191 results about "Transformation algorithm" patented technology

The invention discloses a machine vision-based intelligent detection method for steel galvanized surface defects, which comprises the following steps: S1, acquiring and preprocessing a steel galvanized surface image to obtain a standardized image; s2, constructing a specular reflection probability graph according to the brightness distribution and the gradient magnitude, and calculating a reflection intensity value; s3, calculating a structure tensor matrix, determining a main direction angle and an anisotropic consistency coefficient, and generating a direction feature matrix; s4, establishing a multi-scale direction adaptive phase kernel function, and performing phase modulation in a frequency domain by adopting an improved phase stretching transformation algorithm; s5, inverse Fourier transform is executed, and a phase response matrix is extracted; s6, performing weighted fusion to obtain a comprehensive phase response diagram; and S7, setting a threshold value according to the noise variance and the statistical characteristics, executing binarization and morphological processing, and outputting a defect region and boundary coordinates. According to the invention, high-precision identification and boundary positioning of steel galvanized surface defects are realized.

The invention discloses an intelligent fructus aurantii sorting machine based on a five-connecting-rod mechanical arm and a sorting method. The sorting machine comprises a collecting mechanism, a conveying mechanism, a supporting mechanism, a sorting mechanism, a camera support, a feeding device, a lower computer, an upper computer and a vacuum adsorption control system. The sorting mechanism comprises a vacuum adsorption sorting device, a five-connecting-rod mechanical arm and a sorting mechanism supporting base, double motors are adopted to cooperatively drive and control space positioning of an end effector of the mechanical arm, and high-precision target grabbing is achieved through angle difference compensation. The upper computer converts the target center position recognized by the visual recognition device into space coordinates of the tail end of the mechanical arm through a coordinate conversion algorithm, and the five-connecting-rod mechanical arm is driven to complete precise sorting operation. Stable adsorption of the fructus aurantii is completed by means of vacuum negative pressure, the fructus aurantii naturally falls off by directly cutting off a negative pressure air source, and intelligent grading and sorting operation of the quality of the fructus aurantii is achieved. The device is suitable for automatic sorting of the traditional Chinese medicinal material fructus aurantii and is high in sorting efficiency, accurate in positioning and high in adaptability.

The invention discloses a quantum circuit conversion method and system, electronic equipment and a storage medium, and relates to the technical field of quantum circuit conversion, and the method comprises the steps: extracting a feature vector of a logic quantum circuit based on initial quantum bit mapping; the feature vector is input into a pre-trained decision tree, recommendation parameters of a line conversion algorithm are obtained, the decision tree is constructed by a training set, and the feature vector of each sample corresponds to the optimal parameter of the decision tree, namely the parameter with the minimum number of physical line gates; and configuring a line conversion algorithm by using recommended parameters, converting a logic line into a physical line, and ensuring that all two quantum bit gates meet quantum computer connected graph constraints and are equivalent in function. According to the method, adaptive parameter configuration can be achieved through the feature vectors and the decision tree, the line conversion quality is effectively improved, the number of physical line gates is remarkably reduced, and the quantum program execution efficiency is improved on the premise that function equivalence and connectivity are guaranteed.

The invention discloses an unmanned aerial vehicle road disease detection and analysis system and method based on a YOLO algorithm, and the method comprises the following steps: synchronously collecting a road image and geographic coordinates through an unmanned aerial vehicle, and constructing an image data set with geographic reference; constructing an initial YOLO target detection model based on the data set; introducing an additional detection layer for detecting a pixel area into the model, and embedding a channel attention mechanism into the feature extraction network to obtain an improved YOLO target detection model; reasoning a data set by using the model, and outputting a disease category, a bounding box coordinate and a confidence coefficient; pixel coordinates are converted into geographic coordinates through a coordinate conversion algorithm, and disease records with accurate geographic coordinates are generated; and optimizing and updating the model based on the record as an incremental training sample. According to the method, the disease detection precision and the small target identification capability are effectively improved, and the long-term adaptability and generalization performance of the model are enhanced through a closed-loop incremental learning mechanism.

