384results about How to "Avoid Positioning Errors" patented technology

The present invention discloses a locating method for a RFID indoor locating system. The method includes that providing L of readers, placing M of actual reference label(s) and N of tracking label(s) according to a two-dimensional quadrate grid distribution, and calculating positions of virtual reference labels and corresponding RSSI of each reader through a virtual grid method; adjusting a suitable threshold based on the RSSI distribution status of the virtual labels adaptively, searching a neighboring virtual label of the tracking label by comparing the threshold with a RSSI difference value of the tracking label and the virtual label, implementing a cluster analysis to the selected neighboring virtual label, and determining the position of the tracking label accurately according to the position of the neighboring virtual label, a signal Euclidean distance weight value and a generic weight value thereof. By means of using a virtual label to replace an additional actual label, it is capable of reducing a system cost, eliminating a small probability position by regulating the threshold adaptively, enhancing the systemic flexibility, and improving a locating accuracy by the cluster analysis of a large probability position.

The invention discloses an infrared laser pointer remote pointing and virtual touch system which is characterized in that the system is composed of a computer system, an infrared laser pointer, an image acquisition device and an image identification positioning module; the computer system comprises a display device and a mainframe computer; the infrared laser pointer is provided with an infrared laser emitting key and can emit an infrared laser to point to a display screen; the image acquisition device is arranged in front of the display device to completely contain the display screen in the viewfinder range; the image identification positioning module identifies an infrared laser point and the position thereof in the display screen according to the acquired image, differentiates different operations including light spot instruction, light spot movement and clicking according to the time length and the times of the infrared laser, controls the computer system to generate a light spot at the corresponding position on the display screen and completes the corresponding operation. The invention is especially suitable for large-screen display equipment.

The invention, which belongs to the wireless positioning field, relates to an indoor positioning method for receiving a signal strength ordering fingerprint. The method comprises the following steps that: the number of sampling points spreading in a whole positioning area is determined; sampling point traversal is carried out, received signal strength indicator (RSSI) values of signal strengths of k wireless access points (AP) are obtained by detection at each sampling point, and arrangement is carried out to obtain an RSSI sequence, wherein each RSSI corresponds to one MAC address and the RSSI sequence ad the MAC addresses form sampling point position fingerprints jointly; the coordinates and the position fingerprints of the sampling points are stored into a fingerprint database; AP scanning is carried out at an unknown position to obtain a position fingerprint of an unknown position C and the MAC address sequence in the position fingerprint of the position C is matched with MAC address sequences of the position fingerprints of all sampling points in the fingerprint database; and a geographical coordinate corresponding to the sampling point with consistent matching is used as the current position of the unknown position C a. According to the invention, relative sequences of RSSIs of different APs are used as fingerprints and thus a positioning error caused by different RSSI absolute values by different wireless terminal scanning can be avoided.

The invention discloses an object positioning system based on the position and attitude of an airborne photoelectric gondola, and the system is arranged in the airborne photoelectric gondola. The system includes a dynamic inclination angle obtaining module, a positioning module and a processing module, wherein the dynamic inclination angle obtaining module obtains the pitch angle theta and roll angle gamma information of the airborne photoelectric gondola; the processing module obtains the longitude Bc, the latitude Lc, the height Hc and the yaw angle phi of the airborne photoelectric gondola; and according to the longitude, latitude and height of the airborne photoelectric gondola as well as the longitude Bm, latitude Lm and height Hm of a ground reference point, the processing module converts a geodetic right-angle coordinate system into an ENU coordinate system (Xwk, Ywk, Zwk); and according to an object image obtained by the airborne photoelectric gondola, the processing module obtains the pixel coordinates (u, v) of an object in the image, a translation matrix T1 is generated by combining the focal length f of a camera of the gondola, the distance Yc of the axial center image of the gondola and the camera to the sea surface and the geodetic right-angle coordinate system (Xck, Yck, Zck) of the ground reference point, practical latitude, longitude and elevation of the object is obtained via the pixel coordinates of the object, and measurement for the object is completed.

