202 results about "Sensor observation" patented technology

The invention belongs to the technical field of tunnel inspection and auxiliary rescue, and particularly discloses an unmanned aerial vehicle multi-source fusion inspection and auxiliary rescue method based on an urban tunnel, multiple sensors are integrated on an unmanned aerial vehicle platform, and multi-source data are processed through a dynamic weighting factor graph optimization method based on a sliding window. By introducing a Mahalanobis distance consistency test mechanism, dynamically evaluating the consistency between sensor observation data and IMU prediction data, screening out data with high credibility, and endowing each factor with different optimization weights, the better the quality of the sensor observation data is, the higher the factor weight is, so that the robustness of final target estimation is improved, and the target estimation accuracy is improved. And then uniformly converting sensor data at each moment into a global coordinate system by using an SLAM framework, gradually constructing a three-dimensional map of the tunnel, and finally realizing high-precision real-time positioning of the unmanned aerial vehicle and construction of the three-dimensional map of the tunnel for subsequent inspection and auxiliary rescue tasks.

Disclosed are systems and methods to control a robotic device using natural language commands. A natural language command may be received by a system. The system may convert the command into low-level machine controls and logic for implementation by a robotic device to achieve a desired action. In some instances, an API module may include mapping data to associate high-level commands with low-level machine controls. A language model may process the natural language command (input), high-level commands, and / or other information, such as system state, sensor observation data, parameters, etc., to determine one or more commands to execute by a robotic device and possibly logic for execution by the robotic device. The robotic device may receive the low-level machine controls and logic to cause the robotic device to perform the requested actions.

The invention discloses an intelligent prediction method and device for the residual life of equipment, and relates to the field of reliability engineering, and the method comprises the steps: collecting sensor observation data, carrying out the preprocessing of the sensor observation data, and extracting data fluctuation features; based on a time window input strategy, processing the sensor observation data and the data fluctuation characteristics, and determining input characteristics; training a global-local feature extraction network according to the input features, and determining a trained global-local feature extraction network; the global-local feature extraction network comprises a multi-layer time convolution network, a causal convolution gating unit, a two-dimensional compression excitation fusion module and a Transform encoder which are connected in sequence; performing performance verification on the trained global-local feature extraction network, and determining a life prediction model; and predicting the residual life of the to-be-tested equipment according to the life prediction model. According to the invention, the life prediction performance can be comprehensively improved.

The invention provides a multi-sensor fusion robot grabbing path planning method and device, and relates to the field of automation. The method comprises the following steps: constructing a first time correction relation based on observation parameters of a multi-source sensor; correcting the relation based on the first time; inputting the hardware timestamp synchronized to the master clock source into the extended state estimation model; iteratively updating the observation parameters of the multi-source sensor based on the extended state estimation model, and constructing a second time correction relation according to the updated observation parameters of the multi-source sensor; constructing a pose continuous time trajectory function corresponding to the target robot based on the second time correction relation; the continuous time trajectory function and the multi-source sensor observation parameters serve as input, and a grabbing path corresponding to the target robot is output through a time sequence consistency constrained joint optimization model; and controlling the target robot to execute grabbing operation based on the grabbing path. The problem that in the prior art, the precision of a robot grabbing path is low is solved.

The invention discloses an autonomous positioning method of an unmanned system based on integration of microwave distance measurement and inertial navigation, and belongs to the field of application of a cross technology of navigation positioning and signal processing. In an unmanned system, a filter is tightly combined with an inertial navigation system and a microwave distance measurement positioning system and is regarded as a navigation positioning system, a motion track of a target carrier is calculated, and a sensor observation model fusing two independent inertial navigation systems of inertial navigation and micro navigation in the navigation positioning system is constructed; the method comprises the following steps of: reflecting an interference result of a microwave signal and a reference signal by a solid-state spin detection object, and performing FFT (Fast Fourier Transform) on each reflected microwave signal after frequency mixing to finish microwave distance measurement; on the basis of forming distance calculation, position results output by a distance measurement positioning algorithm are fused, random errors of the system are compensated by adopting an error compensation algorithm, errors of the inertial navigation system are corrected, covariance is updated and corrected according to an observation matrix and Kalman gain, and intelligent autonomous control positioning of the system is realized.

