136 results about "Target angle" patented technology

The invention discloses a position calibration method, device and equipment and a storage medium, relates to the technical field of machine vision, and is at least used for solving the problem that the precision is low when a wafer is calibrated. The method comprises the following steps: acquiring position information of rotated sampling points corresponding to a plurality of rotary table rotation angles; determining a target distance and a target angle according to the plurality of rotary table rotation angles and the position information of each rotated sampling point; the target distance is used for representing the distance between the circle center of the to-be-calibrated wafer and the rotation center of the turntable; the target angle is used for representing an included angle between a connecting line between the circle center of the to-be-calibrated wafer and the rotating center of the turntable and a connecting line between the initial sampling point and the rotating center of the turntable; according to the target distance and the target angle, position deviation information of the circle center of the to-be-calibrated wafer relative to the rotation center of the rotary table is determined, calibration is carried out based on the position deviation information, and the circle center of the to-be-calibrated wafer coincides with the rotation center of the rotary table.

The invention provides a verification code verification method and device, equipment, a medium and a program product, and aims to solve the problem that an automatic script in the related technology cannot realize automatic testing of verification of a verification code of a rotary sliding block. The method comprises the steps of performing separation processing on a rotating main body and a target pattern in a verification code image to obtain a main body binary mask corresponding to the rotating main body and a target binary mask corresponding to the target pattern; based on the main body binary mask and the target binary mask, a target angle difference between the rotating main body and the target pattern is calculated, and the target angle difference is used for indicating the rotating main body to rotate to a rotating angle matched with the target pattern; generating a rotation track based on the target angle difference by using a slow motion function, wherein the rotation track comprises random disturbance and a random pause point; and controlling the rotating main body to rotate based on the rotating track to obtain a verification result. According to the invention, automatic testing of verification of the rotary sliding block verification code can be realized.

The invention relates to the technical field of ocean engineering equipment, in particular to a submarine pipeline groove angle self-adaption grinding operation method which comprises the steps that a pipeline is fixed through a clamping mechanism, the groove angle is detected in real time through a laser scanning device, and the target inclination angle of a transverse rod is calculated; an adjusting hydraulic cylinder is controlled to enable the axis of a transverse rod to be matched with a target angle, and a servo motor is started to adjust the distance between polishing rods to be matched with the groove width; the sliding seat and the transverse rod are driven to enable the grinding sleeve to be dynamically attached to the groove, and the grinding pressure is monitored in real time and subjected to closed-loop feedback adjustment; and after single-circle grinding is completed, the compensation angle is automatically adjusted according to the surface roughness for accurate grinding. The device has the advantages of high-precision groove forming, dynamic stability control, deep sea environment high adaptability, comprehensive efficiency breakthrough and the like, the groove angle consistency is high, the surface roughness is low, constant grinding pressure can be maintained, the tool wear rate is reduced, parameters can be automatically matched, the tool service life can be pre-warned, and the device adapts to deep sea high-pressure current; and the operation period can be shortened, and resource consumption is reduced.

The invention provides a deep-sea shadow area target positioning estimation method suitable for underwater maneuvering platform observation, and belongs to the technical field of deep-sea positioning measurement, and the method comprises the steps: firstly, receiving a narrow-band signal of a near-sea surface sound source of a deep-sea shadow area through an M-element horizontal array, and obtaining an initial target direction of arrival estimation value through conventional beam forming; and then clockwise rotating the horizontal array for T times, recording a course angle difference value of each rotation, receiving a signal, and performing beam forming on the rotated received signal to obtain a target direction of arrival estimated value. And constructing a cost function and searching an optimal solution based on the estimated value of the direction of arrival and the difference value of the course angle before and after rotation to obtain the estimated values of the horizontal azimuth angle and the vertical pitch angle. And finally, substituting the vertical pitch angle estimation value into a sound source distance estimation formula to calculate and obtain a sound source distance estimation value, thereby realizing three-dimensional positioning. The problem that in the prior art, sound source orientation and distance estimation of an underwater mobile platform in a deep sea environment needs a large-aperture horizontal array or large-broadband information, and practical application is difficult is solved.

