1700 results about "Speed measurement" patented technology

The invention discloses an indoor water tank sediment starting speed measurement system and method, and aims to solve the technical problem that data accuracy is affected due to the fact that a sensor disturbs a flow field in an existing measurement method. The core of the technical scheme is that the non-contact measurement characteristic of the PIV technology is applied to the whole process from flow field construction to data acquisition. The device is mainly composed of an imaging unit, a laser lighting unit, a movable sliding frame, a water flow adjusting unit and a buffer plate. Optical measurement is carried out through the imaging unit and the laser illumination unit, a physical sensor does not need to be arranged in a flow field, and interference of a measuring instrument on a water flow structure and a sediment starting process is fundamentally avoided. The movable sliding frame which is integrally designed integrates the functions of sediment laying, particle throwing and measuring, so that a test area can be quickly positioned; and the buffer plate and the water inlet and drainage adjusting unit are combined, so that a gradually-changed flow field from weak to strong can be accurately and stably simulated.

The invention belongs to the technical field of intelligent traffic, and discloses a road vehicle speed and distance detection method, system and device based on unmanned aerial vehicle vision. The method comprises the steps of tracking a vehicle in a to-be-processed video aerially photographed by an unmanned aerial vehicle in real time through an improved YOLOv11 network and a BotSort algorithm to obtain a vehicle trajectory, and converting a vehicle pixel coordinate detected by each frame into a world coordinate in combination with a conversion matrix H of the pixel coordinate and the world coordinate to form a trajectory sequence of the vehicle in the world coordinate system; and for a certain vehicle i, according to the pixel coordinates at the t-th moment and the (t + t)-th moment in several continuous video frames, corresponding world coordinates are obtained through the conversion matrix H, the displacement between two points is calculated according to an Euclidean distance formula, and the average speed of the vehicle in the time period is calculated. According to the invention, efficient, stable and reliable vehicle speed measurement and vehicle distance calculation can be realized.

The invention provides an unmanned aerial vehicle real-time road condition monitoring method and system and a medium, the method relates to the field of image data processing, and the system comprises an unmanned aerial vehicle which comprises an image acquisition device and a sensor group and is used for acquiring aerial videos and flight parameters of the unmanned aerial vehicle in real time; the streaming media server is used for receiving and storing the aerial video transmitted by the unmanned aerial vehicle; analyzing the video stream into a frame-by-frame image sequence with aligned timestamps; performing target detection on each frame of image, and identifying a target vehicle by using a pre-trained deep learning model; carrying out target tracking on the target vehicle in the continuous frames based on an intersection-to-union ratio matching and trajectory prediction algorithm, and constructing a target motion trajectory; and calculating the displacement distance of the target vehicle in the image based on an optical flow method, feature point matching and a deep learning algorithm, and estimating the actual running speed of the vehicle in combination with the flight parameters of the unmanned aerial vehicle. According to the system, computer vision and sensor technologies are combined, and accurate speed measurement is realized through target detection, tracking and speed estimation.

Disclosed is a low-precision incremental encoder-based method for ultra-low speed control of a servo system. According to the present invention, a fast speed observer in an ultra-low-speed working state is achieved, only a sampling speed and load torque in an M / T method need to be observed, and position information of an electric motor does not need to be observed, such that the structure of the observer is simplified, and calculation is simple and fast; moreover, the influence of a friction force and cogging torque on a speed change is considered, such that the speed observation precision is further improved. The fast speed observer can reduce hysteresis and measurement dead zones, such that the speed response and the speed control precision in a low-speed working state are greatly improved, the problem in a traditional observer of a large position deviation caused by nonlinear factors such as an external load is avoided, improving the stability and robustness of the system. According to the present invention, the processing of sampling measurement time at a medium-high speed and the processing of switching the observer at a low speed in the M / T method can optimize the speed measurement precision at both the medium-high speed and the ultra-low speed, and can better satisfy the requirements of apparatuses such as a radar on rotating speed control.

