343 results about "Test path" patented technology

The invention relates to the technical field of communication control, and discloses an interconnection test method and system for a wireless communication module, and the method comprises the steps: collecting real-time communication data through a multi-source communication interface, extracting topological features through a graph theory model to generate a matrix, and obtaining a signal optimization parameter through a self-adaptive filtering model; and constructing a multi-target test path planning model and outputting optimal path data, and establishing a layered test execution model to complete the test. The system comprises a communication topology analysis module, a path dynamic planning module and a hierarchical test execution module. The method overcomes the defects of a traditional testing method, can comprehensively collect data, accurately analyze topology, effectively process signals, scientifically plan a testing path and perform layered collaborative testing, has remarkable effects in improving testing accuracy, efficiency and comprehensiveness, can adapt to the development requirements of a wireless communication technology, and ensures stable and reliable work of a wireless communication module.

The invention discloses an information scanning and penetration test path planning method in a Windows domain based on reinforcement learning. The method comprises the following steps: carrying out information detection on a target Windows domain environment, surveying and mapping a network topology of the target Windows domain environment, establishing connection with a target machine by utilizing protocols such as LDAP (Lightweight Directory Access Point) and the like, and collecting related information in the domain; the method comprises the following steps of: collecting, sorting and abstracting detected related information, solving a multi-stage sequence decision problem by utilizing a Markov decision process, realizing environment simulation, constructing a reinforcement learning agent, generating a penetration test path by performing interactive training with a simulation environment, and performing adjustment according to a reward strategy so as to obtain a penetration test result. And searching an optimal penetration test path by accumulating rewards, constructing a Windows domain penetration test model, and finally generating the optimal penetration test path. According to the method, collection of information in the Windows domain and planning of the penetration test path are realized, and finally, the environmental safety of the Windows domain is evaluated and maintained.

The invention discloses an intelligent terminal function test method and system, and belongs to the technical field of intelligent terminal function test. The method comprises the steps that a dynamic demand tracking mechanism is constructed, UI elements are analyzed, and a topological graph marking resource occupation types and hierarchical dependence is generated; establishing a demand-use case-defect incidence matrix to realize automatic update of the use case state when the demand is changed; executing a test based on the topological graph and the matrix, traversing a path according to a preset strategy, collecting data and comparing an expected result; and optimizing iteration according to a test result, adjusting a node weight and a matrix mapping relation, and generating a new test path and a use case suggestion. The system comprises a dynamic demand tracking module, an incidence matrix management module, a test execution module, an optimization iteration module and a data storage module. According to the method, the test range is accurately adapted to the demand change, the test coverage and the defect tracing efficiency are improved, a test strategy closed-loop optimization mechanism is formed, and the test requirements of a complex system and an agile development mode are met.

The invention relates to the technical field of software development, and discloses an automatic UI function test method and system, electronic equipment and a storage medium. The method comprises the steps of receiving a natural language test requirement; intercepting an interface image in real time and transmitting the interface image to a multi-modal analysis module through an API; interface element layout is identified based on computer vision (CV), demand semantics are analyzed in combination with natural language processing (NLP), and a dynamic operation instruction set is generated; driving the automatic tool to execute clicking, sliding and input operations through the API; dynamically adjusting a test path according to execution feedback, and covering a multi-scene case; interface element states, system logs and performance data are monitored in real time, and automatic verification is achieved through multi-dimensional data comparison. According to the method, multi-modal recognition and AI intention understanding technologies are fused, the problems that a traditional UI test script is high in maintenance cost and low in scene coverage rate are solved, non-intrusive self-adaptive full-process testing is achieved, and the testing efficiency is improved by 40% or above.

The invention provides a test case execution path set generation method and device and electronic equipment. The method comprises the steps that a test case is obtained, a natural language processing technology is adopted to extract function points in the test case, key entities of the test case are recognized, the incidence relation between the function points and the key entities is determined, a function point-attribute mapping table is obtained, attributes are responsible for storing the key entities, and the attributes are responsible for storing the key entities; recording test data and a constraint relation between verification operation and the function points; a multi-cluster directed graph is constructed according to the function point-attribute mapping table, the function points serve as nodes of the multi-cluster directed graph, and the attributes serve as edges between the nodes and the directions of the edges; and performing traversal solving processing on the multi-cluster directed graph by adopting a path solving algorithm, and determining a plurality of execution path sets of the test case. The problem that in the prior art, the complex dependency relationship between test cases is difficult to effectively recognize and manage, and consequently the efficiency of test path planning is low is solved.