The invention relates to the technical field of data processing, in particular to a method and system for obtaining the climbing angle of an underground loader, and the method comprises the steps: obtaining monitoring data collected by a tilt angle sensor; the monitoring data are subjected to denoising processing through an improved weighted moving average method to obtain a denoised climbing angle, and the improved weighted moving average method comprises the steps that any angle value in the monitoring data is determined as a target angle value, and a left sequence and a right sequence are established with the target angle value as the center. According to the method, in the initial weight correction of the weighted moving average method, the distance of the data and the abnormal degree of the data are considered, and the weight of the data is reduced to avoid excessive influence on the current data, so that the noise filtering effect is better after the current data is processed by the weighted moving average method, and the data change trend is better reserved.

The invention relates to a target angle super-resolution estimation method based on array radar. Comprising the steps that array radar subarray distribution is determined, an array radar comprises M rows and N columns of subarrays, and digital zero intermediate frequency echo data of each subarray is acquired; taking pitching dimension angle super-resolution as an example, calculating a digital beam forming weight coefficient according to the distribution condition of the subarrays, and performing digital beam forming on the subarrays in rows to obtain M pieces of pitching dimension beam forming data; carrying out two-dimensional target information extraction on the M pieces of pitching-dimension beam synthesis data to obtain two-dimensional one-time snapshot data; and carrying out decoherence source MUSIC direction finding on the obtained two-dimensional one-time snapshot data to obtain a target pitching incident angle. According to the method, the target angle estimation resolution and angle estimation precision of the array radar in a complex electromagnetic environment can be improved, the stability and reliability in the target tracking process are enhanced, meanwhile, the method mainly depends on the digital signal processing technology, additional hardware resources do not need to be added, and the implementation cost is reduced.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body, and an attitude detection device (a boom angle sensor, an arm angle sensor, a bucket angle sensor, a machine attitude sensor, and a turning angle sensor), and a controller configured to calculate a target angle related to a working angle formed by a plane or a line determined based on a shape of a bucket included in the attachment and a target surface. The controller changes the target angle in accordance with the attitude of the attachment and information relating to the target surface.

The invention discloses a multi-inertial navigation induction holder self-correction system and method, and relates to the technical field of holder rotation, and the method comprises the steps: obtaining the rotation speed of a target holder in the initial rotation process, and combining the preset delay time of a sensor to obtain a sensor delay coefficient; obtaining the temperature to obtain a temperature deviation coefficient of the target holder; acquiring current of a driving motor to obtain a motor influence coefficient of the target holder; and obtaining a rotation angle influence coefficient according to a sensor delay coefficient, a temperature deviation coefficient and a motor influence coefficient of the target holder, obtaining a final rotation angle in combination with an initial preset rotation angle in the secondary rotation instruction, and sending the secondary rotation instruction to the target holder according to the final rotation angle, so that in the holder self-correction process, the self-correction accuracy of the holder is improved. According to different states of the holder, the final rotation angle can be obtained and is sent to the holder as a secondary rotation instruction for rotation, so that the final rotation angle can reach the target angle of the holder, and the deviation of the self-correction rotation angle of the holder is reduced.

The estimation of spatially proximal extended target angle is always a hot and difficult research topic. The present invention proposes a method for estimating the angle of spatially proximal extended target based on multi-observation. According to the scattering characteristics of the extended target between adjacent pulses, the motion state of the extended target is predicted, then the maximum likelihood estimation method is used to estimate the angle of the spatially proximal extended target, and the optimization process of the RELAX algorithm is given.

