2473 results about "Ranging" patented technology

The invention discloses an ultra-wideband laser radar inertial navigation cooperative SLAM (Simultaneous Localization and Mapping) method and system, which are suitable for robot positioning and mapping tasks in a GPS (Global Positioning System)-free environment. According to the method, high-frequency motion priori of an IMU, relative pose constraint of LiDAR and absolute ranging information of UWB are fused, a unified factor graph optimization model is constructed, and multi-sensor cooperative positioning is realized; in the system initialization stage, IMU bias calibration, UWB base station coordinate configuration and LiDAR initial attitude estimation are completed; in the operation process, IMU pre-integration is utilized to predict the pose, LiDAR point cloud registration is utilized to obtain the relative motion between key frames, UWB ranging is combined to construct a residual item, a self-adaptive weight mechanism is introduced to suppress ranging abnormity, and the fusion robustness is improved; the system supports geometric feature loopback detection, cross-frame constraints are constructed in combination with UWB to carry out closed-loop optimization, and an optimization result is used for real-time incremental updating of a global map; the method has the advantages of high positioning precision, strong anti-interference capability, wide application scene and the like.

The invention provides a distribution line fault location optimization method based on single-ended traveling wave location, and relates to the technical field of traveling wave detection. The method comprises the following steps: carrying out segmented modeling on a line, calculating the traveling wave propagation speed and wave impedance of each segment, and correcting the traveling wave propagation speed and wave impedance; collecting a voltage / current traveling wave signal of a detection point, and extracting a line mode component; performing wavelet transformation on the line mode component, detecting the wave head position of the initial traveling wave through a modulus maximum search algorithm, and recording the arrival time of the initial traveling wave, a corresponding first energy value and polarity; calculating a reflected wave time window based on segmented modeling parameters, screening reversed polarity waves with qualified energy attenuation, and calculating a fault distance; if no effective reflected wave is detected in the reflected wave time window, triggering a pseudo double-end mode; a result is verified through quadruple constraints; the problems of poor parameter adaptability, low signal processing precision, strong reflected wave dependence and incomplete verification in traveling wave distance measurement of a complex distribution line are solved, and the accuracy and reliability of fault distance measurement are improved.

The invention relates to an autonomous navigation method for lunar satellite formation and a second-order filtering navigation architecture, and the autonomous navigation method comprises the steps: obtaining orbit prediction information based on a kinetic model of the lunar satellite formation, and obtaining collaborative theory observation information based on a collaborative observation model, carrying out fusion processing on orbit prediction information, collaborative theory observation information and multi-source observation data of in-orbit observation by using an extended Kalman filtering algorithm, and estimating an absolute orbit state of the lunar satellite formation; establishing a relative motion model of the slave satellite under the local coordinate system of the master satellite, and establishing a relative measurement model; and taking the absolute orbit state of the master satellite as a reference datum, obtaining a preliminary prediction relative orbit state based on the relative motion model of the slave satellite, and obtaining relative measurement data including distance measurement and angle measurement based on the relative measurement model, and fusing the relative measurement data and the preliminarily predicted relative orbit state through an extended Kalman filtering algorithm to estimate the relative orbit state of the slave satellite. Navigation may be independent of ground support.

The invention provides a power line fault distance measurement system and method, and belongs to the technical field of power line detection. The system comprises monitoring terminals deployed at two ends of a line and a background processing system, and each monitoring terminal comprises a sensor module used for detecting a traveling wave current signal related to a power line fault in the line; the data acquisition module is used for extracting the arrival time of a traveling wave head according to the detected traveling wave current signal; the GPS time synchronization module is used for adjusting the local clock of the data acquisition module, reducing the time synchronization error of the two monitoring terminals and correcting the arrival time of the traveling wave head; and the background processing system is used for calculating a traveling wave time difference and a junction wave velocity normalization processing result according to the corrected arrival time at the two ends of the line, and determining a fault position coordinate and a fault type. According to the invention, collaborative optimization of fault positioning precision and type identification in a hybrid power line environment is realized.

The invention provides a lunar satellite formation autonomous navigation method based on inter-satellite ranging information. The lunar satellite formation autonomous navigation method comprises three parts of orbit dynamics model establishment, collaborative observation model establishment and navigation filtering algorithm data fusion. The invention provides an autonomous navigation method based on inter-satellite distance measurement and angle measurement information, which establishes a high-precision dynamic model containing 165-order moon non-spherical perturbation for moon satellite formation. The system can operate independently of a ground station, and high-precision autonomous navigation of the lunar satellite formation is realized only by using on-orbit observation data.

