2282 results about "Positioning technology" patented technology

The invention discloses a multi-modal information fusion odometer construction method for star catalogue positioning, and relates to the technical field of star catalogue patroller positioning. The method comprises the following steps: carrying out space joint calibration on a monocular camera, a laser radar and an inertial measurement unit, reconstructing a laser radar point cloud by using a timestamp of a camera image, and realizing time synchronization of the camera image and the laser radar point cloud; establishing an IMU pre-integration error model; and performing motion compensation distortion removal on the laser point cloud by using an IMU pre-integration result, and extracting geometric features of the distorted laser point cloud based on a neighbor region smoothness calculation method of a fixed measurement distance. By researching a multimodal information fusion odometer method, the accumulative error of motion measurement is reduced, the positioning precision and stability are improved, technical support is provided for design and development of a star catalogue navigation system, and the problems that a single-modal star catalogue positioning method is weak in environment adaptive capacity and poor in algorithm generalization are solved.

The invention discloses a mechanical arm natural language instruction control system and method based on a large language model, and belongs to the field of intelligent manufacturing. Aiming at the limitation that traditional mechanical arm control depends on pre-programming and a static rule library, a dynamic mapping mode from a natural language instruction to an atomic action sequence is designed, an atomic skill library including detection, grabbing, moving, placement and other operations is constructed, and semantic analysis and a multi-mode cooperation technology are combined, so that the atomic action sequence is obtained. And support is provided for man-machine cooperation of a flexible assembly task. The method specifically comprises the steps that a DeepSeek-Distil-Llam-8B large model and a LoRA fine tuning technology are adopted, and a natural language instruction is converted into an executable atomic action sequence; based on a transfer learning optimized YOLOv8 target detection technology and a binocular vision positioning technology, a sensing module adaptive to an assembly scene is constructed and is fused with a mechanical arm motion planning module, and positioning grabbing of parts and tools is achieved. And an interactive interface is built by combining a voice-to-text large model and a Gradio front-end framework, so that the convenience of man-machine interaction is improved. By optimizing large model reasoning and motion planning cooperation efficiency, response delay from instructions to execution is reduced, and an efficient and extensible solution is provided for man-machine cooperation in intelligent manufacturing.

The invention discloses a ship-shore cooperative tracking and positioning method based on multi-modal sensor fusion, and belongs to the technical field of target positioning. The method comprises the steps that multi-sensor layout and sensor fusion calibration are carried out on a target ship set and a shore end respectively, multi-view image sequence data and three-dimensional point cloud data are obtained, and the target ship set comprises a plurality of target ships; performing data fusion based on the multi-view image sequence data and the three-dimensional point cloud data to obtain fusion data of the target ship set, establishing an adaptive motion state model and an adaptive observation model based on the fusion data, and performing state prediction, state updating, data association and tracking management on the target ship set by adopting an unscented Kalman filtering algorithm; and establishing a space-time diagram model based on the Kalman filtering fusion observation factor and the Kalman filtering state prediction factor, and performing pose optimization on the target ship set in combination with the GPS factor. According to the method, the accuracy of ship and ship-shore cooperative positioning is improved.

The invention relates to a defect positioning method based on fusion of weld defect features and trajectory tracking data, and belongs to the technical field of weld defect detection and positioning. The method comprises the following steps: capturing welding seam track dynamic data and defect feature data, constructing a dynamic coordinate system based on a welding seam initial feature point, and establishing double-data-set reference mapping; performing multi-physics field interference decoupling correction on the trajectory data, and performing cross-modal feature purification and core feature consistency verification on the defect data; converting the preprocessed data into a feature form adaptive to fusion, and constructing a welding process-defect formation mechanism association network to regulate and control fusion weight; and finally, reconstructing a three-dimensional dynamic contour of the welding seam, calling dynamic positioning logic to position the defect, and outputting a result carrying the process-defect causal confidence coefficient. The positioning precision is improved through multi-dimensional data fusion and mechanism association, and technical support is provided for welding quality management and control.

