96 results about "Simultaneous equations" patented technology

The invention provides an image acquisition method for three-dimensional point cloud reconstruction and component identification driving of a contact network, and particularly relates to the field of image acquisition of the contact network, and the method comprises the steps: constructing a three-dimensional point cloud model of a contact network structure through a two-dimensional laser radar and a high-precision odometer which are installed on a pushing device; identifying a work support, a carrier cable, a dropper, an electric connection and a positioning point through clustering and principal component analysis, and obtaining key parameters such as a guide height, a pull-out value and a support column limit; and in combination with camera view field parameters, a geometric model is established, a pitch angle and a yaw angle are solved simultaneously, and the camera is controlled to complete image acquisition at the optimal angle and position. Through the method provided by the invention, self-adaptive shooting control under structure identification driving can be realized, complete and clear imaging of key components is ensured, blind shooting and repeated shooting are avoided, and the method has the advantages of high precision, high efficiency and strong real-time performance, and is suitable for a complex overhead line system inspection scene.

The invention discloses a subway tunnel fire behavior spreading prediction method, which comprises the steps of 1, fire source type digital modeling, 2, fire scene initialization, 3, dynamic fire source loading and ignition triggering, 4, fire behavior spreading multi-physics field coupling calculation, 5, ventilation system dynamic response, 6, visual risk thermodynamic diagram generation, and 7, fire behavior spreading prediction. Step 7, carrying out real-time early warning on the safety margin; the method has the beneficial effects that a total factor modeling capability is realized, multi-dimensional parameter input from fire source characteristics to a tunnel environment is supported, a scene range covering a typical subway fire disaster is expanded, solving is realized through a multi-physics field simultaneous equation, a fire spreading error is reduced, smoke diffusion simulation precision is improved, and a dynamic ventilation adjustment and safety early warning mechanism is realized. And more buffer time is provided for emergency response.

The invention provides a mountain slope transmission system catenary determining method and device, and the method comprises the steps: obtaining the arrangement parameters of a transmission system on a mountain slope, and the arrangement parameters at least comprise the horizontal distance between two fixed points of the transmission system, the vertical height difference, and the total length of a rope of the transmission system; based on the arrangement parameters, a simultaneous equation with the catenary opening coefficient as a core unknown quantity is established, and the simultaneous equation comprises the arc length constraint of the catenary and the height difference constraint of the two end points at the same time; solving the simultaneous equation to obtain a numerical solution of the catenary opening coefficient; and determining a catenary shape and a core engineering index of the transmission system on the mountain slope under the action of gravity according to the solved catenary opening coefficient. According to the method and the device, the engineering design precision is improved, and material redundancy and adjustment cost caused by shape uncertainty are saved.

The invention discloses a sleeve-shaped tuned mass damper mounting method based on parameter design calculation. The sleeve-shaped tuned mass damper mounting method comprises the following steps that S1, parameters of a single-column wind turbine platform and a whole machine structure are calculated; s2, calculating parameters of the sleeve-shaped tuned mass damper according to the structural parameters of the wind turbine; s3, the sleeve-shaped tuned mass damper is installed on the single-column type wind turbine platform; in the step S2, a kinetic equation is established through a kinetic analysis model, the optimal damping coefficient cd and the distance d of the translational and rotational freedom degrees are solved, and the step S2 comprises the substeps that S21, the single-column wind turbine platform and the sleeve-shaped tuned mass damper are simplified into equivalent four-freedom-degree models; s22, assuming that external excitation is a simple harmonic load, and deducing translation response and rotation response of the sleeve-shaped mass body and the single-column type wind turbine platform; s23, determining a damping tuning parameter and a frequency tuning parameter; s24, solving an optimal damping coefficient copt by a simultaneous equation in combination with a branch resonance point condition; and S25, calculating the distance d according to the rotation radius ratio rho.