The invention relates to a method and a device for mounting optical glass under vision guide. The method comprises the following steps of: acquiring images of the optical glass on a workbench at the same time by adopting two cameras arranged above the workbench; calculating a rough position of the vertex of the optical glass by adopting two sets of image processing algorithms in a computer respectively; acquiring the image of the optical glass through a camera arranged at the tail end of an industrial robot, and calculating the central position and the azimuth of the optical glass in the computer by adopting the image processing algorithm; and contacting a gripping device and four edges of the optical glass by adopting four vacuum sucking strips, adsorbing the optical glass from the workbench through an adsorption force, and placing the optical glass into a glass framework. The device comprises the industrial robot, an upper vision identifying unit, a front-end vision positioning unit and a control cabinet. The industrial robot faces the workbench on a zero-potential surface, and the glass framework is positioned on the rear side of the robot. The front-end vision camera can acquire the position of the glass framework.

The invention discloses a visible light communication positioning method based on CDMA modulation. The visible light communication positioning method includes the following steps that 1, a baseband modulation signal with the bandwidth B1 is formed; 2, a spread spectrum signal with the bandwidth B2 is formed; 3, an LED driver circuit drives an LED lamp to send out a visible light signal according to the spread spectrum signal; 4, ID information is obtained; 5, positioned position coordinates are finally obtained according to the ID information and combining with an RSS triangle localization algorithm. The invention further discloses a positioning system adopted by the visible light communication positioning method based on CDMA modulation. The positioning system comprises a transmitting subsystem, a transmission subsystem and a receiving subsystem. The positioning accuracy is not only improved greatly, the system is simple and does not need synchronized transmission, and the performance of the system is greatly improved. The visible light communication positioning method and the positioning system have the advantages of being wide in application prospect and the like.

The invention relates to the field of wireless network communication and particularly relates to a WLAN (Wireless Local Area Network)-based indoor positioning method and device. According to the WLAN-based indoor positioning method and device aiming at the problems in the prior art, the position of a mobile terminal can be determined after the mobile terminal sends a positioning request signal to a server unit through an AP (Access Point) unit, and furthermore, the fast positioning of an indoor position can be realized. The method comprises the following steps of: detecting and receiving signal strength of the AP unit by the mobile terminal, sending the positioning request signal to the server unit through the AP unit, receiving and analyzing the positioning request signal sent from the mobile terminal by the server unit, feeding analyzed position information of the mobile terminal back to the mobile terminal through the AP unit, and displaying the position information by the mobile terminal. The WLAN-based indoor positioning method and device are applied to the field of WLAN-based indoor positioning.

An overburden water flowing fractured zone observation system comprises a drilling machine, a detection drilling device and a water-injection control section, wherein the detection drilling device comprises a drilling bit, a drilling rod and a connection handle, and the detection drilling device can be connected with the drilling machine through the connection handle; the detection drilling device further comprises plugging capsules, connectors and water inlet pipes, and the water inlet pipes can be connected with a hose connection of the water-injection control section. According to the overburden water flowing fractured zone observation system, the detection drilling device is directly arranged on the drilling machine which is used to send the detection device to a targeted position, accordingly, time saving and labor saving are achieved; a control system of the drilling machine is used to control the drilling of the detection drilling device, the controllability is good, the numerical value is accurate and the position error caused by manually placing the detection device is avoided; and with two pipes used for water injection and less water flowing out, the leakage is accurately recorded.

The invention belongs to the technical field of electromagnetic tracking, and particularly discloses an electromagnetic tracking system and method based on rapid determination of a vector rotation angle of maximum magnetic induction intensity. The electromagnetic tracking system disclosed by the invention consists of a three-axis magnetic-field sensor device, magnetic-field source devices, a controllable constant-current source device and a control processing display device; the controllable constant-current source device stimulates three coils which are wound on a magnetic core made of soft magnetic ferrite material and are mutually orthometric, and the central points of the coils are overlapped, so that one magnetic-field source device is formed; the three-axis magnetic-field sensor device is used for detecting the magnetic induction intensity of the magnetic-field source devices, and the control processing display device can control the controllable constant-current source device to stimulate the coils and can perform positioning calculation according to the magnetic induction intensity detected by the three-axis magnetic-field sensor device. Due to the adoption of the electromagnetic tracking system disclosed by the invention, positioning can be realized by only stimulating the three coils once, the searching process is avoided, the real-time performance is significantly improved, the stability is high, the calculating complexity is low, and the electromagnetic tracking system can be applied to the navigation of minimally invasive surgery and other fields, such as virtual (enhancing) reality, and three-dimension ultrasonic imaging.