The invention discloses a centimeter-level positioning and control system for a low-altitude unmanned aerial vehicle, relates to the technical field of high-precision positioning, and solves the problems that firstly, centimeter-level positioning precision is difficult to realize; secondly, a safe flight path is difficult to generate and adjust in a complex environment; thirdly, it is difficult to optimize the global optimal path by comprehensively considering multiple factors such as energy consumption, obstacles and geo-fences; and finally, the technical problem that it is difficult to generate a control instruction and execute the control instruction under centimeter-level positioning in combination with the obstacle avoidance sensitivity, the hovering stability coefficient and real-time environment perception is solved. According to the invention, centimeter-level real-time positioning is realized through multi-source sensor fusion and Kalman filtering; constructing a geofence and a three-dimensional obstacle avoidance path, and combining obstacle detection to prevent boundary-crossing collision; path planning is optimized by utilizing machine learning and risk assessment, so that the unmanned aerial vehicle dynamically adapts to a complex environment; and optimizing a low-altitude flight control strategy through positioning error compensation and control strategy optimization.

The invention discloses an unmanned aerial vehicle intelligent precise positioning system and method based on multi-source information fusion, and belongs to the technical field of unmanned aerial vehicle navigation positioning, and the system comprises a multi-sensor data collection module which is used for obtaining an original physical signal required by positioning; the data preprocessing and synchronizing module is used for processing original physical signals and ensuring the consistency of multi-source data; the feature extraction and semantic recognition module is used for extracting environment features and industrial equipment semantic information from original data and providing geometric and semantic constraints for positioning; the multi-source information fusion positioning module is used for fusing multi-source data and constructing a factor graph containing sensor error terms and semantic constraint factors; the positioning calculation and state estimation module is used for calculating the positioning pose of the unmanned aerial vehicle based on the fused data; according to the unmanned aerial vehicle intelligent accurate positioning system and method based on multi-source information fusion provided by the invention, by fusing multi-source information, the positioning problem in a complex industrial environment is solved, and accurate identification and positioning of target equipment are realized.

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention discloses a self-adaptive fault reflection method and device based on adjustable excitation frequency, and belongs to the technical field of cable fault detection and positioning. The method comprises the following steps: injecting an excitation signal which can be adjusted in a range of 1kHz-10MHz through an adjustable impedance matching network; collecting a reflected signal and calculating an SNR (f) curve; optimizing by adopting a particle swarm optimization algorithm and taking maximization of a signal-to-noise ratio as a target, and determining an optimal excitation frequency; and finally, calculating the fault position and type based on the optimal frequency. The particle swarm optimization algorithm is adopted to perform adaptive optimization on the excitation frequency, and the adjustable impedance matching network is combined to form a closed-loop adaptive detection framework of excitation-acquisition-analysis-optimization-re-excitation, so that the excitation frequency can be automatically adjusted according to a real-time detection result, and the detection accuracy is improved. And the fault detection sensitivity, the positioning precision and the energy efficiency are obviously improved.

The invention provides an expressway disease detection method capable of accurately positioning. The expressway disease detection method comprises the following steps: S1, image acquisition and data annotation; s2, constructing an instance segmentation model; s3, extracting a multi-scale feature map and fusing multi-scale features; s4, outputting a category label, a bounding box coordinate and a confidence coefficient score of the detection box; s5, performing multi-target trajectory tracking; s6, eliminating global motion influence; s7, establishing an association relationship between the prediction trajectory and the current detection frame; s8, dynamically maintaining a track list; and S9, outputting bounding box coordinates and ID tags in each target continuous frame, and storing the bounding box coordinates and the ID tags as structured data. According to the method, a high-performance target detection framework, an advanced instance segmentation tracking technology and a GPS positioning technology are combined, pixel-level identification and continuous tracking of diseases can be realized while high detection precision is ensured, and the positions of the diseases can be accurately positioned.

The invention relates to the technical field of underwater robots and high-precision positioning, and particularly discloses a high-precision positioning system for collaborative operation of an underwater robot cluster. The system comprises a multi-source fusion positioning base station network module, a cross-medium cooperative positioning engine module, a cluster relative positioning subsystem module, a dynamic environment perception compensation module, an elastic positioning fault-tolerant system module and a cooperative positioning decision center module. An absolute positioning reference is constructed through a multi-source fusion positioning reference station network, a cross-medium cooperative positioning engine is combined to realize accurate pose calculation, a cluster relative positioning subsystem is utilized to establish a dynamic topological relation between robots, an environment perception compensation and elastic fault-tolerant mechanism is introduced, and finally resource configuration is optimized through a cooperative decision center. The method solves the problem of high-precision positioning of robot cluster collaborative operation in a complex underwater environment, and can be widely applied to the fields of ocean exploration, underwater engineering and the like.

