247results about How to "Reduce positioning costs" patented technology

The invention provides an indoor fusion positioning system and method based on WiFi and BLUETOOTH, and relates to a mobile network wireless positioning and navigation system and method. The system comprises a signal node disposition system, an intelligent terminal system and a positioning server system. The signal node disposition system provides disposition methods of WiFi signal nodes and Bluetooth signal nodes. The system collects surrounding WiFi signal node information comprising WiFi signal strength information, WiFi signal node physical addresses and WiFi coordinate information. The system collects surrounding Bluetooth signal node information Bluetooth signal strength information, Bluetooth signal node physical addresses and Bluetooth coordinate information. The system comprises a fusion positioning model and the positioning algorithm thereof. According to the invention, WiFi and Bluetooth modules in an intelligent terminal are fully used, and WiFi signals and Bluetooth signals of the intelligent terminal are fused for positioning, thereby being significant for utilization and positioning of more and more intelligent terminals.

The invention discloses an indoor positioning and aided navigation method based on the iBeacon. The method includes the steps of receiving broadcast messages sent by a plurality of iBeacon base stations, wherein the broadcast messages sent by each iBeacon base station comprise position information of the iBeacon base station and base station type information; determining the position of a user device according to RSSIs of the broadcast messages corresponding to the base stations, the position information of the iBeacon base stations in the broadcast messages and the iBeacon base station type information. The invention further discloses an indoor positioning and aided navigation device based on the iBeacon.

An embodiment of the invention provides an inertial navigation positioning system based on UWB ranging. The inertial navigation positioning system comprises a UWB positioning base station, an absolute position determining base station, an inertial navigation positioning module and a cooperative positioning module, wherein the UWB positioning base station is arranged in a target positioning area and used for determining UWB relative positioning data of a to-be-positioned object by use of the relative position of the positioning base station determined by the communication interaction and arrangement way of a UWB label carried by the to-be-positioned object; the absolute position determining base station is arranged at the UWB positioning base station and used for determining the absolute position of the UWB positioning base station; the inertial navigation positioning module is carried by the to-be-positioned object and used for determining inertial navigation positioning data of the to-be-positioned object; the cooperative positioning module is carried by the to-be-positioned object and used for determining absolute positioning data of the to-be-positioned object according to the UWB relative positioning data, the inertial navigation positioning data and the relative position and corresponding absolute position of the UWB positioning base station. Through cooperative application of UWB positioning, absolute position base station and inertial navigation positioning technology, the absolute positioning data of the to-be-positioned object can be accurately obtained in a geographic area with relatively poor absolute positioning signal.

The invention provides a visual identification and positioning method based on an RGB-D camera. The method comprises the following steps of 1) using a Microsoft Kinect camera sensor to carry out collection of a color image and a depth image and then converting into three-dimensional point cloud, and extracting a plane in a scene; 2) after the plane in the step 1) is extracted, carrying out object extraction and segmentation on the remaining point cloud; 3) carrying out identification and matching on a point cloud set of an object acquired from the step 2) respectively; and 4) though calculating the object point cloud acquired from the step 2), realizing object positioning. In the method, based on a three-dimensional point cloud image collected by a Microsoft RGB-D sensor Kinect II, object identification and positioning are performed, and method does not relate to complex operations of matching of a plurality of images during object positioning and the like. Calculating efficiency is greatly increased, and simultaneously the method possesses advantages that real-time performance is high and the method is suitable for a complex environment of a daily life.

The invention relates to a method and device for carrying out the vehicle positioning in a parking lot. The method is used for a server, and comprises the steps: obtaining the actual receiving signal intensity indication information of an intelligent terminal at a current position and an instant scene image when a server communicates with the intelligent terminal on a vehicle entering the parking lot; determining a pre-stored scene image corresponding to the actual receiving signal intensity indication information according to the actual receiving signal intensity indication information and a pre-built position fingerprint map of the parking lot; and determining the current actual position of the vehicle in the parking lot according to the pre-stored scene image and the instant scene image. Therefore, the method can achieve the positioning of the vehicle in the parking lot without other operation and maintenance equipment in the parking lot, and reduces the positioning cost. In addition, even if a GPS signal is weak or there is no GPS signal, the method also can achieve the high-precision positioning, is short in positioning time, and improves the parking experience of a user.

