67results about How to "Reduce observation error" patented technology

The invention embodiment discloses a realizing method and a system of a vision inertial mileometer. The realizing method comprises following steps: 1, a camera is adopted for real-time acquisition ofimage data, and an IMU is adopted to collect gyroscope and acceleration data; 2, a scene initialization module is adopted to establish an initial space three-dimensional map of a vision inertial mileometer system; 3, a map expansion module is adopted for real-time updating of the initial space three-dimensional map; and 4, an attitude estimation module is used for receiving the position and the attitude of equipment corresponding to each image frame. According to the realizing method, the scene initialization module is adopted to realize system initialization process high in robustness; the attitude estimation module is adopted to realize position and attitude optimization based on vision information and IMU information combined constraints; a repositioning module is adopted for failure treatment and repositioning algorithm, and equipment real-time position and attitude information are obtained. The invention embodiment also discloses a vision inertial mileometer system.

The invention provides a method for observing a rotary speed of am induction motor of a Kalman filter with index fading factor, belonging to the field of drive control of motors. The method solves the problem that the observing result of state variable is influenced because the matrix error of the noise covariance is great in the standard Kalman filter EKF (Extended Kalman Filter) algorithm which is used for observing the rotary speed of the induction motor in the prior art. In the invention, the method realizes the rotary speed observation on the basis of a rotary speed observer and the Kalman filter is utilized in the rotary speed observer to carrying out error predication; the index fading factor lambda (K+1) is introduced into an error covariance matrix predictive equation of the Kalman filter in the process of realizing the rotary speed observation by operating the rotary speed observer; and the error covariance matrix predictive equation is shown in the specification. The method provided by the invention is suitable for observing the rotary speed of the induction motor.

The invention relates to an improved auto-disturbance rejection controlling method, and provides the improved auto-disturbance rejection controlling method to overcome the defect that a nonlinear auto-disturbance rejection controlling method has a plurality of parameters which are difficult to set. According to the improved auto-disturbance rejection controlling method, an extended state observer in a traditional auto-disturbance rejection controlling method is designed as a disturbance observer which is not based on a system model; the disturbance observer is designed to be only related to two parameters by using a linear auto-disturbance rejection controller parameter setting method, so as to achieve the purpose of reducing the amount of setting parameters. Moreover, the improved auto-disturbance rejection controlling method fully integrates the advantages and disadvantages of linear auto-disturbance rejection and nonlinear auto-disturbance rejection, so that the performance of the controller is maximized; the controlling method can reduce the error of the traditional auto-disturbance rejection controlling method, and improves the control accuracy of the system.

The invention discloses a vector control device for an induction motor and relates to a vector control device without speed sensor for the induction motor. The invention solves the problem of the vector control method of the conventional induction motor that a system is unstable in a low-speed power generation state and has a bigger rotating speed observation error under a low-speed condition because a rotating speed adaptive rate cannot guarantee the stability of an algorithm. In the invention, the speed of the motor can be observed by adding the exciting current error between the actual value and observed value of an exciting current and the product of a q axis stator magnetic chain observed value and a variable gain (M) into the general product of the observed current bias and the observed rotor magnetic chain and through a PI regulator; and thus, the speed of the motor can be controlled. The device reduces the low-speed performance of the system considerably and solves the unstable problem of the system in a power regeneration state effectively. The device is used for controlling the rotating speed of the induction motor.

The invention discloses a water body transparency measuring tool for the field environment. The water body transparency measuring tool is characterized by comprising a hollow column, a black and white chequered disc at the bottom of the column, and a handle on the top of the column, scale marks are arranged on the inner wall of the column, a light induction emitting element and a corresponding light induction receiving element are oppositely arranged on the scale marks, a control device and a display device are arranged on the water body transparency measuring tool, the control device is used for controlling the light induction emitting element and the corresponding light induction receiving element to work, and the display device is used for displaying the working states of the light induction emitting element and the corresponding light induction receiving element. The water body transparency measuring tool has the advantages that the influences of water flow and wind waves on transparency observation are reduced, the subjective errors caused by angle observation during far-distance manual reading are reduced, and observation errors caused by illumination intensity differences due to weather causes are reduced.

