140 results about "Weighted least squares method" patented technology

The invention discloses a multi-source fusion positioning method, positioning system and equipment for resisting non-line-of-sight interference. The method comprises the following steps: S1, acquiring RSS (Received Signal Strength), TDOA (Time Difference Of Arrival) and AOA (Attention Of Arrival) of N base stations; s2, selecting a base station with the strongest signal as an initial reference station according to the RSS mean value, and generating all base station combinations containing the reference station; s3, constructing a joint positioning equation for each base station combination, and carrying out initial position calculation on each combination by adopting a weighted least square method to obtain an intermediate position estimated value and a corresponding residual error; s4, identifying the NLOS base station by using sliding window-based multi-feature residual dynamic threshold judgment and effective combination-based NLOS weight penalty verification respectively; and S5, calculating the base station combination according to the residual error and the geometric precision factor to obtain high-precision position estimation. According to the method, unreliable NLOS base station signals can be intelligently identified in a complex electromagnetic environment, the weights of the unreliable NLOS base station signals are reduced, and finally more accurate target position estimation is fused.

The invention belongs to the technical field of image processing, and particularly relates to a PCB plug hole flatness detection method and system based on 3D point cloud data, and the method comprises the steps: obtaining the original 3D point cloud data of a PCB, and intercepting a plug hole center and a local point cloud block according to a design file; a copper ring point cloud set is extracted, and the fitting weight of each sampling point is calculated based on the distance from each sampling point in the set to the center of the plug hole, the unit normal vector of the sampling point and the original height of the sampling point; performing weighted least square fitting on all the copper ring point clouds by using the fitting weight to obtain a virtual reference curved surface; extracting an effective point cloud set, calculating the correction height of the effective point cloud, and calculating a flatness index in combination with the mean value of the correction height and the module length of the local gradient; the flatness index of the physical space is obtained, and whether the flatness of the plug hole is qualified or not is judged. According to the method, the problem of misjudgment caused by board warping is effectively solved, and the detection precision and the anti-noise capability are improved.

The invention discloses a ship water gauge scale line fitting algorithm, and relates to the technical field of ship water gauge scale calculation, and the method comprises the steps: obtaining a ship water gauge region image through an image collection device to extract a measurement point coordinate, and building a mapping relation between a pixel position and a physical draft; a weighted least square method is adopted to perform nonlinear curve fitting, a weight coefficient is calculated based on a local neighborhood standard deviation, a polynomial order p is dynamically adjusted according to an adjusted decision coefficient, and the decision coefficient is iteratively optimized to improve the balance between amplitude and model complexity. And the system repeatedly corrects model parameters through a dynamic verification mechanism of the residual sum of squares and a preset threshold value, and finally an accurate water gauge scale fitting curve is generated. The method effectively solves the problems that traditional manual observation is prone to environmental interference and large in measurement error, high robustness is kept in a complex water area environment, and reliable data support can be provided for the fields of ship load evaluation, channel safety management and the like.

The invention relates to the technical field of satellite navigation and wireless communication, and discloses an indoor positioning method and system based on feeder multiplexing Beidou double-frequency, and the method comprises the steps: receiving outdoor B1I and B2a signals through a high-gain Beidou double-frequency receiving antenna, carrying out the frequency separation and signal conditioning through a double-frequency separation filter, and carrying out the positioning of the B1I and B2a signals; and transmitting the B1I signal to an indoor distributed antenna for broadcasting through the existing communication feeder network, and transmitting the B2a signal to a central directional antenna to establish a time synchronization reference. A mobile terminal receives a dual-frequency signal, capturing and tracking are carried out through digital signal processing, and pseudo-range and carrier phase observation values are extracted. And performing pairing processing on observation data of the same antenna, calculating a dual-frequency pseudo-range difference value, eliminating system errors, and performing position calculation by adopting a weighted least square method and Kalman filtering. The method solves the problem that the traditional GPS signal cannot cover the indoor environment, and has a good application prospect in the scenes of underground commercial complexes, tunnels, parking lots and the like.