The invention discloses a contact resistance-based method for synchronously measuring normal force and shear force of an interface, which comprises the following steps of: inspired by a yield criterion of material damage, establishing a relationship between normal stress and shear stress of the contact interface, thereby obtaining a relationship between a real contact area of the contact interface and the normal force and the shear force; obtaining the relationship between the contact resistance of the contact interface and the real contact area, and establishing the relationship between the contact resistance of the interface and the normal force and the shear force; according to the geometric deformation relation of the micro-convex bodies on the contact interface before and after the shearing force acts, the relation between the real contact area of the contact interface and the geometric deformation parameters of the micro-convex bodies is obtained, and the relation among the normal force of the contact interface, the shearing force and the geometric deformation parameters of the micro-convex bodies is obtained; and establishing a simultaneous equation set, measuring the contact resistance, and substituting the contact resistance into the equation set to calculate the normal force and the shear force. According to the invention, the normal force and shear force of the interface can be indirectly measured by measuring the contact resistance of the contact interface.

The invention relates to a microlens array spherical aberration correction method based on a high-order linear ordinary differential equation. The problem that an existing microlens array spherical aberration correction method is poor in microlens array spherical aberration correction effect is solved. The method comprises the following steps: firstly, establishing a high-order linear ordinary differential equation used for describing a single-lens light propagation path in a micro-lens array, and introducing a non-constant coefficient function; based on a set initial condition and the obtained pixel initial coordinates of the element image array, solving a simultaneous equation of the light field space geometrical relationship and a high-order linear ordinary differential equation by utilizing a formulation reduced-order iterative numerical solution algorithm to obtain an aberration matrix of the element image array; and feeding back the aberration matrix to a spatial function of the element image array mapped to the light field, and changing the pixel horizontal coordinate and vertical coordinate positions of the corresponding element image according to the distance from the pixel point to the optical axis of the corresponding lens to complete the spherical aberration correction of the microlens array. According to the invention, the spherical aberration correction capability of the integrated imaging system can be improved, and the stereo imaging quality is improved.

The invention relates to a flow battery hydrogen evolution reaction real-time monitoring method and system, and the method comprises the steps: obtaining real-time data in a battery management system; calculating the hydrogen ion concentration in the positive electrode electrolyte in the flow battery by adopting a simultaneous equation; according to the hydrogen ion concentration in the positive electrode electrolyte, the negative electrode equilibrium mixed potential is calculated by combining the positive electrode equilibrium potential; calculating the equilibrium potential of the negative electrode hydrogen evolution reaction according to the negative electrode equilibrium mixed potential; calculating the hydrogen ion concentration in the negative electrode electrolyte according to the equilibrium potential of the negative electrode hydrogen evolution reaction; calculating the amount of substance of hydrogen ions for hydrogen evolution according to the concentration of the hydrogen ions in the negative electrode electrolyte and a simultaneous equation; the amount of substance in which hydrogen is precipitated is calculated on the basis of the amount of substance of hydrogen ions for hydrogen precipitation. An electrochemical calculation formula is established through BMS real-time data, a gas concentration sensor does not need to monitor the gas phase concentration, the cost is reduced, meanwhile, the system real-time performance is improved, the monitoring result is not influenced by working condition fluctuation, and the data reliability is improved.

The invention discloses a method, a system, equipment and a medium for evaluating the gas-bearing property of a water-flooded area, and the method comprises the steps: confirming three pieces of quantitatively measured skeleton information and fluid medium information in a time domain through different minerals and fluid components, and calculating a fast neutron scattering cross section according to pulse neutron logging data; carrying out qualitative identification on the gas reservoir by combining the fast neutron scattering cross section and the stratum hydrogen-containing index; according to the fast neutron scattering cross section, the thermal neutron capture cross section, the hydrogen content index and the respective volume content, a linear equation set is established, and the simultaneous equation set is solved to obtain the content of different fluid components in the stratum. The gas reservoir evaluation method solves the problem that a conventional gas reservoir evaluation method is seriously influenced by detection depth, borehole environment, invasion, low contrast ratio and pore fluid properties, and does not depend on conventional logging curves and electrical characteristics.

