52results about How to "Guaranteed navigation accuracy" patented technology

The invention discloses an AGV navigation method and device constructed by a laser guidance map. The method comprises the following steps that a topology map, a geometric map and a target terminal point of an AGV of a work area are obtained; positioning information, measured by a laser range finder and a speedometer, of the AGV is obtained, and the positioning information comprises position coordinate and self-positioning pose of the AGV; a global programming path is generated according to the positioning information and the topology map; and a grid map related to the position coordinate of the AGV is obtained according to the positioning information, and an instruction for indicating movement of the AGV is generated according to the global programming path. Real-time navigation of the AGV can be realized by obtaining positioning information of the AGV by the laser range finder and the speedometer, and it is not required to add other navigation guiding material or structure to the work area of the AGV.

The present invention is navigation system and method backing up several modes. The navigation system includes fixed imaging equipment, tracking system, surgical operation equipment, sick bed, calibrating pin, calibrating mold and navigation software. It has at least one tracer constituting the world coordinate system, one surgical operation equipment tracer as the surgical operation equipment coordinate system, one sick bed tracer constituting the sick bed coordinate system, one characteristic point set I and one characteristic point set II set inside and outside the calibrating mold separately. After calibration, the disease focus image and the surgical operation equipment are shown in the same coordinate system. The present invention may be used widely in the navigation course of different surgical operations.

The invention discloses a dynamic path planning method for AUV (Autonomous Underwater Vehicle) submarine topography matching, and belongs to the technical field of AUV navigation. The dynamic path planning method comprises environment modeling, offline path planning and online path re-planning. An environment model is constructed by topography information and topography source confidence, whereina topography characteristic is represented with a topography standard deviation. Offline path planning is based on a rapid search random tree algorithm, improves a new node and father node selection algorithm, and processes the topography information by roulette and a mahalanobis distance so as to avoid a low topography information region. When an AUV navigates along an offline path and detects changes of the topography information, online re-planning implements judgment on the topography changes by methods of judging the topography changes, searching a local navigation optimal node, re-optimizing a global path and the like, and ensures navigation accuracy. The dynamic path planning method is applicable to long-voyage high-accuracy AUV path planning, and particularly when the topography information is changed, by modifying the path in real time, navigation accuracy and a path distance are ensured.

The invention discloses a dual-inertial navigation combination spin modulation navigation and online relative performance assessment method for solving the problem of difficulty in assessing inertial navigation performance. By the steps of coordinate system defining, combination spin modulation strategy arrangement, combination system state equation determination, measurement equation determination and Kalman filtering, online assessment of the inertial navigation performance is realized, and an information fusion effect among multiple inertial navigation systems is improved. The assessment method can be used for assessment of the inertial navigation system relative performance under long-endurance and high-precision navigation conditions and inertial navigation system fault diagnosis, and has positive significance to ensuring navigation precision under the long-endurance condition.

The invention discloses a mooring airship attitude measurement device and method. The mooring airship attitude measurement device comprises a laser gyroscope strapdown inertial navigation module, a navigation processing module and a GPS (global positioning system) positioning and orientating module, wherein the navigation processing module comprises an FPGA (field programmable gate array) and a DSP (digital signal processor) which are connected bidirectionally; and the FPGA is connected with the laser gyroscope strapdown inertial navigation module, the GPS positioning and orientating module and a mooring airship control system. The measurement device disclosed by the invention is simple in structure, is high in accuracy, is low in power consumption, is good in environment adaptability, and is high in reliability; through synchronously collecting the orientation and speed information of the GPS positioning and orientation module, the difference value between the orientation and speed information of a GPS and the orientation and speed information of navigation resolution acts as the input of a Kalman filter; and the error of inertial navigation is estimated in real time, and meanwhile is fed back and rectified, and the long-time accuracy maintaining of navigation information is realized.

