67results about How to "Positioning results are reliable" patented technology

The present invention provides a downhole micro-seismic event real-time inversion location method based on grid search. The method comprises: establishing a speed model in a space including a micro-seismic source under the well; performing P-wave and S-wave first arrival time pickup of the micro-seismic event; calculating the degree of polarization and the polarization direction of each channel recorded P-wave first arrival of the micro-seismic event; establishing a inversion target function, and performing the theory first arrival travel time from wave field forward modeling calculation grid points to an observation system; calculating a target function value, and determining the position of the seismic source; and calculating the three-dimensional spatial position coordinates of the seismic source. The method is fast in operation speed and high in efficiency; and moreover, the noise immunity is high, the micro-seismic event with low signal to noise ratio can be subjected to accurate micro-seismic source location to allow the micro-seismic source location result to be more accurate and reliable so as to improve the interpreting precision of the micro-seismic monitoring result.

The invention discloses an indoor localization system for a mobile robot. The indoor localization system for the mobile robot, which improves localization accuracy, is designed on the basis of UWB (ultra wide band) technology combined with information of a motor encoder. A localization calculation method provided in the invention is a localization calculation method for the indoor mobile robot, and includes five steps: 1, confirming an origin of coordinates, starting a base station and the indoor mobile robot, and using a pose 2 of the indoor mobile robot, measured when starting the indoor mobile robot, as an initial pose; 2, obtaining an instant pose 1 of the mobile robot at moment t through the motor encoder; 3, receiving a high frequency electromagnetic pulse transmitted by the base station through a label, and confirming the self position of the mobile robot through a calculation method; 4, using a course angle measured by an electronic compass for augmenting the position of the mobile robot, obtained in the step 3, and obtaining an initial pose 2 at the moment t; 5, using the calculation method to fuse the initial pose 1 and the initial pose 2, obtaining pose estimation of the moment t, and saving the pose estimation and returning to the step 2.

The invention belongs to the technical field of molecular breeding of cotton and discloses an SNP molecular marker associated with fiber strength of upland cotton as well as detection and application thereof. The SNP molecular marker is obtained by taking stable RIL group of cotton as the material through a genome resequencing method. When the SNP markers are used for carrying out molecular marker-assisted breeding selection, the breeding period can be greatly shortened; the breeding efficiency of the cotton can be improved; the cotton fiber strength can be improved.

The invention discloses a vision-aided satellite navigation and positioning method. By using the vision-aided satellite navigation and positioning method disclosed by the invention, online positioning can be only depended without the need of carrying out data acquisition in advance, and a great effect is achieved on positioning under indoor, underground, dense-building environments and the like. According to the vision-aided satellite navigation and positioning method disclosed by the invention, image information around a mobile terminal is acquired by virtue of video acquisition terminal, analysis and processing are carried out on a video streaming to extract the position change information of the mobile terminal relative to a reference point, so as to auxiliarily correct the global positioning information measured by a satellite navigation receiver, and finally a high-accuracy positioning result is obtained; compared with the traditional mode, in-advance data acquisition is not needed, and only an online positioning process is needed, thus greatly simplifying the complexity of popularization; meanwhile, according to the vision-aided satellite navigation and positioning method disclosed by the invention, the positioning accuracy of satellite navigation and positioning is improved, and capable of achieving sub-meter scale; moreover, accurate positioning can be realized for cases with serious shielding or indoor conditions and the like.

The invention discloses a method for positioning a dual-system combined satellite navigation receiver, which comprises the following steps of: firstly, acquiring positions of satellites and the pseudo-range observed quantity; secondly, according to different conditions for observing the satellites, adopting different steps to finish the positioning of the receiver so as to acquire the position of the receiver; and finally, outputting positioning results The method has two solutions according to the number of visible satellites: firstly, under the condition that two satellite systems have three visible satellites respectively, the position of the receiver can be acquired finally by using an algebraic processing method of a unary quadratic equation; and secondly, under the condition that the two satellite systems has seven or more visible satellites respectively, an observation equation set is converted into a linear equation set by using the redundancy of observation information, and a least square method is finally used to perform processing directly. The method needs no initial estimated value of a navigation position and also needs no iterated operation processing to ensure that the receiver can obtain a reliable positioning result during a deep space exploration and in other special environments.

