340 results about "Adaptive tracking" patented technology

A Switch Node Assisted Linear architecture, including a linear amplifier in parallel with a switched converter, is configurable in two tracking modes: (a) a SMAL regulator in which the amplifier sets toad voltage with an envelope tracking bandwidth, and the switched converter is configured for current assist, and (b) a Switched Mode Power Supply configuration in which the amplifier is switch-decoupled, and the switcher circuit is switched configured with an output capacitor, operable as an SMPS providing load voltage with an adaptive tracking bandwidth that is less than the envelope tracking bandwidth. Staged switching effects substantially seamless transitions between tracking modes, with the amplifier holding the load voltage at a substantially constant envelope tracking voltage (CVET): (a) for ET-AT transitions, the CVET mode enables pre-charging the output capacitor to a target AT voltage, prior to switch-decoupling the amplifier; and (b) for AT-ET transitions, CVET mode enables discharging the output capacitor.

The invention discloses a transmitter and a transmitter signal processing method. The transmitter comprises a pre-distortion processing unit, a digital-analog conversion unit, a radio frequency unit, a power amplifier, a coupler, a feedback radio frequency unit, an analog-digital conversion unit, an adaptive tracking algorithm unit, a lookup table storage unit and a lookup table control unit; the lookup table control unit is used for detecting input digital baseband signals, and sending an update signal to the pre-distortion processing unit when a predestinated frame of input digital baseband signals ends; the pre-distortion processing unit takes a digital pre-distortion parameter out of the lookup table storage unit according to the update signal, and carries out pre-distortion on the input digital baseband signal according to the taken out digital pre-distortion parameter. The transmitter and the transmitter signal processing method ensure that signals output by the pre-distortion processing unit can not generate jumps, thus improving the pre-distortion effect of the input digital baseband signal, namely stability and reliability.

The invention discloses a self-adaptive tracking loop, which comprises an unscented Kalman filter (UKF), an observation noise variance matrix detection module, a fuzzy inference system, an unscented transformation (UT) scale factor regulation module, a state compensator, a carrier wave numerical controlled oscillator (NCO), scale factors, a code NCO, an integration and zero-clearing module, a code loop phase discriminator and a second order code loop filter, and additionally discloses an implementation method for the self-adaptive tracking loop. The implementation method comprises a step 1 ofsignal correlation, integration and zero clearing; a step 2 of code phase tracking; a step 3 of UKF modeling; a step 4 of observation noise variance matrix estimation; a step 5 of process noise variance matrix estimation; a step 6 of UT scale factor regulation; a step 7 of state estimation deviation compensation; and a step 8 of assistance of the carrier wave NCO in the code NCO. According to theself-adaptive tracking loop, the UKF, the observation noise variance matrix detection module and the fuzzy inference system are designed in the carrier tracking loop, so not only can a contradiction between thermal noise vibration in the tracking loop and a dynamic stress error be solved, but a process noise variance matrix and an observation noise variance matrix can be regulated in a self-adaptive manner according to changes of the external environment, and thereby the self-adaptive ability of the tracking loop under complex changeable environments of high dynamic, strong interference, and the like is effectively improved.

The invention relates to a standing type display interface self-adaption tracking regulating device and method. The standing type display interface self-adaption tracking regulating device comprises a display, a camera, an auxiliary light source, a microphone collector, a display direction automatic regulating device, a regulating mechanism controller and a computer. The display, the auxiliary light source, the camera and the microphone collector are installed on one claw disk of the display direction automatic regulating device. An output of the camera is connected to the computer, and an output of the computer is connected with a rotating platform motor in the display direction automatic regulating device, a double-shaft motor, a first motor and a second motor through the regulating mechanism controller. The camera collects user face image information or the microphone collector collects sound information, control signals are output to the regulating mechanism controller after the information is processed through the computer, and the four motors are controlled through the regulating mechanism controller. Horizontal movement, vertical pitching and left-and-right deflection changes of a display interface are regulated comprehensively, and the standing type display interface self-adaption tracking regulating device and method can actually adapt to automatic tracking under different gestures and meet the requirements of different users.

