Satellite positioning continuous compensation method, system and equipment based on multi-source data and medium

Abstract

The invention relates to the field of marine navigation, and provides a satellite positioning continuous compensation method, system and device based on multi-source data and a medium, and the method comprises the following steps: obtaining navigation data through a navigation device, determining a reference timestamp, selecting a time window according to the reference timestamp, and carrying out data alignment to obtain satellite navigation data, log data, inertial navigation data and compass data; the yaw angle is calculated through satellite navigation data and compass data, the water flow speed is calculated through the satellite navigation data and log data, and continuous compensation is conducted through the water flow speed and the yaw angle; calculating a position offset according to the inertial navigation data, and calculating a longitude variation and a latitude variation through the position offset to obtain high-frequency satellite navigation data; the high-frequency satellite navigation data is used for calculating the position deviation, the track direction deviation and the track speed deviation, the satellite navigation data are verified through the position deviation, the track direction deviation and the track speed deviation, and the satellite navigation data can be supplemented and verified.

Description

Technical Field

[0001] The present invention relates to the field of maritime navigation technology, and in particular to a satellite positioning supplement method, system, equipment and medium based on multi-source data. Background Art

[0002] Satellite positioning equipment is widely used on ships. It measures the distance from satellites to receivers and uses triangulation or multilateral methods to determine the receiver's three-dimensional position. The receiver directly provides navigation data, resulting in high positioning accuracy. However, this information is transmitted only at a frequency of seconds. This means that when a ship faces high-speed turns, emergency avoidance maneuvers, or collision risks, the position data output by the receiver may lag behind the ship's actual motion. This error can significantly impact the timeliness and accuracy of decision-making, making it difficult to meet the real-time requirements of highly dynamic scenarios.

[0003] In highly dynamic scenarios, the window from when a situation is discovered to when a decision needs to be made is very short, and an update frequency of 1 second will occupy a relatively long period of time within this window. For example, when two ships are traveling towards each other at a high relative speed, the relative distance within 1 second will be shortened by more than ten meters or even dozens of meters. If the navigation data lags behind by 1 second, it may lead to insufficient safety distance between the ships, ultimately causing an accident.

[0004] The real-time demands of highly dynamic scenarios often require a high positioning data update frequency to achieve lag-free dynamic tracking. The current sub-second frequency of satellite navigation positioning clearly cannot meet this requirement. This delay is not caused by insufficient system accuracy, but rather by a mismatch between the data update rhythm and the fast-changing nature of highly dynamic scenarios. This also leads to significant application limitations in scenarios that require high-frequency, highly synchronized positioning support. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a satellite positioning continuous replenishment method, system, device and medium based on multi-source data to achieve continuous replenishment of low-frequency satellite positioning signals received by ships.

[0006] The present invention provides a satellite positioning supplement method based on multi-source data, comprising: S1: Install navigation equipment and obtain navigation data through the navigation equipment; S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp and align the time window with the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data. S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for continuous compensation to obtain high-frequency heading data and high-frequency speed data; S4: Calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data; S5: Use high-frequency satellite navigation data to calculate position deviation, track deviation and track speed deviation, verify the satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control the ship's navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0007] According to the satellite positioning supplement method based on multi-source data provided by the present invention, step S1 further includes: S11: Install navigation equipment including speed log, inertial navigation equipment, compass and satellite navigation terminal; S12: Acquire initial odometer data through the odometer, acquire initial inertial navigation data through the inertial navigation device, acquire initial compass data through the compass, and acquire initial satellite navigation data through the satellite navigation terminal, and use the initial odometer data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

[0008] According to the satellite positioning supplement method based on multi-source data provided by the present invention, step S2 further includes: S21: determining the time sequence from the initial inertial navigation data, selecting the reference timestamp from the time sequence, and determining a satellite data time window, an odometer time window, and a compass time window according to the navigation data and the reference timestamp; S22: Acquire the satellite navigation data from the initial satellite navigation data according to the satellite data time window, acquire the odometer data from the initial odometer data according to the odometer time window, acquire the compass data from the initial compass data according to the compass time window, and acquire inertial navigation data from the initial inertial navigation data.