The invention discloses a single base station array positioning method and device based on multi-carrier frequency. The method comprises the following steps of: deploying user equipment and a base station, wherein the base station adopts an antenna array, sends and receives signals on a plurality of frequency points in an allowable communication frequency band, and controls each array element to receive the signals in turn through a switch switching mode; after preprocessing, combining one-dimensional time domain signals of multiple frequency points and multiple antennas into signals with timedomain, frequency domain and space domain three-dimensional characteristics, establishing an objective function according to a combined signal model, optimizing and solving by using a likelihood method and a learning method, and weighting to obtain position parameters such as angles and distances; and performing fusion filtering by combining historical position information and the current position parameters to obtain a final positioning result. Through adoption of the method, the cost can be lowered, and the positioning accuracy and positioning efficiency are increased.

The invention relates to a technology which uses a novel Wi-Fi 802.11mc ranging protocol and a Bluetooth integrated base station to determine the location of a user. The user can measure the distancebetween user equipment and the base station through Wi-Fi FTM. A telegraph text broadcasted by the base station Bluetooth is analyzed to acquire the precise coordinate of the base station, so as to realize the real-time, high-precision, high-availability positioning system. A Wi-Fi AP supports the latest IEEE802.11mc ranging protocol. The distance from the user equipment to an AP point can be measured in real time, and at the same time the base station location information of the Bluetooth real-time broadcast can be acquired. The user equipment may be a smart terminal including a Wi-Fi moduleand a Bluetooth module, such as a smart phone, a wearable device and an embedded module, and needs to support Bluetooth 4.2 (and above) and the IEEE 802.11mc protocol. The system can realize indoor and outdoor seamless positioning without changing the user's habits and increasing the hardware cost of the user, and has the advantages of accurate and reliable positioning result and high availability.

The invention discloses a license plate positioning method based on a traffic monitoring video. The license plate positioning method specifically comprises the steps of: 1, converting an original image in the traffic monitoring video, converting the original image into a grey-scale image and converting an original color space into an HSV space; 2, preprocessing the converted image; 3, conducting edge detection on the preprocessed image; 4, adopting a local threshold method, a global threshold method and a dynamic threshold method comprehensively on the basis of edge detection, and dividing the image into black and white color regions according to a relation between pixel values and threshold values so as to realize image binarization; 5, adopting expansion, region filling and corrosion operations in mathematical morphology after image binarization, realizing region merging and further noise elimination; 6, subjecting detected edge images to horizontal projection and vertical projection in sequence, so as to determine up, down, left and right boundaries of a license plate; 7, and conducting license plate positioning by means of a support vector machine after projection confirmation. The license plate positioning method can overcome the problems of background noise, background similar pattern interference, license plate character discontinuity and the like in the prior art.

A valve short circuit fault classification and positioning method of a high-voltage direct current transmission converter comprises the steps: a, if a high-voltage direct current transmission protection system determines that a converter has valve short circuit faults, the processor of a protection system reads current magnitude information collected by a current measurement device in a sampling window; b, the processor performs integration calculation of section electric charge quantity and branch electric charge quantity differences; c, the processor distinguishes the alternating current side short of the converter, the bridge arm short circuit and the direct current outgoing line short circuit according to the size relation of each section electric charge quantity; and d, if the bridge arm short circuit happens, the processor further locates a fault bridge arm according the sizes of the branch electric charge quantity differences and the direction of the alternating current branch current. The method provided by the invention can rapidly classify positioning valve short circuit faults to facilitate rapidly and effectively processing faults and prevent accidents from being enlarged; and the method provided by the invention is not influenced by fault moments, noise and the length of the sampling window, and is low in sampling rate requirement and good in adaptability.

