336 results about "Absolute positioning" patented technology

The invention relates to a positioning of an assembly 1. An assembly 1 comprises a GNSS receiver 3 and a wireless communication module 2 and may exchange GNSS information with other assemblies 1 using cellular or non-cellular links. Relative positions between assemblies 1 are determined based on GNSS measurements at the assemblies 1. An API 70 supports a communication between a GNSS receiver 3 and a wireless communication module 2. A positioning is made controllable by a user interface 122. A positioning server 4, 6 may forward information from one assembly 1 to the other or take care of the position computations for assemblies 1. An absolute positioning is enabled by means of a GNSS receiver 7 arranged at a known location and coupled to such a server 4. A network of positioning servers enables an information exchange between positioning servers 4, 5, 6.

This invention relates to a kind of aptitude automobile assistance guidance and automatism double with assistance driving system. On the foundation of GPS position finder and vision position finder, with a bran-new way to realize automobile absolute positioning, automobile relative positioning, electronic map update and self-command, automobile drive trace plan and automobile automatism double with assistance drive. The invention not only can realize automobile assistance guidance in given or unknown environment, also can realize safe automatic drive or assistance steer. Whereas vehicle outer driver could made choice of a series of automatic drive mission, this invention indirectly supply a kind of active form guard against theft technology, so on occasions of automobile lost, owner could long-distance drive car back.

The invention discloses a method for realizing a dynamic virtual keyboard, which comprises the following steps: establishing and storing information of relations between key positions and corresponding reference key positions; and acquiring information of key stroke positions, wherein the position relation information is used for determining the input characters after identifying position information when fingers tap the keyboard to input characters. The invention also provides a corresponding device and an input method. According to the invention, the positioning can be realized through puretouch in the virtual keyboard without absolute positioning of the original virtual keyboard, thereby enhancing the operation efficiency. Different keyboard parameters can be customized for different users, so that the keyboard is more suitable for the user; and therefore, the invention is a favorable engineering design for human bodies. The keyboard has the advantages of simple operation and convenient use.

The invention discloses a transformer substation patrol robot based on multi-sensor data fusion picture composition and a method thereof. The transformer substation patrol robot comprises a robot moving platform, wherein an industrial control machine, a speedometer, a speed measuring sensor, a vision acquisition device and a laser radar are arranged on the robot moving platform; the industrial control machine is connected with a journey calculation device, the vision acquisition device and the laser radar respectively; the journey calculation device is connected with the speed measuring sensor. The transformer substation patrol robot has the beneficial effects that the vision image processing position and the laser radar synchronization positioning and map establishment are two decision positioning modes, journey calculation device track plotting is a relative positioning mode, combined action of the two absolute positioning modes in picture composition is successfully achieved, the relative positioning mode is corrected by using the absolute positioning modes, and continuous correction of the journey calculation device is realized.

Systems and methods for providing a design interface that allows a user to design a webpage through a drag-and-drop method are described. In some cases, the interface allows the user to place content within the webpage using an absolute positioning technique. In such a technique, the user can place content in any position in the webpage, including overlapping other content, and the interface will automatically update the positioning data into the webpage's definition files. Additionally, in some cases, the interface automatically pushes content to a server in near real time. While in some instances the design interface is client-based, in preferred instances, the design interface is network based.

The invention discloses a robot accuracy compensation method synthesizing a pose error model and rigidity compensation. The method comprises the following steps: step 1, establishing a robot motion model according to structural parameter of a robot; step 2, establishing a robot error model; step 3, in a robot working space, randomly giving a target pose point, and when a tail end of the robot moves a designated point, recording a joint angle at the moment; step 4, using a position measuring instrument to measure actual coordinates Pa of the given target pose point; step 5, using a least square method to recognize an error parameter; step 6, applying a load at the tail end of the robot, measuring the deformation amount of the robot, then returning to step 3, compensating a re-recognized structural error for the motion model again, thereby eliminating the pose error of the tail end due to the deformation caused by the load, and meanwhile, data of the deformation amount caused by the load is stored in a database for later accuracy compensation. According to the invention, the absolute positioning accuracy of the robot can be improved remarkably, and high simplicity and high efficiency are realized.

A method, system and apparatus for viewing and imaging an underwater structure from a submersible platform, navigating along the structure and constructing a map of the structure in the forms of a photo-mosaic and a 3-D structural map. The system can include a submersible platform, at least two cameras coupled to the submersible platform, and stereovision matching logic programmed to simulate a frontal view of a target underwater structure from a fixed distance based upon an oblique view of the target underwater structure obtained by the cameras from a variable distance. The cameras can be forward or side mounted to the submersible platform and can include optical cameras, acoustical cameras or both. Preferably, the submersible platform can be a remotely operated vehicle (ROV), or an autonomous underwater vehicle (AUV). Finally, the system further can include absolute positioning sensors.