An embodiment of the invention discloses an indoor passive motion detection method and device. The indoor passive motion detection method includes: obtaining channel state information of each sub carrier after signal demodulation; extracting the characteristic value corresponding to any single channel according to the channel state information; classifying the characteristic values and obtaining the detection result corresponding to the motion behavior; and performing misjudgment correction and leak detection checking for the detection result to obtain the monitoring result. According to the indoor passive motion detection method and device, not any additional software devices are needed to be added, and the positioning cost can be reduced; and the indoor passive motion detection of a wireless local area network is optimized by obtaining and processing the channel state information of all sub carriers and using the narrow-band interference resistance and the time domain stability of the sub carriers, the alarming accuracy is improved, the influence of indoor environment multiple paths when the motion behavior happens can be effectively reduced, and the detection accuracy is improved.

The invention relates to a multi-source information fusion positioning method and device. The multi-source information fusion positioning method comprises the steps: (1) the track is deduced through asensor integrated in an intelligent terminal; (2) weighted centroid positioning and signal sequence matching positioning are conducted through a Bluetooth sensor; (3) weighted centroid positioning and signal sequence matching positioning are conducted through a Wi-Fi sensor; and (4) the track deduction result obtained in the step (1) and the positioning results obtained in the step (2) and the step (3) are fused, and the final positioning result is obtained. An inertial navigation / Bluetooth / Wi-Fi-based fusion positioning mode is adopted, the advantages of various positioning technologies canbe developed effectively, and high-precision positioning and navigation are achieved; and the positioning cost is low, deployment is convenient, the coverage range is wide, the very high scene adaptability is achieved, real-time, continuous and accurate position information can be provided, and the multi-source information fusion positioning method and device can be widely applied to various indoor positioning scenes.

The invention discloses a mixed type passive optical network and a method for positioning and restoring faults thereof. The passive optical network comprises an optical line terminal, optical network units divided into a plurality of optical network unit groups and a far-end node, wherein the optical line terminal is connected with the far-end node through two feeder optical fibers; the far-end node is connected with the optical network unit groups by adopting a dual-fiber star topology structure; the optical network units which needs to be protected in the groups are connected to each optical network unit group by adopting a dual-fiber tree or cross-bus structure. In the mixed type passive optical network structure, the mixed TDM / WDM technology is adopted to improve the access scalability of a network effectively and provide the convenience for the gradual increase of the number of network bandwidth and network users. The fault positioning of the network provided by the invention can be realized by a statistical analysis method, the flexible restoration of the network faults can be realized through the action of the optical line terminal and the survival rate of the network is improved.

The invention provides a coal-gangue separation system and a separation method. The coal-gangue separation system is mainly formed by a flow-dividing device, a dual-vision identification device, a control device and mechanical arm gripping devices. The flow-dividing device is provided with multiple stages of adjustable flow-dividing baffle plates; through reasonably flow-dividing a coal-gangue flow, the approximate positions of coal and gangues can be determined, and the positioning and control cost is reduced; the dual-vision identification device adopts infrared thermal imaging identification and gray degree identification, and data parameters obtained through sampling are transmitted to the control module, so that the difficulty in identification and positioning is reduced, and the identification rate is improved; through two different identification ways, the evitable phenomena such as missing and wrong choosing are reduced; and a PLC (Programmable Logic Controller) is adopted to control three-degree-of-freedom mechanical arms to follow-up grip, and two-claw manipulators are arranged in fixed runners, so that the identification efficiency and the gripping efficiency of the coal and the gangues are higher, the control method is simpler, and an inertial impact force of the coal-gangue flow caused by excessive speed is reduced during a follow-up process.

