Abstract: A system and a method are provided for feasibility evaluation of UAV Digital Twin based on Vicon motion capture system is disclosed, which establishes a mission feasibility evaluation model according to flight history data of a target UAV acquired by the UAV Digital Twin system. The mission feasibility evaluation model includes a UAV trajectory prediction module and a mission feasibility determination module. The UAV trajectory prediction module acquires real-time position and attitude information of the target UAV according to the Vicon motion capture system, and predicts target flight trajectory of the target UAV according to the real-time position and attitude information. The mission feasibility determination module compares the position difference between an end point of the target flight trajectory and preset designated mission point to evaluate feasibility of target mission of the target UAV.

Abstract: The present disclosure provides a method and a system for modelling a poor texture tunnel based on a vision-lidar coupling. The method includes: obtaining point cloud information collected by a depth camera, laser information collected by a lidar, and motion information of an unmanned aerial vehicle (UAV); generating a raster map based on the laser information, and obtaining pose information of the UAV based on the motion information; obtaining a map model through fusing the point cloud information, the raster map, and the pose information by a Bayesian fusion method; and correcting a latest map model by feature matching based on a previous map model.

Abstract: Disclosed is an unmanned aerial vehicle (UAV) positioning method based on a millimeter-wave radar, including a calibration stage and a positioning stage. The calibration stage includes: acquiring ground coordinates of the unmanned aerial vehicle; and extracting feature points from radar point cloud data and get the ground coordinates of the feature points. The positioning stage includes: acquiring radar point cloud data of a current frame and pre-processing; acquiring UAV motion data and fuse the data with radar point cloud data; extracting characteristic line segment from radar point cloud data; registering the characteristic line segment of the current frame with the characteristic line segment of the previous frame, and finding matching feature points and newly added feature points; and obtaining the ground coordinates of UAV and the ground coordinates of newly added feature points based on the ground coordinates of matched feature points on the map.

Abstract: A system and a method are provided for feasibility evaluation of UAV Digital Twin based on Vicon motion capture system is disclosed, which establishes a mission feasibility evaluation model according to flight history data of a target UAV acquired by the UAV Digital Twin system. The mission feasibility evaluation model includes a UAV trajectory prediction module and a mission feasibility determination module. The UAV trajectory prediction module acquires real-time position and attitude information of the target UAV according to the Vicon motion capture system, and predicts target flight trajectory of the target UAV according to the real-time position and attitude information. The mission feasibility determination module compares the position difference between an end point of the target flight trajectory and preset designated mission point to evaluate feasibility of target mission of the target UAV.

Abstract: A sampling-by-pushing system includes a setting-by-pushing mechanism and a centralizing device. The setting-by-pushing mechanism is connected with the centralizing device through a connecting pipe, and is configured to be set and sealed in a borehole. The centralizing device includes a base body and a retractable support arm arranged on the base body. The support arm is configured to be in contact with the wall of the borehole so as to position the setting-by-pushing mechanism in the center of the borehole.

Abstract: A sampling-by-pushing system includes a setting-by-pushing mechanism and a centralizing device. The setting-by-pushing mechanism is connected with the centralizing device through a connecting pipe, and is configured to be set and sealed in a borehole. The centralizing device includes a base body and a retractable support arm arranged on the base body. The support arm is configured to be in contact with the wall of the borehole so as to position the setting-by-pushing mechanism in the center of the borehole.

Abstract: A system of formation sampling while drilling, comprising: a suction pup joint provided to pump out and clean the formation fluid; a sampling pup joint provided to sample and store the formation fluid; a setting pup joint provided between the suction pup joint and the sampling pup joint and provided to establish a fluid channel between the formation fluid and the suction pup joint, the sampling pup joint; and an electrohydraulic high voltage connection device provided between the setting pup joint and the sampling pup joint. The embodiments of the present invention can be applied in the field of formation exploration technology, the function of storing the formation sample in the process of logging while drilling can be accomplished and the current logging instrument can be effectively optimized, the universality and precision of the current logging function can be effectively improved according to the embodiments of the present invention.

Abstract: A method of formation testing and a formation testing instrument are provided. The formation testing instrument includes a first pump, a dual packer module, a reverse injection module and a second pump. The dual packer module is provided with a support arm at one side thereof capable of setting after deployed; and the dual packer module is provided with first and second probes at the other side. The first probe is located above the second probe and the first and second probes can establish a channel with the formation. The second pump injects the acidizing liquid in the reverse injection module into the fluid region in the formation by the second probe; and the first pump sucks the fluid in the formation by the first probe.

Abstract: A system of formation sampling while drilling, comprising: a suction pup joint provided to pump out and clean the formation fluid; a sampling pup joint provided to sample and store the formation fluid; a setting pup joint provided between the suction pup joint and the sampling pup joint and provided to establish a fluid channel between the formation fluid and the suction pup joint, the sampling pup joint; and an electrohydraulic high voltage connection device provided between the setting pup joint and the sampling pup joint. The embodiments of the present invention can be applied in the field of formation exploration technology, the function of storing the formation sample in the process of logging while drilling can be accomplished and the current logging instrument can be effectively optimized, the universality and precision of the current logging function can be effectively improved according to the embodiments of the present invention.

Abstract: A method of formation testing and a formation testing instrument, comprising a first pump, a dual packer module, a reverse injection module and a second pump, the dual packer module being provided with a support arm at one side thereof capable of setting after deployed; and the dual packer module being provided with first and second probes at the other side, wherein the first probe is located above the second probe and the first and second probes can establish a channel with the formation; the second pump injecting the acidizing liquid in the reverse injection module into the fluid region in the formation by the second probe; and the first pump sucking the fluid in the formation by the first probe.