1099 results about "Satellite positioning" patented technology

An antenna apparatus includes a magnetic field sonde and a satellite location system antenna node.

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.

According to the intelligent rolling construction method and system for the concrete face rockfill dam and the computer readable storage medium, self-adaptive adjustment of the rolling speed and frequency is achieved through three-dimensional digital elevation model generation, optimal rolling path planning, rolling parameter dynamic optimization model and real-time compaction degree prediction. The system integrates satellite positioning, BIM model verification, cloud data management and an abnormal protection mechanism, can correct path deviation in real time, generates a pressure supplementing instruction and stores construction data, provides an intelligent solution for high-precision and high-reliability rock-fill dam construction, and is suitable for popularization and application. The technical problems that in traditional rolling construction, manual experience is relied on, parameters are static, monitoring lags behind, and the rework rate is high can be solved.

The invention discloses an anti-counterfeiting traceability system and method based on Beidou satellite positioning and a block chain. The method comprises the following steps: generating a current positioning data tuple; performing validity judgment on the satellite signal quality index; generating current event summary information, performing encryption calculation on the event summary information by using a private key embedded in a commodity and improving a verifiable random function, and outputting a random seed and a verification proof; constructing an event fingerprint and generating an event signature by using a private key; a challenge request is generated when the commodity request state is migrated, the commodity end device responds to the challenge request and collects new Beidou positioning information, and a challenge response data packet is constructed; and performing consistency verification on the challenge response data packet according to the virtual state resume smart contract, writing the verified data into a geographic sub-chain, recording an event abstract hash path by a main chain, and updating a commodity state transfer path. According to the invention, based on Beidou positioning and an improved verifiable random function, the credible verification of the commodity position and the traceable management of the state are realized.

The invention provides a Beidou intelligent early warning analysis method and system applied to a drainage basin-level reservoir dam group, and the method comprises the steps: obtaining a dam body deformation time sequence record and a corresponding hydrological environment time sequence record which are collected by a monitoring system of the drainage basin-level reservoir dam group through a Beidou satellite positioning terminal; dam body deformation response mode self-encoding processing is carried out on the associated time sequence data set, a deformation response feature element set representing the dam body structure state is generated, the deformation response feature element set is input into a pre-constructed basin reservoir dam group topological relation graph, abnormal state propagation calculation is carried out through the state dependency relation between graph nodes, and the abnormal state propagation calculation is carried out. And obtaining a chain risk transmission path set, performing risk evolution trend deduction on dam nodes in each path based on the chain risk transmission path set, generating a risk evolution index matrix, and generating a threatened risk identification sequence for key dam nodes. According to the method, the structuralization and response operability of the early warning information can be improved, and the scientificity and practicability of early warning analysis of the basin-level reservoir dam group are comprehensively improved.

The invention provides a driving fatigue monitoring auxiliary system based on Beidou satellite positioning and a multi-modal data fusion technology, which relates to the field of electric digital data processing and comprises a multi-modal information sensing and acquisition module, a data preprocessing and quality assurance module, a fatigue state recognition and evaluation module and an intelligent early warning and adaptive optimization module. The multi-modal information perception and acquisition module is responsible for acquiring driver states, driving behaviors and environment information in real time, and the data preprocessing and quality assurance module is responsible for performing space-time alignment, quality evaluation and feature standardization on multi-source data. The fatigue state recognition and evaluation module is responsible for fusing multi-dimensional features and judging fatigue levels and risk trends, and the intelligent early warning and self-adaptive optimization module is responsible for implementing hierarchical intervention and continuously optimizing system performance; according to the system, the accurate space-time reference provided by Beidou satellite positioning is utilized, effective fusion of multi-source heterogeneous data is realized, and the accuracy, the real-time performance and the individuation level of fatigue monitoring are remarkably improved.

