25 results about "Radar navigation" patented technology

The invention provides a shaft power generation and energy storage hybrid power efficiency optimization system for a container ship under multiple working conditions, which is applied to the field of ship energy management, and comprises a working condition strategy module, a fluctuation suppression module and a power distribution module, the working condition strategy module is electrically connected with ship radar navigation equipment and a ship identification system receiver, and the fluctuation suppression module is electrically connected with the ship identification system receiver. The power distribution module is electrically connected with a ship power grid load detector, a main engine rotating speed sensor and an energy storage charge state sensor; according to the invention, by cooperatively regulating and controlling the output power of the main engine shaft power generation equipment, the auxiliary power generation equipment and the composite energy storage equipment, a high-efficiency power calling mechanism for a ship power grid is constructed, so that under the complex ship working condition information, the safety redundancy and reliability of power supply are improved, the utilization efficiency of electric energy is improved, and the energy consumption is reduced. And the fuel consumption is reduced, so that the comprehensive target of energy conservation and emission reduction is achieved.

The invention relates to a radar, inertia and vision fusion navigation method of an inertia-guided attention mechanism, which comprises the following steps of: acquiring and processing vision / inertia / laser radar navigation data, and performing time / space characteristic decomposition on double-frame data of an image and a radar by utilizing a space-time attention separation mechanism so as to extract and obtain inertia-guided motion information characteristics; the method comprises the following steps: generating a key weight through a hidden state of a long short-term memory network by inertial features through an inertial guidance attention strategy network, carrying out interaction under a multi-modal attention framework, and generating a binary decision value through a Gumbel-Sigmoid method; and performing selective masking on visual and laser radar features according to a decision result, fusing the visual and laser radar features with inertial features, inputting the fused features into an LSTM pose estimation network, and outputting a high-precision six-degree-of-freedom pose. According to the method, visual and radar information is selectively extracted, so that robust, energy-saving and interpretable modal selection and accurate pose estimation are realized.

The invention particularly relates to an inertial navigation / radar / satellite navigation three-combination emitter integrated navigation method based on Lie group, which comprises the following steps: responding to a navigation control instruction, and configuring a navigation system of an aircraft to enter an integrated navigation state; constructing a special European group based on the attitude features, the speed features and the position features, and establishing a motion description model based on the description of the special European group; acquiring navigation information of an inertial navigation system, and resolving the navigation information by using an error model under a special European group to obtain a state matrix; obtaining current measurement information; wherein the measurement information comprises satellite navigation subsystem measurement information and / or radar navigation subsystem measurement information; based on the measurement information, establishing an observation vector and a measurement equation of a corresponding subsystem under a special European group; resolving the state matrix, the measurement equation and the observation vector by using a Kalman filter to obtain navigation error estimation data; and performing feedback correction on the navigation error based on the navigation error estimation data.

The invention relates to an antenna pattern reconstruction method for an unmanned aerial vehicle under a non-ideal flight condition, and belongs to the field of radio, and the reconstruction method comprises the steps: S1, enabling the unmanned aerial vehicle to fly on a preset space trajectory around a to-be-tested antenna, collecting position data, attitude data and received signal level data, and carrying out the time synchronization and data alignment; s2, comparing each actual sampling point with the corresponding theoretical sampling point, calculating a space offset and an antenna pointing offset angle, and constructing an error compensation model according to the space offset and the antenna pointing offset angle; and S3, replacing the antenna to be tested with an antenna of which the directional diagram actually needs to be tested, repeating the steps S1 and S2 to complete data acquisition and data synchronization, and then performing error correction and interpolation to obtain a reconstructed directional diagram. According to the invention, the dependence of the traditional measurement scheme on the platform stability is overcome, the actual measurement error is controlled within 0.5 dB, and the high-precision measurement requirements of 5G, radar, navigation and the like are met.

The invention relates to an ocean radar navigation method based on an AIS (Automatic Identification System) signal, which belongs to the technical field of ocean navigation and radio orientation and comprises the following steps: acquiring a navigation section and a navigation time sequence in navigation task data; determining navigation key points and effective navigation windows thereof; optimizing and solving a radar navigation strategy by taking a radar scanning distance interval and a scanning frequency interval corresponding to the monitoring type information and the risk level as constraints; a ship control instruction is generated based on the strategy, and radar / AIS signals are synchronously collected to execute navigation risk judgment; and dynamically updating the task data and the navigation strategy according to the navigation execution state. Real-time cooperative verification and active collision avoidance navigation of ship identity-position-environment under complex sea conditions are realized; the technical problem of collision avoidance delay caused by large radar and AIS target matching error and fixed scanning parameters in the prior art is solved.