The invention discloses an intelligent driving planning method for a pedestrian interaction scene, and belongs to the technical field of intelligent driving, and the method comprises the steps: building a park environment pedestrian interaction driving scene, and defining the observation and perception states of a vehicle sensor, a target function, and a bottom layer transverse and longitudinal controller; initializing model parameters and an experience playback pool; a human expert drives a vehicle in the simulation scene to generate a driving data sequence, and the driving data sequence is stored in an experience playback pool; training the model by using data in the experience playback pool; deploying a trained model in a simulation scene, planning a vehicle running track, and using a vehicle bottom layer transverse and longitudinal controller to control the vehicle to run according to the planned track; judging whether the model performance reaches the standard or not, and if not, continuing training; and obtaining the model updated at the last time as a training result. According to the invention, the safety and operation efficiency of the intelligent driving planning task in the pedestrian interaction scene can be effectively improved.

The invention relates to the technical field of path planning, in particular to a pesticide spraying robot positioning method and system based on graph neural network multi-source fusion. Performing data preprocessing based on the acquired multi-source sensor information; graph node multi-modal data embedding is carried out on the preprocessed information based on perception information mapping; a multi-modal space-time diagram structure is built based on graph node multi-modal data embedding; performing graph feature propagation and fusion based on space-time attention weighting; and carrying out positioning calculation and path decision on the fused features based on spatial-temporal feature constraints. According to the method, a sensor observation graph structure is constructed, multi-source information such as GPS, IMU, vision, radar and the like is modeled in a node form, and nonlinear feature fusion is realized through graph convolution and an attention mechanism.

A system captures via one or more sensors of a computing device, data of an environment observed by the one or more sensors at a first timeslot, and stores the data in a data store as a first portion of a timelapse memory experience. The system also captures, via the one or more sensors of a computing device, data of the environment observed by the one or more sensors at a second timeslot, and stores the data in a data store as a second portion of the timelapse memory experience. The system additionally associates the timelapse memory experience with a memory experience trigger, wherein the memory experience trigger can initiate a presentation of the timelapse memory experience.

The invention discloses a sealing waterproof performance testing device for a micro sensor, and relates to the technical field of sensor sealing performance testing, and the sealing waterproof performance testing device comprises a testing assembly which comprises a testing box with a testing cavity and an opening at one side, a tray arranged in the testing cavity, and a spraying pipe arranged above the tray; wherein the spraying pipe is an arc bent pipe, nozzles are arranged on the inner concave face of the spraying pipe, the nozzles can discharge water in the radial direction of the spraying pipe, the spraying pipe is rotationally arranged in the testing cavity, and an adjusting assembly used for controlling the spraying pipe to rotate so that the nozzles can discharge water in the direction of the tray is arranged in the testing cavity. Liquid is injected into the tray through the spraying pipe, the sensor to be detected can be rapidly submerged, the bubble generation condition is observed, whether the sensor has cracks or not is judged, and the detection efficiency is improved; and by arranging the liquid return assembly, liquid in the tray flows back to the water tank, recycling of the liquid is achieved, resources are saved, and waste is reduced.