The invention discloses a graph optimization-based UWB / IMU / GNSS multi-unmanned vehicle cooperative positioning method, which comprises a global satellite navigation system GNSS, an ultra wide band (UWB) system, an inertial measurement unit IMU and a robot motion control system, and is characterized in that the UWB system comprises a UWB label and three UWB base stations, the UWB label is deployed on a target unmanned vehicle to be positioned, and the UWB label is deployed on the target unmanned vehicle to be positioned; and the three UWB base stations are respectively arranged on the other three unmanned vehicles as mobile base station unmanned vehicles. The GNSS module and the IMU module are deployed on the unmanned vehicle to serve as a movable UWB base station, and GNSS absolute position information and IMU relative motion information are fused by adopting an extended Kalman filtering algorithm; and according to the determined position of the unmanned vehicle in the movable base station, a distance observation value between the label and the base station is obtained based on a single-side bidirectional distance measurement method, a factor graph model fusing UWB distance measurement constraint and IMU motion constraint is constructed, and a factor graph optimization algorithm is adopted to optimize the position of the target unmanned vehicle. According to the method, the cost of a traditional fixed base station is reduced through the deployment of a mobile base station unmanned vehicle, and the precision and robustness of UWB system positioning in a complex environment are improved in combination with a multi-source sensor data fusion strategy.

A highly reliable and high-precision navigation and positioning method and system for UAV under GPS-DENIED conditions includes: obtaining measurements of inertial sensor and image of binocular camera, extracting and tracking point features of the image, and obtaining altitude value; calculating position and attitude of camera and depth of landmark point based on the parallax and baseline of the binocular camera; fusing the measurement data of the inertial sensor and the binocular camera, and optimizing the data to obtain high-precision position and attitude data; obtaining the altitude value of the ranging radar and performing four-degree-of-freedom position and attitude graph optimization after adding the detected keyframes when repeated occurrence of the UAV at the same location is detected; encapsulating optimized position and attitude data to form a pseudo-GPS signal, inputting the pseudo-GPS signal to the UAV for positioning.

The invention discloses a distribution network cable traveling wave fault early warning and positioning method and system, and the method comprises the steps: installing a device in a ring main unit, collecting a high-frequency traveling wave current and a power frequency current, and recognizing a grounding fault through a transient zero sequence comparison method and a high-frequency traveling wave polarity algorithm; weak traveling wave signals generated by insulation defects are monitored to carry out hidden danger early warning; traveling wave arrival time difference is measured through double-end distance measurement, and the position of a fault point is calculated in combination with line parameters; and early warning and positioning results are transmitted to a master station through 4G / 5G and 101 / 104 protocols. The system comprises a data acquisition module, a signal processing module, a fault positioning module, a hidden danger early warning module, a master station communication module and a master station module which work cooperatively. The method and the system are high in positioning precision, can realize accurate fault positioning and hidden danger early warning, support live-line installation, are suitable for various scenes, effectively solve the operation and maintenance problem of the distribution network cable, and improve the power supply reliability.

The invention relates to the technical field of TDOA (time difference of arrival) positioning, and provides an ultrasonic three-dimensional positioning method based on beam enhancement and TDOA, which comprises the following steps: extracting initial space parameters based on beam scanning of an array receiving signal, carrying out iterative optimization on beam weight to adjust a direct wave component and suppress reflection interference, constructing a closed-loop optimization mechanism, and carrying out beam enhancement and TDOA positioning. Calculating an enhanced signal and an array element reliability measurement index through frequency domain segmentation and energy normalization; forming an optimization array based on the array element reliability measurement index, extracting a time delay parameter from the optimization array, constructing a distance measurement equation set, and calculating an initial estimation value of a target position by adopting a weighted optimization algorithm; and constructing a residual error model, constructing an optimized weight matrix by combining an array element reliability measurement index and a signal quality index, iteratively calculating a target coordinate until a convergence condition is met, and outputting a final three-dimensional coordinate. According to the method, the comprehensive performance of ultrasonic three-dimensional positioning in the aspects of anti-interference performance, stability and positioning precision in a complex environment is improved, and error source control is realized.

