72results about How to "Solving speed is fast" patented technology

The invention provides a satellite clock error real-time estimation method based on area multi-reference-station joint resolving. The precision and timeliness of real-time precise single point positioning is improved. The method is based on a satellite and epoch difference technology, GNSS carrier phase observed values collected by area reference stations in real time and an IGU ephemeris provided by an international GNSS IGS center are utilized, the relative satellite clock error relative to a reference epoch is obtained through the multi-reference-station joint resolving , and the relative lock error values of all the epochs are obtained with the IGU precast clock error and interpolated values in the IGU precast clock error. According to the method, the operating quantity is small, the resolving speed is high, and a high-precision real-time satellite clock error product can be obtained fast through a small number of reference station carrier phase observed values. The method is based on the multi-reference-station GNSS data joint processing, the instability of single base station resolving is avoided, and the negative influence on the clock error estimation by convection zone parameter time and space correlation is reduced.

The invention discloses a low-cost AHRS course angle compensation method based on quaternion-extended Kalman filtering. The method comprises the following steps of S1, acquiring the information of anMEMS inertial sensor; S2, establishing a random error model of the MEMS inertial sensor; S3, establishing a kinematics equation by utilizing a quaternion attitude algorithm; S4, establishing an attitude measurement system state equation according to a quaternion differential equation and a gyroscope random error model, and establishing a measurement equation of a system by utilizing output valuesof an accelerometer and a magnetometer; and S5, obtaining an optimal quaternion by using extended Kalman filtering, and calculating an AHRS attitude angle. The low-cost AHRS course angle compensationmethod based on quaternion-extended Kalman filtering can improve the course angle attitude precision of an AHRS attitude detection module, and is simple in algorithm structure and high in calculationspeed. Compared with other attitude test schemes, the scheme of the invention has the advantages that the triaxial measurement values of the accelerometer and the magnetometer are used as the six-dimensional observation quantity of the system, the reliability of the obtained structure is higher, and the course angle attitude precision of the low-cost MEMS AHRS is effectively improved.

The invention discloses an outdoor multi-robot cooperative operation system and a method thereof. The system comprises a master control background and a mobile robot group. The master control background comprises a communication module, a display device and a server. The mobile robot group is based on a master-slave structure and is composed of a master robot and a plurality of slave robots. Eachrobot is provided with a navigation positioning module, a motion control module, a sensor module, a communication module and a main control module. The large mobile robot group can be ensured to havehigh reliability and robustness and the manufacturing cost of the mobile robot group is considered, and the operation task in the outdoor environment can be efficiently and rapidly completed.

The invention discloses a laser radar coordinate conversion method based on a vehicle body coordinate system, and the method comprises the specific steps: converting an instant laser beam coordinate system into a laser scanning reference coordinate system; solving the coordinates of a laser foot point relative to the laser radar coordinate system according to an inclined angle between the instant laser beam coordinate system and the laser radar coordinate system and a laser flight distance; converting the laser scanning reference coordinate system into an inertia platform reference coordinate system; measuring an installation inclined angle between a laser radar and an inertia navigation platform, and the displacements; solving the coordinates of the laser foot point relative to the inertia platform reference coordinate system according to a rotation and translation formula; and converting the inertia platform reference coordinate system into a period start instant coordinate system. The method does not need to convert laser foot point data into the WGS-84 coordinate system, converts the data into a vehicle carrier instant coordinate system at a starting moment of scanning, reduces the operation quantity and data dependence, and also can maintain the relative coordinates of the point relative to a vehicle. The method does not depend on GPS data, and especially avoids interpolation or prediction errors caused by GPS failures.

The present application provides a method and a device for solving laser radar point cloud data, which relate to the technical field of laser radar detection. The method comprises the following steps:obtaining original point cloud data in a plurality of types of laser radar scanners; analyzing the original point cloud data of each type separately to obtain the point cloud data of each type in the laser scanning reference coordinate system; according to the installation information of each type of laser radar scanner, its own parameter information and the corresponding position information and attitude information of each point cloud data, solving the point cloud data of each type after parsing obtain the point cloud data with real geographical coordinates. In this way, the point cloud data of various types of laser radar scanners can be automatically calculated by one device, the steps of distinguishing different types of point cloud data are not needed, the speed of calculation is improved, and each type of point cloud data is output based on a unified format, so that the subsequent calculation is easy.

