145results about How to "Realize real-time positioning" patented technology

The invention discloses a fast monocular vision odometer navigation and positioning method fusing a feature point method and a direct method, which comprises the following steps: S1, starting the vision odometer and obtaining a first frame image I1, converting the image I1 into a gray scale image, extracting ORB feature points, and constructing an initialization key frame; 2, judging whether thatinitialization has been carry out; If it has been initialized, it goes to step S6, otherwise, it goes to step S3; 3, defining a reference frame and a current frame, extracting ORB feature and matchingfeatures; 4, simultaneously calculating a homography matrix H and a base matrix F by a parallel thread, calculating a judgment model score RH, if RH is great than a threshold value, selecting a homography matrix H, otherwise selecting a base matrix F, and estimating a camera motion according to that selected model; 5, obtaining that pose of the camera and the initial 3D point; 6, judging whetherthat feature point have been extracted, if the feature points have not been extracted, the direct method is used for tracking, otherwise, the feature point method is used for tracking; S7, completingthe initial camera pose estimation. The invention can more precisely carry out navigation and positioning.

The invention discloses a simultaneous localization and mapping method based on vision and laser radar, and belongs to the field of SLAM. According to the method, the laser odometer and the visual odometer are operated at the same time, the visual odometer can assist the laser point cloud in better removing motion distortion, and meanwhile the point cloud with motion distortion removed can be projected to the image to serve as depth information for motion calculation of the next frame. After the laser odometer obtains a good initial value, the laser odometer is prevented from falling into a degradation scene due to the defects of a single sensor, and the odometer achieves higher positioning precision due to the addition of visual information. A loop detection and repositioning module is achieved through a visual word bag, and a complete visual laser SLAM system is formed; after loop is detected, the system performs pose graph optimization according to loop constraints, accumulated errors after long-time movement are eliminated to a certain extent, and high-precision positioning and point cloud map construction can be completed in a complex environment.

The invention discloses a wearable indoor positioning system based on a radio frequency identification technology and a method thereof, wherein the method comprises: using an RFID electronic tag as a receiving end infrastructure and burying on the ground of a known environment, establishing the one-to-one mapping between the ID mark of each RFID electronic tag and the coordinate information of the position where the RFID electronic tag is; sewing a transmitting end reader-writer and a reader-writer antenna on the clothes of a user; firstly reading a mapping relationship list of the ID mark of the RFID electronic tags in the known environment and geographic information stored in a tag user area recorded on a map after the user enters the known environment, reading the ID mark information of the RFID electronic tag in the known environment in the actuating range of the reader-writer antenna by using a fixed sampling period, calculating the position where the user is at present in real time, and displaying the position on the map of a display unit so as to provide the solution for indoor positioning with real-time response, high precision and low cost for the user.

The invention provides a Beidou short message technology based multi-mode and multi-frequency maritime precisely positioning method which comprises the following steps: first, using an automatically downloaded and updated IGU ultra-fast track to solve the track correction information, the clock correction information and the atmospheric correction information; second, conducting real-time RTCM data stream decoding; and accessed by data stream, using the IF model and the MW model respectively to calculate the correction information of the observation value and the wide-lane ambiguity information; carrying out reasonable transformation to the solved correction information; extracting the effective fractional part of the information for decoding and using the Beidou short message technology to broadcast it to a user. And while a mobile station receives real time data streams, it receives the Beidou short message data and decodes the data for the recovery of effective correction information. According to the invention, the IF model and MW model are used to seek the real-time dynamic position of a mobile station through the PPP technology; and the method attempts to achieve fixed ambiguity so as to provide the user with high-precision positioning. Compared with the prior art, the method of invention is highly precise and stable. The method can also be applied widely and practically.