The invention relates to a calibration device and a calibration method of a low-altitude target early warning detection system, and belongs to the technical field of equipment calibration, the calibration device of the low-altitude target early warning detection system comprises a visible light sighting telescope and an electronic eyepiece which are fixed on radar equipment, the electronic eyepiece is arranged at the exit pupil position of the visible light sighting telescope, and the electronic eyepiece is connected with the visible light sighting telescope. The image acquisition module is used for acquiring analog images acquired by the visible light sighting telescope based on the eyepiece and converting the analog images into digital images; the processor is in communication connection with the electronic eyepiece and is used for acquiring the azimuth angle of the first servo motor; the pitching angle of the visible light sighting telescope is controlled to the target angle; acquiring an azimuth angle of a second servo motor; and based on the azimuth angle of the first servo motor, the azimuth angle of the second servo motor and the target angle, carrying out space consistency calibration on the radar equipment and the photoelectric equipment. According to the invention, the calibration complexity of the low-altitude target early warning detection system is effectively reduced, and the calibration efficiency is improved.

A hip navigation system is provided that includes a navigation device comprising one or more sensors configured to sense changes in orientation and rotation, a reference sensor device comprising one or more sensors configured to sense changes in orientation and rotation, and a femur sensor device comprising one or more sensors configured to sense changes in orientation and rotation. The hip navigation system is provided for navigating a cup toward target angles. The hip navigation system is provided for determining changes in leg length and / or joint offset. Methods of using the hip navigation system are provided. A graphical user interface of the navigation device is provided.

The invention relates to an STCA-MIMO radar unambiguous parameter estimation method based on dimension reduction MUSIC. The method comprises the following steps: acquiring an echo signal at a target by using an STCA-MIMO radar signal emission model; obtaining a corresponding noise subspace according to the echo signal; obtaining an angle estimation matrix Q1 according to the receiving steering vector of the radar signal emission model at any point in the space; constructing a spatial spectrum function according to the angle estimation matrix Q1, and performing one-dimensional angle search on the spatial spectrum function to obtain a target angle estimation value of the angle where the target is located; constructing a spatial spectrum estimation matrix Qv2 according to the target angle estimation value and the noise subspace; obtaining a transmitting end distance steering vector according to the spatial spectrum estimation matrix Qv2; and averaging the distance estimation values obtained after the phase of the distance steering vector of the transmitting end is obtained to obtain the distance estimation value of the target. According to the technical scheme, the calculation amount and time consumption are reduced, and the parameter estimation performance is improved.

This invention discloses a radar target angle measurement method under main lobe interference based on a joint air-pole cancellation algorithm. The implementation steps are as follows: receiving the echo signal from a dual-polarized radar antenna array; estimating the autocorrelation matrix of the auxiliary antenna using the echo signal; performing multi-directional beamforming on the main antenna echo signal, calculating the cross-correlation matrix of the main and auxiliary antennas using the beamforming results, and calculating adaptive weights using the minimum mean square error criterion; calculating the joint air-pole cancellation output using the adaptive weights, and using the scanning angle corresponding to the maximum magnitude in the joint air-pole cancellation output as the target angle estimate. The angle measurement method designed in this invention significantly improves the accuracy of target angle estimation while maintaining low computational load under main lobe interference conditions, and has high engineering application value.

The invention discloses a casing windowing orientation measurement method, and belongs to the technical field of drilling and completion, and the casing windowing orientation measurement method comprises the steps: 1, connecting a first joint to a drill rod, measuring the angle difference between a whipstock and the first joint, and recording the angle difference as a first angle; 2, the drill rod is moved to the first position, and the azimuth angle of the first connector at the moment is measured and recorded as a second angle; 3, a second connector is connected to the drill rod, and the azimuth angle of the second connector at the moment is measured and recorded as a third angle; 4, the drill rod is moved to the target position, and the azimuth angle at the moment is measured as a fourth angle; and 5, substituting the first angle, the second angle, the third angle and the fourth angle into a preset angle algorithm to obtain a target angle difference value between the whipstock and the target position. And through cooperation of the first connector and the second connector, the problem that key setting of the positioning connector in the sleeve section with high inclination and super-large inclination is difficult is ingeniously avoided, and high convenience and adaptability are achieved.

The application particularly relates to a radar main lobe interference suppression method based on direction constraint, which realizes suppression of interference and separation of target echo in a main lobe suppression type interference scene by embedding array manifold vectors into FastICA fixed point iteration and applying direction constraint to the separation vectors after each update so that the separation vectors are always focused on a target angle subspace.