A perpendicularly-crossed positioning algorithm of a wireless sensor network is used in a wireless sensor network of limited power and random distribution. The algorithm is on the premise of a mobile beacon with known self position, wherein the mobile beacon keeps broadcasting signal and current self position on a movement path line; a node records a point of highest signal intensity through comparing signal intensity, and calculates the position of the node by a geometry method according to the two points of highest signal intensity obtained from every two adjacent sides. The perpendicularly-crossed positioning algorithm requests that the path lines of the mobile beacon are two sides of an equilateral triangle and that the side length of the triangle is equal to the transmission radius R of the mobile beacon. The algorithm can accurately calculate the position of the node through using just one mobile beacon, thereby improving system extensibility and usability and reducing hardware requirement to save cost.

The invention discloses a system for laser focus positioning. The system for the laser focus positioning comprises a laser device, a convergent lens, a material translation device. A laser beam output from the laser device incidents on the convergent lens and incidents on the surface of an optical material which is clamped on the material translation device after focalized. A plasma body bright spot is produced after the laser beam is focalized and a bright spot mirror image is formed by the bright spot through the surface of the optical material. A charge coupled device (CCD) micro imaging system which is used for simultaneously collecting and outputting the images of the plasma body bright spot and the bright spot mirror image is further arranged. The invention further discloses a method for positioning the optical material on a laser focus point. The method includes that after focalized and output, the laser beam produces the plasma body bright spot by adjusting the laser device and the like, the surface of the material is controlled to approach the plasma body bright spot until the bright spot mirror image is formed, the plasma body bright spot and the bright spot mirror image are enabled to enter a view field of the CCD micro imaging system until a complete registration of the plasma body bright spot and the bright spot mirror image is achieved. The system for the laser focus positioning and the method for positioning the material on the laser focus point have the advantages of being convenient to operate, high in positioning precision and small in artificial factor intervention and the like.

The invention puts forward a positioning method and a positioning system based on signal emitting device antenna direction correction. The positioning method comprises the following steps: S1, processing a signal emitted by a signal emitting device to a to-be-positioned point into basic positioning information; S2, calculating out the preliminary positioning location of the to-be-positioned point using a signal attenuation calculation model and a positioning algorithm based on a propagation model; S3, acquiring the attenuation characteristic of the signal emitting device through measurement, wherein the attenuation characteristic includes a plurality of pieces of constant-amplitude attenuation information, and each piece of constant-amplitude attenuation information records the propagation characteristic relation between angle and distance under the same attenuation signal intensity; and S4, correcting the preliminary positioning location according to the attenuation characteristic to realize accurate positioning. According to the invention, the directivity of a signal source propagation antenna is taken into full consideration, and the existing positioning result is corrected using a measured antenna radiation signal attenuation model instead of an ideal attenuation model, which greatly improves the positioning accuracy. The positioning method and the positioning system are especially suitable for indoor Wi-Fi positioning, and have a broad market application prospect.

The invention discloses a network positioning method and a related device. The network positioning method includes the steps: receiving positioning signals of at least three positioning nodes by user equipment (UE), wherein the at least three positioning nodes comprise at least one piece of auxiliary UE, the auxiliary UE is located within an end-to-end communication range of the UE, and effective position information of the auxiliary UE exists currently; measuring the positioning signals of the at least three positioning nodes, and acquiring measuring results which contain time differences of the positioning signals of the at least three positioning nodes, wherein the positioning signals of the at least three positioning nodes are received by the UE; calculating the current position of the UE according to the measuring results and effective position information of the at least three positioning nodes. According to the technical scheme, the network positioning method and the related device are capable of effectively improving accuracy of network positioning.