The invention relates to the technical field of mobile robot teaching navigation, and discloses a mobile robot laser radar navigation system and method based on a teaching technology, a user manually drags a route on which a robot wants to walk once, and the robot records a frame of laser radar data every time the robot walks a certain distance; and in the autonomous operation mode, the robot collects laser radar data, compares the laser radar data with nearest reference radar data, calculates deviation and adjusts operation of the robot to eliminate errors, so that autonomous navigation is realized. According to the laser radar navigation scheme designed by the invention, a mapping program is completely omitted, and a teaching method is used, so that the robot achieves the navigation effect of how to learn and how to walk.

The invention relates to the technical field of unmanned forklifts, in particular to an unmanned forklift hydrogen changing device and system.The unmanned forklift hydrogen changing device comprises an unmanned forklift body, a forklift lifting frame is fixedly connected to one side of the unmanned forklift body, a telescopic pallet fork is slidably connected to one side of the forklift lifting frame, and a forklift control host is fixedly connected to the top of the unmanned forklift body; a radar navigation module is fixedly connected to the top of the forklift control host, a cantilever lifting appliance is slidably connected to the outer wall of the forklift lifting frame, a trolley lifting appliance is fixedly connected to the bottom of the cantilever lifting appliance, and a hydrogen storage box is fixedly connected to the bottom of the trolley lifting appliance; the unmanned forklift body drives the hydrogen storage tank to move to the position beside the unmanned forklift needing hydrogen supplement, the hydrogen exchange control host controls the air pressure detection assembly to conduct air pressure detection on the hydrogen cylinder, and after the air pressure detection of the hydrogen cylinder is normal, the hydrogen exchange control host can supplement new hydrogen for the hydrogen cylinder through the hydrogen supplement assembly; in this way, workers do not need to manually supplement hydrogen for the unmanned forklift.

The application discloses a kind of based on radar navigation's screw drive V-shaped spring clothes taking robot, comprising: mobile trolley chassis, integrated with radar, ultrasonic sensor, camera, drive wheel, drive motor and rotary motor, for realizing environmental perception, autonomous navigation and chassis movement;Column type clothes taking device, including column and the clothes taking device and two-dimensional code recognition camera connected at its top, clothes taking device includes screw drive mechanism and V-shaped spring clothes taking component;With two-dimensional code label's buckle clothes hanger;And control module, respectively with the radar, ultrasonic sensor, camera, drive motor, rotary motor, two-dimensional code recognition camera and the motor of screw drive mechanism electrically connected, for whole machine instruction transmission and action coordination control.The application can realize no identification autonomous navigation, accurate positioning, adapt to a variety of home environment and clothes hanger specification.

The invention relates to the technical field of nuclear fusion, and discloses a mobile fusion reactor endoscopic observation system and a use method thereof. Comprising a cooling system, a transport vehicle, a laser radar, a vacuumizing device, a butt joint pipeline, a cable management system, a telescopic sliding table, a supporting electric cylinder, an endoscopic observation system, an endoscopic system moving track and a gate valve. The using method comprises the five stages of transportation and positioning, butt joint and sealing preparation, vacuum treatment and verification, observation task execution and recovery and evacuation, laser radar navigation and positioning are conducted firstly, then mechanical sealing and vacuum treatment are conducted, the endoscopic observation system enters a fusion reactor vacuum chamber to complete target area observation, and orderly recovery and evacuation are conducted after the task is finished. Modular design is adopted, full-process automatic operation is achieved, equipment is prevented from being exposed to an extreme environment for a long time, the detection efficiency and reliability are improved, and the working cost is reduced.

The invention relates to the technical field of manned rockets, in particular to a motor Weishi rocket engine, namely a true instant PD-6S manned rocket millimeter wave radar navigation system, a millimeter wave radar used in the system is high in penetrability and can penetrate through bad weather conditions such as cloud layers, fog and night darkness, all-weather navigation is achieved, meanwhile, the wavelength of the millimeter wave radar is short, and the millimeter wave radar is suitable for being used by people. Compared with the prior art, the millimeter-wave radar navigation system has the advantages that the millimeter-wave radar has high resolution and can accurately detect and position a target, in addition, the millimeter-wave radar does not depend on optical signals, is not influenced by illumination conditions and has high anti-interference capability, so that the safety and the reliability of the navigation system are improved, and in addition, circuits and devices of the millimeter-wave radar are simple and easy to implement. Therefore, the millimeter-wave radar navigation system has low failure rate and high reliability, so that the millimeter-wave radar navigation system can realize accurate control and navigation of the rocket and monitor the state of the rocket in real time, thereby improving the use effect of the radar navigation system.

