88results about How to "Autonomous" patented technology

The invention relates to a multi-sensor autonomous navigation method for the low-orbiting satellite with fault-tolerance function and based on federated UKF algorithm, belonging to satellite autonomous navigation method. The method comprises the following steps of: constructing an orbital dynamics equation of earth satellite in a rectangular coordinate system; constructing a subsystem measurement equation with the output values of a star sensor and an infrared earth sensor as measurement quantities; constructing a subsystem measurement equation with the output values of magnetometer and a radar altimeter as measurement quantities; constructing a subsystem measurement equation with the output value of an ultraviolet sensor as measurement quantity; selecting a Sigma sampling point; constructing a predictive equation and an update equation of discrete UKF algorithm; respectively and independently performing Sigma sampling point calculation of each subsystem, and performing predictive update and measurement update; determining whether the output of each sub-filter is valid according to the predicted filter residual, isolating in case of malfunction, otherwise, inputting the filter result to a main filter for information fusion; constructing a non-reset federated UKF filter equation based on the UKF algorithm; and outputting earth satellite state estimated value X and variance matrix P thereof according to the steps.

The invention discloses a self-healing control method for operation of an urban distribution network, which is used in an operated urban distribution network. The method adopts an integrative coordination control mode of the urban distribution network based on the self-healing control technology; the process of signals and the generation of control strategies have self adaptability; the method automatically finishes a control process without external intervention, coordinates the action behaviors of a relay protection device, a switch, a safe automatic device and an automatic adjusting device, and carries out coordination control on the relay protection device, the switch, the safe automatic device and various automatic adjusting devices and parameters thereof so as to realize the technical proposal of stable, safe, reliable and economic operation of the urban distribution network; and the method belongs to the application field of cross technology of power system theory, control theory and artificial intelligence.

The invention discloses a self-healing control method of a distribution network, which adopts centralization coordination and the distribution coordination, has self-adaptability during signal treatment and generation of a control strategy, and can automatically complete the control process without manual intervention to coordinate actions of a relay protection device and a protection control device, actions of a switch and a smart switch and the action of a safety automatic device. The method comprises a distributed self-healing control step and a centralized self-healing control step, can determine the current operation state of the distribution network by collecting the voltage data, the current data, the on-off state and the like, and can apply an intelligent method to make a decisionso as to coordinated control the switch, the protection control device, the safety automatic device and the like, thereby enabling the distribution network to always transfer to a more healthy state,improving the safety, the reliability, the quality and the economy of the distribution network and enhancing the emergency capacity.

Disclosed is a power distribution network fault handling method based on self-recovering control. By a centralized and distributed coordination power distribution network fault self-recovering control method, signal processing and control strategy generation are adaptive, the control process is automatically completed without manual intervention, and behaviors of a relay protection device and a protection control device, a switch and an intelligent switch, and an automatic safety device are coordinated. The power distribution network fault handling method includes the steps of automatic detection of power distribution network faults, distributed self-recovering control and centralized self-recovering control.

The invention belongs to the technical field of vision navigation and positioning, and discloses a stereo vision rapid navigation and positioning method based on double trifocal tensors. The method includes that initial movement parameters of double trifocal tensor motion constraints on a 3D-3D pose estimation method are built by using feature point image coordinates of stereo camera four images before and after moving, the parameters are optimized, and the parameter optimization accuracy is high. The method uses BRISK characteristics suggested by the CCV2011 as tracking matched characteristics, the calculation speed of the characteristics is rapid, and the positioning accuracy and the robustness are high. Stereo matching and front and back frame matching both use local descriptor U-BRISK, and the calculation speed of the descriptor is rapid. As the U-BRISK descriptor is a binary bit string, the matching speed is rapid. The stereo matching and front and back frame matching both use local descriptor U-BRISK to be matched, the robustness and the positioning accuracy are high.