The invention discloses a material carrying and moving composite robot. The robot comprises the following modules of a visual grabbing module, a Mecanum wheel-based moving control module, a laser navigation module and a laser and sonar obstacle avoidance module, wherein the visual grabbing module is used for grabbing information data of a target material, processing the information data, comparingthe information data with key characteristic information of the target material, and carrying out visual grabbing on the target material during the material carrying and moving process; the Mecanum wheel-based moving control module is used for controlling walking poses of the composite robot; the laser navigation module is used for conducting navigation and optimal path planning according to a global map and a local map, and conducting rough positioning of the position of a target station; and the laser and sonar obstacle avoidance module integrates a laser obstacle avoidance algorithm and asonar obstacle avoidance algorithm, and is used for obstacle avoidance during walking. The robot has the beneficial effects of being high in target material grabbing success rate, accurate in positioning and capable of automatically walking.

The invention discloses a star choosing method for a satellite navigation system. The aims of reducing star choosing operational amount and navigational positioning calculated amount are fulfilled by choosing stars according to the set number of satellites on the premise of meeting the navigational positioning requirement. The method comprises the following steps of: setting parameters; acquiringthe positions of visible stars; performing star choosing operation to form a new population by coding, initializing populations, acquiring fitness function values, selecting, crossing and variation so as to select an individual with maximal fitness function value as an initial star choosing result; and when the termination condition is met, acquiring a final star choosing result according to the individual. The method effectively solves the problem of large calculated amount of the conventional star choosing method, and has the advantages of flexible operation, simple and quick star choosing,and suitability for real-time star choosing under the static and dynamic conditions.

This invention discloses an underwater GPS receive device composed of a GPS antenna pressure resistance cabin, a pull, a communication cable and a retractable winch, among which, the cabin is connected with the winch by the pull and the cable. The shell of the cabin is a sphere, the inside wall of the lower hemisphere is set with a convex stand with a two-axle tilter on it, the GPS antenna and a GPS receiver are installed on the internal frame of the tilter, the GPS receiver is connected with the conduction slide ring in the winch via the cable. A drive motor, a speed-reduction unit and a winch drum are fixed on the base. The cable is winded on the drum and its watertight plug-in unit is connected with the ring lead of the slide ring in the drum and the lead is connected to the master control computer of a navigator.

The invention discloses an integrated avionics system for light aircrafts, and belongs to the field of integrated avionics systems of aircrafts. The integrated avionics system comprises a navigation subsystem, a communication subsystem and an indicating / recording subsystem; the communication subsystem comprises an audio control panel, a very high frequency station and an earphone microphone component; the indicating / recording subsystem comprises a primary flight display, a multifunctional display, an integrated processor, an engine parameter collector and an aircraft body state collector; the navigation subsystem comprises a flight environment monitoring system, a posture and direction control system and a radio navigation control system; the integrated avionics system disclosed by the invention can replace the original discrete instrument, reduce the incidence of human errors, improve the utilization rate of indicating contents of the indicating system, reduce the use and maintenance costs of general aircrafts, improve the attendance and the security of the general aircrafts and satisfy the client demands.

The invention relates to a method for realizing an airborne long-endurance celestial navigation system based on INS (inertial navigation system) correction, and belongs to the technical field of navigation of long-endurance aircrafts. The method comprises the following steps: guiding a celestial observation subsystem on a physical platform with two-dimensional rotational freedom through position information output by the pure inertial navigation system to observe a fixed star target in the sky, calculating position information of a fixed star point target image in a geographic coordinate system, and correcting data accumulated along with time and output by the inertial navigation system by utilizing the calculated position information. The method realizes the airborne long-endurance high-precision celestial navigation system based on error item correction of the INS and is suitable for celestial positioning navigation on the airborne physical platform.

The invention provides a navigation shoes indoor navigation correction method. One or more fixed points are included indoors and have corresponding fixed magnetic field information and fixed position information; the fixed points, the corresponding fixed magnetic field information and the corresponding fixed position information are stored in a server side; navigation shoes include current course information and current position information. The method comprises when one of the fixed points is reached, the navigation shoes receive the fixed point-corresponding fixed magnetic field information and fixed position information; the fixed magnetic field information and the fixed position information are received by a mobile terminal from the server side and are sent to the navigation shoes; the navigation shoes adopt the fixed magnetic field information to correct the current course information; and the navigation shoes adopt the fixed position information to correct the current position information. The method is used for ensuring the indoor navigation accuracy of the navigation shoes.

