42results about How to "Meet the needs of high-precision positioning" patented technology

The invention discloses a GPS (global positioning system) dual-frequency non-difference cycle slip detecting and restoring method and device. The method includes: reading a GPS observing value, and generating first detection quantity and second detection quantity according to the GPS observing value; utilizing a self-adaptive sliding window model to smooth the first detection quantity, adjusting the first detection quantity after being smoothed according to a first cycle slip judgment threshold value for cycle slip detection to acquire a first detection result; utilizing a epoch difference-solving method for difference solving of the second detection quantity to generate third detection quantity, and performing cycle slip detection on the third detection quantity to acquire a second detection result; analyzing the first detection result and the second detection result, and calculating the first detection quantity and the second detection quantity at a cycle slip epoch to acquire a first cycle slip value and a second cycle slip value; restoring the GPS observing value according to the cycle slip values. By the GPS dual-frequency non-difference cycle slip detecting and restoring method and device, cycle slip detection success rate and cycle slip restoring accuracy can be improved, so that needs on high-accuracy positioning of GPS navigation can be met, and small cycle slip, big cycle slip, special cycle slip and continuous cycle slip can be detected and restored.

The invention provides a pseudo-range differential positioning method of a long base line. A plurality of satellites, a user terminal and a base station form a satellite navigation pseudo-range differential model. A pseudo-range single-different equation relative to one same satellite is constructed by using pseudo-range observation equations of the base station, the user terminal, and the satellites; with pseudo-range single-different equations of different satellites, a non-linear pseudo-range dual-difference equation group containing multiple satellites is constructed; and then a position of the user terminal is obtained by using the Newton's method and the method of least squares. According to the positioning method, errors of the pseudo-range differential positioning model under base lines with different lengths can be eliminated and thus the increase with increasing of the length of the base line is prevented, so that a small error range can be kept and thus a high-precision positioning requirement can be completely met.

The invention belongs to the technical field of indoor locating, and particularly relates to a WiFi (Wireless Fidelity) indoor locating system based on deep learning. The WiFi indoor locating system comprises an offline data acquiring module (100), a rough fingerprint library building module (200), a feature fingerprint library extracting module (300), an online data fusion module (400) and a target position outputting module (500) which are connected in sequence. Through adoption of the system, the problem of signal fluctuation of an indoor received signal strength signal caused by a multipath effect, signal attenuation and other noise interferences in a time-space domain is solved; the internal environment property of the signal is explored through a deep belief network; final target locating is performed by extracting a feature fingerprint; and a locating accuracy which is unavailable in the prior art is effectively achieved.

The invention discloses a radio navigation and location system with the spread spectrum of medium short wave, which relates to the radio field and solves the disadvantages of poor anti-interference ability, weak confidentiality and low measurement precision in existing radio navigation systems. The invention comprises the following steps: a decoded information data is sent to a modulating device by an information encoder of a transmission base station; the analog signal which is acquired from the modulation runs through a filter and a power amplifier for forming the radio waves which radiate outwards continuously; a navigation receiver receives the amplified signal of N radio waves, wherein, N is larger than or equal to 4; the amplified signal is converted into an intermediate frequency signal through the frequency conversion implemented by a radio frequency processing module and transmitted into a capturing and tracking device; an observed quantity extracting module and an information demodulator are respectively used for extracting and examining the information data in the capturing and tracking device, and the information data is then transmitted into a position computation module for implementing position computation. The invention can effectively suppress interference, has higher reliability and high location precision as the related capturing and the carrier tracking are adopted, satisfies the high-precision location requirements in a region, and enlarges navigation and location range.

The present invention provides a method for receiver navigation and location. The method comprises the steps of: receiving basic broadcast telegraph text and correction parameters of a plurality of satellites, and establishing one pseudo-range observation equation and one phase observation equation corresponding to each satellite; constructing an observation quantity 1 according to the pseudo-range observation equations after correction and the phase observation equations after correction; constructing an observation quantity 2 according to the pseudo-range observation equations after correction and the phase observation equations after correction; performing combined solution of the obtained observation quantity 1 and the observation quantity 2 of the satellites to obtain an operation result of user location, wherein the correction parameters are selected from the following combinations: partition comprehensive correction*4; and at least one combination of the partition comprehensivecorrection*4 and track correction*4, clock difference correction*2 and ionized layer correction*3.