The invention relates to a PCBA automatic testing system and method, and relates to the technical field of PCBA automatic testing, and the system comprises a multi-source data collection module which is used for collecting chip dynamic power consumption waveform, PCB interlayer temperature gradient, and multi-source data of signal loop impedance change, and eliminating the sampling delay error of a sensor through a synchronous collection time sequence alignment algorithm; transmitting the acquired multi-source data to a dynamic modeling engine; according to the invention, by dynamically fusing the multi-physical-quantity data and adaptively generating the test path, the system can detect the fault of the PCBA more comprehensively and accurately, the detection efficiency is improved, and the false detection rate is reduced; the thermal aging and faults of the PCB are predicted by using a dynamic modeling engine, so that potential failure risks can be found in advance, and a powerful guarantee is provided for quality control of the PCB; and the test path is automatically generated according to the dynamic modeling result and the data of the fault knowledge graph, so that the workload and error of manually planning the test path are reduced.

The invention relates to the technical field of automobile testing, and discloses a finished automobile testing method, device and system and a storage medium, the method is applied to an external domain controller establishing communication connection with a tested automobile, and the method comprises the steps of obtaining automobile control information, the vehicle control information is generated based on a preset test path and positioning information of the test vehicle, and the preset test path is used for specifying a driving route of the vehicle in a test site; controlling the test vehicle to run according to the vehicle control information; and in the vehicle driving process, aiming at the tested vehicle, collecting performance data representing the test condition. According to the technical scheme provided by the invention, the whole vehicle testing efficiency can be improved.

The invention provides a charging pile testing method and device, a new energy automobile and electronic equipment, and the method comprises the steps: constructing a corresponding CAPL script according to the testing demands of a charging pile; performing version identification on the CAPL script to obtain a DBC file; defining message logic of the DBC file; dynamically configuring a protocol state machine corresponding to the DBC file after the message logic is defined; and after the dynamic configuration is completed, switching the configuration according to a test requirement, and generating a test report. The method can be applied to charging protocols of multiple versions, is higher in adaptability, improves the fault detection intensity, can be compatible with various different test scenes and test requirements, can dynamically adjust the test path according to the test requirements, and is higher in flexibility and higher in practicability.

The invention relates to a four-probe flying probe test equipment path optimization method and device and a storage medium. The method comprises the steps that a task input module receives basic constraint conditions and test task information; if a fixed grouping mode is adopted, the four probes are fixedly divided into two groups according to basic constraint conditions, the distances of the two groups of probes from the current test task to the optional next test task are sequentially calculated, and the moving path of each group of probes is planned; if a variable grouping mode that the probes are allowed to change groups in the testing process of each step is adopted, an optimization objective function of each step of each probe is calculated in sequence, and a moving path of each probe is planned; and according to the planned moving path of each probe, the control execution module controls each probe to move in sequence to complete a test task. The constructed mathematical model more comprehensively and accurately reflects the actual situation of the four-probe flying probe test, provides a more reliable theoretical basis for path optimization, and is beneficial to improving the optimization precision of the test path.

The invention relates to a point-to-point access verification method and device, electronic equipment and a medium. The method comprises the steps of obtaining configuration information of a to-be-verified module; writing the configuration information of the to-be-verified module into a verification document, and storing the verification document as a JSON (JavaScript Object Notation) file; the verification document comprises at least one verification test item; each verification test item comprises a plurality of verification test paths; the JSON file is analyzed, and configuration information of the module to be verified is extracted; generating a plurality of universal verification methodology UVM components and UVM excitation files according to the configuration information based on a preset configuration script; establishing a script based on a UVM environment, and integrating the UVM component and the UVM excitation file to a UVM verification platform; in response to a target verification test command, performing test verification on a plurality of to-be-tested paths of a target verification test item on the UVM verification platform; the number of the target verification test items is greater than or equal to 1.