The invention discloses an intelligent evidence-based acupuncture diagnosis and treatment instrument for treating functional dyspepsia. On the basis of selecting the acupoints according to the channels, the instrument combines non-specific acupoints with specific acupoints and uses acupoints on bellies more frequently. The instrument comprises a front end diagnosis and treatment device (1) and a background control system, wherein the front end diagnosis and treatment device (1) is at least formed by a belly diagnosis and treatment plate (2) and a universal diagnosis and treatment plate (3); the background control system comprises an acupoint detection module, an acupoint positioning module, an acupuncture treatment module, a data transmission module, an evidence-based functional dyspepsia acupuncture information analysis system, a microprocessor, a display unit and a voice broadcast unit; and the microprocessor is connected with the evidence-based functional dyspepsia acupuncture information analysis system by the data transmission module. The instrument has the following beneficial effects that the functional dyspepsia treatment prescription is updated and downloaded in real time by the evidence-based functional dyspepsia acupuncture information analysis system; and the belly diagnosis and treatment plate and the universal diagnosis and treatment plate are combined and used, thus ensuring timely and quick removal of the functional dyspepsia disease.

The invention belongs to the field of satellite communication and satellite navigation technologies and discloses a low-orbit satellite radio ranging signal-based single-star positioning and time service method. According to the method, a non-iteration method is used to solve the approximate coordinates and clock skew of a receiver; on the basis of the approximate coordinates and clock skew of thereceiver, an iteration method is adopted to solve the approximate coordinates and clock skew parameter of a user; and an equation ill-conditioned problem is solved through a regularization method, sothat the stable and reliable three-dimensional coordinates and clock skew of the user can be obtained. With the method of the invention adopted, the cost and power consumption of the receiver can bedecreased; and it only needs the receiver to simultaneously receive ranging signals from a low-orbit satellite at a plurality of time points, so that the three-dimensional coordinates and receiver clock skew of the user can be accurately solved. The low-orbit satellite radio ranging signal-based single-star positioning and time service method is applied to the low-cost location service sensor fields such as the Internet of Things, search and rescue.

The invention relates to the technical field of automobile manufacturing, in particular to a visual positioning method. The visual positioning method comprises the specific steps that a, a positioningimage of a positioning structure on a current vehicle body is collected; b, equipment is controlled to calculate and obtain a pose of the current vehicle body based on the positioning image; c, the equipment is controlled to calculate and obtain pose offset of the pose of the current vehicle body relative to a pose of a template vehicle body; and d, the equipment is controlled to send the pose offset to a robot to enable the robot to adjust a pose and a current working path of the robot. According to the visual positioning method, a software method is used for controlling the robot to adjustthe pose and the working path, the robot is adapted to the pose of the current vehicle body, and when vehicle bodies of different vehicle models are processed, only related software parameters in thevisual positioning method need to be adjusted correspondingly; and a cycle use ratio in the production process can be improved, the energy consumption is reduced, the mechanical wear problem in an existing technology does not exist, the positioning precision of the robot is high, and the positioning result is reliable.

The invention discloses a three-frequency ambiguity solution method for Beidou precise point positioning. The three-frequency ambiguity solution method for Beidou precise point positioning comprises the steps of: (1), obtaining the floating point ambiguity of the first EWL by using a HMW combination, obtaining a fixed solution after rounding, and obtaining a high-precision observation value; (2),introducing two pseudo-distance combination observation values, setting a constraint condition by using the first high-precision extra-wide-lane observation value and the two pseudo-distance observation values at the same time, obtaining the floating point ambiguity of the second EWL, and obtaining a fixed solution after rounding; (3), performing linear combination by using the two high-precisionEWL fixed solutions so as to obtain the WL combined fixed ambiguity, and obtaining the WL high-precision observation value; and (4), setting a constraint condition by using a wide-lane observation value and a pseudo-distance observation value at the same time, so that an NL combined ambiguity is obtained. The three-frequency ambiguity solution method for Beidou precise point positioning in the invention analyzes signals in three frequencies of B1I, B2a and B3I; the high-precision floating point solution is obtained; therefore, the rounded fixed solution can have relatively high precision; andthus, a reliable locating result can be obtained.