The invention discloses an active and passive fusion water depth inversion method based on adaptive spectrum weighting, and the method comprises the steps: carrying out the atmospheric correction of a multispectral satellite image, extracting a target region, and removing a land region and a deepwater region; the method comprises the following steps: acquiring a seawater point cloud of a satellite-borne photon counting laser radar in a target area, extracting sea surface and seabed information, and performing refractive index correction and tide correction to obtain a reference water depth; matching each pixel in the multispectral satellite image with a reference water depth, and dividing the multispectral satellite image into a reference pixel and a to-be-measured pixel; according to the spectral value of the multispectral satellite image, the Euclidean distance between each to-be-measured pixel and all reference pixels is calculated, and the reciprocal of the distance is used as the weight of each reference pixel; and introducing a weight-to-weighted least square method, and fitting a relationship from the spectral value to the water depth for each pixel to be measured to realize water depth inversion of the pixels to be measured. The method can effectively improve the active and passive fusion water depth inversion precision when the water depth distribution is uneven and the shallow sea area environment is complex.

The present application belongs to the technical field of vehicle mass online estimation, in particular to a vehicle mass online estimation method based on fuzzy logic and weighted least square method, comprising the following steps: 1) obtaining longitudinal acceleration sensor measurement value signal, longitudinal speed signal, engine output torque signal, gear signal, throttle opening signal, brake pedal signal and steering wheel angle signal from vehicle CAN bus; 2) correcting the measurement value of longitudinal acceleration sensor; 3) calculating equivalent driving force and equivalent acceleration; 4) calculating working condition fitness degree by using fuzzy logic algorithm; 5) estimating vehicle mass by using weighted least square method; and 6) suspending and starting vehicle mass estimation. The structure is reasonable, and the accuracy and working condition adaptability of vehicle mass online estimation can be improved during use.

The invention relates to the technical field of image processing, and discloses a laser wavefront distortion correction system and method based on adaptive optics, and the system comprises a first module which is used for calculating a noise covariance matrix and an interaction matrix; the second module is used for solving a control matrix and a phase reconstruction matrix; the third module is used for calculating to obtain a current slope vector; the fourth module is used for updating a deformable mirror command; the fifth module is used for calculating to obtain a point spread function; and the sixth module is used for calculating an image quality index and outputting a correction result. According to the method, a noise covariance matrix and an interaction matrix are accurately constructed under reference light, and a weighted least square method with double regularization is combined, so that the influence of measurement noise is effectively inhibited, the stroke constraint of an actuator is balanced, and the robustness of a correction model is greatly improved; by means of combination of integral control, leakage processing and amplitude limiting design, saturation of an actuator due to command accumulation is avoided, and correction error superposition is prevented.

The invention belongs to the technical field of coal quality detection, and particularly relates to a method for rapidly predicting coal quality parameters based on Raman spectrum in combination with machine learning. According to the method, a Raman spectrum technology and machine learning are combined, a Raman spectrum systematic preprocessing process is adopted, an adaptive iteration reweighted least square method Air-PLS is applied, spectral signals and baseline drift are accurately separated, Savitzky-Golay filtering is applied, peak shape features are reserved, random noise is effectively suppressed, and the method is suitable for large-scale popularization and application. Maximum-minimum normalization or Z-score standardization processing is provided, and the intensity difference between samples is eliminated; moreover, a data-driven Raman spectrum intelligent feature screening mechanism is introduced, and an optimal feature wavelength subset which is highly related to coal quality parameters and low in redundancy is screened out through automatic iteration; according to the method, the data quality in Raman spectrum coal quality detection is improved, the feature correlation is enhanced while the feature dimension is reduced, the model precision and generalization ability are improved, and rapid, lossless, high-precision and high-robustness coal quality parameter prediction is realized.

The invention relates to a fault positioning method and system for a multi-terminal hybrid DC power transmission system, and the method comprises the steps: calibrating a fault moment, and improving a Bergeron model; intercepting a theoretical current traveling wave of a preset time window; performing waveform processing on the intercepted theoretical current traveling wave at low, medium and high frequencies by adopting a time redistribution multi-synchronous compression transformation method based on wavelet transformation, and performing waveform correction in combination with a random forest to obtain a reconstructed current traveling wave; performing weighted least square fitting on the reconstructed current traveling wave to obtain a fitted current traveling wave; constructing a waveform reference library comprising a plurality of interval reference current traveling waves according to the fitting current traveling waves; and calculating a current traveling wave at any fault position, performing similarity calculation on the current traveling wave and the reference current traveling wave of each interval in the waveform reference library based on the arrival time and the amplitude to obtain a comprehensive similarity, and positioning a fault interval according to the comprehensive similarity.