The invention discloses a motion planning-based adaptive control method for a bridge crane. The method comprises the following steps of: formulating a motion planning, and designing an expected position-time curve for a crane trolley, wherein if the trolley moves along the curve, the trolley can reach a target position relatively quickly, and the load swing angle is in a small acceptable range; meanwhile, adjusting parameters of the trolley aiming at different conditions and requirements so that the maximum transport speed and the acceleration performance of the trolley meet the requirements and constraints of actual working conditions; and designing an adaptive tracking controller, and acquiring a control output by measuring trolley position, speed, load swing angle and angular speed on line in real time. When the resistance parameters such as load quality, sling length, friction and the like of the crane trolley are unknown, the controller can well track the set motion curve, and finally the error, swing angle and control force are fully kept in a small range and finally converged to 0. Therefore, the invention has the advantages of the locus planning and adaptive tracking control method.

The invention discloses an adaptive tracking control method of paths of a comprehensive automatic guided vehicle. The adaptive tracking control method is adopted aiming at the running paths of different shapes, wherein the smoothness of movement of a vehicle body is improved by a free state tracking control method, and the position and the attitude of the vehicle body are accurately adjusted by adopting a comprehensive tracking control method.

The invention, which belongs to the robot system control field, relates to a distributed adaptive-neural-network continuous tracking control method of a multi-robot system. According to the existing coordinated tracking and controlling method of the multi-robot system, problems of parameter uncertainty and external interference existence in the multi-robot system exist. The provided method comprises: under the circumstances that only parts of followers can obtain dynamic navigator state information, a distributed observer design is implemented with limitation of communication tine delay existence, so that all followers can obtain the dynamic navigator state information; and with consideration of the parameter uncertainty and external interference existence in the system, controlling is carried out by using a distributed adaptive tracking control expression designed based on two neural networks, so that the approximate error is close to zero. In addition, the control algorithm of the distributed adaptive tracking control expression is in a continuous control mode, no buffet is caused at the system and the great practical application value is created. Besides, validity of the control algorithm is verified by the simulation experiment.

A system and a method are disclosed for identifying pixels belonging to moving objects in a series of images by using a signed difference operation. A first signed difference is determined between a first image and a second image. A second signed difference is determined between a second image and a third image. Pixels that change from a positive sign in the first signed difference to a negative sign in the second signed difference belong to the moving object in the second image.

The invention discloses a video-based traffic information acquisition method. The method comprises the following steps: based on the image processing and the mode identification theory, setting a detection region and carrying out geometric correction, extracting the foreground object by Gaussian Mixture Model, identifying a target by a separator, matching the identification result with the foreground object, eliminating the detected false-alarm, fusing the particle filter algorithm and the vehicle detection algorithm to achieve the self-adaptive track of vehicles, achieving the effective target increase and target fusion on basis of the detection result, and finally achieving the calculation of parameters, such as flow statistics, speed, intensity, time occupancy ratio and the like. Furthermore, according to the detection track result; the microscopic traffic analysis on the target, such as the detection on illegally parked vehicles, retrogradation, and overspeed can be also carried out. At the same time, the traffic status, such as traffic congestion detection can be judged; and the queue length calculation under the congestion condition can be calculated. The method has the advantages of high accuracy and low computing complexity and can meet the requirement of the actual application.

A system and a method are disclosed for identifying pixels belonging to moving objects in a series of images by using a signed difference operation. A first signed difference is determined between a first image and a second image. A second signed difference is determined between a second image and a third image. Pixels that change from a positive sign in the first signed difference to a negative sign in the second signed difference belong to the moving object in the second image.

This invention relates to the field of Inertial Navigation Systems (INS) and satellite navigation systems such as the Global Positioning System (GPS) and in particular relates to methods of integrating GPS and INS data in order to provide more accurate navigation solutions. The invention provides a method of improving the accuracy of a tightly coupled integrated INS and satellite radio navigation system in cases where the satellite navigation receiver has adaptive tracking loop bandwidths.

The invention discloses an adaptive tracking control method of a multi-mobile-robot system under the condition of attitude unknown. The method includes the following steps of establishing a model for each mobile robot in the multi-mobile-robot system; establishing an error model (as shown in the description) with non-linear disturbance of a follower f and a navigator r, wherein in the multi-mobile-robot system, each mobile robot obtains the information of other mobile robots to carry out non-linear disturbance assessment to obtain the non-linear disturbance estimate value of the mobile robot; establishing an adaptive law (as shown in the description) of non-linear disturbance coefficients; establishing a second-order observer for the trigonometric function of the error angle of the follower and the navigator; and establishing an adaptive control law for the follower based on the observer through the combination of the observer and the adaptive law to perform tracking control of the follower and to make the follower realize the tracking control of the navigator.