The invention discloses a master-slave mode multi-UUV cooperative location method based on underwater acoustic communication delay, and relates to a cooperative location method. The method solves the problem of big location errors of a conventional master-slave mode multi-UUV cooperative location system, and comprises the following steps: the master and slave UUVs perform clock synchronization preparation, the master UUV measures the distance between the master UUV and the slave UUV through underwater acoustic ranging; the master UUV sends location information, spacing information and the time stamp during sending information all of the master UUV to the slave UUV through underwater acoustic equipment; delay duration of the underwater acoustic communication is calculated after the slave UUV receives the underwater acoustic of the master UUV, and the state equation of the cooperative location system is built; the slave UUV utilizes the state of the system to transfer the matrix, and the measurement equation of the cooperative location system is built; measurement update of the cooperative location system is completed through utilizing the measurement equation of the system; the state update of the cooperative location system is completed through utilizing the state equation of the system; the slave UUV compensates the state estimation errors. The method is suitable for the master-slave mode multi-UUV cooperative location.

The invention relates to a crowd sensing multi-source information fusion indoor positioning method and a crowd sensing multi-source information fusion indoor positioning system. Firstly, a fingerprintidentification database is constructed based on group sensing; the acquired geomagnetic, WiFi and visual image information are fused, and a target position is positioned based on a constructed fingerprint identification database; wherein the target position is estimated and adaptively calibrated using an image-based small region determination algorithm IBSM and a piecewise structure adaptive algorithm SSAC in positioning the target position. According to the method and the system, a fingerprint identification technology based on group perception is adopted, and the technical effect is remarkable. Because the signal intensity of a single information source is unstable, the three information sources are fused to estimate the position of the target. The two algorithms can help the target toquickly determine the indoor small area range or determine the special position of the target and help the target to determine the positioning accuracy or calibrate the range of the target.

The invention provides a multi-point mooring and positioning constant-tension self-adaptive control system and method for a ship. The multi-point mooring and positioning constant-tension self-adaptive control system comprises m mooring winches, a detection system and a monitoring station. Each mooring winch is provided with the following detection equipment including an encoder, a tension sensor, a mooring cable angle sensor, a brake position proximity switch, a clutch position proximity switch and a ratchet wheel and pawl position proximity switch, wherein the encoder is used for detecting the length value and the speed value of a mooring cable; the tension sensor is used for detecting the real-time tension value of the mooring cable; the mooring cable angle sensor is used for detecting the vertical angle and the horizontal angle of an anchor cable; the brake position proximity switch is used for detecting the on-off state of a brake; the clutch position proximity switch is used for detecting the on-off state of a clutch; and the ratchet wheel and pawl position proximity switch is used for detecting the on-off state of a ratchet wheel and pawl stopping device. The monitoring station is connected with all servo drivers and all the pieces of detection equipment. The multi-point mooring and positioning constant-tension self-adaptive control system and method for the ship have the advantages of being simple in structure, economical, reliable, accurate in positioning, low in positioning cost and low in energy consumption.

The embodiment of the invention discloses a vehicle positioning method. The vehicle positioning method comprises the following steps: positioning by using local point cloud acquired by a vehicle in real time and map point cloud saved in advance to obtain a point cloud positioning result, wherein the initial resolution ratio of the map point cloud is higher than the initial resolution ratio of thelocal point cloud. According to the embodiment of the invention, positioning is conducted by using local point cloud acquired by the vehicle in real time and the map point cloud saved in advance to obtain the point cloud positioning result, and the initial resolution ratio of the map point cloud is higher than the initial resolution ratio of the local point cloud. According to the embodiment of the invention, local point cloud can be acquired through laser equipment with low resolution ratio and is subjected to matched positioning with a high-precision map, so that the necessity of the high-precision laser equipment on the positioning problem is avoided and the positioning cost is reduced.

Embodiments of the invention disclose a terminal positioning method and network equipment. The terminal positioning method comprises the following steps that the network equipment obtains telecommunication signal sampling information of a first terminal at the current moment, wherein the first terminal is any terminal in a target area, and the target area is a predetermined geographic area; and the network equipment predicts to obtain location information of the first terminal at the current moment according to the telecommunication signal sampling information of the first terminal at the current moment and a prediction model of the target area. In the embodiments of the invention, the prediction model is obtained by training of mass data in the target area, the fault-tolerant capability and the error correcting capability are stronger, and the relation between the telecommunication signal sampling information and the location information of the terminal can be accurately reflected, so that the positioning can be carried out according to the prediction model and the telecommunication signal sampling information of the terminal, the accuracy of terminal positioning is effectively improved, the positioning error is reduced, and the practical value is greater.

