31 results about "Propagation equation" patented technology

The invention relates to the technical field of building information models, augmented reality, synchronous localization and map construction, and provides a deep learning-based SLAM-BIM augmented reality cooperative localization method and system, and the method comprises the steps: introducing a Transform time sequence feature extractor and a geometric relation graph, evaluating a dynamic distribution weight through combining with the confidence, achieving the cross-modal closed-loop detection, and obtaining an SLAM-BIM augmented reality cooperative localization result. A lightweight semantic segmentation network and a feature fusion module are utilized, a dense map with consistent geometric semantics is constructed, a space-time error propagation equation is constructed, online calibration is realized by means of BIM scale prior, an incremental fusion algorithm is designed, a global pose is optimized in combination with AR interaction, and the system fuses SLAM visual trajectory features and BIM semantic geometric features through a deep learning technology. According to the method, the problems that traditional SLAM accumulative errors are large and the BIM fusion precision is low are solved, robust positioning and map construction in a complex scene are achieved, the cooperation precision and real-time performance of SLAM and BIM are improved, and the method is suitable for AR scenes such as building construction and operation and maintenance.

The invention provides a civil air defense engineering concealed conduit leakage positioning method based on acoustic characteristics, and belongs to the technical field of civil air defense engineering. An acoustic signal acquisition network is constructed by deploying a high-sensitivity hydrophone array, and signals are preprocessed by using a time division multiple access technology and a pulse compression technology; and carrying out time-frequency analysis by applying wavelet transform to extract acoustic features. A time reversal mirror technology is introduced to identify direct propagation and multipath reflection signals, a fluid acoustic coupling propagation equation is constructed to analyze a leakage sound source mechanism, and pipe network topological information and a sound wave speed correction function are combined to compensate a measurement error. Wherein the deep learning pipe network acoustic propagation multi-modal model is fused with a pipeline structure encoder, an acoustic feature extractor and a position prediction decoder, and high-precision leakage positioning and degree evaluation in a complex environment are realized through a three-stage pre-training strategy; the technical problem that it is difficult to accurately locate the position of a leakage point in the complex pipe network environment of civil air defense engineering is solved.

The invention discloses a monitoring equipment fault rapid positioning method based on causal diagram reasoning, and the method comprises the following steps: building a thermal diffusion model composed of equipment nodes and links through collecting the topological structure and operation data of a monitoring system; normalizing and fusing the operation deviation information into a node abnormal energy value, and establishing an abnormal energy propagation equation; when an alarm is triggered, collecting an energy change sequence of each node to generate a space-time energy distribution matrix, and reversely solving a thermal diffusion equation to calculate a disturbance source item; performing clustering backtracking on disturbance source items, determining fault root cause nodes, and comprehensively evaluating confidence; and when multi-source abnormity exists, thermal field orthogonal decomposition is executed, and model parameters are adaptively updated according to field results. According to the method, abnormal propagation of monitoring equipment is modeled into a thermal diffusion process, and reverse solution and adaptive calibration are combined, so that rapid, explainable and high-precision positioning of fault root causes in a complex monitoring network is realized.

The invention relates to the technical field of dangerous rock monitoring, in particular to a dangerous rock monitoring system and a risk assessment method thereof. According to the method, environmental factors such as wind speed and vegetation are accurately modeled by introducing the graph convolutional neural network, the limitation of a traditional wind power calculation model is overcome, and the influence of wind power tension is corrected, so that the stability of the rock mass is more accurately evaluated; by introducing a dynamic adjustment mechanism of an environment change coefficient and a vibration propagation coefficient, changes of environment factors such as temperature, humidity and rainfall can be adapted in real time, and the adaptability and precision of the model are improved; besides, spatial interaction and dynamic effect among rock mass units are considered, an instability propagation equation is established, and a rock mass instability propagation process is captured, so that physical attributes, spatial interaction and environmental change of the rock mass are comprehensively considered, and more accurate and real-time instability prediction is provided. And effective risk early warning and emergency decision-making assistance are provided for projects such as mining and slope construction.