The invention relates to a sun vector resolving method based on a compound eye simulated multi-channel polarization sensor. The sun vector resolving method comprises the following steps: at first, designing a structure model of the compound eye simulated multi-channel polarization sensor; then designing the selection criterion of the degree of polarization, acquiring the degree of polarization information of observed points in sky by using the multi-channel polarization sensor, and selecting the degree of polarization measurement values of a certain amount according to the selection criterion,taking three values from the degree of polarization measurement values as a set of resolving inputs and determining the weight of the set of resolving inputs; next, establishing the geometrical relationship with sun vectors according to each channel mounting matrix, establishing the constrained relationship with all skylight maximal degree of polarization by measuring the degree of polarization to obtain a system of nonlinear equations; and at last, resolving corresponding sun vectors of the set of resolving inputs by the system of nonlinear equations, and resolving weighted average on the multiple groups of sun vectors, so as to resolve the sun vectors in a module system. The sun vector resolving method can be used in sunny and cloudless weather, can be applied in cloudy weather environment at the same time, and has high robustness and environmental suitability.

The invention provides a spherical-wheel mobile robot and a speed measuring method thereof. The spherical-wheel mobile robot comprises a spherical wheel, a driving mechanism for controlling the spherical wheel to move according to a control signal, a robot body for supporting all structures, a control module and an inertial sensor for obtaining posture data of the robot body; and the spherical-wheel mobile robot further comprises a speed measuring mechanism used for obtaining the speed of the spherical wheel relative to the robot body. The control module obtains the solved speed omega of the spherical wheel through a linear equation based on a kinetic constrained relationship according to the speed, obtained through the speed measuring mechanism, of the spherical wheel relative to the robot body and the posture data, obtained through the inertial sensor, of the robot body, and then the control signal for movement of the spherical-wheel mobile robot is solved through the solved speed of the spherical wheel and the posture data, obtained through the sensor, of the robot body in cooperation with the motion control rule, and the control signal transmitted to the driving mechanism. By means of the spherical-wheel mobile robot and the speed measuring method, the accuracy and the reliability for measuring the spherical speed of the spherical wheel during walking of the robot are improved.

The invention provides a device for resolving a tilt compensation quaternion of an attitude gyroscope. The device comprises an orientation sensor for sensing a geomagnetic vector so as to calculate a course included angle, a six-axis motion sensor for detecting the direction and the speed of the device and calculating a three-axis acceleration and a three-axis angular velocity, a pressure sensor for detecting the atmospheric pressure and calculating the altitude value of the device, and a resolving unit for performing real-time tilt compensation quaternion resolving on the three-axis acceleration, the three-axis angular velocity and the course included angle and performing data optimizing processing by virtue of Kalman filtering and the altitude value so as to obtain accurate real-time parameters of a pitch angle, a roll angle, a course angle and an altitude. The device for resolving the tilt compensation quaternion of the attitude gyroscope is capable of eliminating data errors in case of the tilting of a gyroscope-based attitude sensor so that the attitude sensor is capable of providing accurate pitch angle, roll angle and course angle, and has the beneficial effects of accurate attitude value, low error, no attitude dead angle, low cost and high resolving speed.

The invention discloses an approximating dynamic modeling method for a space rope net robot. A dynamic modeling and resolving method for the space rope net robot is researched in order to solve the approximating dynamic problem of the space rope net robot. The method comprises the following steps: firstly, establishing a modeling reference coordinate system and proposing a modeling assumed condition; establishing a flexible net model and an approximating dynamic model of the space rope net robot; lastly, performing velocity jump modeling on rope-tying motion. During a process of approaching a target by the space rope net robot, four single-chip net mechanisms are all under tightened states, so that a matrix mode of a position vector is utilized to effectively describe the dynamics of the single-chip net mechanisms on the basis of a T3 unit in a plane finite element theory. According to the invention, the complexity of the dynamical model of a single-chip net structure is effectively reduced and the model resolving speed is increased.

