摘要：【中文】本申请公开了设备定位方法、装置、电子设备及存储介质，属于导航技术领域。方法包括：通过IMU惯性测量单元，基于上一时刻的预测定位信息进行预测，获取目标设备当前时刻的预测定位信息。通过摄像机获取目标设备当前时刻的测量定位信息。根据当前时刻的预测定位信息及测量定位信息，获取目标设备当前时刻的参考定位信息。基于参考定位信息，通过IMU及摄像机确定目标设备下一时刻的目标定位信息。本申请中目标设备下一时刻的目标定位信息，是综合了通过IMU获取的预测定位信息以及通过摄像机获取的测量定位信息预测得到的。因此，避免了仅通过推算进行预测而导致的误差累积，保证了目标定位信息的准确度与精度。 【EN】The application discloses a device positioning method and device, electronic equipment and a storage medium, and belongs to the technical field of navigation. The method comprises the following steps: and predicting based on the predicted positioning information at the previous moment through an IMU inertial measurement unit to obtain the predicted positioning information of the target equipment at the current moment. And acquiring the measurement positioning information of the target equipment at the current moment through the camera. And acquiring reference positioning information of the target equipment at the current moment according to the predicted positioning information and the measured positioning information at the current moment. And determining target positioning information of the target equipment at the next moment through the IMU and the camera based on the reference positioning information. In the application, the target positioning information of the target device at the next moment is obtained by integrating the predicted positioning information obtained by the IMU and the measured positioning information obtained by the camera. Therefore, the error accumulation caused by prediction only through calculation is avoided, and the accuracy and precision of the target positioning information are ensured.

摘要：【中文】本公开涉及一种用于无人设备的导航装置、方法及无人设备。该无人设备上设置有第一天线和第二天线，该装置包括：第一接收机，用于与第一天线耦合，根据第一天线发送的第一射频信号确定第一天线的第一位置信息和第一速度信息；第二接收机，用于与第二天线耦合，根据第二天线发送的第二射频信号确定第二天线的第二位置信息；惯性测量单元，用于采集加速度信息和角速度信息；处理器组件，用于根据第一位置信息和第二位置信息，确定无人设备的当前航向角信息，并根据当前航向角信息、第一位置信息、第一速度信息、加速度信息和角速度信息，确定无人设备的目标导航信息。由此，提高目标导航信息的精度和准确性，为无人设备提供准确有效的导航信息。 【EN】The disclosure relates to a navigation device and method for an unmanned device and the unmanned device. This unmanned aerial vehicle is last to be provided with first antenna and second antenna, and the device includes: the first receiver is coupled with the first antenna and used for determining first position information and first speed information of the first antenna according to a first radio frequency signal transmitted by the first antenna; the second receiver is coupled with the second antenna and used for determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna; the inertial measurement unit is used for acquiring acceleration information and angular velocity information; and the processor component is used for determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information. Therefore, the precision and the accuracy of the target navigation information are improved, and accurate and effective navigation information is provided for the unmanned equipment.

摘要：【中文】本说明书公开了一种定位方法及装置。本方案通过获取GNSS发送的卫星数据，确定各卫星的位置信息，并根据发送、接收卫星数据的时间差确定各卫星与车辆之间的伪距信息。通过各卫星的位置信息、当前时刻车辆的预测定位信息、伪距信息，确定经GNSS定位的卫星定位误差。根据各传感器采集的传感数据以及当前时刻车辆的预测定位信息，确定传感定位误差。以上述的卫星及传感定位误差的和值最小化为优化目标，调整预测定位信息，将调整后的预测定位信息作为当前时刻车辆的定位信息。本方案使GNSS与各传感器之间互相配合进行定位，还充分利用GNSS及各传感器中的原始数据建立误差方程，采用优化算法提高当前时刻车辆的定位精度。 【EN】The specification discloses a positioning method and a positioning device. According to the scheme, satellite data sent by GNSS are obtained, position information of each satellite is determined, and pseudo range information between each satellite and a vehicle is determined according to time difference of sending and receiving the satellite data. And determining the satellite positioning error positioned by the GNSS according to the position information of each satellite, the predicted positioning information of the vehicle at the current moment and the pseudo-range information. And determining a sensing positioning error according to the sensing data acquired by each sensor and the predicted positioning information of the vehicle at the current moment. And (3) adjusting the predicted positioning information by taking the minimization of the sum of the satellite and the sensing positioning error as an optimization target, and taking the adjusted predicted positioning information as the positioning information of the vehicle at the current moment. According to the scheme, the GNSS and the sensors are matched with each other for positioning, the error equation is established by fully utilizing the GNSS and the original data in the sensors, and the positioning precision of the vehicle at the current moment is improved by adopting an optimization algorithm.

摘要：【中文】本发明公开了一种安全高效的圆形范围上传、查询方法及相应存储介质与电子装置，使用SS树为二维数据集合构造索引，将查询条件表示为陷门圆形向量，在有效保护二维数据和查询条件隐私的同时，可以实现对海量密文二维数据的快速圆形范围查询。本发明使用SS树为二维数据集合构造索引，并提出一种安全、高效的圆形相交判定方法，基于该判定方法，云存储系统可以快速搜索SS树，且不泄露敏感信息。本方法包括若干客户端和云存储系统，所述客户端分别通过网络与所述云存储系统连接。 【EN】The invention discloses a safe and efficient circular range uploading and inquiring method, a corresponding storage medium and an electronic device. The invention constructs an index for a two-dimensional data set by using the SS tree, and provides a safe and efficient circular intersection judging method. The method comprises a plurality of clients and a cloud storage system, wherein the clients are connected with the cloud storage system through a network respectively.

摘要：【中文】本发明涉及一种基于短视频二维码技术在门诊用药中的应用方法，包括以下步骤：药品说明书的整理；将药品说明书剧本化，整理药品说明书转换成说明书剧本；录制说明书剧本的短视频；将短视频上传视频播放平台并生成其对应的二维码图片，留存备用；将二维码图片与其对应的药品编码上传至服务器并一一对应，生成用药指导单；将用药指导单发送至处方打印端口打印；发放用药指导单；患者通过扫描用药指导单上的二维码获取药品说明书的短视频。本发明结合临床用药经验，将说明书中的专业化术语转化为通俗语言录制成清晰的视频，并借助二维码技术便于患者获取专业的用药指导视频，实现远程用药交代指导。 【EN】The invention relates to an application method of a short video two-dimensional code technology in outpatient medication, which comprises the following steps: arranging a medicine instruction; the method comprises the following steps of (1) carrying out script making on a medicine specification, and converting the medicine specification into a script of the specification after finishing the medicine specification; recording short video of the instruction script; uploading the short video to a video playing platform and generating a corresponding two-dimensional code picture thereof, and keeping for later use; uploading the two-dimensional code pictures and the corresponding medicine codes to a server and enabling the two-dimensional code pictures and the corresponding medicine codes to correspond to each other one by one to generate a medication guide sheet; sending the medication guide sheet to a prescription printing port for printing; issuing a medication guide sheet; the patient obtains a short video of the drug order by scanning the two-dimensional code on the medication order. The invention combines clinical medication experience, converts specialized terms in the specification into popular language and records the popular language into a clear video, and is convenient for a patient to obtain a professional medication guidance video by means of a two-dimensional code technology so as to realize remote medication substitution guidance.