The invention discloses an inversing global SMFC (sliding mode fuzzy control) method for a micro-gyroscope based on a neural network. An inversing global SMFC system based on the neural network consists of an inversing global sliding mode fuzzy controller, a neural network dynamic characteristic estimator, and a fuzzy uncertainty estimator. Global sliding-mode control can iron out a defect that an arrival mode in the conventional sliding-mode control does not have robustness, speeds up system response, and enables a system to have robustness in the whole process of response. The method enables a lyapunov function of the system and the design process of a controller to be systematic and structuralized through inverse design during the inversing control. Fuzzy control is used for approximating a switching function term, and a switching term in sliding-mode control is converted into continuous fuzzy control output, thereby weakening vibration in sliding-mode control, and achieving a stronger capability of adaptive tracking. Therefore, the method improves the transient performance and robustness of a sliding-mode control system, estimates the unknown dynamic characteristics of the micro-gyroscope, and reduces the vibration in the control of a sliding-mode control structure.

The video moving target self-adaptive tracking method based on multiple characteristic information fusion can be extensively used in computer vision, image processing and mode identification field. Said method includes the following steps: firstly, extracting characteristic information of target, then utilizing fuzzy logic method to make self-adaptive fusion of various characteristic informations, using fused information to describe observation information of target, finally adopting genetic algorithm with heuristic search function to find out candidate target most similar to target template observation information in current image target candidate zone.

A method, apparatus, and computer usable program code for managing trace records. A set of traces is generated for a set of processors. A trace is generated in the set of traces for each processor within the set of processors. A record of the frequency change is stored in the set of traces in response to a frequency change in a processor within the set of processors. Trace records are combined in the set of traces using the record of the frequency change to determine a correct order for the records.

The invented method for accurate tracking the maneuvering target based on neural net adopts double parallel structure being composed of two filters. The difference of states between the parallel double filters is picked-up as the character vector of the state of target to be estimate, which is input to the neutral net system. Based on the character vector input, the neural net system, which has been trained off-line before tracking estimation, outputs the predicted value of the acceleration variance of the target to be estimated at present time. Adaptive filtering the said predicted value based on the current statistical model obtains the fast and accurate tracking the target to be estimate. The invented method possesses favorable adaptive tracking ability.

A method, apparatus, and computer usable program code for managing trace records. A set of traces is generated for a set of processors. A trace is generated in the set of traces for each processor within the set of processors. A record of the frequency change is stored in the set of traces in response to a frequency change in a processor within the set of processors. Trace records are combined in the set of traces using the record of the frequency change to determine a correct order for the records.

The invention discloses a centralized MIMO radar wave shape online designing method mainly aiming to solve the problems that a transmitting direction diagram can not be designed on line and the wave shape of a transmitted signal can not be synthesized on line by utilizing the traditional methods. The method comprises the following steps of: (1) carrying out amplitude weighting on an MIMO radar array, and constructing a fundamental wave beam bank with lower airspace sidelobe off line; (2) based on sequence quadratic programming, constructing various proportions of orthotropic fundamental wave shape banks which have low autocorrelation peak sidelobe level and low peak cross-correlation level off line; (3) solving the transmitting proportion of fundamental wave beams synthetizing the given transmitting direction diagram on line by utilizing linear programming; (4) selecting the fundamental wave shapes meeting the demand from the orthotropic fundamental wave shape banks according to the transmitting proportion of the fundamental wave beams; and (5) respectively synthetizing the transmitting direction diagram and a transmitting signal wave shape by the selected fundamental wave beams and the fundamental wave shapes. Compared with the traditional wave shape designing method, the invention can realize the online wave shape design and can be used for the self-adaption tracking of an MIMO radar on a moving target.

The invention belongs to a nondestructive detection technology and relates to an industrial scale ultrasonic automatic scanning and imaging detection device used for large-scale structures made of composite materials and metal materials in the fields of aviation, aerospace, electronics, weapons, ships, metallurgy, iron and steel, transportation, construction and the like. The detection device comprises an ultrasonic automatic scanning system, an ultrasonic automatic scanning control and imaging system and a multi-channel ultrasonic system. The design according to the invention adopts a multi-axis parallel numeric control upward floating type super-static steady scanning mechanism and an ultrasonic flexible self-adaptive tracking array acoustic scanning technology, thereby greatly improving the ultrasonic automatic scanning and imaging detection efficiency and the imaging quality of the large-scale structures, realizing the industrial scale high-efficient ultrasonic automatic scanning and imaging detection of the large-scale structures made of the composite materials and the like in different specifications and enabling the detection resolution and a surface blind zone to achieve 0.13mm; and when 20 channels are detected, the efficiency is improved by at least 50 times compared with the manual scanning detection efficiency, and is improved by 20 times compared with the traditional single-channel ultrasonic automatic scanning detection.