The invention relates to a multi-space aircraft attitude cooperation control method under input time delay. A multi-space aircraft distributed attitude cooperation control method based on a fuzzy theory is provided and input time delay existing in a controller is considered. A T-S fuzzy theory is used to construct a multi-aircraft attitude dynamics system into a fuzzy system composed of a series of fuzzy logics. A distributed controller is designed for the constructed fuzzy system, a closed-loop system is acquired, and equivalent conversion is performed in the closed-loop system. For the converted equivalent system, time delay depends on a Lyapunov stability theory so that sufficient conditions used for ensuring the stability of the system are given, and a linear matrix inequality method is used to design controller parameters. Compared with a traditional nonlinear compensation control method, the control method based on the fuzzy theory which is designed in the invention has a simplestructure, has high robustness for the input time delay, and has a less conservative property.

The invention relates to an earth gravitational field precision measurement method, in particular to a satellite gravity inversion method based on a gravity gradient error model principle. Through analyzing the joint influence of a satellite gravity gradient vertical tensor error, a horizontal tensor error and a correlation tensor error to an accumulated total geoidal surface precision, a novel gravity gradient error model is established, and thus an earth gravitational field is inverted precisely and quickly. The satellite gravity inversion method based on the gravity gradient error model principle is high in inversion precision, quick in earth gravitational field calculating speed, and beneficial for gravity gradient satellite error analysis. The physical meanings of a satellite observation equation is clear, and the requirement to computer performance is low, and thus the satellite gravity inversion method based on the gravity gradient error model principle is an effective method for the inversion of a high precision and high spatial resolution earth gravitational field.

The invention relates to a multi-source feature based visual navigation method of a lander, belongs to the technical field of deep space exploration, and aims at solving the problem of estimating the absolute horizontal position of the lander in descending and landing. The method is characterized in that the advantages that meteor crater feature absolute location information is known and landing end corner feature information is rich are utilized, the problems that the quantity of the landing end meteor crater features cannot meet the navigation and positioning condition and the corner feature cannot be applied to the absolute location estimation, can be avoided, and as a result, the stability of navigation algorithm is improved; and the lander can accurately land.

The embodiment of the invention provides an unmanned aerial vehicle navigation information updating method and device. The method comprises the steps that a corresponding target quaternion is determined according to a pre-obtained attitude transfer matrix from a vehicle body coordinate system of an unmanned aerial vehicle to a northeast ground system; angular velocity data measured by a gyroscopeof the unmanned aerial vehicle are corrected based on the current magnetometer measurement data, accelerometer measurement data and GPS measurement data of the unmanned aerial vehicle in the flight state; numerical value updating on the target quaternion is conducted by applying the corrected angular velocity data, and the target quaternion subjected to numerical value updating is converted into attitude information in the navigation information of the unmanned aerial vehicle; and numerical updating is conducted on the position and speed information in the navigation information. Acquisition accuracy of the navigation information of the unmanned aerial vehicle can be effectively improved, and acquisition efficiency of the navigation information of the unmanned aerial vehicle can be effectively improved.

The invention provides a reflection column tracking and positioning method and device and electronic equipment, wherein the method comprises the steps: predicting a prediction pose of a laser radar ata current moment according to the pre-obtained pose information of the laser radar at two moments before the current moment when the laser radar detects the data information at the current moment, wherein the data information comprises initial coordinates, detected at the current moment, of reflection columns in a laser radar coordinate system; according to the prediction pose, determining prediction coordinates, detected at the current moment, of the reflection columns in a global coordinate system; searching a target reflection column matched with the prediction coordinate according to theprediction coordinate and a pre-established KD tree, wherein the KD tree is established in advance according to the position information of all the reflection columns in a global landmark map; and determining the pose of the laser radar at the current moment according to the target reflection column, and updating the pose information of the laser radar at the first two moments. The calculation amount can be reduced, and the resolving speed of the pose of the laser radar at the current moment is improved.

The invention provides a multiple unmanned aerial vehicle formation partition method. The multiple unmanned aerial vehicle formation partition method comprises sequentially obtaining situation information data of every target of an air combat and performing standardization processing; initializing a membership matrix to enable the membership matrix to meet constraint conditions; calculating cluster centers; calculating a value function J, if a step out condition of terminating the calculation is met, stopping an algorithm, otherwise, calculating a new membership matrix, and returning to the former step and recalculating the cluster centers; obtaining a final membership matrix when the step out condition is met; performing cluster partition on multiple targets according to all the data values in the final membership matrix. According to the multiple unmanned aerial vehicle formation partition method, the calculating dimensions during task allocation execution of multiple target formations are reduced, the calculation is reduced, and the calculation speed is improved.