The invention relates to a transformer abnormal sound source positioning method and system, and belongs to the technical field of power equipment state evaluation, and the method comprises the steps: constructing a Bayesian neural network embedded with a voiceprint physical mechanism, and enabling a sound wave propagation equation to serve as a physical constraint to be embedded into the Bayesian neural network; reconstructing the voiceprint signal by adopting a compressed sensing technology to obtain a reconstructed voiceprint field; designing a multi-task objective function including data fitting, physical constraint and positioning loss, and optimizing data fitting, physical constraint and positioning precision to obtain a trained Bayesian neural network; based on a gradient sound source inversion positioning algorithm and the trained Bayesian neural network, sparse regularization is combined to obtain a prediction result of accurate positioning; and a prediction result is visualized to a three-dimensional model of the transformer, and the position of an abnormal sound source is visually displayed. According to the method, the limitation of a traditional method in a complex environment is overcome, and high-precision and high-robustness transformer abnormal sound source positioning is realized.

The invention relates to the technical field of ultrasonic wind measurement, in particular to a high-precision wind measurement system and method based on double-frequency ultrasonic waves, and the method comprises the steps: deploying an orthogonal double-frequency ultrasonic transducer array in a horizontal plane, capturing an echo timestamp, and solving the wind speed through the dynamic changes corresponding to the high and low frequency characteristics; according to the forward and reverse wind round-trip time difference of the double-frequency ultrasonic waves on the X axis and the Y axis, the real-time temperature obtained through temperature compensation is combined, the wind speed components of the high-frequency ultrasonic waves and the low-frequency ultrasonic waves are calculated according to a forward and reverse wind formula, the X-axis final wind speed component and the Y-axis final wind speed component are obtained through weighted averaging, the wind direction angle is calculated according to an arc tangent function, and wind speed and direction results are output after quadrant correction; the wind speed and direction data obtained through calculation are preprocessed, and finally the processed data are stored in an internal storage. Double-frequency ultrasonic waves are adopted, high frequency is used for capturing rapid wind speed changes, low frequency is used for long-distance propagation to reduce environmental noise influences, the wind speed is solved in combination with a sound velocity formula, temperature compensation and a propagation equation, and high-precision measurement can be achieved.

Optical transmission property estimation device comprising:a transmission waveform restoration unit configured to restore a transmission signal from a reception signal obtained by receiving an optical signal by a coherent detection system; andan estimation unit configured to estimate an optical power distribution in a transmission line by estimating a nonlinear coefficient in a propagation equation of a light wave by a linear least square method based on the restored transmission signal and the reception signal.

The invention discloses a method for rapidly evaluating an S parameter of a multi-layer PCB port in a multi-stage waveguide structure, and the method comprises the steps: decomposing a system into a plurality of mutually independent subsystems, representing a propagation channel of electromagnetic energy as a signal pipeline, and representing a reflection position of the energy as a reflection node, thereby building a signal energy flow diagram of the system. On the basis, scattering parameters of the subsystems are obtained through a numerical simulation method, and a corrected BLT equation capable of representing the electromagnetic field-circuit bidirectional coupling relation between the subsystems is deduced in combination with propagation equations of all signal pipelines and scattering equations of all reflection nodes of the system; and the S parameter of the multi-layer PCB port in the multi-stage waveguide structure can be obtained by solving the equation. The method has the advantages of being simple in algorithm, accurate in result, high in efficiency and the like, is suitable for a multi-stage waveguide structure of any geometrical shape, and can achieve rapid evaluation and analysis of the electromagnetic coupling effect in electronic equipment with a waveguide-shaped shielding structure in a complex electromagnetic environment.