The invention provides a vehicle positioning parameter estimation method based on DOA / TOA joint estimation in a multipath environment. Positioning parameters are extracted via the communication between a vehicle and roadside facilities, the wireless communication between a target vehicle and an RSU follows the IEEE802.11p protocol, and an orthogonal frequency division multiplexing signal is transmitted in a wireless channel thereof; the joint parameter estimation of DOA and TOA is achieved via the analysis of the multipath channel frequency response of the signal, and the channel noise interference is reduced by using the unscented Kalman filtering to improve the overall performance of the method; and the high-speed moving vehicle and a roadside unit RSU establish communication using the OFDM signal and use the total least squares algorithm TLS-ESPRIT based on the rotation invariant technique to calculate the vehicle positioning parameters, and the position information of the target vehicle can be obtained based on the estimated DOA and TOA.

The invention relates to the field of logistics and discloses a jacking type locating device and a material transferring system. The jacking type locating device comprises a material transferring tray and a locating assembly. The material transferring tray is used for holding materials. The locating assembly comprises a locating support and a jacking mechanism installed on the locating support. The material transferring tray can be placed on the locating support. The jacking mechanism is provided with a locating pin. The material transferring tray is provided with a guide bush matched with the locating pin. The locating pin is matched with the guide bush. According to the jacking type locating device and the material transferring system, rising and falling movements are conducted through the jacking mechanism, the locating pin is matched with the guide bush, the position of the material transferring tray is adjusted and located, and the requirements of industrial production for high-precision material locating are met.

The invention discloses a non-cooperative location method for a wireless network system on the basis of signal arrival time. The method is characterized in that a weighting least square relational expression is constructed according to positions of an arranged transmitter and all receivers, measurement noise power of each base station and the time for transmitting signals from the emitter to each receiver, then a Lagrange function is constructed, a bisection method is utilized for obtaining the optimal Lagrange multiplier, and finally a final location value of the position of a target source is obtained by utilizing the optimal Lagrange multiplier. The method has the advantages of being capable of ensuring that the globally optimal solution is obtained without being influenced by local convergence, and the locating precision is high and steady; moreover, only a non-linear equation of one parameter needs to be solved, and therefore computation complexity of the method can be lowered.

The embodiment of the invention relates to the technical field of automatic guided vehicle control, and discloses a pose recognition method, electronic equipment and a storage medium. The method comprises the following steps: acquiring point cloud data through a sensing device arranged on the automatic guided vehicle; identifying a target point cloud from the point cloud data; wherein the target point cloud is point cloud data corresponding to two reflective positioning parts pre-deployed at a butt joint position; fitting according to the target point cloud and the preset parameters of the tworeflective positioning parts to obtain the pose of the automatic guided vehicle relative to the butt joint position; wherein the automatic guided vehicle carries out navigation according to the pose.According to the embodiment of the invention, the positioning accuracy and reliability of the automatic guided vehicle and the like can be improved, so that some high-precision positioning requirements can be met.

The invention discloses a vehicle-mounted integrated navigation method based on radio frequency identification, and relates to the technical field of the positioning of unmanned transport vehicles. The method can work in an independent inertial navigation positioning mode and a no-RFID assistance GPS + inertial navigation mode + RFID auxiliary positioning mode, and the RFID auxiliary positioning mode has the highest precision. In no-RFID assistance time, based on a global positioning system and an inertial navigation system, the difference of positions and speeds calculated by the global positioning system and the inertial navigation system is used as the input of a Kalman filter; an estimated value of a navigation error parameter is obtained through the Kalman filter; the output of the inertial navigation system is corrected by using the estimated value, the output parameters of a vehicle-mounted integrated navigation system based on GPS + inertial navigation are finally obtained, andwhen RFID exists, the position information calculated by the GPS in the integrated navigation system is corrected by using the RFID information by using the characteristics of radio frequency identification so as to achieve the effect of auxiliary positioning.