The invention discloses a qualitative and quantitative detection method for vitamin A and vitamin E in food. The qualitative and quantitative detection method comprises the following steps: step 1, pre-treating a sample and accurately adding an isotope internal standard: adding d6-alpha-tocopheryl acetate and d8-retinol acetate into the sample before saponification and preparing a blank matrix; 2, pre-treatment parameter QbD-DOE collaborative optimization, wherein a response surface method is adopted for conducting center composite design on the saponification temperature, time and BHT concentration, and the interaction effect of all the factors is analyzed to determine an optimal operation window; step 3, intelligently optimizing chromatography-mass spectrometry conditions and tuning parameters; step 4, constructing a matrix matching calibration curve and performing WLS quantitative analysis: performing gradient dilution on a standard substance by utilizing a blank matrix extracting solution, adding an isotope internal standard to prepare a 5-7-point matrix matching calibration curve, fitting the curve by adopting a weighted least square method, and verifying the correlation and intercept change of the calibration curve every day; and 5, multi-dimensional qualitative confirmation and intelligent diagnosis system operation.

The invention discloses a multi-region linear fitting error compensation method and system for an air pressure sensor. The method comprises the steps that original data of the air pressure sensor are acquired and preprocessed; identifying the preprocessed data based on an inflection point detection algorithm of a second derivative, and dividing intervals according to identified inflection points; performing linear fitting in each divided interval by applying a weighted least square method, calculating fitting parameters and goodness of fit of each interval, removing abnormal points in the interval, and performing fitting again; judging whether the adjacent intervals meet a merging condition or not, and performing merging and fitting optimization on the adjacent intervals meeting the condition; generating a calibration parameter table, outputting an SVG fitting curve graph according to the calibration parameter table, and correcting an error of a measured value of the air pressure sensor; by analyzing distribution characteristics of error data, intervals with similar error characteristics are divided in a self-adaptive mode, a linear fitting model is independently constructed for each interval, and averaging errors of a single model on a non-linear area are avoided.

The invention provides flexible device alignment detection equipment and a detection method thereof. The flexible device alignment detection equipment comprises a jig platform, a shaping mechanism, a main detection module and a control module. The bearing plane of the jig platform is provided with a positioning reference edge to establish a workpiece coordinate system; the main detection module obtains an unshaped first state reference image and a shaped second state reference image. The control module matches the two-state reference features under a workpiece coordinate system, obtains feature coordinates and solves initial plane rigid body transformation parameters; inversely mapping the second state feature coordinates to the first state to obtain a residual deformation quantity vector, and reconstructing a residual deformation field; and determining and normalizing an adaptive weight coefficient according to the residual modulus value, and solving by adopting weighted least squares to obtain a global alignment deviation of a shaping state relative to a workpiece coordinate system. The equipment can improve the robustness and stability of alignment calculation when in-plane deformation exists.

The invention discloses a freight spaceship reentry recovery attitude cooperative control method. The method comprises the following steps: S1, determining key attitude indexes in a freight spaceship reentry recovery process; s2, collecting atmospheric environment parameters in a reentry process, and meanwhile, obtaining earth gravitational field distribution data to provide environment input for a subsequent attitude control algorithm; s3, based on the Newton's second law and the Euler equation, establishing a kinetic model of the freight spaceship, establishing an attitude kinematics model by adopting a quaternion method or an Euler angle method, and establishing an execution mechanism model for a propulsion system of the freight spaceship; through sub-filter local estimation and main filter global weighting, noise and abnormal values are effectively filtered, attitude estimation precision is improved, instruction distribution adopts a pseudo-inverse method in combination with a weighted least square method, an initial instruction is obtained through the pseudo-inverse method, then secondary optimization is performed in combination with execution mechanism constraints, instruction oversaturation is avoided, and attitude estimation accuracy is improved. Extra redundant execution mechanisms are not needed, and the hardware cost is reduced.

The application discloses a time difference positioning method based on random robust least square, mainly solves the threshold effect of the existing time difference positioning method when the measurement error increases, and leads to the problem of sharp deterioration of positioning accuracy, and the implementation scheme is as follows: a plurality of observation stations and noise measurement errors are set, the time difference positioning equation is obtained by using the position parameters and the measurement errors, an auxiliary variable is defined, the auxiliary variable is introduced into the time difference positioning equation to establish a constraint equation, the constraint equation is processed by using a random robust least square method to obtain a cost function, the cost function is solved by using a least square method to obtain a target position, a new constraint equation is established according to the internal relation of the auxiliary variable elements, the new constraint equation is solved by using a weighted least square method to obtain a positioning error, the target position is linearly corrected by using the positioning error to obtain a final positioning result, and the target positioning is completed. The application reduces the positioning error, improves the positioning accuracy and the robustness of positioning, and can be used in aerospace, navigation and electronic warfare.