The invention belongs to the technical field of distributed multi-sensor passive detection multi-target tracking. The invention provides a factor graph optimization passive detection multi-target tracking method based on a Gaussian mixture model. According to the embodiment of the invention, the multi-target batch number is distributed by constructing the distributed passive sensor cooperative coordinate system and combining the multi-target identity judgment result between the two sensors; calculating direction finding lines based on two-dimensional observation of a sensor, combining the direction finding lines of the same batch number, obtaining a multi-target position estimation point set through a least square method, and obtaining a multi-target coarse positioning point through weighted fusion; modeling by adopting a Gaussian mixture model, fusing measurement distribution characteristics, solving parameters through an expectation maximization algorithm, and completing solvable conversion of an optimization problem; a factor graph optimization model containing multiple factors is constructed, state estimation is achieved through sliding window optimization, and track association and state updating are completed in combination with the Mahalanobis distance and the Hungary algorithm; and the passive detection multi-target tracking performance of the distributed sensor is effectively improved.

The invention discloses an illegal unmanned aerial vehicle source tracing method and system based on visible light, thermal imaging and radio frequency fingerprint fusion. The method comprises the following steps: synchronously acquiring target visible light, a thermal infrared image and a radio frequency signal; extracting appearance, thermal radiation and radio frequency fingerprint features in parallel; multi-modal features are dynamically weighted and fused through an adaptive cross-modal attention fusion network (ACMAF-Net), and unmanned aerial vehicle model identification and individual association are completed; reconstructing a three-dimensional track of the unmanned aerial vehicle by using multi-sensor observation data; the possible positions of a take-off point and an operator are deduced by combining track features and geographic information. The system comprises a multi-mode sensing subsystem, a data processing and fusion subsystem, a traceability analysis subsystem, a display control storage subsystem and the like. According to the invention, through three-mode complementary fusion, the limitation of a single technology is overcome, all-weather and high-precision detection identification and effective traceability of the illegal unmanned aerial vehicle are realized, and the low-altitude security and protection capability is remarkably improved.

The invention provides an agricultural robot-oriented state machine modeling and exception response method, which comprises the following steps of: modularly dividing a main state space, introducing an external driving event set and an exception state set, and constructing a multi-layer state transition function comprising main state transition, exception triggering and exception recovery; and in combination with a multi-sensor observation vector configured by the agricultural robot, a conditional probability distribution model between a state and an observed quantity is established, and parallel reasoning and dynamic switching of a main state and an abnormal state are realized. In addition, an abnormal state evaluation function is designed to carry out quantitative analysis on various abnormities, and a grading response strategy is set. The method is suitable for various agricultural operation scenes, and has strong behavior modeling expression capability and abnormal response capability.

The invention belongs to the technical field of unmanned aerial vehicle surveying and mapping, and particularly relates to an unmanned aerial vehicle cluster dynamic measurement method based on cooperative positioning and multi-source fusion, and the method comprises the steps: constructing a cooperative operation mechanism of a dynamic reference station network and an observation unmanned aerial vehicle cluster, and combining global positioning data provided by RTK and relative distance measurement constraints provided by UWB, and multi-sensor observation information is fused to realize displacement calculation with centimeter-level precision. In addition, the flight path of the unmanned aerial vehicle cluster is optimized through a clustering algorithm and a heuristic optimization algorithm, and the measurement efficiency of the unmanned aerial vehicle cluster is further improved.

Provided are methods, systems, devices, and tangible non-transitory computer readable media for providing data including vehicle map service data. The disclosed technology can perform operations including accessing vehicle map service data including information associated with a geographic area and sensor observations of a vehicle. The vehicle map service data is based on a vehicle map service protocol specifying layers associated with portions of the vehicle map service data to which each client system is subscribed. Further, the layers to which the client systems are subscribed can be determined and access to the plurality of layers to which each of the vehicle client systems is subscribed can be provided to each of the client systems. Access to the layers can include authorization to send or receive one or more portions of the vehicle map service data associated with a corresponding layer.