The invention provides an obstacle detection and autonomous obstacle avoidance method for an intelligent wheelchair. The method comprises the following steps that: the advancing pose of the wheelchairis estimated through a milemeter, and a motion model and an observation model are established; a laser ranging sensor collects the data of a surrounding environment, the outline of an obstacle in a video is collected and detected through a monocular vision sensor; local mapping is performed on the surrounding environment through a graph optimization-based mapping algorithm; a globally consistentmap is generated through a grid method according to a local mapping result; and the obstacle avoidance direction of the wheelchair is planned through a repulsive force potential field method accordingto a pose state relationship between the obstacle and the wheelchair in the map.

An embodiment of the invention provides a method for calculating time-continuous surface evapotranspiration data. The method mainly comprises: on a non-sunny day, calculating an adjustment factor alpha of an energy distribution item and an adjustment factor beta of a vegetation canopy impedance item by utilizing a cost function through an SCE_UA algorithm; and optimizing a method for calculating a surface evapotranspiration simulation value on the non-sunny day according to the adjustment factor alpha of the energy distribution item and the adjustment factor beta of the vegetation canopy impedance item, and calculating the surface evapotranspiration simulation value on the non-sunny day with the optimized calculation method. The method is committed to solving the problem of time scale expansion in remote sensing estimation of surface evapotranspiration, daily evapotranspiration is subjected to time scale expansion from day to month / year in combination with an assimilation method and a Penman-Monteith formula, and high-precision time-continuous region evapotranspiration data sets capable of being used in multiple fields are produced, so that observation errors caused by data observation on the non-sunny day are reduced, and wide application of ET (evapotranspiration) remote sensing estimation products to related fields of hydrologic cycle and land surface energy is facilitated.

The invention relates to a locating method of central precise grid of vacuum laser facula, belonging to the field of building displacement monitor. A precise grid locating curtain is arranged at a receiving end; the origin of coordinates of the receiving end is arranged at the left lower corner of a locating curtain grid; the locating curtain does not move along with the camera; according to the position of the known real width of the precise grid and the central pixel coordinate of facula in some grid, the grid adopts a computer image calculating method for calculating the real coordinate of facula centre. The precise grid is used for determining the relationship between the camera pixel coordinate and the grid coordinate, thereby decreasing the generated observing error of nonlinear aberration of the camera shot, being capable of calculating the real change of central position of facula precisely, and greatly increasing the observing precision of the system.

A coal rock permeability experiment system with adjustable outlet pressure comprises a methane gas tank, a confining pressure loading pump, an axial compression loading pump, a first three-way valve, a second three-way valve, a third three-way valve, a coal sample holder, a display, a pressure tracker and a computer, wherein the methane gas tank is connected with an inlet of the first three-way valve through a first gas pipe, one outlet of the first three-way valve is connected with a gas inlet of the coal sample holder through a second gas pipe, and a gas outlet of the coal sample holder is connected with a gas inlet of the pressure tracker through a third gas pipe; a first pressure sensor is in sealed connection at another outlet of the first three-way valve; a pressure reducing valve is arranged on the first gas pipe, and a mass flowmeter is arranged on the third gas pipe. A method is simple in process and convenient to operate, the pressure difference between a gas inlet and a gas outlet can be reduced when a higher-pressure permeability experiment is performed with the method, and a model error is reduced; according to the method, experiment parameters are acquired with an electronic technology, the precision of the acquired experiment parameters is high, and an observation error is reduced greatly.

