62 results about "Radar navigation" patented technology

The invention provides an unmanned-gyroplane system used for automatic inspection of bridges and tunnels and a navigation method, belonging to the field of automatic detection of bridge and tunnel diseases. According to the invention, aimed at the characteristics of bridge and tunnel areas, the unmanned gyroplane inspection system which realizes autonomous navigation in virtue of GPS, laser radar and IMU is designed; and the system realizes autonomous inspection of an open bridge area by using a GPS navigation system and autonomous inspection of a closed tunnel area by using a laser radar navigation system, dodging of bridges, tunnels and motor vehicles via an automatic evadible system, and shooting of images of key areas, wherein the images are sent back to a ground station, and thematic pictures of diseases of bridge and tunnels are generated by the ground station and provided to related personnel for use. The unmanned-gyroplane system provided by the invention has the characteristics of mobility and flexibility in the process of inspection and has the advantages of a wide inspection coverage area, unblocking of traffic, real-time returning of live shots, etc.

The invention discloses a positioning method and mobile robot based on multiple navigation modules. A mobile robot includes a GPS navigation module, an inertial navigation module, and a laser radar navigation module. The method includes the following steps: the GPS navigation module converting the longitude and latitude coordinates at the t-1 moment and t moment to coordinate values in an X-Y coordinate system; the inertial navigation module obtaining changes to a yaw angle of the mobile robot through signal information corresponding to the t-1 moment and the t moment; acquiring scanning data of the laser radar navigation module at the t-1 moment and t moment; obtaining the inertial navigation pose and laser pose of the mobile robot at the t moment in combination with a motion model of the mobile robot that is established in advance; fusing the inertial navigation pose and the laser pose of the mobile robot in combination with the environment road sign information, obtaining the current pose of the mobile robot at the t moment. According to the invention, no need is required for arranging any other apparatus in the field, and real-time positioning of the body of the mobile robot can be realized and the positioning precision is increased.

The invention discloses a method for designing an array antenna with circular aperture field distribution based on a Sinc function. An antenna array is distributed on a circular aperture, and aperture fields are distributed on a concentric circle array composed of more than two concentric circles. Antenna units are arranged on each concentric circle, the number of the antenna units on the same concentric circle is at least 4 and is an even number, and the antenna units are uniformly distributed in a central symmetry mode. The aperture field distribution is regulated through a parameter weighting method based on the Sinc function, and the continuous aperture field distribution shaped with wave beams of different kinds is obtained. The radius and the excitation of each concentric circle in the concentric circle array corresponding to the wave beams of different kinds are obtained by calculating through a discrete method. The method avoids a complex and unordered multidimensional optimization process, and a realization method of deterministic and fast array antenna layout and excitation parameters is obtained. The method can be widely applied to analysis and design of array antennas such as phased array radar and navigational satellite, and the fast shaping of wave beams under different occasions is realized.

The invention discloses an unmanned aerial vehicle autonomous navigation system and a navigation method. The system comprises a parameter navigation module, a radar navigation module, a central processing module, an information storage module and a heading control module, wherein the parameter navigation module comprises a GPS receiver, an angular rate gyroscope, an IMU module, a rudder deflection potentiometer, an image acquisition unit and a timer. The navigation method comprises the following steps: when GPS signals are instable or are lost transiently, state parameters outputted by the parameter navigation module are processed in the central processing module to obtain flight parameters; when the GPS signals are lost for a long time and the parameter navigation module can not be used for navigation, the radar navigation module is used for navigation; and when the GPS signals are lost for a long time, the parameter navigation module fails and radar signals can not be received, the central processing module is used for path planning. The system and the method provided by the invention can provide accurate navigation for the unmanned aerial vehicle in a condition without GPS signals.

The invention discloses an autonomous navigation system for a drone and a navigation method of the autonomous navigation system. The system comprises a parameter navigation module, a radar navigation module, a central processing module, an information storage module and a course control module, wherein the parameter navigation module, the radar navigation module and the information storage module outputs information to the central processing module, the information is processed optionally, and the processed information is output to the course control module for navigation. The navigation method includes: when a GPS signal is instable or lost temporally, the parameter navigation module outputs state parameters to the central processing module, and the state parameters are processed to obtain flight parameters; when the GPS signal is lost for a long time and the parameter navigation module fails, the radar navigation module is used to output course information; when the GPS signal is lost for a long time, the parameter navigation module fails and a radar signal cannot be received, the central processing module is used to perform route planning. By the system and the method, accurate navigation can be provided for the drone when the GPS signal is lost.

