1333 results about "Direction angle" patented technology

An array antenna is formed of a plurality of antenna elements, each of which scans a beam in the direction of an angle theta to a boresight of the antenna and electrically varies the direction of a rotation angle phi of the beam. The antenna elements are disposed so that the optical path difference of radio waves transmitted or received by two adjacent antenna elements in the directions of a plurality of direction angles phi on the plane tilted for an angle theta to the boresight of the antenna is nearly a multiple of the wave length of the radio waves.

A beamforming method employs a plurality of microphones arranged in an array with respect to a reference point. The method includes acquiring microphone signals from the microphones and combining the microphone signals (x1 . . . xM) to obtain Virtual Microphones, combining the microphone signals to obtain a pair of directional Virtual Microphones having respective signals determining respective patterns of radiation with a same origin corresponding to the reference point and rotated at different pattern direction angles, defining a separation angle between them, obtaining a sum radiation signal of a sum Virtual Microphone with a sum radiation pattern, associating a respective weight to the signals of the pair of directional Virtual Microphones, obtaining respective weighted signals of radiation and summing the weighted signals, computing respective weights as a function of a determined pattern direction angle of the pattern of radiation of the pair of directional Virtual Microphones and of the separation angle.

The invention provides a two-dimensional code and a vision-inert combined navigation system and method for a robot. A sealed assistant frame is arranged at the periphery of the two-dimensional code, and the sealed assistant frame and the two-dimensional code are both applied to vision navigation. The two-dimensional code is used in the vision-inert combined navigation system for the robot; the vision-inert combined navigation method for the robot comprises the following steps: paving a plurality of two-dimensional codes with the sealed assistant frames at the peripheries on a ground; when the robot walks forwards, taking images by using imaging equipment; acquiring the absolute position and the absolute direction angle of the imaging equipment, and acquiring the absolute coordinates of the two-dimensional codes, and the absolute position and the absolute direction angle of the imaging equipment; confirming the relative position of the robot relative to a present starting point and the relative direction angle of the robot relative to a present starting direction angle; acquiring the absolute position of the robot, and taking the absolute position as a next starting point; acquiring the absolute direction angle of the robot, and taking the absolute direction angle as a next starting direction angle.

The invention discloses an estimation method of a co-prime array DOA (Direction Of Arrival) angle based on sparse reconstruction, and mainly solves the problems that a prior art is higher in operand, less in identification information source amount and large in passive location evaluated error, and needs more priori knowledge. The method comprises the realizing steps of forming a co-prime array by an antenna receiver; obtaining observation data to spatial signal sampling; receiving data vectors by a virtual array element obtained by observation data; dividing spatial grids to form over-complete bases; receiving a spare relationship between the data vectors and the over-complete bases by the virtual array element to build a spare restraint equation; resolving the spare restraint equation by adopting a convex optimization method to obtain sparest resolution; drawing a magnitude spectrogram by a relative relationship between the sparest resolution and the spatial angle to obtain a DOA angle value. According to the method provided by the invention, the passive direction-finding precision and operating speed can be improved under a condition of low priori knowledge, the number of the recognized information source can be improved, and the estimation precision of a signal direction angle can be improved in a low signal to noise ratio, therefore the estimation method can be used for target reconnaissance and passive location.

The embodiment of the invention provides an accurate positioning and parking method of a trackless navigation AGV. The accurate positioning and parking method comprises the steps that the AGV scans a reflection plate through laser radar to obtain coordinates of preset positions on the reflection plate; a position for positioning is selected from the preset positions; the current position of the AGV is calculated according to preset rules and the selected position. According to the method, three special reflection points are extracted to achieve three-point positioning, the coordinate orientation of the AGV under a global coordinate system is determined mainly through a least square method, and then the direction angle of the AGV is calculated through multiple quadrants. The relative position and the direction angle of the AGV with respect to the reflection plate can be also calculated through outline detection so that the AGV can be accurately parked at the designated of the reflection plate. By adopting the method, the defect of poor positioning accuracy of an SLAM technology is overcome to the most degree, and a reliable solution is also provided for automatic charging of the trackless navigation AGV.

