155 results about "Real Time Kinematic" patented technology

The invention relates to the technical field of dynamic weighing, and discloses an intelligent load prediction and adjustment method in a dynamic weighing system, which comprises the following steps of: separating a weighing signal into a space domain static load characteristic (pressure point distribution sparsity and gravity center geometric vector) and a time domain dynamic inertial interference component (acceleration coupling noise) through space-time double-domain decoupling; the frequency spectrum aliasing problem of a traditional filtering algorithm is eliminated from a signal source; the future interference trend is predicted based on the real-time motion state of the carrier, a feed-forward compensation signal is generated through a pre-training dynamic basis function library, and dynamic errors are actively counteracted; in combination with sensor array space consistency detection and lightweight online learning, decoupling model parameters are dynamically corrected. According to the method, space geometric analysis and kinematics feedforward prediction are combined, a traditional signal processing framework is strided out, error source separation and real-time compensation are achieved, and the dynamic weighing precision of transient working conditions such as sudden stop and speed change is remarkably improved.

The invention relates to the technical field of unmanned aerial vehicle detection, in particular to an anti-unmanned aerial vehicle detection method and system, and the method comprises the following steps: scanning a target airspace in real time through broadband cognitive radio, and constructing an environment feature matrix; based on the environment feature matrix, double-flow feature extraction is carried out, and a protocol fingerprint vector is generated; activating a corresponding group behavior analysis model according to the protocol fingerprint vector, and constructing a behavior topological graph; constructing a dynamic threat vector by adopting a game theory in combination with the behavior topological graph and the real-time motion parameters; generating a multi-dimensional interference strategy set according to the dynamic threat vector; according to the invention, an omnibearing and real-time updated threat vector is constructed, a node threat value is calculated through a non-cooperative game model, accurate evaluation is carried out in combination with spatio-temporal information, potential threats are effectively identified, accurate interference on an unmanned aerial vehicle group is realized, the perception capability of unmanned aerial vehicle behaviors in a complex scene is enhanced, and the risk of the unmanned aerial vehicle behavior in the complex scene is reduced. And the execution precision and efficiency of the interference strategy are obviously improved.

The invention discloses a multi-mode fusion time service method and system based on dynamic calibration of DCP equipment. The method comprises the following steps: completing initial time reference data acquisition based on a multi-mode satellite signal; meanwhile, time data of a ground time service network are collected, and motion parameters of DCP equipment are monitored in real time through an inertial navigation unit; establishing a correlation model of the motion parameter and the time service error; quantitative analysis of error sources is completed based on the correlation model; fusing the multi-source time data; dynamically adjusting the fusion weight of each data source according to the real-time motion state of the DCP equipment; redundant time slots are automatically distributed to high-error equipment; outputting the calibrated time signal to DCP equipment through an interface to complete clock synchronization; and continuously monitoring the time deviation of the DCP equipment, and dynamically updating the calibration parameters to form closed-loop optimization. And the environmental adaptability and the precision stability of the timing system are improved.

The invention relates to the technical field of global satellite navigation systems, in particular to a network RTK (Real Time Kinematic) method for generating a virtual reference station based on a PPP (Point-to-Point Protocol) SSR (Simple Sequence Repeat) correction, which comprises the following steps of: calculating a moving station approximate coordinate of a target moving station; an observation value error of each target satellite is corrected through the target server by using the rough coordinate of the moving station and the PPP SSR information of the plurality of target satellites, and a position coordinate and an observation value of a virtual reference station are generated; on the basis of an RTCM protocol, the target server side encodes the position coordinates and the observation values to obtain OSR information corresponding to the position coordinates and the observation values, and broadcasts the OSR information to the target moving station; and based on the OSR information and a double-difference relative positioning strategy, enabling the target moving station to obtain relative position information between the target moving station and the virtual reference station so as to determine position coordinates of the target moving station. Therefore, the problems of slow convergence, limited coverage range, poor receiver compatibility and the like of the existing navigation positioning technology are solved.