Embodiments provide a landing and approach navigation system. The navigation system can use a radar system onboard an aircraft to transmit radio energy. A rotating reflector at a landing area can reflect the radio energy back to the radar system with an amplitude-modulation that is due to the rotation. With synchronized timing between the reflector and the radar system, and known rotation characteristics of the reflector, the radar system can use the reflected radio energy to calculate the bearing of the aircraft relative to the reflector and landing area.

This invention discloses a high-voltage DC power supply system and control method for LED fish-attracting lights on fishing boats. The system employs a PLL (phase-locked loop) to achieve precise phase tracking of the power grid within a wide frequency range of 40Hz to 55Hz. Through dual closed-loop control of the voltage outer loop and current inner loop combined with SVPWM modulation, it stably outputs a 700V to 800V high-voltage DC bus under a wide voltage fluctuation range of 380V to 450V from the ship's generator. The q-axis current command is set to zero to achieve unity power factor operation, effectively reducing harmonics and avoiding interference with the ship's radar, navigation, and communication equipment. The subsequent DC / DC unit uses isolated or non-isolated step-down circuits to convert the high-voltage bus voltage to the operating voltage required by the LED fish-attracting lights. This invention features high voltage utilization, high system efficiency, and adaptability to the harsh electrical environment of fishing boats, significantly reducing line losses and fuel consumption.

The present invention relates to an ocean radar navigation method based on AIS signals, belonging to the field of ocean navigation and radio direction finding technology. The method comprises: obtaining navigation sections and navigation timings from navigation mission data; determining navigation key points and their effective navigation windows; optimizing and solving radar navigation strategies based on radar scanning distance intervals and scanning frequency intervals corresponding to monitoring type information and risk levels; generating ship control instructions based on the strategy and synchronously collecting radar / AIS signals to perform navigation risk assessment; and dynamically updating mission data and navigation strategies based on the navigation execution status. This method achieves real-time collaborative verification of a ship's identity, position, and environment, as well as active collision avoidance navigation, in complex sea conditions. The present application addresses the technical issues in the prior art caused by large matching errors between radar and AIS targets and fixed scanning parameters leading to collision avoidance delays.

The present invention relates to a method for reconstructing antenna patterns for unmanned aerial vehicles (UAVs) under non-ideal flight conditions, belonging to the field of radio. The method comprises the following steps: S1, the UAV flies on a preset spatial trajectory around the antenna to be tested, collects position data, attitude data, and received signal level data, and performs time synchronization and data alignment; S2, each actual sampling point is compared with its corresponding theoretical sampling point, the spatial offset and antenna pointing offset angle are calculated, and an error compensation model is constructed based on the spatial offset and antenna pointing offset angle; S3, the antenna to be tested is replaced with an antenna whose directional pattern actually needs to be tested, and steps S1 and S2 are repeated to complete data collection and data synchronization, perform error correction and interpolation, and obtain a reconstructed directional pattern. The present invention overcomes the dependence of traditional measurement schemes on platform stability, controls the measured error within 0.5dB, and meets the high-precision measurement requirements of 5G, radar, navigation, and other applications.

The application relates to a radar, inertial and visual fusion navigation method of an inertial attention mechanism, comprising collecting and processing visual / inertial / laser radar navigation data, decomposing time / space features of double-frame data of images and radars by using a separated space-time attention mechanism, and then extracting inertial guided motion information features; by means of an inertial guided attention strategy network, key weights are generated by inertial features through a long short-term memory network hidden state, interaction is carried out under a multi-modal attention framework, binary decision values are generated by a Gumbel-Sigmoid method; according to the decision result, selective masking is carried out on visual and laser radar features, and after fusion with inertial features, the features are input into an LSTM pose estimation network, and high-precision six-degree-of-freedom pose is output. By selectively extracting visual and radar information, the application realizes robust, energy-saving and interpretable modal selection and accurate pose estimation.