A communication network comprising a collaborative photography group including a plurality of cameras having synchronized photographing times, is provided. The plurality of cameras may share location information, direction angle information, and image information generated by photographing an object, and generate a three-dimensional (3D) image of the object.

The invention discloses a broadband signal DOA estimation method based on a co-prime array, and the method comprises the steps: S1, designing a co-prime array structure through an antenna; S2, carrying out the sampling and discrete Fourier transform of a broadband signal received by an antenna in the co-prime array, and obtaining a frequency domain signal output model; S3, calculating an autocorrelation matrix of the frequency domain signal output model, carrying out the vectorization of the frequency domain signal output model, and obtaining a new signal model; S4, carrying out the processing of the new signal model, and obtaining a spatial smooth covariance matrix of the broadband signal; Sa5, dividing a space domain grid, constructing a dictionary, carrying out the sparse representation of the spatial smooth covariance matrix through employing the dictionaries of a plurality of frequency points of the broadband signal, and forming a multi-measurement-vector sparse representation model of a plurality of dictionaries of the broadband signal; S6, achieving the arrival direction estimation of the broadband signal in a mode of solving a sparse inverse problem through the joint sparse constraint of the sparse representation coefficients of the plurality of dictionaries. The method can improve the estimation precision of the direction angle of the broadband signal under the condition of low signal to noise ratio, and reduces the direction finding error.

An edge-light type backlight system including a point light source, a light guide panel including a light incident part into which light enters from the point light source and a light emitting surface from which light is emitted, and an optical path-changing unit which changes a propagation path of light traveling inside the light guide panel. The light incident part includes a light incident surface on which a prism pattern is formed, the light incident surface facing the point light source, and first and second surfaces extending from the light incident surface in a direction in which light travels inside the light guide panel and adapted to reflect light passing through the light incident surface to reduce a direction angle, the first and second surfaces being opposite to each other with respect to an optical axis.

A fiber optic connector assembly and method employing one or more fiber movement supports. The one or more fiber movement supports are each disposed around one or more optical fibers and are configured to inhibit kinks or sharp bends from occurring in the one or more optical fibers. The fiber movement support is more rigid than an optical fiber. Thus, when a force is exerted on an optical fiber in a direction angled to the axis of the optical fiber, the force is directed to the fiber movement support. The fiber movement support translates the non-axial force in a direction toward the axis of the optical fiber. This causes the optical fiber to be pushed back towards the fiber optic cable instead of the kinking or bending the optical fiber, thus avoiding or reducing high insertion losses resulting from bending of the optical fiber.

The present invention discloses a method for registering synthetic aperture radar image with a change area based on a point pair constraint and Delaunay, and the problem of SAR image registration with a change area without using ground control point data is mainly solved. The method comprises a step of filtering inputted floating image and reference image respectively and then using a SURF algorithm to extract feature points, a step of carrying out similarity measure matching of a normalized descriptor matrix on obtained reference image feature point and floating image feature point and then carrying out distance and wiring direction angle constraint to obtain an initial candidate matching point pair set, a step of using matching feature points in the floating image and the reference image to construct Delaunay, searching a homonymous triangle pairs in the Delaunay of the two images to update the candidate matching point pair set, and taking non-repeated vertices in all homonymous triangle pairs corresponding to a minimum affine error as a final matching point pair set, and calculating an affine change matrix, carrying out affine conversion and bicubic interpolation on the floating image, and obtaining a final registration result image.

A method is provided for designing a broad band constant directivity beamformer for a non-linear and non-axi-symmetric sensor array embedded in an obstacle having an odd shape, where the shape is imposed by industrial design constraints. In particular, the method of the present invention provides for collecting the beam pattern and keeping the main lobe reasonably constant by combined variation of the main lobe with the look direction angle and frequency. The invention is particularly useful for microphone arrays embedded in telephone sets but can be extended to other types of sensors.

