310 results about "Ecompass" patented technology

An indoor surveying apparatus comprises a 2D range finder, means for automatically aligning 2D range finder data and computing a 2D map of the environment, a calibrated optical imaging system for capturing images of environment, and means for establishing positions and extents of walls, doors, and windows and for drawing floor plans using the computed 2D map and calibrated images where 2D range finder data is missing. It is further contemplated that the imaging system can also be part of the range finder, that the range finder can be a scanning laser range finder, that the imaging system can include a panoramic lens with 180 degree field of view, that the apparatus can further include an IMU, an electronic compass, a panoramic rotator, and means for measuring positions of points on the floor using the image data.

An electronic compass and direction finding method includes a geomagnetic direction sensor having two sensor elements for detecting perpendicular components of the Earth's magnetic field vector. A microcomputer is coupled to the geomagnetic direction sensor to compute a heading of a vehicle in software. Even if the electronic compass displays directional errors due to magnetization of the vehicle, a center of an azimuth circle can be immediately corrected by a center calculating means and a relatively accurate heading can be displayed. Later, the center of the azimuth circle can be corrected with a higher accuracy by a least squares calculating means. This frees a vehicle driver from uneasiness due to display of an intelligible direction.

The invention provides a method for calibrating an electronic compass of an unmanned machine under a magnetic environment, which comprises the following steps that: relative magnetic flux of an X-axis, a Y-axis and a Z-axis of the electronic compass is obtained through a magnetometer, ellipsoid fitting calibration on the magnetic flux is carried out after the filter processing, and calibration parameters are stored to a first storage device; an extreme value of the magnetic flux of the X-axis, the Y-axis and the Z-axis of the electronic compass is respectively obtained through the magnetometer, then ellipsoid fitting calibration on the extreme values is performed, and the calibration parameters are stored to a second storage device; obliquity data is obtained through an inertia navigation module, horizontal magnetic field strength Xh and Yh after being compensated are calculated according to the obliquity data and the calibration parameters of step 1 and step 2, so the magnetic interference calibration and obliquity calibration of the electronic compass can be completed. Due to the adoption of the calibration method, the adaptability of the electronic compass can be improved, and the calibration steps can be simplified; and the calibration is unnecessary to perform under the magnetic-free environment, so the requirement on the calibration equipment and the calibration environment is low.

The invention discloses a three-dimensional attitude display and remote automatic control system of an excavator. A pull line type displacement sensor is adopted to acquire a displacement signal of amoveable arm hydraulic cylinder, a bucket rod hydraulic cylinder and a scraper bucket hydraulic cylinder, and the displacement signal is sent to a computer through a data acquisition card; a car bodyrotation angle signal is acquired through an electronic compass, and the car body rotation angle signal is sent to the computer through an RS232 serial port; the computer is used for storing and processing data, so that a three-dimensional animated simulation attitude of the excavator is displayed in real time; an expected track of a scraper bucket tail end is planned; according to a practical displacement and car body rotation signal of a working device, a control algorithm is run by performing kinematic conversion on the practical displacement and car body rotation signal and comparing the practical displacement and car body rotation signal subjected to kinematic conversion with expected track data so as to correct the track; a CAN communication mode is adopted for realizing data communication between the computer and a special DSP controller of the excavator; operation state information is monitored in real time; operation track of tooth tips of X, Y and Z-axis scraper bucket and athree-dimensional displacement curve of the tooth tips of the scraper bucket are displayed in real time; and remote automatic control is realized through WEB service of a virtual instrument.

A method and system for calibrating a magnetic compass and / or verifying a compass calibration, using a calibration magnetic field produced by a field-generating coil within the magnetic compass is described. The field-generating coil is located near magnetometers within the magnetic compass. Passing a self-trimming current through the coil produces a magnetic field that acts on the magnetometers. Samples of an output signal from each magnetometer are taken to obtain digital values that indicate the output signal from each magnetometer. The digital values are used by a processor to determine one or more calibration coefficient for using calibrating the magnetic compass. The samples of the output signals are taken when a self-trimming current is passing through the coil and when the self-trimming current is not passing through the coil. Calibration of the compass occurs by applying the one or more calibration coefficients to subsequent signals that indicate the output signals of one or more of the magnetometers.

