27 results about "Pitch angle" patented technology

The invention relates to the technical field of attitude estimation, in particular to an attitude estimation method in a magnetic interference environment, which comprises the following steps of: obtaining a conversion relation between an Euler angle and a quaternion; calculating the quaternion at the next sampling moment; respectively solving a first state transition matrix, a first process noise matrix and a first prior covariance according to the first state equation; respectively solving a second state transition matrix, a second process noise matrix and a second prior covariance according to a second state equation; elements in the nb-series rotation matrix are used as observed quantities of state variables in the parameter-series rotation matrix, a corresponding Kalman gain is calculated, and a Jacobian matrix is designed by using the observed quantities; calculating an observation noise covariance matrix by using the Jacobian matrix; updating the Kalman gain by using the observation noise covariance matrix; and updating the state equation and the posterior covariance by using the updated Kalman gain and the observed quantity. The method solves the problem of how to prevent the calculation of the roll angle and the pitch angle from being influenced by magnetic interference when the magnetic interference exists.

The invention discloses a robust adaptive fusion filtering astronomical attitude determination method and system, and belongs to the technical field of radio navigation. The method comprises the following steps: constructing an integrated navigation model of a starlight and inertial integrated navigation system based on Lie group description; obtaining an observation residual error and an observation residual error covariance of a corresponding mode; robust and adaptive mode parallel sub-filtering is carried out, and posterior states and covariances in the two modes are updated; updating the mode probability; and fusing the updated posterior state with the covariance to obtain fusion output of parallel sub-filtering, taking the fusion output of the parallel sub-filtering as final estimation of the starlight and inertial integrated navigation system based on Lie group description, and outputting an astronomical attitude determination result containing an azimuth angle, a pitch angle and a roll angle. The high-precision astronomical attitude determination method has strong adaptability, strong robustness and accuracy when coping with complex noise and measuring outliers, and can realize high-precision astronomical attitude determination of starlight and inertial integrated navigation in a complex dynamic environment.

The invention discloses an equipment attitude automatic correction method and device and an optical terminal intensity instrument, the equipment attitude automatic correction method is applied to a preset monitoring terminal comprising a triaxial MEMS accelerometer and a magnetometer, and the method comprises the following steps: collecting acceleration and magnetometer data; calculating acceleration stable three-axis offset; calculating roll and pitch angles and determining a horizontal plane; positioning magnetic north and calculating a magnetic north azimuth angle; calculating a magnetic declination angle and a yaw angle by combining longitude and latitude; generating a rotation matrix and converting a coordinate system; judging angle change and updating the matrix; and completing calibration and attitude stabilization. According to the technical scheme provided by the invention, the monitoring terminal equipment can be ensured to automatically and accurately adjust and stably maintain the attitude after being installed, so that the effective operation of the earthquake monitoring and early warning system is ensured, and the earthquake disaster prevention and flooding earthquake (vibration) monitoring performance is improved.

The embodiment of the invention provides an aviation gravity and magnetic vector dynamic measurement method based on multi-source data synchronous fusion, and relates to the technical field of data acquisition, after sensor array data on a driving flight platform is acquired, a specific force measurement value, a carrier pitch angle, a carrier roll angle and a carrier motion parameter are calculated and output; calculating three output gravity disturbance components by adopting carrier motion parameters and specific force measurement values; fusing total field data of the optical pumping magnetometer to carry out magnetic vector calculation on three-component data of the fluxgate and outputting geomagnetic total elements; and taking a carrier pitch angle, a carrier roll angle, a carrier position, a carrier speed and a carrier course angle as carrier pose data, combining the geomagnetic total elements and the carrier pose data, and outputting a dynamic measurement result of the gravity-magnetic vector field. The problems that in the prior art, gravity measurement and magnetic measurement are separated, equipment redundancy is low in efficiency, collection time is asynchronous, and data precision is reduced are solved. The effect of high-precision, high-dynamic and high-efficiency synchronous acquisition of the gravity and magnetic vector data under the single platform is achieved.