The invention discloses a sliding-mode observer optimization method and system. The method includes the steps of constructing a state space of a sliding-mode observer according to motor parameters, wherein the sliding-mode observer is of a power tendency rate type, and the state space includes a switching function of the sliding-mode observer; constructing a first function used for reflecting the robustness of the sliding-mode observer with the power of the power items in the switching function as a variable, and constructing a second function used for reflecting the observation error of the sliding-mode observer; conducting linear superposition on the first function and the second function, and obtaining a target function with the power as the variable; conducting optimization on the target function through a one-dimensional optimization method, and determining a correspondingly-obtained optimized value as the optimal value of the power. In the sliding-mode observer optimization method and system, the optimization is conducted on the target function through the one-dimensional optimization method, and therefore the corresponding optimized value is obtained, the observation error of the sliding-mode observer can be reduced, and meanwhile it is ensured that the sliding-mode observer has enough robustness.

The invention discloses a vehicle-mounted positioning navigation method based on a self-adaptive odometer model. The method comprises the steps that multiple motion models and a state vector transfermatrix among all the models are established; the initial motion state of a vehicle is estimated through odometer data of a left driving wheel and a right driving wheel and geometric constraint; in combination with volumetric Kalman filtering, all the motion models are filtered in parallel; and the motion model of the vehicle at the current moment is judged according to the odometer data of the left driving wheel and the right driving wheel, and state information of the vehicle is fused and output to serve as an initial value at the next moment for filtering iteration. According to the method,an optimal gain matrix is determined according to a covariance matrix of estimated vectors and measured vectors by use of volumetric Kalman filtering, the method does not have extra requirements on asystem equation and a measurement equation, and the method has higher superiority under the condition of a nonlinear system; according to the geometric constraint relation among odometers, the positioning precision and instantaneity of vehicle travel are improved; and odometer output information is not influenced by building sheltering, and therefore the continuity of positioning can be improved.

The invention discloses a drive control system for an elevator permanent magnet synchronous motor. Load torque observation adopts an algorithm that feedback gain is automatically adjusted according tothe variable quantity of a load torque given value and the variable quantity of a load torque observed value. When the system speed is changed, or parameters are changed, the load is disturbed, and the given value of the load torque or / and the observed value of the load torque is / are changed, the observation error of the load torque is quickly reduced, the observed value of the load torque is fedforward and compensated to a current regulator, therefore the control precision of the permanent magnet synchronous motor is improved.

The invention discloses a fabrication method of a forced centering observation pillar for precision engineering measurement and the observation pillar. The fabrication method comprises the steps that a pile hole is dug manually and downward to a bed rock; a steel reinforcement cage is placed in the pile hole in a hanging manner; the bottom of the steel reinforcement cage is placed on the bed rock; the height-set steel reinforcement cage is reserved above the ground surface; an underground concrete pile is poured in the pile hole; after the underground concrete pile is solidified, a formwork is erected and an overground concrete column is poured on the steel reinforcement cage reserved above the ground surface; a forced centering bolt is embedded in the center of the top end of poured concrete; the diameter of the forced centering bolt is required to be matched with a bolt hole at the bottom of an instrument base; a forced centering disk is embedded at the top end of the concrete embedded with the forced centering bolt; and the forced centering bolt penetrates through the center of the forced centering disk. According to the fabrication method of the forced centering observation pillar for the precision engineering measurement and the observation pillar, the technology is simple; the fabrication and embedding method is simple; the pillar is easy to fabricate, and convenient to use, and is not damaged easily; an observation error can be reduced; the observation accuracy is reliable; and specified requirements of standards are met.

The invention provides a method for staining hard tissue slices using picrosirius red and application of method. The method includes the following steps: sampling from a silk tissue engineering ligament, fixing and coating the sample using resin, performing hard tissue slicing, detecting the secretion condition of types I and III collagen through picrosirius red staining. According to the invention, the picrosirius red is used to stain the hard tissue slices, so that the sample processing time is shortened, the operation steps are simplified, and the types I and III collagen can be directly observed on the hard tissue slices.