The invention discloses a permanent magnet motor position-less direct torque control method based on a novel flux observer. Based on a disturbance observer, a voltage model method is improved by a current model flux calculation method, and the novel flux observer is designed. The novel flux observer inputs voltage u alpha and u beta, current i alpha and i beta, permanent magnet flux linkage psi fand an estimated position angle theta under a static coordinate system, and outputs flux estimation values psi alpha and psi beta under a static coordinate system. The novel flux observer has high anti-interference capability, and a two-phase flux linkage can be accurately estimated under the interference conditions of high frequency and part of low frequency. According to the position-less directtorque control method based on the novel flux observer, position estimation errors caused by position-less property can be resisted, the robustness of a position-less system is improved, and stable running of a permanent magnet motor position-less sensor is ensured.

The invention discloses a fluid pipeline leak detection and positioning method. A measured pipeline is included in the method. The method is characterized in that at least two sensing devices are arranged on the measured pipeline, the two sensing devices are spaced by a certain distance, the positions where the sensing devices are located form collection points, the sensing devices can sense the acoustic vibration of the pipeline in two directions simultaneously, and the two directions are the axial direction and the radial direction of the pipeline respectively; when a leak point exists in the portion, between the two collection points, of the measured pipeline, the leak point is positioned according to the following formula (see the instructions). The fluid pipeline leak detection and positioning method has the advantages that the positioning accuracy is good, the wave velocity of acoustic vibration of the pipeline does not need to be known, the processing complexity is low, and the longitudinal wave sound velocity and transverse wave sound velocity of the pipeline can be measured actually.

The invention discloses an in-place non-contact detection method for a shaft type workpiece. The in-place non-contact detection method for the shaft type workpiece comprises the following steps that adetection system is established, the detection system is demarcated, and the detection coordinate system is established; the pose of the workpiece in the detection system is analyzed, and the coordinate system of a workpiece clamping device is established; a clamping device of a shaft type workpiece machining machine tool is controlled to rotate, continuous data collection is conducted by a linelaser measurement instrument, computational analysis is conducted on collected data, and the ideal datum axis of the axle type workpiece is acquired; continuous data collection is conduct on a detected position by a laser displacement sensor, computational analysis is conducted on collected data, and the actual jumping machining accuracy of the shaft neck of a cam shaft is acquired; and the line laser measurement instrument is adopted to conduct continuous data collection on the detected position, computational analysis is conducted on collected data, and the coaxiality machining accuracy of the shaft type workpiece is acquired. By means of the in-place non-contact detection method for the shaft type workpiece, the shaft neck circle center and the ideal datum axis thereof of the shaft typeworkpiece can be detected in real time, and systematic errors and compensatory difficulties brought about by traditional use of ejector pin standards or a V-shape block are avoided.

The invention claims a mast turnover mechanism, including a chassis, a support rod, a movable arm, an operational arm, an amplitude variation oil cylinder, a triangular bracket, a mast and a mast oil cylinder; one ends of the support rod and the movable arm are hinged with the chassis respectively; two ends of the operational arm are hinged with the other ends of the support rod and the movable arm respectively; the operational arm is fixedly connected with the bottom edge of the triangular bracket; two ends of the bevel edge of the triangular bracket are hinged with the mast oil cylinder and the mast respectively through the fifth hinge shaft and the sixth hinge shaft; the chassis, the support rod, the movable arm and the operational arm form parallelogram four-bar linkage mechanism; the amplitude variation oil cylinder can drive the four-bar linkage mechanism to move; the mast turnover mechanism set with amplitude collecting oil cylinder can make the fifth hinge shaft and the sixth hinge shaft revolve relatively. The mast turnover mechanism makes the mast incline forwards to the front end of the pile driving machinery, which reduces the transport height of the pile driving machinery.

