215 results about "Vector sensor" patented technology

The invention relates to error correction of a vector sensor, in particular to a calibration compensation method for a triaxial vector sensor and a biaxial vector sensor, and solves the problems that the calibration compensation method of the existing multi-axial vector sensor fails to take all factors causing measurement error into account and the like. In the method, an error correction mathematical model of the vector sensor is built according to the relation of actually measured output Sm and theoretical output Se of the vector sensor, i.e. Sm=KSe + S0 and according to an error coefficient matrix K=K1K2, wherein, K1 and K2 are respectively a sensitivity error coefficient matrix of the triaxial vector sensor and a non-orthogonal error coefficient matrix among three measured axes; and an effective method is utilized to obtain correct zero-offset S0 and a correction coefficient matrix K-1 in the error correction mathematical model, and finally the error correction mathematical model of the measured vector sensor is obtained to carry out calibration compensation on the measuring result of the vector sensor. The method achieves calibration compensation taking into account of all the factors causing the measurement error of the multi-axial sensor, thus improving the accuracy of measuring results; and the method has concise and convenient process and no excessively high requirements on hardware equipment, thus being suitable for various vector sensors.

A system is described herein for monitoring the movement of one or more magnets located external to a device using the vector data from one or more magnetic vector sensors incorporated in the device to determine a position and / or to communicate information

The invention relates to a time frequency mask-based single acoustic vector sensor (AVS) target voice enhancement method. According to the method, the arrival angle of the target voice is known, a method of combining a fixed beam former and a post-positioned Wiener filter is adopted for realizing target voice enhancement, and calculation of the weight value of the post-positioned Wiener filter involves self-power spectrum estimation of the target voice. Time frequency sparse characteristics of a voice signal are used, the time frequency point correlation arrival angle for receiving audio signals is estimated through calculating the ISDR (Inter-sensor data ratio) of component signals outputted by two gradient sensors in the AVS, time frequency mask is designed through calculating errors between the time frequency point correlation arrival angle and a target arrival angle, and thus self-power spectrum estimation of the target voice is acquired. According to the method of the invention, any noise prior knowledge does not needed, the target voice can be effectively enhanced in a complicated environment where multiple speakers exist, and interference voice can background noise can be suppressed. In addition, the operation complexity is low, the adopted microphone array size is small (about 1cm<3>), and application on a portable device is excessively facilitated.

The present invention is directed to an acoustic vector sensor, specifically an underwater acoustic vector sensor. The acoustic vector sensor contains three piezoelectric sensors orthogonally mounted inside a rigid housing, where each of the piezoelectric sensors measures acoustic energy from one of the three different, orthogonal, axial directions (X, Y, and Z). The piezoelectric sensor contains a proof mass, a base, and a piezoelectric crystal sandwiched therebetween. The bonding surfaces of the proof mass and the base are preferably castellated; and the piezoelectric crystal is preferably a shear mode (d15) relaxor single crystal.

The utility model relates to error correction of a vector sensor, in particular to a calibration and compensation method for mounting errors between a triaxial vector sensor and a mounting carrier, which calibrates and compensates the measuring result errors of the triaxial vector sensor due to mounting errors between the triaxial vector sensor and the mounting carrier. In the method, the calibration method for the mounting angle errors-psi angle, theta angle and gamma angle is as follows: a carrier coordinate system for a sealing shell of the triaxial vector sensor is calibrated; the mounting angle errors-psi angle, theta angle and gamma angle between the triaxial vector sensor and the mounting carrier is determined; the mounting angle error-psi angle between the triaxial vector sensor and the mounting carrier is determined; and a correction maths model aiming at the mounting angle errors between the triaxial vector sensor and the mounting carrier is finally determined according to the psi angle, theta angle and gamma angle obtained through calibration. The calibration and compensation method has simple correction process and accurate result, and is applied to the triaxial vector sensor with fixed measuring vectors in a measuring environment.