The application discloses a kind of vertical seismic profile up-and-down wave intelligent separation methods based on data driving, comprising the following steps: S1: collection well logging data, including velocity information and density information;S2: establish formation model and define seismic observation system, then based on vertical seismic profile wave field propagation equation numerical simulation, obtain simulated up-and-down wave data, and combined to obtain simulated total wave field data;S3: establish the neural network of multi-task learning, according to the data obtained in step S2 the neural network is trained, and obtains regression model;S4: carry out feasibility test, when the result is not up to standard, adjust training sample and optimize network parameter, return step S3 and retrain;When the result is up to standard, the regression model obtained in step S3 is used as the final separation model, and the target vertical seismic profile data is separated into up-and-down wave using it.The application can more intelligently, efficiently and accurately separate the up-and-down wave of vertical seismic profile data.

The invention discloses an equal-length matching optimization method for differential pair transmission paths of a high-speed printed circuit board, and belongs to the technical field of signal integrity modeling and simulation. Comprising the following steps: constructing a multi-conductor transmission line model containing a reference conductor, extracting a parameter matrix per unit length, judging the uniformity and symmetry of a structure, and introducing a local modal substrate and a continuous modal coupling term which change along with space for describing modal conversion caused by gradual change of the structure, the propagation delay inequality of the two signal paths is calculated, a phase calibration operator is constructed, modal conversion and the delay mismatch effect are brought into a unified propagation equation to be solved, the phase calibration operator is applied at a recoupling reference plane to carry out alignment processing on voltage and current, and finally equivalent differential mode impedance is obtained through calculation. According to the method, integrated modeling is carried out by integrating the joint effect of mode conversion and time delay mismatch, and the impedance simulation precision of the difference pair snake-shaped compensation structure recoupling region is remarkably improved.

The present invention proposes a method for inverting layered medium parameters using ground penetrating radar. This method can achieve accurate inversion of layered media with a small amount of computation and is applicable to multi-layer medium models. The present invention first implements the inversion of the first layer parameters using the traditional CMP method. Then, using this information, the propagation equations at different offsets are constructed based on the layered medium model. At the same time, Snell's law is used to represent the position of the refraction point at the layered interface, minimizing the error caused by the refraction effect at the layered location. The cost function for medium parameter inversion is established by combining the propagation equation with Snell's law. Then, in order to solve the problem of difficulty in deriving the cost function of multiple independent variables, an enumeration method is used to roughly optimize and obtain the initial value. A pattern search method is used for precise optimization and output of the ideal solution of the multi-layer parameters, achieving accurate inversion of the layered medium and providing accurate prior structure information for subsequent underground target imaging and identification detection.

The invention relates to a biaxial rotation inertial navigation error modulation parameter selection method based on an error propagation equation, and belongs to the technical field of inertial navigation, and the method comprises the following steps: S1, constructing a biaxial rotation inertial navigation error propagation equation considering an error modulation effect; s2, setting a transposition sequence of the biaxial rotation inertial navigation; s3, based on the error propagation equation constructed in the step S1 and the transposition sequence set in the step S2, obtaining navigation errors at different rotation speeds and navigation errors at different rotation stopping time; and S4, determining the optimal rotation speed and rotation stop time based on the navigation errors at different rotation speeds and the navigation errors at different rotation stop time obtained in the step S3. The method improves the navigation precision of double-shaft rotation inertial navigation, is simple to operate, low in time consumption, low in cost, good in selection effect, high in navigation precision and good in practicability, and solves the problems of long time consumption, high cost, poor selection effect and low navigation precision of the existing empirical method.

The application provides a gear fatigue crack propagation life calculation method and system considering random dynamic load, and the method is as follows: a local plane coordinate system is established at a crack tip, and a crack propagation equation is constructed; time-varying mesh stiffness containing a tooth root crack feature is calculated; a vibration differential equation of a gear mesh pair is constructed and solved, and dynamic meshing forces of the gear pair under different crack states are obtained; the dynamic meshing forces of the gear pair under different crack states are processed, and a load spectrum is prepared, and variable amplitude load data with multi-periodicity are obtained; the variable amplitude load data are taken as boundary conditions, crack propagation is simulated, gear fatigue crack propagation data are read from a finite element data file; stress intensity factors are calculated based on the gear fatigue crack propagation data; and fatigue crack propagation life is estimated based on the Paris formula and the stress intensity factors. The method can improve the reliability and fatigue crack propagation life of the gear, improve the safety of equipment, and reduce maintenance costs.