The invention provides a circuit board test method and device based on a flying probe tester. According to the method, a test point set is determined by obtaining a design file of a circuit board, establishing an electrical connection model and identifying components and pins on the circuit board. And generating test combination set data by analyzing the conduction relationship between the test points, and further generating test scheme data. And based on the test scheme data, a test path is generated by using a path optimization algorithm, finally, the flying probe tester is used for testing, and a test report is generated according to a test result. The flying probe tester adopts the combination of an annular probe and a sharp needle probe, the annular probe is used for a pin connector to ensure accurate contact, and the sharp needle probe is used for other types of components to improve the test precision and adaptability. Compared with a traditional test method, the test scheme can be generated more efficiently, the test path can be optimized more efficiently, the test time is remarkably shortened, and the reliability and accuracy of circuit board testing are improved.

The embodiment of the invention discloses a probe card OS test device and a test method. The device comprises: a base; the probe card mounting assembly is mounted on the base; the movable carrying table is mounted on the base, and a conductive block and an insulating block are arranged on the movable carrying table; the movable carrying table is configured to drive the conductive block and the insulating block to move, so that the conductive block or the insulating block is in contact with each probe of a probe card on the probe card mounting assembly to form a plurality of test paths in one-to-one correspondence with the probes or to enable the top ends of the probes to be mutually insulated; and the open / short circuit test module is respectively connected with the conductive block and each probe of the probe card, and the open / short circuit test module is configured to be conducted with the test path or each probe according to a preset mode so as to carry out open / short circuit test on each probe of the probe card. According to the embodiment of the invention, the open / short circuit test of each probe of the probe card is realized.

The invention relates to the technical field of communication testing, and provides a multi-mode communication equipment test case generation method and device, equipment and a medium, and the method comprises the steps: obtaining a radio frequency parameter, network flow data and equipment log data of communication equipment, carrying out feature extraction and vectorization processing on the radio frequency parameters, the network flow data and the equipment log data to obtain a multi-modal vector; constructing a communication equipment calling relation graph according to the calling relation and the interaction protocol; constructing a test path evolution model based on a graph neural network, and transmitting the multi-modal vector to the test path evolution model, so as to search an optimal test path in a communication equipment calling relation graph through an attention mechanism; constructing a multi-target reinforcement learning reward function and dynamically adjusting the optimal test path through the multi-target reinforcement learning reward function; and according to the optimal test path, generating a target test case, and according to a test result of the target test case, adjusting model parameters of the test path evolution model, and carrying out multi-target reinforcement learning on the reward function.

The invention discloses a PCB double-sided four-flying-probe test path optimization method, and belongs to the technical field of path optimization, and the method comprises the following steps: importing double-sided PCB data containing a test network and test points; obtaining an initial matching scheme of a network internal test point corresponding to each test network through the matching strategy, and optimizing each initial matching scheme to obtain a network internal test point path; constructing an initial test sequence between test networks through a recent insertion heuristic algorithm, and then introducing a local search algorithm into an adaptive large-scale neighborhood search algorithm to carry out iterative optimization on the initial test sequence to obtain a test sequence between the networks; and combining the test point paths in the networks and the test sequence between the networks, and outputting a double-sided four-flying-probe test path. According to the PCB double-sided four-flying-probe test path optimization method, the problem that the overall moving cost is difficult to further reduce in an existing method is solved.

The invention discloses an on-line monitoring and early warning method for a bus capacitor of an electric driving system, and belongs to the field of electric driving systems. The electric driving system sequentially comprises an isolating circuit, a full-wave bridge rectifier, a bus capacitor bank, an inverter, an actuator and a capacitance online testing device; the capacitor online testing device comprises a relay, a load resistor, a voltage acquisition module, a current acquisition module and a master control calculation unit. When the electric drive system is idle, a load resistor is connected to construct a test path, and current and voltage signals are collected; disconnecting a test path, constructing a degradation characterization quantity of multi-index information fusion through time-frequency domain feature extraction, and constructing an equal-length time interval sequence degradation curve; and the TCN-BRU-GRU combined prediction model carries out trend feature learning and training on the degradation curve. According to the method, waveform fitting and local and global data feature capturing of non-equal-interval time sampling are achieved, trend prediction of bus capacitor performance degradation is achieved, early warning is conducted before failure of the bus capacitor, and safe and reliable operation of an electric drive system is guaranteed.

