367 results about "Rectangular coordinates" patented technology

The invention relates to the field of intelligent control, and particularly discloses a shadowless lamp control method based on behavior recognition and prediction, which comprises the following steps: S1, establishing a three-dimensional rectangular coordinate system by taking an initial mounting position of a shadowless lamp as an original point, and determining coordinates as follows by adopting image data acquired by at least two groups of directional image acquisition equipment with different visual angles; s2, capturing the real-time position of the scalpel in real time through an image acquisition device, outputting coordinates, acquiring data of a plurality of continuous durations to form a historical trajectory data set, calling an operation scene template library preset with a plurality of types of typical operation trajectory features by the control terminal for the acquisition times, matching a trajectory feature template corresponding to the current operation type, and outputting the historical trajectory data set; performing feature alignment processing on the data and the input data by a fusion module to obtain adaptive trajectory data; according to the technical scheme, pre-judgment can be carried out in advance, the scene adaptability is high, and sterile fine adjustment is facilitated.

The invention belongs to the technical field of image processing, and particularly relates to a coded disc surface tiny scratch recognition method based on micro texture feature analysis, which comprises the following steps: acquiring a coded disc grating texture image and converting the coded disc grating texture image into a rectangular coordinate system to obtain an expanded grey-scale map; the optimal main direction of the grating texture is determined through rotation projection analysis; for each pixel point in the grey-scale map, sampling along two sides of the optimal main direction to form a reference sample; calculating a weighted average value of the gray values of the sample points in the reference sample to obtain a trend prediction value, calculating a residual error between the gray values of the pixel points and the trend prediction value, and determining a texture deviation index in combination with the change condition of the gray values of all neighborhood pixel points of the pixel points; and finally, identifying the scratches through threshold segmentation. According to the method, the grating edge interference can be effectively inhibited under the strong periodic texture background, and the tiny scratch features can be accurately extracted.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The invention discloses a multi-unmanned aerial vehicle area coverage path planning method with no-fly zone avoidance. The method comprises the following steps: converting an input operation area boundary and longitude and latitude coordinates of a no-fly zone into a UTM plane rectangular coordinate system, carrying out safety buffer area expansion on all no-fly zones, and calculating a difference set between the operation area and the safety buffer areas of all no-fly zones to obtain a final available operation area; segmenting the final available operation region to generate a plurality of sub-regions with balanced areas; for each sub-region, generating a parallel scanning route covering the region; and each sub-region line segment generates a parallel scanning route covering the region according to a preset interval. The method can ensure that the path avoids the no-fly zone, the zone distribution is balanced, and the calculation is efficient.

The invention discloses a planet generation method and system based on spherical display equipment. The method comprises the following steps: acquiring a planet material to be projected; based on preset UV coordinate mapping data, performing spherical projection on the planet material to generate a planet with two poles based on vertical projection and an equator based on cylindrical projection; the acquisition mode of the UV coordinate mapping data specifically comprises the following steps: generating a corresponding cylindrical projection through a cylindrical projection algorithm based on the auxiliary texture; corresponding spherical coordinates are obtained based on auxiliary texture mapping; converting the obtained spherical coordinates into 3D rectangular coordinates; the obtained 3D rectangular coordinates are mapped back to the 2D texture space again, and corresponding vertical projections are generated; determining an equator mask; and generating corresponding UV coordinate mapping data based on the equatorial mask, the cylindrical projection and the vertical projection. According to the invention, through the design of the UV coordinate mapping data, in the process of carrying out spherical projection on the planet material, the resource consumption is reduced, and the dynamic projection precision can be improved at the same time.

The invention provides a graphite head regular hexagon blank manufacturing method which comprises the following steps: taking a rectangular carbon brick, and establishing a rectangular coordinate reference system by taking an orthographic projection rectangle of the rectangular carbon brick as a reference and an original point of a point position where a first side is intersected with a second side; obtaining the length of the first side and the length of the second side of the rectangular carbon brick; the preset single bodies are regular hexagonal prisms, are arranged on a first side in a shoulder insertion manner and are arranged in a side-sharing side-by-side manner in the direction of a second side; the cutting line carries out displacement cutting in the first side direction and the side length direction of a preset regular hexagon; according to the scheme, the cutting line walks in the linear direction of the side length of the regular hexagon, three sides of each regular hexagon can be obtained through cutting after each cutter is completed, although each regular hexagon needs to be machined through two cutters, four regular hexagons can be machined through each cutter except for the first cutter, the machining efficiency is high, and the machining cost is low. And the average monomer processing time is short.