A control method for controlling a fuel cell system, the fuel cell system including a fuel cell using, as a fuel, a mixed gas containing a plurality of types of components, a fuel supply mechanism configured to supply the mixed gas to the fuel cell, the fuel supply mechanism including a fuel tank that stores the mixed gas, and a combustor configured to generate a combustion gas that heats air supplied to the fuel cell when the fuel cell is started up, the control method for controlling a fuel cell system comprising: setting a fuel composition and a fuel flow rate to the combustor as unknown numbers and setting a plurality of conditions of an air flow rate to the combustor; estimating composition ratios of the components constituting the mixed gas based on simultaneous equations including at least one of a first characteristic equation based on a relationship between an amount of air supplied to the combustor and an oxygen concentration in an exhaust gas discharged from the combustor and a second characteristic equation based on a relationship between the amount of air supplied to the combustor and a temperature of the exhaust gas discharged from the combustor, and a composition equation representing a sum of the composition ratios of the plurality of types of the components of the mixed gas; and adjusting a flow rate of the fuel supplied to the fuel cell based on the estimated composition ratios.

This disclosure provides a coal gasification simulation method and apparatus based on the simultaneous equation method. The method includes: determining the unit operation modules and their connections based on user-selected unit operation modules and the connection configurations between them; determining the module calculation equations based on the user-configured reaction equations and / or unit operation module models to establish a coal gasification simulation model; obtaining user-defined correction configuration formulas using a simple calculator module; connecting the output of each correction configuration formula to the parameters or variables to be connected in the module calculation equations through the target connection equations to achieve the correction of the parameters or variables to be corrected; and solving the simulation variables based on the simultaneous equation method. This disclosure not only ensures the scalability of the model but also lowers the modeling threshold. Furthermore, by employing the simultaneous equation method, it significantly improves computational efficiency and convergence speed, adapting to the needs of online real-time optimization.

The invention discloses a power distribution network fault accurate positioning method based on negative-sequence component characteristics and two-end quantities, and the method comprises the steps: collecting fault voltage and current information, and extracting voltage and current fundamental frequency components; performing phase-mode transformation on the fundamental frequency phasors of the three-phase voltage and the three-phase current to obtain negative-sequence components of the voltage and the current; the amplitudes of the current negative-sequence components at the outlets of all the lines are extracted and compared, and the line with the maximum current negative-sequence component amplitude at the outlet is judged as a fault line; establishing head-end quantity and tail-end quantity expressions of the negative-sequence voltage amplitude of the fault point; and solving and judging a fault point distance by using a simultaneous equation set of fault point negative sequence voltage amplitude expressions established by the head-end quantity and the tail-end quantity. According to the method, only the negative-sequence parameters at the two ends of the line and the negative-sequence impedance parameters of the fault line are needed, the cost is low, the practicability is good, a new thought is provided in the aspect of fault distance measurement, and technical support can be provided for reducing the manual line patrol range on site and improving the fault maintenance efficiency.

The invention discloses a wind power plant current collection system topology design method and system based on an improved genetic algorithm, relates to the technical field of system topology design, and aims to solve the core problems of collaborative optimization of fan grouping and submarine cable connection and accurate matching of current-carrying capacity and cost under high-dimensional constraints. According to the method, a parameter calculation module is combined with a formula to determine the maximum feeder fan number and the number range, a grouping connection module combines polar coordinate grouping with a minimum spanning tree algorithm to construct an initial scheme, a cost modeling module calculates the cost through an exclusive function, and an iterative optimization module dynamically adjusts the grouping and fan number based on an improved genetic algorithm. And the constraint screening module eliminates violation schemes through a penalty formula, and finally generates optimal and suboptimal topological graphs containing core parameters. According to the method, the high-dimensional optimization problem is layered and disassembled, the constraint satisfaction degree and the economical efficiency are considered, the submarine cable investment cost is greatly reduced, the design efficiency and the engineering feasibility are improved, and the method is suitable for topology design of various offshore wind plant current collection systems.