The invention discloses a multi-sensor data processing method suitable for high-altitude meteorological detection, and the method comprises the steps: collecting meteorological data from a plurality of different types of sensors, and obtaining initial data; missing values and abnormal values in the initial data are detected and marked; carrying out data interpolation by adopting a lightweight missing detection perception type neural network to obtain a complete data sequence; performing point estimation and uncertainty joint inference on the complete data sequence to obtain a corresponding point predicted value and uncertainty; data conflicts of different sensor data in overlapping measurement intervals are solved, and a fused single observation value and estimation uncertainty are obtained; and adopting a multi-expert hybrid model to dynamically select or perform weighted fusion on outputs of different expert models based on the fused single observation value and the estimated uncertainty to obtain a fused meteorological parameter set. According to the invention, real-time processing and smooth switching of observation data of multiple sensors are realized, and continuity, stability and precision of detection data are effectively improved.

A system captures, via one or more sensors of a computing device, data of an environment observed by the one or more sensors at a first time slot, and stores the data in a data store as a first part of a time lapse memory experience. The system also captures, via one or more sensors of the computing device, data of the environment observed by the one or more sensors at a second time slot, and stores the data in the data memory as a second part of the time lapse memory experience. The system additionally associates the time lapse memory experience with a memory experience trigger, where the memory experience trigger may initiate presentation of the time lapse memory experience.

The invention discloses a space-based distributed multi-sensor multi-target tracking and positioning method. The method comprises the following steps: firstly, acquiring a grayscale image of each sensor, and extracting coordinates of a target in the image; and matching a serial number for the extracted target, and taking a first frame coordinate and an image sequence of the target as tracking input. The tracking process is based on a discriminant correlation filter, an energy concentration threshold value of small target features is added, a double-constraint trajectory correlation model of target spacing and speed similarity between continuous frames is constructed, and a Kalman filtering algorithm is used to predict a target position. An adaptive covariance cross fusion positioning algorithm is designed among multiple sensors, a geometrical relationship between multiple detection satellites and a target is established, and the three-dimensional position of the target is calculated by using sensor observation parameters as a basis for adjusting fusion weights. The method can significantly improve the target tracking precision and suppress the positioning offset problem caused by instability of part of sensors, can adapt to the dynamic change of a distributed detection scene, and ensures the accurate target positioning.

The invention relates to the technical field of limited space fire hazard flashover prediction. The invention provides a limited space fire hazard flashover prediction method and system based on a physical information neural network. The method comprises the following steps: acquiring sensor observation data and initial fuel distribution data; inputting the space-time coordinate vector and the initial fuel distribution data into a Mamba neural network to obtain predicted values of temperature, incident radiation and fuel mass fraction; calculating a space-time derivative of the predicted value, and constructing a physical residual term containing energy conservation, radiation transfer and fuel consumption equation residual, a boundary residual term and an observation residual term; weighted combination is carried out on the three types of residual errors to construct a loss function, and network parameters and to-be-learned physical parameters are updated through an optimization algorithm; and predicting a temperature field based on the updated network, and judging the time of detonation when the temperature reaches a detonation critical value. The problems of poor reliability and prediction deviation caused by lack of physical rule constraints of an existing data-driven fire prediction model are solved.

The present invention relates to the technical field of geographic information systems, and discloses a sensor observation method and system based on Cesium. In this observation method, a viewing frustum is constructed using the PerspectiveFrustum function, and the parameters of different types of sensors are customized to adjust the observation perspective, and the target to be observed within the viewing frustum is observed, thereby simulating the sensor observation environment. The present invention solves the problems existing in the prior art, such as not supporting the customization of different types of sensors to adjust the current perspective and being difficult to observe various targets in a complex environment from multiple angles in real time.