The invention relates to a marine navigation radar enhancing infrared and visible light, in particular to a marine navigation radar comprising a marine wireless navigation radar system, an infrared thermal imaging system and a visible light imaging system. The signal output end of the marine wireless navigation radar system is connected to a display and control terminal; the display and control terminal is connected to the signal output ends of the infrared thermal imaging system and visible light imaging system and receives radar image signals of the marine wireless navigation radar system, infrared video signals of the infrared thermal imaging system and visible light video signals of the visible light imaging system, and comprehensive display of the three varieties of the signals is implemented through information processing and combining. On the basis of an existing wireless navigation radar, the infrared thermal imaging system and the visible light imaging system are added, the function of the display and control terminal of the existing radar is expanded, the combination of three imaging manners is realized, the radar navigating capability under the radio disturbance is improved greatly, and safe driving of sailing ships is benefited.

The invention discloses an intelligent detection method for multiple types of diseases of a near-water bridge and unmanned ship equipment. According to the method, an infrastructure disease target detection network CenWholeNet and a parallel attention module PAM based on the bionic thought are included, and the CenWholeNet is an Anchor-free target detection network based on deep learning, mainly comprises a backbone network and a detector and is used for automatically detecting diseases in collected images with high precision. The PAM introduces an attention mechanism into the neural network, comprises two parts of space attention and channel attention, and is used for enhancing the expression ability of the neural network. The unmanned ship equipment comprises a ship body module, a video acquisition module, a laser radar navigation module and a ground station module, supports laser radar navigation without GPS information, remote real-time transmission of video information and high-robustness real-time control, and is used for automatically acquiring bridge bottom information. The method can be widely applied to disease detection of areas with weak GPS signals and complex environment, such as the bottoms of small and medium-sized bridges.

The invention belongs to the technical field of navigation and positioning based on image pattern recognition and computer, and discloses a rendezvous and docking visual navigation and positioning method based on coded targets. The present invention obtains the three-dimensional coordinates of the template points and feature points on the coded target under the CCD1 coordinate system through the design and identification of the coded target, and calculates The conversion parameters between the target spacecraft coordinate system and the CCD1 camera coordinate system are obtained, combined with the installation parameters of the CCD1 camera on the tracker, the relative position and attitude of the target relative to the tracker are obtained. Adopting the present invention to carry out navigation and positioning in the rendezvous and docking approach section does not require the radar navigation results of the short-distance guidance section, and the recognition results are not affected by the radar navigation results; the present invention can be used to produce different numbers of coded targets and install them on the space station. The accuracy and reliability of relative positioning between the tracker and the target can be improved.

The invention discloses a laser radar navigation method and a laser radar navigation device. A main control structure is used to transmit a starting instruction to a driving structure and a distance detection device, and a driving structure is used to drive a driving board to rotate, and is used to drive the distance detection device to rotate from an initial azimuth to detect an object disposed in front of the distance detection device, and the distance data at different azimuths is acquired. An angle detection device is used to detect deviation angles between the different azimuths and the initial azimuth of the distance detection device to acquire angle data. The main control structure is used to receive the distance data and the angle data, and is used to integrate the distance data and the angle data of every azimuth to acquire the integrated data of every azimuth. A PC is used to receive all of the integrated data to generate point cloud data. The PC is used to superpose and splice the point cloud data, and is used to generate a map after removing superposed data, and then a navigation function is realized by combining with a navigation algorithm.

The invention relates to a radar bracing frame, and more specifically relates to a multifunctional radar navigation bracing frame apparatus. The multifunctional radar navigation bracing frame apparatus includes a damping wheel mechanism, a fuselage mechanism, a lifting bracket mechanism, and a rest folding seat mechanism. The multifunctional radar navigation bracing frame apparatus can provide support for a radar, can move the radar, can adapt to the rugged road condition, and can rotate and lift the radar, so as to improve the capability of receiving signals for the radar. Besides, when an operating position is limited, the multifunctional radar navigation bracing frame apparatus can move the lateral position of the radar to improve the capability of receiving signals, on the premise of not moving the multifunctional radar navigation bracing frame apparatus. The multifunctional radar navigation bracing frame apparatus can provide a seat, wherein the damping wheel mechanism is locatedbelow the fuselage mechanism; the connection mode between the damping wheel mechanism and the fuselage mechanism is bolted connection; the lifting bracket mechanism is arranged inside the fuselage mechanism; the connection manner between the lifting bracket mechanism and the fuselage mechanism is bolted connection; the rest folding seat mechanism is located on the outer wall of the right side of the fuselage mechanism; and the connection mode between the rest folding mechanism and the fuselage mechanism is welded connection.

