78results about How to "Correct position error" patented technology

The invention discloses an underwater navigation and positioning method capable of combining terrain and environment characteristics. The method comprises the steps of judging whether all sub-areas in a planned track of an underwater vehicle are matched or not according to terrain information; if so, positioning by a terrain-aided inertial navigation system; and if not, positioning by a simultaneous localization and composition algorithm auxiliary master inertial navigation system. The method can be used for calculating the terrain information of a navigation area, and the underwater terrain is divided into a matched terrain area and an unmatchable terrain area. Different navigation algorithms are adopted aiming at the different areas, so that the position error of a master inertial navigation system can be corrected, and the method is relatively high in autonomy.

The invention discloses a method and a device for navigating and positioning a motion carrier. The method comprises the following steps: identifying whether a global positioning system (GPS) is in a signal interruption state or not; if the GPS is identified to be in the signal interruption state, positioning based on a motion model corresponding to the current motion state of the motion carrier, and calculating calculation positioning information; and amending carrier positioning information from MEMS-INS through the calculation positioning information so as to obtain amended carrier positioning information. When GPS signals are interrupted, positioning errors for the motion carrier can be more efficiently, more simply and more conveniently amended in comparison with a complex non-linear model, so that the accumulation of positioning errors is avoided, and the positioning errors during GPS signal interruption are reduced.

The invention provides a strapdown inertial navigation system (SINS)/ultra short base line (USBL) phase difference tightly integrated navigation locating method based on double transponders. The SINS/USBL phase difference tightly integrated navigation locating method refers to a SINS and an USBL locating system which are mounted on an AUV; a hydrophone of the USBL system receives calibration of errors existing in fixed connection and mounting of a base array and the INS, the two transponders are laid on the seabed, and a slope distance phase observation model between the hydrophone of the USBLsystem and the transponders is built; the USBL locating system with the structure of the double transponders conducts differential processing on a slope distance phase equation on the hydrophone layer surface and the transponder layer surface; and then the slope distance phase difference equation subjected to double-layer differential processing is refined into an integrated navigation system observation equation to be filtered. The similarity errors in the USBL locating system can be effectively counteracted through a double-difference processing method, the USBL phase difference is adoptedas the observation quantity to be tightly integrated, the coordinate transformation error and the base array offset error which are caused by direct position computing of a USBL are avoided, and the precision of the AUV integrated navigation locating system can be effectively improved.

The invention discloses a permanent magnet brushless motor sensorless starting method. The permanent magnet brushless motor sensorless starting method comprises the steps that firstly, a rotor is positioned at a specific position through a rotor prepositioning device, single-step acceleration is carried out according to the given single-step acceleration current and single-step acceleration time obtained by calculation, single-step acceleration is directly switched to closed loop acceleration after being carried out, rotor position signals in a three-phase suspended state are detected every fixed period, the power-on phase sequence is determined according to the rotor position signals, whether counter potential signals are stable or not is judged through a signal comparison method while closed loop acceleration is carried out, and when stable counter potential signals can be detected within one phase conversion period, a normal counter potential method is switched to for operation, wherein the single-step acceleration and the signal comparison method can ensure that a motor is started at the highest speed, and the closed loop acceleration process can ensure that the motor supplies power accurately in the acceleration start process and step-out is avoided. By means of the method, an efficient permanent magnet brushless motor can be started accurately, rapidly and efficiently, the optimization process is simple, universality is high, the success rate of starting can be improved greatly, no sensitivity to load changes exists, and the start program does not need to be changed when loads and the working station change within a certain range.

The invention discloses an external measured speed information-based horizontal attitude error correction method for a SINS (serial inertial navigation system). A speed error signal is sequentially subjected to azimuth decoupling and apparent acceleration decoupling, and a controlled variable is formed by the controller to correct the horizontal attitude to realize the correction of an inertial navigation system error. Compared with other combined navigation methods, the method has the advantages that the inertial navigation position and the horizontal attitude are corrected, and meanwhile, the designed controller is used for filtering signal noise, so that not only is the robustness of a combined navigation system improved, but also the navigation system of the combined navigation system is improved.