The invention provides a fusion map generation method and an intelligent car control method. The fused map generation method comprises the following steps: mapping original map data of a plurality of navigation modes into a plurality of logic sub-layers of a fused map, and generating standard map data in different logic sub-layers; when the navigation mode is the laser radar navigation mode, generating standard map data in the background sub-layer; and when the navigation mode is the linear navigation mode or the matrix two-dimensional code navigation mode, generating standard map data in the path sub-layer. Original map data from different sources are fused into unified standard map data in a plurality of logic sub-layers of a fused map through a mapping relation, isomerism is digested through the fused map, and the problem of complexity of an original system is solved. According to the method, the existing facts are respected, the data consistency and uniformity are realized, the universality and usability of the fused map are enhanced, and the adaptability of the fused map is improved.

The application provides a container ship multi-working-condition shaft power generation and energy storage hybrid power efficiency optimization system, which is applied to the field of ship energy management and comprises a working condition strategy module, a fluctuation suppression module and a power distribution module, the working condition strategy module is electrically connected with a ship radar navigation device and a ship identification system receiver, the fluctuation suppression module is electrically connected with a refrigerated container load detection component, and the power distribution module is electrically connected with a ship power grid load detector, a main engine rotating speed sensor and an energy storage state of charge sensor; the application cooperatively regulates the output power of the main engine shaft power generation device, the auxiliary power generation device and the composite energy storage device, and builds an efficient power calling mechanism for the ship power grid, so that under complex ship working condition information, the safety redundancy and reliability of power supply are improved, the electric energy utilization efficiency is improved, the fuel consumption is reduced, and the comprehensive goals of energy saving and emission reduction are achieved.

The application discloses a kind of semi-solid laser radar's reflection difference plane mark design and identification method, wherein identification method involves semi-solid laser radar and reflection difference plane mark, reflection difference plane mark includes matte background and reflection information;Identification method obtains dense point cloud in scanning field by solid-state laser radar, capture the identification information with strong reflectivity, then filter and voxelize to point cloud, finally through the plane mark neural network detection algorithm special for semi-solid laser radar extraction, identification obtains the information of plane mark;The application can solve the problem that single laser radar cannot identify plane mark information, compared with camera plane mark recognition, accurate three-dimensional information can be obtained, and it has the robustness of detection under dark and weak light.The application can provide plane semantic detection support for semi-solid laser radar SLAM, AGV navigation, underground autonomous exploration label identification and other tasks that must use laser radar or camera failure.

The invention provides a height measuring device with anti-interference capability and an anti-interference method thereof, and belongs to the technical field of radar navigation, and the device comprises a modulation parameter agility control module, a modulation source, a transmitter, a transceiving antenna, a frequency mixer and a signal processing and control module. Different modulation parameters are switched in each modulation period through the modulation parameter agility control module, and the transmitter is controlled to generate modulation parameter agility frequency modulation continuous wave signals. The altimeter is in a coherent receiving state and can correctly solve the height; and deception signals intercepted and forwarded by the external jammer lose coherence due to parameter mismatch, and are filtered or suppressed by the system. According to the invention, the action mechanism of deception interference is destroyed, the anti-interference capability and reliability of the radio altimeter in a complex electromagnetic environment are effectively improved, and meanwhile, the compatibility with the working frequency band of a traditional system is kept.

The application belongs to the technical field of marine navigation radar, and specifically discloses a marine radar navigation blind-filling method based on maximum value fusion and clutter suppression rules. According to the application, pixel-level registration is performed on the current radar image, and the initial fusion value of each pixel point is determined according to the gray value of each marine radar at each pixel point position; each pixel point is fused according to the initial fusion value; the true target and the clutter are distinguished and the clutter is suppressed by applying a multi-level clutter suppression rule to the initial fusion image, and the navigation of the marine radar is filled blind according to the true target. In the above manner, the maximum gray value is selected as the initial fusion value of the pixel point for fusion, ensuring that as long as the target is detected by the marine radar, the target can be displayed in the initial fusion image. The multi-level clutter suppression rule is used to distinguish the true target and the clutter, thereby effectively improving the accuracy of the blind-filling marine radar navigation and further improving the safety of ship navigation.