The invention relates to a method and device for determining the arch axis of an arch bridge, electronic equipment and a storage medium, and belongs to the technical field of bridge engineering.The method for determining the arch axis of the arch bridge comprises the steps that the main beam axis of a bridge floor in the arch bridge is determined, and the bridge floor of the arch bridge is located on an asymmetric longitudinal section line; determining two arch feet of the arch bridge on a main beam axis based on a preset calculation span in the arch bridge, and constructing a three-dimensional rectangular coordinate system by taking an intersection point of a horizontal line passing through the first arch foot and a central stake mark line of the arch bridge as an origin of coordinates; in the three-dimensional rectangular coordinate system, the centroid of the arch rib is determined based on the origin of the coordinates and the preset rise, curve fitting is conducted on the two arch feet and the centroid of the arch rib, and a projection curve of the arch axis of the arch bridge on the vertical face of the arch bridge and the coordinates of the position relation between the three-dimensional rectangular coordinate system and the arch rib in the three-dimensional rectangular coordinate system are obtained. According to the method, the arch axis of the through type simply supported basket arch bridge with the bridge deck located on the asymmetric longitudinal section line can be determined.

The invention relates to the technical field of lane line detection, in particular to a 3D-BEV lane line sensing method based on polar coordinates, and the method comprises the steps: carrying out the 3D lane line detection through employing the polar coordinates to replace a conventional method based on a rectangular coordinate system, employing a sliding long-strip-shaped window convolution to adapt to a polar coordinate system, and carrying out the 3D lane line detection through employing the sliding long-strip-shaped window convolution. According to the method, the lane line in the picture can be accurately identified in the polar coordinate system, accurate positioning is carried out in the 3D space, the false detection rate is greatly reduced, the radial distribution characteristic of perspective projection can be more naturally matched, and the modeling precision of the geometric structure of the lane line is remarkably improved.

One or more embodiments of the present disclosure relate to graphics rendering, and in particular to an image rendering method and system based on Boolean operations of simplified contour polygons. The method comprises the steps of: placing two simplified contour polygons to be processed by Boolean operations in an xoy rectangular coordinate system; searching for and splitting edges of the simplified contour polygon on the basis of inflection points, searching for intersection points between the edges of the two simplified contour polygons, and splitting the edges of the simplified contour polygons again on the basis of the intersection points; traversing the edges of the two simplified contour polygons, and labeling both sides of each edge with annotations representing internal and external attributes of the two simplified contour polygons; screening for target edges and target sides on the basis of the Boolean operations; and connecting all the target edges, obtaining a result region on the basis of the target sides, and filling the result region with a pre-configured color.

The invention discloses a rapid forward modeling method for a gravity field of a rectangular coordinate system based on an isoparametric transformation global discrete grid, and belongs to the technical field of geophysical exploration. According to the method, a measuring network composed of dggrid grids is manufactured to cover the whole measuring area range by selecting the measuring network forming form and the side length, the exploration depth is selected as D, the dggrid grids extend to the ground by an n < z + 1 > layer to form dggrid units of an n < z > layer, and the corresponding thickness of the dggrid units is D / n < z >. And calculating the abnormal response of all the dggrid units at each observation point by utilizing isoparametric transformation based on a dggrid unit interpolation type function, an integral point and an integral weight coefficient obtained by a hexagonal prism integral formula. Compared with a square grid, the dggrid grid has excellent angular resolution, the discrete distance measurement of the dggrid grid is better close to the Cartesian distance, and the dggrid grid also has the advantage of displaying uniform and clear adjacency. Compared with conventional direct calculation, the rectangular coordinate system gravitational field forward modeling based on the isoparametric transformation global discrete grid has extremely high acceleration potential.

The invention discloses a multi-sensor fusion road surface real-time detection method, system and device, and the method comprises the steps: carrying out the continuous data collection of a road surface through a laser radar in the advancing process of a construction machine, and obtaining the polar coordinate data; converting the polar coordinate data into rectangular coordinate data, and screening to obtain coordinate points consistent with a pavement coordinate system; correcting the coordinate points according to the height change of the laser radar; according to the angle data obtained through coordinate transformation and the laser radar attitude angle measurement data, cross section gradient data are obtained through calculation; acquiring height data according to the corrected coordinate points to calculate the flatness of the cross section; calculating a moving distance according to the laser radar GPS coordinate, constructing a pavement three-dimensional coordinate in combination with the corrected coordinate point, constructing an interpolation point by using an interpolation method, calculating to obtain an interpolation height, reconstructing the pavement three-dimensional coordinate by using the interpolation height, and calculating to obtain the flatness and gradient of a vertical section. According to the invention, efficient and real-time gradient and flatness detection can be realized, the measurement precision is improved, and the function dimension is expanded.