The invention provides a lunar satellite formation orbit determination method and system. The method comprises the following steps: S1, establishing a lunar satellite high-precision dynamic model; s2, establishing a lunar satellite laser ranging and inter-satellite ranging mathematical model; s3, measuring the distance, namely the absolute position, of the A-type satellite relative to the ground station through laser ranging, and measuring the relative position of the B-type satellite relative to the A-type satellite through inter-satellite ranging; s4, preprocessing the absolute position and relative position data of the satellite measured by laser ranging and inter-satellite ranging, and generating a format data file required by orbit calculation; and S5, resolving the position coordinates of each satellite in the monthly formation through the format data file. According to the method, laser ranging and inter-satellite ranging are combined for orbit determination, precise orbit determination of the lunar satellite formation is achieved, compared with a traditional orbit determination mode, the precision can be improved from the hundred-meter level to the meter level, the requirements for the arrangement number of ground stations and set distribution are reduced, and the measurement and control pressure of existing ground stations is relieved.

The invention relates to the technical field of power systems, and discloses a distribution line fault positioning method and system based on traveling wave distance measurement. The method comprises the following steps: injecting a zero-mode signal through an electrified pulse coupler, carrying out wave velocity hierarchical analysis on a mixed line impedance node to obtain a propagation parameter matrix, generating an empty-mode echo by utilizing mode conversion of a fault asymmetric point, screening by adopting a frequency domain fingerprint identification algorithm to obtain a pure fault signal, and carrying out fault detection on the pure fault signal. And three-dimensional fault coordinates are obtained based on reverse time-distance mapping processing. According to the invention, the problem of accurate positioning of the fault point in the live-line operation state of the hybrid distribution line is solved, and the fault positioning accuracy and the power supply reliability are improved.

The invention discloses a high-precision flow online monitoring device and method for a siltation section, and belongs to the technical field of hydrological monitoring. The device comprises a sensing terminal, an edge terminal and a mounting mechanism, the sensing terminal is integrated with an upper and lower section layered speed measurement module, an underwater distance measurement module, a first absolute pressure type water level measurement module and an attitude and temperature sensor, and vertical section flow velocity data is obtained by receiving water body reflection signals in a time-sharing manner; and the dynamic deposition section area is corrected in real time in combination with ultrasonic ranging. And the edge terminal compensates water level measurement data by using atmospheric pressure, and calculates the flow through fusion of a telemetering module. The installation mechanism supports fixed or telescopic installation, and the height of the installation mechanism is automatically adjusted according to the distance between a deposition layer and equipment. The method comprises the steps of dynamically correcting the section, calculating the flow through layered integration and compensating errors of multiple sensors, the problems of large area deviation, high operation and maintenance cost and the like caused by sedimentation in a traditional flow measurement technology are solved, and high-precision online monitoring under the high-sand-content complex flow state is achieved.

The invention discloses an offshore platform anti-collision device and method based on multi-mode BEV perception, and the device comprises a three-dimensional fusion distance measurement module, a UWB distance measurement module, a ship navigation state monitoring module, a platform marine environment monitoring module, and a central processing unit. The three-dimensional fusion ranging module comprises a holder, a laser radar and a camera, and is used for performing 360-degree three-dimensional scanning on the periphery of the offshore platform; the UWB distance measuring modules are installed on the periphery of a ship and pile legs of an offshore platform. The ship navigation state monitoring module is used for acquiring ship position, navigational speed and course information in real time; the platform marine environment monitoring module collects wind wave data and weather data near the offshore platform and route information of passing ships through network communication. The invention discloses an offshore platform anti-collision device with real-time monitoring and collision risk assessment functions, the anti-collision safety of an offshore platform is improved, and the occurrence rate of collision accidents is reduced.

The invention belongs to the technical field of ocean detection, belongs to a multi-sensor fusion intelligent anti-collision method and system, comprises a sensing layer, a processing layer and an application layer, and provides an intelligent anti-collision and evidence recording ocean monitoring floating system integrating computer vision, target ranging, satellite positioning and ship automatic recognition system multi-sensor fusion. According to the invention, YOLOv8 target detection, Transform data fusion and a Kalman filtering algorithm are adopted, so that accurate detection and anti-collision early warning of ships and floating objects on the sea are realized. The system has an AIS failure processing mechanism and an evidence encryption storage function, and ensures reliable operation and data compliance under complex sea conditions.