The application discloses a macro modeling method for ensuring direct current precision, and the method comprises the following steps: reading n-port network parameters; initializing sampling points for constructing a macro model; initializing the order of the macro model; initializing the pole of the macro model; establishing a weighted linear system according to the current order, the sampling points and the pole; solving a linear equation set, judging convergence according to an error, and obtaining the macro model; and outputting the optimized macro model by applying a residue matrix disturbance to optimize the macro model. The macro modeling method for ensuring direct current precision provided by the application controls the direct current precision in two stages. In the first stage, a weighted least square method is adopted on the basis of a linear system established by a traditional vector fitting algorithm to preliminarily control the direct current precision. In the second stage, a small disturbance is applied to the residue matrix of the macro model, so that the disturbed macro model has accurate direct current characteristics.

The invention discloses a positioning error compensation method and device for a UWB single base station positioning system, and relates to the technical field of wireless positioning, and the method comprises the steps: taking a single base station as a center, determining an equilateral triangle according to the wavelength of a UWB signal, and setting a UWB antenna at each vertex of the equilateral triangle, so as to form an equilateral triangle array antenna; calculating the arrival angles of the received signals by different UWB antennas by using the phase differences of the UWB signals arriving at the UWB antennas through a signal processing algorithm and combining the geometrical relationship of the equilateral triangle array antennas; constructing an equation set in combination with triangular constraint conditions; solving the equation set by using a weighted least square method to obtain initial position information of the positioning tag; and smoothing the initial position information by using Kalman filtering to obtain the position information of the positioning tag. According to the invention, the special antenna array structure is constructed on the single base station, and the information carried by the UWB signal is fully mined by using the triangulation positioning principle, so that the positioning precision is improved.

A system and method for distributed temperature and strain sensing using Chirp-Pulse Coherent Optical Time-Domain Reflectometry (CP-COTDR) utilizes optical flow processing. The method involves constructing a two-dimensional (2-D) waterfall data array from collected CP-COTDR frames. Optical flow processing is applied directly to the 2-D data to estimate the local shift of features caused by external perturbations. The optical flow is preferably calculated using a weighted least squares method with an adaptive analysis window based on the local flatness of signal derivatives. This approach provides versatile and high spatial resolution, reduces accumulative errors, and enables efficient data processing compared to conventional cross-correlation techniques.

The invention relates to the technical field of optical precision machining, in particular to a curvature self-adaptive curved surface fitting method and system in optical element polishing, and the method comprises the steps: obtaining a material height difference removal matrix based on interference measurement data before and after polishing of an optical element; traversing the height difference matrix by using a sliding window mode, calculating a Hessian matrix eigenvalue in a local area, forming a curvature sensitivity index (CSI), dividing an optical surface area into a plane area, a gradual change area and a high curvature area, and setting curved surface fitting parameters in the areas respectively; performing curved surface fitting on the region by adopting a weighted least square method to obtain a continuous surface model, and performing adaptive numerical integration calculation on the continuous surface to obtain a material removal volume; according to the method, the process control requirement of high-precision optical manufacturing can be met, the calculation precision is high, the calculation precision and the calculation efficiency can be maximized, the global efficiency is high, the capability of capturing local features can be achieved, the method can be integrated into an existing quality control system, and process decision making is facilitated.

The invention discloses a logistics positioning method for an intelligent port, and particularly relates to the field of dynamic map visualization. Arranging high-precision control points in the harbor district, and collecting first coordinates and second coordinates to construct a control point data set; adopting a weighted least square method to fit and generate seven-parameter coordinate transformation models corresponding to the plurality of areas; generating a fine tuning parameter group through the prediction model, and combining the fine tuning parameter group with the seven-parameter model to form an adaptive coordinate transformation model; converting the collected first coordinates into corrected second coordinates in real time, and synchronously mapping the corrected second coordinates to a digital harbor district map system to realize dynamic visualization and scheduling linkage of the target logistics object; the stability and environmental adaptability of the harbor area positioning system are improved, and the method is suitable for unmanned transportation, automatic scheduling, safety supervision and other application scenes in intelligent harbors.