The invention discloses an anchor-node-free positioning method, system and device for distance measuring. On the situation that anchor nodes do not exist, target objects can be quickly and accurately positioned. According to the method, the positioning device is provided with a signal shielding structure which can limit the direction of incoming signals, and accordingly only the incoming signals in one direction are maximum in intensity; when distance information is obtained, the distance information is obtained through the positioning device and an auxiliary positioning device by the adoption of a wireless distance measuring scheme; when direction information is obtained, a positioning target sends a radio frequency signal; the positioning device moves in space, captures the radio frequency signal and obtains intensity of the radio frequency signal in real time, and when the intensity of the radio frequency signal is maximum, the direction, limited by the signal shielding structure in the positioning device, of the incoming signals is the direction of the positioning target.

The invention provides a positioning implementation method and device based on a wireless network and service equipment. The method comprises the steps of: after receiving a positioning request initiated by target equipment, by adopting an artificial intelligence technology, positioning and analyzing wireless network information respectively corresponding to a plurality of wireless networks detected by target equipment; obtaining an initial positioning result of the target equipment on the map and a corresponding initial positioning proportion; afterwards, according to the initial positioningresult, the initial positioning proportion and the target wireless network information of the target wireless network to which the target equipment is accessed, determining that the current wireless network environment of the target equipment meets the wireless network connection positioning condition; and by utilizing the target wireless network information, achieving the fine positioning of thetarget device on the map through the Wi-Fi connection positioning mode, so that the target positioning result which is more accurate than the initial positioning result is obtained, and the positioning accuracy and confidence of the wireless network connection positioning implementation mode are greatly improved.

The invention discloses a measuring device and method for the implantation site in dental implantation. The measuring device comprises a ruler I, a ruler II, a ruler III, a ruler IV, a ruler V and a ruler VI, wherein the ruler I is used for gap measurement and diagnosis and implant positioning when in loss of single premolar tooth; the ruler II is used for gap measurement and diagnosis and implantpositioning when in loss of single molar tooth; the ruler III is used for continuous implant positioning when in loss of continuous teeth; the ruler IV is used for gap measurement and diagnosis and implant positioning when in loss of continuous premolar teeth; the ruler V is used for gap measurement and diagnosis and implant positioning when in loss of continuous molar teeth; the ruler VI is usedfor gap measurement and diagnosis and implant positioning when in loss of continuous posterior teeth. The measuring device and method disclosed by the invention have the beneficial effects that by adoption of the measuring device provided by the invention, auxiliary positioning can be carried out on the conventional oral-cavity implantation surgery at the posterior-teeth area; the cost is low, the operation is simple, the use is convenient, the accuracy is high, the error is small, the ideal position of the implant can be more accurately and quickly positioned in the surgery.

The invention discloses an SSR (Single Sequence Repeats) marker interlocked with high-quality cotton fibre material 0-153 high-strength fibre major-effect gene points, namely qFS-1-1, qFS-1-2, qFS-1-3, qFS-1-4, qFS-1-5, qFS-9-1, qFS-9-2 and qFS-2-1, wherein qFS-1-1, qFS-1-2, qFS-1-3, qFS-1-4 and qFS-1-5 are positioned on c25 chromosomes, qFS-9-1 and qFS-9-2 are positioned on c7 chromosomes, qFS-2-1 is positioned on a c13 chromosome, the marker interlocked with the qFS-1-1 is Gh478350, the marker interlocked with the qFS-1-2 is DPL0387220, HAU892170 and DC40429190, the marker interlocked withthe qFS-1-3 is COT012140, the marker interlocked with the qFS-1-4 is SHIN-1131240, PGML00463450, Gh537190 and PGML00463250, the marker interlocked with the qFS-1-5 is HAU916150, CGR5201200 and CGR564385, the marker interlocked with the qFS-9-1 is CGR5001245, the marker interlocked with the qFS-9-2 is HAU1693150, and the marker interlocked with the qFS-2-1 is SHIN-1452115 and PGML00353240. By utilizing the SSR markers interlocked with the cotton high-strength fibre major-effect genes to carry out auxiliary selection, the efficiency of the cotton fibre quality breeding can be greatly improved.