The invention relates to the technical field of geographic multi-dimensional data management, and provides a rasterized geographic information construction method based on Gaussian projection, which comprises the following steps: carrying out zoning projection processing on the earth surface, and converting a geodetic coordinate system into a rectangular plane coordinate system by adopting Gaussian-Kruger projection; further dividing the projection zone into a plurality of longitude and latitude zones, and distributing a unique identifier EarthID for each longitude and latitude zone; in each latitude and longitude zone, taking the central point as a reference, and calculating the offset Axoffset and Ayoffset of the grid in the latitude and longitude directions; the position of each grid is uniquely determined according to the EarthID, the Axoffset and the Ayoffset; grid coordinates are converted into geodetic coordinates through an inverse calculation method, and visual display of the grids on the map is achieved. According to the method, the problems of unified expression, efficient management and flexible application of the multi-scale geographic space data are effectively solved, and powerful technical support is provided for space-time big data analysis in the fields of smart cities, traffic planning, emergency command and the like.

The invention relates to the technical field of photoelectric detection and radars, in particular to a calibration method, system and device for a radar and a laser anti-collision device and a medium, and aims to track and lock the same dynamic non-cooperative target through the laser anti-collision device and the phased array radar. Synchronously acquiring spherical coordinate observation data of the dynamic targets in the public view field under respective coordinate systems; and after the spherical coordinates are converted into rectangular coordinates, calculating a point set centroid, constructing a covariance matrix and performing singular value decomposition based on a rigid body transformation model, and directly solving a rotation matrix and a translation vector from a radar coordinate system to a laser anti-equipment-free coordinate system, thereby completing calibration. No external absolute coordinate reference is needed, only relative observation data of equipment is utilized, and the method has the advantages of being rapid in deployment, high in environmental adaptability, low in cost and high in calibration speed. The problems that in the prior art, a calibration system depends on RTK or a high-precision map, the environmental adaptability is poor, and the deployment requirement is high are solved.

The invention belongs to the technical field of airborne radar system measurement error calibration, and particularly relates to a satellite positioning system-based airborne radar system measurement error calibration method, which comprises the following steps of: 1, determining an installation error of a radar system and compensating; meanwhile, a radar system is used for detecting and tracking the track of the cooperative target, and a detection and tracking track of the cooperative target is obtained; 3, converting the precisely recorded track of the cooperative target to a local rectangular coordinate system and a polar coordinate system which take the radar system as the center; step 4, by taking the detection tracking track of the cooperative target as a reference, aligning the time of the accurate recording track of the cooperative target with the time of the detection tracking track; and 5, calculating measurement errors of the radar system, wherein the measurement errors comprise a distance system error and a course angle system error.

This invention discloses a design method for a deep-sea in-situ fine-scale detection framework based on acoustic-optical remote sensing and VR technology. The main steps include: (1) studying the structure of the photon-counting lidar scanning system and the dynamic geometric relationship between the mother ship and the submersible, and constructing a calculation model for the lidar bathymetry point coordinates in the WGS84 spatial rectangular coordinate system; (2) considering the submersible's attitude, and based on the ray-tracking model and the geometric relationship between the mother ship and the submersible, constructing a calculation model for the multibeam bathymetry point coordinates in the WGS84 spatial rectangular coordinate system; (3) fusing the lidar and multibeam bathymetry points to construct a seabed topographic map; (4) proposing a development scheme and detection method for a deep-sea functional imaging spectrometer; and (5) constructing a VR environment for the deep-sea target survey area using a three-dimensional seabed topography model, rendering technology, and binocular stereo imaging technology. Through these steps, deep-sea in-situ fine-scale detection based on acoustic-optical remote sensing technology and the construction of a VR environment for the survey area can be achieved.