The invention discloses an unmanned aerial vehicle monocular vision inertial positioning method based on under-forest geometric representation, and belongs to the technical field of forestry monitoring. In order to solve the problem of positioning drift of the unmanned aerial vehicle caused by background pseudo observation in a complex under-forest environment, a lightweight instance segmentation network is adopted to carry out trunk instance segmentation and mask generation on an input image, and a hard semantic mask of a trunk area is obtained; constructing a visual residual weighting function which comprises a full-region point feature constraint and a line feature constraint, and performing optimization processing by using a soft weighting function to obtain an input image after semantic mask cutting optimization; geometric constraints of the trunk line segments are set, and candidate trunk line segments after geometric constraint processing are obtained; in a sliding window nonlinear optimization framework, uniformly encoding point feature constraints and line feature constraints into an information matrix; and optimizing all to-be-optimized variable sets in the sliding window by using a weighted least square method, then adjusting the scale of the sliding window through a marginalization strategy, and outputting an optimized global trajectory.

The invention discloses a wireless network positioning method, server and system, and relates to the technical field of wireless communication and positioning navigation. The method comprises the following steps: receiving a signal sent by a to-be-positioned target node through a plurality of positioning reference nodes and extracting an original positioning parameter sequence; then, improved Z-score exception elimination based on median and median absolute deviation and adaptive attenuation coefficient smoothing based on average inter-frame hopping are carried out on the sequence, and a stable estimated value and a measurement variance are output; and finally, according to the number of the effective positioning reference nodes, adaptively switching a CHAN algorithm or a weighted least square method to carry out position calculation. The improved Z-score filtering and dynamic weight fusion technology is adopted, the defects in the prior art are overcome, the problem that a fixed algorithm is poor in robustness when the reference node topology change is positioned is solved through an algorithm self-adaptive switching mechanism, the precision and adaptability are remarkably improved in a complex scene, and meanwhile the deployment and maintenance cost is reduced.

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 an airborne bistatic radar platform error compensation and target positioning method and system. The method comprises the following steps: constructing a measurement model for a bistatic radar system; the measurement model comprises a platform position motion model, a target position motion model, an observation equation of a platform to a target and a navigation error model of the platform; based on the measurement model, performing linear fitting on each platform position measurement and target position measurement by using a linear fitting model, estimating navigation error parameters of each platform according to fitting results, and correcting platform motion parameters according to estimated values of the navigation error parameters; and based on the corrected platform motion parameters, constructing a linearized target positioning model in combination with multi-platform observation data, and estimating the motion parameters of the target by using a weighted least square method to realize target positioning. Under the condition that no navigation source exists, the positioning precision of the airborne platform is improved, and then the positioning precision of the bistatic airborne radar on the non-cooperative target is improved.

The application provides a three-axle tractor slip ratio error elimination method, device and electronic equipment, which comprises the following steps: determining the tractive force and slip ratio of different tractive force sample points of the three-axle tractor; dividing the different tractive force sample points of the three-axle tractor into multiple regions based on the tractive force of the different tractive force sample points of the three-axle tractor; determining the tractive force average value and slip ratio average value of the tractive force sample points in each region based on the tractive force and slip ratio of the different tractive force sample points of the three-axle tractor; fitting the tractive force average value and slip ratio average value based on the weighted least square method, determining the slip ratio error caused by the rolling radius of the three-axle tractor based on the fitting result, and correcting the rolling radius based on the slip ratio error to eliminate the slip ratio error. The application can eliminate the slip ratio calculation error of the three-axle tractor without increasing the hardware cost, and the calculated slip ratio is more accurate.

The invention discloses a blockage detection method for a particulate filter, and relates to the field of vehicle tail gas treatment, and the method comprises the following steps: generating a pressure difference volume flow relation curve by using a preset curve fitting model constructed based on a weighted least square method, calculating the change trend similarity between the pressure difference volume flow relation curve and a curve in a non-blockage state, and determining the blockage of the particulate filter according to the change trend similarity. And based on a comparison result corresponding to the change trend similarity, sending a cloud detection confidence coefficient to the vehicle end controller, so that the vehicle end controller superposes the cloud detection confidence coefficient and the vehicle end detection confidence coefficient, and outputting a jam detection result. According to the method, the disturbance variable introduced by sensor drift in the pressure difference and the volume flow is suppressed based on the weighted least square method, the precision of the generated pressure difference volume flow relation curve is improved, the blockage detection is realized based on the change trend similarity, the cloud detection confidence coefficient and the vehicle end detection confidence coefficient are further superposed by the vehicle end controller, and the vehicle end detection accuracy is improved. Double verification is realized, and the blockage detection precision of the particle trap is improved.