The invention discloses a robot automatic navigation method and system based on depth vision fusion, and relates to the technical field of intelligent navigation, and the method comprises the steps: carrying out the registration of a point cloud subset of continuous frames through employing an ICP algorithm, distributing weights for a static obstacle and a dynamic obstacle, and carrying out the fusion, and obtaining a fused environment perception data set. The method comprises the following steps: updating a dynamic environment in real time, generating a dynamic environment map, carrying out trajectory tracking on moving targets by using binocular vision equipment, calculating a real-time motion trajectory of each moving target, obtaining an environment hotspot map, generating a global navigation path for a robot by using an A * algorithm, planning a detouring path at the periphery of a hotspot area, and outputting a navigation path sequence. According to the method, intelligent optimization of the motion path of the robot is realized through path planning and an obstacle avoidance strategy, the safety is ensured, the path efficiency is maximized, and unnecessary detour and pause time is reduced.

The invention provides a communication resource scheduling method and system for a low-orbit satellite, and the method comprises the steps: transmitting a spot beam to a target region by the low-orbit satellite through a directional antenna, and starting to provide communication services for all target terminals in the coverage range of the spot beam; when the preset switching period is ended, the satellite resource control center determines a new low earth orbit satellite taking over the target area according to the real-time motion information of the low earth orbit satellite; controlling the new low-orbit satellite to adjust the pointing angle of the directional antenna so as to enable the spot beam emitted by the new low-orbit satellite to cover the target area; meanwhile, beam switching instructions are generated and sent to all target terminals in batches; and all the target terminals execute a beam switching action so as to continuously provide communication services for all the target terminals through the spot beams emitted by the new low-orbit satellites. According to the invention, unified beam switching of all user terminals in the target area is realized, the situation of high concurrency of switching instructions of a satellite resource control center when the number of users is large is avoided, and the communication response speed of the users is improved.

The invention relates to the technical field of dam termite prevention and control in water conservancy and hydropower engineering, in particular to a dam termite nest positioning method and detection equipment based on intelligent multi-mode fusion, which utilizes technologies such as geological radar, infrared thermal imaging, RTK (Real Time Kinematic) and GPS (Global Positioning System) positioning and is assisted by a machine learning algorithm to carry out data processing. An infrared thermal imaging camera carried by a crawler chassis is used for rapidly scanning the surface of a dam and finding out temperature abnormal points which may be termite activity areas, an underground high-resolution image is further obtained through a carried ground penetrating radar, meanwhile, coordinate information of the areas is collected, a high-precision dam area map is combined, and the termite activity area is obtained. The termite nest position is further accurately confirmed; by means of the method, the accuracy and efficiency of dam termite nest positioning can be remarkably improved, meanwhile, the environmental pollution risk caused by a traditional method is reduced, and the method is beneficial to protection of safe and stable operation of a water conservancy project and makes a contribution to environmental protection.

A control unit for managing the motion of a heavy-duty vehicle via real-time kinematic positioning is disclosed. The control unit comprises a vehicle state interface designed to retrieve state information from vehicle state sensors, including kinematic parameters and information about the availability of RTK correction data. The nominal operational design domains and corresponding RTK-enhanced ODDs are defined, wherein each nominal ODD maintains enhanced safety margins when contrasted with its RTK-enhanced counterpart. The control unit's functionality includes the selection of an active ODD based on availability of RTK correction data, selecting an RTK-enhanced ODD when such data is available, and selecting a nominal ODD when absent. The control unit subsequently directs the vehicle's motion using the kinematic parameters in alignment with the active ODD.

The invention provides an unmanned aerial vehicle visual tracking method and system based on a neural network, and the method comprises the steps: collecting a dynamic image sequence containing the motion track information of a target object in real time through a camera device carried by an unmanned aerial vehicle, and carrying out the multi-scale spatial-temporal feature extraction of the sequence; the method comprises the steps of obtaining global motion features representing displacement changes of a target in a three-dimensional space and local texture features representing surface detail space-time continuity, inputting the global motion features and the local texture features into a pre-trained neural network model for fusion, generating real-time motion prediction parameters, adjusting flight attitude parameters of an unmanned aerial vehicle according to the real-time motion prediction parameters, and generating a dynamic tracking instruction. The unmanned aerial vehicle and the target are controlled to keep a preset relative motion relation, the dynamic tracking instruction drives the unmanned aerial vehicle to execute a tracking task, an image sequence is updated in real time and fed back, closed-loop tracking control is formed, and efficient, stable and accurate visual tracking of the target object is achieved.