The invention discloses a high-precision real-time positioning system and method for positioning personnel based on multi-mode fusion. The system comprises a multi-source data acquisition module, an intelligent data processing module, a fusion positioning model construction module and a positioning result application module, provides visual monitoring, trajectory analysis and scene customization functions, and supports flexible expansion through modular design. According to the method, satellite positioning, Bluetooth beacon and inertial navigation technologies are integrated, the weight is dynamically adjusted in combination with an adaptive weighted fusion algorithm, and a fusion positioning model supports outdoor (satellite dominant + EKF calibration, the precision being 2-5 meters) and indoor (beacon dominant + fingerprint matching, the precision being lt); according to the invention, intelligent switching between three modes (inertial navigation + ZUPT correction) and signal loss (1 meter) is realized, data noise is optimized by using Kalman filtering, and high-precision real-time positioning in indoor and outdoor complex scenes is realized. According to the invention, the problems of insufficient precision, poor environmental adaptability and weak expansibility of a single positioning technology are solved, and the comprehensive performance of the positioning system is significantly improved.

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention relates to the technical field of positioning, in particular to a rail-mounted robot high-precision fusion positioning method and system. According to the method, the error compensation model of each track segment is constructed, dynamic correction is carried out in combination with real-time environment interference data, dynamic compensation can be carried out on pulse data generated by an incremental encoder in real time, accumulation of position errors is remarkably reduced, it is ensured that the position of the robot is more accurate, and the accuracy of the robot is improved. By fusing satellite positioning data, motion state data and pulse data after error compensation, the positioning precision of the orbital robot in each orbital segment is remarkably improved, and by monitoring the position deviation in real time and comparing the position deviation with a preset threshold value, the unqualified orbital segments can be repeatedly corrected according to needs, so that the accuracy of the orbital robot is improved. And the accuracy of the positioning result is ensured, so that the robot can adaptively optimize the positioning precision under different working scenes and environment changes, and the continuity of high-precision positioning is ensured.

The embodiment of the invention provides a road disease inspection method and device based on AI recognition, equipment and a storage medium, and is used for road maintenance. The method comprises the steps of performing multi-source data synchronous acquisition on a road surface to obtain an original image-positioning data set, performing dynamic interference suppression and image enhancement on the original image-positioning data set to obtain a stable enhanced image sequence, and performing disease target detection and classification in combination with a deep learning recognition model to obtain a disease target set, and performing multi-target space-time correlation and satellite positioning data fusion on the disease target set to obtain a stable target trajectory set, performing geometric coordinate conversion on the stable target trajectory set to obtain a road disease data set, and performing clustering analysis through a spatial clustering analysis algorithm to generate a road disease maintenance strategy report. Through the technical means of multi-source cooperation, deep learning, space-time fusion and the like, high-precision and intelligent detection of road diseases is realized, the road maintenance efficiency is improved, and the manpower and material resource cost is reduced.

The invention belongs to the technical field of satellite positioning, and particularly discloses a high-precision PPP (Point-to-Point Protocol) positioning method based on SSR (Simple Sequence Repeat) correction prediction, which comprises the following steps that: a receiver receives and stores an SSR correction in real time to obtain an SSR sequence; inputting the stored SSR sequence into a pre-trained prediction model, and outputting an SSR correction number prediction value in a future time period; the broadcast ephemeris is corrected through the predicted SSR correction number, and a precise satellite orbit and clock correction are obtained; and constructing an ionosphere-free combination model based on the double-frequency observation value, and resolving the position of the receiver through Kalman filtering in combination with the corrected satellite orbit and clock correction. According to the method, long-time-sequence prediction is carried out on the SSR correction number through the prediction model, the problem of positioning precision jump caused by satellite correction data interruption is effectively solved, it is guaranteed that PPP positioning continuously outputs centimeter-level precision results under the scenes of signal shielding, network delay and the like, and the limitation that traditional PPP strongly depends on real-time SSR data is broken through.