The invention provides a detection and positioning method for partial discharge of a transformer, which comprises the steps as follows: utilizing an ultrasonic probe to detect ultrasonic signals generated by partial discharge points of the transformer on the outer side of a transformer oil tank; preprocessing the ultrasonic signals, wherein the preprocessing comprises analog-to-electrical signal conversion processing and analog-to-digital signal conversion processing; and utilizing a hyperboloid positioning method to determine positions of the partial discharge points according to the ultrasonic signals. According to the technology of the invention, internal ultrasonic generated by the partial discharge is detected on the outer side of the transformer oil tank, and the obtained ultrasonic signals are utilized to be combined with the hyperboloid positioning method to determine the positions of the partial discharge points, so that the positioning cost is low, the efficiency is high, and the detection and positioning method can realize total digitized positioning to the partial discharge points of the transformer, and online positioning can be realized through the network.

The present invention discloses a method for locating radio sensor network node based on overwide band. The present invention uses overwide band as the communication medium of radio sensor node, and receives radio signal intensity indicating value measured between two nodes by normal data package, and locates using the radio signal intensity indicating value between nodes directly by non-metric ruler technology. Wherein the locating arithmetic includes three stages: a stage of local relative coordinates image location with cluster as unit; a stage that local image unites to global relative coordinates image; a stage that exchanging the relative coordinates image to absolute coordinate image. The present invention combines a plurality advantages such as overwide band multipath-resisting and strong interfere capacity, good capture characteristics etc., and ensure the location is characterized in that low cost, high precision and good adaptability.

The invention provides a mobile terminal positioning method, an acoustic positioning transmitter-receiver, a mobile terminal and a mobile terminal positioning system. At least three acoustic positioning transmitter-receivers with synchronized networks and different frequencies are arranged at a certain positioning region, and acoustic signals are synchronously transmitted to the mobile terminal by all the acoustic positioning transmitter-receivers through network time synchronization; after the mobile terminal enters the positioning region, the acoustic signals of the at least three acoustic positioning transmitter-receivers are received, and each acoustic positioning transmitter-receiver is identified from the received acoustic signals and corresponding data flows are acquired; a signal transmission time difference between each two acoustic positioning transmitter-receivers is acquired from the data flows; and TDOA (Time Difference of Arrival) calculation is carried out according the position of each acoustic positioning transmitter-receiver and the transmission time difference between each two acoustic positioning transmitter-receivers so as to determine the position of the mobile terminal in the positioning region. According to the technical scheme provided by the invention, the positioning cost of the positioning region is reduced and the positioning precision and reliability of the mobile terminal are improved.

The invention relates to a mobile robot SLAM method based on an improved EMM and ORB algorithm. The method comprises the following steps that 1, a color image and a depth image are acquired by a 3D camera, feature points of the color image are extracted by using the improved ORB algorithm, descriptors are calculated, and meanwhile the depth image is filtered; 2, pixel points of the color image areconverted into 3D points in a space coordinate system, pose calculation is conducted by using an ICP algorithm, mismatching points are removed, and pose refinement is conducted; 3, loopback detectionis conducted through a Dijkstra algorithm and a random sampling method to obtain optimized pose information; and 4, a sparse point cloud map is established according to the optimized pose informationthrough an observation likelihood calculation method for the improved environment measurement model. Compared with the prior art, the method has the lower cost than laser radar positioning and has the advantages that the robustness is high, the error is small, and training is not needed compared with other visual methods.

The invention discloses a vehicle positioning method and system, a terminal and a server. The terminal can collect a sound signal during a vehicle driving process. Analysis and processing are performed on the collected sound signal to obtain vehicle driving route related information. The driving route related information comprises a driving route and station reporting information. The driving route related information is transmitted to the server; and the server determines the vehicle position according to the received vehicle driving route related information and road network data corresponding to the driving route in the driving route related information. The vehicle positioning method provided by the invention has no special requirements for the vehicle (like needs to install a positioning device, WIFI, etc,.) and reduces positioning cost. The terminal only needs to collect the sound signal and all the terminals on the market have the function of sound signal collection, and the electric power consumption for sound signal collection is not big and thus the vehicle positioning method is easy to popularize. As a result, the vehicle positioning method and system, the terminal and the server can reduce the cost and are easy to popularize.

