82 results about "Signal tracking" patented technology

The invention discloses an infrared CO2 high-precision detection system and method based on a self-adaptive balance signal, and belongs to the field of gas detection. The invention discloses an infrared CO2 high-precision detection system and method based on a self-adaptive balance signal. The infrared CO2 high-precision detection system comprises a sensing module, a signal conditioning and collecting module and a self-adaptive filtering processing module. According to the method, the problems of contradiction between response speed and stability, discrete signal tracking lag and sensitivity to environmental interference in the prior art are solved, the weight of a filtering channel is adaptively and dynamically adjusted, and the advantages of a fast filtering channel and a slow filtering channel are combined, so that balance between dynamic response and steady-state precision is realized; the problem of tracking lag of discrete signals is solved by analyzing the change rate of the signals in real time and dynamically adjusting a filtering strategy; and through a hybrid filter and an environment compensation algorithm, the influence of temperature and humidity changes on a detection result is reduced, so that the long-term stability of the sensor is improved.

The invention relates to an anti-multipath Beidou antenna design method based on reconfigurable polarization, and belongs to the technical field of satellite navigation and positioning. The method comprises the following steps: fusing data through a distributed sensing and generative adversarial network, and identifying direct and reflected signals by using a decision tree model; constructing a polarization decision model driven by reinforcement learning, and dynamically switching the polarization state of the antenna through a digital phase shifter array, so that the polarization state is matched with a direct signal and mismatched with a reflected signal, thereby realizing multi-path suppression of a polarization domain; a reconfigurable phased array and a digital beam forming technology are combined, a multipath incoming wave direction is predicted, and dynamic null is constructed for spatial filtering; signal tracking and decoupling are carried out by adopting particle filtering and a long-short-term memory network, a vision-inertial navigation cooperation mechanism is introduced, combined suppression and compensation of a dynamic multipath source are realized, and an anti-multipath positioning result is output. And low-cost and high-precision indoor Beidou positioning is realized.

The invention relates to a high-dynamic time division navigation signal tracking method assisted by adaptive Kalman filtering, and belongs to the technical field of satellite navigation. Aiming at the problems of tracking delay, precision reduction and easy lock loss caused by discontinuous loop update in a high dynamic environment in the existing time division navigation signal tracking method, the method comprises the steps of carrier and code stripping, time-slot error identification, adaptive Kalman filter AKF preprocessing and loop filtering and tracking of three-order FLL-assisted four-order PLL. And full-time-slot continuous tracking is realized. The core of the method is that process noise covariance is adaptively adjusted through AKF, optimal estimation and smoothing are carried out on errors, and then processing is carried out through a post-stage loop filter. According to the method, the tracking continuity, robustness and precision in a high dynamic environment are effectively improved.

The invention discloses a carrier ring auxiliary code delay phase-locked loop tracking method, system and device and a medium, and belongs to the technical field of signal tracking, and the method comprises the steps: obtaining a digital intermediate frequency signal, and constructing a code loop model; executing code tracking through the code loop model to obtain a code phase error measurement value, and determining a relationship between a carrier-to-noise ratio and a noise covariance; a measurement noise covariance matrix model is obtained through combination of a code phase error measurement value and a carrier-to-noise ratio dynamic state and is used for first adjustment of a filter. According to the invention, a measurement noise covariance matrix is dynamically adjusted based on real-time carrier-to-noise ratio estimation, so that the filter can accurately adapt to signal quality change, fully trust an accurate measurement value when a signal is strong, greatly reduce tracking jitter, achieve higher pseudo-range measurement precision, and automatically reduce dependence on the measurement value under noise interference when a signal is weak. In turn, the method depends on smooth prior model prediction.

The invention discloses a method and a device for designing a multi-anti-interference incremental backstepping observer based on specified time, and belongs to the technical field of signal tracking and processing. The method comprises the following steps: establishing a system dynamics model containing time-varying disturbance and model uncertainty items; scaling the tracking error and the estimation error by using a scaling function so as to realize the accurate convergence of the system state and the disturbance estimation within the specified time T; combining the scaled error, introducing an incremental backstepping control thought, and designing an incremental backstepping observer capable of processing model uncertainty and multiple disturbances at the same time; under the condition that the total disturbance and the derivative thereof are assumed to be bounded, stability analysis is carried out through a Lyapunov function, and constraint conditions of system stability convergence are deduced; and finally, verifying the effectiveness and superiority of the observer under various input and disturbance working conditions through simulation. The method is suitable for a high-dynamic and time-sensitive precision control system.