Systems, devices, methods, and computer-readable media for concurrent visualization of sensor and communications operations. A method can include receiving mission data indicating a target, a sensor, a communications system, and an operation to be performed regarding the target, identifying one or more operational layer, functional layer, and physical layer models for the sensor and communications system, and a physical layer model for weather, identifying, based on a comparison of the physical models of the sensor and communications system to a propagation equation, any gaps or inconsistencies between the physical models of the sensor and communications system and the propagation equation, and executing a simulation model resulting in a visual display of execution of the mission using the sensor and the communications system, the simulation model generated based on a filler model that fills any identified gaps or fixes any identified inconsistencies.

The present application relates to the technical field of dangerous rock monitoring, and particularly relates to a dangerous rock monitoring system and a risk assessment method thereof.The present application introduces a graph convolutional neural network to accurately model environmental factors such as wind speed and vegetation, overcomes the limitations of traditional wind force calculation models, corrects the influence of wind force tension, and thus more accurately assesses the stability of the rock mass;By introducing a dynamic adjustment mechanism of the environmental change coefficient and the vibration propagation coefficient, the model can adapt to changes in environmental factors such as temperature, humidity and precipitation in real time, and improve the adaptability and accuracy of the model;In addition, considering the spatial interaction and dynamic effect between rock mass units, an instability propagation equation is established to capture the propagation process of rock mass instability, so as to comprehensively consider the physical properties, spatial interaction and environmental changes of the rock mass, thereby providing more accurate and real-time instability prediction, and providing effective risk warning and emergency decision assistance for mining, slope construction and other engineering.

The invention discloses a method and device for suppressing a current fundamental component based on a particle filter, and belongs to the technical field of motor fault diagnosis, and the method comprises the steps: constructing a particle swarm used for estimating the fundamental component based on a collected stator line current signal, each particle in the particle swarm having two parameters, namely an amplitude and an initial phase, the two parameters respectively meet preset normal distribution and uniform distribution; carrying out propagation and weight updating on the particle swarm through a propagation equation and distribution of measured values, estimating state values of a stator line current fundamental frequency component at different sampling moments, and obtaining a fundamental frequency component estimation value; and subtracting the estimated value of the fundamental component from the collected stator line current signal to obtain a current signal after the fundamental component is suppressed. According to the method, the proper particle swarm is constructed, so that the fundamental frequency component accurate estimation based on the particle filter is realized, the fundamental frequency component in the stator line current is effectively inhibited, the identifiability of the fault characteristic current harmonic wave is improved, and the reliability of asynchronous motor fault diagnosis is improved.

The invention discloses a quantitative analysis method for a jointed rock mass blasting cracking mode, which comprises the following steps: establishing a jointed rock mass blasting stress wave propagation theoretical model, deducing a propagation equation of stress waves in a jointed rock mass, and determining stress wave reflection, transmission and superposition rules; a jointed rock mass blasting numerical model is constructed based on ANSYS / LS-DYNA software, material parameters and state equations of rocks, joints, explosives and air are determined, an RHT damage model is adopted for the rocks and the joints, an MATHIGHEXPLOSIONBURN model is adopted for the explosives and combined with an EOSJWL state equation, and an EOSLINEARPOLYNOMIAL state equation is adopted for the air. According to the method, theoretical derivation, numerical simulation and image quantitative analysis are combined, and quantitative analysis of the blasting cracking mode of the jointed rock mass is achieved. The engineering cost can be effectively reduced, and the blasting effect and the construction safety are improved.