The invention discloses a randomness testing method of pseudorandom sequence, belonging to the testing field. The method aims to solve the problem that the testing of randomness characters is limited and unilateral in the existing randomness testing method. The method comprises the following steps: firstly performing grouped linear mapping or grouped cascade linear mapping or odd integer grouped second nonlinear transformation or grouped majority voting or grouped modulo 2 additon to a sequence to be tested to obtain a new sequence after grouping process; then selecting set pair standard sequences for statistics to obtain standard statistics value DEV; counting the new sequences after grouping process to obtain new sequence statistics value dev; then calculating to obtain the biggest distance D between the standard statistics value DEV and the new sequence statistics value dev; and finally comparing the biggest distance D and the distance standard value D epsilon to judge whether the tested sequence satisfy the randomness or not. The testing method of the invention has the advantage of comprehensive testing result, reliable use and effective effect and can be widely used in fields such as measurement and range-finding, spread spectrum communication, radar navigation and data security.

The invention relates to a radar navigation auxiliary device, in particular to a novel multifunctional radar navigation auxiliary device. The novel multifunctional radar navigation auxiliary device can effectively perform shock absorption during movement or transportation, and the novel multifunctional radar navigation auxiliary device is provided with a moving part capable of moving. The novel multifunctional radar navigation auxiliary device can be retracted into a box shape when not in use, can rotate to avoid direct sunlight, can adjust the height, and is suitable for people of various heights. A radar navigation fixing device is fixedly connected with lifting control devices, and a lifting device fixing bottom plate is fixedly connected with the lifting control devices. The lifting device fixing bottom plate is fixedly connected with shock absorption devices, and a shock absorption device fixing bottom plate is fixedly connected with the shock absorption devices. The shock absorption device fixing bottom plate is fixedly connected with radar navigation rotating devices, and fixing clamping hooks are fixedly connected with a radar retracting device. Mobile devices are fixedly connected with the radar retracting device, and the radar retracting device is in contact with mobile device fixing pins. The mobile devices are in contact with the mobile device fixing pins.

The invention discloses a litchi visual picking robot based on laser radar navigation and an implementation method thereof. The litchi visual picking robot comprises a navigation mechanism, a carrying mechanism, a lifting mechanism, a power source, a mechanical arm, a binocular vision mechanism, a tail end executing mechanism, a control cabinet and a fruit collecting device. The navigation mechanism is installed at the front end of a vehicle body bottom plate of the carrying mechanism. The lifting mechanism is mounted on a vehicle body bottom plate of the carrying mechanism; the mechanical arm, the power supply and the control cabinet are mounted on a working platform of the lifting mechanism; the binocular vision mechanism is installed on the end effector fixing piece. The tail end executing mechanism is mounted at the tail end of the mechanical arm; the fruit collecting device is installed on the side face of the lifting mechanism. The device can accurately recognize litchi stems and automatically pick the litchi stems, and is high in picking efficiency, simple in overall structure and high in automation and intelligence degree.

The invention discloses a map construction method of a laser radar trolley in a complex slope environment, and aims to solve the problem that the SLAM composition and autonomous navigation capabilityof complex laser radar is poor. Firstly, laser radar data is preprocessed, and data exceeding the effective range of a laser radar is eliminated. Then, predicted navigation information of a laser radar trolley is recursively derived according to the data of an accelerometer and a gyroscope and is transmitted to a slope algorithm for laser radar data correction, and Kalman fusion filtering is performed to obtain the navigation information of the laser radar trolley. Finally, an environment map is updated according to the filtered navigation information of the laser radar trolley. In a complex slope environment, through the SLAM method disclosed by the invention, laser radar navigation information with higher precision can be obtained, and an accurate map can be drawn.