The invention relates to an air swing control method and device, air heating equipment and a storage medium. The air swing control method comprises the steps that the position of a target object is detected; determining a target angle of an air swinging structure based on the position and a current working mode of the air heating equipment, wherein the current working mode is a tracking mode or an avoiding mode; the wind swinging structure needs to be continuously aligned with the target object in the tracking mode, and the wind swinging structure needs to avoid the target object in the avoiding mode; and the air swinging structure is driven to move based on the target angle so as to adjust the air supply direction. Thus, it can be ensured that the position of the target object can be accurately determined, the swing structure can continuously align to or avoid the target object according to the position of the target object in different working modes, then effective air supply assistance can be provided, and the effect of improving user experience is achieved.

The application discloses a low, slow and small target detection method based on step-by-step ground clutter cancellation, and relates to the technical field of radar detection.The application establishes a node coordinate system and generates distance-Doppler two-dimensional data; then, current frame data and reference frame data are obtained, and the current frame data is subjected to ground clutter cancellation processing; then, a guide vector is calculated and generated, and the value is used for inter-element beam forming on the data after ground clutter cancellation, so that synthesized distance-Doppler data is obtained; target information and reference frame target information are obtained according to the synthesized distance-Doppler data, the target information is subjected to cancellation processing according to the reference frame target information, target angle measurement is further performed, and target positioning results are output.The application improves the detection probability of a radar for a low, slow and small target under the influence of a ground clutter signal, reduces the loss of a real target signal in the process of ground clutter cancellation processing, and improves the accuracy of ground clutter cancellation.

A processing circuit of this command generation system, which is for a work machine that includes a plurality of members and a plurality of hydraulic actuators, is configured to: acquire current angle information indicating a current angle of a distal-side member with respect to a proximal-side member; estimate a current torque for rotating the distal-side member with respect to the proximal-side member by performing an inverse dynamics calculation on the basis of the current angle information; acquire target angle information indicating a target angle of the distal-side member with respect to the proximal-side member; calculate a target torque for causing the current angle to follow the target angle on the basis of the target angle information; calculate a reference speed command value indicating a target speed of the hydraulic actuator on the basis of the target angle information; and generate a control command value for controlling the speed of the hydraulic actuator by correcting the reference speed command value so that a torque deviation, which is a deviation between the target torque and the current torque, is reduced.

The embodiment of the invention discloses a head-mounted device and a head-mounted device control method, and the method comprises the steps: obtaining the sight line information of a user, determining a relative position parameter and a shooting distance according to the sight line information, and enabling the relative position parameter to be used for representing the relative position of a sight line center and a camera; the shooting distance is the distance between the vertical plane where the fixation area is located and the sight line center, then determining the target angle of the camera according to the shooting distance and the relative position parameter, and further controlling the camera driving device to adjust the shooting angle of the camera according to the target angle, so that the view field of the camera corresponds to the fixation area. Therefore, the shooting angle of the camera can be automatically adjusted based on the sight line of the user so as to ensure that the image shot by the camera is consistent with the picture watched by the user as far as possible.

The invention provides a target object angle estimation method using a large-scale array antenna to carry out high angle analysis, which receives an input signal matrix through the array antenna, the input signal matrix is an emission signal or a reflection signal of at least one target object, and the method comprises the following steps: S1, inputting the input signal matrix to a first operation model, obtaining the number of target objects and roughly estimated target angles corresponding to the positions of the target objects; s2, inputting the number of the target objects and the input signal matrix into a second operation model for singular value decomposition, and obtaining a noise matrix; s3, obtaining an iteration angle range through the roughly estimated target angle obtained in the step S1; and S4, inputting the complex tracking matrix and the noise matrix corresponding to the iteration angle range into a third operation model, and performing iteration of the angle range, thereby obtaining a precise target angle.