The invention discloses a handwriting input method of sharp pen effect, which comprises according to the user handwriting input position provided with a handwriting input device, determining the position of a plane pattern with a contour-rectangle, converting handwriting speed information provided with the handwriting input device into a speed zoom factor, changing the size of the plane pattern according to the speed zoom factor, converting the writing direction information provided with the handwriting input device into a direction angle, changing the direction of the plane pattern according to the direction angle, and stuffing the area of the plane pattern. The invention can realize sharp pen effect on the handwritten strokes to provide real writing feeling.

The invention discloses an image recognition method based on edge geometric features. The image recognition method based on the edge geometric features comprises the steps that filtering processing is carried out on an original image of a workpiece; binarization processing is carried out on the image after the filter processing; the image after the binarization processing is searched to obtain a contour sequence set; a qualified workpiece contour is screened out of the contour sequence set; a minimum enclosing rectangle of the workpiece contour is determined, and the central point of the workpiece contour is determined; four subsequences of the workpiece contour are intercepted in the directions of the four edges of the minimum enclosing rectangle; energy values of all the four subsequences are calculated by using edge geometric feature operators; the subsequence with the maximum energy value in the four subsequences is determined, and direction angles of the workpiece are determined. The invention further provides a corresponding image recognition system. According to the image recognition method and system based on the edge geometric features, a template database of workpieces does not need to be established, storage consumption is lowered, calculation time is reduced, the requirement for high speed real-time performance can be met, and meanwhile the image recognition method and system have high fast recognition capability.

The invention discloses a social network-based vehicle-mounted self-organization network routing method and belongs to the technical field of a vehicle-mounted wireless network. The method comprises the steps of (1) utilizing neighbor node information to calculate the direction angles and the effective values of nodes; (2) adopting a greedy algorithm added with a cache mechanism for the nodes on a road section, wherein intersection nodes adopt the neighbor nodes with the maximum effective values larger than those of the current nodes in an angle threshold value range as the next-hop transmission relay; (3) enabling vehicle nodes to study from the self history transmission actions by a Q learning algorithm assisted by a routing algorithm, wherein the nodes select the neighbor nods enabling a reward function to achieve the maximum convergence value as the next-hop transponder. The complexity of the routing algorithm is reduced, the system cost is reduced, and the Q learning algorithm is used for assisting the routing selecting, so the data packets are enabled to be transmitted along the path with the minimum hop number, and the time delay is reduced; the delivery rate of the data packets is improved and the end-to-end time delay and the consumption of system resources are reduced.

The invention belongs to the fiber sensing technical field, and specifically relates to a multi-core fiber bragg grating (FBG) universal bending sensor; the multi-core fiber bragg grating (FBG) universal bending sensor is suitable for smart material and structure on-line detection and analysis, can control and monitor space structure space three dimensional positions and attitudes, and is formed by using the multi-core fiber bragg grating (FBG) as the basic sensing unit; the multi-core fiber bragg grating (FBG) universal bending sensor comprises multi-core fibers including one center fiber core, and the resting fiber cores are arranged around the center fiber core in quadrature distribution or symmetrical distribution; each fiber core in the same transverse position of the multi-core fiber uses the same phase mask slice to simultaneously expose the FBG; the central wavelengths of various Bragg gratings on the multi-core fiber are different; the multi-core fiber bragg grating (FBG) universal bending sensor can monitor various reflection wavelength changes of the multi-core FBG, thus measuring the bending amplitude and direction angles.