The invention discloses an underground pipeline trajectory detection system based on inertia measurement. The system is composed of two sub systems. A data acquisition system is loaded in a mechanicalbody to form a pipeline surveying instrument which comprises an MEMS-IMU, a speedometer, a built-in lithium battery and a data acquisition plate. The MEMS-IMU is used for providing a real-time gesture information of the surveying instrument, the speedometer is used for providing real-time journey information of the surveying instrument, the data acquisition plate receives sensor data and stores the data in an SD card, and after measurement, the stored data is uploaded to an upper computer through a USB interface. An upper computer data processing system obtains a real-time gesture angle through inertial navigation calculation and information infusion, carries out dead reckoning by combining the journey information to obtain a walking trajectory of the surveying instrument in the pipeline,and corrects the trajectory by means of the inlet / outlet position of the pipeline to obtain a tested pipeline trajectory. The measuring method is of autonomy, is not affected by external environmentand buried depth of pipelines, and by using non-excavation means, the system does not need ground operations, so that the system is economic, efficient and environment-friendly.

The invention discloses a vehicle-mounted strapdown inertial navigation system. The system is a core component composed of a laser gyro, an accelerometer, a barometric altimeter, a speedometer and other sensors and provides high-precision autonomous positioning and directional guidance. The system is good in concealment, the working environment is not disturbed and influenced by the outside and isnot limited by meteorological conditions, the system has the advantages of autonomy, concealment, real-time performance, all-weather performance and the like, and accurate position coordinates, azimuth angles, roll angles, pitch angles, speeds, travelled distances, heights and other information of carriers can be provided in real time. The system is suitable for navigation, guidance, positioningand orientation, attitude control and the like of various carriers.

The invention belongs to the technical field of application of the internet of things, and relates to a location based individual internet of things service system user privacy protection method. An k-anonymity of a current location and hiding of a movement path of a user can be achieved based on the k-anonymity of regression analysis, a user location of information pre-fetching, and a movement path hiding method; a mobile user can adopt a protection measure in real time according to the demands of privacy protection of locations of the mobile user, and can determine a protection level of the location of the mobile user; a system starts a corresponding privacy protection mode according to the type of a service application program used by the user, and allows the mobile user to automatically control the level and the time of location hiding while the mobile user uses a location service; and the user can protect his privacy information to the great extent while enjoying conveniences brought by a location based individual internet of things service.

The invention provides a method for realizing associative simulation of machine and control system based on service. The method comprises three main steps of a first step of compiling an ADAMS universal interface module and encapsulating to be Web service; a second step of compiling an MATLAB universal interface module and performing Web service encapsulation; and a third step of registering and issuing Web service, and realizing application program associative calling of wide area network. The invention comprises application program encapsulation based on service and realizes loose coupling between ADAMS and MATLAB under a service-oriented architecture (SOA), and transparent position and transport protocol by means of an ADAMS user subprogram and an MATLAB engine technique, so as to meet the optimisation requirements of complex product on distributed collaborative simulation in multiple fields. The invention solves the integration and module reusability of the existing ADAMS mechanical system and MATLAB control system in distributed collaborative simulation, supports the Web service encapsulation of ADAMS and MATLAB and supports distributed collaborative simulation in multiple fields in the wide area network environment. The collaborative simulation system has simple construction, strong expansibility and wide application prospect.

The invention discloses a multi-robot cooperation positioning method based on an MAPSOPF algorithm. The method includes the steps that an actual operating environment is abstracted into a planar graph, and according to the position of a road sign and the paths of robots, an environmental map is built; relevant information and blackboard information of the robots are initialized; the MAPSOPF algorithm is adopted, the subsequent positions of the robots are predicted according to a fitness value, the predicted positions and the blackboard information are updated, and accurate positioning is completed. By adjusting weighing coefficients and learning factors, a competition mechanism is introduced so that the optimization effect of the algorithm can be improved, and finally, multi-robot coordination positioning accuracy is improved.

The invention discloses a low-voltage big user integrated protection control method for a power distribution network, comprising establishing a power distribution network area autonomous management system that includes a low-voltage large user intelligent terminal, a public transformer intelligent base station and an area intelligent control center which are in mutual communication connection by an integrated communication network; dynamically configuring a low-voltage load rated capacity according to change of power distribution network load; timely monitoring load groups of a public transformer area and collecting data of the same, when the electrical load of the public transformer area exceeds the rate capacity, controlling the low-voltage large user intelligent terminal to perform overloaded regulation and control on the power distribution network in a plurality of gradient manners, and dynamically recording the maximum load data of the power distribution network. Through the integrated communication network, transmitting the maximum load data to the public transformer intelligent base station by the low-voltage large user intelligent terminal to analyze and forecast the load groups, transmitting the analyzed data to the area intelligent control center by the public transformer intelligent base station, and thereby achieving power quality and line loss background analysis, and overall regulation and control on the power distribution network.