The invention discloses a transient flow identification method, device and equipment, a medium and a product, and relates to the technical field of pipeline detection. The method comprises the steps of determining a friction resistance coefficient of a target pipeline based on measurement pressure when an inflow area and an outflow area of the target pipeline are in a steady state, steady-state flow data of the target pipeline and pipeline parameters; determining the discrete distance of the target pipeline based on the pipeline parameters of the target pipeline; based on the pipeline parameters, the friction resistance coefficient and the discrete distance of the target pipeline, by taking the measured pressure as a boundary condition, constructing a transient flow characteristic propagation equation of the target pipeline through a characteristic line method; on the basis of the transient flow characteristic propagation equation, transient flow characteristic information of all positions in the target pipeline at all moments is obtained; and constructing a transient flow characteristic field of the target pipeline based on the transient flow characteristic information of each position in the target pipeline at each moment. According to the invention, the accuracy of transient current identification can be significantly improved.

The invention belongs to the technical field of aerospace design, and discloses an observation method and device for a spacecraft approaching operation mode, electronic equipment and a storage medium. A relative kinetic model is constructed; obtaining an optimal nominal trajectory based on the relative kinetic model; designing a navigation point based on the optimal nominal trajectory, wherein the navigation point is used as a maneuvering position when the spacecraft is transferred among different approaching operation modes; an initial point function of relative motion of the spacecraft is determined, then system state propagation equations and initial motion states of different approaching operation modes are determined, and the approaching operation modes comprise a water drop hovering mode, a coplanar flying-around mode, a non-coplanar flying-around mode and a grazing mode; according to the method, system state equations, initial motion states and navigation points of different approaching operation modes are utilized, an optimal observation combination based on multiple approaching operation modes is selected through a sequential coalition game algorithm under the constraint of maximum effective observation time and minimum burnup, and a more accurate and efficient observation strategy can be designed.

The invention provides a power transmission line audible noise simulation method based on machine learning and PINN, and the method comprises the steps: training a machine learning model through employing a first data set, and obtaining a first prediction model; according to the set environment characteristics, using a first prediction model to predict and obtain a plurality of audible noises; using a plurality of audible noises as boundary condition loss, using an acoustic propagation equation as physical loss, and training a PINN model to obtain a second prediction model; and using the second prediction model to predict the audible noise under the space coordinates of the power transmission line, and rendering according to the numerical value of the audible noise under the space coordinates of the power transmission line to obtain a simulation result of the audible noise of the power transmission line. Compared with the prior art that it is difficult to achieve transmission line audible noise simulation under the complex meteorological environment condition quickly and accurately with low calculation overhead, the method has the advantages that audible noise simulation capable of responding to the complex meteorological environment is achieved, and it is guaranteed that the simulation process is quick, accurate and low in calculation overhead.

The invention provides a backscattering channel modeling and intelligent emission intensity dynamic matching method, which comprises the steps of constructing a physical model of an underwater backscattering channel based on far-field approximate hypothesis, establishing a signal propagation equation from an emission end to a receiving end in combination with a dynamic coupling relation of path loss, impedance mismatch and a backscattering cross section, and calculating an intelligent emission intensity of the underwater backscattering channel according to the signal propagation equation. The electro-acoustic conversion process of the transducer is represented through an equivalent circuit model; the SNR of the backscattering signal is measured in real time at a receiving end, the current SNR value is fed back to a transmitting end through an uplink, and according to the deviation value of the current SNR and a target SNR threshold value, a proportional-integral-differential control algorithm is adopted to calculate the transmitting power adjustment amount; and according to a preset fuzzy rule base and a membership function, the current transmitting power is dynamically adjusted based on the size and trend of the SNR deviation, and new transmitting power is generated by superposing the transmitting power adjustment amount to the current transmitting power. According to the invention, the purposes of maintaining a stable signal-to-noise ratio in a complex underwater environment and optimizing energy consumption can be achieved.