The invention discloses a synchronization assisting method compatible with a GPS, BD2 and a GLONASS system. The method comprises searching satellite systems, selecting appropriate reference satellites and determining reference information; processing the satellites needed to be assisted of the systems, and transforming the reference information to the assisted systems; and using the assisting information to assist synchronization; and modifying synchronization zone bits of assisted satellites to complete frame synchronization. According to the synchronization assisting method, satellites can be synchronized rapidly to participate in navigation processing immediately, and the performance and the efficiency of a receiver are improved effectively.

The invention provides a positioning method, apparatus, system and device. The method comprises the steps of acquiring a surface feature of a position where a body is located through at least one sensor arranged at a foot sole or a shoe sole; determining the position where the body is located according to the surface feature. The invention provides a new positioning scheme; furthermore, by utilizing the surface feature for positioning, the method can not be affected by environmental factors (such as electromagnetism or sound noise and the like), and the positioning result is very reliable.

The invention relates to a target orientation and distance combined sparse reconstruction positioning method based on a seabed horizontal L-shaped array. The method comprises the following steps: laying a horizontal L-shaped array at the seabed, receiving sound signals emitted by multiple targets near the sea surface, and obtaining a source matrix of the multiple targets; in the azimuth and distance two-dimensional plane of the target, obtaining a sparse source matrix about the target; obtaining a sparse array matrix about N-element L-shaped array receiving signals; reconstructing a sparse signal by using the obtained sparse array matrix and the normalized sparse source matrix; adopting a norm regularization method to carry out optimal solution on the reconstructed sparse signals; and determining the orientation and distance information of the target according to the spectral peak position and intensity of the spatial spectrum, and judging the relative size of the target power. According to the method, the influence of multipath interference on the target azimuth-distance joint estimation precision can be effectively stripped and reduced, the target positioning result without spatial ambiguity is obtained, and the position information and the relative intensity of multiple targets can be accurately obtained at the same time.

The invention belongs to the technical field of robots, and particularly relates to a robot positioning method and device, a computer readable storage medium and a robot. The method comprises the steps that the robot is positioned through a particle filter algorithm, and a first positioning pose is obtained; the first positioning pose is subjected to correction calculation through the Newton iterative optimization algorithm to obtain the corrected pose increment; if the pose increment is larger than a preset threshold value, the first positioning pose is determined to be a positioning result of the robot; and if the pose increment is smaller than or equal to the preset threshold value, a second positioning pose is calculated according to the first positioning pose and the pose increment and determined as a positioning result of the robot. Through the invention, consideration for robustness and precision can be achieved, and the accurate reliable positioning result is obtained.

The invention discloses a multi-sensor fusion SLAM algorithm and system, and the method comprises the following steps: a plurality of types of camera modules are respectively installed at the front side of a vehicle body; camera calibration is performed on the camera module; the camera module collects image information, corrects the collected image, extracts ORB feature points, calculates a depthmap, and aligns the collected color map with the depth map; and the hardware synchronization module synchronizes different types of image information acquired by the camera module on timestamps. The method has the beneficial effects that various scenes are considered, various data are fused, the positioning result is reliable, and the limitation of a single sensor can be solved.

The invention discloses a positioning system and method for an automatic driving vehicle, belongs to the technical field of automatic driving of automobiles, and aims to provide a vehicle positioningresult by using an integrated navigation module in a place with a good GPS signal so as to ensure that the vehicle can normally run along a preset track. When the integrated navigation state is not good, a multi-angle coverage laser radar SLAM positioning algorithm is used for providing vehicle state information; when the method is used in a scene with poor integrated navigation and laser SLAM states, short-distance positioning is carried out through lane line information obtained through current data; three positioning schemes are adopted for safety redundancy, and vehicle positioning safetyand positioning reliability are fully guaranteed.