The invention provides a double-arm mobile robot system based on binocular vision. The robot has certain autonomy and intelligence. The system comprises a binocular camera, an industrial control computer, a serial port protocol converter, a movable chassis and a mechanical arm, wherein the binocular camera is used for acquiring an image of a target object in real time; the industrial control computer is used for obtaining the position information of the target object according to the image acquired by the binocular camera, and generating a motor control command and a mechanical arm control command according to the position information of the target object; the serial port protocol converter is used for performing protocol conversion on the generated motor control command and the mechanical arm control command, and respectively sending the motor control command and the mechanical arm control command generated after conversion to the movable chassis and the mechanical arm; the movable chassis moves according to the received motor control command to enable the robot to move to the place where the target object is positioned; and the mechanical arm is used for operating the target object according to the received mechanical arm control command. The double-arm mobile robot system is applicable to the technical field of robot autonomous operation.

The invention relates to an intelligent test paper composition and examination method and system. The system comprehensively tracks and manages topic knowledge structures and data extension, thus theintelligent test paper composition function is provided, and the test paper composition quality is improved; and test paper composition persons have complete autonomy on topics and test paper, whereinthe autonomy comprises defining of a subject, knowledge points, a difficulty level, teaching requirements, scores and an applicable scope of each question, and previewing and modifying of the preliminarily generated test papers, and thus personalized test paper is generated more advantageously. The intelligent test paper composition and examination method and system have the advantages of batch import of the test questions, question type setting, intelligent test paper composition, self-defining of examination rules, system scoring / subjective paper marking, management of test points / the testquestions / the test papers, management of question banks, statistical analysis of whole examination / answer situations, examination question doing history, exercise collection, test question notes, testquestion analysis, test question correction, and easy-to-use and efficient examination data analysis and management, and have the advantages that real reasons of wrong questions are troubleshot, various types of past exam paper and exercises are easily solved, operation is easy, the function is excellent, and work such as test paper composition and examination is faster and more standardized.

The invention discloses a high-precision real-time stereoscopic visual positioning method utilizing the parallax space bundle adjustment. According to the invention, only a video streaming obtained by a stereo camera is utilized to carry out navigation positioning of a mobile robot, so that the high-precision real-time stereoscopic visual positioning method has complete autonomy; a U-SURF descriptor is utilized to carry out feature matching, so that the high-precision real-time stereoscopic visual positioning method has strong robustness on illumination variation, motion blur and large rotation and scale variation which are generated in the moving process; and due to the utilization of a parallax space bundle adjustment optimizing method, an autonomous navigation vehicle can also be subjected to accurate real-time positioning when traveling for a long distance, so that the high-precision real-time stereoscopic visual positioning method has the advantages of low degree of dependence on an optimal initial value, high convergence rate, high value stability and the like and compared with a stereoscopic visual positioning method utilizing the bundle adjustment, the high-precision real-time stereoscopic visual positioning method has higher positioning precision and higher speed. The integral stereoscopic visual positioning method disclosed by the invention has high calculating speed and can be operated on line in real time.

The invention discloses a personal locating method and a personal locating device based on surface electromyogram signal and MEMS inertial measurement unit combination. The personal locating method comprises the following steps: (1) establishing a neural skeletal muscle motion model through neural network training; (2) during practical locating, collecting surface electromyogram signals on the surface of a locater, and obtaining real-time auxiliary location information of the locator through the neural skeletal muscle motion model; (3) obtaining the real-time location information of the locator according to an MEMS inertial measurement unit, and merging the real-time auxiliary location information obtained in the second step and the real-time location information of the locator; (4) carrying out navigation solution on merged information, and thus obtaining the location data of the locator to realize personal locating. Without depending on any external information or equipment, the device is autonomous, convenient to install and carry, low in cost and high in suitable environment capacity. Indoor and outdoor seamless navigation unrestricted by GPS signals can be realized, and the precision and reliability of personal locating navigation are improved through combined navigation.

The invention provides a multi-interconnection feeder line interconnection switch dynamic identification method comprising the steps that each power distribution terminal stores topological configuration information within respective coverage, wherein the topological configuration information includes the switch type and the switch adjacency relation; the master control power distribution terminal starts interconnection switch identification and constructs feeder line topology of the two sides of a target switch based on information interaction between the power distribution terminals; and whether the target switch is the interconnection switch is judged according to the feeder line topology and the switch state. The method is an important component of feeder line topology dynamic identification and a basis for generating a multi-interconnection power distribution network intelligent distributed feeder line automatic system power supply recovery scheme.