The application discloses a pump source sintering jig and relates to the technical field of pump source chip positioning. The pump source sintering jig comprises a pump source base and a positioning jig. The pump source base is provided with a mounting groove. The bottom of the mounting groove is provided with a plurality of chip mounting positions. The positioning jig is arranged in the mounting groove and covers the bottom of the mounting groove. The positioning jig is provided with a plurality of positioning grooves penetrating in the up-down direction. The plurality of positioning grooves are arranged in correspondence with the plurality of chip mounting positions. At least two positioning columns are arranged on the positioning jig. The edges of the upper ends of the positioning columns are chamfered. The positioning columns are used to establish a rectangular coordinate system. Each mounting groove is provided with a corresponding coordinate in the rectangular coordinate system. The position of each mounting groove can be determined by recognizing the positioning columns, so that the technical problem of difficult recognition caused by the blurred edges of the mounting grooves of the positioning jig is avoided.

The invention provides a two-dimensional roadway coordinate checking calculation method and system and a storage medium. The two-dimensional roadway coordinate checking calculation method comprises the steps of determining a quadrant in a rectangular coordinate system where a two-dimensional roadway is located; selecting a roadway checking calculation type; identifying and picking up label values of a plurality of coordinate parameters of the two-dimensional roadway from the construction plane graph; on the basis of the selected roadway checking calculation type and the quadrant where the two-dimensional roadway is located, target coordinate parameters needing to be checked calculation are determined, and calculated values of the target coordinate parameters are calculated through marked values of part of the coordinate parameters; and outputting a comparison result of the calculated value of the target coordinate parameter and the labeled value of the target coordinate parameter. According to the method, the coordinate checking calculation process is simplified, the problems of secondary carrying of data, repeated switching and use of multiple tools and tedious checking calculation process in a traditional coordinate checking calculation mode are solved, the accuracy and efficiency of two-dimensional roadway coordinate checking calculation are improved, the labor intensity of designers is reduced, and the drawing standardization degree and the intelligent design level are improved.

The invention provides a method for obtaining a three-dimensional body through two-dimensional seismic reflection data gridding, and belongs to the field of seismic data processing. Through a technical means of constructing a virtual grid through rotation, a two-dimensional measuring line is converted into a three-dimensional data body which is uniformly distributed in space, and subsequent data processing is not limited to one direction any more. Specifically, latitude and longitude coordinates of each discrete reflection data are obtained and converted into UTM projection rectangular coordinate values, and coordinate values of a longitude minimum point are determined; calculating the optimal azimuth angle of the grid according to the plane distribution characteristics of the discrete points, and determining the grid spacing along the azimuth angle direction and the vertical azimuth angle direction; the grid is rotated to the three-dimensional grid direction, the coordinates of the point with the minimum longitude value after rotation are extended outwards by a half grid interval, and the coordinates of the point serve as base points of the grid; all the coordinate points are rotated in the same way, data falling into the same grid are superposed, then the coordinate number of each point in the grid is calculated, and a three-dimensional data volume is obtained accordingly.

The application provides a flow control method based on three-curved-surface fish scale bionic structure, comprising the following steps: S1, constructing a main structure of an impeller blade, including a suction surface e and a pressure surface f, and fish scale areas g with multiple fish scale bionic structure coupling elements arranged regularly are arranged on the suction surface e and the pressure surface f; S2, constructing and designing a single fish scale bionic structure coupling element, including a bottom surface adhering to a blade surface, a top surface in a fish scale structure, and a rear side cylindrical surface; the top surface comprises two groups of parallel fold surfaces, and each group of fold surfaces is composed of three quadrilateral surfaces; a space rectangular coordinate system is established with a front end point of the bottom surface as an origin, and the fish scale bionic structure coupling element is constructed in the space rectangular coordinate system; and S3, establishing multiple fish scale bionic structure arrangement rules. The application can improve the fluid flow characteristics of the blade surface and reduce noise generation based on the control of flow by bionic structure.

The invention provides a method and system for determining the track of a ground reverse inclined shaft of a steeply inclined seam, and relates to the technical field of steeply inclined seam mining and ground drilling engineering. A wellbore trajectory design basic model is established based on coal seam boundary elevation, coal seam inclination angle, effective thickness and roof mechanical parameters; constructing a rectangular plane coordinate system on the top plate side of the goaf to obtain a space coupling relation between a shaft track and a rock stratum structure; smooth transition of a wellbore track is achieved through segmented arrangement of a vertical well section, a deflecting section and a reverse inclining section; determining a rock stratum movement line and calculating an included angle by combining ground surface movement monitoring, and delimiting a safety protection zone between the rock stratum movement line and a roof fracturing target layer; and finally, a trajectory equation of each well section is established with the safety protection zone, the rock stratum movement line intersection point and the rock stratum movement influence boundary as constraints, and a reverse inclined shaft trajectory meeting the requirements for interference avoidance safety and fractured layer coverage precision is obtained.