The invention discloses a mobile robot fast and accurate localization algorithm based on multiple attitude correction, and belongs to the technical field of robots and computer graphics. According to the algorithm, the data of the IMU and the odometer are fused by using the UKF combined with the robot motion model, and the fusion result is used as the AMCL motion model sampling data source. Then the second time of attitude correction is performed on the robot by using the known global raster map and lidar measurement as observation. Then laser scanning is converted into NDT distribution by the NDT algorithm, and the attitude corrected by the AMCL algorithm is used as the initial transformation. The current scanning NDT distribution is matched with the global map converted into NDT distribution beforehand, and the transfer matrix is corrected so as to realize the last attitude correction. The method can make the robot realize fast and accurate localization in the complicated terrain and solves the problems of error accumulation of the odometer and the accelerometer, single information source of the sensor used in the positioning algorithm and high time consumption of the point cloud matching algorithm in the complicated terrain.

The invention discloses a construction site management system based on Internet of Things, and relates to the technical field of site digital management. A power failure detection module can send distress information to maintenance personnel using a user terminal after detecting that a helmet stays at a certain position in the sky for a period of time, and the helmet can realize the real-time positioning of the position of a worker, so the worker staying in the sky due to the power failure can be rescued in the first time; and an attendance module uses a face image taken by a camera on the helmet to carry out attendance checking on the worker. The system solves a problem that existing monitoring or management systems on the construction site cannot effectively know whether the worker is indanger or not, and realizes the effective management of the safety and the attendance of the worker mainly through the safety helmet in order to ensure the orderly proceeding of the safe production at the construction site.

The invention discloses an Internet of Vehicles based smart city dynamic video monitoring system. The Internet of Vehicles based smart city dynamic video monitoring system comprises a cloud-end server platform and intelligent vehicle-mounted terminals; the cloud-end server runs at a data service center and is responsible for managing all the vehicles and all the video resources; each intelligent vehicle-mounted terminal is arranged on each vehicle and is used for acquiring position information of the vehicle and providing local storage, basic data analysis and driving videos; and one vehicle after provided with the intelligent vehicle-mounted terminal is in network connection with the cloud-end server platform through a wireless network. Compared with the prior art, the Internet of Vehicles based smart city dynamic video monitoring system has the beneficial effects that real-time positioning of vehicles in an urban area is realized by utilizing a vehicle positioning system in the Internet of Vehicles. When video monitoring for one area is required, dynamic video calling of the area is realized by adopting an area search algorithm to search vehicles in the target area, combining with automobile data recorders and regarding the automobile data recorders as monitoring points. Therefore, the dead angle problem of fixed-point cameras on the traffic roads is solved.

The invention relates to a bus and a bus stop automated management system, in particular to bus wireless stop announcing system and method. The bus wireless stop announcing system comprises a management terminal, at least one bus stop terminal and at least one user terminal, wherein the management terminal is connected with all bus stop terminals by a wired or wireless network so as to transmit information in two directions; and the bus stop terminals are connected with the user terminals in a wireless way so as to transmit the information in the two directions. The stop announcing system can finish a voice and Chinese character display prompt of a name of a stop to be arrived, which is preannounced by a bus without artificial operation in the whole process; meanwhile, the bus stop finishes the prompt of the information of vehicles being about to arrive at the stop and the information of the positions in which all the vehicles are located on a line, thereby bringing convenience to passengers.

The invention discloses a university physical education teaching equipment management system, which includes an identity recognition module, a man-machine operation module, an input device, a controller, a timing module, a short message sending module, a Beidou module installed in each sports equipment, and return data entry module. The present invention needs to carry out identity card verification, ic card verification and fingerprint verification, and the use of sports equipment can only be carried out after the three pieces of information are unified, which well avoids the occurrence of false name borrowing; through the setting of the Beidou module, the equipment is realized The real-time positioning of the location uses short message communication to send positioning data, which reduces positioning blind spots; the use of electronic tags makes each equipment have its unique identity, and the lending information is printed using a QR code. When returning , The return can only be completed after the data of the two are matched, thereby avoiding the occurrence of returning other people's equipment and realizing the reasonable management of sports equipment.