The invention provides a test case generation method and device based on natural language processing. The method comprises the following steps: preprocessing input data and generating a structured demand table; matching the rule base to determine compliance requirements; selecting the most similar test template through a semantic similarity algorithm; dynamically filling parameters to generate a test case and supplementing complete content; and outputting the structured test case and marking a risk level. Wherein the risk level is determined by comprehensively evaluating dimensions such as semantic similarity, risk matching degree, compliance matching degree and template use frequency through a weighted fusion algorithm. For high-risk test cases, test paths are expanded by creating and associating action test nodes. The test case is automatically generated through a natural language processing technology, a natural language based on efficiency and accuracy is remarkably improved, provided and generated, the test labor cost of processing is reduced, the test coverage range and the complex scene adaptability are enhanced through a multi-dimensional risk assessment and path extension mechanism, and the test efficiency is improved. Meanwhile, the test case is ensured to meet the requirements of regulations and standards.

The invention provides a single-electrode silica gel sheet test circuit, device and method for physical therapy. The single-electrode silica gel sheet test circuit comprises a microcontroller, a Darlington tube array chip circuit, a relay array, a signal conditioning circuit and the like. The microcontroller controls the Darlington array to amplify low-power signals, drives the relay array to achieve selection of different test paths, collects and processes test data, and transmits the test data to the computer through a serial port. The relay array alternately switches paths to complete each test item; the signal conditioning circuit is used for adjusting a test signal to meet the AD sampling requirement; the digital control analog switch realizes multiplexing of multiple paths of signals, and a single AD port acquires multiple paths of signals; and the state indicating circuit displays the test result and gives an alarm prompt. The system is specially used for a single electrode plate test scheme, the installation complexity can be remarkably reduced, the stability is improved, and the efficiency is greatly improved.

The invention discloses a test method for multi-parameter synchronous excitation of a water electrolysis hydrogen production system, and belongs to the technical field of water electrolysis hydrogen production, and the test method comprises the following steps: obtaining key operation parameters of the water electrolysis hydrogen production system to construct a dynamic coupling response model, and generating a multi-parameter synchronous excitation signal sequence; the multi-parameter synchronous excitation signal sequence is applied to the water electrolysis hydrogen production system, system response data are synchronously collected, and a system response data set with a time sequence mark is generated; generating an adaptive test path planning instruction based on the system response data set with the time sequence mark and the dynamic coupling response model; and updating the multi-parameter synchronous excitation signal sequence according to the self-adaptive test path planning instruction, and executing an iterative test. According to the method, the dynamic coupling response model is constructed, multi-parameter synchronous excitation is generated and applied, and a closed-loop strategy based on response data adaptive iterative testing is adopted, so that the dynamic characteristics and the performance boundary of the system can be efficiently and accurately identified, and a comprehensive global performance map is constructed.

The invention provides an electronic component test system, method and device and a medium, and the method comprises the steps: applying a pulse excitation signal to an input end of a to-be-tested electronic component, and determining an equivalent parasitic parameter set of the to-be-tested electronic component; constructing a signal path simulation network when the to-be-tested electronic component is tested based on the equivalent parasitic parameter set in combination with a test path of the to-be-tested electronic component, and performing test response analysis on the initial test signal through the signal path simulation network to obtain a signal pre-compensation coefficient of the initial test signal in a transmission process; applying a spectrum shaping test signal determined based on the signal pre-compensation coefficient to the to-be-tested electronic component, and determining the waveform fidelity of the actual response and the expected response of the spectrum shaping test signal under the to-be-tested electronic component; and whether the to-be-tested electronic component passes the test is determined based on the waveform fidelity. According to the technical scheme provided by the invention, the to-be-tested electronic component can be effectively tested when the test signal generates distortion deviation.

The invention provides a test method and device for surface mounting production, equipment and a storage medium. The method comprises the steps of collecting image information and an electric signal after surface mounting of a printed circuit board; pre-processing the image information to generate a pre-processed image; performing ellipse fitting on the preprocessed image to determine geometric features of the bonding pad; performing cross-modal feature fusion on the electrical signal feature vectors corresponding to the electrical signals and the geometric features to construct a multi-dimensional defect description matrix; inputting the multi-dimensional defect description matrix into a neural network model, and outputting a defect type classification label and a corresponding confidence score; and generating a dynamic test path planning scheme through an optimization algorithm according to the defect type classification label and the confidence score. By extracting the geometric features of the bonding pad, constructing the defect description matrix fusing the electric signals and the geometric information, and performing defect identification through the neural network, deep collaboration and information complementation between modals are realized, and the identification capability of complex defects is effectively improved.