The invention provides an automatic alarm and positioning device used for construction safety protection and an automatic alarm and positioning method thereof, and relates to the technical field of building construction safety. The device comprises a master control unit, a power supply unit, an infrared transmitting unit, an infrared receiving unit, a protection plier stroke detection unit, a safety belt buckling unit, a voice alarm unit, a wireless positioning unit and an upper computer. The master control unit controls actions of other units and can automatically detect the battery capacity and the working state of a safety protection plier and a safety belt. The voice alarm unit can alarm under the condition that the safety belt is not fastened or the safety protection plier is not hung on scaffolding steel pipes so that construction personnel can be prompted to perform safe operation and thus personal safety of the construction personnel can be guaranteed. Meanwhile, the device also has a wireless positioning function, and safety supervision personnel can directly know the position and the safety state of the construction personnel through the upper computer and perform voice warning to the personnel in the non-safety operation state.

The invention belongs to the technical field of flight navigation and in particular relates to an air data and gesture heading reference system for flight navigation. The system solves the problems in the conventional flight navigation mode. The system comprises a strapdown type inertial gesture sensor, a global positioning system (GPS) system receiving module, an air data sensor, a magnetic sensor, a temperature sensor and a signal processing module, wherein the input ends and the output ends of the inertial gesture sensor, the GPS receiving module and the air data sensor are connected with the signal processing module; and the output ends of the magnetic sensors and the temperature sensors are connected with the signal processing module. The system has the benefits that the gesture sensor has autonomy and can make up the defects that the GPS is limited by the topography and susceptible to interference; the GPS has real-time property and can make up the defect that the error of the gesture sensor is accumulated along with the time; the air data sensor provides high-precision air data and can be used for correcting the gesture information of the system; and the system has small size and light weight.

The invention discloses an atmosphere pressure difference wind power efficient integrated power generation device and an efficient integration method. The atmosphere pressure difference wind power efficient integrated power generation device comprises a wind guiding tower pipe, wherein the wind guiding tower pipe is internally provided with a pipe section of a narrow pipe, a universal flow guide chamber is connected with the bottom part of the wind guiding tower pipe, a wind inlet of the universal flow guide chamber is provided with a narrow pipe wind inlet duct, a wind outlet of the universal flow guide chamber is communicated with the wind guiding tower pipe, a narrow pipe effect structure is formed, the bottom part of the universal flow guide chamber is provided with a heating chamber and a heating device, and a shaft-type helical impeller is arranged in the narrow pipe and is connected with a power generator unit. Under the action of atmosphere pressure difference and the auxiliary heating of solar energy and terrestrial heat, wind can be generated in the wind guiding tower pipe, the wind in different wind directions can be subjected to flow guide and wind direction correction through the universal flow guide chamber, the wind direction interference can be removed, the character of natural wind can be changed, high-speed wind can be generated by utilizing a narrow pipe effect, the high-speed wind can act on the shaft-type helical impeller, the windage area can be increased, the action time of the wind can be prolonged, the wind energy utilization rate can be increased, and efficient integrated power generation can be realized by driving a power generator. According to the atmosphere pressure difference wind power efficient integrated power generation device disclosed by the invention, zero resource consumption can be realized, the power generation efficiency is high, the building and running cost is low, the structure is simple, industrialization is easy to realize, and large, medium and small-sized power stations can be built.

The present invention discloses an imaging guided intelligentialized laser minimally invasive surgery system and a control method thereof. The intelligentialized laser minimally invasive surgery system includes a mechanical arm, a scanner, a video camera, a laser, a guiding light arm, a patient movable bed, and an information processing and control terminal. The imaging guided intelligentialized laser minimally invasive surgery system on the basis of the three-dimensional image information can precisely recognize the pigmented lesion region, strictly control the laser dose and irradiate laser on the pigmented lesion region so that the laser minimally invasive surgery is efficient, precious and safe, and the laser minimally invasive surgery system can automatically complete the surgery after acquiring sufficient patient information. The intelligentialized laser minimally invasive surgery system acts on human body surfaces, can be applied to the pigmented lesion laser minimally invasive surgery, is equipped with a visual servo system and a six-freedom light type mechanical arm, has the autonomy, and realizes the full automation. In addition, the intelligentialized laser minimally invasive surgery system has the strong expandability and can be applied to many minimally invasive surgeries based on human body surfaces, such as HIFU (high-intensity focused ultrasound) face-lift and wrinkle-remove surgery.