The invention provides a fuel consumption rate calculation device and a ship. The purpose of the present invention is to reduce fuel consumption when the posture of a ship reaches a target angle. The present invention is provided with: two propulsive force generating devices respectively provided on both sides of a hull; the steering engine is used for controlling the turning of the ship body; a turning command acquisition unit that acquires a turning command value including a turning direction and a turning amount; a speed acquisition unit that acquires a speed command value of the hull; and a turning control unit that, when the speed command value acquired by the speed acquisition unit is equal to or greater than a speed threshold value, sets the steering engine to a neutral position and controls the two propulsive force generation devices such that the propulsive force of the propulsive force generation device on the inner side in the turning direction is smaller than the propulsive force of the propulsive force generation device on the outer side in the turning direction. Therefore, the ship turns according to the turning instruction value.

The invention provides a to-be-measured target angle adjusting method and device, equipment and a medium, a to-be-measured target and a starting point of the to-be-measured target are determined from a wafer, and in the to-be-measured target, a to-be-measured point is determined based on the starting point; in the to-be-detected target, three-dimensional coordinates of n data detection points with the to-be-detected point as the center are determined, the n data detection points are used for forming a quasi-circle surrounding the to-be-detected point, in the n data detection points, the difference between the distance between each data detection point and the to-be-detected point in the xy plane and a first preset distance meets a first similar condition, and n is larger than 4; a plane equation of a fitting plane is calculated based on the three-dimensional coordinates of the fitting points, the fitting points comprise n data detection points, and the fitting plane is a plane where the area where the to-be-detected point is located is located; and according to the plane equation, determining an angle of the fitting plane relative to a preset reference plane, and adjusting the to-be-measured target based on the angle. According to the invention, high-precision measurement can be realized, and the angle of the to-be-measured target can be accurately adjusted.

To provide a working machine capable of positioning a part related to work in a target position without a load of arithmetic processing.SOLUTION: A working machine includes: a first boom 411 disposed so as to be turnable at a turning angle including a primary first boom angle α1 and a secondary first boom angle α2; a second boom 413 disposed so as to be relatively turnable to the first boom 411 at an angle including the first and second boom angles in a turning direction the same as the primary first boom angle α1 and the secondary first boom angle α2, and disposed so as to be relatively turnable to the first boom 411 while being positioned in a first turning position, a second turning position and a third turning position in a turning direction crossing the primary first boom angle α1 and the secondary first boom angle α2; and an operation unit for causing the first boom 411 and the second boom 413 to perform automatic housing operation between a housing posture and a development posture. After the operation starts, it is determined whether or not the second boom 413 is in the first turning position, and when it is not, the a target angle is set to the primary first boom 411 angle, and the first boom 411 is turned so as to be the primary first boom angle α1.SELECTED DRAWING: Figure 1

The invention relates to the technical field of radars, in particular to an inverse main lobe interference method and device based on signal subspace steering vector reconstruction, and the method comprises the steps: constructing a first covariance matrix corresponding to an interference sample in a radar array receiving signal, carrying out the eigendecomposition according to the first covariance matrix, and obtaining a first eigenvector; selecting a first feature vector corresponding to the main lobe interference, constructing a feature projection matrix, and eliminating the main lobe interference through the feature projection matrix to obtain an intermediate radar signal; constructing a second covariance matrix of the intermediate radar signal, and performing characteristic decomposition on the second covariance matrix to obtain a second characteristic vector; obtaining a signal subspace according to the second feature vector, reconstructing a steering vector of the signal subspace, and substituting the reconstructed steering vector into a preset algorithm to obtain a target angle spatial spectrum so as to determine a target angle; the method has high target direction estimation precision and has the capability of suppressing multi-lobe interference.

The purpose of the present disclosure is to reduce erroneous detection of a false image caused by sidelobes and also minimize the deterioration of angular resolution by appropriately using a window function when detecting a target using a radar.　A target angle detection device 2 comprises: an angle spectrum calculation unit 21 that performs digital beamforming on the same reception signal of a radar array antenna by using first and second window functions having different sidelobe suppression levels, and calculates first and second angle spectra, respectively; a differential spectrum calculation unit 22 that calculates a differential-intensity spectrum on the basis of the first and second angle spectra; and a target angle detection unit 23 that detects a target at a spectral angle where the spectral intensity lies within a predetermined range on the basis of the differential-intensity spectrum, and determines that what is detected is a false image rather than the target at spectral angles where the spectral intensity lies outside the predetermined range.