The invention aims at providing a GPS multi-antenna attitude determination method. The method comprises the following steps: firstly GPS multi-antenna observation data, a GPS satellite ephemeris and the coordinates of antennas on a carrier coordinate system are collected; a smoothing procedure is carried out to C / A code observation data with a carrier wave phase observed value; a carrier platform rough attitude angle, the coordinate of the main antenna in a local horizontal coordinate system, the shared vision satellite elevation angles and direction angles of the antennas and the baseline vector from the main antenna to subordinated antennas in the local horizontal coordinate system are calculated; based on the geometry relations of the baseline vectors among the antennas and the baseline vectors from the satellite to a receiver in the horizontal coordinate system, the single difference integer cycle fuzziness value of different antennas of the same satellite is solved; a reference satellite is selected and a difference operation is carried out to the single difference integer cycle fuzziness value to obtain an integer cycle fuzziness double difference value; the integer cycle fuzziness double difference value obtained is substituted into a carrier wave phase double difference model to obtain accurate coordinate components of the antennas and based on the coordinate components of the antennas, accurate attitude parameters are solved so as to realize GPS multi-antenna attitude determination.

The invention discloses an active solar energy tracing method comprising the following steps: manually adjusting the initial posture of a solar energy device with an illuminated face to ensure that the illuminated face is vertical to an solar incident ray; obtaining current time; by taking the initial posture of the solar energy device and the current time as the references, obtaining device data according to the current time, and adjusting the direction angle and the altitude angle of the solar energy device at fixed time to realize active solar energy tracing. The invention also discloses a device used for the above solar energy tracing method, comprising a solar energy device with an illuminated face, a posture adjusting device of the solar energy device, a current time acquiring device, a controller and a press key system connected with the controller. The tracing method and the device of the invention have favourable precision and stability.

The invention provides a lane line detection method for lane departure early warning. The method includes the edge detection step and the lane line recognition step. In the edge detection step, edge detection is conducted on images through a stepped edge detection algorithm Canny operator, and the high threshold value and the low threshold value of the Canny operator are determined through a dynamic threshold value; interference edges are removed, namely, a sliding window filter is arranged to filter perpendicular and transverse straight lines in the images, a Sobel gradient operator is utilized to calculate the direction gradient of pixel points in the images, the direction angle of the pixel points is acquired through arc tangent, and then direction gradient filtering is conducted according to the size of the angle. In the lane line recognition step, a plurality of straight lines are detected through Hough transformation, and lane lines are determined according to the positions, where the straight lines are located, of the images and the slope; whether the determined lane lines meet requirements or not is judged according to the relations of the positions and the slope of the left lane line and the right lane line and the included angle between the left lane line and the right lane line. According to the method, lane departure warning anti-noise and anti-interference capacity is improved, high robustness is achieved, and detection efficiency is improved.

Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

The invention discloses a method for arranging a traffic pattern of an unmanned aerial vehicle. The method comprises the following steps of: determining each waypoint of the traffic pattern according to factors such as the geographical position of an airport, the approach constant-level flying height H of a plane, the glide line angle lambda of the plane, a waypoint switching distance D and the like; and arranging a point 2 and a point 3 of the traffic pattern on the longitudinal central line of a runway, a point 4 on an elongation line along the direction of the point 2 and the point 3, a point 1 on an elongation line opposite to the direction of the point 2 and the point 3, a point 0 and a point 5 on the same side of the runway and a point 6 and a point 7 at an intersection position between the end line at the end point of the runway and the longitudinal central line of the runway so as to realize positive and negative landing of the unmanned aerial vehicle and obtain a high-accuracy runway direction angle. The method disclosed by the invention has the advantages of providing a solution for autonomous take-off and landing as well as positive and negative landing of the unmanned aerial vehicle, conditions for ground control during the take-off and landing of the unmanned aerial vehicle and basis for the high-accuracy calculation of a runway course angle and greatly improving the take-off and landing safety of the unmanned aerial vehicle, along with simple structure and easy realization.