The present invention provides a method for mining the observation capabilities of physical sensors and social media for disaster missions. It addresses the current situation in which traditional disaster perception research ignores the observation needs of social factors, lacks the construction of comprehensive disaster observation tasks, and the observation capabilities of physical sensors and social media. A technical process for mining the observation capabilities of physical sensors and social media for disaster observation tasks is formed to meet comprehensive disaster observation needs. Compared with existing sensor capability mining methods, this method can cover more observation factors of disaster phenomena, can effectively enhance the management of sensor observation capabilities for disaster observation tasks, provide sensor observation capabilities for observation tasks in different fields and at different granularities, and provide a basis for disaster sensor planning and selection and improving disaster observation plans. It has been proven that this method is a practical and reliable method that is conducive to increasing observable factors and enhancing sensor observation capabilities in disaster observation tasks.

The invention belongs to the technical field of network security, and discloses an optimization filter-based cyber-physical system cascading failure security assessment detection method, which comprises the following steps of: performing data acquisition on a power system by analyzing a CPS (Cyber-Physical System) architecture, and respectively constructing a data uploading model and a data issuing model; then, learning an optimal filter over time by using the sensor observations to filter out malicious sensor observations while retaining other sensor measurements during data stream transmission; and finally, whether the data stream is attacked in the transmission process is judged by analyzing whether the data transmission quantity is suddenly and abnormally increased or decreased, a detector is optimized, and the false alarm rate is reduced. According to the method, cascading failure analysis is carried out on the CPS through the dynamic complex network, the analysis accuracy is enhanced, and therefore the reliability of the CPS is improved.

The present application relates to a kind of infrared scene quantitative radiance calculation methods based on light ray tracking module, comprising: obtaining target mask information image, the radiance image of infrared scene, depth information image and position information image, sensor position information, sensor field of view and sensor observation direction;Infrared scene is divided into several view cones according to the resolution of target radiance area image, wherein several view cones and the object surface in infrared scene intersect to form several face elements;The radiance of each face element at the sensor is calculated by the theorem of solid angle projection;The radiance of several face elements at the sensor is accumulated, and the radiance of infrared scene to the sensor is obtained.The method supports full scene, single target, multiple targets as radiation energy source, and can be applied to high complex infrared scene simulation work;Without additional data support, the radiance at the sensor can be calculated without performing redundant work.

Sensor module (18) having a sensor viewing area (20), an environment sensor (22) which is designed to detect a vehicle environment through the sensor viewing area (20), and a cleaning device (24) with a wiping device (26), characterized in that the cleaning device (24) has a multi-joint kinematics (28) by means of which the wiping device (26) can be caused to perform a substantially translational wiping movement in order to clean the sensor viewing area (20) at least in certain areas.

The present invention corrects the axial offset of a sensor. The present invention is a sensor alignment device comprising: a target position relationship processing unit that outputs positional relationship information of a first target and a second target; a sensor observation information processing unit that transforms the observation results of the first target and the second target into a predetermined unified coordinate system based on coordinate transformation parameters, synchronizes the time to a predetermined timing, and extracts first target information indicating the position of the first target and second target information indicating the position of the second target; a position estimation unit that uses the first target information, the second target information, and the positional relationship information to estimate the position of the second target; and a sensor correction amount estimation unit that uses the second target information and the estimated position of the second target to calculate the offset of the second sensor and estimate the correction amount, wherein the sensor alignment device changes the coordinate transformation parameters based on the correction amount.

The invention belongs to the technical field of marine environment monitoring and signal processing, and relates to a marine dissolved gas sensor data denoising and time-delay correction real-time processing method, which comprises the following steps: identifying a steady-state interval of historical observation data of a sensor, and fitting steady-state jump by using a Sigmoid function to generate a gas concentration virtual true value; a neural network model with observation data as input and the gas concentration preliminary correction value as output is constructed, and the model is trained with historical observation data as input and the gas concentration virtual true value as a training target; intercepting observation data fragments of the sensor at current and historical moments by adopting a sliding window mechanism, and inputting the observation data fragments into the model to output a gas concentration preliminary correction value at the current moment; and performing post-processing by using the logic state machine to obtain a final correction value of the gas concentration at the current moment. According to the invention, a real-time compensation function considering high dynamic response and zero steady-state drift can be provided for the sensor, so that in-situ acquisition and real-time return of high-precision observation data are realized.