The present application relates to the technical field of stress calculation, in particular to a flange pipeline radial stress measurement method, system, electronic device and storage medium. The method defines a stress tensor to describe the three-dimensional stress of the pipeline, equivalent to an orthogonal anisotropic medium, and establishes a correlation model between the elastic constant and the stress. The ultrasonic guided wave propagation equation is constructed to calculate the dispersion curve and the coupling relationship, and the coupling equation of the multi-axial stress and the phase velocity change is fitted. The hoop mode and the non-dispersive working point sensitive to the radial stress and insensitive to the stress in other directions are screened. The sensor array is deployed to collect signals, and the phase velocity change is extracted after processing. The axial and hoop stresses are solved by step-by-step substitution into the coupling equation, and finally the radial stress is solved. The method considers the superimposed influence of multi-axial stress, realizes accurate measurement of radial stress through mode selection and step-by-step solving, and solves the problem of nonlinear interference.

The invention discloses a quadrotor GNSS / SINS / dynamics fusion algorithm based on an SKF, and is suitable for the dynamic state estimation and positioning of a quadrotor unmanned aerial vehicle. The method comprises the following steps: firstly, constructing a simplified four-rotor kinetic model, and obtaining a thrust coefficient estimation initial value; secondly, deriving a dynamic error state propagation equation considering a thrust coefficient error; then, an SKF algorithm is used for updating dynamic speed measurement to estimate the dynamic state, a self-adaptive dynamic-gravity alignment constraint scheme considering the uncertainty of external force estimation is provided, and according to the constraint, horizontal attitude constraint is carried out on the system by aligning the external force, the motor thrust and the gravity. Results show that the method ensures that the dynamics does not damage the positioning performance of the GNSS / SINS system, can accurately estimate the four-rotor dynamics state in an outdoor scene, and meanwhile, the dynamics-gravity alignment constraint provided by the invention significantly improves the horizontal attitude estimation precision and positioning performance of the system, especially in a GNSS interruption scene.

The invention relates to the technical field of stress calculation, in particular to a flange pipeline radial stress measurement method and system, electronic equipment and a storage medium. According to the method, the three-dimensional stress of the pipeline is described by defining a stress tensor, a medium is equivalent to an orthotropic medium, and a correlation model of an elastic constant and the stress is established; constructing an ultrasonic guided wave propagation equation, calculating a frequency dispersion curve and a coupling relation, and fitting a coupling equation of multi-axial stress and phase velocity change; screening circumferential modes and non-dispersion working points which are sensitive to radial stress and insensitive to stress in other directions; a sensor array is deployed to collect signals, and the phase velocity variation is extracted through processing; and substituting into a coupling equation step by step to solve axial and circumferential stress, and finally solving radial stress. According to the method, the influence of multi-axial stress superposition is considered, accurate measurement of radial stress is realized through modal screening and step-by-step solving, and the problem of nonlinear interference is solved.

The invention discloses an algebraic iteration photoacoustic image imaging method based on an acoustic transmission model, and belongs to the technical field of photoacoustic / ultrasonic imaging. Comprising the following steps: S1, designing a photoacoustic imaging system based on photoacoustic and ultrasonic bimodal; S2, discretizing an ultrasonic signal forward propagation equation; s3, calculating a forward model; and S4, constructing a forward propagation equation and iteratively solving the initial sound pressure. A traditional photoacoustic reconstruction method is influenced by limited bandwidth and limited visual angle of a transducer, so that reconstructed images are often influenced by artifacts. According to the method, the iterative reconstruction method based on the sound transmission model is introduced, so that the phenomena of high artifacts and multiple side lobes existing in a traditional image reconstruction algorithm are effectively inhibited. The invention provides a new method for reconstructing the photoacoustic image, and the resolution of the reconstructed image based on the photoacoustic effect is remarkably improved. In the process of iteratively solving the forward propagation equation, the regularization method is introduced, the convergence direction of the iterative solution is controlled by the L2 norm information of the initial sound pressure, and the robustness of the reconstructed image influenced by noise is effectively enhanced.