The invention relates to a relative navigation method for autonomous rendezvous of a space non-operative target. The relative navigation method comprises: taking a spacecraft relative orbital motion equation as a navigation state equation, taking relative visual angle information measured by a spaceborne CCD (Charge Coupled Device) camera, absolute positioning information output by a GNSS (Global Navigation Satellite System) receiver and relative distance rho information constructed by geometrical constraint as measure quantities, and employing UKF (Unscented kalman filter) filtering algorithm to accurately estimate the relative position and relative speed between a service satellite and the space non-operative target. The relative navigation method is applicable to relative navigation for remote autonomous rendezvous of space non-operative targets. The relative navigation method has the beneficial effects that: under the conditions that the service satellite has no special orbital maneuver and the number of the service satellite is not increased, the high-accuracy relative navigation for medium / long distance autonomous rendezvous of the space non-operative targets with the service satellite can be realized by only depending on the spaceborne CCD camera and the absolute positioning equipment GNSS receiver of the singular service satellite.

The invention provides a geological environment information-fused absolute positioning device and method for a coal cutter, which belongs to absolute positioning devices and methods for coal cutters. An explosion-proof enclosure is fixed on the body of a coal cutter. A coal cutter positioning device is arranged in and connected with the explosion-proof enclosure and comprises an aspect sensor, an inertial measurement unit, a vibration sensor, an ultra wide band (UWB) wireless positioning system sensor and a positioning data microprocessing unit, wherein the output ends of the aspect sensor, the inertial measurement unit, the vibration sensor, the UWB wireless positioning system sensor and a shaft encoder are connected with the input end of the positioning data microprocessing unit, the output end of the positioning data microprocessing unit is connected with the input end of an industrial control computer through a data output interface, and positioning labels are arranged on the coal wall of a roadway and a hydraulic support at an equal interval. The invention has the following advantages: geological environment information and the coal cutter are integrated in a same space-time system, the operation route of the coal cutter is planned, footage and mining height of the coal cutter are adjusted, situations possibly incurring danger are avoided in advance, and the other advantages of practicality, safety, reliability and convenient installation and operation are obtained.

A method, system and apparatus for viewing and imaging an underwater structure from a submersible platform, navigating along the structure and constructing a map of the structure in the forms of a photo-mosaic and a 3-D structural map. The system can include a submersible platform, at least two cameras coupled to the submersible platform, and stereovision matching logic programmed to simulate a frontal view of a target underwater structure from a fixed distance based upon an oblique view of the target underwater structure obtained by the cameras from a variable distance. The cameras can be forward or side mounted to the submersible platform and can include optical cameras, acoustical cameras or both. Preferably, the submersible platform can be a remotely operated vehicle (ROV), or an autonomous underwater vehicle (AUV). Finally, the system further can include absolute positioning sensors.

The invention discloses a method for compensating positioning errors of a robot based on a deep neural network. The method comprises the following steps: taking theoretical coordinate data of each sampling point and corresponding actual positioning errors as one group of sample data; constructing a robot positioning error prediction model, and training and testing the robot positioning error prediction model by adopting the sample data, wherein the robot positioning error prediction model is used for predicting positioning errors of an inputted target point to obtain a positioning error prediction value; and inputting theoretical pose data to the robot positioning error prediction model to obtain prediction errors and compensating and correcting target point coordinates. According to the method disclosed by the invention, the influence of the position and the pose of a positioning point on the positioning errors is comprehensively considered; and a complex mapping relation between theoretical pose and actual positioning errors of a robot is expressed by using the deep neural network to predict the positioning errors of the target point and compensate the errors. By use of the method disclosed by the invention, absolute positioning precision of the robot can be remarkably improved.

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 relates to a method for realizing indoor positioning based on multi-information fusion. The method comprises the following steps: performing indoor navigation map initialization by a terminal by virtue of a magnetic inductor and a camera; performing positioning system and inertia system initialization by the terminal by adopting local position coordinates; acquiring the angle information of the magnetic inductor and an accelerometer by the terminal, and performing current dead reckoning; performing space absolute position calculation and inertia system feedback correction by the terminal; estimating the current space position according to the dead reckoning information and the space absolute positioning information by the terminal; and starting a path planning algorithm according to the current position information and to-be-reached position information by the terminal, and performing feasible path selection. With the adoption of the method for realizing indoor positioning based on multi-information fusion, multiple positioning methods are comprehensively utilized, interference caused by indoor building structures is effectively reduced, the universality, feasibility and accuracy of the indoor positioning algorithm are improved, and the method has wide application range.