The application discloses a kind of wind farm power collection system topology design method and system based on improved genetic algorithm, it is related to system topology design technical field, to solve the core problem of wind turbine grouping and submarine cable connection collaborative optimization under high-dimensional constraint, accurate matching of load flow and cost.The method determines the maximum number of wind turbines and the number range of feeder by parameter calculation module simultaneous equations, grouping connection module constructs initial scheme by polar grouping combined with minimum spanning tree algorithm, cost modeling module calculates cost by exclusive function, iteration optimization module dynamically adjusts grouping and the number of wind turbines based on improved genetic algorithm, constraint screening module excludes illegal scheme by penalty formula, and finally generates optimal and suboptimal topology graph containing core parameters.The application divides high-dimensional optimization problem into layers, considers constraint satisfaction degree and economy, significantly reduces submarine cable investment cost, improves design efficiency and engineering feasibility, and is suitable for various offshore wind farm power collection system topology design.

The invention discloses an industry and ecosystem interaction relationship quantification method considering a spatial adjacency relationship, which is based on an ecosystem service theory system, identifies an interaction influence mechanism of an industry and an ecosystem under a spatial adjacency perspective on the basis of clarification of a complex interaction relationship of the industry and the ecosystem in a geographic space, and determines an interaction relationship between the industry and the ecosystem. And on the basis of a spatial simultaneous equation modeling technology, an industry and ecosystem interaction relationship quantitative model is constructed. According to the method, the influence disturbance of an adjacent observation point area on observation points is fully considered, the coordination, tradeoff and causal relationship among ecosystem services, industries and driving factors thereof are incorporated into the same metering analysis system, a feedback loop relationship is established, and the influence intensity of the industries on the ecosystem in geographic space is systematically and comprehensively identified. According to the method, a new model means is provided for research on the complex relationship between the industry and the ecological system, and important theoretical and method support is provided for high-quality development of social economy and implementation of an ecological protection strategy.

Provided are: a positioning system capable of performing high-accuracy and high-resolution angle estimation of a target without the use of wires or cables between a plurality of transceivers or radars; a vehicle equipped with the same; and a positioning method. A positioning system 1 is provided with a plurality of radars 21, 22 and a signal processing unit 3. The signal processing unit 3 acquires from the radars 21, 22 a plurality of antenna data obtained by transmitting / receiving electromagnetic waves between a plurality of transmitting antennas Tx and a plurality of receiving antennas Rx.In a target angle estimation process using an AF method, a convolution matrix is ​​generated by stacking the plurality of antenna data in the row direction of the matrix and synthesizing the result thereof, and calculating a filter coefficient vector from simultaneous equations expressed by using the product of this convolution matrix and a matrix of filter coefficient vectors. The inter-antenna phase difference is calculated based on the calculated filter coefficient vector, and a calculation for estimating the arrival angle of the wave reflected from the target is performed based on the calculated inter-antenna phase difference.

The present invention belongs to the technical field of terminal ballistic efficiency tests, and particularly relates to a test method for obtaining the relationship between the projectile velocity and penetration depth of a rigid projectile. This method belongs to a prediction method combining theory and experiment. Based on the dynamic cavity expansion theory and combined with Newton's second law, a relational expression between the penetration depth and the projectile velocity is obtained. By integrating the parameters and unknown constants that are difficult to directly obtain, a new relational expression between the penetration depth and velocity of the projectile is obtained. A system of simultaneous equations is established and solved through the test data of the penetration depth and projectile velocity of two projectiles, and finally the definite relationship between the projectile velocity and penetration depth is given. On the premise of only knowing three easily measurable projectile-target parameters and conducting a small number (not less than two) of projectile-target tests, this method can obtain the relationship between the predicted penetration depth and projectile velocity of a rigid projectile, greatly reducing the test volume and test cost, and this method has universal applicability to different materials such as metals, concretes, and polymers.