The invention discloses a satellite-borne SAR (Synthetic Aperture Radar) radar target real-time guiding method based on ADS-B (Automatic Dependent Surveillance-Broadcast) signals, which relates to the technical field of radar control, and comprises the following steps: receiving Beidou dual-band signals and global ADS-B signals in real time, resolving by adopting a carrier phase double-difference ionosphere elimination combinatorial algorithm, and obtaining a satellite-borne SAR generating satellite platform pose data including satellite position component data, satellite speed component data and satellite attitude component data; inputting the airspace target point cloud data set into an adaptive airspace clustering algorithm, dynamically adjusting a clustering neighborhood radius by using satellite speed component data, and outputting central geographic coordinates of a target dense area; fusing the beam pointing vector and the angular velocity data through a beam-attitude dynamic coupling controller, and generating a phase shifter code value adjustment instruction; the neighborhood recognition range is dynamically adjusted through the real-time motion state of the satellite, and the positioning precision and timeliness of the dynamic airspace target dense area are remarkably improved. And the continuous monitoring capability and the guiding precision of the time-sensitive target are improved.

A vehicle system includes a RTK hub, a vehicle, and one or more processing circuits. The RTK hub is configured to be positioned at a known location, and includes a first communications interface configured to facilitate acquiring a hub GPS position of the RTK hub based on a hub GPS signal acquired from a GNSS satellite. The vehicle includes a sensor configured to acquire a vehicle GPS position of the vehicle based on a vehicle GPS signal from the GNSS satellite and a second communications interface configured to facilitate communications between the vehicle and the RTK hub. The processing circuits are configured to determine corrective position data based on the hub GPS position and the known location, determine a corrective position of the vehicle based on the vehicle GPS position and the corrective position data, and control an operation of the vehicle based on the corrective position of the vehicle.

The invention provides an unmanned aerial vehicle recognition method, device and equipment, a medium and a computer program product, and the method comprises the steps: inputting a multi-dimensional feature vector of a to-be-detected terminal into a motion mode recognition model, and outputting a motion mode type; if the type of the motion mode shows that the to-be-detected terminal is suspected to be an unmanned aerial vehicle object, performing spatial matching on the multi-dimensional feature vector and GIS data to obtain a geographic information model; and determining whether the to-be-detected terminal is an unmanned aerial vehicle or not according to a comparison result of the real-time motion state of the to-be-detected terminal and the geographical environment characteristics. The unmanned aerial vehicle identification method provided by the invention not only considers the motion information of the to-be-detected object, but also combines GIS information, especially auxiliary verification of actual road network information and building information, can distinguish the unmanned aerial vehicle and other targets easy to confuse with the unmanned aerial vehicle in a complex environment, can realize accurate identification of the unmanned aerial vehicle, and improves the detection accuracy of the unmanned aerial vehicle. And decision accuracy is improved.

The provided is a minimally invasive puncture system based on a navigation system. The minimally invasive puncture system includes a puncture instrument and an electromagnetic navigation module. A first electromagnetic positioning sensor in the electromagnetic navigation module is fixedly provided on a puncture needle body portion of the puncture instrument, and a second electromagnetic positioning sensor is slidably sleeved on the puncture needle body portion. An electromagnetic positioning reading device in the electromagnetic navigation module is configured to acquire real-time coordinates of the first electromagnetic positioning sensor and the second electromagnetic positioning sensor, so as to obtain a real-time movement trajectory of the second electromagnetic positioning sensor relative to the first electromagnetic positioning sensor, thereby determining whether a real-time needle insertion trajectory of the puncture needle body portion entering the human body conforms to a system-default needle insertion trajectory.

Systems and methods for determining the at-rest position of the golf ball of one or more golfers during tournament play. Beacons worn either by a golfer or another person associated with the golfer's playing group collect or receive a location signal from one or more global navigation satellite system (GNSS) satellites, wherein the signal's accuracy can be enhanced using real time kinematic (RTK) correction data. Location signals collected or received by the beacons are requested by, and transmitted back to, a portable device in radio frequency (RF) communication with one or more of the beacons and operated by the user. Methods and systems of the present invention can also utilize a laser rangefinder, operated by the user, to measure line-of-sight distance, inclination angle, and azimuth to a golfer's golf ball from the user's determined GNSS location when the beacon is worn by the user.