An absolute 2D position-sensing device is usable to measure the position of a first element with respect to a second element. A 2D absolute scale includes an integrated 2D absolute scale pattern extending over the 2D scale area along each measuring axis of the scale. The integrated 2D absolute scale pattern includes a predetermined quasi-random pattern repeatedly interleaved with a plurality of code portions along each axis. Each code portion includes a plurality of code elements indicative of an absolute measurement value. The offset of the quasi-random pattern relative to a readhead of the device is combined with the absolute measurement value to determine an absolute position to a very high resolution over a relatively large 2D range.

The invention belongs to the technical field of navigation and provides an integrated navigation and positioning system and method for a submarine oil and gas pipe detection robot. The integrated navigation and positioning system mainly comprises a differential GPS system, an ultra-short baseline positioning system (USBL), a strapdown inertial navigation system (SINS), a Doppler log (DVL) and thelike. The differential GPS system accurately positions geographic position coordinates of a surface vessel; the ultra-short baseline positioning system determines a three-dimensional vector position of the underwater unmanned aerial vehicle relative to the water surface unmanned ship; the strapdown inertial navigation system detects the real-time course and attitude of the underwater unmanned vehicle; and the Doppler log detects the absolute running speed of the underwater unmanned vehicle. The SINS and the DVL are combined to realize short-time high-precision positioning of the underwater unmanned vehicle, and the differential GPS and the USBL are combined to realize absolute positioning of the underwater unmanned vehicle; the long-endurance and long-voyage high-precision positioning of the underwater unmanned vehicle is realized, and the accurate position information is provided. The invention further provides a combined positioning method of various navigation instruments, and a solution is provided for underwater high-precision combined navigation.

The invention relates to an industrial robot positioning precision calibration method used for improving robot absolute positioning precision. The method comprises the steps that: a robot kinetics model is established; a rotary joint equation is established by using a circumferential method; joint torsion angle parameter values are calculated; the actual pose of a robot end is measured accurately by utilizing a laser tracker; D-H algorithm inversion kinetics equation is improved to obtain geometrical structural parameters; calibration of joint distance parameter values and calibration of joint offset are realized, and thereby first calibration is completed. Error correction is carried out on D-H parameters based on first calibration results, and if positioning precision can not meet requirements, second calibration can be carried out by substituting parameter correction values, instead of theoretical parameter values, into the kinetics equation. Absolute positioning precision of the robot is improved with the calibration method, which is proved in experiments. According to the invention, the calibration method is advantaged in that the method is simple and practical and introduces small external errors.

The invention discloses a robot precision compensation method for variable-parameter error recognition and belongs to the technical field of robot inverse calibration. A variable-parameter error module is provided, errors of pose points of a robot in different spaces are sampled through a laser tracker, a plurality of points which are closest to an expected pose point are sought in the near area range according to the space where the expected pose point is located, and an improved Levenberg-Marquardt damp iterative least square method algorithm is used for solving the global convergent solution of the parameter error corresponding to the expected pose point, and therefore the practical parameter of the expected pose point is solved. The pose point at which the robot should arrive practically is solved through the practical parameter of the expected pose point and through inverse kinematics of the expected pose point, and the absolute positioning precision compensation of the robot at the pose point is achieved. The robot precision compensation method can obviously improve the absolute positioning precision of the robot and can be applied to the field where the requirement for robot precision is high.

An embodiment of the invention provides a method for calibrating a phase center of a receiver antenna and an apparatus thereof. The method comprises the following steps: measuring and obtaining far field phase directional diagram data of a receiver antenna and taking the far field phase directional diagram data as input test data; establishing mathematical models of Phrase Center Offset (PCO) andPhase Center Variation (PCV) of the receiver antenna by utilizing the input test data; exporting PCO and PCV value calculation models of the antenna by utilizing a least square method, and carrying out numerical solution on the PCO and PCV value calculation models by utilizing a linear equation group solution or polynomial fitting regression analysis method to obtain PCO and PCV values of the antenna. According to the embodiment of the invention, absolute positioning (phase) of PCO and PCV of the receiver antenna can be obtained, and a measurement error brought by antenna phase center change can be accurately corrected to raise measurement precision of a GNSS (Global Navigation Satellite System) receiver.