The invention discloses a positioning system based on the CC2530 technology and the ZigBee technology and an achieving method thereof. The positioning system comprises a ZigBee wireless network unit based on a Z-Stack protocol stack, a wireless terminal, a module to be positioned and a power source, wherein the wireless terminal and the module to be positioned are respectively connected with the ZigBee wireless network unit, and the power source is connected with the module to be positioned. The wireless terminal obtains corresponding information of the module to be positioned through the ZigBee wireless network unit and conducts calculation based on the corresponding obtained information to obtain positional information of the module to be positioned. According to the positioning system based on the CC2530 technology and the ZigBee technology and the achieving method, the defects, such as low accuracy, large influences by reference node density and distribution and large influences by error accumulation, in the prior art can be overcome, and therefore the advantages of high accuracy, small influences by the reference node density and distribution and small influences by the error accumulation can be achieved.

The invention provides an intelligent construction site informatization management system, and belongs to the field of intelligent construction sites. The system mainly comprises a master console, aninformation data cloud platform, a video monitoring system and an environment monitoring system, wherein the information data cloud platform comprises a personnel management module, a material management module, a quality management module and a safety management module. According to the informatization management system provided by the invention, the computer technology is combined with the Internet of Things application; personnel monitoring, vehicle and equipment position positioning, material management, construction quality and the like are effectively integrated, and knowing and controlling of the construction quality, visualization and intelligence of the construction process, collaboration of engineering management, high efficiency and real-time and sharing of big data deep mininganalysis are truly achieved.

The invention discloses a radiation source positioning device and method based on a UAV (Unmanned Aerial Vehicle) platform loaded with a co-prime linear array. The invention relies on the UAV platform, fully combines the advantages of air detection maneuverability and high precision of array positioning, integrates the air search and positioning functions, utilizes a spectrum monitoring module tocollect the spectrum data in real time, performs signal processing on the received data of the loaded array, and combines the high-precision co-prime array spatial spectrum estimation algorithm to quickly search and accurately locate the incoming wave direction of the radiation source. The invention provides a new idea for the radiation source direction finding based on the air platform, can realize the high-precision positioning of the radiation source by using the UAV combined with the co-prime array, and aims to break through the limitations of the conventional radiation source searching and positioning method and overcome the key technologies thereof, so as to assist with radio monitoring and interference investigation.

The invention provides a dynamic positioning system and method based on an ultrasonic sensor and belongs to the technical field of information processing.Two groups of ultrasonic receiving modules are fixedly connected to the same height of a robot car; each group of ultrasonic receiving modules comprise two ultrasonic wave sensors, and an installation angle exists between the two ultrasonic wave sensors; an ultrasound transmitting module is carried by a follower; if the two ultrasonic wave sensors in the same group receive ultrasonic wave signals, the average value of the two ultrasonic wave sensors is taken to serve as the distance between a corresponding ultrasonic receiving component and the ultrasound transmitting module.The dynamic positioning system and method have the advantages that real-time positioning of the robot car relative to the follower is achieved; a positioning algorithm is efficient and practical; a positioning blind area is reduced, good positioning precision and a large positioning range are achieved.

The invention discloses a target space positioning method and device based on a neural network. The target space positioning method, includes the steps: firstly, arranging some sample points on the space ground; recording sample point location pictures shot under different horizontal and vertical rotation angles and focal lengths through a camera; identifying the pixel coordinates of the sample point positions on the images shot by the camera; and performing one-to-one correspondence on the actual spatial coordinates and the actual spatial coordinates of the sample point locations to obtain multiple groups of training data, constructing and optimizing a BP neural network, inputting the training data into the neural network for training and verification to obtain a neural network model reaching an expected standard, and positioning a to-be-positioned sample point by using the neural network model. According to the invention, the accuracy and the efficiency of positioning and identifyingthe positioning points can be improved, and the technical effect of real-time positioning is realized.

The invention relates to a positioning method for an intermediate orbit satellite search and rescue system. The method comprises the following steps of: carrying out time and frequency joint positioning processing on a beacon by utilizing search and rescue signals forwarded by multiple satellites to position the beacon; and then carrying out continuous burst processing by utilizing a search and rescue signal sent in a beacon lasting period to realize the persistent improvement of a beacon positioning result. The method is suitable for the intermediate orbit satellite search and rescue system and has the characteristics of short positioning time and high positioning precision.