The invention provides an interface test method and device, equipment and a storage medium, a test path is analyzed by using a test analysis model obtained by performing knowledge enhancement based on an assertion knowledge base and a business knowledge base and performing training based on sample data, a test report is generated, and when a test result is obtained by executing a specified UI test task, the test result is displayed on the basis of the test report. Element state test point identification and element state test can be automatically carried out on the interface image corresponding to the test step by utilizing the interface test knowledge learned through knowledge reinforcement, and other abnormal conditions of the program interface involved in the test process are identified; hidden visual effect defects can be actively found for a dynamically changing user interface, an optimization scheme can be provided for defects existing in a program interface, the interface testing efficiency and the intelligent level are greatly improved, testing is more efficient and accurate, and user experience of application programs can be optimized easily.

The invention relates to the technical field of probe testing, in particular to a PCB flying probe test path optimization method based on electrical characteristics, which comprises the following steps: calculating accessibility scores of test points according to the distribution of board surface test points and elements to determine risk types of the test points; determining a risk area grade corresponding to the grid unit according to the accessibility score in combination with the potential shadow area; optimizing the test path of the probe according to the risk area grade corresponding to the grid unit, and adjusting the initial moving speed of the test path of the probe in different grid units; for the same moving time sequence of different probe groups, determining overlapped grids according to the initial probe angles and the test paths corresponding to the probes, and determining whether there is a collision risk between the probes in combination with the initial moving speeds of the probes in different grid units; and when a collision risk exists between the probes, corresponding adjustment measures are taken according to the number of the overlapped grids. According to the invention, the test path is optimized in combination with multi-dimensional design based on the electrical characteristics and testability of the board.

The invention discloses a test method, a test device, a test tool, a storage medium and computer equipment. The method comprises the following steps: in response to an instruction of executing a test task of a target application in a target scene, determining a test path of at least one to-be-tested functional component associated with the test task; identifying the type of a network communication mechanism between the to-be-tested functional components; mapping a network communication protocol of the to-be-tested functional component to a code conversion template corresponding to the network communication mechanism category to form a test script code of the to-be-tested functional component; and sequentially running the test script code of the at least one to-be-tested functional component based on the test path to execute the test task. According to the method provided by the invention, the time and workload of developing and maintaining a test tool or an engine are reduced, simulation in a real scene can be realized, state monitoring of the target application in the target scene is facilitated, and the quality of the application is evaluated more comprehensively.

The embodiment of the present application provides a high-frequency communication terminal performance detection system and related methods. By introducing two independently operable signal test paths, a base station simulator, a carrier coupler, a directional coupler and a first power meter form a signal test path; a base station simulator, a 5G millimeter wave coupler, a 5G millimeter wave receiving antenna and a first power meter form another signal test path. The two test paths can independently perform signal tests, and the upper host control machine summarizes and analyzes the real-time power measurement results of the 5G millimeter wave uplink signal and the real-time power measurement results of the LTE uplink signal, and generates a relevant performance test report. The performance test report records the average time power of the millimeter wave uplink signal and the average time power of the LTE uplink signal corresponding to the high-frequency communication terminal under test. The above architecture has high scalability and configuration flexibility, and can be used to effectively and reliably detect the high-frequency time average power of the uplink signal of the communication terminal.

The invention discloses an AI test case intelligent optimization verification method and system, and the method specifically comprises the steps: employing a causal discovery algorithm to analyze an implicit dependency relationship for an entity association structure in a test case knowledge graph, recognizing redundant test cases and invalid test paths, and obtaining a causal dependency network; on the basis of a causal dependence network, traversing uncovered entity relationship paths in the test case knowledge graph, and generating supplementary test case suggestions; dynamically adjusting analysis strategy parameters according to historical optimization data through a self-adaptive engine to obtain an optimization test case set; and based on the optimized test case set, generating an input parameter variation sample by using a fuzzy test engine, and expanding a test boundary. According to the method, the black box test efficiency can be remarkably improved, the test coverage rate and accuracy are improved, meanwhile, the workload of a test engineer is relieved, the user experience is improved, and an efficient and intelligent solution is provided for the field of software test.