The invention relates to the field of meteorological detection and analysis, and discloses a low-altitude complex wind field detection and inversion method based on a vehicle-mounted laser radar, and the method comprises the steps: determining a scanning point location based on the terrain, building distribution and simulation data; optimizing the driving path of the vehicle-mounted radar to cover the high-risk area; acquiring three-dimensional wind field data by adopting an RHI and PPI multi-mode scanning strategy; the influence of vehicle-mounted movement on speed measurement is corrected; calculating turbulence intensity and vortex nucleus position by using spectral width characteristics; and identifying the wind shear position and strength through a slope algorithm. According to the invention, low-cost and high-precision wind field detection is realized through maneuvering deployment and multi-mode cooperation, and reliable technical support is provided for safe flight of the unmanned aerial vehicle, low-altitude traffic management and meteorological early warning.

The invention provides a backup degradation train control system based on rail transit intelligent perception, the system comprises existing vehicle-mounted signal subsystems loaded at two ends of a train, a vehicle interface, a bridge and an intelligent perception subsystem, the intelligent perception subsystem comprises an ATO, an ATP, an ITE, a perception device and a speed measurement device; the sensing equipment is connected with the existing vehicle-mounted signal subsystem; the switching equipment is used for switching to the intelligent sensing subsystem to run in an autonomous sensing mode when the train with the CBTC is degraded due to a fault, and the existing vehicle-mounted signal subsystem is still maintained in an RM mode; when the train which autonomously perceives running runs to the area with the upgraded CBTC, the vehicle-mounted equipment is switched back to recover running of the train CBTC; the wireless communication device is used for being in wireless connection with the vehicle-mounted signal subsystem and the trackside device. The intelligent sensing subsystem operates when the CBTC breaks down and degrades, toughness is improved, and it is achieved that the train does not get off line in the peak period.

The invention relates to the technical field of bearing detection, in particular to bearing detection equipment for bearing production and processing. The speed measurement sensor is arranged on the top surface of one side of the test bench, is matched with the layout of the ball cylinder and is used for monitoring the rotating speed of the inner ring and the outer ring of the bearing; the clamping parts are arranged on the two sides of the partition of the test board respectively and used for fixing the positions of inner and outer rings of the bearing; and the switching parts are symmetrically arranged in the test board and are matched with the rotation of the turntable and are quickly switched so as to push the inner ring or the outer ring of the bearing to rotate for rotating speed test. Through the clamping part and the switching part which are operated together, the movement of the inner clamping plate and the outer clamping plate is controlled by utilizing different rotating directions of the turntable, so that the bearing is accurately clamped and fixed at different ring positions according to the detection condition, and then the turntable rotates to synchronously push the air pipe to change the position, so that the inner and outer ring detection of the bearing can be independently operated; therefore, more comprehensive bearing detection is achieved, and double improvement of simple and convenient operation and detection precision is realized.

The invention relates to the technical field of motor testing, and provides a motor loss separation testing method, device and system and a readable storage medium. The method comprises the following steps: determining no-load iron loss of the motor at a corresponding rotating speed measuring point according to a mechanical torque and a dragging torque of the motor at each rotating speed measuring point; determining the load iron loss of the motor according to the simulation analysis and the actual load test; determining the loss of a motor body according to the motor operation parameters of the motor at the rotating speed measurement point; determining stray loss of the motor according to the alternating current side electric power; and no-load iron loss, load iron loss, motor body loss, stray loss and assembly iron loss are respectively output. Separation testing of the motor loss is achieved, the motor loss obtained through the separation testing can provide a reliable basis for design and optimization of the motor, and therefore the performance of the motor can be improved.