The invention relates to a relational data semantic modeling method, which comprises the following steps of: performing data extraction on multi-data source data information on the basis of a multi-dimensional dissimilar data source to obtain a database and data table information; and then selecting a data table required by modeling according to the modeling requirement of the user, completing thevisual deployment of the hierarchical model, and generating a modeling canvas. The user generates a rule document in the JSON format in a node dragging and configuration mode. Multi-user and multi-canvas model establishment is realized through user management and canvas management functions, and finally, a semantic data model is established according to multi-dimensional relational database dataand rules. According to the method, bottom layer support is provided for summarizing and analyzing the multi-data source data, multi-dimensional information is summarized, effective integration and sharing of the data are achieved, and interoperability of resources is improved. The method has good expandability, is convenient for adding new data sources and data tables, and does not influence theuse of the original system.

The invention discloses an acoustic control method of an active structure of a sealed cavity. The method comprises the following steps that firstly, the acoustic control problem of the structure of the sealed cavity is resolved; secondly, a local control problem solution scheme is provided; thirdly, coordination between controller bodies is carried out. According to the method, the bodies can be conveniently added or removed, and the rest of a system do not need to be redesigned, and it is indicated that a surface system has high expandability. In addition, the method has the self-governing performance, flexibility and sociality, and dynamic noise in the sealed cavity can be effectively treated. In other words, the method has the advantages of being capable of meeting intelligence, strong robustness and expandability needed by large-scale engineering application and the like.

The invention relates to a smart grid control operation continuous analog simulation method. The method includes the following steps that a model is built for a smart grid; smart grid control operation is simulated; a model state in future is determined; simulation data of the smart grid are determined. Through the implementation steps, the complex simulation calculation task of the smart grid is decomposed into a plurality of calculation modules, the calculation modules are interacted with the smart grid through the distributed MAS, and the joint analog simulation of the multi-time scale and full-life cycle for the operation behavior, optimal control strategy and different operational modes of the smart grid is achieved. On the basis of the simulation method, the application range can be broadened continuously, and more thorough and comprehensive analog and analysis of the smart grid control operation are achieved.

The invention discloses a control method for a five-finger dexterous hand of an intelligent explosive-handling robot. The control method comprises the following steps: S1, building a grab mode knowledge base of the five-finger dexterous hand of the intelligent explosive-handling robot; S2, identifying a target object based on a visual system of the five-finger dexterous hand; S3, matching the mode; S4, implementing grabbing, making force planning upon completion of planning of the grab mode, and lifting a grabbed objected while the ends of the fingers are tensioned; and obtaining the optimal grabbing force for grabbing the object when the ends of the fingers are no longer tensioned after the grabbed object can be lifted stably. According to the control method, the humanoid five-finger dexterous hand with multiple degrees of freedom is used as an end actuator of the robot, so that the grabbing of objects of different shapes and poses can be achieved, and the limitation of grabbing the objects by using a single degree of freedom gripper as the end actuator is eliminated; the dexterous hand has independence, and the grabbing action can be finished independently; when unexploded objects are grabbed, compared with a manipulator by which grabbing is finished through manual operation, the five-finger dexterous hand has the advantage that the life safety of staff is ensured.

The invention relates to a reciprocating type circulating single micro-channel device facing a fluorescent PCR (Polymerase Chain Reaction) micro-system and belongs to the detection fields of biology, analytical chemistry and medical science. The reciprocating type circulating single micro-channel device is characterized in that three temperature regions in PCR amplification are composed of metal pipes with good thermal performances; the three metal pipe temperature regions are connected by using ultraviolet laser cure optical colloids; the reciprocating type circulating single micro-channel device not only has the effects of isolating heat, sealing and supporting, but also has the light transmitting property; a mini-type fluorescent detection system can also be arranged to form a real-time fluorescent PCR microfluidic system. The reciprocating type circulating single micro-channel device has the essences that compressed air or silicone oil moves back and forth in a single micro-channel and a small section of a PCR reagent is used for finishing the PCR amplification of forty temperature cycles in the three temperature regions. Therefore, the volume and the weight are reduced, the reagent is saved and the reciprocating type circulating single micro-channel device is suitable for automatically working in a space on-orbit zero-gravity environment.