The invention discloses a multi-point source target simulation method and device based on a whale optimization algorithm in the technical field of radar navigation and intelligent optimization algorithms. The method and device are used for solving the problem of safe landing of monopulse radar under the influence of phase errors. The multi-point source target simulation method comprises the following steps: constructing a multi-point source target simulation device based on a golden whale algorithm; adopting Logistic chaotic mapping to generate an initial amplitude-phase parameter population; evaluating the parameter combination performance through the objective function; dynamically adjusting a convergence factor and a search step size; carrying out neighborhood spiral search in the optimal solution; guiding the population to gather towards an optimal solution; performing random exploration by adopting a golden sine strategy; and outputting the optimal amplitude-phase parameter. The device correspondingly realizes the modules. According to the multi-point source target simulation method and device, through a three-stage optimization strategy, a landing position is ensured to be in a safe range under a phase error, and the landing reliability in a complex environment is remarkably improved.

According to the multi-type navigation mark inspection device based on artificial intelligence, a corresponding detection mode can be started according to the type of a navigation mark, when a visual navigation mark light is detected, the detection module can automatically calculate the flicker period and the flicker interval of the navigation mark light, and an existing traditional mode of manually reading seconds or using a stopwatch is replaced; the light intensity data of the beacon light can be detected in real time; when the radar navigation mark is detected, the detection module can automatically calculate key data such as the frequency range, the operating distance and the characteristic value of the navigation mark; when the sound navigation mark is detected, the sound pressure sensor collects sound, the detection unit carries out digital signal algorithm processing on collected sound signals and outputs extracted features to the display screen, and a worker judges whether the data are consistent with data published when the navigation mark leaves a factory or not according to a displayed result. Therefore, whether the navigation mark is in an effective state is judged. The inspection device not only can improve the detection efficiency, but also can greatly improve the detection precision.

The utility model provides a fixed remote control automatic lock for radar navigation, which is used for locking the rotation direction of a radar and comprises an operation switch arranged in a ship control room and a fixed seat locked on the radar, and a cavity for accommodating a locking piece is formed in the fixed seat; the tail end of the locking piece extends out of the bottom of the fixing base, a relay is matched with the locking piece in the fixing base and controls the locking piece to move up and down, the operation switch is electrically connected with the relay, and the tail end of the locking piece is detachably matched with a fixing hole in the radar. According to the automatic lock, remote control and manual emergency functions are combined, high-low and horizontal movement locking and unlocking of the radar are achieved, the locking piece and the relay are matched to ensure stable locking, the signal triggering rod and the switch monitor the state in real time, mechanical damage is avoided, the operation stability in severe weather is improved through the design of the supporting part and the emergency handle, and the safety of the radar is improved. The overall structure is simple and universal, is suitable for various radar applications, and is beneficial to system safety and maintenance convenience.

The invention provides a chargeable and replaceable wheel type Al moving trolley which comprises a trolley body, and the trolley body comprises an automatic Al navigation driving module, a drive-by-wire chassis, a heavy truck battery replacing battery box, a battery replacing bottom support module, a direct-current converter control module and a discharging gun. The automatic Al navigation driving module comprises a multi-line laser radar, a GPS navigator, a depth binocular camera, front and rear single-line laser radars and an IMU inertial navigation and controller, the multi-line laser radar is fixed above the upper machine cover, the GPS navigator, the depth binocular camera and the front and rear single-line laser radars are fixed in front of and behind the drive-by-wire chassis, and the IMU inertial navigation and controller is fixed in the drive-by-wire chassis. The controller is used for the automatic Al navigation driving module to guide and control the line control chassis to drive the whole vehicle to move; the heavy truck battery replacement battery box is connected with the battery replacement collet module, the heavy truck battery replacement battery box comprises a power battery assembly, a control module, a heat management device, a battery replacement connector and an installation fixing frame, and the battery replacement collet module comprises a battery replacement connector, a locking mechanism and an installation support.

The application provides an AGV positioning and navigation method, which comprises the following steps: rotating a radar navigator to a position to start performing a detection operation, moving an AGV in a natural navigation mode, and adjusting the navigation mode according to detection data of a navigation device; if a navigation matching rate of a current position detected by the radar navigator when the radar navigator is located at the current position is lower than a trigger threshold, rotating the radar navigator transversely to a new detection position, and switching the AGV to move in an inertial navigation mode; otherwise, keeping the radar navigator at the current position, and keeping the AGV to move in the natural navigation mode; rotating the radar navigator transversely and detecting simultaneously to obtain a real-time navigation matching rate, stopping the radar navigator when the navigation matching rate is not lower than the trigger threshold, and switching the AGV to move in the natural navigation mode. The AGV positioning and navigation method provided by the application uses a radar navigator which can rotate 360 degrees around the AGV body, so that the navigation device can keep obtaining a higher navigation matching rate and the radar navigator can be prevented from being shielded.