The invention discloses a valve structure simulation method and device based on finite element analysis and a readable storage medium, and belongs to the technical field of valves, the simulation method mainly comprises a multi-physics field coupling method, control equations of a plurality of physics fields are simultaneous to obtain a control equation set, and the control equation set comprises a physics field parameter array corresponding to the physics field; the control equation set comprises a fluid mechanics equation, a damp-heat conduction equation and an elastic mechanics equation, a unified equation set is formed, and then discretization processing is carried out; performing discretization to convert a continuous partial differential equation into an algebraic equation set; for a transient problem, a display or implicit time integration scheme is adopted to perform time discretization on a simultaneous equation. An apparatus includes a memory, a processor, and a computer program. A terminal program for executing the method is stored in the storage medium. Factors such as fluid flow, damp heat conduction and structural mechanics can be considered at the same time, the simulation real-time performance is improved by integrating an advanced method and an optimization strategy, and the precision is improved while the working efficiency is ensured.

The invention relates to an ammeter error solving method and device and a storage medium, and the method comprises the following steps: obtaining a measurement switch in a metering box and data of all sub-meters corresponding to the measurement switch, and carrying out the preprocessing of the data of all sub-meters; constructing a split-phase energy conservation equation set and a total energy conservation equation set based on the preprocessed data of all the sub-tables; establishing a simultaneous equation set of a split-phase energy conservation equation set and a total energy conservation equation set, and solving through a BFGS quasi-Newton method to obtain an initial fitting residual sequence; screening out the metering period data based on the data in the initial fitting residual error sequence to obtain an optimal data set, solving the optimal data set through the BFGS quasi-Newton method again, carrying out repeated iteration, and stopping iteration until an iteration stopping condition is met to obtain a final optimal data set; and calculating the error of each sub-table of the measurement switch based on the final optimal data set.

Systems and methods for enabling measurements of geomagnetic fields and axial magnetic disturbance fields at survey points using directional sensors are described. Generally, an orientation sensor is used to make axial magnetic field measurements at three or more separate locations within the orientation sensor along a sensor tool axis. A computing system receives the axial magnetic field measurements and solves a set of simultaneous equations to obtain an axial component of the geomagnetic field.

The invention discloses a method for obtaining the optimal transmitting power and transmitting gain of a UWOC system with light beam jitter, and belongs to the technical field of underwater wireless optical communication. A mathematical expression of an instantaneous received signal-to-noise ratio gamma uw is determined according to a complex marine environment receiver received signal model, and a probability density function fh (h) of a mixed fading channel coefficient h is obtained, so that a cumulative distribution function F gamma uw (gamma uw) of the instantaneous signal-to-noise ratio gamma uw is obtained. And further solving a system average bit error rate # imgabs0 # and a partial derivative function of the bit error rate to the transmitter gain GT under OOK modulation, namely a system average bit error rate # imgabs1 #, and setting a constant value alpha of the system average bit error rate # imgabs2 #, and setting a partial derivative # imgabs3 # to form a simultaneous equation set to calculate and obtain the optimal transmitting power and transmitting gain. According to the method for acquiring the optimal transmitting power and the transmitting gain of the UWOC system provided by the invention, the optimal transmitting power and the gain value of the transmitter for ensuring normal communication of the system can be acquired under the condition that the transceiver jitters due to factors such as underwater turbulence, weak earthquakes and water body temperature changes, so that a reference is provided for upper-layer network planning of the system.

This invention discloses a method, system, equipment, and medium for calculating pressure loss in perfluorohexanone (PFH) pipeline networks, relating to the field of computer-aided design technology. The method traverses the component tree of the pipeline network building information model using a three-dimensional geometry engine to form a set of pipeline network features; constructs a directed graph topology representing the flow direction of the pipeline network, calculates potential energy loss, converts local resistance into equivalent length, and constructs a weighted directional topology weight matrix; obtains hydraulic balance under single-phase flow conditions through iterative calculation of node simultaneous equations, and generates the corresponding static pressure distribution results of the pipeline network; recursively calculates the dryness and density changes of the gas-liquid mixture using the equation of state, introduces a two-phase flow friction multiplication factor for nonlinear compensation, outputs a three-dimensional dynamic compensation pressure field model, and performs rendering and digital judgment; this solution solves the problem of low accuracy in pressure loss calculation caused by the inability of existing technologies to accurately simulate the flash evaporation effect of PPHH, thus improving the reliability of pipeline network design.