The invention discloses a kinematic calibration system and method for an industrial robot. The kinematic calibration system comprises measurement targets placed in a working area, a robot and an end effector arranged on the robot, as well as a computer, wherein the computer is provided with a first receiving module for reading joint angle data of the robot, a second receiving module for reading detection data of three displacement sensors, a first computation module for computing the nominal coordinate positions of the measurement targets according to data of both the first receiving module and the second receiving module, and a second computation module for computing compensation data of the robot according to the difference between the nominal distance of the measurement targets and the actual distance. The kinematic calibration system can not only correct kinematic parameters of the robot to improve the absolute positioning accuracy of operation but also calibrate the relative position relationship between a workpiece and a base of the robot, is very low in cost and simple and convenient to operate, and can be widely applied to middle and small-sized enterprises.

The invention discloses a nine degrees of freedom (DOFs) mixed connection robot with driving and driven combination, comprising a serial mechanism and a parallel mechanism. The serial mechanism is a driven mechanism, which comprises a base, a large arm, a small arm and a movable joint which are sequentially articulated and has five DOFs; the parallel mechanism is a driving mechanism and comprises a dual plane static platform and a needle frame; the dual plane static platform is connected with a movable joint; the upper part and the lower part of the needle frame are respectively connected with the upper plane static platform and the lower plane static platform of the dual plane static platform through a movable device and has four DOFs. The invention has the advantages of strong flexibility, small accumulated errors of the joint, a plurality of gestures which can be realized by an end surgical instrument, comparatively high smartness and absolute positioning precision, and being suitable for carrying out the surgery under a limited surgery space such as a CT, etc.

The invention discloses a method for precisely positioning a fault of an optical cable by utilizing rayleigh scattering and coherent optical time domain reflection technology. The method comprises the following steps of utilizing the coherent optical time domain reflection and rayleigh scattering technology, wherein rayleigh scattered light carries each distributed point information of the optical cable according to the optical time domain reflection principle, and the distributed point information of the optical cable comprises strength information caused by loss and phase information of an interferometer based on Sagnac ring principle caused by external disturbance; testing the positioning of the optical cable by combining an ultrasonic vibrator with a Rayleigh scattered optical time domain reflectometer, finding out the position of a vibration point, re-utilizing a method of combining absolute positioning with relative positioning, and carrying out successive approximation to finally realize precise positioning of the optical cable. Compared with the prior art, the method for precisely positioning the fault of the optical cable by utilizing the rayleigh scattering and coherent optical time domain reflection technology, disclosed by the invention, has the advantages of simplicity in operation, small calculated amount, shortened time for finding out a fault point and reduced maintenance cost.

Alignment of a single-mode polymer waveguide (PWG) array fabricated on a polymer with a silicon waveguide (SiWG) array fabricated on a silicon (Si) chip and thereby realizing an adiabatic coupling. A stub and a groove are fabricated with high precision and made to function as the absolute positioning reference to provide a self-alignment according to the groove and the stub. In a PWG patterning by photolithography, plural masks are used, but the fabrication is made along the alignment base line for mask and thus a high precision is achieved with respect to error δx. In a PWG patterning by nano imprint, a high precision in the fabrication is also achieved with respect to error δx and δy.

The invention provides a pulsar navigation method with a single detector, which comprises the steps that an X-ray detector on a spacecraft receives X-ray photons from four millisecond pulsars one by one and measures times when the X-ray photons arrive at the X-ray detector; the arrival times are saved as original observation signals; a doppler effect, a relativistic effect and Shapiro delay correction are performed; the arrival time of a pulse profile datum point is obtained; an observation equation of each corresponding pulsar is formed; and independent timing and positioning of the spacecraft are realized after resolving. The pulsar navigation method can accomplish absolute positioning of the pulsars with the single detector, and the positioning accuracy is high without secular error accumulation.

The invention discloses a three-dimensional laser scanner positioning device which comprises a three-dimensional laser scanner positioning base and two positioning prisms. The two positioning prisms are arranged on the two sides of the three-dimensional laser scanner positioning base through positioning prism connecting rods respectively, wherein the positioning prism connecting rods are fixed to the three-dimensional laser scanner positioning base, and each positioning prism is arranged at one end of the corresponding positioning prism connecting rod in a screw connection mode. The invention further provides a three-dimensional laser scanner laser point cloud absolute positioning method. According to the three-dimensional laser scanner laser point cloud absolute positioning method, on the premise that position and direction transmission accuracy can be guaranteed, the operational process of field positioning data acquisition is simplified, automatic data matching and calculation can be conducted rapidly and conveniently through software, and splicing and absolute positioning of massive point cloud data obtained by a three-dimensional laser scanner are no longer limited by the performance of a computer. In addition, three-dimensional laser point cloud data consistent with an engineering coordinate system of a user can be directly acquired, so that usage is more convenient, and positioning is more accurate and rapid.