The invention provides an automatic unmanned driving method, and relates to the technical field of unmanned driving, and the method comprises the steps: obtaining the positioning information and image information of a park range, carrying out the building of an image model according to the image information, and achieving the drawing of a park map; marking an execution range in the park map, and marking task execution points in the execution range; acquiring positioning information of the vehicle; obtaining vehicle driving information, wherein the vehicle driving information comprises the driving speed of the vehicle and feedback information for recognizing the periphery of the vehicle; and carrying out normal driving and accident avoidance according to the positioning information and the driving information of the vehicle, achieving processing through a preset accident avoidance method by utilizing feedback information. The method has the characteristics of relatively simple and intelligent path planning and identification and relatively good safety performance; the invention further provides an automatic unmanned driving small bus, electronic equipment and a storage medium, an automatic unmanned driving method is applied, and the automatic unmanned driving small bus has the advantages of being capable of liberating manpower, efficient in operation, safe and stable.

The observation device includes a front polarizing film and a back polarizing film and a telescope arranged on a straight line of optical axis of telescope. Included angle between the front polarizing film and the back polarizing film is continuous adjustable in range 0-90 degrees. Thus, transmissibility of light ray from hot body is continuous adjustable in range 0-50%. Human eyes are in condition of best observation state so as to raise resolving power and reducing observational error. The observation device is applicable to crystal preparation and metallurgy industries.

According to a surface feature hyperspectral high-frequency observation system based on an unmanned aerial vehicle, surface feature hyperspectral and hyperspectral information is obtained from different heights and different scales, and meanwhile, solar incident spectrums and surface feature reflection spectrums are alternately obtained through a forked optical fiber and an optical path change-over switch; acquisition of observed solar spectrums and surface feature spectrums is guaranteed to be carried out under the same light intensity condition, errors of calculated surface feature reflectivity caused by changes of light intensity are avoided, and high-quality surface feature hyperspectral and hyperspectral reflectivity data products can be automatically and flexibly obtained; a measured spectrum curve can be checked in real time from the ground, a user can judge the quality of observed data by himself / herself, and high quality of spectrum data is ensured; multiple groups of spectrum curves are obtained through one round of observation of an observation program, and the system error of an instrument is further reduced through average value processing; the observation program ensures that the two sets of observation subsystems concurrently execute observation work in the same time interval, and the synchronism of the observation work of the two sets of observation subsystems is improved.

The invention belongs to the related field of instant positioning and map construction of a mobile object, and discloses a map matching method based on multi-sensor data and angle characteristic identification. The method comprises the following steps of acquiring real-time pose information through an odometer; respectively acquiring angle characteristic information through a laser radar and a depth vision camera; and performing map matching after fusing the different angle characteristic information. According to the method, the multiple sensors can be mutually fused, respective errors are mutually compensated, a high-accuracy map element matching method based on simple angle characteristics is realized, drift errors caused by the odometer are corrected in real time, and the positioning accuracy of an unmanned trolley is improved.

The invention relates to a gas pipeline leakage detection device and method based on infrasonic waves, and belongs to the technical field of pipeline monitoring. The device comprises a pressure sensing component, a temperature sensing component, an infrasonic wave generating device, an infrasonic wave receiving device, a leakage valve and a computer, wherein the pressure sensing component, the temperature sensing component, the infrasonic wave generating device and the infrasonic wave receiving device are all arranged on a gas conveying pipeline, the infrasonic wave generating device is located on the upstream of the infrasonic wave receiving device, the leakage valve is arranged on the gas conveying pipeline and located between the infrasonic wave generating device and the infrasonic wavereceiving device, and the pressure sensing component, the temperature sensing component, the infrasonic wave generating device, the infrasonic wave receiving device and the leakage valve are all connected with the computer. According to the gas pipeline leakage detection device and method, whether leakage happens to the pipeline or not and the leakage hole diameter are judged through an amplitudechange curve of infrasonic waves.