The invention relates to a satellite navigation signal weak signal tracking loop switching method. The method comprises the following steps: designing a loop filter of a double-frequency phase-locked loop, a loop filter of a double-frequency frequency-locked loop and a loop filter of a pilot component single-frequency frequency-locked loop based on a Kalman filtering algorithm; constructing observed quantity and state quantity of a Kalman filter based on phase discrimination, frequency discrimination and code discrimination results of the B2a signal and the B1I signal; the state quantity output by the loop filter is fed back to a local carrier generator and a composite spreading code generator for error correction; in the filtering process, the adopted loop filter is switched according to the carrier-to-noise ratio, the phase locking detection index and the frequency locking detection index of the two signals, the corresponding loop filter is adaptively selected to complete parameter estimation, loop locking is further carried out, and signal tracking and positioning are achieved.

The invention particularly relates to a power distribution network fault signal tracking device which comprises a test box installed on a wire, the longitudinal section of the test box is of a semicircular structure, the test box is installed on the wire through a fixing device, a sonic probe is installed on the test box, and a current sensor is installed on the side portion of the test box. The middle part of the current sensor is of an arc-shaped structure, the two ends of the current sensor are of horizontal structures, the two ends of the current sensor penetrate through guide columns, the guide columns are fixedly connected to the top of the test box, and springs are arranged at the bottom of the current sensor and fixedly connected to the bottom of the test box.

The invention belongs to the technical field of physiological state detection, and discloses a multi-mode biological signal acquisition and state recognition system and method. Comprising the following steps: collecting multi-modal biological signal data of a subject and cleaning the data to obtain an original signal data set; carrying out pseudo signal section identification, outputting abnormal fragments, and removing the abnormal fragments to obtain an effective response data set; signal tracking is carried out, a signal discrimination result is output, drift correction is carried out based on the signal discrimination result, and a drift correction data set is output; executing trend completion to obtain a complete feature data set; state judgment reasoning is carried out, modal information weights are output for marking, and a modal marking data set is obtained; performing abnormal label correction to obtain a corrected state recognition sequence; constructing a biological signal recognition strategy based on the corrected state recognition sequence and sending the biological signal recognition strategy to a preset data receiving end; and the accuracy and robustness of multi-modal biological signal acquisition and state recognition are improved.

The present application relates to the technical field of continuous casting and rolling production shear control, and specifically discloses a control method for controlling the weight of a billet based on non-fixed-length calculation of a bar, comprising the following steps: 1) billet tracking during hot charging and straight rolling, ① virtual position triggering, ② flow number transmission, and ③ consistent with cold billet signal tracking technology after the billet enters the rolling line; 2) a calculation method based on non-fixed-length of the bar; 3) the length remaining after the last fixed-length of the rolling line is cut by the fixed-length shear control system, and the billet flow number is uploaded to the industrial internet platform through the PLC control system, and the industrial internet platform issues the adjusted length of the billet; 4) data conversion between the continuous casting primary control system and the industrial internet platform; and 5) length adjustment control of the continuous casting billet. The present application realizes automatic adjustment of the length of the billet, thereby improving the weight accuracy of the billet, reducing or eliminating short-length materials during rolling, and improving the rolling yield.

An object of the system according to the embodiment is to inscribe memories and remorse with the deceased in cosmic space and feel a connection with the cosmic space.SOLUTION: A system according to an embodiment includes a message reception unit, a data transmission unit, a data broadcasting unit, and a signal tracking unit. The message receiving unit receives a message, an image, and a voice from a user. The data transmission section transmits the message, the image and the voice received by the message reception section to the small satellite. The data broadcasting unit broadcasts the message, the image, and the sound transmitted by the data transmitting unit in outer space. The signal tracker tracks signals emitted by the small satellites.SELECTED DRAWING: Figure 1

This application discloses a receiver positioning method, apparatus, communication system, storage medium, and electronic device, relating to the field of satellite navigation technology. The method includes: determining second information after signal recovery based on first information before signal loss of the satellite; tracking the signal based on a carrier digitally controlled oscillator frequency control word, a code digitally controlled oscillator frequency control word, and a code start point to determine the frequency error; during signal tracking, detecting whether the second code phase is aligned by code phase sliding; and, in response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, performing navigation calculations based on code epoch values ​​and the tracked third code phase to position the receiver. This application solves the technical problems in related technologies where repositioning of lost-lock signals cannot be achieved in weak signal scenarios, and the repositioning time is slow.

