7 results about "Position bias" patented technology

The application discloses a method for testing deception interference of a combined navigation system, and belongs to the field of combined navigation system testing. The method is used for solving the problem that existing technologies are prone to misjudgment under the condition that a combined navigation system is subjected to GNSS deception interference testing under the motion of a carrier. The method comprises the following steps: acquiring GNSS receiver observation data and INS inertial data; calculating the average heading angle of an INS sliding window; differentially solving a GNSS heading angle; independently solving an INS predicted position and aligning the position with a GNSS position in time, constructing a position deviation sequence, and extracting the change slope and variance of the position deviation sequence; calculating a heading deviation sliding window sequence of the GNSS heading angle and the average heading angle of the INS sliding window, and extracting the change slope and variance of the heading deviation sliding window sequence; and performing joint consistency judgment based on the detection threshold of the position and the heading set based on historical normal navigation data, and determining that the combined navigation system is subjected to GNSS deception interference when the preset condition is not met. The method is mainly used for combined navigation systems of various dynamic platforms such as vehicles and unmanned systems.

The application discloses a kind of information fusion methods suitable for multi-architecture heterogeneous cooperative navigation, belong to cooperative navigation technical field.The application includes respectively receiving the carrier inertial navigation position data that inertial navigation system real-time sends, the carrier position data that global positioning system real-time sends and the carrier relative position data that multi-carrier cooperative positioning system real-time sends;The position deviation amount is obtained by comparing the received position data with the inertial navigation position data at corresponding moment;According to the current moment existing global positioning system data or cooperative positioning system data, the position deviation amount is used as input, and the inertial navigation solution result at the current moment is corrected by filtering mode;Finally, the corrected carrier navigation information is output, the GPS position information and cooperative positioning relative position information can be simultaneously accessed into combined navigation system by the application, and effective fusion is carried out.

The present application relates to the technical field of device positioning, in particular to a large rotating device full-position intelligent positioning system, comprising: determining a three-dimensional coordinate set of each search direction according to a reference coordinate system of a current rotating device; calculating an attitude angle deviation of a current search direction and a preset search direction, correlating a position deviation through the attitude angle deviation, and configuring a position deviation matrix of each reference point; calculating a deviation probability of each reference point under a combination of multiple search directions, and combining into a deviation probability matrix; correlating the deviation probability of each reference point with each search direction according to the deviation probability matrix, coordinating and optimizing the probability distribution of the search direction through the relative spatial coordinates between each reference point; mapping the optimized probability distribution of each search direction into the reference coordinate system, correcting the three-dimensional coordinates of each search direction, and obtaining the final output positioning result. The accuracy and efficiency of rotating device positioning are realized.

The application discloses a marine mobile channel adaptive coding modulation transmission method and system, relates to the technical field of wireless communication, and comprises the following steps: acquiring dynamic sensing data, spatial position and channel state information history sequence of a mobile platform; reconstructing the absolute motion velocity vector of an antenna in a reference navigation coordinate system based on the antenna installation position bias feature; extracting an effective radial velocity scalar in combination with a line-of-sight direction vector; determining the dynamic channel coherence time boundary according to the effective radial velocity scalar, performing truncation processing on the channel sequence to obtain a target prediction input sequence; generating a reference signal-to-noise ratio prediction value by using a time series prediction model; determining a nonlinear rollback compensation amount based on the angular acceleration obtained by differentiating the angular velocity, and then correcting the reference prediction value to obtain a target signal-to-noise ratio and performing physical layer resource mapping; and the application can effectively cope with the prediction failure caused by the dramatic mutation of the carrier attitude, and improve the robustness and throughput of the marine communication link.

The embodiment of the application provides an AGV parameter calibration method, device, equipment, medium and product, relates to the field of engineering machinery control, and the method replaces the cumbersome process that manual data collection, deviation recording in the prior art use physical tools by automatically collecting the attitude angle difference of AGV at the preset starting point and terminal point and the deviation distance of the actual terminal point of AGV and the preset straight line path, automatically optimizes the rudder wheel angle bias value based on the attitude angle difference, and automatically optimizes the zero position bias coefficient based on the deviation distance, replaces the manual parameter adjustment process of manual dependence on empirical formula or trial-and-error method in an algorithm-driven parameter optimization mode, does not need manual repeated participation in testing and adjustment, reduces manual intervention in the calibration process, shortens the calibration period, and the parameter optimization process is accurate and controllable, avoids the uncertainty caused by human experience, solves the low AGV parameter calibration efficiency problem in the prior art, and realizes the rapid and accurate calibration of AGV parameters.

The application discloses a method and device for secondary positioning of a seabed node based on quadrant division. 2 The method comprises the following steps: establishing an orthogonal coordinate system with the current position of the seabed node as a coordinate origin; positioning a target window in the orthogonal coordinate system with a set shot point offset distance as a limit; dividing the target window into n 2 quadrants based on the coordinate axes, wherein n is greater than or equal to 2; judging whether the difference amplitude of the dynamic corrected shot point data first arrival wave between the quadrants meets the error requirement; if not, determining the offset of the current position of the seabed node relative to the real position according to the difference amplitude, adjusting the current position, returning to the above step until the difference amplitude of the dynamic corrected shot point data first arrival wave between the quadrants is small enough, and determining that the current position of the seabed node is the real position. The method can verify the correctness of the node position in marine OBN exploration, and accurately position the node with a position deviation.

The application discloses a textile machine control method based on an absolute value encoder and particularly relates to the technical field of textile machine control. The position deviation coefficient is constructed by fusing the electrical angle deviation and the mechanical zero point switch state, and the maximum physical offset threshold based on the transmission chain gap, elastic deformation and wear data is introduced for comparison. When the position deviation coefficient is out of limit, the calibration process is accurately triggered. When calibration is needed, the spindle is controlled to move at low speed, the motor torque feedback waveform is collected in real time, the actual zero point is accurately positioned by using the physical characteristics of the first mutation of the torque in the mechanical blocking moment, the control system zero point reference is corrected by the position compensation coefficient, and the corrected reference is matched and verified with the key angle stored before power-off, so that the corrected reference can accurately reproduce the weaving process requirements.