The invention relates to the technical field of submarine cable fault positioning, in particular to a submarine cable fault positioning system based on underwater beacons. The method comprises the steps that an underwater acoustic beacon array unit monitors and collects submarine cable fault sound wave signals in real time based on underwater acoustic beacons; the fault signal processing analysis unit extracts submarine cable fault sound wave signal parameters based on a non-point source space sound source waveform analysis model, and generates multi-parameter fault sound source feature vectors; the sound source positioning analysis algorithm unit performs three-dimensional inversion positioning based on the multi-parameter fault sound source feature vector and the arrival time difference of the submarine cable fault sound wave signal to the underwater acoustic beacon, and obtains the spatial position information of the submarine cable fault point; and the data communication alarm management unit sends the spatial position information of the submarine cable fault point to a shore-based operation and maintenance system. The submarine cable fault positioning method is used for realizing a submarine cable fault positioning technology for quickly and accurately positioning and identifying spatial extension characteristics in a complex submarine environment.

The invention relates to the technical field of cable fault diagnosis and positioning, in particular to a cable fault positioning method and system based on multi-source data space-time correlation, and the method comprises the steps: obtaining partial discharge, traveling wave and temperature multi-source monitoring data from a high-voltage cable-overhead line hybrid power transmission network; on the basis of space-time correlation analysis of partial discharge and temperature data, heat-electricity associated defect points are calibrated; comparing traveling waves of the cable and the overhead line, and identifying and inhibiting cross-domain propagation interference; positioning the traveling wave data which are not identified to obtain temporary coordinates, judging fault characteristics by fusing information such as sheath ring current and the like, and comparing the temporary coordinates with defect points to generate matching identification; and inputting multi-dimensional information such as fault features, defect matching identification and temperature into the fusion model, calculating the confidence coefficient of a fault mode, and outputting a cross validation positioning result. According to the invention, high-reliability positioning of mixed line faults and active early warning of insulation defects are realized by carrying out space-time correlation and fusion decision on multi-source monitoring quantities such as traveling waves, partial discharge, circulation, temperature and the like.

The invention relates to the technical field of underwater communication and positioning, in particular to a multi-mode underwater wireless communication system based on dynamic link calibration, which integrates underwater acoustic positioning guide, attitude adaptive tracking control, optical link enhancement and an error code correction mechanism. Comprising a central control core, an acoustic communication unit, an optical communication transmitting unit, an optical signal receiving unit, an optical control unit, a multi-axis attitude adjusting unit, a data fusion and verification processing unit and a high-speed modulation-demodulation and error code correction unit. And by using a double-shaft servo motor and automatic gain control, real-time target tracking and accurate alignment of optical signals are realized, FPGA and OFDM modulation are combined to optimize data throughput, and a data cross validation mechanism is introduced to correct error codes, so that the data integrity is improved.

The invention belongs to the technical field of power cable fault positioning. The invention discloses a TDR power cable global fault positioning method based on multi-frequency cooperative excitation and environment adaptive correction. The method comprises the following steps: 1) multi-frequency pulse cooperative injection and signal acquisition; 2) environment parameter dynamic sensing and speed correction: embedding a miniature temperature and humidity sensor and a cable insulation state monitoring unit along the cable at an interval of 500m, and collecting laying environment temperature, humidity and insulation material dielectric constant change data in real time; constructing a dynamic speed correction formula based on a preset environment-dielectric constant correlation model; according to the method, the complex fault positioning precision is improved, the environment and scene adaptability is enhanced, and the troubleshooting efficiency is optimized.

The invention discloses a high-precision real-time positioning system and method for positioning personnel based on multi-mode fusion. The system comprises a multi-source data acquisition module, an intelligent data processing module, a fusion positioning model construction module and a positioning result application module, provides visual monitoring, trajectory analysis and scene customization functions, and supports flexible expansion through modular design. According to the method, satellite positioning, Bluetooth beacon and inertial navigation technologies are integrated, the weight is dynamically adjusted in combination with an adaptive weighted fusion algorithm, and a fusion positioning model supports outdoor (satellite dominant + EKF calibration, the precision being 2-5 meters) and indoor (beacon dominant + fingerprint matching, the precision being lt); according to the invention, intelligent switching between three modes (inertial navigation + ZUPT correction) and signal loss (1 meter) is realized, data noise is optimized by using Kalman filtering, and high-precision real-time positioning in indoor and outdoor complex scenes is realized. According to the invention, the problems of insufficient precision, poor environmental adaptability and weak expansibility of a single positioning technology are solved, and the comprehensive performance of the positioning system is significantly improved.