This invention relates to a method and system for monitoring and enhancing the power of GPS P(Y) signals based on civilian signal tracking. The method employs a carrier tracking loop to stably track civilian satellite navigation signals, generating a local carrier with the same frequency and phase as the GPS satellite navigation digital signal. The GPS satellite navigation digital signal is then orthogonally mixed with the local carrier to output the in-phase branch signal u. I (n) and the orthogonal branch signal u Q (n); the in-phase branch signal u I (n), Orthogonal branch signal u Q (n) Perform low-pass filtering and incoherent integration respectively to obtain the average power P of the baseband signal in the in-phase branch. IB Average power P of baseband signal in orthogonal branch QB The average power P of the baseband signal in the same phase branch IB Average power P of baseband signal in orthogonal branch QB The power enhancement state of the current P(Y) signal is determined by comparing it with the weak-state power threshold of the in-phase branch, the strong-state power threshold of the in-phase branch, the strong-state power threshold of the quadrature branch, and the weak-state power threshold of the quadrature branch.

The application discloses a discontinuous random time hopping pulse pseudolite signal tracking method based on carrier phase correction, and belongs to the field of satellite navigation auxiliary enhancement. The method first down-converts the received pseudolite signal to an intermediate frequency by using a receiver local oscillator; then carries out effective time slot signal interception and invalid time slot interference cutting on the pseudolite signal converted to the intermediate frequency by using a random time hopping pulse generation and control module in the receiver; then generates a carrier phase correction value of the signal in the effective time slot by using the pulse position information provided by the random time hopping pulse generation and control module and the carrier Doppler information fed back by the rear end; then further generates a cosine and sine result of the carrier phase correction value, and uses the result to continuously correct the carrier phase instantaneous value in the effective time slot; finally, the method realizes accurate tracking on the pseudolite signal after carrier phase correction by using a delay lock loop and a phase lock loop.

The application discloses a satellite navigation receiver signal processing method and system, and belongs to the technical field of satellite navigation. The method comprises the following steps: step 1, initializing the satellite navigation receiver, and establishing a communication link between the satellite navigation receiver and an RTK reference station; step 2, processing received satellite signals by the satellite navigation receiver to obtain satellite ephemeris parameters; then combining the received reference station data to form basic data; step 3, constructing a carrier phase double difference prediction model and a code phase prediction model, combining the basic data, respectively calculating local carrier signal control quantities and local code signal control quantities, and writing the control quantities into a digital control oscillator; and step 4, performing position solving, updating a satellite navigation receiver predicted position by using a new position obtained by solving, and feeding back to step 3 to form a closed loop control of position solving assisted signal tracking. The application can realize high-precision and continuous signal tracking in a complex environment.

This invention discloses a navigation device for tourists who get lost in mountainous scenic areas, comprising: a rest station, a lost-aware warning mechanism, a geomagnetic signal transmitting component, a signal tracking device, and a first control system. The rest station is located on the main road of the scenic area. The lost-aware warning mechanism is located at the rest station and includes a first driving mechanism and a thermal imager. The first driving mechanism drives the thermal imager to swing up and down along the direction of gravity to identify whether tourists have left the main road of the scenic area. The first control system sends a reminder signal to the signal tracking device carried by the tourist based on the information from the thermal imager to avoid getting lost. After getting lost, the tourist uses the signal tracking device to send a distress signal. The first control system receives the distress signal and drives the geomagnetic signal transmitting component to send an electromagnetic signal. The signal tracking device receives the electromagnetic signal and, through changes in the strength of the electromagnetic signal, helps the tourist find the nearest rest station, thereby helping tourists to save themselves in extreme weather conditions such as dense fog and heavy rain.

The invention discloses a high-speed frequency hopping signal tracking interference method based on a receiving and transmitting integrated platform, and belongs to the technical field of communication countermeasure. Comprising the following steps: acquiring a broadband radio frequency signal, moving the acquired signal to a zero intermediate frequency state to form baseband data in an effective bandwidth, and performing sampling rate reduction processing; carrying out real-time fast Fourier transform on the baseband data after the downsampling rate processing to obtain transformed spectrum data; analyzing a frequency hopping signal in the converted frequency spectrum data to obtain a frequency hopping rate and a frequency hopping pattern of the frequency hopping signal, and respectively presenting the frequency hopping rate and the frequency hopping pattern as a frequency modulation period and a frequency hopping frequency table; inherent signals in the electromagnetic space and interference signals released by the platform are eliminated in a frame-by-frame difference comparison mode, and a channel number corresponding to a frequency hopping frequency is obtained by comparing a frequency hopping frequency table; and a noise modulation signal is generated based on the frequency channel number, digital-to-analog conversion is realized through a digital-to-analog converter, interference signal output is formed, and tracking interference output of the signal is completed.