The invention discloses a rotating bracket for wind-tunnel flow-field display test models, and the rotating bracket is provided for solving the problems that in a wind-tunnel flow-field display test, the adjustment on the levelness and rotating angle of the traditional test model is inconvenient and not high in precision. A bottom plate of the bracket is provided with a height adjusting bolt and a level instrument so as to meet the requirements on the levelness of the test model; the edge of a top plate of the bracket is provided with an angle scale line, and a rotating plate is arranged above the top plate, then the model can be rotated quickly and accurately so as to adjust the test model to a required wind attack angle; and besides the wind-tunnel flow-field display test, the bracket also takes the demands of a pressure measuring test for wind tunnels into consideration, holes are arranged in the centers of the top plate and the rotating plate so as to facilitate the connection between a pressure measuring pipe at the bottom of the model and a pressure measuring device below a floor board of a wind tunnel. The rotating bracket disclosed by the invention can be used for solving the problem that in a wind-tunnel flow-field display test, the manual adjustment on the levelness and rotating angle of a model is poor in precision; and the rotating bracket not only can be applied to wind-tunnel flow-field display tests on pure building structure scaled models in wind tunnels, but also can be applied to synchronous pressure measuring tests.

The invention discloses a microphone array sound source positioning method and apparatus. The method includes: determining a horizontal axis around which a microphone array rotates during rotation as a reference axis; calculating a sound emitted by a sound source acquired by the microphone array, and obtaining a first sound source estimated value of a sound source orientation in a three-dimensional space; obtaining an inclination angle of a rotation axis of the microphone array during rotation relative to a horizontal plane which the reference axis belongs to; and obtaining a second sound source estimated value on a horizontal plane corresponding to the first sound source estimated value through calculation according to the first sound source estimated value and the inclination angle, and regarding the second sound source estimated value as a determined sound source orientation. According to the technical scheme of the method and apparatus, during inclination of the microphone array, the sound source orientation in the horizontal plane corresponding to the sound source orientation in the three-dimensional space is calculated, the error between the sound source located during inclination of the microphone array and the practical sound source orientation is reduced, and the precision of sound source positioning and the performance of audio processing are enhanced.

The invention discloses a die changing device, and belongs to the technical field of a conveying device. The die changing device comprises a first fixed die storing platform for storing a backup die, a second fixed die storing platform for storing a replaced die, and a lead rail die changing trolley for bearing the backup die or the replaced die in each working position of an equipment working table, wherein the lead rail die changing trolley can be operated among the equipment working table, the first fixed die storing platform and the second fixed die storing platform; and the die changing device further comprises a die seat for fixing the backup die or the replaced die in each working position of the equipment working table. The technical scheme provided by the invention has the beneficial effects that a die replacing operation and a die installing operation can be individually carried out, so that disassembling time can be saved, and a working cycle is reduced; the backup die can be precisely conveyed from a die storing table to the equipment working table, and an error in positioning precision is avoided; dies can be assembled in a plurality of working positions, thus, the error in positioning among different working positions can be avoided, working intensity of workers can be reduced, and danger is reduced.

Objectives of the present invention are to reduce the size and weight of side-member and roof jigs, and to simplify analysis of problems related to ease-of-assembly of vehicle body roofs and side-members. In a first step, using clamping jigs through, a left and right pair of side-members are positioned with respect to an underbody (that was positioned at a prescribed position in a vehicle body assembly line ), and welded in place. Continuing in a second step, after the clamping jigs through have been released, a roof is placed on upper welding edges of the left and right side-members while being positioned using suspension jigs and, after which it is welded in place.

The invention proposes an indoor and outdoor positioning switching method based on a characteristic signal fingerprint database. The indoor and outdoor positioning switching method comprises the following steps of: S1, arranging a plurality of detection points in an indoor and outdoor positing switching region, repeatedly detecting characteristic signals emitted from a plurality of signal emitters in each detection point, and building a characteristic signal database; S2, judging whether a signal generator meets a preset condition or not, if yes, calculating the intensity average value of multiple received characteristic signals emitted from the signal generator; S3, pre-processing data; S4, training the pre-processed characteristic signals to obtain a classifier; and S5, processing the target characteristic signal obtained by real-time sampling through the step and the step 3 to obtain a first vector, substituting the classifier and outputting a classification result, judging the target is in the outdoors if the classification result is less than 0, or judging the target is in the indoors. With the method proposed by the invention, seamless switching between an indoor positioning system and an outdoor positioning system can be rapidly and accurately achieved, and omnibearing positioning is provided for a user.