The invention discloses an acoustic vector array DOA estimation method, which comprises the steps that: signals sent by L remote underwater acoustic targets are narrowband signals at frequency f, a receiving signal array is a uniform linear array comprising M vector sensor array elements, and an array element distance is half wavelength of the transmitted signals; an entire underwater acoustic target space is divided into K spatial positions, and each spatial position corresponds to one directional angle; a sparse bayesian learning DOA estimation algorithm is adopted for the signal Sw<~>, a maximum posterior probability of a signal source is obtained to achieve azimuth angle estimation of the targets through solving a value of a hyper-parameter, the hyper-parameter is subjected to iterative calculation till convergence, and an underwater acoustic target sparse reconstructed signal vector is calculated to be Si<~> through the final iterative calculation; a position of a S<~> non-zero row is determined, a non-zero element position of the sparse reconstructed vector S<~> corresponds to an actual DOA angle, and the DOA estimation is completed finally. The acoustic vector array DOA estimation method can improve DOA estimation accuracy, obtains more incisive directional beams and lower side lobes, and achieves omnibearing DOA estimation.

The invention relates to a target voice enhancement device. The device comprises an acoustic vector sensor used for acquiring an audio signal, a high-order space matching wave beam former, a nulling filter and a back Wiener filter, wherein wave beam processing on the audio signal acquired by the acoustic vector sensor is carried out through the high-order space matching wave beam former, the nulling filter and the back Wiener filter which are sequentially connected, and enhancement of a target direction voice is realized. The invention further provides a target voice enhancement method. According to the method, the sound source orientation information can be effectively utilized to inhibit a space interference source and background noise, the target direction voice can be enhanced, distortion of the target voice after enhancement is small, and a hearing perception evaluation score is relatively high. The device is advantaged in that the device has relatively low calculation complexity and has application and popularization values on micro equipment.

The invention discloses the three-axis magnetometer error correction technology based on a self-adaptive genetic algorithm. The technology comprises the following steps; 1, analyzing the influence of non-orthogonality of three shafts on a measurement result in the working process of a three-axis magnetometer, and deriving an error correction formula of a three-axis vector sensor; 2, establishing an optimizing model for inherent error parameter identification of the three-axis magnetometer; 3, conducting identification and solving on an inherent error parameter in the optimizing model for inherent error parameter identification by utilizing a self-adaptive genetic algorithm to obtain a vector value of the inherent error parameter; 4, putting the vector value of the inherent error parameter of the three-axis vector sensor into the error correction formula of the three-axis vector sensor to achieve correction of a measurement error. The three-axis magnetometer error correction technology based on the self-adaptive genetic algorithm has the advantages that the influence of an instrument system error on expected output is effectively reduced, the requirement on experiment operation and instrument equipment is low, and reliability of an experiment is high.

The invention provides a method for estimating the parameters of an underwater constant-speed vehicle based on a vertical vector array. According to the technical scheme of the invention, on a vertical array-based underwater vehicle noise measurement platform or an underwater vehicle detection platform, a Doppler frequency shift difference is generated according to different spatial information of each array element, and then the accurate Doppler frequency shift of each array element is obtained through the polynomial frequency-modulation wavelet transformation process. In combination with the pitch angle information of each vector sensor, the weighted nonlinear least squares of a joint multi-objective function is optimized and solved. Therefore, the joint estimation on the speed of an underwater vehicle, the depth of the underwater vehicle, the horizontal proximal distance of the underwater vehicle and the abeam distance thereof to different array elements is realized. The above method is simpler in implementation and higher in estimation accuracy. Based on the method, the parameter estimation robustness and the estimation speed are significantly increased.