The invention provides a civil aviation passenger plane high-precision positioning method based on multiple sensors. The civil aviation passenger plane high-precision positioning method comprises thesteps of calculating flight correction GPS height, calculating flight correction radio height, calculating flight correction inertial navigation height and calculating flight optimal height data. Theinvention relates to electronic equipment and a storage medium, which are used for executing the method. Compared with an existing passenger plane high-precision positioning technology, equipment nodes and infrastructures do not need to be additionally configured, universality is high, and high-precision positioning requirements in most flight scenes can be met; compared with traditional airborneGPS positioning, the positioning accuracy is greatly improved, and a firmer guarantee is provided for flight safety of a passenger plane; high-precision positioning can be realized only by acquiring asmall amount of earlier-stage empirical data, so that the method has good practicability and expandability; the high-precision positioning data provided by the invention provides more real flight passenger plane basic position data for academic research in many fields of the civil aviation industry.

The invention provides a precise positioning method, system and device based on an ultra-wideband technology. The method comprises the following steps: acquiring a distance signal between an ultra-wideband tag and a detection base station when the detection base station receives an ultra-wideband signal; adopting a Chan's algorithm to obtain an ultra-wideband tag estimation value according to the distance signal between the ultra-wideband tag and the detection base station; taking the ultra-wideband tag estimation value as an initial iterative value of Taylor series to obtain an ultra-wideband tag coordinate estimation value; performing preliminary estimation on a tag positioning result by taking the ultra-wideband tag coordinate estimation value as an optimal estimation value at a previous moment in a Kalman filtering algorithm to obtain a preliminary estimation value of an ultra-wideband tag coordinate; using a least mean square algorithm to obtain a secondary estimation value of the ultra-wideband tag coordinate corresponding to the initial estimation value of the ultra-wideband tag coordinate; and based on the secondary estimation value of the ultra-wideband tag coordinate, obtaining the motion track of the object carrying the ultra-wideband tag.

The invention belongs to the field of power automation, and discloses a power equipment positioning method and system based on a power network scene, and power equipment, wherein the method comprises the following steps: obtaining a power network scene type of to-be-positioned power equipment; according to the power network scene type, selecting a target fusion positioning method of the to-be-positioned power equipment from a preset first fusion positioning method and a preset second fusion positioning method; and obtaining position information of the to-be-positioned power equipment according to the target fusion positioning method. By adopting a mode of integrating wireless positioning and GPS positioning, the problem of insufficient positioning precision caused by a single positioning mode is avoided, and the positioning precision of the power equipment is effectively improved. Moreover, based on the characteristics of different power network scene types, different fusion positioning methods are selected, the method can be suitable for different power network scenes, and the requirements of different power network scenes for high-precision positioning are fully met.

According to the positioning method and device and the processor readable storage medium provided by the invention, firstly, the target terminal and the reference terminal respectively receive the positioning auxiliary measurement configuration information sent by the positioning server and the positioning auxiliary signal sent by the positioning base station, and respectively carry out positioning information measurement; obtaining corresponding TDOA (Time Difference Of Arrival) measurement information and carrier phase measurement information; and then, the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference terminal and the reference position information of the reference terminal are combined to carry out positioning calculation processing, and the position information of the target terminal is obtained. When the position information of the target terminal is positioned, the TDOA measurement information and the carrier phase measurement information are combined, so that compared with a mode of positioning by adopting single TDOA measurement information in the prior art, the method has the advantages that the positioning measurement error is inhibited, the positioning precision is effectively improved, and the high-precision positioning requirement is met.

The invention relates to an indoor positioning method, device and system fusing 5G communication and UWB. The azimuth information of a positioned object is measured by using a 5G direction finding technology (AOA), the distance information of the positioned object is measured by using a UWB distance measurement technology (TOA), and the azimuth information and the distance information are fused to obtain the specific position coordinates of the positioned object; therefore, the advantages of high positioning and ranging precision of the UWB base station and high direction finding precision of the 5G base station can be brought into full play, the indoor positioning task is completed together, the cost is low, and the positioning precision can meet the requirement of indoor high-precision positioning.

Embodiments of the present invention provide a positioning method in a mobile network, a base station and a mobile terminal, capable of performing high-precision positioning on the mobile terminal. The positioning method includes: the first base station receives an RTK observation value for an RTK reference source; the first base station determines first correction information according to the RTK observation value, and the first correction information is obtained from a positioning system for the RTK reference source Correction information of positioning information: the first base station sends the first correction information to the first mobile terminal, so that the first mobile terminal determines the position of the first mobile terminal according to the first correction information. The base station includes: a receiving module, configured to receive an RTK observation value for an RTK reference source; a processing module, configured to determine first correction information according to the RTK observation value; a sending module, configured to send the first correction information to the first mobile terminal Correcting information, so that the first mobile terminal determines the location of the first mobile terminal according to the first correcting information.