The invention discloses a magic cube solving robot of a two-arm and two-finger structure. The magic cube solving robot comprises a first actuator, a second actuator, an image recognition mechanism, abase and a control system, wherein the first actuator and the second actuator are the same in structure. A magic cube is clamped between the first actuator and the second actuator which are fixed to the base, so that a 45-degree included angle is formed between the bottom face of the magic cube and the horizontal plane. A camera of the image recognition mechanism is fixed to the upper end of a T-shaped bracket through a set of screws, and the clamped magic cube is located right ahead the camera. The control system comprises an upper computer unit, a camera module, a lower computer unit and anexecution unit. The first actuator and the second actuator are controlled by the control system to simulate the pinch action of a thumb and a forefinger of one of human hands and the rotating action of a wrist, and the magic cube can be restored by executing the overturn action on the third-order magic cube which is disrupted randomly. The magic cube solving robot has good teaching value and innovativeness.

The invention relates to a precision measurement method of the earth gravitational field, in particular to a satellite joint inversion earth gravitational field method using different orbit inclination angles. According to the satellite joint inversion earth gravitational field method using the different orbit inclination angles, satellite space distance, satellite space speed and satellite space acceleration measurement data of a k wave band distance meter of a GRACE satellite, satellite orbit position measurement data and satellite orbit speed measurement data of a global position system (GPS) receiver and nonconservative force measurement data of an accelerometer are used, and earth gravitational field inversion is achieved accurately and fast based on a disturbance satellite space acceleration method through optimum combination of the different orbit inclination angles. The satellite joint inversion earth gravitational field method using the different orbit inclination angles is high in satellite gravity inversion accuracy, sensitive in precision of coefficients of gravitational potential zonal harmonics and tesseral harmonic terms, high in calculating speed of earth gravitational field, clear in physical meaning of a satellite observation equation, and low in requirements for computer performance. And therefore, the satellite joint inversion earth gravitational field method using the different orbit inclination angles is an optimum method for high inversion precision and high spatial resolution earth gravitational fields.

According to an attitude resolving system and method based on extended Kalman filtering, a triaxial attitude angle with relatively high precision is obtained by resolving and calibrating data of a gyroscope and an accelerometer; and a data processing module performs smooth filtering and normalization processing on noise-containing data of an IMU sensor to obtain measurement data after noise reduction processing and unit unification, a resolving module compensates and corrects gyroscope data by combining linear complementary filtering with PI integral, the processed sensor data is imported into extended Kalman filtering to perform data fusion and attitude resolving, the data fusion and attitude resolving are carried out, a calibration module carries out online training by utilizing an Elman neural network, takes information of two IMU sensors and attitude information output by a calculation module before calibration as input, takes an attitude angle measurement value as a neural network prediction value, carries out online training by adopting three parallel Elman neural network structures, updates a weight and a threshold value of the neural network in real time, and outputs the calibrated three-axis attitude angle, so that the resolving precision and the redundancy of the system are improved.

The invention relates to a construction coordinate system base axis determining method based on an architecture coordinate system. The construction coordinate system base axis determining method comprises the following steps: (1) establishing a construction coordinate system, (2) performing coordinate system conversion calculation, and (3) determining the base axis of the construction coordinate system through the coordinate naturalization method. The determining method is easy to operate, efficient, accurate and high in pertinence, so that construction is easy, construction cost is reduced, and construction efficiency is improved.

The invention discloses a GNSS receiver high sampling clock difference calculation method. The method comprises the following steps: performing precise single-point positioning calculation by using observation data of a low-sampling GNSS receiver to obtain a first receiver clock difference at a low-sampling moment, and a receiver position parameter, a tropospheric zenith delay parameter and an ambiguity parameter at the low-sampling moment; acquiring high-sampling parameter values corresponding to the three types of parameters at a high-sampling moment, and calculating a second receiver clockdifference at the high-sampling moment by utilizing the three types of high-sampling parameter values; and utilizing the first receiver clock difference and the second receiver clock difference to calculate the optimized high-sampling receiver clock difference. According to the method, matrix calculation is not needed, an algorithm is simple and easy to implement, a result is stable and reliable,and a calculation speed is high.