The invention discloses a redundancy speed measurement method and device, a computer readable storage medium and a train, the redundancy speed measurement method is applied to a home-end ATP system of a train head, an opposite-end ATP system in communication connection with the home-end ATP system is arranged at a train tail of the train, and the home-end ATP system and the opposite-end ATP system both comprise accelerometers and speed sensors. The redundant speed measurement method comprises the following steps: acquiring home terminal acceleration information and home terminal speed information collected by an accelerometer and a speed sensor in a home terminal ATP system; opposite-end acceleration information and opposite-end speed information sent by an accelerometer and a speed sensor in an opposite-end ATP system are received; and carrying out redundancy detection on the speed of the train according to the home terminal acceleration information, the home terminal speed information, the opposite terminal acceleration information and the opposite terminal speed information. Through dual verification and complementation of the home terminal information and the opposite terminal information, the reliability of train speed measurement is remarkably enhanced, the accuracy of the speed information is improved, and the safety of train operation is further improved.

The invention relates to the technical field of video water flow velocity detection, and discloses a river video velocity measurement method and device based on a multi-feature fusion PSA-ResNet network, and a medium. The method comprises the following steps: constructing an STIA data set; extracting low-level textural features of the space-time image by using a CLBP multi-feature extraction algorithm, performing channel-level fusion on a feature map and an original RGB image to form a six-channel CLBP-STIA feature map, and constructing a CLBP-STIA data set according to the six-channel CLBP-STIA feature map; fusing a pyramid segmentation attention module PSA in a residual block of the residual network ResNet to construct an angle classification model, and training the model by using a CLBP-STIA data set; generating enhanced feature representation of the to-be-detected space-time image by referring to the above mode, then inputting the enhanced feature representation to the trained classification model, and outputting a corresponding texture principal direction angle; and acquiring the actual length of the velocity measurement line in the video image, and calculating the actual flow velocity of the surface flow feature on the velocity measurement line in combination with the texture main direction angle. The texture main direction is accurately estimated, so that the speed measurement precision and efficiency are improved.

The present application relates to the field of engineering machinery. Provided are an oil consumption self-optimization control method and apparatus and a work machine. The method comprises: acquiring a plurality of actual working condition points of an engine under a current gear within a preset duration; on the basis of a rotation speed measurement value and a torque measurement value of each actual working condition point, determining a centralized working condition point of the engine; determining a target oil consumption area of the engine on the basis of a preset oil consumption model and the rotation speed measurement value and the torque measurement value of each actual working condition point, and, on the basis of the preset oil consumption model, determining oil consumption corresponding to the centralized working condition point; and if the oil consumption corresponding to the centralized working condition point does not satisfy the target oil consumption area, determining a candidate rotation speed of the engine on the basis of the target oil consumption area, and, on the basis of the candidate rotation speed and the maximum-power point among the plurality of actual working condition points, determining a target rotation speed of the engine.

The invention relates to the technical field of video monitoring, and provides an ectopic dual-camera intelligent vehicle speed measurement method and system based on deep optimization. The method comprises the following steps: acquiring images acquired by two cameras which are arranged at different positions on the same side of a road; extracting features of each vehicle based on each vehicle detected by the first image and the second image, and matching the features of the vehicles in the first image and the second image; when a target vehicle reaches a speed measurement point area, determining a three-dimensional geometric projection constraint residual error according to depth estimation values of the two cameras and three-dimensional geometric projection constraints of the target vehicle and the two cameras, constructing an error-minimized target function in combination with a depth consistency error, and optimizing the depth estimation values of the two cameras to obtain a target vehicle speed measurement result; obtaining depth estimation optimization values of the first camera and the second camera; and converting the two-dimensional track pixel coordinates of the target vehicle into three-dimensional world coordinates based on the depth estimation optimization values of the first camera and the second camera, and calculating the final speed of the target vehicle.