The application relates to the technical field of satellite navigation, and discloses a satellite navigation system receiver signal tracking method and system. The method comprises the following steps: obtaining a local carrier signal according to a carrier phase residual at a previous moment, performing coherent integration processing on an intermediate frequency carrier signal to obtain a coherent integration value; establishing a carrier signal state model and a carrier signal observation model of an extended Kalman filter of the intermediate frequency carrier signal according to the coherent integration value, performing extended Kalman filter iterative calculation on the coherent integration value to obtain a state vector estimation value of the intermediate frequency carrier signal; performing multi-channel carrier signal joint tracking on the coherent integration values corresponding to the intermediate frequency carrier signals of each antenna element, and obtaining a carrier phase residual at a current moment according to the obtained dynamic phase weight value, correcting the phase of the corresponding state vector estimation value to obtain a carrier signal phase estimation value. The method improves the signal tracking precision of the satellite navigation system receiver.

This invention belongs to the field of physiological state detection technology. It discloses a multimodal biosignal acquisition and state recognition system and method, comprising: acquiring multimodal biosignal data from subjects and performing data cleaning to obtain a raw signal dataset; identifying pseudo-signal segments, outputting abnormal segments and removing them to obtain a valid response dataset; performing signal tracking, outputting signal discrimination results, and performing drift correction based on these results to output a drift-corrected dataset; performing trend completion to obtain a complete feature dataset; performing state judgment reasoning, outputting modal information weights for labeling to obtain a modal label dataset; correcting abnormal labels to obtain a corrected state recognition sequence; constructing a biosignal recognition strategy based on the corrected state recognition sequence and sending it to a preset data receiving end; thereby improving the accuracy and robustness of multimodal biosignal acquisition and state recognition.

The application discloses a kind of star tracking methods, comprising the following steps: S100, satellite signal is tracked by linear scanning, and automatic star device is adjusted according to the satellite antenna of provided theory star angle, and visual angle scanning is carried out;S200, satellite signal is tracked twice by cross scanning, and based on the theory star angle of S100 acquisition, visual angle scanning is driven to automatic star device and micro antenna;S300, if satellite signal is tracked in S100 linear scanning process, its corresponding antenna returns starting point;If satellite signal is tracked in S200 cross scanning process, its corresponding antenna keeps signal tracking state;Linear scanning is combined with cross scanning, it is solved that star efficiency is low, linear scanning is more strict to field environment requirement, if it is not straight line, but curve, cross scanning can improve satellite signal tracking efficiency, star time is shortened, fault tolerance is high.

Compared with the prior art, the multichannel microvolt signal collector is additionally provided with two 400KHz PWM (Pulse Width Modulation) paths and four 2MSPS 10bit DAC (Digital-to-Analog Converter) paths through the power panel, and can be externally connected with an Mos bridge to drive two motors; double 6D IMU complementary error correction is adopted, so that higher-precision 6D signal tracking is realized; through BTB and FPC redundancy design, multi-board combined high-throughput data acquisition can be realized. And the FPGA is used for realizing 480Mbps USB2.0 (Universal Serial Bus 2.0) communication through the ULPI interface. Under the condition of no group connection, video signals such as an SSVEP flicker stimulation interface can be output through the expansion interface, and meanwhile, the Bluetooth earphone can be expanded to transmit audios. And a 16 Mb Flash is sealed by the WIL5025, and a 4 Mb Flash is sealed by the ESP32-C3FH4, so that a remote OTA function can be realized. In an application scene, the LHA7668 can be configured with a constant current source to excite an external resistive resistor.

The invention relates to a receiving module of a transmission interface. The invention discloses a receiving module of a transmission interface. The receiving module comprises an analog front-end circuit and a tracking and holding circuit, the analog front-end circuit is used for receiving an input signal to generate a first intermediate signal. The tracking and holding circuit is used for sampling a first intermediate signal according to a first clock to generate a second intermediate signal, and comprises at least one first switch, at least one second switch, at least one first capacitor and at least one second capacitor. The first switch and the second switch are switched on or switched off according to the first clock. The first capacitor is provided with a first end and a second end, the first end is coupled with the analog front-end circuit, and the second end receives a second clock. The second capacitor is provided with a third end and a fourth end, the third end is coupled with the analog front-end circuit, and the fourth end receives a second clock. The first clock and the second clock are opposite phase signals of each other.