The invention relates to a high and low orbit satellite tracking method based on geomagnetic correction. The method comprises the following steps: constructing a geomagnetic model, calculating an azimuth angle and carrying out magnetic field interference analysis; carrying out factory calibration by utilizing a three-dimensional geometric calibration mode, including horizontal correction and vertical correction; the current azimuth angle and pitch angle are continuously corrected based on the carrier coordinate system by using the signal intensity, and the deviation is obtained so as to continuously approach the real angle; utilizing the known coordinates of the three-dimensional space to inversely calculate the current position; and the current data is corrected by using the big data, so that the current data meets the use requirements. The current attitude angle and the satellite signal receiver are used for tracking the target satellite, and then the known azimuth angle is used for correcting the geomagnetic data, so that the azimuth angle precision is improved, the cost of a phased-array antenna or a mechanical antenna is reduced, the tracking precision is improved, and the tracking speed is improved.

The application belongs to the technical field of magnetic variable measurement, and solves the technical problem of poor magnetic field measurement precision caused by single attitude adjustment of the existing Hall measurement system. The vacuum Hall measurement system for the in-vacuum undulator comprises a vacuum chamber, a Hall probe and a motion execution mechanism. The motion execution mechanism comprises a guide rail and a pose adjustment mechanism. The Hall probe is movable along the extension direction of the guide rail. The pose adjustment mechanism drives the Hall probe to move three-dimensionally to measure the magnetic field distribution through the guide rail. The pose adjustment mechanism comprises a Z-direction swing platform to adjust the pitch angle of the guide rail, a Y-direction swing platform to adjust the roll angle of the guide rail, a Y-direction moving platform, an X-direction moving platform and a Z-direction moving platform. The application can adjust the attitude in two directions and the position in three directions in space, reduce the parasitic displacement, make the Hall probe move three-dimensionally in the undulator and improve the magnetic field measurement precision.

This invention discloses a method for measuring the magnetic field pitch angle using rotating Doppler microwave reflection. A Doppler backscattering meter (DBS) simultaneously transmits X-mode and O-mode polarized microwave signals to the plasma and receives the scattered signals returning along the transmitted optical path. A beam splitter divides the received scattered signals into two paths: one path enters the original DBS, and the other enters a rotatable antenna to adjust the vibration direction of the received electric field component. Based on the steady-state discharge conditions of EAST, a high-speed rotating platform rotates the rotatable antenna 360° during the stable discharge period, completing the scanning of the vibration directions of the electric and magnetic field components of the scattered signal, thus obtaining the magnetic field pitch angle at the detection frequency cutoff layer. This method is low-cost, causes almost no interference to the plasma, and allows for real-time, interference-free measurement of the magnetic field pitch angle at a localized location within the core of a magnetic confinement fusion device.

The application discloses a method for measuring a pitch angle of a magnetic field in a core of a magnetic confinement fusion device, which comprises the following steps: simultaneously emitting microwave signals of X-mode and O-mode polarization to plasma by a Doppler backscattering diagnostic system (DBS), and receiving scattered signals returned along a transmission light path; dividing the received scattered signals into two paths by a beam splitter, one of which enters the original DBS, and the other of which enters a rotatable antenna for selecting a vibration direction of an electric field component; adjusting an included angle between the vibration direction of the electric field component of the rotatable antenna and the vibration direction of the electric field component of the DBS transmission antenna according to the vibration direction of the electric field component of the DBS transmission antenna, obtaining the vibration direction of the electric field component of the backscattering signal through the ratio of the signal intensity received by the two antennas, and further obtaining the pitch angle of the magnetic field. The above method has the advantages of low cost, almost no interference to plasma, high time resolution, and can be used for real-time measurement of the pitch angle of the magnetic field in the core of the magnetic confinement fusion device without interference.