The invention discloses a method, a device and a system for positioning a rigid body. The method comprises the following steps: receiving an infrared image of an infrared illuminator collected by a binocular infrared camera module; receiving posture information collected by an inertial measurement unit IMU, wherein the infrared illuminator and the IMU are arranged on a to-be-positioned rigid body; confirming the infrared illuminator in a three-dimensional position coordinate of an overall coordination system according to the position of an infrared illuminating point corresponding to the infrared illuminator in the infrared image; taking the three-dimensional position coordinate as the degree of freedom of movement of the to-be-positioned rigid body; confirming the degree of freedom of rotation of the to-be-positioned rigid body in the overall coordination system according to the posture information; and positioning the to-be-positioned rigid body according to the degree of freedom of movement and the degree of freedom of rotation. The quantity of the infrared illuminator on the to-be-positioned rigid body is one. Thus, the scheme is suitable for small-volume positioning rigid body and is beneficial to the positioning of a plurality of to-be-positioned rigid bodies. The infrared illuminator and the IMU are utilized to realize the positioning, the positioning cost is low and the positioning precision is higher.

The invention discloses a high-precision vehicle positioning device based on a pavement fingerprint and a method thereof. The device comprises a map acquisition vehicle and a vehicle to be positioned. A first data acquisition unit on the map acquisition vehicle acquires a pavement image in real time. A positioning module and an inertial navigation module synchronously collect positioning information and inertial navigation information. A first control display unit preprocesses data so as to acquire an atlas. A second data acquisition unit on the vehicle to be positioned acquires current positioning information and a current pavement image of the vehicle in real time. A second control display unit compares the current positioning information with the atlas so as to acquire a plurality of similar images of rough matching, selects one most similar pavement image according to pavement fingerprint information, and calculates and acquires an accurate positioning result of the current pavement image according to a relative position relation of the most similar pavement image and fingerprint information in the current pavement image. In the invention, positioning precision is high, cost is low, an error is small and a positioning process is not influenced by signal shielding.

A satellite-borne passive radar location method based on a GNSS-R (global navigation satellite system-reflection) signal geometrical relationship comprises steps as follows: step one, the moment when a receiver receives a direct signal of a GPS satellite is marked as t1, and the moment when the receiver receives a reflected signal to a target by a related GPRS satellite signal is marked as t2; step two, a direct path length L and a reflection path length D of the signal are calculated according to the arrival moment of the signal; step three, the position coordinate T ( xt, yt, zt) and the position coordinate R (xr, yr, zr) of a transmitter and the receiver are calculated; step four, the included angle alpha between the direct signal and the reflected signal is calculated, and the vector of the reflected signal is determined; step five, the vector of the reflected signal is lengthened to the point N in the transmission direction, so that the distance between R of the receiver and the point N is equal to the distance of the reflected signal path, and a coordinate of N is calculated; step six, a midpoint of a vector TN from T of the transmitter to the point N is set to be M, and a coordinate of M is calculated; and step seven, a TN vertical line passing the point M is drawn on a plane TRN, the vertical line intersects with a vector RN at the point P which is the position of the target at the moment, and a coordinate of the point P is calculated. According to the method, the calculation difficulty is reduced, the location efficiency is improved, and the location cost is reduced.

The invention provides a semi-supervised fingerprint positioning algorithm based on manifold regularization. The algorithm comprises the following steps: 1, training data with a tag and training data without a tag acquired from an actual environment together serve as a semi-supervised learning training data set; 2, a graph Laplacian operator is built in input space of the training data with the tag and the training data without the tag; 3, a Gauss kernel function is introduced to calculate the weight matrix of an adjacent graph; and 4, a manifold regularization frame and an extreme learning machine with random feature mapping are combined to solve a hidden layer output weight matrix, and a position estimation model is built. The manifold regularization frame and the extreme learning machine are combined, the easily-acquired training data without the tag are used thoroughly, and the positioning cost is reduced.