The invention relates to an ultra-wideband navigation signal tracking method and device based on linear frequency modulation spreading codes, and belongs to the technical field of satellite navigation. The method comprises the following steps: receiving an ultra-wideband navigation signal and multiplying the ultra-wideband navigation signal by a local in-phase carrier and a local orthogonal carrier respectively to obtain an in-phase component and an orthogonal component; acquiring a local linear frequency modulation spreading code output after phase calculation, phase quantization, code generation and signal transmission delay binding; acquiring a local pseudo-random spreading code output after signal transmission delay binding; combining the two types of spread spectrum codes to generate delayed, instant and advanced spread spectrum codes, and performing coherent integration on the spread spectrum codes, an in-phase component and an orthogonal component which are divided into three paths; calculating a phase error and a time delay error between the current receiving signal and a local carrier according to a coherent integration result; and finally, generating repeated carrier waves and two types of spreading codes based on error feedback so as to circularly realize ultra-wideband navigation signal tracking. According to the method, the complexity of ultra-wideband navigation signal tracking can be reduced.

The invention relates to a tracking and holding circuit with a pre-charging metal-oxide-semiconductor capacitor for shortening delay time. The tracking and holding circuit comprises a charge pump circuit and a bootstrap switch. A charge pump circuit pumps a supply voltage into a pump voltage higher than the supply voltage, the charge pump circuit comprising: a MOSFET capacitor switched according to a clock signal, and a pre-charge circuit for pre-charging a body of the MOSFET capacitor based on a pre-charge signal synchronized with the clock signal, thereby reducing a wake-up delay time of the pump voltage. The bootstrap switch tracks and holds an input signal received from one end based on a bootstrap drive signal, thereby generating a track and hold output signal at the other end. The bootstrap drive signal is generated based on a trace and hold control signal, wherein the trace and hold control signal is related to a clock signal, an input signal, and a pumping voltage provided by the charge pump circuit.

The invention provides a helical antenna device and a signal tracking method thereof, and the helical antenna device comprises a pedestal; the supporting rod is arranged on the base in a rotatable manner; the helical antenna is wound on the supporting rod, one end of the helical antenna is connected with the supporting rod, and the other end of the helical antenna is connected with the base; the spiral coil number and the spiral diameter of the spiral antenna can be changed along with rotation of the supporting rod. The device can change the spiral coil number and the spiral diameter of the spiral antenna by rotating the supporting rod so as to change the directional diagram of the spiral antenna, and is used for tracking the transit pitch angle of the aircraft, so that the maximum gain radiation direction of the spiral antenna can always point to the transit pitch angle of the aircraft; and the communication link quality between the helical antenna and the aircraft is ensured.

The application discloses a single-channel signal detection design method suitable for a multi-feed antenna, and relates to the field of satellite communication.The method comprises the following steps: S1, a modulator is used to perform orthogonal modulation on multiple-channel signals generated by the multi-feed source, and a combiner is used to form a combined signal; S2, the combined signal is converted into an L-band combined signal by a low-noise down converter (LNB); S3, the L-band combined signal is converted into a zero intermediate frequency baseband digital signal by a tracking receiver; S4, a baseband processing unit is used to complete frequency coarse estimation on the baseband digital signal by using a multi-path parallel frequency search method, so that signal detection is realized; and S5, the baseband processing unit is used to perform frequency coarse correction, FFT frequency offset estimation, phase-locked tracking and power estimation on the signal, so that signal tracking of the multi-feed antenna is completed.The application adopts a code domain synthesis scheme, has low requirements on the antenna feed part of the multi-feed source, can reduce the system cost by using a single-channel receiver, and can improve the reliability of the system.In addition, the multi-path parallel frequency search method is simple in calculation and high in detection precision, and is suitable for signal detection and tracking of a multi-feed antenna system which is cost-sensitive, low in complexity and high in precision.