The invention discloses a three-dimensional cooperative positioning method for an unmanned aerial vehicle group, and mainly solves the problems that an existing method only adopts a GPS to position the unmanned aerial vehicle group, and the positioning error is large. According to the scheme, the method comprises the steps of: allowing all unmanned aerial vehicles in an unmanned aerial vehicle group to send GPS positioning coordinates of the unmanned aerial vehicles to a central unmanned aerial vehicle undertaking a calculation task; testing the distance between every two unmanned aerial vehicles in the unmanned aerial vehicle group, and sending the measured distance information to the central unmanned aerial vehicle; allowing the central unmanned aerial vehicle to construct the received distance information into a distance matrix, and obtaining the relative coordinates of all the unmanned aerial vehicles in the unmanned aerial vehicle group by adopting a multi-dimensional scale analysis algorithm according to the distance matrix; and allowing the central unmanned aerial vehicle to convert the relative coordinates into GPS positioning coordinates by adopting a least square principle, calculate the absolute coordinates of the unmanned aerial vehicles, and send the absolute coordinates to the whole unmanned aerial vehicle group. The method can reduce the GPS positioning error, accurately estimates the position of the unmanned aerial vehicle, and can be used for the unmanned aerial vehicle group to cooperatively complete the path planning of express transportation, disaster monitoring, agricultural production, formation performance and combat tasks.

The invention provides a positioning method, a positioning device and a storage medium. The method comprises the following steps: obtaining the pose of the positioning device at a first moment and animage collected at a second moment; obtaining attribute information of a first road element in an image field angle range in a preset map database according to the pose of the positioning device at the first moment, and extracting attribute information of a second road element in the image collected at the second moment; and comparing the attribute information of the first road element with the attribute information of the second road element, and determining the pose of the positioning device at the second moment. Low-cost and high-precision positioning can be realized through the positioningmethod, the positioning device and the storage medium.

The invention discloses a positioning method which comprises the following steps: in a Radio Map database, obtaining first signal strength information received by a reference position within a presettime, wherein the first signal strength information is the signal strength of a signal which is received by the reference position at different time points and is transmitted for an access point; based on the first signal intensity information of the reference position, generating a first weight value corresponding to each piece of first signal intensity information and a second weight value corresponding to each access point; determining the position of the user terminal based on the Radio Map database, second signal strength information received by the user terminal, the first weight value and the second weight value. The invention further discloses a terminal and a computer readable storage medium.

The invention discloses a method for correcting measurement errors of an inertial navigation system based on global positioning system (GPS) information. A series control method is adopted; the external GPS position information and speed information are introduced to correct an inertial navigation error; by virtue of an appropriate controller, input signal noise can be filtered, system input can be tracked by system output, and speed and position errors of the inertial navigation system can be corrected. The method does not depend on the accuracy of a system error model and is high in operation speed and low in time cost; when the external measurement data frequency is high, the speed and position measurement errors of the inertial navigation system can be corrected; the system error model can be re-built by correcting the parameters of the controller; the workload is small.

The invention discloses a target-level semantic positioning method based on a vehicle-mounted laser radar. The method comprises the following steps: scanning a surrounding environment by using a vehicle-mounted laser radar, collecting point cloud data, and performing preprocessing; processing the point cloud by using random consistency sampling and Euclidean clustering, and detecting the central position of a static interested target; solving the world pose of the interested target through horizontal axis Mercator projection by using vehicle-mounted laser radar installation parameters and a GPS positioning result; constructing a semantic map or updating semantic information of an interested target in the semantic map by using an extended Kalman filtering algorithm; and correcting the positioning drift of the vehicle in real time by taking the relative pose of the interested target and the vehicle as an observed quantity by using a particle filtering algorithm. According to the invention, the positioning error of the inertial navigation unit in high-rise and tunnel scenes can be effectively corrected, the problem of positioning drift of the vehicle in a static state is solved, and compared with a positioning module only using inertial navigation, the application range is wider.