The present invention is directed to an acoustic vector sensor, also called particle velocity sensor. <111> direction poled, shear mode, relaxor single crystals are used as the sensing elements. In addition, these crystal plates are cut at a special orientation such that they provide zero or minimum responses in the transverse directions, but have a maximum piezoelectric response in sensing direction. The piezoelectric sensor contains a proof mass, a base, and an aforementioned relaxor crystal. Three of the sensors are mounted orthogonally with a rigid case, and they are designated to sense the acoustic particle velocity in three designated directions, say X, Y, and Z. To solve the adverse lateral constraint problem (also known as clamping effect) associated with the relaxor crystal; reduced bonding area between the proof mass and the relaxor crystal are introduced. This feature greatly reduced the percentage of the bonding area for the crystal; consequently the free-state piezoelectric properties of the relaxor crystals are preserved.

The invention provides a camera displacement compensation method and device. The method comprises the following steps: establishing a space rectangular coordinate system, and computing the initial angle of a camera and a first object distance between the camera and a monitored object at an initial position; receiving the spatial position change information of the camera transmitted by a vector sensor when the position of the camera is changed; computing the second object distance and the second angle of the camera at a current position respectively according to the spatial position change information, the initial angle and the first object distance based on three coordinate axes of the space rectangular coordinate system; and driving a stepping motor to adjust the angle of the camera according to the initial angle and the second angle, and focusing according to the second object distance. Through adoption of the method and the device, anti-shock and anti-shake functions of the camera are realized.

The invention provides a speech enhancement method and system, computer equipment and a storage medium, and relates to the technical field of the human-machine speech interaction. The method comprisesthe following steps: collecting multi-channel acoustic signals through an acoustic vector sensor, preprocessing the multi-channel acoustic signals and acquiring a time-frequency spectrum, filtering the time-frequency spectrum and outputting a signal atlas; performing masking processing on the signal atlas through a nonlinear mask, and outputting an enhanced single-channel speech spectrogram; inputting the single-channel spectrogram into a deep neural network mask estimation model and outputting a mask spectrogram; performing time-frequency masking enhancement on the signal atlas through the mask spectrogram to acquire enhanced amplitude speech spectrogram; reconstructing through the enhanced amplitude speech spectrogram so as to output an enhanced target speech signal. The technical problem that the multi-channel speech enhancement is high in hardware cost, large in collection system volume, and high in operation complexity is solved, and the excellent speech enhancement effect can beacquired under difference interference noise types, strengths and room reverberation conditions.

The invention discloses a voice-control intelligent garbage can based on an acoustic vector sensor. The functions of the garbage can such as listening, turning and walking are realized. Listening means identifying simple command words of a user; turning means turning to an estimated azimuth angle where the user is; walking means moving to the front of the user; the voice-control intelligent garbage can belongs to the technical field of voice human-computer interaction. The garbage can is called mini T; when the user needs to throw garbage, the user only needs to say 'come here, mini T', the azimuth angle of the sound voice of the user is estimated after the user command is identified by the mini T, and the user moves towards the user according to the azimuth angle; when the user says 'stop, mini T', the mini T stops moving after the command is identified; the user says 'go back, mini T' after the garbage is thrown, the mini T returns to an original position after the command is identified. The voice control intelligent garbage can provides a friendly voice human-computer interaction mode, and the garbage can is controlled by voice, so that the using requirement for old people, the disabled and pregnant women with mobility difficulties or bedridden patients, and great convenience is brought for the application scenarios such as intelligent home and medical wisdom.

The invention provides a monolingual sound source DOA estimation method based on an AVS and sparse representation. According to the method, the acoustic vector sensor is adopted to collect audio signals, high signal-to-noise ratio time frequency points are extracted by utilizing the trigonometric function relationship between the time frequency sparse characteristic of the voice signals and the receiving component of the AVS and adopting a sine track algorithm, and the ratio of data of a pressure gradient sensor to data of an all-around pressure sensor is calculated. On the basis, an over-complete dictionary sparse representation model for the ratio of data of the sensors is acquired through the spatial sparse characteristic of a sound source, and the monolingual sound source direction-of-arrival estimation problem is converted into a sparse vector solving problem. The sparse vector is solved with the l1-SVD method, the spatial power spectrum is calculated, and the DOA of the monolingual sound source can be obtained through calculation. The DOA of the monolingual sound source can be accurately estimated under conditions of different noise intensities and room reverberations with the method. Besides, a microphone array adopted for the method is small in size and only has the area of 1 cm<3>, and thus the method is very suitable for the voice technology for portable devices.