The invention relates to a laser ranging optical axis and target pointing control phase surface on-orbit calibration method, and belongs to the technical field of space target detection. When a laser ranging system carries out target satellite ranging, under the condition that a target satellite is guided to a target pointing control phase surface center point O, if the laser radar loses lock, the following steps are executed: S1, by taking the current target pointing control phase surface center point O as a starting point, adjusting the attitude of the laser radar through attitude maneuver of the satellite, so as to obtain the target satellite; the laser radar searches the laser ranging signal reflected by the target star according to an Archimedes spiral mode; s2, after the laser radar captures a laser ranging signal reflected by a target star, calculating the position O'of the target in a camera measurement phase surface, and S3, reconstructing a new target pointing control phase surface by taking O 'as a center, guiding the target star to the point O' of the center of the new target pointing control phase surface, and carrying out signal tracking and ranging.

A dynamic code loop phase discrimination method comprises: S1, obtaining a segment of received spread spectrum data required by a current epoch, and performing carrier frequency and phase compensation on the received spread spectrum data to obtain current epoch loop input data; S2, a control unit selects different code loop phase discrimination modes according to a scene or a loop state; S3, a local code generation unit generates multiple local spread spectrum codes; S4, a correlation unit completes multiple correlations of data and local spread spectrum codes, and a phase discrimination unit obtains a current epoch code loop phase discrimination value based on a correlation result; S5, a dynamic filtering unit dynamically adjusts filtering coefficients based on multiple correlation integrals of the correlation unit, dynamically filters the code loop phase discrimination value, and outputs a code phase; S6, a feedback unit converts the code phase into an offset sampling point and feeds back the offset sampling point to control selection of next epoch received spread spectrum data. The method can accurately perform code loop phase discrimination and accelerate code loop convergence in a multipath and non-multipath scene, improve reliability of signal tracking, and improve system reception performance.

The application discloses a kind of open loop-based software satellite two-way comparison method, device and equipment, the method includes: by preset sampling frequency, satellite signal is sampled, and original satellite signal is obtained;The original satellite signal obtained by sampling is captured by parallel code phase search method, and the coarse value of carrier frequency Doppler shift and C / A code phase are obtained;The data signal captured is tracked using open loop logic, and TOA measurement value is obtained;During the tracking process of data signal, TOA measurement value is solved by high-resolution correlator algorithm and successive interference cancellation algorithm, to complete software satellite two-way comparison according to the solution result. It can eliminate the accumulation of error in signal tracking process by non-continuous, non-feedback demodulation algorithm, reduce the influence of diurnal effect, improve the short-term stability of comparison, integrate high-resolution correlator and successive interference cancellation technology, improve the resolution based on pseudo-random code comparison, reduce multipath interference, eliminate code interference.

The application relates to the technical field of brushless direct-current motors, in particular to an optimization control method for a permanent magnet brushless direct-current motor servo system, which comprises the following steps: S1.1: obtaining an equivalent system basic model of the permanent magnet brushless direct-current motor servo system; S1.2: improving the equivalent system basic model of the permanent magnet brushless direct-current motor servo system, and establishing a compound repetitive control law; and S1.3: optimizing control of the parameters of the equivalent system basic model of the permanent magnet brushless direct-current motor servo system. The application proposes a repetitive control system parameter optimization method based on an improved disturbance estimator compensation, establishes an optimization control model of system parameters based on the stability of the system, realizes synchronous optimization design of the parameters of a system repetitive controller, an improved disturbance estimator and a feedback controller, and makes the system simultaneously have satisfactory non-periodic disturbance suppression performance and periodic signal tracking performance.

The invention discloses a GPS navigation single-arm robot navigation system for percutaneous nephrolithotripsy (PCNL), which comprises a reverse laser positioning module used for emitting laser from inside to outside of tissues through a laser emitter to assist in positioning an insertion point of a surgical puncture needle; the single-arm robot execution module is used for driving a puncture needle to arrive at the body surface puncture point marked by the laser spot along a planned path based on instruction movement of the navigation signal tracking and fusion module and executing puncture; the navigation signal tracking and fusion module is used for tracking signals, receiving and processing spatial position information and medical image data and generating a real-time navigation interface; the special instrument suite comprises an integrated double-endoscope sleeve, and the inner diameter of the sleeve allows the standard nephroscope or the flexible ureteroscope to conduct combined lithotripsy or exploration at the same time. According to the invention, reverse optical positioning, robotics, real-time electromagnetic navigation and special instrument innovation are integrated, and an integrated intelligent solution for covering preoperative planning, intra-operative navigation, channel establishment and stabilization of the whole process is provided.