The utility model provides a sail mechanism and navigation equipment. The sail mechanism comprises a sail shaft, a sail connected with the sail shaft, an empennage shaft connected with the sail, an empennage connected with the empennage shaft and an empennage driving piece. The sail can rotate around the sail shaft, the empennage shaft and the sail shaft are arranged at intervals, the empennage can rotate around the empennage shaft, and the empennage driving piece can drive the empennage to rotate around the empennage shaft by a target angle. By the adoption of the technical scheme, when wind comes from the right side of the navigation equipment, the empennage driving piece controls the empennage to rotate by a certain angle clockwise, lift force generated by the empennage enables the sail to deflect at the moment, an included angle is formed between the sail and the wind direction, and the lift force generated by the sail can push the navigation equipment to navigate along the target course at the moment. And the wind from the left side is contrary. When the wind direction changes within a certain range, the deflection angle of the empennage is kept, the sail can be adjusted to the optimal angle in a self-adaptive mode, and sailing power is provided for sailing.

The invention relates to a false target identification method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring position information of a to-be-identified target; the to-be-identified target is a new target appearing at a first moment; the position information comprises a target angle; based on the position information of the to-be-identified target, adjusting the phase of a transmitting signal at a second moment; calculating echo energy change information at the first moment and the second moment based on the echo signals at the first moment and the second moment; and judging whether the target to be identified is a false target based on the echo energy change information. By adopting the method, the detection accuracy of the radar can be improved.

The invention discloses a target tracking system under the condition of unstable distance measurement. The system is carried on an observation platform with a passive sensor and a laser range finder. The system comprises a data preprocessing module used for receiving target ranging data from a laser range finder and target angle measurement data from a passive sensor; the navigation data coordinate reference system conversion module is used for converting the platform speed and the platform acceleration into a local horizontal sight line system; the angle tracker is used for predicting the state of the target in the horizontal plane and the state of the target in the vertical plane in the next period by adopting a Kalman filter, and estimating the angular velocity perpendicular to the sight line; the distance tracker is used for estimating the state of the target slant distance direction in the next period by adopting a Kalman filter; and the priori knowledge processing module is used for converting velocity components in estimation results of the distance tracker and the angle tracker to a local earth system, performing rationality judgment and performing correction according to a judgment result.

The invention provides a method and device for determining the angular accuracy of a rocket target, a medium and equipment. The method comprises the steps that the current mass, acceleration and aerodynamic parameters of a rocket are obtained; corresponding aerodynamic force is determined according to the current mass and the acceleration, and a total differential expression of the target angle is determined according to the relation between the aerodynamic force and aerodynamic force parameters; determining the precision of the rocket target angle based on the total differential expression of the target angle; therefore, due to the fact that a fixed relation exists between the aerodynamic force and the aerodynamic force parameters of the rocket, the total differential expression of the target angle can be determined based on the relation between the aerodynamic force and the aerodynamic force parameters, the identified target angle is subjected to precision analysis according to the total differential expression, and the precision of the target angle is judged according to the analysis result. And therefore, the large-attack-angle flight attitude control effect of the carrier rocket, the pneumatic load shedding control effect, the landing area attitude control effect of the separated body and the landing attitude control effect that the separated body can be repeatedly used and returned are ensured.

The present application relates to airborne fire control radar technical field, disclose a kind of swash plate machine phase scanning radar installation angle self-adapting correction method, respectively obtain the target angle before and after radar array rotation, according to the target angle before and after rotation, respectively calculate the geographic system target angle centroid before and after rotation, and predict the predicted angle of target after rotation;Convert the geographic system target angle centroid to radar system, calculate the installation angle correction value;Real target angle is calculated using the installation angle correction value updated installation angle.The present application can be through the change of target angle in the process of long-distance target tracking with servo angle to deduce servo actual angle deviation, improve target tracking precision by real-time correction this deviation.