The invention relates to a weighted centroid localization algorithm based on maximum likelihood estimation. The invention mainly comprises optimized processing of received signal strength and establishment of a new weight model. The maximum value and the minimum value of the received signal strength are removed and a mean value is calculated at an unknown node. Firstly, the maximum likelihood estimation value between a distance and a practical distance is estimated through calculation and serves as a weight value; then, a parameter k is introduced to adjust the weight between the beacon node number and the unknown node; a new weight model is established; and the weight allocation of anchor nodes around the unknown node is optimized. According to the invention, the received signal strength is processed, errors taken in a range finding model are reduced, the location precision is improved, the new weight model optimizes the weight allocation of the anchor nodes, the location cost is reduced, and the network is enabled to have a good expansion performance.

The invention relates to the technical field of data processing, and provides a positioning method, a positioning device and terminal equipment. The positioning method comprises the following steps that phases of positioning signals received by each antenna in an antenna array of the positioning device is obtained, wherein the number of antennas in the antenna array is more than 2, and the antennaarray comprises at least one directional antenna and / or the receiving ends of at least three antennas in the antenna array are not on the same straight line; according to the distance between the antennas, the phase difference of the same positioning signal received by the antennas and the wavelength of the positioning signal, approximate calculation is carried out by using a trigonometric function to obtain the standard distance between each antenna and a positioning signal transmitting point in a plane coordinate system; and the standard relative position of the positioning device and the positioning signal transmitting point is determined according to the standard distance between each antenna and the positioning signal transmitting point. The problems of high cost, poor precision andeasy interference caused by arranging a plurality of positioning signal sources in an existing positioning mode are solved.

The invention discloses a hop-based wireless sensor network node positioning method and a hop-based wireless sensor network node positioning system. The method comprises the following steps of: 1, broadcasting for the first time by each anchor node, and transferring the coordinate and hop information of each anchor node to the whole network in a flooding mode; 2, calculating average hop distance in the network according to the positions of each anchor node and other anchor nodes and hop intervals; 3, broadcasting for the second time by each anchor node, and continuously transferring a correction value in the network; and 4, calculating the coordinate of an unknown node by using a least square method. According to the invention, inter-node distance information is not required to be measured. The method and the system are low in sensor node complexity requirement and low in positioning cost. The positioning method also belongs to distributed positioning algorithms and is suitable for the practical application of a large-scale wireless sensor network.

The invention provides a vehicle locating method, vehicle locating devices and a vehicle. The method includes: acquiring an image collected by a vehicle camera at current time; recognizing the image,and acquiring road features; acquiring a feature window corresponding to the current time, wherein the feature window is a locating area of the vehicle on a navigation map at the current time, and road features and coordinate information thereof are set on the navigation map; carrying out matching on the road features in the image and the feature window; and determining locating information of thevehicle according to coordinate information, which corresponds to matching road features, when the matching road features corresponding to the road features exist in the feature window. Therefore, alocating area can be determined first on the navigation map according to satellite locating information of the vehicle, the locating area is smaller, the included road features are also fewer, thus the vehicle can be accurately located on the locating area, changing on lane lines is avoided, locating cost is low, an application range is large, locating accuracy is high, and use experience of a user is improved.

The invention belongs to a method for locating indoor wireless propagated signal source, comprising the following steps of: adopting a database-setting signal source to set up a location database, defining a frequency domain amplitude response parameter between each receiver and each target, and defining the position of the targets which are to be located. Because the invention adopts a signal with the shape of normalized gammagram as a database-setting signal to define a normalized frequency domain amplitude response parameter of wireless propagation channel between each node and each receiver, define a first location parameter corresponding thereto and the database for setting up location, and locate the targets which are to be located, and uses the space difference of multipath propagation and indirect wave propagation between the targets which are to be located and each signal receiver in the location method to conquer negative effects, the invention has the advantages that the sensitivity to position difference in location area can be effectively improved, time synchronicity demand and location cost can be reduced, as well as location accuracy and location precision can be promoted, etc.

The headlight (1) has a housing (3) having a light exit opening, and a transparent cover plate (8) for covering the light exit opening. The ventilation opening (2) and vent (4) are arranged in the housing. The housing is provided with a hollow structure containing air inlet (13), air outlet (14) and a dimensionally stable pipe section arranged between air inlet and air outlet. The hollow structure is configured to guide the air stream flowing from ventilation opening to the vent within the housing.