The embodiment of the application provides a dynamic measurement method for aviation gravity and magnetic vector based on multi-source data synchronous fusion, relates to the technical field of data acquisition, and outputs the specific force measurement value, the carrier pitch angle, the carrier roll angle and the carrier motion parameter after driving the flight platform to collect the sensing array data; adopts the carrier motion parameter and the specific force measurement value to output the gravity disturbance three components; fuses the total field data of the optical pumping magnetometer to perform the magnetic vector calculation and output of the geomagnetic full element of the flux gate three component data; takes the carrier pitch angle, the carrier roll angle, the carrier position, the carrier speed and the carrier heading angle as the carrier pose data, combines the geomagnetic full element and the carrier pose data, and outputs the dynamic measurement result of the gravity and magnetic vector field. The problems that the gravity and magnetic force measurement are separated in the prior art, the equipment is redundant and inefficient, the acquisition time is asynchronous, and the data precision is reduced are solved. The effect of high-precision, high-dynamic and high-efficiency synchronous acquisition of the gravity and magnetic vector data under a single platform is achieved.

This application describes creating, modifying, and bending electromagnetic solitons at large scales for the various applications. An electromagnetic soliton generator system controls the magnetic soliton such that the orientation, rotation rate, pitch angle, and magnetic field strength of the solitons are modified to provide the described standing waves and generate a magnetic flux differential.

The invention belongs to the technical field of magnetic variable measurement, and provides an in-vacuum Hall measurement system for an in-vacuum undulator, which solves the technical problem of poor magnetic field measurement precision caused by single attitude adjustment of an existing Hall measurement system. The in-vacuum Hall measurement system for the in-vacuum undulator comprises a vacuum chamber, a Hall probe and a motion executing mechanism, the motion executing mechanism comprises a guide rail and a pose adjusting mechanism, the Hall probe can move in the extending direction of the guide rail, and the pose adjusting mechanism drives the Hall probe to move in a three-dimensional mode through the guide rail to measure magnetic field distribution. The pose adjusting mechanism comprises a platform swinging around the Z direction so as to adjust the pitch angle of the guide rail; swinging the platform around the Y direction to adjust the overturning angle of the guide rail; a Y-direction moving platform, an X-direction moving platform and a Z-direction moving platform. According to the invention, the attitude in two directions and the position in three directions in the space can be adjusted, the parasitic displacement is reduced, the Hall probe is enabled to perform three-dimensional motion in the undulator, and the magnetic field measurement precision is improved.

This application discloses a geomagnetic sensor calibration method, apparatus, and electronic device, belonging to the field of electronic device technology. The method includes: when the geomagnetic sensor of the electronic device is detected to be subjected to magnetic interference, acquiring the current yaw angle, pitch angle, rotation angle, magnetic tilt angle, and Earth's magnetic field strength of the electronic device; determining the current standard triaxial magnetic field data of the electronic device based on the yaw angle, pitch angle, rotation angle, magnetic tilt angle, and Earth's magnetic field strength; determining the triaxial magnetic field deviation value of the geomagnetic sensor based on the measurement data of the geomagnetic sensor and the standard triaxial magnetic field data; and calibrating the geomagnetic sensor based on the triaxial magnetic field deviation value.

The invention discloses an attitude angle stabilizing method and device of an inertial measurement unit, equipment and a storage medium. The attitude angles comprise a pitch angle, a roll angle and a course angle, and the method comprises the following steps: acquiring a current attitude angle of the inertial measurement unit; determining whether filtering stabilization needs to be carried out on the current attitude angle according to the angle fluctuation condition at the current moment; if the current attitude angle needs to be subjected to filtering stabilization, obtaining a stability coefficient, performing filtering stabilization on the current attitude angle according to the stability coefficient to generate a current stable angle, and outputting the current stable angle; and if the current attitude angle does not need to be subjected to filtering stabilization, outputting the current attitude angle. According to the attitude angle stabilizing method of the inertial measurement unit, small-amplitude fluctuation of the attitude angle can be filtered out, and stable attitude angle data can be output.

The application discloses a method for calculating an interplanetary cross scaling coefficient according to particle phase space density correlation characteristics, comprising the following steps: obtaining particle flux sequences of a standard A star and a to-be-scaled B star; under a T89c external magnetic field model, respectively calculating a modified third adiabatic invariant and a second adiabatic invariant of the A star and the B star, and calculating a local magnetic field intensity; performing uniform grid division on time and the third adiabatic invariant, and performing logarithmic uniform grid division on the first adiabatic invariant and the second adiabatic invariant; obtaining a local pitch angle and energy in the grid; screening out points with data in the same grid to obtain particle phase space densities of the A star and the B star respectively; calculating a particle phase space density average in the grid; respectively establishing particle phase space density matrices of the A star and the B star; screening out points with data in the same grid of the particle phase space density matrices of the two stars to obtain a cross scaling coefficient of the B star.