The present invention is process of machining spherical HF vector sensor with integrated vibration velocity channel and sound pressure channel. The process includes: setting one 3D vibration velocity sensor in the center of one sphere made of low density composite material, embedding eight sound pressure hydrophones homogeneously on the surface of the sphere, mounting one ring with four suspension loops outside the sphere in certain distance, and coating the sphere with sound penetrating material while exposing four suspension loops. The spherical HF vector sensor is applied in great depth hydroacoustic measurement.

The invention as disclosed is of a combined acoustic pressure and acoustic vector sensor array, where multiple acoustic pressure sensors are integrated with an acoustic vector sensor in a towed array as a means of resolving the left-right ambiguity of the multiple acoustic pressure sensors.

The present invention presents a method for use with an acoustic sensor array comprised of a number of pressure-vector sensors capable of sensing the acoustic scalar field and acoustic vector field of an acoustic wave. The method is a signal processing technique that utilizes nonlinear processing of pressure-vector sensor signals in the acoustic sensor array. The method involves the steps of receiving the sensor output values, processing the output values using a non-linear algorithm to create a mathematical series of values, transforming the series, applying weighting to the series and performing a summation of the values in the series to calculate the array directivity response. The array directivity response can then be further processed where the array is part of a sonar system.

A rotation sensor equipped wheel support bearing assembly detects rotational speed and rotational direction, in which a high resolution rotation signal is utilized in various vehicle controls with a suppressed size. The bearing assembly includes a plurality of rows of rolling elements between rolling surfaces in outer and inner members. A magnetic field generating element having anisotropy about a bearing center axis is provided in the outer member in alignment with the axis. The inner member is provided with a sensor for sensing the magnetic field of the magnetic field generating element oriented axially. The sensor detects the angle of rotation of the magnetic field generating element and is in the form of magnetic sensor arrays or elements for detecting the orientation of the magnetic field with a two-dimensional vector sensor to detect rotation of the magnetic field generating element.

The invention discloses an adaptive underwater sound decision feedback equalization method based on a single vector sensor. The method comprises steps that, signal synchronization for a sound signal received by the vector sensor is carried out; electronic rotation synthesis is exerted on a horizontal vibration velocity signal, and then weight synthesis of the horizontal vibration velocity signal and a sound pressure signal is carried out to acquire a sound pressure and horizontal vibration velocity synthesis signal; the sound pressure and horizontal vibration velocity synthesis signal and a vertical vibration velocity signal are respectively demodulated to a base band, the base band signal is inputted to a decision feedback equalizer; a feed-forward end of the decision feedback equalizer is embedded with a phase-locked ring, an inputted base band signal firstly enters the phase-locked ring; equal-gain combination of the sound pressure and horizontal vibration velocity synthesis signal and the vertical vibration velocity signal is carried out; inter-code interference generated for a symbol in detection is estimated by a feedback filter and subtracts with output of a forward-direction filter to realize inter-code interference inhibition, and emission signal recovery is further realized. Through the method, an error rate can be reduced, and communication system robustness is improved.

An underwater acoustic sensor is designed for attachment to a rigid or semi-rigid mounting structure. The sensor includes an outer casing and a secondary casing spaced therefrom. A compliance layer is disposed between the inner surface of the outer casing and the outer surface of the secondary casing. An inner sensor support is designed to attach to the mounting structure and is spaced from the inner surface of the secondary casing. A plurality of sensor elements are disposed between and interconnect the inner surface of the secondary casing and the sensor support.