The invention discloses an indoor UWB-IMU fusion trajectory tracking system and method based on factor graph optimization, and belongs to the technical field of UWB indoor positioning. The system adopts a multi-stage processing framework, and specifically comprises the following steps: firstly, collecting channel pulse response and distance information by virtue of a wireless communication system, constructing a dynamic environment sensing mechanism, and evaluating the current channel state and the availability of each base station in real time; secondly, for the ranging values of the available base stations in the NLOS environment, compensating by using historical information, and for the ranging values of the unavailable base stations, estimating and correcting by using a time step length; and finally, collaborative optimization is carried out on UWB ranging data, IMU inertial information and base station state information through an SW-FGO algorithm, so that positioning stability is ensured, and adverse effects of obstacle shielding and a multipath effect on trajectory tracking precision are reduced. The invention provides a fusion positioning system which combines the advantages of UWB and IMU, can realize the tracking of a target motion track, and is suitable for most LOS and NLOS indoor mixed scenes.

The invention provides a construction site monitoring method and system based on Beidou positioning and digital twinning, and relates to the technical field of highway construction supervision. According to the invention, real-time position information of equipment, personnel and vehicles on a construction site is accurately obtained through a Beidou positioning technology, and an equipment and personnel dynamic model and a traffic dynamic model are constructed in combination with vehicle passing data collected by road test equipment. And fusing the dynamic model with a pre-constructed construction site environment model by using a digital twinning technology to generate a high-precision construction site digital twinning model. According to the model, real-time three-dimensional visual monitoring of a construction site is realized, external intrusion and internal collision risks are effectively prevented, illegal behaviors of not wearing a safety helmet and the like are identified in combination with AI, and accident tracing is realized through the Internet of Things. The construction site can be comprehensively monitored without manual inspection, and the safety and inspection efficiency of highway construction are remarkably improved.

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention relates to the technical field of positioning, in particular to a rail-mounted robot high-precision fusion positioning method and system. According to the method, the error compensation model of each track segment is constructed, dynamic correction is carried out in combination with real-time environment interference data, dynamic compensation can be carried out on pulse data generated by an incremental encoder in real time, accumulation of position errors is remarkably reduced, it is ensured that the position of the robot is more accurate, and the accuracy of the robot is improved. By fusing satellite positioning data, motion state data and pulse data after error compensation, the positioning precision of the orbital robot in each orbital segment is remarkably improved, and by monitoring the position deviation in real time and comparing the position deviation with a preset threshold value, the unqualified orbital segments can be repeatedly corrected according to needs, so that the accuracy of the orbital robot is improved. And the accuracy of the positioning result is ensured, so that the robot can adaptively optimize the positioning precision under different working scenes and environment changes, and the continuity of high-precision positioning is ensured.

The invention discloses a cable fault accurate positioning system based on an intelligent sensor system, and relates to the technical field of power fault positioning, and the cable fault accurate positioning system comprises a cloud monitoring center which is in communication connection with the following modules: a signal acquisition and processing module which is used for deploying the intelligent sensor system along a cable, operation environment data and traveling wave signals in the cable operation process are obtained, and the signals are preprocessed and stored in a cloud data warehouse. According to the invention, the front band-pass filter and the self-adaptive trap filter are combined to filter out high-frequency harmonic waves and specific-frequency interference signals, and the differential sampling technology is adopted to counteract common-mode interference, so that the signal-to-noise ratio of the signals is remarkably improved, a system can accurately capture and process weak traveling wave signals caused by a high-resistance grounding fault in a complex environment, and the fault detection accuracy is improved. Therefore, the fault positioning precision is greatly improved, the positioning error caused by signal interference is reduced, and the determination of the fault position is more reliable and accurate.

The invention discloses an intelligent fault recording and traveling wave distance measurement integrated control method and device, and belongs to the technical field of fault positioning, and the method comprises the steps: collecting the power frequency electric quantity data and high-frequency traveling wave data of monitoring points at two sides of a fault line; calculating a first fault distance estimation value based on the power frequency electrical quantity data, and identifying an initial traveling wave head based on the high-frequency traveling wave data to calculate a second fault distance estimation value; defining an evaluation time period, and calculating a signal-to-noise ratio value in the evaluation time period; and according to the signal-to-noise ratio value, determining the contribution degree of the first fault distance estimation value and the second fault distance estimation value in generating final fault positioning distance calculation, and performing comprehensive processing on the first fault distance estimation value and the second fault distance estimation value in combination with the contribution degree to obtain a final fault positioning distance. According to the invention, the accuracy and reliability of fault positioning are improved, and positioning requirements under different fault conditions and signal environments are met.