The invention relates to a fixture for machining a knuckle backing pin hole, wherein a fixture body (1) is provided with a knuckle (3); a pressure plate (4) is arranged on a main shaft of the knuckle (3) and a V-shaped block (7) is arranged below the main shaft of the knuckle (3); a location block (5) is arranged between the large surface of the knuckle (3) and the fixture body (1); the fixture body (1) is provided with a location pin (6) and a hydraulic cylinder (9), and a piston of the hydraulic cylinder (9) is connected with the pressure plate (4); the pressure plate (4) is provided with an adjustment bolt (8) which is arranged on the fixture body (1); the adjustment bolt (8) is provided with a spring (10); and a guiding bracket (2) is internally provided with a rolling bearing (11) in which a guiding sleeve (12) is arranged. By adopting one-off fixing with small error, the work efficiency is improved, the production cost of the enterprise is reduced, and the machined product has high precision.

The invention provides an orchard work agricultural robot interrow positioning method. The method comprises the following steps: collecting two-dimensional laser radar scan range-finding data at an initial position of the robot interrow movement, detecting the tree trunks position according to an European style distance standard for the laser radar data and storing the data in a coordinate system of a world coordinate system, performing short distance track reckoning according to the mileometer information based on former time positioning data and predicting the position value of the robot at the current time, transiting the trunk center position point detected in the coordinate system by the current robot to the world coordinate system according to the robot position predicted value, coupling the trunk central points detected by different times in the world coordinate system, and finally using the coupling result to correct the position value of the robot at the current time to complete robot interrow real time accurate positioning. According to the invention, the positioning navigation by a satellite signal is not required for the orchard work agricultural robot, and the shedding of the satellite signal by the dense crown in orchard can be overcome.

The invention discloses a system for detecting static parameters of a high-speed rail track based on fiber-optic inertial navigation. The system comprises a signal transmission device, a data acquisition and processing device and a T-shaped trolley frame (5), wherein a gauge measuring device (2) is arranged in the T-shaped trolley frame (5), a fiber-optic inertial navigation system (1) is arrangedon the upper surface of the T-shaped trolley frame (5), a vehicle prism (3) is arranged on the top of the fiber-optic inertial navigation system (1), wheels and odometers are arranged at three end points of the T-shaped trolley frame (5), connectors (4) for the wheels and the odometers are arranged between the corresponding wheels and odometers, and the fiber-optic inertial navigation system (1)receives signals from the three-way odometers, the gauge measuring device (2) and the connectors (4) for the wheels and the odometers, and interacts with information of a data acquisition and processing device to obtain data. The invention further discloses a method for detecting the static parameters of the high-speed rail track based on the fiber-optic inertial navigation. The system for detecting static parameters of the high-speed rail track based on the fiber-optic inertial navigation can realize continuous measurement of internal and external parameters.

The invention relates to a wafer pre-alignment method. The wafer pre-alignment method comprises the following steps of: driving a wafer to rotate through a rotating table, collecting edge data of the wafer through a CCD (charge-coupled device) sensor to get sampled data on one circle of the wafer; determining an initial estimation position of a lowest point of a gap through a stepping fall method; rotating the gap of the wafer till being in the vicinity of the CCD sensor and performing small-range fine sampling on the edge of the gap; determining the position of the lowest point of the gap of the wafer through the stepping fall method; eliminating the sampled data in the range of the gap of the wafer from the sampled data on the edge of the wafer; fitting the center of a circle of the wafer from the sampled data on the edge of the wafer after eliminating the gap by applying a least square method; and solving the stop position of the rotating table, as well as the deflection angle and the extension distance of a mechanical arm of an IC (integrated circuit) robot and guiding the IC robot to move to an assigned position to take away the wafer. The wafer pre-alignment method disclosed by the invention is not limited by the size of the wafer and the shape of the gap, positioning errors caused by inaccurate setting of a threshold can be avoided, and the data at the gap can be prevented from affecting a fitting result.