The invention discloses a joint correction method and system for GNSS (Global Navigation Satellite System) non-structural deformation and a storage medium. According to the method, GNSS pseudo-range and carrier phase observation data and precise products such as a precise orbit and clock correction are obtained, a three-component displacement time sequence caused by a non-tidal atmospheric load, a non-tidal ocean load and a land hydrological load and a temperature-driven thermoelastic displacement time sequence are constructed, and the three-component displacement time sequence and the temperature-driven thermoelastic displacement time sequence are unified to a reference frame and a time system consistent with GNSS calculation. After interpolating the non-structural displacement vector to an observation epoch according to time, converting the non-structural displacement vector to a geocentric rectangular coordinate system from a site local coordinate system ENU, and projecting the non-structural displacement vector to a sight line direction from a satellite to an observation station reference point to form an equivalent geometric distance correction item; the correction terms are respectively applied to pseudo-range observation and carrier phase equivalent meter domain observation in the form of the same domain as observation, and then GNSS daily arc precise calculation is performed to output a coordinate time sequence, and preferably, the method can be used for a precise single-point positioning integer ambiguity fixing technology.

A method for calculating the in-plane nonlinear deformation of an arch structure with axial defects in a Cartesian coordinate system is presented. This method is based on two states of the arch structure's curve element in the Cartesian coordinate system: an ideal axis and an actual axial defect. It derives the changes in the arc length and curvature of the curve element before and after deformation, obtaining expressions for the nonlinear compressive and bending strains in the in-plane of the arch structure with axial defects in the Cartesian coordinate system. The method also derives the nonlinear equilibrium differential equations in the in-plane of the arch structure with axial defects in the Cartesian coordinate system, obtaining solutions that satisfy the mechanical and geometric boundaries of the arch structure with axial defects. Finally, the method derives the nonlinear equilibrium governing equations in the in-plane of the arch structure with axial defects, ultimately obtaining the solution to the nonlinear mechanical problem in the in-plane of the arch structure with axial defects in the Cartesian coordinate system. This method can obtain the essence of the nonlinear mechanical problem of the arch structure with axial defects in the Cartesian coordinate system, filling the gap in the nonlinear strain-displacement expression for the in-plane of the arch structure with axial defects in the Cartesian coordinate system.

1. Name of the product in this design: Mathematical Model (Teaching Aid for Spatial Rectangular Coordinate System). 2. Purpose of this design: For demonstration purposes in mathematics teaching. 3. The key design features of this product are the combination of shape and color. 4. The image or photograph that best illustrates the design's key points: a 3D model. 5. The design for which protection is sought includes color.

The application discloses a slice rack, which comprises a slice rack body, a plurality of slice grooves are arranged on the slice rack body, a horizontal rectangular coordinate system is arranged and comprises an X direction and a Y direction, two opposite sides of the X direction are arranged as a first X direction side and a second X direction side, two opposite sides of the Y direction are arranged as a first Y direction side and a second Y direction side, a clamp jaw is arranged on the first Y direction side and the second Y direction side in each slice groove, one end of the clamp jaw is a connecting end connected with the slice rack body, the connecting end of the two clamp jaws in each slice groove is located on the first X direction side of the X direction in the slice groove, the other end of the clamp jaw is a free end and faces the second X direction side of the slice groove, and the clamp jaw can be bent and deformed around the connecting end of the clamp jaw. The slice rack has a simple structure, can be integrally formed by molding, is convenient to install the slice, and is convenient, fast and reliable in slice installation.

The application provides a method for predicting the position change of internal defects of a titanium alloy forging during a forging process, and relates to the technical field of titanium alloy material processing and preparation. First, a three-dimensional space rectangular coordinate system is established for a titanium alloy bar with implanted defects, the specific position of the defects is determined through ultrasonic detection, and the three-dimensional coordinates of the defects are constructed. Then, the titanium alloy bar with the defects is forged under different forging deformation amounts, the three-dimensional coordinates of the internal defects of the forging are determined through ultrasonic detection technology, the maximum absolute value of the three-dimensional coordinate change of the theoretical position and the actual position of the defects in the forging is taken as the defect position change amount during the forging process. Finally, the defect position change amount of the titanium alloy bar during the forging process is fitted with the forging deformation amount, a functional relationship between the defect position and the bar deformation amount during the forming process of the titanium alloy forging is established, the prediction of the internal defect position change of the titanium alloy forging is realized, and support is provided for the defect detection and control of high-performance titanium alloy forgings in the field of aviation and aerospace.