The invention relates to the technical field of satellite navigation and precision positioning, in particular to a Beidou large-area sea area millimeter-level high-precision positioning method. The method comprises the specific implementation steps that marine environment state data and Beidou observation data are collected and preprocessed, and environment influence parameters are extracted; establishing a quantitative model based on the environment state data, the satellite signal propagation data and the antenna phase center data, and obtaining propagation path delay data and antenna phase center change data; processing the observation data and the self-adaptive reference network information based on a Beidou cooperative satellite positioning algorithm to obtain a preliminary positioning result; constructing a satellite signal error model to analyze environmental influence parameters and data, obtaining a positioning error value, and adjusting a preliminary positioning result; and calculating and judging the positioning result, dividing the positioning result into a first type of working condition and a second type of working condition, switching the second type of working condition to an emergency mode, and performing enhanced compensation on the Beidou signal error. According to the invention, the positioning precision, reliability and adaptive capability of the Beidou system in a marine environment are improved.

The invention provides a real-time data processing method and system for Beidou satellite positioning error correction, and relates to the technical field of data processing, and the method comprises the steps: 1, collecting Beidou satellite original observation data of the current position of a mine car in real time, and synchronously obtaining the dynamic environment information of an operation region; 2, according to the signal receiving quality and the dynamic environment information of the original observation data of the Beidou satellite, the Beidou signal dynamic shielding state of the current position is sensed and quantified in real time, and a signal shielding grade evaluation result is obtained; and step 3, according to a signal shielding grade evaluation result, adaptively adjusting an error correction strategy to obtain an adjusted error correction strategy. According to the invention, targeted accurate error compensation is realized, and the precision and stability of positioning data are improved.

The invention provides a road inspection target positioning method based on multi-source data fusion, and relates to the field of road daily inspection and infrastructure performance monitoring, and the method comprises the following steps: obtaining multi-source data based on a preset multi-source sensor; through deep coupling of satellite positioning carrier double-difference observation and inertial navigation solution of an inertial sensor, error correction is carried out in combination with Kalman filtering recursion, and fusion navigation data is determined; according to the fused navigation data, carrying out fusion processing on the two-dimensional visual observation data and the three-dimensional space point cloud data to obtain a forward view depth map; determining the national geodetic coordinates of the disease by combining a depth value back calculation method and utilizing a forward view depth map; and obtaining a starting kilometer pile number in a road inspection process, and determining a mileage pile number of the disease by combining the national geodetic coordinate of the disease and utilizing a Gaussian positive algorithm. According to the invention, centimeter-level geographic coordinate positions of diseases and corresponding mileage stake numbers can be output.

The embodiment of the present application discloses a kind of control method of mobile device and related equipment, the method comprises: control the mobile device moves along preset path;When the mobile device moves to the position where satellite positioning signal does not satisfy preset condition, control the mobile device continues to move along the preset path, and in the process of continuing to move along the preset path, the distance between the position of the mobile device and the nearest one first position is determined;When the distance is equal to remaining mileage, if it is detected that the satellite positioning signal does not satisfy the preset condition, control the mobile device moves to the nearest one first position, so that the position of the mobile device after moving detects that satellite positioning signal satisfies the preset condition, and the remaining mileage is obtained based on preset mileage and the mileage of the mobile device continuing to move along the preset path.

The invention relates to the technical field of rail transit automatic driving, and particularly discloses a rail transit train automatic driving control method, which is characterized in that a vehicle-mounted control center cooperates with a signal system, a traction unit and a braking system, and centimeter-level real-time positioning is realized by adopting extended Kalman filtering and fusing satellite positioning, an odometer and trackside beacon data; the parking precision of the platform is controlled based on a graded braking strategy (coasting-common-precise braking) and pulse type terminal point fine adjustment; the method dynamically adapts to line condition changes in combination with feedforward-feedback composite speed control, and establishes a multi-level safety monitoring network (obstacle detection / overspeed protection / vehicle door linkage) to realize full-process closed-loop control, and finally, high-precision, high-safety and high-coordination operation under unmanned driving is achieved.