The invention relates to the technical field of high-precision positioning, in particular to an outdoor immersive text and travel hybrid positioning and dynamic rendering optimization method, and the method comprises the steps: obtaining a positioning signal of a mobile terminal in a target service area through a hybrid positioning model; the positioning signals comprise an ultra-wideband ranging signal, a visual inertial odometer signal, a real-time carrier phase difference signal and an inertial navigation signal; processing the positioning signal through a multi-layer signal processing filtering model to obtain coordinate data, and generating a space coordinate; constructing a user movement situation prediction model based on the space coordinates, generating a navigation prediction track and navigation confidence, and generating a preloading strategy; acquiring geographical environment parameters of the target service area, and integrating the space coordinates, the geographical environment parameters, the preloading strategy and the virtual object through a multi-dimensional virtual-real fusion model to generate an augmented reality space scene; and analyzing the user movement track data and the augmented reality space scene through a multi-modal driving model to generate interactive content.

The invention relates to the field of distribution network fault detection, in particular to a distribution network fault rapid positioning method based on artificial intelligence. According to the method, a double-layer star topology is established, a dispatching center is effectively connected with a transformer substation and a power distribution area, first-level and second-level power distribution network data are acquired by using a multi-modal sensor, and fault prediction is performed through a federated learning framework; analyzing topological relevance in combination with a graph convolutional network, generating a candidate fault transformer area set, and determining a fault type through cosine similarity verification and current waveform correlation analysis; a fault distribution network point is accurately positioned by using a traveling wave distance measurement technology. When an unknown fault is detected, the system triggers an incremental learning mechanism to update global model parameters, and the fault diagnosis capability is continuously optimized. Based on the method, rapid and accurate distribution network fault detection and positioning are finally realized.

The invention relates to a multi-branch power distribution network double-end traveling wave fault positioning method and system, and the method comprises the steps: deploying a plurality of measurement points based on the head and tail ends of a radial power distribution network and branch terminals, collecting topological information, and calculating the linear mode wave velocity; using the three-phase voltage data after the fault to extract traveling wave line mode and zero mode components through modulus decoupling; a line mode component with the strongest global mutation is selected as a reference, and a wave head time sequence table is generated through wavelet decomposition and mutation detection; and correcting the zero-mode wave velocity by combining the topology, the time sequence table and the line-mode wave velocity, and determining a fault interval and outputting a fault position after compensation and correction by using the line-mode and zero-mode wave head time difference. According to the invention, through a wave head time sequence analysis and time difference compensation mechanism based on cooperation of multiple measuring points, positioning errors caused by clock asynchronization and parameter disturbance are effectively overcome, accurate distance measurement which is not influenced by clock errors is realized, and the distance measurement precision is significantly improved; and meanwhile, the point distribution requirement is simplified, accurate judgment and positioning of a fault interval can be realized only by a branch single measuring point, and high economy and deployment flexibility are both achieved.

The invention discloses a laser radar test method based on a long-distance target distance measurement result, and the method comprises the following steps: obtaining a laser radar echo signal, and extracting the frequency spectrum information of the echo signal; doppler frequency shift characteristic parameters are extracted according to the frequency spectrum information, and the relative speed of the target is calculated based on a preset frequency shift calculation model; acquiring multi-source sensor data associated with the laser radar test platform, and fusing to construct a dynamic ranging reference coordinate system; performing dynamic motion compensation on a laser ranging result according to the relative speed of the target to obtain a target initial measurement distance after Doppler correction; mapping the target initial measurement distance after Doppler correction to the dynamic distance measurement reference coordinate system to obtain a remote target final distance measurement result aligned with a test platform coordinate system; and outputting the accurate position and moving state information of the target in the three-dimensional space according to the final distance measurement result. According to the invention, the ranging precision and stability can be improved.

The invention relates to the technical field of traveling wave positioning, and discloses a traveling wave positioning method, system and device based on an intelligent fuse, and a medium. The method comprises the following steps: installing an intelligent fuse high-frequency sampling signal to obtain digital data; the data is transmitted to a master control fuse to synthesize a zero sequence quantity to obtain a fault judgment result; constructing a feature matrix by applying adaptive threshold wavelet transform based on the zero sequence quantity; combining zero-sequence current and traveling wave characteristics and adopting an improved algorithm to carry out distance measurement and fault positioning; and executing hierarchical protection according to a judgment result and a positioning result to obtain maintenance information. According to the intelligent device, the position of a fault point can be accurately positioned, and differential protection actions can be automatically executed according to the severity of the fault, so that the fault searching and processing time is greatly shortened, and the operation reliability and the maintenance efficiency of the power distribution network are improved.