The invention relates to the technical field of equipment positioning, and discloses a multi-mode positioning method and system based on intelligent wearable equipment, and the method comprises the steps: receiving a Beidou satellite signal and a GPS satellite signal, and executing the sparse channel estimation, and obtaining a channel parameter; identifying and suppressing multipath interference according to the channel parameter to obtain a purified signal; separating the purification signal into Beidou observation data and GPS observation data, and carrying out cross correction calculation to obtain position information; and performing channel state prediction based on the position information and the channel parameters, and compensating positioning calculation at the next moment to obtain a target positioning result and a communication transmission scheme. According to the invention, the complementary advantages of two sets of Beidou and GPS systems are fully utilized, the GPS clock error offset is corrected by using the time service precision of Beidou, the positioning precision of the intelligent wearable device is improved, and the power consumption is reduced.

The invention relates to the technical field of high-precision positioning, in particular to a mine tight combination positioning method based on environment self-adaption, and aims to solve the problem of efficient positioning of personnel and equipment in a complex and limited space under a mine. The method comprises the step of acquiring a time difference of arrival measurement value through the ultra-wideband positioning tag and the positioning base station. Chi-square testing is carried out based on the innovation statistics of the extended Kalman filtering, and whether the environment is a sight distance environment is judged according to comparison between the innovation statistics and a threshold value. If the innovation statistic is lower than a threshold value, determining that the environment is a sight distance environment, and if the innovation statistic is higher than or equal to the threshold value, determining that the environment is a non-sight-distance environment. For a sight distance environment, high-precision coordinate estimation is obtained by adopting a time difference of arrival positioning algorithm, and a positioning result is optimized through extended Kalman filtering fusion. And activating the inertial measurement unit, constructing an ultra wide band / inertial measurement unit tight combination extended Kalman filtering model for a non-line-of-sight environment, and outputting a positioning result.

The invention provides an intelligent fault diagnosis method and system for a photovoltaic system. The method comprises the following steps: collecting multi-source heterogeneous operation parameter data of the photovoltaic system based on an intelligent sensor network and carrying out standardized preprocessing; local feature extraction is carried out on edge nodes, a frequency moment is calculated, data summary aggregation is carried out through a frequency moment optimization algorithm, and a fusion key feature vector set is constructed by using a multi-modal data fusion model; performing anomaly detection based on the normal behavior mode baseline, and generating an abnormal state alarm signal and a preliminary anomaly type indication; constructing a weighted graph model based on a system topological structure, constructing a fault association sub-graph by using an approximate spanning tree algorithm, accurately positioning a fault unit and diagnosing a fault type; and generating and executing a self-healing operation scheme according to the fault diagnosis conclusion. Through the distributed multi-modal data fusion and approximate spanning tree fault positioning technology, rapid and accurate diagnosis and autonomous recovery of the photovoltaic system fault are realized, and the system reliability and the operation efficiency are improved.

The invention discloses a wall surface identification method and device and a storage medium, and relates to the technical field of sensor positioning, and the method comprises the steps: carrying out the fitting processing of a laser radar point cloud collected by a laser point cloud radar, and obtaining a plurality of fitting line segments; screening a target line segment which is greater than a first length threshold and has the longest length from the plurality of fitting line segments; projecting target point clouds associated with the position of the target line segment in wall point clouds and obstacle point clouds collected by the depth camera on the target line segment, and determining at least one target wall surface line segment; and if the length of the target wall surface line segment is greater than a line segment threshold value, outputting the target wall surface line segment under a robot coordinate system to be used by a welting program. According to the invention, after laser point cloud filtering fitting, depth camera wall surface obstacle point cloud projection calibration is fused, the technical problem that the wall surface is difficult to effectively identify is solved, and the wall attaching precision and obstacle avoidance reliability of the cleaning robot in a complex scene are improved.

The invention relates to the technical field of power distribution fault positioning, in particular to a power distribution single-phase earth fault positioning method and device based on multi-source information fusion. The device comprises a data acquisition module, a fault line selection module, a grading emergency module, a fault positioning module and a parameter optimization module. According to the method, the zero-sequence current is monitored in real time, the dynamic change curve is generated, the fault line is accurately identified in combination with amplitude and phase characteristics, electrical parameters, environmental factors and load importance are fused to carry out comprehensive risk assessment and start a hierarchical response mechanism, and the fault point of the fault line is accurately positioned by adopting a voltage drop method. And the monitoring frequency and the decision threshold value are adaptively adjusted according to the fault characteristics and historical data, so that response lag and insufficient precision of a traditional fault positioning method are avoided, full-flow intelligent management from fault detection, accurate positioning to parameter self-optimization is realized, the accuracy and efficiency of fault processing are improved, and safe and stable operation of a power grid is ensured.