The invention provides a vehicle turning path planning method and device for irregular land parcels, and is applied to the technical field of path planning, and the method comprises the steps: carrying out the initialization of a pheromone field based on the boundary data of a geographic information system and internal obstacle data, and constructing a rasterized map for representing a passable region; based on the current state of the vehicle, determining the minimum distance of obstacles in the surrounding environment of the target vehicle; based on the real-time movement speed, the minimum turning radius of the target vehicle is determined; determining a dynamic corridor parameter of the target vehicle based on the minimum distance and the minimum turning radius of the surrounding obstacle; based on the dynamic corridor parameters and the pheromone field of the rasterized map, generating a turning point probability density field of the target vehicle, and sampling the turning point probability density field to obtain a turning point set; and constructing a turning path of the target vehicle based on the turning point set, and determining the turning cost of the turning path. According to the invention, Pareto optimization of energy consumption and efficiency in a complex scene can be realized.

The invention relates to the technical field of unmanned aerial vehicle autonomous control, and discloses an unmanned aerial vehicle cluster formation control method and system based on a multi-level intelligent algorithm, and the method comprises the steps: obtaining the external environment monitoring data and motion state data of an unmanned aerial vehicle cluster, constructing a multi-target comprehensive cost function, and carrying out the optimization of a cluster formation initial track, obtaining an optimal trajectory set meeting dynamic constraints; executing collision risk assessment on the sampling points on the optimal trajectory set, and outputting a trajectory safety judgment result; performing mathematical characterization and eigenvalue modulation on the formation topological structure through a Laplacian matrix, and generating target formation parameters adapted to environmental constraints; and finally, converting the optimal track set and the target formation parameters into a bottom layer flight control instruction, driving the unmanned aerial vehicle to execute a flight action, and collecting real-time motion state data at the same time. Therefore, the problems that in the prior art, trajectory optimization convergence is slow, collision detection real-time performance is poor, formation dynamic adaptation is insufficient, and system module collaboration is weak are solved.

The invention provides a two-dimensional formation composite sliding mode control method under an explicit convergence time limit, and relates to the technical field of automatic driving cooperative control. The method comprises the following steps: firstly, acquiring real-time motion state information of a pilot vehicle and N following vehicles, and establishing a third-order nonlinear dynamic model of each following vehicle; calculating a tracking error of the following vehicle based on the virtual vehicle strategy; dynamically processing the predetermined performance constraints; constructing a composite finite time sliding mode surface of a layered structure, and determining a total execution time limit required by convergence of all monitoring signals in the two-dimensional vehicle formation control system from an initial deviation state to a predefined steady state region; and finally, on the basis of the composite finite time sliding mode surface, an external disturbance boundary is estimated online in combination with an adaptive control algorithm, a control instruction is generated, and a monitoring signal is forced to reach a steady state in an explicit time upper boundary. The method provides a visual performance estimation means for practical engineering application, and improves the stability, rapidity and accuracy of two-dimensional formation control.

The embodiments disclose a system for interactively providing golf swing guidance to a user on a golf course including a database coupled to a remote server to collect, store and maintain updated topography of golf courses based on LIDAR, a club sensor configured to removably attach to one or more portions of the golf club and further configured to collect the club sensor golf club swing data as the user operates the golf club in a practice swing, a remote server configured to interactively identify a location of a user on the LIDAR topography when positioned at a golf course using a real-time kinematics device, a user audio device wirelessly coupled to the remote server configured to interactively communicate feedback guidance to and from the user of golf club selection and golf club swing adjustments.

The application relates to the technical field of data processing, and discloses a radar real-time data transmission processing classification identification method and system.The method comprises the following steps: performing track mode identification on narrowband data of a target radar to obtain a real-time motion mode category of the narrowband data; performing directional region selection on synchronous wideband echo data of the target radar based on the real-time motion mode category to obtain a signal segment of the synchronous wideband echo data; performing sparse decomposition on the signal segment to obtain compact features of the signal segment; performing motion mode compatibility quantification on the compact features based on the real-time motion mode category to obtain category scores of the compact features; performing feedback adjustment on the real-time motion mode category based on the category scores and the compact features to obtain an optimized motion mode of the real-time motion mode category; and performing confidence fusion judgment on the optimized motion mode to obtain a classification identification of the real-time motion mode category; and the application can improve the efficiency of radar real-time data transmission processing classification identification.