The invention discloses a laser radar point cloud data resolving method for resolving laser radar point cloud data, which comprises the following steps of: establishing a plurality of threads according to the number of point cloud data files acquired by a laser radar, and distributing at least one point cloud data file to each thread; enabling the plurality of threads to process the point cloud data file in parallel; wherein each thread adopts an assembly line mode to carry out parallel calculation processing on a plurality of data blocks in the point cloud data file, so that the calculation speed of the point cloud data file is greatly improved, the calculation time is saved, and a common processor can independently complete calculation without depending on other hardware. On the basis, the invention further provides a resolving device and a multi-thread processing system for the laser radar point cloud data.

The invention discloses an output-redefinition based flexible mechanical arm time-scale separation robust control method. The method comprises the following steps: establishing a flexible mechanical arm dynamical model; regulating output of the flexible mechanical arm dynamical model to obtain an input-output sub system and an inner dynamic sub system; designing a robust control method; designinga state feedback control method; obtaining first control input according to the robust control method; obtaining second control input according to the state feedback control method; combining first control input with second control input to obtain combined data; inputting the combined data to the flexible mechanical arm dynamical model to obtain output data; separately comparing the output data with expected data and elastic vibration data of a joint angle of a flexible mechanical arm to obtain a compared difference value; and when the compared difference value is within a comparison thresholdvalue range, outputting a mark which represents that control is effective. The embodiment of the invention can realize tracing an expected instruction by the joint angle of the mechanical arm, also realizes suppression on an elastic modal, and reduces vibrations.

The invention discloses a continuous rotation type north-seeking method based on a fiber-optic gyroscope. According to the method, firstly, the rotating speed of a rotating table is determined, and the effective signal frequency of the fiber-optic gyroscope is calculated; an FIR low-pass digital filter is designed according to the doubled frequency of the effective signal to obtain a filter factor; then, the rotating table rotates at a uniform speed at a certain rotating speed; the output data of the fiber-optic gyroscope and the corresponding angle value of the rotating table are synchronously collected, and the output data of the fiber-optic gyroscope is subjected to real-time digital filtering; when the collected data reach the specific amount, an initial estimation parameter matrix is obtained through a least squares algorithm; then, the subsequently collected fiber-optic gyroscope data are combined with the initial estimation parameter matrix for recursive least square resolving to obtain a north-seeking azimuth angle until the north-seeking is completed. The continuous rotation type north-seeking method adopts the low-pass digital real-time filtering and the recursive least square algorithm, the colored noise of the fiber-optic gyroscope can be filtered away in real time for improving the north-seeking precision, and in addition, the north-seeking azimuth angle can be fast resolved.

The invention provides an automatic driving dynamic target positioning method and device, electronic equipment and a storage medium. A plurality of cameras are fixed on an automatic driving vehicle, aplurality of cameras are used for continuously shooting a dynamic target to obtain a plurality of image groups, each image group comprises a plurality of images, each image is acquired by one camera,and the collection moments of the images belonging to the same image group are the same; performing target association according to the image information and preset camera internal and external parameter information to obtain first observation result information; taking a first observation result of the first frame image as an initialization state quantity; on the basis of initializing the statequantity, state fusion processing is carried out on the first observation result of each frame of image after the first frame of image, and state fusion is carried out with the expectation that multi-camera observation values meet Gaussian distribution; kalman filtering is carried out on a result obtained after state fusion of each frame to obtain a target state updating result, and Kalman filtering is carried out under the condition that an intra-frame target moves linearly at a constant speed.

The invention relates to a spherical motor rotor location detection method based on Hall elements. The method comprises the following steps: solving out a space radial magnetic field matrix of the whole rotor spherical surface; based on the features of the rotor magnetic field, fitting magnetic field contour lines surrounding a rotor magnetic pole by using ellipse; adopting configuration strategies of four sensor units; adopting a solving method capable of being divided into three steps and for computing a rotor location through a radial magnetic field measurement values of all Hall elements,firstly judging the magnetic pole location measured under the current measurement state, and then defining multiple sensors used under the current measurement state as a sensor group since multiple sensors used under the current measurement state do not always belong to the same sensor unit, thereby determining a spherical coordinate angle difference between the sensor group and the adjacent sensor unit; and finally performing division in the determined magnetic pole range to precisely solve a location difference between the magnetic pole center and the center of the selected sensor group, thereby obtaining the rotor location.