The invention relates to a double-end traveling wave distance measurement method and device suitable for a power distribution network and a storage medium, and the method comprises the steps: firstly, carrying out the preprocessing of a fault phase current traveling wave through the normalization and rough characteristic frequency band zero-phase band-pass filtering of a double-end current traveling wave; using spline wavelet transform to calibrate a proper modulus maximum point as initial estimation of a wave head starting point; further estimating a wave head on the double-end time domain original traveling wave waveform by using a threshold method, and obtaining an accurate wave head starting point through double-end amplitude interpolation correction; and finally, calculating the position of a fault point according to a double-end traveling wave distance measurement principle. According to the method, a fault phase current waveform is preprocessed into a current traveling wave in a rough characteristic frequency band through a zero-phase filtering means, interference outside the characteristic frequency band is eliminated, a wave head break point serves as a wave head starting point, the break point is estimated step by step through a wavelet modulus maximum value and a signal amplitude threshold value method, and the fault phase current waveform is obtained. And more accurate approximation of the break point is obtained through double-end amplitude interpolation, so that the range finding precision exceeding the sampling rate limit is achieved.

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

The invention belongs to the technical field of coal mine underground positioning, and discloses an underground personnel positioning and tracking method based on laser ranging, which comprises the following steps: calculating the distance between nodes through ranging signals between UWB mobile nodes, and establishing a relative positioning model of the UWB mobile nodes in combination with preset fixed base station coordinates; performing registration alignment on the first local octree map of the collapse area and the relative positioning model, fusing heterogeneous data of the laser radar and the UWB sensor in time and space dimensions, and forming an initial positioning result of the trapped person; acquiring real-time data of the second local octree map and the UWB relative positioning model under the extreme condition of communication blocking or signal interruption, and predicting the position of the trapped person; and according to a path planning result after local obstacle avoidance adjustment, position coordinates of rescue worker mobile nodes are updated in real time, and positioning data of trapped persons are corrected through a graph optimization algorithm. According to the invention, the positioning problem of a mine collapse disaster site in a complex environment is solved.

The invention discloses a mining equipment positioning system and method based on radar, ultra wide band and inertial navigation, and the system is characterized in that a multi-source sensor unit, a data synchronization and collection module and a preprocessing module are connected in sequence, and a state fusion module is connected with the preprocessing module, a UWB ranging error compensation module, a radar motion estimation module and a pose output module; the upper computer is connected with the pose output module; the method comprises the steps of collecting multi-source data; timestamp alignment and format conversion processing are carried out, and feature and speed constraint information extraction is carried out on the point cloud data; fitting correction is carried out on the ranging data by adopting a weighted least square method, and position information is obtained through an error weighted average algorithm; feature matching is carried out, and in combination with a KISS-ICP point cloud registration method, a speed estimation result is obtained; carrying out data fusion, and obtaining a pose estimation result by adopting an extended Kalman filtering algorithm; and outputting equipment position and attitude information. According to the invention, high-precision real-time estimation of the attitude and position information of the mining equipment can be realized.

The invention discloses a power grid fault positioning system and method based on traveling wave distance measurement, relates to the technical field of fault analysis, and solves the technical problems that traveling wave feature analysis, temperature compensation and high-precision synchronization technologies are not effectively integrated, and rapid and accurate fault positioning of a smart power grid is difficult to meet. Through the technical combination of dynamic temperature compensation, high-precision time synchronization and intelligent fault classification, the bottlenecks of traditional traveling wave distance measurement in the aspects of precision, reliability and intelligence are systematically solved, temperature sensors are deployed at key nodes of a cable, the temperature is monitored in real time, the wave speed is dynamically corrected through a formula, the overall error is reduced, and the fault location accuracy is improved. Meanwhile, an optical fiber two-way time transmission method is combined, transmission delay errors are reduced, synchronization reliability is improved, finally, a mapping library is constructed through laboratory simulation and field data, a Euclidean distance matching algorithm is combined, fault reasons are automatically recognized, and rapid positioning of the faults and accurate recognition of the fault reasons are achieved.

Tracked distance measuring device, systems, and methods for determining and mapping point of interest for use in utility locating operations and other mapping applications are disclosed. A tracked distance measuring device embodiment includes simultaneously triggered rangefinder and positioning elements to measure a distance and determine location and pose, optionally in conjunction with a utility locator.