The invention discloses a frequency deviation self-adaptive precise compensation system and a frequency deviation self-adaptive precise compensation method in coherence optical communication, which relate to the field of the frequency deviation compensation in the coherence optical communication. The method comprises the following steps of adopting a tunable light source as a local oscillator receiving light source, outputting local oscillator light with a designated wavelength, utilizing the local oscillator light to conduct coherence reception and low-pass filter with a transmission signal, conducting digital sampling on the filtered signal, and solving the energy of the sampled signal by utilizing a numerical algorithm; recording an energy value corresponding to the wavelength, completing one-time scanning, simultaneously changing the wavelength value and repeating the previous steps to obtain a wavelength-energy scanning curve, and determining an initial wavelength of the transmission signal according to a position of an extreme value point on the curve; and dynamically adjusting the local oscillator wavelength value by self-adaptively detecting the energy value under the condition of the initial wavelength, so that the frequency difference value is minimized. According to the system and the method, the precise compensation of a frequency deviation value in the coherence reception is completed through wavelength scanning of the light source, determination of the extreme value and the self-adaptive tracking process, so that the performance of the entire coherence receiving system is improved.

The invention discloses a welding seam tracking control device and method based on a cross laser device. The welding seam tracking control device is characterized by comprising a four-freedom-degree robot, a visual sensor and an integrated control cabinet; the four-freedom-degree robot comprises a working platform, a moving module, a Y-axis stepping motor, a bracket and a welding gun; the Y-axis stepping motor is fixed to a Z-axis slide table of a Z-axial moving module body, and a rotary shaft of the Y-axis stepping motor is parallel to the moving direction of a Y-axial moving module body; the bracket is used for fixing the visual sensor and the welding gun; the visual sensor comprises a camera and the cross laser device; and cross laser rays emitted by the cross laser device are irradiated on a to-be-welded workpiece and shot by the camera. The welding seam tracking control method is used for conducting vision measurement on fillet welding seams, three-dimensional position information of the welding seams, the inclined angle of the plane of the welded workpiece and the directions of the welding seams can be obtained accurately, and the welding gun can conduct high-precision self-adapting tracking control over the welding seams.

The invention provides an adaptive tracking method for the sea-surface target scale of an unmanned ship in the high sea state based coherent filtering, especially based on a kernel coherent filteringKCF algorithm, and aims at solving the problem of high seat state level, wide target scale change and low resolution in common sea-surface target tracking of the water surface unmanned ship. In the high sea state, sea skyline detection helps realize adaptive displacement and zooming of a target search area, alleviate a boundary effect of coherent filtering, and cope with severe jittering of a target in the scene; and optimization is made in the aspects including target preprocessing, characteristic selection and scale estimation to improve the robustness of the algorithm and solve problems including change of the target scale and low resolution. Compared with coherent filtering algorithms that can meet the real-time tracking requirement of the unmanned ship in recent years, it is shown that the algorithm of the invention has advantages in the aspect of sea-surface target tracking, especially in the high sea state.

The invention discloses an object matching and tracking system based on multiple camera information fusion and a method thereof. The system comprises a single camera object detection module, a single camera object tracking module, a single camera object key point feature extraction module, a multiple camera object matching module and an object model online updating module. The method is characterized by: establishing a model corresponding to an object in the system; based on two features of a local color and a direction histogram respectively, calculating a similarity of the object and the model; finally, carrying out decision level fusion and taking a fusion result as a basis of the object matching. The matched object feature is used to update the model and realize adaptive tracking of the object. By using the system and the method of the invention, robustness of the multiple camera object matching to a shield, environment, illumination, an angle and the like can be improved. The system and the method of the invention are helpful to realize the robust cooperation tracking of the multiple camera video monitoring system to the object.

The invention discloses a target scale adaptive tracking method based on OpenCV. The method comprises the following steps of: positioning and tracking a target by utilizing a mean shift algorithm; extracting target features by using SIFT (Scale Invariant Feature Transform) every 6 frames; carrying out feature matching on the template image and the tracking real-time image, and determining a mapping relation between matching points through affine transformation to obtain a scale transformation factor, thereby updating the size of a candidate region target template in the real-time image, and solving the problem that tracking is easy to lose or track mistakenly because the scale of a moving target is continuously increased.