The invention discloses an energy optimization navigation unit based on combined navigation, which comprises a navigation module, a computation module, a control module and a display module. The navigation module, the computation module and the display module are connected with the control module, and the navigation module is further connected with the computation module. The energy optimization navigation unit is a handheld energy optimization GNSS (global navigation satellite system) receiver based on an inertial navigation device, and the handheld energy optimization GNSS receiver integrates advantages, including high precision, low power consumption, high independency and external interference resistance, of the inertial navigation device and a common GNSS receiver. On the premise of guaranteeing the navigation precision and sensitivity, the power consumption can be reduced to be 21% of the original power consumption. In addition, compared with the pure inertial navigation device, the energy optimization navigation unit can effectively control accumulated errors on the premise of keeping low power consumption and low dependency on external environments.

The invention discloses an optimal data fusion method suitable for a ballistic missile INS / CNS / GNSS integrated navigation system. The method comprises the steps of constructing an INS / CNS / GNSS integrated navigation system model; respectively introducing an adaptive fading factor and a maximum correlation entropy criterion in a time updating stage and a measurement updating stage of a generalized high-order CKF to carry out local state estimation on an INS / CNS subsystem and an INS / GNSS subsystem; and fusing local estimation of the INS / CNS subsystem and the INS / GNSS subsystem according to a minimum variance principle and a volume criterion to obtain global optimal state estimation. According to the method, the influence of process modeling errors and non-Gaussian measurement noise on state estimation can be suppressed at the same time, the adaptability and robustness of ballistic missile INS / CNS / GNSS integrated navigation are improved, and a globally optimal state estimation value is obtained.

The invention relates to a satellite navigation deception recognition method and device, and belongs to the technical field of satellite navigation deception detection. The method comprises the stepsthat navigation parameters observed by an INS and navigation parameters observed by a GNSS are acquired; the error values of the navigation parameters observed by the INS and the navigation parametersobserved by the GNSS at the corresponding moments are calculated; if the error values of at least ten successive epochs are greater than a set threshold, that a satellite is deception is judged, thenavigation parameters observed by the GNSS are abandoned, and the INS is adopted for navigation; and if the error values are smaller than the set threshold or the error values which occur accidentallyare greater than the set threshold, a combined navigation mode of fusing the navigation parameters observed by the GNSS and the navigation parameters observed by the INS is adopted for navigation. The problem that in the prior art, in a combined navigation mode, an existing satellite navigation deception detection method is complex and not thorough is solved.

The invention provides a navigation method of a GNSS / INS (Global Navigation Satellite System / Inertial Navigation System) integrated navigation system. The navigation method is applied to the operation of the GNSS / INS integrated navigation system in a tight combination mode. According to the technical scheme, the method comprises the following steps: constructing a joint weight matrix by using a pseudo code tracking loop locking value, a carrier phase tracking loop locking value and a navigation information verification value of a GNSS receiver, and correcting a covariance matrix of a pseudo range measurement value of the GNSS receiver; utilizing the corrected covariance matrix of the pseudo-range measurement value of the GNSS receiver, and obtaining the navigation result of the GNSS / INS integrated navigation system through factor graph calculation. The method is high in navigation precision, does not need to add an additional sensor, has the characteristic of low cost, and has a good application value in engineering practice.

The invention relates to the technical field of aircraft navigation and control, in particular to an autonomous navigation method of an aircraft and a system. In the method and the system, position information output by a GNSS module and magnetic field information detected by a magnetic field measurement device are acquired periodically. When the GNSS is valid, the navigation output value is the position information of a GNSS receiving machine, and when the GNSS is invalid, position information of the aircraft is calculated according to the magnetic field information of the magnetic field measurement device by use of the fusion filtering algorithm and the Newton iteration method, and the output value is used as a navigation value. According to the invention, precise navigation can be performed when the GNSS is valid and invalid; by use of the fusion filtering algorithm, data between two navigation modes can be smoothly switched, navigation precision of the aircraft is ensured and the reliability of the whole aircraft navigation system is effectively improved.