A method and system is presented for acquiring calibration data for a three-axis electronic compass by positioning and rotating the compass so that each sensitive axis in the compass experiences variation in the magnetic field while rotating the compass. Acquiring the calibration data occurs by measuring output signals that reflect the magnetic fields acting on the electronic compass while rotating the compass. Positioning of the compass includes moving the compass so that at least one of the sensitive axes travels a path that approximately forms a cone when the compass is rotated around a gravity vector. Calibration data from three sensitive axes experiencing variation in the magnetic field is available during a single rotation of the compass.

An automatic calibration method for use in an electronic compass. Using the automatic calibration method, the electronic compass automatically calculates and corrects offset and scale values of a geomagnetic signal by detecting one rotation of a geomagnetic axis during a predetermined period of time. The electronic compass calculates an azimuth angle upon receiving geomagnetic data from the geomagnetic sensor, and finds maximum and minimum values of sensor signals of individual axes of the geomagnetic sensor using the received geomagnetic data such that it can correct or calibrate deviation of the azimuth angle. When a time consumed for calibration is the same or shorter than a maximum calibration effective time, the electronic compass determines whether a current state of the detected entry signal indicates a predetermined steady-state flow. If the current state indicates the steady-state flow, at the same time a signal indicative of one rotation of the geomagnetic sensor is received, and the time consumed for calibration is longer than a predetermined minimum calibration effective time, the electronic compass calculates offset and scale values using the maximum and minimum values and stores the calculated offset and scale values.

The invention discloses an AUV (autonomous underwater vehicle) integrated navigation method integrating Kalman filtering and particle filtering. The AUV integrated navigation method comprises the following steps of: 1) data collection: using a global positioning system to obtain initial position information of an AUV when the AUV is on the water surface, and collecting the information of speed, attitude angle and the like of the AUV by utilizing navigation sensors such as a Doppler log, an electronic compass and the like; and 2) filter positioning: fusing navigation information collected by the sensor by utilizing a filtering algorithm based on the combination of the Kalman filtering and the particle filtering, estimating to obtain the position and attitude change information of the AUV at every moment, and realizing overall positioning of the AUV. The invention provides the AUV integrated navigation method integrating the Kalman filtering and the particle filtering, which can improve the precision.

A system, method, device and computer code product is disclosed for stabilizing compass heading under tilt error conditions from an uncorrected electronic compass reading. Exemplary embodiments include a stabilizing filter configured to filter out tilt errors incorporated into the uncorrected electronic compass reading and a filter adaptation module configured to control the stabilizing filter response based on the signal radius of the uncorrected compass reading and a pre-calibrated ideal radius for the compass. The filter adaptation module can be configured to calculate a filter response parameter as a function of the relative difference between the signal radius of the uncorrected compass reading and the pre-calibrated ideal radius. The filter response parameter can be passed to the stabilizing filter for controlling its operation.

A triaxial magnetic electronic compass error compensation method based on depth learning. An implicit error model is trained for compensating non-linear error in magnetic compass measurement and improving the orientation accuracy of the magnetic compass. The error model training consists of two stages: a first stage is pre-training, and a second stage is reverse trimming by using a back-propagation algorithm for fine-tuning all layers of the network, and reducing the error of model training. The magnetic compass calibration and compensation procedure is to use depth learning algorithm training to obtain a non-linear error model, and the distorted measurement magnetic field is inversed back to a true magnetic field value, thereby reducing the calculation error of course angle. The invention aims at nonlinear error of magnetic compass and provides the error training method based on depth learning; compared to random initialization of a traditional neural network, the weight of each layer locates in a better position of parameter space, so as help to improve the convergence of the algorithm and model training accuracy and achieve high-precision orientation of magnetic compass.

The invention discloses a vehicle magnetic electron compass capable of compensating for acceleration and deceleration and a measuring method thereof, and relates to the technique of measuring the direction of a running vehicle. The measuring method is as follows: signals of a geomagnetic field vector measured by a triaxial geomagnetic sensor, a vehicle accelerated speed measured by a triaxial acceleration transducer, and a vehicle running speed measured by a magnetic encoderare sent to a microprocessor after certain treatment, and then the microprocessor calculates a geomagnetic azimuth and obtains direction data relative to true north by adding the geomagnetic azimuth and magnetic declination data stored in a memory obtains. The invention introduces the magnetic encoder with high resolution to measure the vehicle running speed, and obtains the vehicle running accelerated speed after calculation, thus the vehicle running accelerated speed can be combined with the vehicle accelerated speed information measured by the triaxial acceleration transducer to separate static accelerated speed information from dynamic accelerated speed information, so as to accurately acquire vehicle lateral attitude information. The acquired vehicle lateral attitude information is utilized to calculate geomagnetic field horizontal component and further calculate the geomagnetic azimuth, so that the measurement has high accuracy.