The invention discloses an unmanned aerial vehicle aerial photography water surface small target detection method and system based on dynamic slicing and correlation constraint, and belongs to the technical field of computer vision, artificial intelligence and geographic information processing, and the method comprises the steps: S1, data acquisition: obtaining high-resolution video stream data collected by an unmanned aerial vehicle flight platform; s2, carrying out dynamic slicing, and segmenting the original high-resolution image frame into a plurality of sub-image slices of which the sizes are matched with the input of the detection network; s3, target detection: inputting the subgraph slices into the model for reasoning, and outputting the category and local pixel coordinates of the target; s4, result fusion: mapping detection results of the sub-image slices back to an original image coordinate system to generate a global detection result; and S5, performing space-time positioning, and converting the pixel coordinates of the global detection result into geographic latitude and longitude coordinates by using a coordinate conversion algorithm. According to the method, the problems of leak detection and false detection caused by extremely high image resolution, small target size and background noise interference in a water surface environment are effectively solved.

The present disclosure provides a method, system, device, and storage medium for generating and producing a 3D lenticular image. The method comprises determining depth information of a 2D target image of a target object; generating a multi-viewpoint image corresponding to the 2D target image by utilizing a 2D-3D image transformation algorithm and a dynamic viewpoint interpolation technique based on the depth information, the multi-viewpoint image including a plurality of image frames corresponding to different shooting angles; and generating a 3D lenticular image of the target object based on the multi-viewpoint image.

The invention relates to the technical field of augmented reality image processing, and discloses a traditional Chinese medicine acupuncture auxiliary positioning system based on an AR technology, which comprises a body surface anatomical feature intelligent extraction module, a personalized meridian model adaptive deformation module, a dynamic virtual-real registration tracking module and an AR visual rendering and quality closed loop module, according to the method, a thin-plate spline transformation algorithm is adopted to elastically deform a standard meridian model to the body surface of an individual, the individualized cun unit length is dynamically calculated in combination with a bone degree cun method, virtual-real registration is optimized through an iterative nearest point algorithm, movement and breathing deviation of a patient are compensated, the positioning quality is evaluated through a confidence coefficient thermodynamic diagram, closed-loop reacquisition optimization is driven, and the positioning accuracy is improved. Accurate AR-assisted positioning of acupuncture points of the whole body is realized.

The invention discloses a three-dimensional visualization method, system and device based on heterogeneous spatial data fusion and dynamic sectioning, and a medium, belongs to the technical field of urban information model visualization, and aims to solve the technical problem of how to improve data fusion efficiency, sectioning response delay and mobile terminal frame rate in a million patch scene. Light-weight and high-interaction visual display of scenes such as smart cities and underground pipe galleries is realized, and the defects of multi-source spatial data splitting, high sectioning interaction delay and poor cross-terminal compatibility are overcome. According to the technical scheme, heterogeneous data dynamic normalization is carried out, wherein local coordinates of a building information model, WGS84 coordinates of a geographic information system and computer aided design data are unified to an Euclidean coordinate system through a space dynamic reference conversion algorithm, and normalized data are obtained; constructing a semantic data relation graph; generating a dynamic sectioning plane in real time; vector elements are highlighted in a linkage manner; and carrying out cross-terminal adaptive rendering.

The invention discloses a reciprocating type passenger ropeway constant deceleration control system, and relates to the technical field of brake control. According to the method, the first-stage constant deceleration braking mode and the second-stage constant torque braking mode are set, analysis is carried out through the second-stage braking conversion algorithm, the deceleration abnormal index, the speed tracking abnormal index and the response abnormal index are output, then the mode abnormal total value is obtained, the braking state is judged, self-adaptive mode switching is achieved, and the braking efficiency is improved. Constant braking deceleration is maintained, swinging of a hanging box is reduced, comfort of passengers is improved, brake rubber abrasion is reduced, meanwhile, regional debugging is not needed, and the operation difficulty of a construction site is reduced; hydraulic loop parameters are analyzed through a failure judgment logic algorithm set by the hydraulic redundancy protection module, a loop abnormal total value is output, and hydraulic loop switching is carried out based on the loop abnormal total value; and through visual display of the fault memory interaction module, the safety redundancy of the braking system is improved, fault tracing and maintenance are facilitated, and the running reliability of the cableway is guaranteed.

The invention relates to a minimally invasive implantable frontal lobe brain-computer interface method and device, and the method comprises the steps: constructing an individualized brain three-dimensional model according to CT and MRI image data of a patient, presetting an optimal nasal implantation path, and carrying out the implantation of the patient through a nose under the dual guidance of a nasal endoscope and a three-dimensional navigation system, constructing a skull base passage through minimally invasive trimming of a nasal cavity / paranasal sinus structure, and performing real-time matching and overlapping on an endoscope view and the three-dimensional model by using a rigid body transformation algorithm to display the position of a surgical instrument; windowing at a preset target point, implanting the flexible electrode array into a target brain region according to a planned depth and angle through a controllable propulsion mechanism, and establishing a neural signal acquisition or stimulation interface; intelligent mode recognition is carried out on the collected neural signals, the intention or brain state of the user is decoded, and corresponding neural stimulation or feedback signals are generated. According to the method, accurate, safe and minimally invasive clinical intervention is realized through a full-chain technical scheme of individualized planning, real-time navigation, minimally invasive implantation and biological integration, and the application value of a brain-computer interface technology is remarkably improved.