The present application relates to the field of chemical process simulation, and particularly relates to a simultaneous equation simulation block solving method for process industry. The method comprises the following steps: extracting equations in an activated state and variables in an unfixed state from a chemical process model to form an original equation and variable set to be solved; converting the equation and variable set into a graph data structure reflecting system dependency according to a preset block strategy; using a strongly connected component identification algorithm to traverse the graph data structure to obtain a strongly connected component set, each strongly connected component in the strongly connected component set corresponding to a sub-equation block in the process equation; determining a solving order of the sub-equation blocks according to the dependency of the sub-equation blocks; solving each sub-equation block according to the solving order of the sub-equation blocks; and collecting the solving results of each sub-equation block to obtain a global solution of the complete chemical process model.

The application discloses a special-shaped aerodynamic contraction profile automatic design method based on a bicubic curve equation and belongs to the technical field of aviation aerodynamic wind tunnel test. The method solves the problems of many design parameters of the special-shaped aerodynamic profile, artificial calculation and the problem that existing mechanical software auxiliary design is difficult to complete due to a huge amount of calculation in the prior art. The method comprises the following steps: S1. calculating intersection coordinate values of an entrance profile control equation and calculating polar coordinate values corresponding to a feature point group; S2. dividing the aerodynamic contraction profile according to the feature point group, realizing equal phase and equal distance scattering of each zone in the polar coordinate, obtaining corresponding discrete coordinate point groups of entrance and exit sections and saving the discrete coordinate point groups; S3. using a simultaneous equation set, batch calculating coordinate values of each section space coordinate point group; S4. generating a curve according to the coordinate values of the space coordinate point group, generating a surface according to the curve and obtaining the required aerodynamic contraction profile. The application meets the actual engineering requirements and can be applied to the design of a wind tunnel special-shaped aerodynamic contraction profile.

The invention discloses a same-tower parallel four-circuit alternating-current power transmission line parameter measurement method for inhibiting induced voltage. The method comprises the following steps: dividing a same-tower four-circuit power transmission line into five groups of wiring modes; measuring the short-circuit impedance in each wiring mode and the series impedance in a mode that the tail end of the line is grounded through impedance; calculating the characteristic impedance and the propagation coefficient in the corresponding wiring mode by using the impedance grounding series impedance measurement result and the line short-circuit impedance measurement result of the line in each wiring mode, and further calculating the distribution impedance and the distribution admittance in the corresponding mode; and finally, calculating the resistance, inductance and ground capacitance of each phase lead of the same-tower four-circuit line, the inter-phase coupling capacitance and inter-phase coupling inductance of the single-circuit line, and the coupling capacitance and coupling inductance between each phase lead of the four-circuit line through the distributed impedance and distributed admittance in each wiring mode and simultaneous equations. According to the method, the no-load power frequency induced voltage of the line can be effectively suppressed, and the line parameters can be accurately measured.

The application discloses a low-cost rotor displacement recognition method for an eight-tooth one-pair-pole bearingless permanent-magnet sheet motor, four programmable Hall sensors are sequentially installed on radial stator slots, and the Hall sensors are orthogonally distributed on the radial stator slots in pairs; the application proposes a four-phase Hall solving algorithm based on an extreme decoupling coefficient; firstly, an output signal expression of each Hall element is theoretically derived; secondly, other coefficients are separated through offline rotor edge sticking, and a variation extreme value of a single coefficient is obtained to measure and calculate a Hall signal coefficient, so that the constraint of the coefficient in the Hall signal is solved, and a demodulation process of multiplying a sine and a cosine to obtain the same coefficient proportional displacement information in the original method is cancelled; finally, rotor displacements x and y are solved through simultaneous equations and data summation and difference equations; the application is suitable for an eight-tooth one-pair-pole bearingless two-phase motor, and only four Hall sensors are needed to recognize the displacement, so that the cost is greatly reduced.

