate is connected with a first measuring assembly and a second measuring assembly, the first measuring assembly comprises at least three horizontal laser ranging probes which are horizontally and linearly distributed, and the second measuring assembly comprises at least three horizontal laser ranging probes which are horizontally and linearly distributed; the second measuring assembly comprises at least one vertical laser ranging probe vertically corresponding to any horizontal laser ranging probe, and at least three leveling laser ranging probes which are not on the same straight line are arranged on the second detecting plate. The device is suitable for automatic batch packaging processing of box bodies with irregular shapes, the position and angle data of a measured object are obtained through the workbench integrating fixing, leveling and rotating functions and matching with different laser ranging element groups, and data support is provided for automatic packaging.

This invention belongs to the field of power facility monitoring technology, specifically relating to a method and system for monitoring the attitude of utility pole guy wires based on multi-sensor data fusion, aiming to solve the problems of delayed early warning and insufficient basis for maintenance decisions. The invention includes: acquiring angle and displacement data collected by multiple sensors on the utility pole guy wire; standardizing the data to construct a comprehensive dataset containing angular and displacement features; utilizing the synergistic relationship between the orientation measurement characteristics of the angle data and the deformation measurement characteristics of the displacement data, generating feature data describing the comprehensive spatial state of the guy wire through a weighted fusion algorithm; inputting the feature data into a mechanical analytical model established based on force equilibrium conditions and geometric constraints, and obtaining the real-time spatial attitude parameters of the utility pole guy wire by solving the model. This invention achieves accurate monitoring of the spatial attitude of utility pole guy wires, providing reliable technical support for the safe operation of power facilities.

A method of measuring level deviation in an automated storage and retrieval system, wherein the system includes rail system, at least one container handling vehicle, and a central control unit. The rail system includes a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. The at least one container handling vehicle is configured to operate on the rail system. The at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system. The central control unit is configured to receive, transmit, and process data signals of the container handling vehicle and to receive and process data signals of the sensor. The method includes arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction along the grid, and measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system. The method further includes transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.

Systems and techniques are provided for determining a pose. A process can include obtaining inertial measurement unit (IMU) data from an IMU associated with a device. The IMU data can be used to determine a propagated state associated with a state estimation engine, wherein the propagated state includes an initial orientation estimate corresponding to a pose of the device. The state estimation engine can comprise an Extended Kalman Filter (EKF). A predicted orientation measurement can be generated using a first machine learning network to process the IMU data and the initial orientation estimate included in the propagated state associated with the state estimation engine. An updated state associated with the state estimation engine can be determined based on using the predicted orientation measurement to update the propagated state. A device pose estimate can be determined based on the updated state associated with the state estimation engine.

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.