The invention discloses a method for calculating a vehicle speed based on a moving unmanned aerial vehicle video, and belongs to the technical field of vehicle speed calculation methods through videos, and the method comprises the steps: extracting global feature points of a video frame through employing an SIFT operator, calculating a homography matrix H through combining with an RANSAC algorithm, projecting a previous frame image to a current frame, and carrying out the calculation of the current frame image; the method effectively eliminates the interference of the motion (such as flight attitude change and displacement) of the unmanned aerial vehicle on the vehicle speed calculation, solves the problem of speed measurement failure caused by the deviation of the motion directions of the unmanned aerial vehicle and the vehicle in the traditional method, enables the algorithm to be suitable for complex scenes such as curves and multi-angle flight of the unmanned aerial vehicle, improves the adaptability of the system in a dynamic environment, and improves the reliability of the system. According to the method, the YOLOv5-1 model is combined with the DeepSORT algorithm, high-precision detection and stable tracking of the vehicle are achieved, even under the complex conditions that the vehicle is partially shielded, illumination changes and the like, continuous detection frame association can still be kept, and reliable time sequence data support is provided for vehicle displacement calculation.

The invention belongs to the field of unmanned aerial vehicle safety, and particularly relates to an unmanned aerial vehicle high-speed collision body safety evaluation test device, which comprises a collision protection cabin, a speed measurement device, a sabot separation mechanism, a special-shaped gun barrel, a rapid bomb loading device and a gas storage tank, the special-shaped gun barrel is cylindrical and horizontally arranged, the impact protection cabins are arranged on the outer side of the output end of the special-shaped gun barrel at intervals, and the speed measuring device is arranged between the impact protection cabins and the output end of the special-shaped gun barrel. The high-speed impact test of the unmanned aerial vehicle is realized by adopting the special-shaped gun barrel and the integrated sabot separation mechanism and adopting the 400mm large-diameter gas gun impact test device to accelerate the unmanned aerial vehicle to a specified speed, so that the reliability of a test result is ensured, and the test cost and the test difficulty are also remarkably reduced. Meanwhile, the method has wide applicability, can be used for the unmanned aerial vehicle, and is also suitable for impact damage evaluation of an object of 2 kg or above at the speed of 150 m / s.

The invention discloses a system parameter adjustment method. The method comprises the following steps: screening to-be-adjusted system parameters according to a preset strategy and sorting the system parameters; according to the default values of the system parameters, adjusting ranges corresponding to the system parameters are generated, and adjusting strategies corresponding to the types of the system parameters are obtained; selecting system parameters one by one according to the sorting result, and performing adjustment and speed measurement according to an adjustment range and an adjustment strategy corresponding to the system parameters so as to obtain an optimal adjustment value corresponding to the optimal speed measurement result; performing adjustment and speed measurement on the next system parameter based on the optimal adjustment value to obtain the optimal adjustment value corresponding to the next system parameter; and after the optimal adjustment values of the system parameters are obtained, combining the optimal adjustment values corresponding to the system parameters into a system parameter optimal adjustment set. By applying the technical scheme of the invention, each system parameter in the speed measurement system can be reasonably and efficiently adjusted, the optimal performance of the test system is realized, and the optimal speed measurement result is obtained.

The invention relates to the technical field of traffic monitoring, in particular to a multivariate information fusion speed measurement method and system, and the method comprises the following steps: installing an image collection device and a three-dimensional laser radar, obtaining an image of a monitoring area through the image collection device, and obtaining the point cloud data of the monitoring area through the three-dimensional laser radar; constructing a vehicle intelligent identification model, and identifying a vehicle in the monitoring area image by using the vehicle intelligent identification model to obtain a first vehicle identification result; preprocessing the monitoring area point cloud data, and identifying vehicles in the monitoring area point cloud data based on point cloud segmentation and point cloud clustering to obtain a second vehicle identification result; and determining the vehicle position according to the first vehicle identification result and the second vehicle identification result, and further obtaining the vehicle speed by tracking and monitoring the vehicle. According to the multi-information fusion speed measurement method provided by the invention, the speed measurement distance and the speed measurement precision in a complex environment can be improved, and optimization of traffic flow management and improvement of road traffic efficiency are facilitated.