The invention discloses a slope monitoring data calibration and three-dimensional point cloud matching method, belongs to the field of monitoring data calibration, and aims to improve orientation errors caused by the fact that global satellite positioning and navigation system measurement endpoint errors and equipment length problems are not fully considered in existing slope radar measurement. The method solves the problem of position deviation of a monitoring result caused by the fact that the position of a deformation area is monitored, breaks through the limitation of insufficient precision when a traditional radar image is converted into geographic space coordinates, improves the accuracy and reliability of data, remarkably improves the position precision of slope radar monitoring data, and enables the position monitoring of the deformation area to be more accurate. The high-precision requirement of slope stability monitoring is met, reliable data support is provided for fine monitoring of slope stability, potential safety hazards can be found in time, and corresponding measures can be taken.

A navigation and positioning device including an inertial measurement unit, a receiver for receiving GNSS satellite positioning measurements, a closed-loop primary Kalman filter configured to compute navigation data corrections by hybridizing satellite data and non-satellite data, as well as a bank of N closed-loop secondary Kalman filters, each configured to compute navigation data corrections based solely on the non-satellite positioning data delivered at least by the inertial measurement unit, each secondary Kalman filter of index i, where 1≤i≤N, being able to reconfigure itself to the primary Kalman filter at a time (i−1)T from the start of navigation of the vehicle, and then periodically at a period N×T, T being a predetermined duration.

The embodiment of the invention relates to the technical field of measurement, and discloses a cooperative positioning method in mine pit topographic survey, which comprises the following steps: receiving monitoring data acquired by an unmanned aerial vehicle hovering above a mine pit; the method comprises the following steps: sending a corresponding ultra-wideband pulse signal to an ultra-wideband base station at an unmanned aerial vehicle hovering above a mine pit through an ultra-wideband label arranged on an unmanned ship, and calculating a relative position relationship between the corresponding unmanned aerial vehicle and the unmanned ship at the ultra-wideband base station according to the obtained ultra-wideband pulse signal; and determining the optimized positioning information of the corresponding unmanned ship according to the position relation, the positioning data detected by the unmanned aerial vehicle and the height information. The cooperative positioning method in mine pit topographic survey does not depend on satellite positioning purely, and can adapt to various complex terrains and signal environments in a mine pit through cooperation of the unmanned ship and the unmanned aerial vehicle.

The invention relates to an ephemeris broadcast and time synchronization method for Beidou pseudolite deformation monitoring, and belongs to the technical field of satellite positioning. The method comprises the following steps: constructing a linearization error equation based on a pseudo-range observation value, and solving a clock error correction amount in combination with a robust iterative algorithm to improve the time synchronization precision; analyzing ephemeris parameters of the Beidou GEO satellite, calculating earth-fixed coordinates of the Beidou GEO satellite, and rotating and adapting the earth-fixed coordinates; establishing an affine transformation relationship between the pseudo-satellite coordinates and GEO ephemeris, and generating optimized pseudo-satellite ephemeris data; and a time synchronization protocol is designed, and clock skew is compensated through bidirectional timestamp interaction of the main base station and the pseudo satellite. According to the method, nanosecond synchronization of the pseudo-satellite and the real satellite is realized, the ephemeris parameter redundancy problem of the static pseudo-satellite is optimized, multi-system cooperative work is supported, and the deformation monitoring reliability and precision under the complex terrain are remarkably improved.

The invention discloses a positioning method, device and equipment based on ionosphere error correction and a medium, and the method comprises the steps: obtaining a real-time observation data set of a target CORS system, calculating the real-time ionosphere delay of each observation satellite in each reference station, and obtaining a real-time ionosphere delay set; calculating longitude and latitude correction parameters of each reference station through the real-time ionosphere delay set and longitude and latitude change rate reference coefficients pre-acquired by each reference station, and updating a pre-acquired original ionosphere correction model through the longitude and latitude correction parameters to obtain a new ionosphere correction model; and generating a corrected ionosphere error through the new ionosphere correction model, and correcting positioning data acquired by the target CORS system through the corrected ionosphere error. According to the method, the problem that the change rule of the ionosphere on the longitude and latitude is ignored in the traditional positioning technology can be solved, so that the accuracy of the CORS system satellite positioning is improved.