A method, system, and apparatus of a computer program product including media encoding for identifying the position of a striker of an object, in at least one aspect, includes the following method, which includes: receiving a request from a mobile computing device operated by the striker, the striker being located in a striking area having space for two or more strikers to strike an object into a target area; initiating an audio recording through a microphone of the mobile computing device; identifying a physical position in the striking area and a first strike time determination of the object struck from the striking area based on sensor observations of an object flying between the striking area and the target area; identifying a second strike time determination in the audio recording; and associating the physical position with the mobile computing device when the second strike time determination matches the first strike time determination.

The invention discloses a state estimation and health management method and system for a main fuel regulating system of an aero-engine. The method comprises the following steps: constructing a state space model of a main fuel regulating system; estimating the fuel flow and the engine speed based on the state space model so as to obtain optimal estimation values of the fuel flow and the engine speed; optimizing a system parameter matrix of a state space model according to the optimal estimation value; the system parameter matrix comprises a state transition matrix and an input control matrix; constructing an innovation sequence based on the optimal estimation value and the sensor observation value, and calculating a residual error between the optimal estimation value and the sensor observation value; and performing fault diagnosis on the state of the main fuel regulating system and performing trend analysis on the health state according to the innovation sequence and the residual error. According to the method, the state estimation precision of the full service cycle of the engine is guaranteed, and the fault diagnosis reliability is greatly improved.

The invention relates to a method for reducing a driver's (2) misperception of the instantaneous driving speed of a vehicle (1). According to the invention, it is provided that - based on signals recorded from vehicle sensors (4) the current driving speed of the vehicle (1) is monitored and it is determined whether an adjustment of the driving speed is necessary, - based on signals recorded by an environmental sensor system (5), the movement of objects in the driver's (2) field of vision is observed and analyzed, as is the movement of the environment relative to the vehicle (1), checking whether optical flow information relating to the environment differs from the driver's (2) perception of the vehicle speed, and / or - based on signals recorded by a driver monitoring system, the driver's eye movement and / or pupil reaction and / or head position (2) is continuously monitored, and - if, based on the signals received from the vehicle sensors (4) and / or the environmental sensors (5) and / or the driver's observations, a tendency to misperceive the current driving speed is detected, a dynamic and context-dependent indication relating to the current driving speed of the vehicle (1) and surrounding traffic conditions is generated by means of a self-learning model for the continuous optimization of warning and / or intervention patterns and is displayed in the vehicle (1).

The present application relates to the technical field of navigation positioning, and in particular to a multi-source sensor adaptive weight fusion positioning method and related equipment, which comprises the following steps: collecting multi-source positioning sensor observation data, calculating corresponding health degree factors according to the data characteristics of each sensor, which are used to represent the data quality at the current time; inputting the health degree factors into a pre-trained reinforcement learning model, the model taking the maximization of the reward function constructed by the positioning error and the sensor health degree as the goal, and outputting the fusion weight of each sensor. According to the output weight, the multi-source observation data is fused and solved through factor graph optimization, and the final positioning result is output. This method can dynamically adapt to the differences in sensor working conditions and environmental disturbances, suppress the influence of abnormal data, realize the collaborative improvement of positioning accuracy and system reliability, and is suitable for multi-source fusion positioning scenes such as automatic driving, robots, intelligent navigation, etc.

Techniques are disclosed herein for reconfiguring reprogrammable hardware in an autonomous vehicle system. According to an embodiment, an autonomous driving system includes sensors and a configurable circuit having physical logic units. The autonomous driving system aggregates data observed from each of the sensors. The autonomous driving system detects a trigger indicative of a defect in the configurable circuit. The defect is identified as a function of the aggregated data. The autonomous driving system performs, in response to the trigger, a reconfiguration action on the configurable circuit to repair the defect.