The invention discloses an RTK (Real Time Kinematic) positioning method applicable to a quadruped robot in an outdoor wide area range, and aims to solve a series of problems caused by insufficient adaptability of an existing GNSS (Global Navigation Satellite System) RTK positioning scheme to the quadruped robot. Accessing a network differential data server by using an NTRIP network protocol through a built-in 4G mobile network receiver of the GNSS receiver, and trying to obtain RTCM3.2 differential data; in the GNSS receiver, if the RTCM3.2 differential data is successfully received, RTK calculation is carried out by combining the satellite original data and the RTCM3.2 differential data, and RTK positioning data is generated; and outputting the generated positioning data to a main controller of the quadruped robot through a communication interface of the GNSS receiver.

A robot for cable reel pay-off construction comprises a trolley body used for driving a mechanical arm component, a positioning module, a peripheral information obtaining module, a communication module and a path planning module to move; the positioning module is used for acquiring real-time position information of the trolley main body; the peripheral information acquisition module is used for acquiring real-time article information around the trolley main body; the communication processing module is used for acquiring the real-time position information and the real-time article information, planning and acquiring a real-time motion path through the real-time position information and the real-time article information, and respectively sending the real-time motion path and the real-time article information to the trolley main body and the mechanical arm component; and the mechanical arm component is used for grabbing the workpiece according to the real-time position information and the real-time article information. According to the robot for cable reel pay-off construction, manual work is replaced for high operation, autonomous navigation, multi-degree-of-freedom operation and intelligent fixing can be achieved, work tasks can be completed more conveniently and efficiently, and the work efficiency is improved.

The invention provides a multi-parameter collaborative optimization self-adaptive hydraulic PTO wave energy power generation system. The system comprises a hydraulic energy storage and release PTO unit, a hydraulic motor, a direct-current generator, a detection unit, an optimization unit and a control unit. The hydraulic energy storage and release PTO unit comprises a floater, a hydraulic cylinder and an energy storage unit, the energy storage unit comprises two energy accumulators, and a hydraulic motor drives a direct-current generator to generate power by using pressure potential energy released by the energy accumulators; the detection unit is used for acquiring real-time motion data of the floater and real-time pressure data of the energy accumulator; the optimization unit uses the power-stability combined optimal target function to search and obtain the optimal value of the multi-parameter combination of the wave energy power generation system, and the control unit adjusts the displacement of the hydraulic motor and the load resistance of the direct-current generator based on the optimal value of the multi-parameter combination and switches the energy storage and release processes of each energy accumulator. The power generation system provided by the invention can adaptively realize the optimal output of the generated power while ensuring the stability of power generation.

A system and method for Global Navigation Satellite System (GNSS) accuracy improvement for GNSS devices using a novel GNSS positioning system that leverages networked optimization for enhanced accuracy. GNSS measurements from multiple devices form the foundation for a massive pairwise optimization approach. This fuels a self-reinforcing cycle, wherein Real Time Kinematic pairwise optimizations support Precise Point Positioning analysis. Improved PPP calculations in turn refine RTK optimization, rapidly iterating towards convergence. The PPP-RTK feedback loop refines positions iteratively, culminating in precise user locations. This method capitalizes on the interplay between PPP and RTK techniques within a networked context, offering a powerful solution for real-time, high-precision positioning applications.

The invention relates to the technical field of microelectronic assembly equipment control, and discloses a chip pin alignment calibration method based on machine vision, comprising the following steps: establishing a real-time motion error model representing mechanical positioning errors, and obtaining pin polar coordinates through partition extraction; a tangential margin is deducted from the theoretical region to construct a static tolerance window; performing morphological erosion and parallel simulation on the static window at a multi-stage speed by using an error boundary output by the model, and calculating a full-pin dynamic window geometric intersection; and according to the intersection non-empty state, the optimal speed and the target coordinate are decided, equipment mounting is driven, and thermal drift parameters are updated based on an observation residual closed loop. According to the method, the real-time motion error model containing thermal drift compensation is constructed, dynamic morphological erosion based on the mechanical positioning error boundary value is executed on the static window, the effectiveness of mounting coordinates in different thermal states is guaranteed, and dynamic decoupling of precision and speed is achieved.