The invention discloses a space-ground integrated high-precision positioning system and method based on multi-domain fusion, and the method comprises the steps: receiving a wireless signal of a GNSS satellite through a GNSS positioning subsystem based on a navigation map, so as to calculate the GNSS positioning information of a user; matching the GNSS positioning information with navigation map data to realize continuous matching tracking; a positioning subsystem based on low-orbit satellite communication, the subsystem receiving signals sent by a plurality of low-orbit communication satellites, and calculating to obtain low-orbit satellite positioning information; kalman filtering is adopted in the multi-domain fusion positioning subsystem, and GNSS positioning errors are corrected through high-precision observation data of a low-orbit satellite; the subsystem further comprises a self-adaptive weight distribution module which is used for evaluating the positioning signal quality of the GNSS and the low-orbit satellite in real time and dynamically adjusting the weight in the fusion algorithm according to the evaluation result. According to the method, the technical defects of low density, delay caused by repeated transmission and the like of the low-orbit satellite at the present stage can be overcome, and meanwhile, the GNSS positioning result is improved to the centimeter level.

The invention belongs to the technical field of traction robot control, and relates to an intelligent sensing control method and system for a traction robot. Checking the consistency of satellite positioning, ultra-wideband positioning and odometer information, calculating the credibility, fusing to obtain a fused pose and pose confidence, and when the confidence is lower than a threshold, rejecting low-credibility information to degrade and re-fuse; environment representation is constructed based on laser point cloud and image semantics, and dynamic obstacles are updated; generating and updating a target track according to environment change or confidence change under environment representation and motion constraint; and generating a control instruction according to the target track, the fused pose and the traction connection angle, and parking when a safety condition is triggered. According to the technical scheme, through trailer motion constraint, multi-source positioning consistency check, dynamic obstacle environment representation and track self-adaptive updating cooperation, pose reliability maintenance and track-control closed loop stability are achieved, and the trailer / motor home shifting and parking requirements of a camping site and a parking lot are met.

The invention discloses a Galileo HAS service receiving and positioning performance evaluation method and device, and belongs to the technical field of satellite positioning and navigation. The method comprises the steps that Galileo E6B frequency band signals are captured through USRP equipment, after radio frequency and direct current signals are separated through a bias device, self-adaptive layering processing is carried out through GNSS-SDR software, and the self-adaptive layering processing comprises dynamic sampling and interference suppression of a radio frequency adaptation layer, double-domain cooperative synchronization and self-adaptive decoding of a baseband intelligent processing layer and self-adaptive decoding of a baseband intelligent processing layer. And carrying out multi-dimensional feature mapping and robust verification on the HAS correction number extraction layer, and finally outputting a standardized HAS correction number. And in combination with a real-time precise single-point positioning technology, centimeter-level dynamic positioning is realized, and the positioning performance is evaluated through comparison with reference station data. According to the method, the robustness and precision of signal receiving and processing are improved, and the method is suitable for high-precision positioning requirements in a complex environment.

The invention discloses an indoor and outdoor positioning method and system based on ultra wide band and satellite positioning fusion, and belongs to the technical field of indoor and outdoor positioning, and the method comprises the steps: collecting an outdoor initial coordinate of a first target through a satellite navigation system in an outdoor environment; the method comprises the following steps: in an indoor environment, continuously transmitting ultra-wideband signals to a first target through an ultra-wideband positioning system to obtain indoor relative coordinates of the first target; determining a coordinate processing strategy according to a signal intensity comparison result of the satellite navigation signal and the ultra-wideband signal; and based on a coordinate processing strategy, obtaining a final positioning coordinate by combining the outdoor initial coordinate and the indoor relative coordinate. Therefore, by implementing the application, the problem that in the prior art, indoor and outdoor high-precision positioning is difficult to realize at the same time, so that the positioning precision is greatly influenced by the movement of the positioning target can be solved.