The invention provides a method for adapting a satellite-borne domestic NAND Flash to a yaffs file system, which comprises the following steps: designing a block conversion mechanism, and converting a physical address of the domestic NAND Flash into a logic address conforming to MTD specifications through an address conversion algorithm to ensure that the file system can be correctly identified and managed; read-write operation is adjusted according to specific characteristics of the domestic NAND Flash, data correctness and performance optimization are ensured, and efficient management and compatibility improvement of the non-standard NAND Flash are achieved. An adaptation layer is developed, it is ensured that the yaffs file system can recognize and process the characteristics of the domestic NAND Flash, a bottom layer drive is driven, adjusted and modified to meet the MTD interface specification, meanwhile, the unique function of the domestic NAND Flash is reserved, and the system based on the domestic NAND Flash can smoothly operate the yaffs file system; an error correction mechanism based on an RS (Reed-Solomon) code is introduced, a check code is calculated and stored together with original data during data writing, so that error correction is performed during reading, an efficient decoding algorithm is designed, errors of any 8 bytes in 256 bytes can be corrected, and meanwhile, the performance overhead is minimized.

The invention discloses an obstacle distance measurement method and system based on panoramic tiled display. Four-way or six-way fisheye cameras are installed on a vehicle, images around a vehicle body are collected, 3D rendering splicing is carried out based on calibration data (internal parameters / external parameters), and a 360-degree panoramic aerial view image is generated. A user clicks two points of a screen through a display terminal, a system converts screen coordinates into 3D normalized vertex coordinates through viewport inverse transformation, relative coordinate differences are calculated and then expanded into homogeneous coordinates, the homogeneous coordinates are converted into physical coordinate differences in combination with a pre-stored rendering transformation matrix inverse matrix (generated by model / projection / view transformation combination), and the 3D normalized vertex coordinates are converted into 3D normalized vertex coordinates. And finally calculating the actual physical distance between the two points. The system supports dynamic refreshing of a ranging result and renders a distance marking line on a panoramic image. According to the method, through multi-camera calibration, coordinate space mapping and a matrix transformation algorithm, interactive obstacle distance measurement in a vehicle-mounted panoramic display scene is realized, and the method is suitable for intelligent driving, vehicle auxiliary driving and other scenes.

The invention discloses a realization method and system for a domestic environment-oriented MBSE collaborative modeling platform architecture. The method comprises the following steps: constructing a distributed operation environment adaptive to a domestic chip, an operation system and a database based on a micro-service architecture; deploying a modeling engine, cooperative control and data persistence micro-service; multi-user operation requests are received through cooperative control micro-service, conflict detection and coordination are carried out by using an operation transformation algorithm based on a vector clock and a priority decision function, and a global ordered operation sequence is generated; executing the sequence through a modeling engine to update a model state and perform consistency verification; storing the model state and the historical record to a domestic database by using a data persistence micro-service; a bidirectional traceability matrix is constructed through demand influence degree analysis based on a graph neural network. According to the method, the problems of MBSE tool missing, low collaboration efficiency and data isolated island in a localized environment are solved, and safe and controllable efficient collaboration design and full-life-cycle management are realized.

The invention relates to the technical field of query methods, in particular to a mobile query method and system for planning natural resources, and the method comprises the following steps: loading a three-dimensional virtual earth model, and obtaining three-dimensional space position data of the natural resources; and based on progressive processing of high-dimensional position transformation, wavelet dimensionality reduction, non-linear heterogeneous mapping, multi-resolution optimization and dynamic feedback control, multi-level visual display of the natural resources under different resolutions is obtained so as to realize spatial position accurate mapping and dynamic real-time display of the natural resources, and through a high-dimensional position transformation algorithm, the spatial position of the natural resources can be accurately mapped and dynamically displayed in real time. Three-dimensional coordinate data of natural resources are mapped to a high-dimensional spherical coordinate space, and high-dimensional data are compressed to core low-dimensional features through a multi-scale wavelet dimension reduction algorithm, so that data simplification is realized on the basis of retaining key information; the heterogeneous mapping algorithm realizes smooth conversion from low-dimensional features to two-dimensional display, and a Laplace-Beltrami operator is utilized to ensure the smoothness of the display.