The invention discloses a fan electric variable-pitch motor drive control system.. A variable-pitch motor is a permanent magnet synchronous motor, the motor speed adopts an integral sliding mode control mode, the feedback gain of a load torque observer is automatically adjusted according to the variation of a load torque given value, and when the system speed is changed or parameters are changed,the load is disturbed to cause the change of the load torque given value or / and the change of a load torque observed value, the observation error of the load torque is quickly reduced, and the load torque observed value is fed forward and compensated to the given value of the current regulator, so that the buffeting of the system is effectively weakened, the dynamic response speed is high, the robustness is high, and the control precision of the motor speed is improved.

The invention discloses a preparation method of a temporary slice of a mature corn root system, belonging to the technical field of preparation of slices of plant root systems. Aiming at the problemsin the existing temporary slice preparation process that an image is unclear and leading to observational error, the invention provides the preparation method of the temporary slice of the mature cornroot system, which is characterized in that a dyed slice is subjected to vacuumizing treatment so as to remove 99% of bubbles in the slice, so that an observation image is more clear, error is reduced, and convenience is provided for research on anatomical structures of the mature corn root system.

The invention discloses an automatic monitoring method for pre-compressed optical fiber sensing settlement of cast-in-place beam supports. A beam body and a steel pipe support installed at the bottomof the beam body are included; a cross bracing used for reinforcing is installed at the internal of the steel pipe support; I-steel is paved between the steel pipe support and the beam body; longitudinal square timber is paved between the I-steel and the beam body; the center position of the beam body is pre-provided with a bridge doorway; static levels are installed at the positions, corresponding to the bridge doorway, of the longitudinal square timber at the bottom of the beam body; and the static levels and the longitudinal square timber are fixed together through three threaded support rods. Through the introduction of an optical fiber sensing real-time automatic monitoring technology, support pre-compressed settlement monitoring work can be developed, manual operation can be reduced,working efficiency can be enhanced, and power is not supplied on site, lightning stroke damages and electromagnetic interference can be avoided; the method is good in stability and strong in anti-interference capability; and the method is small in influence caused by extraneous environments and convenient for installation and monitoring in the open air and in fields.

The invention discloses a novel permanent magnet synchronous motor position observation method with a dynamic error compensation function, belonging to the technical field of self-sensing observation of the positions of synchronous motors. The novel permanent magnet synchronous motor position observation method with the dynamic error compensation function uses a sliding mode observer to estimate an equivalent electromotive force and extract a rotor position. A dynamic error compensator is adopted to suppress rotor position estimation errors caused by direct-axis current changes of the stator, and the position estimation performance of a sensorless direct torque control system of a salient pole permanent magnet synchronous motor is improved. Compared with an observer without the dynamic error compensator, an observer provided by the invention has the following advantages: (1) position observation precision in a fast torque response state, a rotating speed state and a load transient state is greatly improved; and (2) for direct torque control of high-harmonic current, the position observation precision in a stable rotating speed state is greatly improved by reducing observation errors caused by current harmonics.

The invention discloses a global fast terminal sliding mode control method based on an invariant manifold observer, relates to underwater robot control, and solves the technical problems of chattering and difficult parameter adjustment of an existing underwater robot. Motion parameters of the underwater robot are analyzed through an invariant manifold observer constructed based on an invariant manifold so as to obtain observation values of system uncertainty and external interference; and a continuous control law used for controlling the underwater robot to move is obtained by analyzing the observation value through a global fast terminal sliding mode control algorithm added with a function item. According to the method, parameter adjustment is simple, the convergence speed is high, the observation error is small, the anti-interference and anti-noise performance of an underwater robot system is effectively improved, the buffeting-free characteristic is achieved, and buffeting is fundamentally eliminated.

The invention discloses a method for suppressing torque ripple of a permanent magnet synchronous motor. The method comprises the following steps of establishing a mathematical model of the permanent magnet synchronous motor PMSM under a dq rotating coordinate system; establishing a load torque expression of the PMSM in the dq rotating coordinate system; adopting a disturbance torque observer to estimate the current compensation amount corresponding to a disturbance torque in real time; establishing an improved disturbance torque observer; obtaining a transfer function variable quantity; obtaining a sensitivity function and a supplementary sensitivity function of a transfer function; verifying the stability of the improved disturbance torque observer; and introducing the improved disturbance torque observer into a PMSM torque control system, so that the effect of restraining PMSM torque pulsation is achieved. According to the invention, the torque observer is adopted to suppress the voltage error generated by the disturbance torque, a quasi-differential observer is constructed to suppress the amplification effect of a differential link on the error signal, and the anti-interferencecapability of the control system is improved when the PMSM operates at a medium-low speed.