The invention relates to a vector sensor unit for an underwater monitoring network. The vector sensor unit comprises a vector hydrophone, a vector detector and a corresponding signal processing module. The vector hydrophone comprises a sound pressure hydrophone and an accelerometer and is used for receiving underwater acoustic signals in the sea; the vector detector comprises a pressure detector and an acceleration detector and is used for acquiring seabed earth sound signals; the signal processing module has the functions of signal amplification, smoothing, sampling and communication and is used for completing signal processing and transmission. The vector sensor unit can be used for measuring underwater acoustic signals and earth sound signals in the sea simultaneously, measurement information is richer, measurement results are more reliable, and the vector sensor unit can be used for underwater guarding of ports, navigation channels and coasts, earthquake and tsunami warning, seabed oil and gas resource exploration, marine biological resource survey and other aspects.

The invention discloses a vector sensor-based orthogonal frequency division multiplexing (OFDM) underwater sound communication method, which comprises that: a receiver uses a vertical receiving array consisting of M vector sensors of which each comprises an acoustic pressure channel and at least a vertical vibration velocity channel; after frame synchronizing signals are captured, frequency-domain passive time reversal processing is performed on the acoustic pressure channel and the vertical vibration velocity channel to combine the data of each channel into a path; and OFDM channel estimation and equalization processing are performed to finally recover original information. The vector sensor-based OFDM underwater sound communication method has the advantages that: the vector sensors form the receiver of an OFDM communication system to provide conditions for space diversity required by the time reversal processing by utilizing weak correlation between an acoustic pressure and a vertical vibration velocity component, and the vector sensor array replaces a conventional acoustic pressure array under the condition of the same receiving array size so as to remarkably improve communication performance.

The invention relates to a nonlinear least square tri-axial vector sensor high-precision correction method. Influences of three aspects including tri-axial non-orthogonality, calibration coefficient inconformity and zero polarization on a measured value are comprehensively considered to obtain a sensor error correction model having the common applicability on common tri-axial vector sensors; a high-precision scalar ambient field measurement instrument is introduced to provide expected output; a tri-axial vector sensor intrinsic parameter identification optimizing model is further built; the basic idea of a nonlinear least square is combined to solve the model to achieve tri-axial vector sensor intrinsic parameter identification and error correction. Compared with the prior art, the high-precision correction method has the advantages that the common applicability for the common tri-axial vector sensors is achieved, the influences of the tri-axial non-orthogonality, the all-axial calibration coefficient inconformity and the zero polarization on the measured value are comprehensively considered, influences of instrument system errors on the measured value are removed, and requirements for experiment operation and instrument equipment are not high.

The invention discloses a calculation method for underground magnetic navigation, comprising the following steps: step 1, preprocessing acquired magnetic signals by an underground magnetic navigation method; step 2, establishing a model for calculating the strength of induced magnetic fields generated at any point in space by a magnetic source; step 3, starting from a magnetic dipole model; step 4, solving the undetermined coefficient in a relational expression shown in the specification by adopting the least square linear fitting method; step 5, adopting the model established in step 3 to solve the relation among an azimuth, a hole deviation angle and the strengths of magnetic inductions generated by the magnetic source at any point in space in the directions of x, y and z through back calculation; step 6, adopting three pairs of magnetic field strengths in the directions of x, y and z acquired by three fluxgate type sensors; and step 7, judging the position of the magnetic source relative to a magnetic vector sensor. The method has the advantages of adopted artificial magnetic beacon, long navigation distance and high angle measurement precision. The calculation method is simple, can be programmed conveniently by a computer, and has high operation efficiency.

The invention relates to a multi-parameter water sound detection sensor. The multi-parameter water sound detection sensor mainly comprises a vector hydrophone, a sound pressure hydrophone, a positioning mass block, a watertight covering layer, a multi-core cable and the like, and aims to overcome the defect that not all parameters of the sound field can be represented by a single hydrophone while improving detection efficiency. The multi-parameter water sound detection sensor has the advantages that firstly, physical quantities of scalar and vector can be measured simultaneously and physical quantities of sound pressure and particle vibration velocity which are used for representing characteristics of the sound field can be acquired synchronously since the vector sensor and the sound pressure sensor are designed to be combined; secondly, defects caused when the vector sensor and a scalar sensor run respectively are overcome, and a convenient, easy and feasible means is provided for sound intensity parameter detection; thirdly, complete information of the sound field can be provided with a single processing system, interference resistance capacity during water sound detection and water sound detection capacity are improved, and the characteristics of the underwater sound field can be judged more accurately.