The invention relates to an underwater hybrid-power robot platform which comprises a housing, a mainframe cabin and a motion control cabin. The outer contour of the housing is in shape of bionic fish,one end of the housing is connected with a bionic fish tail structure, and propellers are arranged on two sides of the housing. The side, close to the front end of the housing, of the mainframe cabinis connected with a camera, and an electronic compass and a controller are arranged in the mainframe cabin. A pitching gravity center adjusting mechanism is installed in the motion control cabin. Thepropellers, the electronic compass and the pitching gravity center adjusting mechanism are electrically connected with a battery cabin. The underwater hybrid-power robot platform adopts the hybrid-power driving design of the propellers and the bionic fish tail structure, and the operating capability of a robot in a complicated ocean current environment is greatly improved. The underwater hybrid-power robot platform can carry multiple types of detection devices, can meet complicated task demands, can performs operations such as water quality extraction, detection and photography, can sample and detect water at different depths through a water pumping cabin and has a wide application prospect.

A shade analysis device includes an accelerometer providing samples that represent an elevation defined by a sighting reference, an electronic compass providing samples that represent an azimuth heading defined by the sighting reference, and a processor under the control of a program included in the shade analysis device, acquiring an array of the samples that represent an azimuth heading and an array of corresponding samples that represent the elevation, in response to tracing with the sighting reference, a skyline at an interface between an open sky and at least one solar obstruction over a range of azimuth headings.

The invention provides a real-time monitoring method and a real-time monitoring system for velocity and direction of underground water current. The real-time monitoring system comprises a sleeve, a probe, a cable and a ground control system. A flexible pipe is arranged in the probe in a vertical direction. One end of the flexible pipe is fixed and the other end is provided with a swing ball which bears a circle resistance of underground water. Furthermore the circle resistance functions on the flexible pipe, thereby generating flexible deformation of the flexible pipe. Through an electronic compass and a light-sensitive component, a horizontal-direction displacement of the swing ball under the function of the circle resistance and a deflection direction (horizontal flow direction of the underground water) in a horizontal plane are measured. The real-time monitoring method and the real-time monitoring system are based on fluid mechanics (hydraulics) and mechanics-of-materials theories, and the circle resistance which is bear by the swing ball, the horizontal-direction velocity of the underground water, and the horizontal displacement of the swing ball satisfy a certain functional relationship, thereby obtaining the horizontal-direction velocity of the underground water through calculation.

The invention relates to a method and a system for resolving an attitude of an unmanned aerial vehicle with double controller. An unmanned aerial vehicle attitude resolving system which includes a main engine and a slave engine is arranged; in the main engine, an attitude angle resolved by an accelerometer and an electronic compass is adopted for performing drift compensation on the attitude angleresolved by a gyroscope, a complementary filtering algorithm is adopted for primarily fusing the attitude angle resolved by the accelerometer and the electronic compass with the attitude angle resolved by the gyroscope, noise is filtered and attitude angle drifting is restrained; the attitude angle after complementary filtering is transmitted to the slave engine, an EKF is adopted for promoting the resolving accuracy of attitude angle and the resolved high-precision attitude angle is transmitted by the slave engine to the main engine for attitude compensation and control in the manner of taking 50HZ as a period; the EKF is an expanded kalman filter algorithm; when no attitude angle information is received by the main engine from the slave engine, the attitude angle resolved by the complementary filtering algorithm in the main engine is adopted for controlling attitude. The system provided by the invention can promote the accuracy of resolved attitude and has high practicability.

The invention discloses an intelligent robot smart walking control system and a method thereof. The intelligent robot smart walking control system comprises a main control system, a camera shooting device, a laser radar device, a speedometer, an electronic compass, a data communication device, a motor control device, a main program module, a navigation module, a data communication module, a map building module, a location module, an environment sensing module and a behavior decision module. The intelligent robot smart walking control system has the functions of map building, autonomous localizing, path planning, dynamic obstacle avoiding and motion control and can conduct correct path planning and dynamic obstacle avoiding operation according to a data communication instruction, the pose of an intelligent robot, built maps and environment sensing information to achieve autonomous navigation.