The invention discloses a cascading filtering positioning method and device in a complex and severe environment of a well mine and a medium, and achieves a high-precision positioning function of a well mine unmanned vehicle based on a cascading filtering method. According to the method, the IMU, the wheel speed and the wheel rotation angle are subjected to data fusion through adaptive Kalman filtering, the influence of non-Gaussian noise on wheel speed measurement is reduced through non-Gaussian noise feature extraction, and robust prior positioning information is obtained. According to the method, a regular term representing feature degradation is constructed, a laser radar observation model based on a prior map and laser radar data is constructed, and finally, a result of the laser radar observation model and prior positioning information are fused according to the regular term under a regularization Kalman filtering framework to obtain posterior positioning information. The precision and robustness of the method meet the positioning requirements of the mine unmanned vehicle.

The embodiment of the invention discloses an aero-engine rotating speed measuring device which is characterized by comprising a tachogenerator module, a hardware conditioning module, a high-speed A / D conversion module, a data picking and buffering module, a digital signal processing module, a rotating speed measuring module, a power supply module, an operation control module and a communication module which are connected in sequence. The tachogenerator module converts an acquired engine rotating speed signal into a sine-wave-like alternating-current voltage signal of which the frequency and the amplitude are positively correlated with the rotating speed. The hardware conditioning module is used for conditioning the sine-like signal with a relatively wide amplitude range into a signal meeting the amplitude range requirement of the high-speed A / D conversion module; the high-speed A / D conversion module performs high-speed sampling on the conditioned sinusoidal-like signal and converts the conditioned sinusoidal-like signal into a digital signal; the data picking and buffering module is used for picking and buffering the digital signals subjected to A / D conversion; the digital signal processing module is used for converting the digital signal into a digital square wave signal; the rotating speed measuring module is used for monitoring the frequency of the digital square wave signal and calculating the rotating speed of the engine through the frequency; and the communication module is used for uploading the engine rotating speed measurement result to the flight control computer. The technical scheme of the invention solves the problem.

A measurement system comprising circuitry configured to determine a phase noise cancelled speed measurement (SPD) based on interference of a chirping upper single sideband (CUSB) and a fiber delay reference (FDR) and based on interference of a chirping lower single sideband (CLSB) and the fiber delay reference (FDR).

The invention relates to the technical field of mine ventilation, in particular to a mining optical fiber wind speed sensor and a detection system. The mining optical fiber wind speed sensor comprises a shell, wherein a main air channel, a first sub-air channel and a second sub-air channel which are communicated with one another are formed in the shell; the dust removal assembly is arranged in the main air duct and blocks the flowing direction of the air flow; the airflow is separated into first airflow and second airflow after flowing through the dust removal assembly, and the first airflow comprises impurities; the speed measuring assembly is arranged in the second sub-air duct and located on the outlet side of the second sub-air duct, and the speed measuring assembly is configured to measure the air speed of the second airflow; wherein airflow enters the shell through the inlet of the main air duct and is separated into first airflow and second airflow through the dust removal assembly, the first airflow flows out of the shell through the first sub air duct, and the second airflow flows out of the shell through the speed measurement assembly in the second sub air duct. Impurities in airflow flowing into the sensor are removed twice, so that the problem that the impurities damage the sensor is reduced.