The invention provides a mine ventilation network resolving method and device. The method comprises the steps of simplifying a local wind network meeting a preset condition into a branch in an original ventilation network diagram based on a wind resistance value simplification method to obtain a first ventilation network diagram; based on the first ventilation network diagram, determining a minimum tree taking an exit well or an entrance well as a root node and remaining branches; and determining a calculation result of the original ventilation network diagram based on the depth of the residual branches and a correction algorithm. According to the mine ventilation network resolving method provided by the invention, a complex mine ventilation network diagram is simplified through a wind resistance value simplification method; and then, based on the simplified ventilation network diagram, a minimum tree and remaining branches are generated, and according to the depth of the remaining branches and a correction algorithm, a calculation result of each branch in the original ventilation network diagram is determined. According to the method, the resolving speed can be increased, and meanwhile, the resolving stability and the resolving efficiency can be improved by adopting a more reasonable iterative calculation initial value assigning mode.

The invention discloses a single-satellite interference source positioning method of a particle swarm algorithm based on grid search. A traditional single-satellite interference source is positioned,gains generated by an interference source in a plurality of same-frequency wave beams are different in size, a positioning equation set is searched according to the gain difference, and a single-satellite interference source positioning method of a particle swarm algorithm based on grid search is provided. On the basis of a traditional particle swarm algorithm, grid division is introduced to replace search work of part of populations; a grid search link is introduced, so that the population number in particle swarm search can be relatively reduced, and meanwhile, the problem that the positioning precision cannot be further improved due to the limitation of the step length of an example swarm algorithm near an optimal solution is also solved.

The invention discloses a laser radar point cloud data resolving method for resolving laser radar point cloud data, which comprises the following steps of: establishing a plurality of threads according to the number of point cloud data files acquired by a laser radar, and distributing at least one point cloud data file to each thread; enabling the plurality of threads to process the point cloud data file in parallel; wherein each thread adopts an assembly line mode to carry out parallel calculation processing on a plurality of data blocks in the point cloud data file, so that the calculation speed of the point cloud data file is greatly improved, the calculation time is saved, and a common processor can independently complete calculation without depending on other hardware. On the basis, the invention further provides a resolving device and a multi-thread processing system for the laser radar point cloud data.

The invention discloses a manipulator joint angle measurement system, a platform and a measurement method, and relates to the field of angle sensing. The measurement system comprises a plurality of measurement units which are fixedly connected with a measured object, wherein each measurement unit comprises an accelerated speed-angular speed-magnetic field sensors, a plurality of chip resistors, afilter circuit, a printed circuit board and an FPC flat cable component; the sensors, the resistors, the filter circuits and the FPC flat cable component are arranged on the printed circuit board; andthe printed circuit board is supplied with power and communicates with the external part through the FPC flat cable component. According to the measurement units, magnetic field and gravity field data is read; and through data fitting, calibration and calculation, angles between every two measurement units are obtained. The measurement system can be mounted at most of positions of measured joints, so that the problem of mutual interference between traditional angle sensing devices and devices such as motors and bearings during mounting is avoided, the complexity and mechanical design difficulty of sensing systems are reduced, manipulators are simple in structure and better in reliability, the measurement cost is reduced and the volume of the measurement system is decreased.

The invention discloses a quick star selection method based on a Beidou satellite signal intensity weight optimization model. The problem of low calculation efficiency in an existing method is solved.The method comprises the steps that firstly, through the Beidou satellite signal intensity weight optimization model, an orientation and intensity matrix G is obtained; a satellite with largest energy is obtained, and a quick, robust-recursive and separable non-negative matrix factorization algorithm is used for determining three remaining satellites; four satellites with highest signal intensityare selected for combining and optimizing the orientation and intensity matrix, and finally an optimum geometric accuracy factor is obtained. According to the quick star selection method, the satellites are selected by introducing a non-negative matrix factorization method, the calculation speed is increased, the calculation amount is reduced, the star selection efficiency is greatly improved, and meanwhile the precise star selection effect is also achieved.