This invention discloses a method for reconstructing battery swapping station operation data based on adaptive truncation and feature correlation repair, belonging to the field of data reconstruction technology. First, a standardized two-dimensional spatiotemporal discrete model is constructed, and sequence mapping technology is used to align the discrete data stream to the date-time period operation space. Second, a zero-first truncation model based on the continuity of frequency distribution is established to adaptively remove outliers and noise. Then, Latin hypercube sampling and inverse cumulative distribution function transformation algorithms are introduced to fill in missing values ​​while ensuring that the reconstructed data conforms to the original probabilistic characteristics. Finally, the battery swapping frequency-electricity data is dimensionally reconstructed to facilitate the inductive analysis of battery swapping behavior characteristics. Numerical examples demonstrate that the method proposed in this invention effectively restores the statistical usability of the data, fully revealing the bi-peak tidal characteristics of battery swapping load and the distribution law of low-electricity anxiety, providing relatively reliable data support for load forecasting and regulation.

The invention discloses a space target positioning method and device based on monitoring visual data and a medium. The method comprises the following steps: establishing a camera parameter model, calculating a projection area of a video on the ground by using a geometric projection principle based on the camera parameter model, and determining a geographic space range covered by the video; establishing a conversion relation between a video image coordinate system and a geographic space coordinate system based on a coordinate conversion algorithm in combination with a geographic space range covered by a video; constructing a geometric model of two-dimensional camera imaging and three-dimensional geographic space based on the camera parameter model and a coordinate conversion algorithm; when the video system detects an alarm event and generates an alarm image, extracting pixel coordinates of an alarm object in the image; converting the pixel coordinates of the alarm object into geographic space coordinates; and the converted geographic space coordinates are associated and analyzed with space data in a GIS system, and accurate position information of an alarm object is provided.

The invention provides a scene complexity quantitative characterization method for testing an automatic driving automobile, and belongs to the technical field of automatic driving testing. The method comprises the following steps: establishing a scene model and a rare target object model based on data-mechanism hybrid modeling; controllable reproduction of a complex scene is realized through physical simulation technologies such as video injection and echo simulation; constructing a causal graph structure to extract scene high-dimensional features; self-adaptive extraction, derivation and generalization of a scene are realized by using unsupervised clustering, a generative adversarial network and an optimization search algorithm; developing a data conversion algorithm to generate a standardized test scene library; analyzing complexity mapping relations between scene elements and perception, decision and execution systems, and establishing scene complexity quantitative representation; and finally, constructing a multi-dimensional evaluation system fusing safety and anthropomorphism, and realizing integrated performance evaluation of the automatic driving automobile fusing scene complexity. The scene complexity is converted into a quantifiable index from a qualitative concept, and the scientificity of testing and the fairness of evaluation are improved.

The invention discloses a target self-adaptive positioning method and system for low-altitude routing inspection, and aims to solve the problems that target positioning depends on additional hardware, the complex environment adaptability is poor and the real-time performance is insufficient in the existing low-altitude routing inspection. According to the method, an unmanned aerial vehicle collects a target object image and extracts pixel coordinates, Beidou positioning data and IMU attitude information are fused, and normalized coordinates in a camera coordinate system are obtained through coordinate conversion; a dynamic virtual baseline technology is innovatively introduced, depth information of a target object is obtained through feature point tracking, motion solution and depth calculation, and finally three-dimensional longitude and latitude positioning of the target object is achieved by combining a rotation matrix and a coordinate conversion algorithm. The method does not need extra hardware, improves the positioning precision and real-time performance in a complex scene, and is suitable for the dynamic target positioning requirement in the field of low-altitude inspection.

The application provides a mapping method, equipment and readable storage medium of an engineering machine, and the technical scheme is as follows: IMU data and IMU odometry are used to correct motion distortion of a current frame laser point cloud, point lines and point surface features are extracted according to the curvature of each point of the current frame laser point cloud, a local map is matched with the current frame laser point cloud, and factor graph optimization is performed on a key frame. The output laser odometry is used to correct IMU zero offset, the IMU pre-integrator is reset, and the IMU odometry is output. When the current frame laser point cloud meets a loop detection condition, a normal distribution transformation algorithm is used to perform loop detection on the current frame laser point cloud, and a global pose is updated, so that the mapping problem in the degradation scene of the engineering machine is solved, and fast mapping and positioning in a large scene are realized.