The invention relates to an antenna pose information measurement method, device and equipment, a medium and a program product. The method comprises the following steps: determining a first conversion parameter between a coordinate system and a rectangular coordinate system of the total station; acquiring first coordinates of a plurality of first mark points on an antenna housing of a target antenna in the total station coordinate system and second coordinates of the plurality of first mark points on the antenna housing of the target antenna in a wireless positioning base station array antenna coordinate system; determining a third coordinate of each first mark point in the rectangular coordinate system based on the first conversion parameter and the first coordinate of each first mark point; acquiring a second conversion parameter between the rectangular coordinate system and the wireless positioning base station array antenna coordinate system based on the second coordinates of the first mark points and the third coordinates of the first mark points; and determining pose information of the target antenna according to the second conversion parameter. By adopting the method, the accurate measurement of the position and the attitude of the array antenna of the wireless positioning base station can be realized.

The invention relates to an integral mounting device for a power transmission system of an electric vehicle. The device solves the technical problems that the space of a transmission module is narrow, motors are mounted on both sides for driving, and two sets of power are used for transmission. The mounting device comprises a left mounting support (1), a connecting panel (3), a left base (4), a lower connecting support (6) and a left controller mounting support (7), wherein both ends of the connecting panel are respectively and fixedly connected with the left mounting support (1) and a right mounting support (2); both ends of the lower connecting support (6) are respectively connected with the left mounting support (1) and the right mounting support (2); both ends of the left controller mounting support (7) are respectively and fixedly connected with the two connecting supports; the left mounting support (1) is connected with the left base (4); the right mounting support (2) is connected with a right base (5); the mounting supports and the bases are in ladder-shaped slot combination in the horizontal direction, and the mounting supports and the bases are in curved surface combination in the vertical direction; the left base (4) and the right base (5) are respectively and fixedly connected with a vehicle body of a tracked vehicle.

The invention relates to a laser microstructure machining machine tool repeated positioning control method. The method comprises a step of acquiring configuration information of a machine tool workbench, wherein the configuration information comprises a movement track, a speed and an acceleration of the machine tool workbench, a step of establishing a mathematical model of a machine tool transmission link and calculating ideal values of the rotating speed and the acceleration of each servo motor in combination with the configuration information, a step of reading actual values of the rotatingspeed and the acceleration of each servo motor, comparing the actual values with ideal values to obtain setting parameters of speed and acceleration composite feedforward compensation, and obtaining afeedforward compensation variable, a step of acquiring a feedback control variable, and a step of compositing the feedforward compensation variable and the feedback control variable to form a controlvariable, wherein the machine tool workbench is used for clamping a to-be-machined workpiece, and the machine tool workbench can be driven by a servo motor set to horizontally move along an X axis and a Y axis relative to the machine tool and rotate around a theta axis. According to the invention, the repeated positioning precision of a laser microstructure processing machine tool can be greatlyimproved.

Embodiments of the present invention provide a positioning method, a server, a base station, a mobile terminal and a system in a mobile network, which can be used for high-precision positioning of a mobile terminal. The positioning method includes: the server acquires first location information, and the first location information is used to indicate the location of the base station; the server acquires correction information for the base station according to the location of the base station; the server sends the correction information to the base station , so that the base station forwards the correction information to the mobile terminal, so that the mobile terminal determines the location of the mobile terminal according to the correction information. The server includes: an obtaining module, used to obtain the location information of the base station, and obtain correction information for the base station according to the location of the base station; a sending module, used to send the correction information to the base station, so that the base station can send the correction information to the base station The mobile terminal forwards the correction information, so that the mobile terminal determines the location of the mobile terminal according to the correction information.