An intelligent rock slice analysis device comprises an intelligent analysis upper computer and an intelligent analysis mainframe. The intelligent analysis mainframe comprises an outer shell, and a power switch, a rock position monitor, a rock in-position state indicator light and a rock detection state indicator light are arranged on the lateral portion of the outer shell; a uniform strong light is arranged at the inner bottom of the outer shell, a row of rolling bearings are uniformly and rotationally arranged along the bilaterally horizontal direction of the front inner wall and the rear inner wall of the outer shell, the right side of the outer shell is provided with an access port, and a movable light intensity scanning detection mechanism is arranged on the inner top wall of the outer shell. The invention further discloses an analysis method of the intelligent rock slice analysis device. Transmission light emitted by a light source is controlled to irradiate rock slices, intensity of the light changes after transmission of the light through rock particles, statistics of parameters including particle types, sizes and the like is performed by analysis of transmitted light intensity, and accordingly analysis precision is improved, and manual output and visual inspection errors can be effectively reduced.

The invention discloses a laser measuring tube for measuring a water gauge. The laser measuring tube comprises a measuring tube (3) vertically inserted into a water body, an opening is formed in the bottom of the measuring tube (3) so that liquid can flow into an inner cavity of the measuring tube, a laser displacement sensor (1) is installed at the top of the measuring tube (3), a baffle (4) is installed on the tube wall of the lower portion of the measuring tube (3), and a one-way valve (5) is arranged on the baffle (4). A floatable reflecting plate (6) is arranged in an inner cavity of themeasuring tube (3) and is positioned between the baffle plate (4) and the laser displacement sensor (3); a vent hole (2) is formed in the pipe wall of the measuring pipe (3), and the vent hole (3) islocated between the reflecting plate (6) and the laser displacement sensor (1) and located above the liquid level in the measuring process. The laser measuring tube can achieve millimeter-level high-precision measurement of the water level, and has the characteristics of simplicity in operation, high safety and small manual observation error.

The invention discloses a drive control system of a permanent magnet synchronous motor of a numerically-controlled machine tool. Load torque observation adopts an algorithm that feedback gain is automatically adjusted according to the variable quantity of a load torque given value and the variable quantity of a load torque observed value. When the system speed is changed, or parameters are changed, the load is disturbed, and the given value of the load torque or / and the observed value of the load torque is / are changed, the observation error of the load torque is quickly reduced, the observed value of the load torque is fed forward and compensated to a current regulator, therefore the control precision of the permanent magnet synchronous motor is improved.

The invention discloses a Lloyd mirror interference microscopic scale measuring device. The Lloyd mirror interference microscopic scale measuring device comprises a light source, a lens, a slit device, a plane mirror, a photoelectric conversion device, a data processing module, a lever linkage device and a bottom plate, wherein light emitted by the light source generates interference fringes on an optical screen after passing through the lens, the slit device and the plane mirror a detection head of the photoelectric conversion device is connected with the optical screen, an output end of the photoelectric conversion device is electrically connected with an input end of the data processing module, the plane mirror is installed at the top part of one end of the lever linkage device through a guide device, the bottom part of another end of the lever linkage device is provided with an object stage, and the lever linkage device and the guide device are fixed on the bottom plate. The Lloyd mirror interference microscopic scale measuring device adopts a mechanical lever principle to reflect microscopic scale of an object to be measured in the vertical distance between the plane mirror and the slit device, and has the advantages of simple structure, convenient and rapid measurement, high efficiency, high precision and high practicality.