The invention discloses a displacement auxiliary measuring mechanism and a reservoir dam monitoring and early warning system thereof, and belongs to the technical field of dam monitoring. The reservoir dam monitoring and early warning system comprises a data acquisition module, an attitude calibration module, a data fusion judgment module, a risk grading analysis module and a remote early warning trigger module. The distance measurement precision under the complex field condition is remarkably improved, the current mechanical direction and the reference direction are fused, a correction vector pointing to a target reflection point is generated, the direction drift error is effectively eliminated, and the distance measurement accuracy is improved by constructing a double-path model of main path fusion and auxiliary path comparison. According to the method, non-structural anomalies caused by sensor body interference or environmental disturbance are eliminated, data offset is corrected in real time, a stable trend curve is output, when a main path has a drift or error trend, the main path is automatically guided to converge to an auxiliary path, and the abnormal data recognition and restoration capability is enhanced.

The invention provides a UWB-NLOS identification and distance measurement correction method based on a DEA-PSO hybrid optimization Iight GBM algorithm, and the method comprises the following steps: 1, building multi-dimensional features after data stratified sampling, obtaining an HCNLOS data set through two times of label screening, and generating initial positioning; step 2, adopting a DEA-PSO hybrid optimization algorithm to realize LightGBM hyper-parameter automatic adjustment and optimization, and improving parameter adjustment efficiency through dynamic fitness evaluation and collaborative search; 3, constructing a classification model and a regression model in parallel; and 4, fusing the corrected NLOS data and the original LOS / HCNLOS data, and outputting a high-precision coordinate through a positioning algorithm, thereby effectively improving the positioning robustness in a complex environment.

The embodiment of the invention discloses a digital key ranging value filtering method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring ranging information of a plurality of UWB anchor points in real time; obtaining the position change trend of the digital key according to the distance measurement information; under the condition that the effective distance measurement value does not exist, a preset target position is obtained according to the positioning result corresponding to the moment t of the previous effective distance measurement value, the position change trend and the unlocking and locking state of the vehicle terminal, and a predicted distance is obtained according to the distance relation between the effective distance measurement value at the moment t and the preset target position; obtaining a prediction duration T according to the prediction distance; in the T, when an effective distance measurement value is not detected, state one-step prediction of a Kalman filtering algorithm is executed to obtain a filtered distance measurement value, and when the effective distance measurement value is detected, the state one-step prediction is terminated, and a filtering estimation value is obtained according to the Kalman filtering algorithm to serve as the filtered distance measurement value; and obtaining a positioning result of the area outside the vehicle according to the filtered distance measurement values of the plurality of anchor points.

The invention discloses a mobile cellular signal ranging method and positioning system based on machine learning. The method comprises the following steps of: continuously receiving two paths of I / Q original signals sent by a base station, performing time synchronization so as to calculate frame starting positions, performing differential operation on the frame starting positions at previous and later moments, generating a clock skew data set, establishing a time sequence prediction model of the base station, and extracting clock skew information between the base station and a receiver from the time sequence prediction model. When a system starts to carry out distance measurement between a base station and a receiver, a pseudo range and a frame starting position which are obtained at a previous moment are utilized to carry out analysis and difference to serve as input of a time sequence prediction model, and the clock skew of the base station at a subsequent moment is accurately predicted. And the clock skew is compensated to the pseudo-range estimation process, so that the distance between the base station and the receiver is calculated. The invention provides a method for realizing accurate and sustainable distance measurement and positioning of a receiver on the basis of the existing mobile communication network infrastructure.

The invention discloses a traveling wave fault location improvement method for power distribution network fault location analysis, relates to the technical field of power distribution networks, and solves the problems that a traditional single wave velocity model causes location deviation, and particularly, false fault points are easily generated at the joint of a cable and an overhead line due to refraction and reflection. And calculating an amplitude difference mean value under different translation amounts, automatically identifying an optimal time alignment point, and locking an association time difference t1. According to the process, time errors caused by signal distortion, asynchronous sampling and the like can be effectively corrected, the time difference precision is improved from the microsecond level to the nanosecond level, a foundation is laid for follow-up precise positioning, a plurality of correlation points are randomly selected in a locked range interval, a corrected waveform is constructed based on the attenuation proportion and repeated verification is carried out, and the time difference precision is improved. Screening an optimal solution through a feature mean value minimization algorithm; the mechanism can effectively inhibit the error of a single measuring point, and improves the robustness of a positioning result through the statistical average effect.