The invention provides an underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment, relating to the motion control technology of an underactuated underwater unmanned vehicle. The invention aims to realize the precise tracking control of an underactuated UUV plane trajectory. The method comprises the steps of (1) a UUV obtains position and attitude information according to a current task, (2) position and attitude error variables are obtained by using the mathematical model of an underactuated UUV, (3) a method of defining a virtual speed error variable to calculate a virtual control rule, (4) combined with a biologically inspired model, the dynamic adjustment of a speed error is carried out, and (5) the control signal generated by a speed adjustment controller is deduced, and the underactuated UUV plane trajectory tracking control is realized. According to the method, the dynamic adjustment of the speed of the underactuated UUV can be carried out, a singular value when a first direction angle error is equal to 90 degrees in a traditional backstepping method is avoided, and the tracking of a circular trajectory in an external constant disturbance is realized.

The system comprises a first beatable signal source, a second beatable signal source, a phase reference signal source and a receiver. The first beatable signal source and the second beatable signal source are located at the source location; the receiver is located at the receiver location. The phase reference signal source is operable to generate a phase reference signal. The first beatable signal source is operable to transmit a first beatable signal. The second beatable signal source is spatially offset from the first beatable signal source in a reference direction, and is operable to transmit a second beatable signal differing in frequency from the first beatable signal by a frequency difference. The first beatable signal and the second beatable signal collectively have a phase relationship with the phase reference signal. The receiver is structured to receive the first beatable signal and the second beatable signal and is operable to determine a direction angle, relative to the reference direction, of the source location from the receiver location. The receiver performs operations that comprise measuring a phase difference between a beat signal and either the phase reference signal or an additional beat signal, and determining the direction angle from the measured phase difference. The beat signal obtained by a process involving summing the first beatable signal and the second beatable signal. The additional beat signal is obtained by a process involving summing the first beatable signal and the phase reference signal. The bearing can be determined from the direction angle.

The invention provides a navigation display interface which comprises a vehicle icon, a destination icon and a compass icon, wherein the vehicle icon expresses the position and the direction of a vehicle; the destination icon expresses the direction and the distance of a destination; the compass icon expresses the south and the north; and the vehicle icon, the destination icon and the compass icon are combined into the same navigation icon to be displayed on a display interface. The display method of the display interface comprises the following steps: acquiring relevant data by a GPS signal;then calculating a running course angle of the vehicle and a destination direction angle; and displaying vehicle running information, destination information and the north and south direction on the same icon. The navigation display interface displays the vehicle position, the running direction and the destination direction and distance on the same navigation icon simultaneously, and a driver cansimultaneously learn running information in the same icon, such as destination position, direction, distance, south and north direction, and the like and acquire the clear vehicle running direction without sight transfer.

An object of the present invention is to turn microphones accurately and quickly toward a sound source. The first microphone pair is rotated by rotation means and driving means, so that the microphones are equidistant from a sound source. The sound picked up by the microphones is analyzed in a plurality of frequency ranges to obtain delay time components of the arrival of the sound wave. The delay time components are averaged with a prescribed coefficients so that the lower frequency components hardly affects the result of the direction detection. the averaged delay is converted into an angle of direction of the sound source. Thus, the microphones pair is directed in front of the sound source on the basis of the direction angle converted from the averaged delay time.

The invention discloses a method for self-configuring physical cell identifiers (PCI) for a honeycomb mobile communication network. The method comprises the following steps that: a network self-organization server collects the geographic position, antenna height, direction angle and downtilt information of a new base station; based on an experience path propagation model of the geographic position of the new base station, the network self-organization server calculates a path loss value and an antenna gain value between all base stations and determines a propagation loss value between all base stations; and by using a graph theory method, the network self-organization server globally optimizes reusing distances of the PCIs, allocates the optimized PCIs to the new base station, and then validates and screens the available PCIs by using a neighbor cell relationship list, so that interference between the base stations in which the same PCIs are used, and the PCIs can be accurately and reasonably configured. The method is applicable to automatic allocation of appropriate PCIs to the new base station which is not configured with the PCIs. By adoption of the method, configuration of the PCIs for the new base station can be quickly, conveniently and automatically finished, and the theoretical optimum performance can be realized.