An inertial sensor calibration method has steps of mounting an observer device and an inertial sensor of a vehicle carrying on an inertial move, acquiring actual vehicle motion data from the observer device and inertial signal data of the inertial sensor, calculating an integral corresponding to the vehicular dynamic variation model with respect to the inertial signal data to obtain predicted vehicle sensor data and calculating variations of the actual vehicle motion data, acquiring differences between the two calculated data, applying an energy optimization and a discretization to the differences so as to obtain parametric error variances, and feeding back the parametric error variances to the vehicular dynamic variation model to calibrate the parameters associated with offset and scale factor and acquire a calibrated vehicular dynamic variation model. Under the premise of no GPS, electronic compass or pressure sensor, the present invention can secure positioning continuity and reliability.

The invention provides a real-time tracking device and a real-time tracking method for a space track, and relates to the technical field of tracking of a three-dimensional space track. The device comprises a sensor, a microcontroller, and a universal asynchronous receiver and transmitter controller, wherein the sensor comprises a tri-axial acceleration sensor, a three-axis gyroscope and a three-axis electronic compass; the sensor transmits sensing data to the microcontroller through an inter-integrated circuit (IIC) interface; the microcontroller is used for receiving and processing the sensing data transmitted by the sensor, and transmitting a control command to the sensor through an IIC bus; meanwhile, the processed sensing data are transmitted to the universal asynchronous receiver and transmitter controller through a universal asynchronous receiver / transmitter (UART) periphery; the universal asynchronous receiver and transmitter controller converts the processed sensing data transmitted by the microcontroller, and transmits to a host computer through a universal serial bus (USB) interface; meanwhile, the universal asynchronous receiver and transmitter controller converts the command transmitted to the host computer and then transmits to the microcontroller. The device and the method are low in cost, high in stability and high in accuracy, and the device is small in size and convenient to carry.

A method for correcting azimuth angle data of a navigational device, which is installed in a vehicle, includes the steps of enabling the navigational device to periodically receive a position information signal that is transmitted from a global positioning system (GPS) service provider and that contains an azimuth angle of the vehicle, obtaining velocity data of the vehicle, obtaining magnetic north data by means of an electronic compass, and enabling the navigational device to correct the azimuth angle contained in the position information based on the magnetic north data when the velocity data is lower than a reference value. A navigational device that implements the aforesaid method is also disclosed.

The invention discloses a targeted staying and return voyage control system of an unmanned aerial vehicle. The system comprises a GPS positioning module, an electronic compass, a barometer, a memory, and a control chip, and the control chip is connected with the GPS positioning module, the electronic compass, the barometer, and the memory. After the control chip receives coordinate information generated by the GPS positioning module, direction recognition information generated by the electronic compass, and height information generated by the barometer, the information is processed, and a control instruction is generated to control motor driving of the unmanned aerial vehicle so that real-time positioning of any height and position of the unmanned aerial vehicle is realized, and the system is applicable to some special tasks, such as photography and exploration; when the control chip receives a return voyage instruction of a remote controller, the control chip performs comparison treatment according to the position and direction information of the unmanned aerial vehicle fed back in real time and initial coordinate information saved in the memory, and controls the unmanned aerial vehicle to automatically return to the take-off position so that the unmanned aerial vehicle can be rapidly recovered, and the system is more applicable to tasks such as investigation and rescue.

The embodiment of the invention discloses a method for realizing target tracking, a PTZ camera and a monitoring platform. The PTZ camera comprises an electronic compass for acquiring a lens orientation of the PTZ camera, a GPS chip for acquiring position information of the PTZ camera, and a processor, wherein the processor is used for receiving a tracking instruction which comprises position information of a target and is sent by the monitoring platform, and adjusting the photographing angle of the PTZ camera so as to photograph the target according to the position information of the target, the position information of the PTZ camera acquired by the GPS chip and the lens orientation of the PTZ camera acquired by the electronic compass. According to the embodiment of the present invention,the photographing angle of the PTZ camera can be adjusted according to the actual geographical positions of the target and the PTZ camera and the current lens orientation of the PTZ camera; therefore,the target can be tracked and photographed accurately.