The utility model discloses a blind guiding device which comprises a stick head arranged at the top of a stick body, a handle arranged on one side of the stick head and used for being supported by a user, a moving module arranged at the bottom of the stick body, a positioning module arranged in the stick head, an inertia measurement module and a data processing module arranged in the stick body, and a data processing module arranged in the stick body. The power module, the camera and the laser radar are arranged on the outer side face of the stick body, the camera and the laser radar are arranged at the positions, close to the stick head, of the stick body and are arranged in the direction opposite to the extending direction of the handle, and the data processing module is used for conducting SLAM mapping and obstacle information detection. The navigation module is used for receiving the SLAM mapping result and generating navigation data capable of avoiding obstacles based on the SLAM mapping result and the obstacle information, and the moving module is used for receiving the navigation data and moving according to the navigation data. By the adoption of the embodiment, real-time movement in a complex environment can be achieved, the blind person can go out only by following traction walking of the blind guiding device, and the going-out efficiency of the blind person is improved.

The embodiment of the invention relates to the technical field of computers, and discloses a vehicle-mounted information display method, device and equipment and a storage medium, and the method comprises the following steps: obtaining real-time motion parameters and navigation data of a vehicle; on a navigation path in the navigation data, displaying lyrics of the played song in a rolling manner according to display parameters; wherein the display parameters are related to the real-time motion parameters and the navigation data. By applying the technical scheme of the invention, the driving experience can be improved, the entertainment can be increased, and the driving safety can be enhanced.

The utility model discloses an RTK (Real Time Kinematic) measuring rod with a fan-shaped tip, which belongs to the technical field of surveying and mapping instruments and can solve the problem of low measuring precision when the existing RTK measuring rod is used for measuring loose soil such as soft cultivated land, desert or sludge. The measuring rod comprises a single rod; the fan-shaped tip is connected to the bottom end of the single rod; the fan-shaped tip comprises an inverted cone part and a fan-shaped part; the bottom surface of the fan-shaped body part is fan-shaped, and the height of the fan-shaped body part is the same as that of the inverted cone part; the vertex of the fan-shaped body part is located on the central axis of the single rod and coincides with the vertex of the inverted cone part. The utility model is used for the RTK measuring rod.

The present application relates to a method, device and storage medium for contour following control of a harvesting machine header. The method includes the steps of: obtaining geographical information of a target plot; generating a ground spectral function of the target plot according to the geographical information; obtaining initial motion data of the harvesting machine; generating virtual operation parameters of the harvesting machine according to the initial motion data; obtaining real-time motion data of the harvesting machine; and adjusting the real-time motion data in real time according to the virtual operation parameters. The method, device and storage medium for contour following control of a harvesting machine header provided by the embodiments of the present application can adjust control parameters according to the traveling speed of the harvesting machine to ensure that the header will not respond too slowly during high-speed movement or overshoot too much during low-speed movement.

The invention provides an identification binding method and system for an airport apron unpowered trailer, and the system comprises a multi-source data collection module which collects multi-source data in real time through a positioning module disposed on a tractor and a sensor of the unpowered trailer, and carries out the data preprocessing based on a space-time alignment rule; the dynamic state modeling module is used for constructing a dynamic state space based on multi-source data and quantifying a trailer position confidence interval; the dynamic state space integrates trailer position confidence and blacklist weight; the binding decision module is arranged at the cloud and is used for generating a binding instruction in combination with the trailer position confidence and the motion matching degree; and the mistaken binding detection module is arranged at the edge end and is responsible for real-time motion state analysis, mistaken binding judgment and unbinding instruction issuing. The problems that a positioning blind area exists in a traditional airport apron unpowered trailer recognition binding scene, the cooperation efficiency is low, and error binding and error correction are lagged are solved, and the resource allocation efficiency and the utilization rate of the airport apron unpowered trailer are remarkably improved.

This invention discloses an intelligent object-finding and positioning method and system based on UWB and IMU fusion. The positioning method includes the following steps: S1, acquiring UWB positioning signals to obtain the reference position and distance data of the target object, and collecting IMU three-axis acceleration and three-axis angular velocity data through a mobile terminal, and constructing a UWB and IMU fusion dataset after filtering; S2, using the trapezoidal integral method to perform a second integration of the acceleration to obtain displacement data, and combining gyroscope angle compensation to correct the motion heading, outputting a real-time motion coordinate sequence; S3, using the last effective UWB sensing position as the starting point, combining motion coordinates, UWB distance constraints, and gyroscope angle constraints to generate multiple sets of candidate lost positions; S4, using the least squares method to fit and optimize the candidate positions, and outputting the optimal lost coordinates. The above positioning method constructs a positioning dataset by fusing UWB and IMU data, realizing continuous and accurate positioning of target objects in scenarios where UWB signals are lost or abnormal, and improving the positioning accuracy of intelligent object finding.