The autonomous navigation method of the intelligent walking robot in the complex environment is optimized, the proposed solution not only can realize stable and efficient robot autonomous navigation, but also is greatly helpful for accurate operation of a mobile platform in the complex environment, and meanwhile, the robot is helped to develop towards strong artificial intelligence, so that the intelligent walking robot is more intelligent. The method mainly comprises the steps of building an intelligent walking robot platform based on the ROS, improving a narrow space white main navigation method of the intelligent walking robot, and improving a navigation obstacle avoidance method of the intelligent walking robot in a high-dynamic obstacle environment. Advantage direction scheduling coordination is added, independent movement is carried out before the robot carries out local route planning, a wider operation space is searched for to optimize autonomous navigation of the robot, the autonomous movement ability and robustness of the robot are improved through optimization operation, efficient navigation and obstacle avoidance in a complex environment are achieved, and the robot navigation efficiency is improved. The robot has more efficient and stable autonomous navigation capability, and the motion intelligence of the robot is greatly improved.

The invention provides a polar zone centralized filter-based integrated navigation system residual vector fault detection and isolation method. In view of a polar zone integrated navigation system with a grid inertial navigation system as a basic navigation device, based on a residual X<2> test method, through designing a residual vector, a residual vector X<2> fault detection and isolation methodis designed, fault detection and isolation on a centralized filter are realized, and the reliability of the integrated navigation system based on the centralized filter group for the polar zone is improved. Compared with a federated filter, the centralized filter has better filter precision. The method enables the centralized filter to have the fault detection and isolation capability, and enhancement of the fault-tolerant capability of the integrated navigation system is realized on the premise of not sacrificing the filter estimation accuracy.

The invention provides an operation navigation system. The operation navigation system comprises a navigation camera barrow, a workstation barrow and a locking mechanism, wherein the navigation camerabarrow comprises a camera die set and a first chassis; the camera die set is mounted on a first chassis, and the first chassis comprises a first butting part; the workstation barrow comprises a display and a second chassis; the display is mounted on the second chassis; the second chassis comprises a second butting part; the camera die set is in communication connection with the display; the firstbutting part can be in butting cooperation with the second butting part, so that the first chassis and the second chassis are butted; and the navigation camera barrow can be quickly butted with or separated from the workstation barrow, so that the operation navigation system is flexible and convenient to use.

The invention discloses an inertial navigation pose precision adjusting and mounting device for an unmanned aerial vehicle, the device can quickly and effectively adjust the mounting precision of inertial navigation equipment of the unmanned aerial vehicle and is accurately connected with a fuselage frame plate. A horizontal adjusting screw of the inertial navigation pose adjusts the height of a bottom plate through a thread pair, a course adjusting rod is installed in a steering groove in the center of an inertial navigation installation sample plate, the course adjusting rod rotates to drive a gear ring in the steering groove to rotate, and course adjustment of the inertial navigation installation sample plate is achieved. The precision grade of a course indication rod of the inertial navigation installation sample plate meets the horizontal measurement requirement of the unmanned aerial vehicle for an optical level meter and an optical theodolite, and the minimum measurement resolution of the electronic digital display gradienter is higher than the inertial navigation installation precision requirement. The inertial navigation pose precision adjusting and mounting device is simple in structure and convenient to operate; the device is suitable for unmanned aerial vehicles of various types and sizes, facilitates maintenance and use, is high in measurement result precision and convenient to read, guarantees the navigation precision of the unmanned aerial vehicle in the flight process, and provides guarantee for the unmanned aerial vehicle to complete flight tasks.

The invention discloses an inertial navigation method for an inertial navigation system, which includes installing and initializing a target vehicle-mounted integrated navigation system on a vehicle; constructing a Kalman filter based on a centripetal force constraint; controlling the vehicle body to perform a set movement; the vehicle body The Kalman filter converges during the motion, and the inertial navigation method for the inertial navigation system is completed. The present invention constructs the complete constraint of inertial navigation through the Kalman filter, enhances the robustness of the inertial navigation scheme, and can effectively avoid the navigation failure problem of the prior art. At the same time, the method of the present invention can quickly turn the vehicle, accelerate and decelerate the vehicle body, etc. Harsh scenes provide better constraints, effectively ensuring the navigation accuracy of the inertial navigation system, and the present invention has high reliability, high compensation accuracy, and is simple and convenient.