The invention discloses a time domain transformation optimization method in a vector network analyzer, relates to the technical field of signal processing, and provides an optimization algorithm for establishing a mathematical relationship between a variable time axis and IFFT (Inverse Fast Fourier Transform) based on IDFT (Inverse Fast Fourier Transform) aiming at the defects of a traditional time domain transformation algorithm in the vector network analyzer. The final result is completely consistent with the variable time axis IDFT, the time complexity is reduced to be equivalent to that of the IFFT, the calculation speed is increased by thousands of times compared with that of the IDFT when the number of data points reaches tens of thousands, and the requirement of the vector network analyzer for observing the time domain fine response can be efficiently and flexibly met.

The invention discloses a circular ink supply intelligent control method and system based on a UV printer, and the method comprises the steps: S1, collecting a digital image file of a to-be-printed task, and obtaining the consumption prediction data of ink of each color through the analysis of pixel information; s2, based on the consumption prediction data, obtaining a flow demand through a Poiseuille law fluid dynamic conversion algorithm, and based on the flow demand, constructing an ink supply control regression model to carry out ink supply coupling feed-forward calculation to obtain a feed-forward control parameter set; s3, constructing a self-learning database for input comparison, and adjusting and optimizing the feedforward control parameter set based on unscented Kalman filtering according to the historical control effect deviation to generate a final control instruction; and S4, intelligent control over circulating ink supply is conducted on an execution mechanism of the circulating ink supply system based on the final control instruction, the color rendition degree and consistency of a printed picture are improved, and the operation cost is reduced while the ink supply quality is guaranteed.

The application relates to the technical field of carton detection, and provides a method and system for detecting express cartons based on an Internet of Things platform and electronic equipment. The method for detecting express cartons based on the Internet of Things platform comprises the following steps: acquiring a carton image; obtaining a rotation angle of the carton relative to a preset direction according to contour coordinate information of the carton in the carton image; processing the carton image by using an affine transformation algorithm according to the rotation angle to obtain an intermediate image containing a carton conforming to the preset direction; obtaining length data of each part of the carton according to the intermediate image; and judging whether the length data satisfies a preset length relationship and / or whether area data based on the length data satisfies a preset area relationship to obtain a detection result of the carton. The embodiment provided by the application has high matching degree for the feature detection result of a target model and obvious effect.

The invention provides a method and a system for quickly positioning railway intrusion personnel based on visual estimation, belongs to the technical field of target identification, applies an advanced monocular depth estimation and positioning method to rail transit, and solves the potential safety hazard of train operation caused by insufficient personnel intrusion position along the current railway. According to a pre-constructed target prior mapping relation between image pixel coordinates and actual geographic coordinates, after an invader is detected, the pixel coordinates of the invader are directly mapped to corresponding actual longitude and latitude positions; and if the target prior mapping information does not exist, calling a coordinate conversion algorithm according to the pixel coordinates to realize conversion from the pixel coordinates to latitude and longitude coordinates, realizing dynamic conversion from an image plane to a global geographic coordinate system, and obtaining actual latitude and longitude positioning of personnel invasion. According to the invention, high-precision positioning can be carried out on the invading personnel in the rail transit scene only by means of the monocular camera, so that the problem that personnel invasion is difficult to check in an existing system is solved, and the safe operation level of a railway is improved.

Industrial automation blockchain data management (e.g., using a computerized tool) is enabled. For example, a system can comprise: a transfer component that, using a defined conversion algorithm, converts first data from a first industrial blockchain to second data applicable to a second industrial blockchain, other than the first industrial blockchain, a blockchain component that writes the second data to the second industrial blockchain, and a user interface component that renders an output indicative of the writing of the second data to the second industrial blockchain.

The invention provides an observation station displacement monitoring method, system and equipment based on multiple reference targets. The method comprises the following steps: acquiring initial coordinates of an observation station and multiple reference targets; target image coordinates are monitored in real time through a visual sensor, and current Beidou coordinates of the observation station are synchronously obtained; solving the current east-north-sky coordinates of the visual sensor according to the target coordinates by using a multi-point visual inverse calculation method so as to obtain the visual east-north-sky displacement of the observation station; meanwhile, through a Beidou displacement conversion algorithm, according to the initial and current Beidou coordinates, Beidou east-north-sky displacement of the observation station is calculated; comprehensive displacement is obtained by fusing vision and Beidou displacement, and the current east-north-sky coordinates of the observation station are finally converted. According to the observation station displacement monitoring method, system and equipment based on the multiple reference targets provided by the invention, the accuracy, robustness and environmental adaptability of observation station displacement monitoring are effectively improved through deep fusion of multi-reference target visual backstepping and Beidou positioning.