The invention relates to a deep sea magnetometer in-situ correction control method, and relates to the technical field of magnetometers, and the method comprises the following steps: S01, obtaining an original magnetic field measurement value, a carrier attitude angle, an angular velocity and a depth in real time through a magnetometer, an inertial navigation unit and a depth sensor carried by a carrier; calculating a geomagnetic reference field and a change rate thereof based on the carrier position and a global geomagnetic model; and S02, constructing a reinforcement learning agent taking the interference model parameter covariance matrix as input, and dynamically generating a maneuvering instruction sequence of yaw angle increment, pitch angle increment, depth increment and stabilization time under the condition that maneuvering constraint conditions of the deep sea operation platform are met. The novel method for in-situ detection and compensation control of the magnetic deviation of the magnetometer carrier can be realized without depending on water surface type maneuvering navigation, so that the accuracy and the reliability of deep sea magnetic measurement data are guaranteed.

The invention provides a seaplane take-off and landing process dynamics calculation method and system suitable for high sea conditions, and the method comprises the steps: obtaining the hydrodynamic test data of a ship-shaped fuselage at the bottom of a seaplane in real time, and building a body coordinate system and a ground coordinate system; then establishing a height compensation model and an attitude compensation model based on the wave height to obtain a vertical distance and a pitch angle after wave influence correction, and calculating the infiltration area after wave influence at the current moment by adopting a specific calculation method; and finally, introducing the infiltration area influenced by waves on the basis of a total motion equation consisting of a centroid kinetic equation, a centroid kinematical equation, a rotation kinetic equation and a rotation kinematical equation, so as to establish an improved centroid kinetic equation, an improved centroid kinematical equation, an improved rotation kinetic equation and an improved rotation kinematical equation. Therefore, the real-time dynamic analysis of the take-off and landing process of the seaplane under the high sea condition is realized, and the method has remarkable rapidity, real-time performance and accuracy.

The application discloses a target track simulation method of an infrared search and tracking device. Firstly, velocity components in X and Y directions are calculated according to the movement speed and the heading angle of a target; then, the time when the target is detected by the device in a current frame is calculated more accurately according to the velocity of the target in the X direction and the rotating speed of the device, and the specific method is as follows: the 360-degree azimuth of the device is discretized at equal time intervals to coarsely predict the time when the target is detected by the device, and linear interpolation is performed on the coarsely predicted time to realize more accurate time prediction; finally, the azimuth and the pitch angle of the target in the current frame are calculated in combination with the movement speed of the target in the X and Y directions and the distance between the target and the device. The method realizes accurate time simulation of the target in each frame through the method of azimuth equal-time discretization and linear interpolation, finally realizes accurate simulation of the azimuth and the pitch angle, and effectively improves the accuracy of target track simulation.

The invention belongs to the technical field of astronomical telescopes, and particularly relates to a quick calibration method and system for a double-horizontal telescope rack. The method comprises the following steps: S1, establishing a coordinate model, and determining observation coordinates and a mark star position; s2, performing azimuth angle deviation calibration according to the observation coordinates obtained in the S1 and the position of the mark star to obtain a calibration state in which the azimuth angle deviation is eliminated; s3, performing pitch angle deviation calibration and corresponding offset calculation according to the calibration state in which the azimuth angle deviation obtained in the step S2 is eliminated; s4, establishing a deviation correction curve through simulation according to the pitch angle deviation data obtained in the S3, and optimizing the pitch angle deviation by using a K value adjustment method to obtain an optimized pitch angle deviation calibration result; and S5, according to a pitch angle deviation optimization result completed in the step S4, performing experimental verification and obtaining a conclusion. The method has the advantages that efficient calibration of the azimuth angle and pitch angle deviation of the rack can be guaranteed, and therefore the pointing precision of the telescope is remarkably improved.