The invention discloses multifunctional intelligent acupuncture and moxibustion diagnosis and treatment instrument and an application method thereof. The diagnosis and treatment instrument comprises an acupuncture point detection module, an acupuncture point positioning module and an acupuncture and moxibustion therapy module which can be used separately or as a whole, wherein the acupuncture point detection module is used for collecting information of body surface impedance, acoustic electricity, infrared temperature, luminescence intensity, biomagnetism and electromyogram; the acupuncture point positioning module is used for lively and directly displaying the acupuncture point positions on a human 3D (three-dimensional) model, and conducting objective and accurate positioning by combining position relation of human skeleton, muscle, vessel, nerve, lymph or viscera and acupuncture points, without influence by body figure difference of users; and the acupuncture and moxibustion therapy module is used for realizing multiple treatment of oscillation massaging, infrared thermal therapy, electromagnetic treatment, pulse current treatment and the like. The multifunctional intelligent acupuncture and moxibustion diagnosis and treatment instrument and the application method thereof have the advantages of precisely detecting all physical characteristics of the acupuncture points, providing complete and reliable diagnosis reference and basis for patients and medical staff, providing accurate and reliable positioning results, and adopting multiple acupuncture and moxibustion therapy means so as to provide convenience to users.

The invention provides a positioning method for a fault section of a hybrid line power distribution network based on a discrete Bayesian network, and relates to the technical field of fault diagnosis and recovery of power distribution networks. The method comprises the following steps: simplifying a physical model of a power distribution network; analyzing the influence of a line section fault on fault information in devices on two sides, and establishing a discrete Bayesian network model for fault section positioning; determining the structure of the discrete Bayesian network according to the topology of the simplified model of the power distribution network; training parameters of the discrete Bayesian network by using an expectation maximization algorithm according to historical fault information; reasoning the discrete Bayesian network by using a belief propagation algorithm to obtain probability distribution of the fault state of each line section under current observation information; and according to the fault state probability distribution of the line section, determining the line section with a fault as a fault section positioning result. According to the method, all conditions possibly occurring during a fault and the probability of the conditions can be provided, high data fault tolerance is achieved, and the problem of inaccurate fault section positioning caused by fault information distortion or missing can be effectively solved.

The invention relates to a vehicle positioning method and device, computer equipment and a storage medium. The method comprises the steps of acquiring vehicle positioning related data at the current moment, wherein the vehicle positioning related data comprises inertial navigation system data, vehicle chassis data and point cloud data; calculating a vehicle pose at the current moment according to the inertial navigation system data to obtain a vehicle calculated pose at the current moment; correcting the vehicle calculated pose by using the vehicle chassis data to obtain a first vehicle corrected pose at the current moment; and determining a vehicle positioning pose at the current moment according to the first vehicle corrected pose and the point cloud data. By adopting the method, the positioning precision can be improved.

The invention discloses an integrated circuit failure positioning system and method based on a continuous laser source, and the method comprises the steps: irradiating a to-be-detected circuit sample based on an infrared laser, and obtaining the scanning data of the to-be-detected circuit sample; photographing the to-be-detected circuit sample based on an infrared camera to obtain a circuit layout diagram; and comparing the scanning data with the circuit layout diagram to obtain a failure positioning point. According to the method, the failure point positioning problem of the resistive failure of the integrated circuit is solved, and accurate and rapid positioning of the resistive failure of the integrated circuit and transistor grid damage is realized. The test efficiency and the positioning precision of integrated circuit failure positioning are improved, and technical support is provided for research of integrated circuit failure analysis.

The invention discloses an autonomous integrity fault detection method for a receiver. The method comprises the following steps of 1, calculating the weight of each satellite participating in positioning at an epoch t, 2, establishing a positioning equation of the epoch t, and solving a positioning result; 3, calculating a standard error of the positioning result, comparing the standard error witha pre-designed positioning error threshold value, if the standard error is lower than the pre-designed positioning error threshold value, indicating that the current positioning is successful, executing step 4, if the standard error is higher than the pre-designed positioning error threshold value, indicating that the current positioning result is unreliable, and ending fault detection at the current epoch t; 4, determining whether each satellite is abnormal or not, completing fault detection of the current epoch t, and executing a step 5; and 5, adding 1 to the value of t, executing 1-4, andperforming fault detection of the next epoch. The method is advantaged in that fault detection is carried out while positioning is carried out, the operation time is greatly reduced, and the influence of a fault satellite on a positioning result is greatly reduced while precision is ensured.