The invention relates to the technical field of power distribution network fault positioning, in particular to a power distribution network fault traveling wave positioning method and system, and the method comprises the steps: synchronously collecting a transient signal through a distributed traveling wave sensing unit, and extracting an initial traveling wave arrival time; constructing an adaptive wave velocity model based on line physical parameters to calculate an equivalent propagation velocity; dynamically generating a traveling wave propagation tree according to the real-time switch state to determine an effective monitoring path; based on the propagation path and the actual arrival time, an optimization algorithm is adopted to determine a preliminary fault point; and calculating a consistency index of the polarity of the traveling waves of the adjacent nodes, starting a multi-hypothesis tracking mechanism in a preliminary point neighborhood when the consistency index is lower than a threshold value, performing confidence coefficient weighted evaluation by combining a traveling wave attenuation model, and outputting an accurate positioning result. According to the method, through cooperation of dynamic topology mapping, adaptive wave velocity correction and multi-source closed-loop verification, the precision, reliability and adaptive capability of fault positioning in a complex power distribution network environment are remarkably improved, and the operation and maintenance requirements of rapid self-healing are met.

The invention discloses a high-precision intelligent distance measurement positioning device for a heading machine, and belongs to the technical field of heading positioning. An elastic base station network comprises a plurality of groups of miniature base stations arranged on the side wall and the top plate of a roadway; the multi-source sensing module fuses multi-source data through the data acquisition and processing device to realize continuous dynamic positioning in the working process of the heading machine, the target card provides an absolute distance reference, the inertial navigation unit calculates the pose of the heading machine in real time through a built-in MEMS gyroscope and an accelerometer, the geological radar scans the stratum structure in the heading direction in real time, and the real-time positioning of the heading machine is realized. And the laser radar scans a roadway contour by emitting a laser beam to perform point cloud matching with a preset three-dimensional digital map. The probability of tunneling deviation caused by settlement or displacement is reduced by arranging the vertical crossing positioning network and dynamically correcting the positioning reference, the working environment and self state information of the tunneling machine can be comprehensively sensed from different dimensions, and the actual distance and position relation between the tunneling machine and objects around a roadway can be judged in an auxiliary mode.

The invention provides a hoisting method for an overweight component of a marine ecological monitoring station, which belongs to the technical field of hoisting of the overweight component and comprises the following steps: step 1, carrying out early-stage preparation for hoisting construction of the overweight component of the marine ecological monitoring station; step 2, carrying out in-plant transportation and barge falling on the prefabricated component hoisted by the marine ecological monitoring station overweight component; step 3, carrying out open-sea field hoisting on the prefabricated component for hoisting the overweight component of the marine ecological monitoring station; 4, construction monitoring and emergency guarantee are conducted on hoisting of the overweight component of the marine ecological monitoring station. By optimizing operation window period selection, a precise positioning technology, a special lifting appliance design and a transportation reinforcement scheme, safe, efficient and precise lifting of the overweight component in the open sea is achieved, and the construction quality and the construction progress of a monitoring platform are guaranteed.

The invention belongs to the technical field of fault positioning, and discloses a Beidou satellite time service-based power distribution network fault section positioning method, which comprises the following steps of: acquiring three-phase current, and performing phase synchronization alignment on the three-phase current by using a Beidou satellite to obtain a three-phase current synchronization data sequence; performing modulus transformation on the three-phase current synchronous data sequence to obtain a zero-mode current component and a line-mode current component; performing adaptive waveform decomposition on the zero mode current component and the line mode current component to obtain an intrinsic mode component, and performing signal reconstruction on a target component to obtain an enhanced fault traveling wave signal; performing waveform curvature sudden change detection on the enhanced fault traveling wave signal to obtain a wave head arrival time and a time difference observation sequence; performing geometric analysis on the topological structure based on the time difference observation sequence and the traveling wave propagation speed to obtain a suspected fault section; and comprehensively studying and judging the suspected fault section to obtain an actual fault section. The power distribution network fault positioning efficiency can be improved.