The invention discloses an AR multi-channel navigation system. The AR multi-channel navigation system includes an AR server, a vehicle-mounted terminal, and a road surface real-scene map collection terminal; the AR server includes an AR real-scene database, a 5G signal sending and receiving module, and an AR real-scene map correction module; Among them, for road images without road marking lines, except for the outermost contour line of the road, sewer manhole cover, communication cable manhole cover and cable manhole cover, the other road images are filled with preset road image filling blocks to form , all the above-mentioned types of manhole covers are also filled with corresponding manhole cover image filling blocks. Since the images are preset and specially used for filling, the filling pictures of all road images are the same, so there is no need to store different road images. Real-scene road images, thereby further compressing the storage space of images. In this application, it is proposed to divide the navigation layer into multiple layers, and only need to perform less data transmission during navigation.

The invention discloses a star choosing method for a satellite navigation system. The aims of reducing star choosing operational amount and navigational positioning calculated amount are fulfilled by choosing stars according to the set number of satellites on the premise of meeting the navigational positioning requirement. The method comprises the following steps of: setting parameters; acquiring the positions of visible stars; performing star choosing operation to form a new population by coding, initializing populations, acquiring fitness function values, selecting, crossing and variation so as to select an individual with maximal fitness function value as an initial star choosing result; and when the termination condition is met, acquiring a final star choosing result according to the individual. The method effectively solves the problem of large calculated amount of the conventional star choosing method, and has the advantages of flexible operation, simple and quick star choosing, and suitability for real-time star choosing under the static and dynamic conditions.

The invention discloses a rapid inertial navigation error correction method for onboard satellite communication in motion. The rapid inertial navigation error correction method is a method for correcting MEMS inertial navigation information of antennas for onboard satellite communication in motion by virtue of onboard high-precision navigation information. Onboard high-precision navigation data is broadcasted by an onboard bus, is relatively high in precision but is long in time interval, so that the onboard high-precision navigation data cannot meet control requirements of the antennas for the satellite communication in motion. MEMS inertial navigation data is relatively high in velocity and but is relatively low in precision, so that the MEMS inertial navigation data cannot meet control requirements of the satellite communication in motion. According to the method, MEMS inertial navigation errors are corrected at regular intervals by virtue of the onboard inertial navigation information, so that the requirements of the satellite communication in motion on the control precision and the time interval of attitude data can be simultaneously met, and meanwhile, the rapid calibration of the gyro zero position in the MEMS inertial navigation is realized.

The invention discloses a dynamic path planning method for AUV (Autonomous Underwater Vehicle) submarine topography matching, and belongs to the technical field of AUV navigation. The dynamic path planning method comprises environment modeling, offline path planning and online path re-planning. An environment model is constructed by topography information and topography source confidence, whereina topography characteristic is represented with a topography standard deviation. Offline path planning is based on a rapid search random tree algorithm, improves a new node and father node selection algorithm, and processes the topography information by roulette and a mahalanobis distance so as to avoid a low topography information region. When an AUV navigates along an offline path and detects changes of the topography information, online re-planning implements judgment on the topography changes by methods of judging the topography changes, searching a local navigation optimal node, re-optimizing a global path and the like, and ensures navigation accuracy. The dynamic path planning method is applicable to long-voyage high-accuracy AUV path planning, and particularly when the topography information is changed, by modifying the path in real time, navigation accuracy and a path distance are ensured.

The invention discloses a material handling and mobile composite robot, which comprises the following modules: a visual capture module captures information data of a target material, processes the information data, compares it with key characteristic information of the target material, and performs the material handling and moving process The visual capture of the target material; the motion control module of the mecanum wheel controls the walking pose of the composite robot; the laser navigation module performs navigation and optimal path planning according to the global map and local map, and performs rough positioning of the target station position. Positioning; the laser and sonar obstacle avoidance module integrates the laser and sonar obstacle avoidance algorithm to perform walking obstacle avoidance. The invention has the beneficial effects of high success rate of grabbing target materials, accurate positioning and autonomous walking.