The invention discloses an elastic body aircraft adaptive constrained tracking control indirect method. The objective of the invention is to solve the technical problem of low possibility of realizing adaptive tracking of reference instruction signals when an elastic body aircraft has input and state saturation constraints. The method includes the following steps that: a feedforward system is designed based on an instruction former, and tracked signals and the pulses of the former are subjected to convolution, so that new forming signals can be obtained and are adopted as the input of a subsequent feedback system; the design of the feedback system is decomposed into a velocity subsystem, a height subsystem and an elasticity subsystem, and the influence of elastic modality in rigid body dynamic is considered as elastic interference, and uncertain parameters and an external disturbance introduction nominal model are used in combination, and therefore, a controlled system can be obtained; and a saturation constrained adaptive control method can be realized for the controlled system through utilizing an instruction filter and an auxiliary system, and tracking for the forming signals in the feedforward system can be realized, and closed-loop system signals can be uniformly and ultimately bounded, and suppression on elastic modality deformation and vibration can be realized.

The invention discloses an adaptive tracking method for a receiver in a high-dynamic environment. According to the adaptive tracking method, bandwidths of loop filters for a frequency-locked loop, a phase-locked loop and an auxiliary phase-locked loop of the frequency-locked loop are adjusted by detecting the dynamic property and the signal-to-noise property of tracking signals of the receiver in real time, so that optimum values of the bandwidths are kept; meanwhile, a dynamic application range of a tracking loop is widened by adjusting an auxiliary coefficient of the auxiliary phase-locked loop of the frequency-locked loop, so that stability of the tracking loop in the high-dynamic environment is improved. The adaptive tracking method for the receiver in the high-dynamic environment has the advantages that the adaptive tracking method is capable of enabling the receiver to adjust own parameters timely in a dynamic change environment, errors of tracking satellite navigation signals are kept within a small range, and the shortcomings of large tracking errors and proneness to lock loss of the receiver in the prior art are overcome.

A method is presented utilizing a holographic approach for linear phase conjugation to compensate for atmosphere-induce aberrations that severely limit laser performance. In an effort to improve beam quality, fine aim point control, and laser energy delivered to the target, aberration compensation is accomplished using holographic adaptive tracking that utilizes a spatial light modulator as a dynamic wavefront-reversing element to undo aberrations induced by the atmosphere, platform motion, or both. This aberration compensation technique results in a high fidelity, near-diffraction limited laser beam delivered to the target.

The invention discloses a moving platform adaptive expansion target tracking system and method based on a laser radar. The system comprises global positioning, local map generation, target detection and identification, motion target classification and adaptive tracking modules, wherein the global positioning module is used for acquiring the real-time position and the motion state information of amoving platform, the local map generation module is used for generating a local map corresponding to the present position according to laser radar data, the target detection and identification moduleis used for carrying out clustering and characteristic extraction processing of the local map at the present time and detecting and identifying a motion target, the motion target classification moduleis used for classifying targets into an expansion target and a point target, and the adaptive tracking module is used for realizing hybrid tracking of the expansion target and the point target at thesame time and realizing same target adaptive tracking model switching at different times. The system is advantaged in that extended target tracking is performed to enhance the target tracking effect,and mobile platform environment perceptual performance and adaptation capability are improved.

The invention discloses an object scale self-adaption tracking method based on a spatial-temporal model, and the method comprises the following steps: beginning a video, reading in a first frame of image, manually assigning the rectangle position of a tracked object; then based on context airspace, initializing the spatial-temporal model and a multiscale history object template library; next reading in a next frame of image, building the spatial-temporal model by iteration, calculating a confidence map, and estimating an object center position; then according to the history object template library, judging a template optimal scale, determining the rectangle position of the object, completing tracking of the current frame of object, and updating scale parameters of the spatial-temporal model and the multiscale history object template library; finally detecting whether the video is finished or not, continuously reading in a next frame if the video is not finished, or completing tracking. By adopting the object scale self-adaption tracking method, the object appearance scale change is effectively coped with under the conditions of illumination change, partial blocking and swift moving, and the robust tracking is realized.

A trace cache system is provided comprising a trace start address cache for storing trace start addresses with successor trace start addresses, a trace cache for storing traces of instructions executed, a trace history table (THT) for storing trace numbers in rows, a branch history shift register (BHSR) or a trace history shift register (THSR) that stores histories of branches or traces executed, respectively, a THT row selector for selecting a trace number row from the THT, the selection derived from a combination of a trace start address and history information from the BHSR or the THSR, and a trace number selector for selecting a trace number from the selected trace number row and for outputting the selected trace number as a predicted trace number.