The invention provides a personalized recommendation engine implementing method based on multiple Agents. Personalized recommendation of a recommendation engine is realized by data mining, a personalized recommendation engine is implemented by a multi-Agent technology in the field of distributed artificial intelligence and is based on multi-Agent modeling, personated modeling is performed based on Agent, and a recommendation system is personalized. The personalized recommendation engine implementing method based on the multiple Agents is used for the two technical fields of data mining in distributed artificial intelligence and data mining in electronic commerce. A personalized recommendation effect of an electronic commerce recommendation system is achieved by intelligence, sociality, learnability and independence of the multi-Agent technology.

The invention discloses a blockchain consensus excitation system and method based on large-scale scientific core computing, and the system comprises an employer which issues a computing task, designsand provides Map and Reduce program functions, task operation time limitation, a quick verification algorithm, and a reward and punishment system; workers, pledging the city security deposit and getting the calculation sub-tasks for calculation; a verifier, used for carrying out verification calculation on the sub-task calculation result according to a rapid verification algorithm; a database, used for storing the calculation task data submitted by the employer and the calculation result data provided by the worker; an obfuscator, used for covering the identity information of the employer, theworker and the verifier and randomly distributing the subtasks; and an intelligent contract, used for realizing calculation task chaining, calculation task distribution, calculation task calculationand verification, and worker reward and punishment. The blockchain consensus excitation system and method solve the problems of low enthusiasm of volunteers, possible data tampering, lack of consensusand the like.

The invention relates to a pervasive computing environmental data processing control method based on mobile agent. A pervasive computing environment network structure is divided into three sections: a base station, grids and clusters. Data collection, data transmission and data processing are executed in the data processing process, and each section is achieved by using the mobile agent technique. The communication between each two section is achieved by message communication between mobile agents. The key section is data transmission. The network region in the pervasive computing environment is divided into uniform grids, the clusters are constructed in each unit grid, and a shortest path tree is constructed based on the root of a cluster header node in the cluster to form a tree-shape cluster structure. Data processing mobile agents are allocated to cluster headers through the base station, and finally data collection, transmission and processing are executed by the mobile agents, thereby balancing the network energy consumption, lowering the network data transmission energy, reducing the network data processing pressure, and improving the data processing speed.

A cooperation system and method based on mobile edge computing comprises a device layer and a control layer, the device layer provides computing resource information of a terminal device and a serverand task information of the terminal device for the control layer, and the control layer formulates a task unloading decision according to the received information and returns the task unloading decision to the device layer; according to the method, part of tasks are unloaded to the idle equipment of the user for calculation, so that the load of the MEC server is reduced; the idle equipment of theuser is brought into the edge computing network, so that the resource utilization rate of the edge computing network is improved, and the computing capability of the edge computing network is improved. According to the method, an HAHA optimization algorithm is adopted, unloading decision and resource allocation are jointly optimized by taking energy consumption and calculation cost as targets, and an adaptive mechanism enables different operators to update the selected probability according to historical experience and environmental perception, so that individual evolution has autonomy, the best task unloading decision is made, and the task scheduling efficiency is improved. Therefore, the performance of the edge computing network is improved.

The invention discloses a spacecraft autonomous initial orbit determination method based on a remote sensing image. The spacecraft autonomous initial orbit determination method comprises the followingsteps of: S1, carrying out matching recognition of ground feature points in the remote sensing image, and generating a sight vector observed quantity for initial orbit determination; S2, aiming at whether the ground feature points are priori known or not, respectively establishing initial orbit determination observation models; and S3, iteratively solving an initial orbit of a spacecraft by adopting a generalized Laplace method in combination with an orbit dynamics model by utilizing the acquired initial orbit determination observed quantity. The spacecraft autonomous initial orbit determination method utilizes the feature information in the remote sensing image, derives orbit determination observation models under two conditions according to whether ground characteristic point information is priori known or not, and realizes autonomous initial orbit determination of the spacecraft by taking sight vectors at different moments as observed quantities. The autonomous initial orbit determination method provided by the invention is suitable for priori conditions of different features, has higher flexibility, and improves the reliability of on-orbit operation of the spacecraft.