The invention discloses a method for locating a non-cooperative wireless signal source based on a high-rail three-satellite time-difference system. The method for locating the non-cooperative wireless signal source based on the high-rail three-satellite time-difference system is achieved through a high-rail signal detecting-receiving locating constellation and a ground system, wherein the high-rail signal detecting-receiving locating constellation is deployed above a particular region and is composed of three satellites which run in an inclined geosynchronous small-eccentricity elliptical orbit, the three satellites have the same circular ground track, the constellation is provided with an equilateral stable triangular configuration and thousands of kilometers of inter-satellite baselines which are even and stable, each satellite conducts real-time and continuous detection and receiving on radar signals or communication signals transmitted by the ground non-cooperative wireless signal source, signal detection and parameter measurement are respectively finished, a satellite-ground link arranged on each satellite so that measurement information can be transmitted downward to the ground system in real time, and the ground system conducts processing and resolving according to the time difference of signal detection and receiving among the three satellites. The high-rail three-satellite time-difference system is adopted so that locating of the non-cooperative wireless signal source can be achieved. The method for locating the non-cooperative wireless signal source based on the high-rail three-satellite time-difference system has the remarkable advantages of being large in coverage area, strong in real-time performance, stable in locating precision and the like.

The invention discloses an RFID (Radio Frequency Identification Device) intelligent antenna stack matrix system which at least comprises two RFID antenna stacks, an RFID antenna multipath controller, an RFID reader-writer and a background processing system. Each RFID antenna stack at least comprises two RFID antennas and an RFID antenna middleware. The RFID antennas are connected with the corresponding RFID antenna middleware through coaxial cables. The RFID antenna middlewares are connected with the RFID antenna multipath controller through coaxial cables. The RFID antenna multipath controller is connected with the RFID reader-writer through a coaxial cable. The RFID reader-writer is connected with the background processing system through a communication data line. The background processing system is used for controlling the RFID reader-writer and the RFID antenna multipath controller through control data lines. According to the RFID intelligent antenna stack matrix system, objects in a region can be rapidly and accurately checked.

The invention discloses an indoor positioning method and system. Through frequency deviation and phase deviation generated by the Doppler effect when sound wave signals are received based on a mobile phone, the distance between a mobile terminal and a loudspeaker is calculated, so real-time positioning for the mobile terminal is achieved. According to the method and system, positioning can be completed without the need of additional installation of any special devices, cost is low, and positional accuracy is high.

The invention discloses an acoustic emission positioning system and method based on an FBG sensing system and second order statistic. The positioning method comprises the steps that broadband light emitted by an ASE light source which is not flattened is transmitted to respectively corresponding FBG sensors after sequentially passing through an edge filter, a first coupler and a plurality of second couplers which are arranged in parallel; the FBG sensors reflect back light at the set wavelength, the light is transmitted to a photoelectric conversion circuit through the second couplers and is transmitted to a data collection system through an amplifier, and the data collection system records signal changes; an acoustic emission source produces high-frequency dynamic stress waves, the reflection wavelength of the FBG sensors changes, and demodulation of acoustic emission signals is achieved through the power change of the light reflected by the FBG sensors; the acoustic emission signals obtained through demodulation are subjected to Shannon wavelet transformation, and narrow-band signals are extracted; the azimuth angle and the distance of the acoustic emission source relative to a reference sensor are figured out according to the second order statistic, and then the position of the acoustic emission source is determined. The positioning method has good acoustic emission positioning accuracy and real-time performance.

