88 results about "Target angle" patented technology

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.

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 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.

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 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 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 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.

The invention discloses a product detection method and device, and the method comprises the steps: setting a recognition region on a product detection image, and enabling the recognition region to comprise a plurality of fan-shaped selection regions which are sequentially and adjacently arranged; detecting whether a straight line exists in a fan-shaped selection area of the identification area; and if yes, obtaining a target angle between target straight lines based on the fan-shaped selection area where the straight line is located and the relative positions of the plurality of fan-shaped selection areas, and carrying out product detection according to the target angle. According to the invention, the method achieves the quick angle detection of multiple straight lines through the recognition region formed by the fan-shaped selection region, simplifies the operation complexity of angle measurement, and improves the efficiency and accuracy of angle measurement.

An angle width estimation device is configured in such a way as to include: a beam forming unit to acquire one reception array signal of a reflected wave from a target to be observed, and form, from the one reception array signal, a plurality of null beams having nulls in an arrival direction of the reflected wave, and having null widths which are widths of the nulls and different from each other; and an angle width estimating unit to compare powers of the plurality of null beams formed by the beam forming unit with each other, and estimate a null width indicating an angle width of the reflected wave on the basis of a comparison result of the powers.

The application discloses an angle detection method, device, system and storage medium, and relates to the technical field of angle detection. The method is applied to a master control unit in an angle detection system, the system further comprises a plurality of angle detection units and a central control device, and comprises the following steps: in response to a first control instruction corresponding to a current detection scene and sent by the central control device, an angle detection unit corresponding to the current detection scene is determined from the plurality of angle detection units as a target angle detection unit; a second control instruction is sent to the target angle detection unit; real-time detection data fed back by the target angle detection unit is received, and a real-time opening and closing angle of an opening and closing object is determined according to the real-time detection data; and the real-time opening and closing angle is fed back to the central control device. In this way, the precision of the detected opening and closing angle is more consistent with the angle precision requirement under the current detection scene, and the accuracy of angle detection is improved.

The present invention relates to a high-precision multi-parameter joint estimation method in a multiple-input multiple-output (MIMO) radar system. It mainly solves the problem of target positioning in the case where the transmitting and receiving antenna arrays are not fully calibrated, that is, there are multi-slot gain and phase errors. The implementation steps are as follows: 1) Construct a baseband received signal model of angles and multi-slot gain and phase errors in the form of a multi-dimensional matrix; 2) Use the least squares Khatri-Rao factorization algorithm to obtain a mixed matrix containing angle information and a combined gain and phase error matrix; 3) For target angle estimation, an iterative algorithm combining spatial smoothing and real-valued processing is proposed; 4) Estimate the transmitting and receiving gain and phase errors in the first time slot to eliminate the scale ambiguity of the multi-slot combined gain and phase errors; 5) Use the least squares Khatri-Rao factorization algorithm to jointly estimate the multi-slot transmitting and receiving gain and phase errors. The present invention considers the situation where the transmitting and receiving antenna arrays have multi-slot gain and phase errors, can perform joint estimation of multiple parameters, and the proposed angle algorithm improves the positioning accuracy and is applicable to both coherent and non-coherent target cases.

The application discloses a method and device for realizing CORDIC, and the method comprises the following steps: obtaining a target angle; judging whether the absolute value of the target angle is within a set threshold range; if yes, performing a jump-step CORDIC iteration operation; otherwise, performing a full-step CORDIC iteration operation; the full-step CORDIC iteration operation refers to performing a 0-n step CORDIC iteration operation; the jump-step CORDIC iteration operation refers to skipping a 0-m step CORDIC iteration operation, and performing a m+1-n+m+1 step CORDIC iteration operation, wherein m is 0 or a positive integer. According to the application, the calculation precision of CORDIC can be improved.

The present invention discloses a pure angle target tracking method suitable for non-uniformly spaced detection equipment. The method mainly includes the following steps: S1, initializing the target tracking system; S2, initiating the target tracking system's track; S3, calculating the target angular velocity information of the established track; S4, associating and maintaining the track; S5, determining candidate targets and updating the track; and S6, outputting the current track. The present invention can adapt to pure angle tracking under different target angle variations.

The application discloses a kind of considering the angle restraint guidance method of maneuvering target of driving instrument lag, in this method, by setting fuzzy sliding mode backstepping guidance law, the guidance law can realize the interception of maneuvering target under the condition of existing automatic driving instrument lag, improve the guidance precision of interceptor, the method is also simultaneously with angle restraint, can improve the damage ability of interceptor, has important engineering significance.

The invention provides a target search control method based on angle stepping, which is applied to a photoelectric tracking turntable and comprises the following steps of: in response to an instruction of entering an angle stepping control mode, acquiring and storing a current azimuth angle position and a current pitch angle position of the photoelectric tracking turntable as an initial target angle position; taking the initial target angular position as a reference target position output by a previous control period of a first preset control period, and repeatedly executing the following steps according to the preset control period: acquiring a speed control instruction of the current control period, calculating an azimuth angle position increment and a pitch angle position increment based on the speed control instruction and the current control period, accumulating to a reference target angle position output by a previous control period of the current control period to obtain a current target angle position; and the position closed-loop control system is driven to enable the photoelectric tracking rotary table to move to the current target angle position, and the current target angle position serves as the reference target angle position of the next control period of the current control period.

The invention provides a target angle measurement method and device, a radar and a storage medium, and relates to the technical field of detection, and the method comprises the steps: determining a first angle of a target based on first receiving data corresponding to an antenna sub-array in a sparse antenna array; determining a second angle of the target in a first preset angle range based on second receiving data corresponding to the sparse antenna array; the first preset angle range is determined based on the first angle and the angle measurement precision of the antenna sub-array. According to the invention, the rough angle of the target is determined by using the first receiving data corresponding to the antenna sub-array, and then the accurate angle of the target is determined in the angle range determined based on the rough angle based on the second receiving data corresponding to the whole sparse antenna array, so that only the main lobe and side lobe ratio needs to be increased in a relatively small angle range, and the target angle can be accurately determined. Compared with the improvement of the main lobe and side lobe ratio in the whole angle range of the sparse antenna array, a higher main lobe and side lobe ratio can be obtained, so that the stability of target angle measurement can be improved.

Device for aligning a sonar transducer for a watercraft, comprising - a transducer rod 18 rotatably mounted about an essentially vertical axis of rotation, at the lower end of which a sonar transducer 20 is arranged, - a motor drive for rotating the encoder rod 18 around the axis of rotation, - a foot pedal in the form of a rocker pedal that can pivot around an essentially horizontal pedal axis 26 and - an electronic control unit 24, characterized in that - the rocker pedal 26 has two mechanical operating modes, namely a spring mode in which a return spring 44 returns the rocker pedal 26 to a central position 46, and a locking mode in which a friction or disc brake 52 holds the rocker pedal 26 in an assumed position, and - the control unit 24 in spring mode in a speed mode converts a deviation of the rocker pedal 26 from the center position 46 into a rotational speed of the transmitter rod 18 and in fix mode in a position mode converts a position of the rocker pedal 26 into a target angle of the transmitter rod 18