A planar or cylindrical, cantilever-type apparatus including a rigid support. The apparatus further includes a first optical fiber connected to the rigid support, the first optical fiber including a first neutral axis and at least one first wave-guiding core running parallel to the first neutral axis and located at a distance from the first neutral axis, each of the at least one first wave-guiding core including at least one first reflector. The apparatus further includes a first membrane surrounding the first optical fiber; and a first liquid inside the first membrane and surrounding the first optical fiber, the first liquid including a Reynolds number less than one.

The invention provides a scheme for overlapping augmented reality information of intelligent machines in an omni-bearing mode in a real scene. Users can observe correct azimuths and ranges of peripheral geographical targets in an information overlapping window when placing the intelligent machines in any posture in three-dimensional space. Geographical names found by the users can be marked on real-scene video images, user client sides of the intelligent machines can conveniently observe the position and azimuth relations between the user client sides, and shops can widely issue advertising information of the shops through a service platform. The intelligent machines comprise all intelligent equipment such as mobile phones, tablet computers, notebook computers, camera heads with the posture sensing function and cameras with display windows and the posture sensing function, and wearable equipment such as glasses and gloves. Augmented real e-commerce, friend and shop finding, shop advertising information overlapped issuing, photogrammetry mapping, real-scene game and other functions can be achieved on Android and Apple systems of the intelligent machines. A method for overlapping the augmented reality information of the intelligent machines in the omni-bearing mode comprise two intelligent machine posture measuring methods for video information overlapping, the first method achieves intelligent machine posture measuring through rotary vector sensors, cooperation of accelerometers, magnetometers and gyroscopes is needed in the second method, and accuracy and stability are high.

A sensor array is configured based upon capacitive sensor techniques to measure stresses at various positions in a sheet simultaneously and allow a stress map to be obtained in near real-time. The device consists of single capacitive elements applied in a one or two dimensional array to measure the distribution of stresses across a mat surface in real-time as a function of position for manufacturing and test applications. In-plane and normal stresses in rolling bodies such as tires may thus be monitored.

A system, processor and method of use for calibration processing is provided to calibrate acoustic vector sensor data collected at comparatively close range. Vector sensor data collected at close range includes data collected with source-to-receiver separations ranging from a one-tenth to approximately two acoustic wavelengths. The calculations substantially account for the acoustic impedance of a spherically diverging wave front, where the curvature is sufficiently pronounced to cause errors in resulting measurements in the calculations. The processing uses information contained within the vector sensor data to increase the accuracy of the vector sensor data.

The invention discloses an underground magnetic navigation method. The method is characterized by comprising the following steps of: fixedly connecting a permanent magnet short joint with a drill bit; placing the permanent magnet short joint and a magnetic vector sensor into two vertical wells respectively; keeping the center of the permanent magnet short joint and the center of the magnetic vector sensor on the same straight line; continuously transmitting a stable magnetic signal by the permanent magnet short joint connected with the drill bit during the drilling of the drill bit; acquiring the magnetic signal transmitted by the permanent magnet short joint by the magnetic vector sensor; transmitting the signal to an over-ground computer by using a cable; analytically measuring the distance and the angle of the drill bit by the computer by using the acquired magnetic signal; calculating and determining the position of the drill bit in the well; transmitting information on the distance, azimuth, well deviation angle, and direction and position deviated from a normal track to the drill bit if the drill bit deflects at a moment; and righting the position of the drill bit to gradually return the drill bit to the normal track. The method has the advantages that: the structure is simple, the method is convenient to use, and an effective high-technology navigation technical means is provided for the communication of two wells.