Theinvention provides an active identification card which is in a card type structure. The active identification card has a double frequency emission function, and can sense a low frequency drive signal. Two cards are integrated to be a whole by combining functions of an attendance card and a locating card into a sheet of identification card. The active identification card contains rechargeable batteries capable of performing a wireless charging and is provided with light emitting diode (LED) indicator lights which can display states of working, battery voltage shortage, battery charging and the like, so that a cardholder can know the states of the card at any time. The active identification card comprises a resonance circuit II, a resonance circuit I, a limiter circuit, a rectification voltage stabilizer, a charging management circuit, rechargeable batteries, a central processing unit (CPU), an identification data (ID) emitter of the identification card and a CPU voltage stabilizer. A control method of the active identification card and an attendance locating system utilizing the active identification card are disclosed.

The invention discloses a time division multiplexing optical fiber grating sensing network with high renewability. The network mainly comprises a control center, an optical switch, an access selection and delay node and weak reflection optical fiber grating sensing sub-networks. The control center is connected with the sensing sub-networks through the optical switch, sensing signals of the sensing sub-networks are demodulated through switching of different time frames, and the sensing sub-networks can automatically choose accesses through the access selection and delay node. By means of the access selection and delay node, branches of the sensing sub-networks are mutually standby paths, by means of changes of detection signals, a computer can directly control the standby paths to be started, artificial interference is not needed and the automation degree is high. The sensing network is in parallel connection with a plurality of sensing sublayers and accordingly is easy to extend, addressing of sensors on each sublayer is carried out in a time division mode, the limit that light source frequency spectrum resources are insufficient is broken through, and the requirement for building an optical fiber grating sensing system which is large in capacity and high in renewability and reliability is met.

The invention relates to a system and method for achieving real-time positioning of a mining blasting point on a shallow layer earth surface. The method comprises the steps that a plurality of three-axis acceleration sensors are arranged on the shallow layer earth surface with the depth of 20-100 m, and the three-axis acceleration sensors pick up all blasting signals in the mining process, carry out primary filtering and signal amplification, and then output the signals; waveform characteristic analysis is carried out on the blasting signals, complete mining blasting shock waveforms are extracted, and the blasting energy, waveform information and blasting orientation information are collected and calculated; the blasting energy, blasting shock waves and blasting signal orientation are comprehensively analyzed, the optimal wave speed is automatically calculated through a waveform automatic optimizing program, the wave arrival moment is precisely extracted, and the space coordinates of a blasting point are determined with an unbalance filter algorithm and a time difference and direction combined positioning algorithm; the space coordinates of the blasting point are transmitted to a monitoring and early warning server through GPRS communication, blasting three-dimensional simulation is carried out on a monitoring and early warning platform, and early warning is carried out on layer-exceeding and boundary-exceeding information.

The invention discloses a training method, a device and an image positioning method of an image positioning model. The invention designs an image relative position consistency loss function, an imagerelative position prediction loss function and an adaptive image characteristic difference loss function according to the position and posture differences between two images. The loss function based on two images can keep the relative position and attitude between images and improve the accuracy of image positioning together with the global position and attitude loss function. The method providedby the invention can realize real-time positioning based on images, and has the advantages of high precision, good reliability and the like.

The invention discloses a three-dimensional measurement system and method for a steady-state flow field in a large space. The three-dimensional measurement system comprises a five-hole probe with a built-in inertial sensor, the five-hole probe is connected with a pressure transmitter, the pressure transmitter is connected with a five-hole probe data processing unit, and the inertial sensor is connected with an inertial sensor data processing unit; the five-hole probe data processing unit and the inertial sensor data processing unit are connected with a data coupling and processing unit and a data recording unit in sequence. The velocity vector measurement is performed on a single point in the steady-state flow field through the five-hole probe, and a measured velocity vector is corrected through an angular velocity gyro of the inertial sensor; the relative position of the steady-state flow field is determined through an inertial sensor line accelerometer, and the measurement on a lot of points in the whole flow field is realized through the five-hole probe, so that the measurement on the steady-state flow field in the large space is realized. The three-dimensional measurement system disclosed by the invention is simple and reliable in structure, convenient to use and wide in application scope and can realize the measurement on the velocity vector of the steady-state flow field, and the maximum measurable direction angle range and accuracy of the five-hole probe are improved.