The invention relates to the technical field of fabric testing, in particular to an experimental testing method and device for determining the impact resistance of fabric, and the method comprises the following steps: S1, initial calibration: installing the fabric to be tested on a fabric frame, adjusting the tension of the fabric to be tested to a set value through a first electric push rod, starting an electromagnetic suction table to compress a spring to an energy storage state, and starting a second electric push rod; the pressure sensor array module is impacted by a bullet launched in a no-load mode, the process is repeated three times, an impact force calibration value is obtained, and the speed measurement sensor is synchronously calibrated, and S2, testing position switching is conducted, and liquid agar gel is injected into the transparent gel cylinder. According to the invention, through a unique spring system, the linear transmission module is utilized to drive the electromagnetic suction table to move, and the stretching amount of the spring is accurately controlled, so that the accurate adjustment of the projectile launching speed is realized, and the impact at various speeds can be simulated when the impact resistance of the fabric is tested.

According to the printing film coating production line transmission tension precision control method, a DCS system carries out process control of production line temperature, humidity, air volume and flow variables, analytic calculation of a controlled variable trend chart and man-machine interaction, and AC80 + ACS600 forms a transmission subsystem of Freelance2000; the AC80 PLC establishes sequential logic control required by a production line, carries out PID closed-loop control on tension or positions of all transmission points, calculates given speed and given torque of all the transmission points in combination with synchronous speed, and transmits signals of given speed, given torque, start and stop and the like to the ACS600 frequency converters of the 14 transmission points through DDCS protocol communication. And each transmission point forms speed closed-loop control through an ACS600 frequency converter and a speed measurement encoder, transmission control of the coating production line is cooperatively established, and the dragging points are synchronous in speed, stable in tension and consistent in longitudinal uniformity of a coating. The winding taper tension is controlled under the moment mode of the printing film production line, the appearance of a winding reel is neat, and the tension tightness is proper.

The invention relates to an arrangement for optical distance and / or speed measurement with a mode multiplexer in the coaxial transmission and reception path, wherein a different mode is used for transmission (i.e., light emission or the transmitter) than for the reception path. This eliminates the need for a circulator in the transmission path. The mode multiplexer thus assumes the function of branching the reception channel from the transmission channel and can be integrated as a PIC.

The invention discloses a train multi-source information fusion positioning method based on 5G positioning, which fuses multi-source data information such as 5G positioning information, satellite positioning information, speed sensor information, transponder information and the like, and provides more reliable train position and speed information through redundancy complementation of the multi-source data information. The defect that positioning depends on satellite positioning and is greatly influenced by terrains and environments is overcome, and the problems that in the prior art, in the environments where satellite signals are shielded in tunnels, valleys and the like, satellite positioning fails, a system only uses a wheel axle speed sensor for speed measurement and distance measurement, and errors are large are solved.

The invention provides a multi-sensor fusion downhole drilling tool rotating speed control method and application. The rotating speed control method comprises the steps that rotating speed measurement is conducted, specifically, the rotating speed of an internal control system is obtained through a gyroscope and a vibration sensor, and the rotating speed of an external drill collar is obtained through a magnetoresistive sensor and the vibration sensor; rotating speed control: when the internal control system is static in space, the gyroscope acquires rotating speed data of the internal system, and the vibration sensor acquires vibration data; processing the vibration data by using a Butterworth high-pass filter, extracting rotation speed fluctuation, and performing torque compensation on internal system rotation speed data acquired by the gyroscope according to the rotation speed fluctuation to obtain a real-time rotation speed of an internal control system; when the internal control system rotates along with a certain rotating speed difference or the internal control system is switched between a static mode and a rotating along mode to do variable motion, the relative rotating speed of the real-time rotating speed of the internal control system and the real-time rotating speed of the external drill collar is measured, the rotating speed of the internal control system is adjusted through a gyroscope, and the relative rotating speed is measured multiple times till the expected effect is achieved.