The invention relates to a radar navigation tool, in particular to a novel multifunctional radar navigation externally-connected supporting frame for a vehicle. The novel multifunctional radar navigation externally-connected supporting frame comprises a navigation fixing frame, a universal rotating wheel, a base connecting piece and a double-fixing base. The fixed space of the novel multifunctional radar navigation externally-connected supporting frame can be adjusted in all directions, and the novel multifunctional radar navigation externally-connected supporting frame is suitable for navigation devices with various sizes, has two fixing modes, is suitable for different vehicle models and is convenient to mount. The navigation fixing frame and the universal rotating wheel are connected ina fixed contact mode through fastening screws, the universal rotating wheel and the base connecting piece are connected in a fixed contact mode through fastening screws, and the base connecting pieceand the double-fixing base are connected in a movable contact mode through fastening bolts.

The invention discloses a composite visual laser navigation system for the autonomous driving of a robot vehicle, wherein the system can effectively achieve a three-dimensional environment sensing fusion function based on multi-sensing information, and improves the control precision. The technical scheme of the invention is that the system comprises a case (2); the system is characterized in thatthe upper end of the case (2) is provided with a laser radar rotor (1); the laser radar rotor (1) is provided with a laser emitter (7) and a laser emission time delay receiver (8); an outer side plateof the case (2) is provided with a USB high-definition camera (5) and a supersonic range finder (6); the interior of the case (2) is provided with a laser radar navigation system embedded control unit and a stepping motor (4). The invention also discloses a control method for the system.

The invention relates to a phase-shifted overlapping anti-interference method for an acoustic surface wave electric power temperature measurement collector. By the aid of the fixed phase relationship among transmitting signals and temperature measurement tag echo signals, radio-frequency signals are repeatedly transmitted, the phase of the transmitting signals is transformed by one fixed value every time, and the acquired echo signals are overlapped, energy of effective echo signals is improved, so that resistance to fixed interference of an acoustic surface wave electric power temperature measurement system is improved. The method includes the steps: 1) repeatedly transmitting the radio-frequency signals to a temperature measurement sensor on a tested device by a collector antenna for 64 times; 2) receiving the echo signals reflected by the acoustic surface wave temperature measurement sensor on the related tested device by the collector antenna; 3) processing the echo signals by a DSP (digital signal processor) control unit; 4) eliminating interference signals reflected by the DSP control unit, and reserving the echo signals of a normal resonator. The method has the advantages that the interference signals larger than normal signals are processed, the method is used for the field of radar navigation and detection, and the interference resistance of the system can be improved.

The invention relates to the technical field of industrial inspection robots and discloses a petrochemical engineering multi-dimensional perception inspection robot and a power supply system thereof.The power supply system comprises a main power supply and a standby power supply; the main power supply is coupled with a voltage transformation plate; the standby power supply and the voltage transformation plate are both coupled with a voltage selection unit; a central control platform and a communication unit are coupled with the voltage selection unit; and a detection element, a drive controlunit, a laser radar, a GPS navigation system and a distance measuring device are all coupled with the voltage transformation plate. The standby power supply is adopted; the central control platform and the communication unit are coupled with the main power supply and the standby power supply through the voltage selection unit, so that the standby power supply can still supply power to the centralcontrol platform and the communication unit in case of emergency, and the fault location of an inspection robot can be conveniently sent to a remote control center, so that the inspection robot can wait for rescue.

The invention relates to a navigation mark with an annular phased-array radar, comprising a navigation-mark ship, wherein a navigation-mark lamp and a navigation-mark tower are disposed on the navigation-mark ship, and the navigation-mark lamp is connected with the navigation-mark ship via the navigation-mark tower. The navigation mark with an annular phased-array radar further comprises a phased-array radar with a plurality of phased-array antennas, wherein the phased-array antennas are disposed on the navigation-mark tower around the navigation-mark tower to form an annular phased-array antenna layer. The navigation mark disclosed by the invention has the following advantages that: 1, a radar navigation mark low in energy consumption and high in reliability is provided, and via the radar navigation mark, ships know the situations of ships and channels around water body, so that the ships smoothly finish navigation, and safety is ensured; 2, the phased-array antenna layer is fixed below the navigation-mark lamp, and by means of static fixation, the rotation wear of mechanical device and circuit is reduced, the reliability of radar is enhanced, and the cost of radar is decreased; and 3, metal discs are installed on the upper surface and the lower surface of the phased-array antenna layer, and used for preventing electromagnetic wave from being absorbed by water body, so that the gains of phased-array antennas are increased.