The application discloses a hexagon-based electromagnetic spectrum monitoring network deployment method, which comprises the following steps: constructing a minimum circumscribed rectangle of an electromagnetic spectrum coverage task area, establishing a plane rectangular coordinate system with any two adjacent sides of the minimum circumscribed rectangle as an x-axis and a y-axis; taking a center point of a regular hexagon as a center point of the regular hexagon, taking a side length of the regular hexagon as the side length of the regular hexagon, and making the x-axis coincide with a horizontal symmetry axis of the regular hexagon to construct a first regular hexagon; translating the first regular hexagon to the y-axis direction to obtain a second regular hexagon; translating the first regular hexagon to the x-axis direction and then to the y-axis direction to obtain a third regular hexagon, and the process is repeated until the regular hexagon grid covers the minimum circumscribed rectangle and the number of the regular hexagons is the least; and taking a sensing radius of an electromagnetic spectrum monitoring device as the sensing radius of the electromagnetic spectrum monitoring device. The application can effectively process and solve the task area boundary coverage problem, and is easy to plan, design and solve the number of the electromagnetic spectrum monitoring devices in the task area.

The application provides a kind of InSAR deformation monitoring point high-precision geometric positioning method combined with three-dimensional model data, belongs to synthetic aperture radar technical field, comprising: converting three-dimensional model data into space rectangular coordinates, combined with satellite orbit parameter iteration to solve row and column coordinates in SAR image, calculate the slant range projection distance of satellite-observation vector, screen and eliminate invalid data in shadow area;With the screening result as a mask, obtain a subset of three-dimensional model data, calculate the row and column coordinates of the InSAR deformation monitoring point of the subset of three-dimensional model data, and search for candidate points based on plane geometric constraints, match the accurate elevation of the monitoring point by height system deviation;Based on the determined accurate elevation, construct the RD positioning model of distance constraint, Doppler frequency constraint and ellipsoid constraint, and solve the high-precision geometric position of InSAR deformation monitoring point. It can realize the high-precision geometric positioning of infrastructure InSAR deformation monitoring point, and improve the applicability in infrastructure fine deformation monitoring.

The invention relates to the technical field of target tracking, in particular to a target tracking algorithm fusing multi-coordinate system filtering results, which can be applied to the fields of radar detection, threat target early warning, auxiliary driving and the like. According to the method, firstly, system parameters and a tracking model are set, then, a Jacobian matrix of an EKF measurement equation is calculated, then, initialization of a CMKF filter and CMKF are carried out, then EKF initialization and EKF are carried out, and finally, tracking results of the EKF in a polar coordinate system and the CMKF in a rectangular coordinate system are fused to obtain a target tracking result. The method combines the EKF and CMKF filtering results to obtain the filtering result fused with multiple coordinate systems, not only does not introduce new parameters, but also improves the tracking precision of the target, has a small operand, and is convenient for engineering realization.

The invention provides an alignment method, semiconductor manufacturing equipment, an executable program and a storage medium. The alignment method comprises the following steps: acquiring an image marked on a template; extracting contour information of the image; solving a minimum enclosing rectangle of the contour; and calculating a center point coordinate and a rotation angle based on the rectangular coordinate information. According to the alignment method and device, the micro-nano level alignment precision can be achieved, the method and device adapt to changes and deviations in the production environment, the production stability and the product consistency are improved, the production cost can be remarkably reduced, and the product quality is improved. According to the invention, high-precision, high-stability and high-efficiency alignment of the wafer and the mask plate is realized, and remarkable social, economic and technical benefits are brought to the semiconductor manufacturing industry.

The invention discloses a three-axis linear arc interpolation motion control system and method, and relates to the field of three-axis motor motion control, and the method comprises the steps: building a space rectangular coordinate system according to the space information of an operation point location and a distance proportion; based on the two-point equation, determining a motion track of linear interpolation of the three-axis motor; according to a method of determining a circle by three coordinate points, calculating the circle radius and point location information of the motor arc interpolation motion; setting a unified unit for motion control of the three-axis motor according to the requirements of a product process; parameter information of the three-axis motor is set and used for displaying and controlling the linear arc interpolation motion trail of the three-axis motor. The method has the advantages that the points of the three-axis motion trail are connected in series to form a complete curve in a linear arc interpolation mode, so that the complete curve can work coordinately according to a certain time sequence, dispensing and winding of irregular products are achieved, a three-axis motor system operates stably at the maximum speed, and higher response speed and precision are achieved.