The invention relates to a testing method compatible with various sensors, which adopts a testing device compatible with various sensors and comprises the following steps of: arranging positioning base stations at four corners of a testing room, suspending an induction end on one side wall of the testing room, heating a robot end heating device to a preset constant temperature, and simulating human hand swinging by an arm device. The wheel device simulates walking and moves according to a preset test path and test time; when it is detected that the robot moves, the transmitting module transmits a moving stopping instruction, and the robot is in a static state after the receiving module receives the instruction; the positioning module sends robot stop position information to the positioning PC; the positioning PC marks the position information on a map; and after preset interval time, the transmitting module transmits a static state releasing instruction to the robot end, the arm device starts to swing, the wheel device starts to move, and the robot is in a moving state. According to the scheme, testing of the infrared sensor and the microwave sensor can be compatible, one testing device and one testing method are commonly used, and the testing cost is reduced.

The invention relates to the technical field of geotechnical engineering intelligence, in particular to a multi-field coupling intelligent triaxial test method and system combined with machine learning, and the method comprises the following steps: initializing a test device, and establishing a material parameter prior distribution function; defining a target test path and obtaining a target control sequence; acquiring real-time test data through a multi-source fusion sensing array, and preprocessing the real-time test data to obtain multi-dimensional feature fusion data; establishing an online parameter identification module to obtain real-time correction material parameters; establishing a heat-water-force multi-field coupling prediction model to obtain an optimal control sequence; acquiring latest test data, and performing rolling optimization on the model to establish a lightweight control model; and generating an intelligent control instruction to realize self-adaptive intelligent control of the triaxial test. According to the invention, through combination with machine learning, the spanning of the triaxial test from experience control to intelligent control is realized, and an intelligent technical means is provided for the research of the multi-field coupling characteristic of the geotechnical material.

The invention belongs to the technical field of testability design of super-large-scale integrated circuits, discloses a TSV test and diagnosis circuit and method based on BIST, and provides a hardware circuit architecture for TSV test and diagnosis. The device comprises a test access port controller, a test data register, a test vector generator, a shift register, a double-edge trigger, a TSV (Through Silicon Via) test controller, an improved loading chip packaging register and an improved capturing chip packaging register, and the test access port controller is responsible for configuring a test path, a test mode and a test enable signal; the TSV test controller is activated after the test enabling is synchronized by the double-edge trigger, and the improved chip packaging register based on the lossless compression structure is controlled to execute the test, so that efficient fault detection and diagnosis of different fault types are realized. Through cooperation of test vector generation and response compression, the test time is effectively shortened, and an innovative solution is provided for efficient and reliable TSV test and diagnosis.

The invention belongs to the technical field of software testing, is suitable for the medical field and the financial field, and discloses a service flow chart-based test path generation method, device and equipment and a medium, and the method comprises the steps: obtaining a service flow chart of a service scene, and extracting nodes of the service flow chart and path topology information between the nodes; on the basis of the service importance weight and the historical execution probability of each node, key test paths in the path topology information are identified, and priorities of the key test paths are sorted; constructing a path coverage rate prediction model based on the dynamically adjusted priority of the key path and the historical execution probability of the key path, and predicting the coverage rate of each key path in the business flow chart based on the constructed path coverage rate prediction model; and configuring a test case set based on the predicted coverage rate of each key path in the business flow chart, and dynamically adjusting the configured test case set based on a multi-objective optimization algorithm. According to the invention, the test efficiency of the business scene is improved.

The invention relates to the technical field of Web component testing, in particular to an automatic test case generation method, system and device for a Web component and a medium, and the method comprises the following steps: extracting a front-end frame type and code features to which the Web component belongs, constructing a visual state transition network, and constructing a unified data flow diagram; based on the code features, the visual state transition network and the unified data flow diagram, semantic reasoning is carried out by utilizing a large language model to generate a test path combination, and a minimum complete test case set is generated by applying a combination test algorithm; generating a composite assertion logic; frame type conversion is executed, and the minimum complete test case set and the composite assertion logic are converted into test codes capable of being executed by a front-end frame type; the test code is executed, and the minimum complete test case set and the composite assertion logic are updated and circulated based on Web component change or test failure in the execution process. According to the method and the device, the Web component automatic test which is high in accuracy, cross-frame adaptive and capable of realizing continuous self-healing can be realized.