The invention discloses a tracking maintaining method of a moving platform warning radar under a large pitch dimension error. The tracking maintaining method comprises the following steps: carrying out attenuation compression on a pitch angle to obtain a compressed pitch angle; converting the compressed pitch angle and other measurement information to an earth-centered earth-fixed coordinate system to obtain a first offset, and obtaining a measured earth-centered earth-fixed value according to the first offset; obtaining a filtering result at the t-th moment according to the measured earth-centered earth-consolidation value at the t-th moment and the predicted position at the t-th moment; based on an inversion mode, a pitch angle of compression filtering is obtained according to a filtering result; sequentially carrying out amplification reduction and threshold judgment on the compressed and filtered pitch angle to obtain a pitch angle to be output; and obtaining a final earth-centered earth-fixed output value according to the pitch angle to be output and other filtering information. The tracking maintaining method is a compression processing method based on the pitching dimension, can keep continuous tracking of the target in the direction, and has certain pitching dimension tracking precision.

The application belongs to the technical field of automation engineering, and discloses a kind of accurate measurement methods of spatial universal uniform rotation magnetic field axis azimuth.First, using 3 Hall sensors and 1 3-axis acceleration sensor, the three-dimensional magnetic vector coordinates of rotating magnetic field at any two time instants are measured, and the rotation transformation relationship of rotating magnetic vector coordinates in probe coordinate system and fixed coordinate system is established.Second, with the help of space vector operation law, the normal vector of the rotating magnetic vector at the above two time instants is solved.Third, according to the orthogonal transformation principle of space vector, the spatial universal rotating magnetic field axis azimuth described by pitch angle and roll angle is obtained.Finally, according to the corresponding relationship between the normal vector of the rotating magnetic vector at any two time instants and the spatial rotating magnetic field axis azimuth, the rotating magnetic field axis azimuth represented by three-dimensional magnetic vector coordinates can be obtained.The measurement method of the application has the advantages of high measurement accuracy, good real-time performance, strong environmental adaptability, low working environment requirement, etc.

The embodiment of the invention provides a geomagnetic attitude calculation method and device, and the method comprises the steps: obtaining a roll angle observation value and a pitch angle observation value according to an accelerometer, and carrying out the first-stage Kalman filtering according to the roll angle observation value, the roll angle prediction value, the pitch angle observation value and the pitch angle prediction value, obtaining an optimal roll angle estimated value and an optimal pitch angle estimated value; according to the optimal roll angle estimation value and the optimal pitch angle estimation value, performing geomagnetic attitude compensation on the magnetic data output by the magnetometer to obtain a course angle observation value; and according to the course angle observation value and the course angle prediction value, obtaining an optimal course angle estimation value through secondary Kalman filtering. Through the design of two-stage Kalman filtering, the estimation of the roll angle, the pitch angle and the course angle is separated and decoupled, the precision of geomagnetic attitude calculation is improved, and the robustness and precision of the system in dynamic and interference environments are improved.

The application provides a nine-axis inertial measurement unit attitude solving method and device based on observation decoupling, the method comprising collecting acceleration data, angular velocity data and magnetic field data, using the acceleration data to only compensate for the error of the X-axis and Y-axis angular velocity, and updating to obtain target attitude quaternions; calculating the heading angle error according to the magnetic field data, constructing a modified quaternion with zero X and Y components and only rotating around the Z-axis of the world coordinate system; multiplying the modified quaternion and the target attitude quaternion to obtain the final attitude quaternion. In this way, by completely decoupling the gravity observation and the geomagnetic observation, the error cross-talk is avoided from the root, the heading correction does not change the horizontal attitude, the roll angle and the pitch angle can be stabilized in complex environments such as magnetic field distortion and ferromagnetic interference, and the attitude drift is effectively suppressed. The overall architecture is simple, the operation amount is small, it is suitable for low-power embedded devices, and the attitude solving accuracy, real-time performance and environmental adaptability are considered.