The invention discloses a method for realizing high-precision engineering of a spherical airbag with a position marker, which comprises the following steps of: establishing a spherical model by usinga processor, and respectively establishing a Cartesian right-handed coordinate system and a spherical coordinate system on the spherical model by taking the sphere of the spherical model as an original point; establishing a feature point model of the marker on the spherical surface; dividing the spherical model into a plurality of airbag valves with the same characteristics; finding out an airbagvalve with feature points; establishing a airbag valve coordinate system on the airbag valves; solving the longitude opening angle of the feature point relative to the central ridge of the airbag valve and the opening angle of the feature point relative to the XOY surface of the airbag valve coordinate axis; solving a coordinate value of the feature point affine to a airbag valve plane and a airbag valve boundary curve by utilizing the longitude field angle and the field angle of the XOY surface of the feature point relative to the airbag valve coordinate axis through a Gaussian affine transformation formula; and manufacturing the spherical air bag with the position marker by utilizing the airbag valve coordinate system coordinate values of the feature points and the airbag valve boundarycurve.

The medium and short wave spread spectrum radio navigation and positioning system relates to the radio field, and it solves the shortcomings of poor anti-interference ability, weak confidentiality and low measurement accuracy existing in the existing radio navigation system. It sends the decoded information data to the modulation device through the information encoder of the transmitting base station; the analog signal obtained after modulation passes through the filter and the power amplifier to form radio waves that continuously radiate outward; the N radio waves received by the navigation receiver The signal after the wave is amplified, where N≥4; and then converted into an intermediate frequency signal by the radio frequency processing module, and transmitted to the capture and tracking device, the observation extraction module and the information demodulator extract and check the information data in the capture and tracking device respectively, Transfer to the position calculation module to complete the position calculation. It can effectively suppress interference, has high reliability, adopts correlation capture, carrier tracking, and has high positioning accuracy, which can meet the needs of high-precision positioning in the region, and improves the range of navigation and positioning.

The invention discloses a power distribution network phase-to-phase short circuit fault section positioning and distance measuring method. Relates to the technical field of power distribution network fault detection, in particular to a power distribution network phase-to-phase short circuit fault section positioning and distance measuring method based on line voltage distribution characteristics. The method comprises the following steps: acquiring real-time power frequency line voltage amplitude information of a fault line when an inter-phase short-circuit fault occurs in a distribution line by using a power distribution terminal of a power distribution network automation system, and selecting the minimum one of three line voltage amplitudes acquired by each terminal as the minimum line voltage of the terminal; according to the direction from the bus to the tail end of the line, the minimum line voltages of the two adjacent terminals are sequentially subtracted, the absolute value is obtained, and line voltage drop of each section with the two adjacent terminals as the section is obtained; the power frequency line voltage distribution curve is based on a prepared straight line, is less affected by a line structure, is obtained based on fault mechanism analysis, and has higher positioning credibility.

The invention relates to a coordinate joint surveying and mapping calibration method based on a total station and RTK. The method comprises the steps: S1, arranging an augmented reality identifier on an indoor wall surface or a column; s2, measuring absolute coordinates of the three known points by adopting RTK measurement; s3, erecting the total station and the two prisms at the three known points respectively; s4, erecting a third prism at an indoor unknown point; s5, obtaining the absolute coordinates of the unknown point through the total station in combination with RTK; s6, marking the absolute coordinate of the augmented reality identifier according to the absolute coordinate of the unknown point and the vector relationship between the unknown point and the augmented reality identifier; s7, converting the absolute coordinates, generating indoor relative coordinates, and storing the indoor relative coordinates in a coordinate dictionary; and S8, transforming unknown points, repeating the steps S4-S6, forming an indoor two-dimensional code relative coordinate set, and identifying the indoor two-dimensional code to realize indoor high-precision positioning. Compared with the prior art, the method has the advantages of solving the problem of indoor high-precision positioning in automatic driving, and being low in cost, stable, reliable and the like.

A satellite positioning method and a satellite positioning system, the system comprising: a satellite, a base station, an observation station, a monitoring terminal and a correction parameter information generation device are arranged at the observation station, and the monitoring terminal receives observation data sent from the satellite; the correction parameter information generation device is based on Observation data generates correction parameters, and the correction parameters are sent to the base station. The base station is equipped with a switch and message parameter superposition encoding and broadcasting device, and the switchboard receives basic navigation messages from satellites; Compiled into the basic navigation message, and set the broadcast of the integrated coded message with correction parameters, the coded message is sent to the satellite by the switch through the uplink injection link, and the satellite will broadcast the integrated coded message received from the base station, Wherein, the correction parameters include the regional comprehensive corrections, and one or more of satellite orbit corrections, satellite clock corrections, and ionospheric corrections.