The present invention belongs to the field of marine underwater positioning, navigation and timing. Disclosed are an underwater navigation and communication integrated position service system and method. The system comprises a buoy base station, a submerged buoy base station, a seabed base station and a shore-based operation and control unit, and the system utilizes a three-dimensional base station network observation mode combining the buoy base station, the submerged buoy base station and the seabed base station. The position service system and method in the present invention have the capabilities of underwater acoustic navigation and communication, satellite positioning and communication, atomic clock timekeeping, hydrological measurement and responding to instructions of a shore-based operation and control unit, have the functions of autonomous, real-time and online base station position and clock calibration and sound velocity field correction, have the functions of base station position and clock calibration, and sound velocity field correction and control based on the shore-based operation and control unit, and can expand the range and functions of underwater position services, and provide accurate positioning, navigation and timing services for water-surface / underwater users.

The invention discloses a centimeter-level positioning and intelligent obstacle avoidance system for an unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and solves the technical problems that the centimeter-level positioning requirement is difficult to meet, and the intelligent degree of an obstacle avoidance strategy needs to be improved in a complex and changeable environment. The high-precision positioning module is used for acquiring multi-source sensor data; the self-developed multi-satellite positioning algorithm module generates initial positioning information by adopting a self-developed multi-mode GNSS fusion algorithm and an RTK technology, combines a Kalman filtering algorithm, collaboratively optimizes state estimation by predicting and updating GNSS data, and fuses visual SLAM and laser radar data at the same time; the cloud optimization and large model prediction module uploads unmanned aerial vehicle positioning data to a cloud, and models a self-developed multi-satellite positioning algorithm by using a deep learning model; and the intelligent obstacle avoidance decision module identifies obstacle types and generates an environment perception map through deep learning based on the fused positioning data and the high-precision map.

The embodiment of the invention is suitable for the technical field of antennas, and provides a data processing method and electronic equipment, and the method comprises the steps: obtaining first channel data, obtaining an analog antenna pattern, and obtaining analog receiving data according to the first channel data and the analog antenna pattern, the first channel data is data for simulating a channel state between the first electronic equipment and the second electronic equipment, the analog antenna pattern is data for simulating a pattern of an antenna in the first electronic equipment, and the analog receiving data is data for simulating a second positioning signal; the second positioning signal is a signal obtained by receiving a first positioning signal sent by the second electronic equipment by an antenna in the first electronic equipment, and the second positioning signal is used for determining the position information of the first electronic equipment, that is, the simulation receiving data is obtained through simulation; the influence of the parameters of the antenna and the GNSS specification on the precision of the satellite positioning signal is evaluated.

The invention belongs to the technical field of multi-source fusion positioning, and particularly relates to a multi-source fusion positioning method based on LSTM-KF, a program, equipment and a storage medium. According to the method, a long short-term memory (LSTM) neural network is embedded into a Kalman filtering framework, nonlinear error compensation of system state prediction and observation updating is achieved, and then an improved Kalman filter with the dynamic noise adaptive capacity is constructed. By loosely coupling GPS satellite positioning, IMU inertial measurement and VO visual odometer multi-source heterogeneous sensing data, the millimeter-level precision of robot pose estimation in a complex dynamic environment and the anti-interference capability of the system are remarkably improved.

The invention provides a riding navigation blind area track correction method and system based on stopwatch inertial navigation, electronic equipment and a storage medium, and the method comprises the steps: obtaining the angular velocity and acceleration information of a stopwatch and the direction information of an earth magnetic field, and carrying out the calculation to obtain a riding course angle and a real-time riding speed; when it is detected that a satellite positioning signal is interrupted, the last credible satellite positioning coordinate before interruption serves as an estimated coordinate point of a first operation period, and in each operation period, a relative displacement vector is calculated by combining the course angle of the current period, the real-time riding speed and the time interval of the operation period; iteratively determining the estimated coordinate point of the current period by taking the estimated coordinate point of the previous period as a reference, and forming a continuous extension track; and finally, matching the extended continuous coordinate points with a road network of a preset digital map, calculating and accumulating the distance between adjacent coordinate points based on the matched real road coordinates, and completing accurate correction of the track and the distance.