The invention relates to a train dormancy awakening method and system based on TACS fusion control, and the method comprises the following steps: before a train is dormant, an AOM stores the position information of the train; in the train dormancy process, the speed measurement positioning board card keeps power supply, the speed measurement positioning module continuously collects speed pulse signals, train position information is calculated, and the train position information obtained through calculation is sent to the AOM; before the train is awakened, the AOM compares the position information obtained from the speed measurement positioning module in real time with the position information stored before dormancy, and whether the train is allowed to be awakened or not is judged based on the comparison result. According to the method, power supply is kept for the speed measurement positioning module during the train sleep period, real-time monitoring of the train position during the sleep period is achieved, meanwhile, through position comparison before wakeup, the wakeup efficiency of the train is improved, and wrong wakeup operation caused by abnormal movement of the train is prevented.

The invention relates to a long-gap discharge leader development speed measurement method based on radiated electromagnetic wave detection. The method comprises a set of high-frequency antennas and a high-speed oscilloscope and a long-gap discharge leader development speed calculating method. The method adopts a certain antenna arrangement form; long-gap discharge radiated electromagnetic wave pulse time is detected simultaneously through the plurality of antennas; leader head position is positioned according to time difference of a signal arriving at different antennas; and furthermore, the long-gap discharge leader development speed can be calculated. The method can effectively improve the measurement precision of the discharge leader development speed, and resolution reaches the level of 0.1 ns.

The invention discloses a speed tracking prediction method for a wheat seeding unit. The method comprises the following steps: 1, acquiring related speed data; 2, judging driving conditions (complete constant speed, complete variable speed, including constant speed and variable speed); 3, establishing and solving an error function; 4, calculating a speed tracking predicted value; and 5, judging and processing the abnormal condition of the speed measurement value. According to the invention, the collected running speed of the wheat seeding unit can be analyzed in real time, the running condition of the seeding unit is analyzed and judged, and the speed information of the running condition is analyzed and calculated based on the principle of the least square method, so that the speed value at the current moment is predicted, and the rotating speed of the seed / fertilizer shaft motor is controlled. Therefore, precise seed discharging / fertilizer discharging of the wheat seeder can be realized.

The embodiment of the invention discloses a real-time tennis ball speed calculation method and system based on a sliding window, and the method comprises the steps: carrying out the data buffering through employing a 35-frame first-in first-out buffer region based on a three-dimensional track point, screening effective points, calculating the instantaneous speed according to a Euclidean distance formula and an inter-frame time interval, and obtaining the real-time tennis ball speed. And through a three-frame sliding window average smooth speed curve, abnormal values are filtered by using a 10-220km / h threshold value, and ball speed calculation is realized. Through three-dimensional track points, ball speed calculation is realized through the steps of data buffering, effective point screening, instantaneous speed calculation, sliding window averaging, threshold filtering and the like. Compared with traditional single-point speed measurement, the precision is improved by about 20% by means of three-frame sliding window and three-dimensional coordinate calculation, and single-frame errors are reduced; the robustness in a complex scene is enhanced through data screening, window averaging and threshold filtering; the process is simple, the calculated amount is small, and the real-time requirement of occupational competitions is met; a fixed 35-frame buffer area optimizes resources, and memory redundancy is avoided.

The invention belongs to the field of underwater target navigation and positioning, and discloses an underwater multi-station speed measurement technology based on acoustic beacons, which comprises the following specific steps: 1) establishing a coordinate system, acquiring measurement information, and estimating the initial position of a navigation body; 2) sound velocity correction and position parameter estimation are carried out point by point, and speed parameter estimation is carried out after iterative calculation of position parameter convergence; and 3) estimating a constraint polynomial coefficient, and optimizing the position and speed parameters of the navigation body. The technology has the characteristics that the observation process does not depend on a navigation body, the measurement precision is high, the result can be accurately obtained in real time and the like, reliable estimation of position and speed parameters based on polynomial constraint under a complex navigation working condition is realized, and the problems of functional expression of observation motion under a high-dynamic motion condition and provision of continuous and smooth motion parameters are solved; the method has good adaptability to the complex motion process of an underwater target, has a wide technical application prospect, and can provide a data processing and analysis technology for underwater motion performance analysis and evaluation of a navigation body.