The application discloses a vertical airflow evaluation method based on multi-beam consistency scoring and sliding window processing. The method comprises the following steps: S1, obtaining multi-beam radial velocity data of a laser Doppler radar under different pitch angle and azimuth angle conditions; S2, uniformly mapping data of observation distance layers corresponding to different pitch angles to a target height by using a spatial interpolation method; S3, based on the observation geometry relationship of each beam, a plurality of sets of vertical airflow estimation results are obtained through multi-beam combination inversion; S4, sliding window smoothing processing is introduced to each vertical airflow sequence to obtain a smoothed sequence; S5, based on the plurality of sets of smoothed vertical airflow results, the correlation degree between different results is calculated by using a correlation measurement function, and a consistency matrix is constructed; S6, the single model consistency score and the overall consistency score are calculated according to the consistency matrix, and quantitative evaluation of the consistency of the vertical airflow result is realized. The application belongs to the technical field of laser radar meteorological observation.

The application relates to a positioning method based on magnetic field signal coherent reconstruction, and belongs to the technical field of ultra-low frequency magnetic field long-distance positioning. The application solves the problems of insufficient precision and reliability of existing methods in a long-distance positioning scene. A stable ultra-low frequency magnetic field signal is generated by rotating a permanent magnet, and three-axis magnetic field data are collected at a target position by using a magnetic sensor; a coherent reconstruction method is used to extract and reconstruct a fundamental wave component at a target frequency, so that the reliability of a single-axis weak signal is significantly improved; then, a nonlinear equation set between the three-axis magnetic field data and an azimuth angle, a pitch angle and a distance is derived based on a magnetic dipole model, and a target three-dimensional position estimation is obtained through parameter identification and numerical solution. The method combines two-dimensional calculation with three-dimensional calculation to compensate for the instability of long-distance direct three-dimensional calculation, and enhances the weak signal information utilization rate through coherent reconstruction, so that the positioning precision and robustness are improved under a low signal-to-noise ratio condition. The application can be used for magnetic field long-distance positioning.

A calibration method for a magnetic compass comprises the steps of collecting data of the magnetic compass, establishing an ellipsoid model, calculating a pitch angle and a roll angle through ellipsoid fitting and a least square method, and finally obtaining a course angle relative to the geographical north according to the pitch angle and the roll angle. The adaptive and operation problems are solved, hard magnetic and soft magnetic interference can be eliminated, magnetic field intensity distortion is avoided, calibration parameters can be rapidly solved, the hardware burden is reduced, the maximum absolute error of the course in the horizontal state after final calibration is smaller than or equal to 2 degrees, and the high-precision measurement requirement is met.

The present application relates to underwater acoustic signal processing and sonar system parameter calibration technical field, especially a kind of active sonar pitch angle calculation method based on reverberation signal, for the physical mismatch of existing attitude sensor direct measurement, matching field type method lacks the technical blank with the pitch angle of sonar itself as inversion target, unknown pitch angle is regarded as inversion variable, through the joint forward of transmission-dispersion sound field propagation model and interface scattering model under different hypothetical pitch angle Theoretical reverberation signal is matched with the normalized cross-correlation of measured reverberation signal, the absolute value of the peak value of correlation coefficient corresponding angle is extracted, and the positive and negative signs of the comparison determination of the early interface reverberation arrival order obtained by envelope detection and the geometric theoretical arrival time are combined, and finally the real working pitch angle of sonar system is obtained.The method does not need additional hardware, and the pointing error caused by installation deviation and deformation can be eliminated using conventional reverberation data, and the inversion precision is high and the engineering practicability is strong.

The invention discloses a sea surface flare suppression algorithm method and device based on polarization characteristics, and belongs to the technical field of sea surface target monitoring. Firstly, the approximate position of a target is determined by adjusting the azimuth angle and the pitch angle of a sea surface flare suppression device, secondly, polarization demosaicing is carried out on a sea surface target image collected by a focal plane polarization camera, and then a sea surface reflected light image and a refracted light image are calculated by calculating the sea surface reflected light polarization degree and the refracted light polarization degree. And calculating a sea surface environment light intensity value by combining the calculated sea surface polarization degree and sea surface polarization angle values with a sea surface target image acquired by the visible light camera, and finally calculating a sea surface flare suppression image by combining the sea surface reflected light image, the refracted light image and the sea surface environment light intensity value. The objective of the invention is to solve the problem that the target cannot be monitored due to large-area pixel saturation when a traditional sea surface target monitoring device is interfered by sea surface flare in the prior art.