The invention discloses an electroencephalogram electrode space positioning system, comprising a plurality of auxiliary positioning marks, an image acquisition device and a data processing device; the auxiliary positioning mark contains characteristic marks; and the characteristic marks comprise a plurality of mutually parallel nested rectangles with different sizes and colors, wherein the centers of the rectangles are coincident with the circle center of an identification part. The invention further discloses an electroencephalogram electrode space locating method, comprising the following steps of: firstly, using the nested rectangles with different color combinations at a certain distance from the scalp as the auxiliary positioning marks; calculating the vertex coordinates of the rectangle by utilizing intersection of both sides of the rectangle, and independently finishing the positioning of electroencephalogram electrodes in a mono-angle according to the principle of P4P; and then fixing by using the image acquisition device, wherein the method of tester movement carries out the positioning on the electroencephalogram electrodes in the whole head area. The electroencephalogram electrode space positioning system and the positioning method avoid the interferences of hair and electrode connecting wires and the positioning error caused by head shaking in the case of positioning, and have higher positioning precision, stability, automaticity and repeatability.

The invention discloses a positioning circuit based on Bluetooth AOA communication, a positioning system based on Bluetooth AOA communication and a positioning method based on Bluetooth AOA communication. The positioning circuit comprises a radio frequency communication module, a switch switching module, a Bluetooth communication module, a calibration compensation module and a positioning controlmodule. The switch switching module outputs a driving signal according to the control signal and the radio frequency signal. The plurality of antenna units are respectively located at preset positionsand are driven by the driving signal to sequentially receive the first Bluetooth communication signal. The calibration compensation module calibrates the communication state of each antenna unit to obtain a corresponding phase compensation value. The positioning control module obtains an angle value and a distance value of the to-be-tested equipment according to the phase difference of the multiple paths of first Bluetooth communication signals after phase compensation so as to complete a positioning function on the to-be-tested equipment. The positioning circuit directly obtains the positionof the to-be-measured equipment according to the phase difference, thereby saving the intermediate variable, simplifying the positioning measurement steps, and improving the positioning precision andpositioning efficiency.

The invention provides a two-sided laser processing method for PCB array micropores. The two-sided laser processing method comprises the following steps that S1, ablation threshold values of all material layers, needing to be processed, of a PCB are tested; S2, the PCB is fixed to an ultra-precise platform, and the rotation angle of the ultra-precise platform in the u direction is set; and S3, a laser beam is emitted by a laser device and divided into two beams by a laser dividing module, and then, the laser beams pass through a reflecting mirror and a focusing module in sequence so that the front face and the back face of the PCB clamped to the ultra-precise platform can be subjected to laser micropore processing correspondingly. The two-sided laser processing method has the advantages ofbeing high in efficiency and precision, low in cost and the like.

The invention discloses an automatic steering engine of a low-speed wind tunnel test model. The automatic steering engine of the low-speed wind tunnel test model comprises an elevator steering engine, a rudder steering engine and a control system, wherein the elevator steering engine is fixed in a vertical fin stabilizing plane, the rudder steering engine is fixed in a fuselage tail section, and driving motors, a lever, a connecting rod, a fixing support, encoders, a driving rod and rotating shafts are arranged; a servo control technology based on a controller area network (CAN) bus is applied to the control system, an upper computer communicates with a servo control unit through a CAN bus adapter, and the servo control unit is connected with the CAN bus. Functions of initialization, parameter setting, state feedback, controlling and the like on each servo unit can be achieved. According to the automatic steering engine of the low-speed wind tunnel test model, automatic accurate angle changing of an elevator and a rudder of the test model can be achieved in the process of a wind tunnel test by the aid of micro electro mechanical and automatic control technologies, labor intensity of test staff can be reduced, positioning errors caused by manual angle changing can be avoided, and the test efficiency of automatic angle changing is 40% higher than that of manual angle changing.