This invention provides a combined resistivity and permeability electromagnetic exploration inversion method and system. Based on Maxwell's equations, the electric field propagation equation is constructed. The diffusion characteristics of electromagnetic waves are utilized to determine new physical property parameters for electromagnetic inversion. Based on the electromagnetic exploration results, a new physical property parameter curve is constructed and inverted to obtain an inverted resistivity profile. Geological interpretation is then performed based on this resistivity profile. This invention fully utilizes magnetic parameters to more accurately invert electromagnetic data, improving the resolution of magnetic target anomalies.

The invention relates to a consistent multi-center relative navigation method used under resource limitation. The invention relates to the technical field of relative navigation. The method comprises the following steps: constructing a multi-center relative navigation error state modeling and global error discrete time propagation equation; establishing an absolute measurement and relative measurement model; constructing a process noise covariance upper bound matrix based on the maximum speed boundary; performing consistent multi-center extended Kalman filtering based on an upper bound matrix; and outputting error feedback correction and a relative navigation result. According to the method, consistent propagation of process noise can be realized under the condition of not depending on high-frequency information of other machines, the stability and robustness of multi-center relative navigation are remarkably improved, and the method has important practical application value.

The present invention relates to a method for constructing a digital prototype of a dual-axis rotating inertial navigation system based on an LSTM algorithm, belonging to the field of inertial navigation technology. The method comprises the following steps: S1, constructing an error propagation equation for the dual-axis rotating inertial navigation system that takes into account an error modulation effect; S2, setting a transposition order, rotation speed, and rotation-stop time of the dual-axis rotating inertial navigation system; S3, performing error modulation on an actual prototype of the dual-axis rotating inertial navigation system using the transposition order, rotation speed, and rotation-stop time to obtain a navigation result of the actual prototype; comparing the navigation result of the actual prototype with a navigation information reference to obtain a navigation error output of the actual prototype; S4, using an LSTM algorithm to obtain inertial device error parameters in the error propagation equation; substituting the inertial device error parameters, navigation result, navigation error output, transposition order, rotation speed, and rotation-stop time into the error propagation equation to obtain a digital prototype of the dual-axis rotating inertial navigation system. The method is time-saving and low-cost.

The application discloses a high-speed printed circuit board differential pair transmission path equal-length matching optimization method and belongs to the technical field of signal integrity modeling and simulation. The method comprises the following steps: constructing a multi-conductor transmission line model containing a reference conductor and extracting a per-unit-length parameter matrix; judging structural uniformity and symmetry; introducing a spatially-varying local modal basis and a continuous modal coupling term for describing the modal conversion caused by the gradual change of the structure; calculating the propagation time delay difference of two signal paths and constructing a phase calibration operator; integrating the modal conversion and the time delay mismatch effect into a unified propagation equation for solving; and applying the phase calibration operator to align the voltage and current at the recoupling reference surface, so that the equivalent differential mode impedance is finally calculated. The application integrates the combined effects of modal conversion and time delay mismatch for integrated modeling, and significantly improves the impedance simulation accuracy of the recoupling area of the differential pair serpentine compensation structure.

The application provides a positioning method, device and medium based on a solid-state laser radar and inertial navigation, feature points of the solid-state laser radar are extracted based on geometry and intensity by acquiring measurement values of an inertial sensor, and influence of motion blur on collected data is reduced; in a state propagation process of an iterative error Kalman filtering algorithm, the measurement values of the inertial sensor are taken as propagation error states, a discrete propagation equation is constructed, an iterative residual error vector is calculated by using the feature points of the solid-state laser radar, states in the iterative error Kalman filtering algorithm are updated, Kalman gain in the iterative error Kalman filtering algorithm is adjusted, the pose estimation result of the positioning algorithm is effectively improved, the positioning precision and robustness are improved, finally, parameters of the feature points of the solid-state laser radar and the measurement values of the inertial sensor are synthesized based on the iterative error Kalman filtering algorithm, a global pose is updated, and accurate positioning is realized.