The invention discloses a co-location method for marine targets based on satellite-borne AISs and an infrared camera. The method comprises: S1, using infrared imaging to obtain a centroid of each seatarget as an image space coordinate; S2, according to an imaging model of the infrared camera, acquiring the conversion relationship from the image space coordinates to object space coordinates, and converting the image space coordinate of each marine target into an infrared geographic coordinate; S3, according to four-corner coordinates of the infrared imaging, obtaining an imaging area of an infrared sensor, screening out useful AIS information, and performing sequential linear interpolation processing to obtain a coordinate of each AIS at an infrared imaging moment; S4, associating the infrared geographic coordinates with the AIS coordinates; and S5, according to the plurality of pairs of associated targets, calculating the change relationship between the infrared geographic coordinatesand the AIS coordinates to compensate the positioning deviation of an infrared image. The co-location method for the marine targets based on the satellite-borne AISs and the infrared camera can correct a location error of the infrared image and improve the location accuracy of non-cooperative targets.

The invention provides an experimental coiled tubing fracturing tool positioning error measurement system and method. The system comprises a coiled tubing, a connector, a fracturing tool, a first short casing, a second short casing, an open window experiment casing, a third casing coupling, a horizontal shaft and a soft measuring tape. One end of the open window experiment casing is connected withthe horizontal shaft while the other end is connected with the second short casing, and the other end of the second short casing is connected with the first short casing. One end of the fracturing tool is connected with the coiled tubing through the connector, and the other end of the fracturing tool is connected with the soft measuring tape. The coiled tubing is positioned in the open window experiment casing, the fracturing tool is positioned in the second short casing and the first short casing, and the open window experiment casing is provided with an open window portion. Aiming at an opening condition that a sensing block of a positioner is right in a hoop of the second short casing, measured positioning errors are corrected according to an up-flow quantity measuring value in an up-lifting process of the fracturing tool, references are provided, perforation positioning accuracy is improved, and project complexity caused by positioning errors are reduced.

The invention provides a double-satellite integrated positioning method based on an inertial sensor. The double-satellite integrated positioning method based on the inertial sensor has the advantages that the micro-machined inertial sensor and a satellite navigation system are in integrated design, and accordingly the size and the material cost of a satellite integrated navigation system are reduced; in a double-satellite environment, the satellite navigation system is used for obtaining the observed quantity to provide real-time pseudo-range and pseudo-range rate observation information for a Kalman filter, so that positioning error of micro-machined inertial navigation is corrected; the method is simple, feasible, highly practical and capable of improving applicability of the satellite navigation system in a few satellite environment.

Provided is a numerical control device with which the tip position of a tool can be positioned with high precision in a three-dimensional space. This numerical control device (1) is equipped with a position correction unit (5) and an error data storage unit (10). The error data storage unit (10) stores error data for the X-, Y-, and Z-axes, that is, data pertaining to the angular error (Eax, Eay,Eaz) around the X-axis, the angular error (Ebx, Eby, Ebz) around the Y-axis, and the angular error (Ecx, Ecy, Ecz) around the Z-axis. The position correction unit (5) calculates a revision amount (Mx,My, Mz) in accordance with the tool length, on the basis of a command position (Ix, Iy, Iz), the error data, and tool length data for the tool being used, revises a correction amount (Cx, Cy, Cz) forthe command position (Ix, Iy, Iz), and uses the revised correction amount to correct the command position (Ix, Iy, Iz).

The invention discloses an inertial navigation system measuring error correction method based on external measuring information. The method comprises the steps that external measuring data information is acquired, wherein the external measuring data information comprises at least one of the external measuring latitude phi, the external measuring longitude lambda and the external measuring height h; an inertial navigation system measuring error is corrected according to the external measuring data information and input information input into the input end, and correction results are obtained, wherein the input information comprises at least one of the north accelerated speed a<n>, the east accelerated speed a<e> and the uranic accelerated speed a which are determined according to an inertial navigation system; the correction results are output, wherein the correction results comprise a north channel position error correction result, an east channel position error correction result and a uranic channel position error correction result. According to the method, correction on the speed and the position of the inertial navigation system is achieved, and the robustness and the navigation precision of a combined navigation system are improved.