48results about How to "Easy to calculate in real time" patented technology

The invention relates to a carrier course angle calculation method based on a polarization compass. The polarization compass comprises two acceleration meters in the horizontal direction and three polarization sensors. The carrier course angle calculation method based on the polarization compass includes that firstly, using the acceleration meters in the horizontal direction to acquire the horizontal posture (pitch angle theta and roll angle gamma) of the carrier; secondly, using the geographical location information and time information of the carrier to calculate a unit sun vector St under a geographic coordinate system; thirdly, using the polarization sensors on the carrier to measure a polarization azimuth angle to calculate a unit sun vector Sm under a polarization sensor module coordinate system; finally, using the horizontal posture information and sun vector information to build the transformation relation of the unit sun vector between the geographic coordinate system and polarization sensor module coordinate system, and confirming the course information Psi of the carrier. The carrier course angle calculation method based on the polarization compass has advantages of high precision, less calculated amount, strong compatibility and the like.

The invention relates to an energy-saving control-oriented hybrid electric vehicle energy and heat integration model, which belongs to the technical field of hybrid electric vehicle modeling. The purpose of the present invention is an energy-saving control-oriented hybrid electric vehicle energy and heat integration model of each power transmission node module in the power chain from the engine, the motor and other power drive devices to the wheels. The steps of the invention are: determining the power chain input, describing the energy flow state in the power chain, establishing a battery model, establishing an engine energy consumption and temperature model, establishing an air-conditioning heat transfer model, receiving heat chain input instructions, and establishing a cockpit temperature model. The invention establishes the coupling relationship between the heating demand of the cockpit, the power demand of the driver and the energy consumption of the vehicle under the alpine climate condition, realizes the soft measurement of some important thermodynamic variables, and provides support for the evaluation of the driver's comfort.

The invention relates to a large-step-size multi-switch electromagnetic transient state simulation method capable of setting time in real time. The method includes the following steps: calculating a first step-size point state value of electromagnetic transient state and finding that the switching motion exists in the step size; performing interpolated value calculating for a first switching motion point state value; performing interpolated value calculating for a second switching motion point state value; calculating a next step-size point state value; calculating the whole step-size point state value from the state value interpolated value of the current step-size point; and calculating the whole step-size point state value from the state value extrapolated value of the current step-size point. The method can improve calculating speed of a switching subnet, is favorable for timeliness calculating, provides time margin for improvement of switching calculation accuracy, can be applied to electromagnetic transient state simulation calculating of switching characteristic circuits of real-time calculating, super real-time calculating and off-line calculating, can be compatible with various electromagnetic transient state switching algorithms, effectively improves simulation calculating speed and accuracy, and optimizes electromagnetic transient state real-time calculating performance.

The present disclosure provides a method for recursively refining the ground position of big data from optical remote sensing satellites and a storage medium, including the step of calculating the first cofactor and the ground point based on the first piece of optical remote sensing satellite data and the second piece of optical remote sensing satellite data Initial 3D position data; calculate update cofactor based on newly added optical remote sensing satellite data and first cofactor; calculate gain value based on newly added optical remote sensing satellite data and cofactor; recursively based on initial 3D position data and gain value of ground points Calculate and update the three-dimensional position data of the ground point; repeat the execution of the new optical remote sensing satellite and recursively calculate and update the three-dimensional position data of the ground point; the first optical remote sensing satellite data, the second optical remote sensing satellite data and the newly added optical remote sensing satellite The data includes rotation matrix data; it can be calculated in real time, which improves the calculation efficiency, saves calculation resources, cancels the initial approximation and iteration in traditional calculation, and the update result is accurate and reliable.

The invention discloses a dynamic surface controller structure and design method of a parallel single-stage double inverted pendulum. The controller structure includes two controllers, and each controller includes two-stage sub-controllers. The first-stage sub-controller It is composed of a first comparator unit, a combination unit, an approximation unit and a nonlinear control unit, and the second-level sub-controller is composed of a filter unit, a second comparator unit, a combination unit, an approximation unit, a nonlinear control unit, and an auxiliary The system unit and the third comparator unit constitute. The invention solves the control problem of the parallel single-stage double inverted pendulum containing time-delay items; the introduction of the neural network approximator does not need to predict the uncertain dynamics of the complex system in advance and the relevant prior knowledge of the delay items; it also introduces the dynamic surface control technology, It overcomes the complex derivation problem of the intermediate control function of the backstepping method, and at the same time adjusts the norm of the weight matrix of the neural network instead of the weight itself, reducing the number of online adjustment parameters, thereby reducing the calculation load of the controller.

The invention discloses a traffic accident identification method and system. The identification method includes: acquiring a first time series of driving data of a time period, and inputting a driving parameter prediction model; the driving parameter prediction model is based on the first time series. Predicting the driving parameters in a time series; judging whether a traffic accident and / or the type of traffic accident occurs according to the driving parameters. The invention realizes the judgment and identification of traffic accidents according to the driving data collected by the driving recorder and various sensors. Compared with the prior art, the present invention utilizes a large amount of data and machine learning methods to improve the efficiency and accuracy of judgment and identification, and is easier to calculate in real time.

The invention discloses a multi-AUV synchronous controller structure. The multi-AUV synchronous controller structure is composed of a kinematic controller, a first-order filter, a dynamic controller, a predictor, an approximator and a comparator. A distributed type control structure is adopted, the defect that a controller of an integrated type control structure needs to master all information is overcome, the controller can achieve control over individuals only by mastering the local information, only part of AUVs receive reference target information, it can be ensured that the capacity of information exchange between the multiple AUVs is the minimum, the communication traffic of the information is reduced remarkably, flexibility and operability of the system are improved, and the structure has high fault tolerance and expansibility. The calculation complexity of the multi-AUV synchronous controller structure is remarkably reduced, and the calculation loads of a control algorithm are reduced, so that the controller facilitates real-time calculation of actual microprocessor systems such as single-chip microcomputers and digital signal processors. The multi-AUV synchronous controller structure remarkably improves the speediness and accuracy of the transient approaching effect of a neural network, and therefore the overall control performance of the system is improved.

The invention relates to a real-time uncertain-point interpolation calculation method for a switch within a step. The method includes the following steps: calculating the state value of the first step point of the electromagnetic transient state, and finding that there is a switch action within the step length; performing interpolation calculation on the state value of the switch action point; calculating the next step point from the switch action point Calculate the long state value; extrapolate from the current step point to the next computed full step point. When the method calculates the switching characteristic circuit, the calculation speed of the switch subnet can be improved, which is beneficial to the real-time calculation. Thereby providing a time margin for improving the accuracy of switching calculations, and can be applied to the electromagnetic transient simulation calculation of switching characteristic circuits in real-time, super real-time, and off-line calculations, and the full-step calculation can be compatible with various electromagnetic transient switching algorithms And not limited to such as trapezoidal integration method, backward Euler method, trapezoidal integration method with damping or its modified combination, which can effectively improve the calculation speed and accuracy of simulation, and optimize the real-time calculation performance of electromagnetic transient state.