The invention discloses a driving assistance system and method based on head-mounted display and used for automatic scene selection for display. Four wide-angle cameras and six groups of radar transmitting and receiving devices are mounted all around a car body so as to collect images around the car and detect distances between the car and surrounding obstacles in real time, a relative direction (angle) between a diver head (sight) and an automobile is calculated through relative angles collected by a three-dimensional electronic compass on a driver helmet and a three-dimensional electronic compass mounted on the car body, then a logical analysis and process function module performs operation processing, and finally, real-time synchronous display is performed on the head-mounted display (goggles). Therefore, through a panoramic parking helmet, the driver can see the position of the car and the obstacles around the car conveniently and intuitively when sitting in the car.

Disclosed is a three-dimensional directional transient electromagnetic advanced detection device, wherein the CPU and the bus communication end of the transient electromagnetic transmitting module are both connected to the system bus, the signal output end of the transient electromagnetic transmitting module is connected to the transient electromagnetic transmitting coil outside the borehole to be detected, the signal input end of the electromagnetic signal receiving module is connected to the signal output ends of the three-dimensional magnetic field sensor and the one-dimensional Z-directional electric field sensor, the signal output end of the electromagnetic signal receiving module is connected to the electromagnetic signal input end of the SCM, the communication end of the first memory is connected to the data storage end of the SCM, the communication end of the three-dimensional electronic compass is connected to the compass signal communication end of the SCM, the host data communication of the SCM is connected to the second optical cable port of the local host through the first optical cable port and the optical cable. The device can detect harmful geological bodies such as aquifer and water-conducting channels and make a intensive and effective detection forecast.

The invention relates to a hoisting machine safety monitoring system. The hoisting machine safety monitoring system comprises a monitoring host. The monitoring host comprises a monitor. The monitor is in communication connection with a first remote extension set, a second remote extension set, a third remote extension set and a fourth remote extension set through a wireless module. The first remote extension set comprises a tilt angle sensor, an overload limiter, an anemograph and a PLC. The second remote extension set comprises an electronic compass. The third remote extension set comprises a liquidometer. The fourth remote extension set comprises a tilt angle sensor. The monitoring host is in communication connection with a cloud server and an intelligent mobile terminal through a communication module. The cloud server is in communication connection with a video tape recorder and a vidicon through a communication module. The hoisting machine work process can be monitored, and important running parameters and safety states can be recorded and managed. Production situation close linkage and real-time equipment body data display can be achieved, the intrinsic safety performance of large hoisting machines is improved, major hoisting machine accidents are prevented and reduced, and personal life safety is effectively guaranteed.

Disclosed is an intelligent automobile simulating driving device which includes a simulating driving operation platform, an intelligent transmission control platform and a simulating vehicle. The device is characterized in that the simulating driving operation platform includes a simulating driving controller, a dynamic seat, a human-eye-rolling identification device, a three-dimension electronic compass and a display. The intelligent transmission control platform includes a control computer. The simulating vehicle includes a vehicle body, a gravity sensing module, a holder module, a camera module and a power device. The vehicle body device of the simulating vehicle is provided with a minisize casing and motion system, which are similar with those of a common automobile. The intelligent automobile simulating driving device is capable of adjusting the height of the camera according to view angles of people of different heights so that a framing effect is more real; the visual framing error of a driver is reduced effectively so that pictures seen by the driver are closer to the reality; and human head rotation control adopts the three-dimension electronic compass which is convenient and light and also capable of reducing the cost significantly.

The invention relates to a life detection and rescue system based on an augment reality technology and a realization method thereof. The system comprises a life detector integrated with a three-dimensional electronic compass, wherein the three-dimensional electronic compass and the life detector are connected with a wearable computer; the wearable computer is also connected with positioning equipment and a helmet mounted display; and the helmet mounted display also integrates a three-dimensional electronic compass and a CCD camera. The three-dimensional position of a buried person can be accurately determined through multi-point (at least two points) measurement of the life detector, the high-accuracy three-dimensional electronic compass and the high-accuracy positioning equipment, then rescuers can see on-site video images overlapped with the three-dimensional virtual graph of the buried person in real time through the high-accuracy positioning equipment, the wearable computer, the helmet mounted display and an augment reality software system in the wearable computer, and the video images can change accordingly along the changes of the positions and the sight lines of the rescuers, thus being capable of better guiding rescue operations and shortening rescue time.

Multiple instances of a geomagnetic field are calculated. Multiple instances of an average magnitude of a subset of the instances of the geomagnetic field are also calculated. When the average magnitude changes by more than a first predetermined threshold, the user is informed that compass accuracy has degraded. Other embodiments are also described and claimed.