This invention discloses a method, terminal, and medium for calculating the distance between parallel lines based on image processing. The method includes: S1, performing threshold segmentation on the image to obtain the regions corresponding to the two parallel lines; S2, representing the regions corresponding to the two parallel lines using two point sets; S3, calculating the variance of the two point sets respectively, with the point set with the smaller variance called the first point set and the point set with the larger variance called the second point set; S4, for the first point set, performing line fitting using weighted least squares, and the fitted line is called the first line; S5, based on the slope of the first line, filtering the points in the second point set, and the resulting point set is called the third point set; S6, based on the third point set, fitting a second line, the second line having the same slope as the first line, and satisfying that the sum of the distances from all points in the third point set to the second line is the shortest; S7, calculating the distance between the first line and the second line as the distance between the two parallel lines.

The invention belongs to the technical field of bridge seismic resistance, and particularly relates to a cable-stayed bridge power optimization method based on an RBF enhanced quadratic fitting equation-PSO, and the method comprises the steps: building a finite element model of a cable-stayed bridge, and generating a sample based on a Box-Behnken design method; factor levels and test index values are determined, the finite element model is modified according to the factor levels of different test samples, and seismic oscillation is loaded to obtain response values; and constructing an RBF neural network, randomly generating a supplementary sample, predicting a response value of supplementary data by using the trained RBF network, and re-fitting a quadratic equation by using a weighted least square method. After a target function is constructed, a particle swarm algorithm is adopted to carry out iterative optimization to obtain a Pareto optimal solution set, a finite element model is modified through factor combination of the optimal solution, and then seismic oscillation is applied to be compared with seismic oscillation response of an original finite element model. The method can effectively solve the problems that the number of test groups needed in bridge dynamic optimization is too large, data of a quadratic equation fitting model is small, and the weight needed by multi-objective optimization is large.

The application provides a flexible device alignment detection equipment and a detection method thereof, which comprises a jig platform, a shaping mechanism, a main detection module and a control module. The bearing plane of the jig platform is provided with a positioning reference edge to establish a workpiece coordinate system; the main detection module obtains reference images in a first state and a second state. The control module matches the two-state reference features in the workpiece coordinate system and obtains feature coordinates, solves initial plane rigid body transformation parameters; inversely maps the second-state feature coordinates to the first state to obtain a residual deformation variable vector, and reconstructs a residual deformation field; determines and normalizes an adaptive weight coefficient according to a residual modulus value, and solves a global alignment deviation of the shaping state relative to the workpiece coordinate system by using a weighted least square method. The equipment can improve the robustness and stability of alignment calculation when there is in-plane deformation.

The application discloses an APU and a method for diagnosing a dynamic process sensor fault of a control system, and the method comprises the following steps: using a small disturbance method to establish a wide-range linear dynamic model of the APU; on the basis, using a Kalman filter cluster to design dynamic process sensor fault diagnosis isolation and reconstruction logic; judging a dynamic process, and then using a residual weighted least square method to obtain a sensor fault period; in the dynamic process, disconnecting the Kalman filter to isolate the fault, bringing the saved flow coefficient which has not entered the dynamic into a measurement equation, and using the same to reconstruct the sensor fault, and calculating to obtain a correct APU fault sensor value. The application provides a solution for the fault diagnosis isolation and reconstruction problem of the APU system in the dynamic process. Compared with the existing research, the application can also effectively eliminate the estimation error and ensure the accuracy of the flow coefficient estimation in view of the deviation caused by the dynamic process and the fault to the flow coefficient estimation.

The invention relates to the technical field of indoor visible light positioning, in particular to a virtual light source positioning method based on indoor reflecting surface reconstruction. Comprising the following steps: establishing an indoor coordinate system, and collecting received signal strength and arrival time from a direct incidence path and a reflection path; judging a line-of-sight path and a non-line-of-sight path based on the RSS and the TOA, and preliminarily estimating a propagation distance; estimating plane equation parameters of the indoor main reflecting surface by using a constrained least square method; according to the estimated reflecting surface, performing mirroring operation on the position of the real light source, and reconstructing the position of a virtual light source; constructing a joint distance optimization model containing a real light source and a virtual light source, and solving an optimal coordinate of a receiving end by a weighted least square method; a self-adaptive dynamic updating mechanism is introduced, and joint state estimation and optimization are carried out on the position of the receiving end and the parameters of the reflecting surface; according to the method, the reflection path is converted into effective positioning constraint, the shielding problem in the NLOS environment is effectively solved, and the precision and robustness of a positioning system are remarkably improved.