The invention discloses a radiation electromagnetic compatibility test method for an electric propulsion system and on-star radio frequency equipment. Firstly, an ion thruster is arranged in a wave transmitting secondary cabin; the wave transmitting secondary cabin is connected with a main vacuum tank; and electromagnetic radiation interference produced by a plume of the ion thruster is emitted out of the main vacuum tank through the wave transmitting secondary cabin. Each equipment and antenna are connected. When the electric propulsion system is started to normally work, both uplink level and downlink level of a responder are weak levels; conditions of uplink instruction reception and downlink remote metering error code are checked; if the instruction reception is correct, the code ratemeets the requirement and the responder is not interfered; remote metering parameters for a GPS (Global Positioning System) receiver are observed, and absolute positioning condition and relative positioning condition are determined; and if the remote metering is correct and the positioning is normal, the GPS receiver is not interfered.

A screwdriver bit structure having auxiliary positioning function includes a screwdriver bit of which one end is a circular cylinder and having a driving portion that is any one of a slotted type, a cross type and a polygon type. Another end of the circular cylinder is a fitting portion that is buckled to the screwdriver bar. The features of the invention are that the circular cylinder has a concave ring groove near the front of the driving portion. An auxiliary sheath is a long tube body that has a tube hole. The internal diameter of the tube hole is slightly larger than the periphery of the circular cylinder. A protruding ring is disposed to an internal wall of the tube hole. Accordingly, the tube hole of the auxiliary sheath can cover the periphery of the circular cylinder to allow the screwdriver bit to achieve the absolute positioning.

Using Brillouin reflectance technique in optical time domain adopted in the invention picks up strain information carried by Brillouin frequency drift caused by change of position information and temperature change carried in power of reflected light. Using method of combining absolute positioning with relative positioning makes successive approximation till exact location is determined finally. Comparing with prior art, the invention has features of omitting tedious calculation and additional data log, shortening time for finding out fault point of optical cable line so as to save cost. The method is general suitable method for positioning fault point applicable to optical cable line in position fixing direct burying type, aerial cable or duct optical cable.

The invention discloses a method for locating an autonomous vehicle and an automobile computer. A specific embodiment of the method includes: acquiring external environment information, position information and attitude information of the autonomous vehicle; determining absolute positioning information of the autonomous vehicle at the current moment based on the external environment information, the position information, and a high-definition map; performing motion compensation based on the external environment information and the attitude information so as to obtain the relative positioning information of the autonomous vehicle at the current moment; combining the absolute positioning information and the relative positioning information to obtain the self-positioning information of the autonomous vehicle at the current moment. This embodiment improves the accuracy of the self-positioning information and improves the accuracy of the self-positioning information output when the communication of a system is temporarily blocked or hindered.

The invention discloses a method for measuring and compensating absolute positioning accuracy of a precise positioning platform. The method comprises the following specific steps: putting a mask plate on a photo-etching device with high known positioning accuracy, exposing a plurality of regularly arranged Marks on the photo-etching device, measuring a positioning platform with poor accuracy by virtue of the mark plate, a CCD imaging technology and an image matching technology after etching, and compensating a measured error to a platform controller so as to improve the positioning accuracy of the platform. The method is used for measuring and compensating the error by exposing the marks on the mask plate; compared with a method of measurement and compensation with a laser interferometer in the prior art, the method is low in cost and easy to operate; when the image matching method is used for measuring and compensating, the measurement accuracy is high, and the error is 1 / 20 pixel, namely 4.65 microns / 22.3 / 20 which is about 10nm; the method is capable of effectively compensating and calibrating the two-dimensional positioning accuracy of the positioning platform.

The invention discloses a system and a method for correcting a robot speedometer based on visual sense. The system comprises a mobile robot platform, an industrial personal computer, a travel mileage calculating device and a visual sense detection device, wherein the visual sense detection device is arranged at the front end of the mobile robot, preset mark line information on the ground is collected, collected mark line images are transmitted to the industrial personal computer, the industrial personal computer is used for determining the course angle information of a mobile robot relative to a mark line according to the mark line images, the industrial personal computer is connected to the travel mileage calculating device, the travel mileage calculating device is used for receiving signals of a velocity sensor, the track is calculated, and the industrial personal computer is used for correcting the travel mileage calculating device according to the calculated track and the course angle information of the mobile robot relative to the mark line. Through the combination of an absolute positioning manner of visual sense positioning and a relative positioning manner of speedometer track plotting, the common problem of accumulated error in the speedometer track plotting process is effectively solved.