The present application relates to a kind of based on GS-RBF and time delay estimation multi-element microphone array sound source positioning method, belong to sound source positioning technical field, comprising the following steps: S1: the near-field model of fault sound source is established, and microphone array design is carried out;S2: based on generalized cross-correlation phase transformation algorithm GCC_PHAT calculation time difference of arrival TDOA matrix;S3: construct the sound source positioning model based on RBF neural network;S4: based on grid search algorithm GS, the sound source positioning model is optimized, and the model after optimization is used to locate sound source.The present application guarantees the rapidity and accuracy of fault sound source positioning when unmanned aerial vehicle inspection, and the anti-noise performance and spatial resolution capability in complex environment are considered, and an efficient, reliable technical solution is provided for the detection of transmission line hidden fault.

This invention relates to the technical field of seismic data interpretation, and discloses a method and computer equipment for identifying the locations of beaded reflections in carbonate rocks. The identification method includes: S1, obtaining a two-dimensional seismic migration profile; S2, extracting typical beaded reflections, determining their dimensions, statistically analyzing their structural morphology, and constructing adaptive hit-and-miss structural element pairs; S3, using a hit-and-miss transformation to identify locations that match the adaptive hit-and-miss structural element pairs. This invention's identification method extracts multiple typical beaded reflections, constructs adaptive hit-and-miss structural element pairs, and only identifies locations that match these pairs. Based on a hit-and-miss transformation algorithm, this algorithm has low hardware requirements, high computational efficiency, and high accuracy.

This invention discloses a deterministic protocol conversion method for multi-protocol industrial equipment, relating to the field of Internet of Things (IoT) technology. The method includes the following steps: Step S1: Initialize hardware; Step S2: The multi-protocol industrial equipment is sequentially connected to a protocol access module via different physical connectors; Step S3: Send a conversion operation to the protocol conversion configuration module; Step S4: Based on the conversion parameters and rules in the conversion operation, and combined with the constraints in the deterministic protocol conversion algorithm, a deterministic scheduling scheme is obtained by solving the optimization objective using a Satisfiability Model Theory solver; Step S5: According to the deterministic scheduling scheme, the protocol conversion scheduler moves data from shared memory blocks according to the conversion operation and sends it to the corresponding protocol access module for protocol conversion. This invention improves the interoperability of the equipment, enhances the flexibility and scalability of the conversion system, reduces the cost and time of system implementation and maintenance, and effectively improves the stability and predictability of the system.

The application provides a single-station moving ship active and passive cooperative positioning method based on relaxation transformation. The method comprises the following steps: a single-station synthetic aperture radar receives a plurality of frames of radiation pulse signals from a ship, obtains a pulse repetition interval sum, a time difference of arrival measurement value and a Doppler phase measurement value of the ship, and further determines a passive measurement matrix of the ship; based on the pulse repetition interval sum and the speed and position of the ship, a theoretical measurement matrix of the ship is determined to construct a ship positioning model, a weighted least square method and a semi-positive definite relaxation transformation algorithm are used for solving, and a predicted position and a predicted speed of the ship are obtained; a radar wave is emitted to the predicted position of the ship to obtain a scene echo of the ship; a matched filter is designed to coarsely focus the scene echo and extract a peak value signal, the peak value signal is inversely focused and inverted, and a ship echo signal is obtained; the ship is imaged by using the echo signal, and an actual position of the ship is determined according to an imaging result.

The invention discloses a three-dimensional construction method and device of a cold source pipe network, equipment, a medium and a product, and the method comprises the steps: carrying out the transformation processing of a constructed standardized component with a low surface number according to a predefined pipe diameter parameter and a coordinate transformation algorithm, and generating a three-dimensional pipeline model with any space trend and any pipe diameter; calculating all vertex normal lines of the three-dimensional pipeline model; and according to the vertex normal and a preset Blinn-Phong illumination model, performing layered rendering processing of ambient light, diffuse reflection and highlight reflection on the three-dimensional pipeline model to obtain a rendered three-dimensional pipeline model. By adopting the method, rendering optimization of the low-surface-number pipeline model can be realized, and the expression accuracy of the pipeline appearance is improved, so that the three-dimensional visualization and dynamic monitoring capability of the cold source pipe network is improved.