The invention discloses an underwater polarization imaging method and system based on Mueller matrix polarization analysis. The method comprises the following steps: shooting a plurality of polarization images of an underwater scene; according to the Fourier series simultaneous equation corresponding to each polarization image, calculating to obtain a Mueller matrix of the underwater scene; estimating the light intensity of backscattered light at the infinity; performing Clade decomposition on the Mueller matrix of the underwater scene to obtain an eigenvalue of the Mueller matrix, and calculating a polarization entropy and an overall purity index according to the eigenvalue; solving a low-rank part of the polarization entropy and the overall purity index by using robust principal component analysis based on an alternating direction multiplier method; according to the polarization entropy, the overall purity index and respective low-rank parts, a transmissivity graph is solved; and taking the first element of the Mueller matrix as the total light intensity of the underwater scene, substituting the total light intensity of the underwater scene, the backscattering light intensity at the infinity and the transmissivity graph into an underwater polarization imaging model for calculation, and performing histogram equalization to obtain an underwater restored image.

This invention discloses a method for generating two-dimensional closed curves using NUBRS interpolation, belonging to the field of computer-aided geometric design. The method first obtains parameter values ​​and a knot array using the interpolation points passed by the closed path curve and the order of the closed path curve. The coordinates of all control points of the closed path curve are then solved using a system of simultaneous equations. Finally, the parameter values ​​are constrained according to the NUBRS generation formula to generate a closed NUBRS curve. Based on NUBRS curves, the method accurately represents various complex free-form closed path curves.

The present disclosure relates to an information processing device, an information processing method, and a program that make it possible to more reliably control the operation of a robot. When executing an optimization computation process using a mathematical optimization problem including inequality constraints, a solution update unit determines a correction amount for the solution in accordance with a system of simultaneous equations for solving the mathematical optimization problem with hard constraints or soft constraints, and updates the solution. In a switching unit, constraint relaxation is represented by a parameter through introduction of variable reduction for slack variables that relax the inequality constraints in the optimization computation process. The switching unit switches between the hard and soft constraints by adjusting the parameter. The present technology is, for example, applicable to a robot control system.

The present invention discloses a method for determining the PAR dilution of precision for single-epoch GNSS, which relates to the technical field of satellite navigation and positioning. It includes: dividing the pseudorange and carrier phase observations in the GNSS double-difference mathematical model into two groups, and constructing the functional relationship between the float solution #imgabs0# of the ambiguity vector and the variance-covariance matrix of the float solution #imgabs1# and the float solution #imgabs2#; constructing the single-frequency single-epoch single-system P-ADOP expression and establishing the analytical formula for the inverse transformation of the contraction factor k to obtain the approximate formula for the non-inverse transformation P-ADOP of single-frequency single-epoch single-system GNSS by simultaneous equations; and analogously deriving the above approximate formula for the non-inverse transformation P-ADOP of single-frequency single-epoch single-system GNSS to obtain the general approximate formula for the non-inverse transformation P-ADOP of single-frequency multi-system or multi-frequency single-epoch GNSS. The present invention has important theoretical value and practical guiding significance for the rapid selection of the optimal ambiguity subset of GNSS, positioning, and the analysis of the influence mechanism of the success rate of fixing some ambiguities.

The application discloses a kind of measurement and calculation method for long-distance positioning electric power conductor and tower connecting point, it is characterized by comprising the following steps: step a, using the walking robot mounted on the conductor, combined with satellite positioning technology, sampling conductor space coordinates;Step b, according to the sampling coordinates, fitting the straight line equation under the overhead projection of conductor and the catenary equation under the orthographic projection of conductor;Step c, in the front of tower, find the auxiliary sampling point P that forms vertical line with connecting point P in orthographic projection plane s , and obtain the latitude and longitude coordinates of auxiliary sampling point P s , and fitting PP s Straight line overhead projection equation;Step d, by simultaneous equations and solving, obtain the space coordinates of connecting point P.The application does not need to climb to tower and conductor connecting place, can obtain the geographical space coordinates of tower cross arm conductor connecting point, ensure the safety of electric power operation, reduce work difficulty, reduce workload.