[0009] According to the satellite positioning supplement method based on multi-source data provided by the present invention, step S3 further includes: S31: Calculate the yaw angle using satellite navigation data and compass data, and add the yaw angle to the compass data to obtain high-frequency heading data; S32: Calculating water flow velocity using satellite navigation data and odometer data, and adding the water flow velocity to the odometer data to obtain high-frequency ship speed data.

[0010] According to the satellite positioning supplement method based on multi-source data provided by the present invention, step S4 further includes: S41: calculating a north position offset according to the north velocity in the inertial navigation data, calculating an east position offset according to the east velocity in the inertial navigation data, and using the north position offset and the east position offset as the position offset; S42: Calculate the longitude change by the north position offset, and calculate the latitude change by the east position offset, and obtain high-frequency satellite navigation data according to the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

[0011] According to the satellite positioning supplement method based on multi-source data provided by the present invention, in step S5, the longitude data updated by the inertial navigation data in the high-frequency satellite navigation data is used to calculate the north position deviation, and the latitude data updated by the inertial navigation data in the high-frequency satellite navigation data is used to calculate the east position deviation, and the position deviation is calculated using the north position deviation and the east position deviation.

[0012] According to the satellite positioning supplement method based on multi-source data provided by the present invention, in step S5, when verifying the satellite navigation data by using the position deviation, track deviation and track speed deviation, an abnormality threshold is set, and the position deviation, track deviation and track speed deviation are compared with the abnormality threshold. If any two of them are higher than the abnormality threshold, it is determined that the satellite navigation data has an abnormality; if all of them are higher than the abnormality threshold, it is determined that the satellite navigation data has been interfered with. When the satellite navigation data is abnormal, checking and correcting the satellite navigation data specifically includes: determining a test path, obtaining a first test path and a second test path through the test path, calculating a first track direction change rate and a first track speed change rate for the first test path, calculating a second track direction change rate and a second track speed change rate for the second test path, and checking satellite navigation data using the first track direction change rate, the first track speed change rate, the second track direction change rate, and the second track speed change rate; For satellite navigation data that fails the inspection, segmented clustering is performed to determine the error type, including normal distribution and skewed distribution. When the error type is normal distribution, the satellite navigation data is corrected using high-frequency satellite navigation data. When the error type is skewed distribution, the high-frequency coordinates of the high-frequency satellite navigation data and the satellite coordinates of the satellite navigation data are determined, and the satellite navigation data is corrected using the high-frequency coordinates, the satellite coordinates and the high-frequency satellite navigation data.

[0013] The present invention also provides a satellite positioning continuous compensation system based on multi-source data, comprising: Navigation data module: used to install navigation equipment and obtain navigation data through the navigation equipment; Data alignment module: used to determine the time series and the reference timestamp from the time series, select the time window according to the reference timestamp, align the time window with the navigation data, and obtain satellite navigation data, odometer data, inertial navigation data and compass data; Data supplement module: used to calculate the yaw angle through satellite navigation data and compass data, calculate the water flow speed through satellite navigation data and odometer data, and use the water flow speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data; Longitude and latitude change module: used to calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change through the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data and high-frequency speed data; Deviation verification module: used to calculate position deviation, track deviation and track speed deviation using high-frequency satellite navigation data, verify satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control ship navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, the steps of any of the above-mentioned satellite positioning supplement methods based on multi-source data are implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned satellite positioning supplementation methods based on multi-source data are implemented.

[0016] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The multi-source data-based satellite positioning supplementation method provided by the present invention supplements satellite navigation data using data from an odometer and a compass, converting low-frequency satellite navigation data into high-frequency satellite navigation data, thereby improving the adaptability of satellite navigation data to highly dynamic scenarios. Furthermore, inertial navigation data and high-frequency satellite navigation data are verified to further ensure the validity of the satellite navigation data, thereby controlling the navigation of the vessel. Furthermore, abnormal high-frequency satellite navigation data can be corrected to reduce the impact of errors, thereby further improving navigation accuracy.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flow chart of the satellite positioning supplement method based on multi-source data provided by the present invention.

[0020] Figure 2 It is a structural diagram of the satellite positioning supplement system based on multi-source data provided by the present invention.

[0021] Figure 3 It is a structural schematic diagram of the satellite positioning supplement equipment based on multi-source data provided by the present invention.

[0022] Reference numerals: 100, navigation data module; 200, data alignment module; 300, data supplement module; 400, latitude and longitude change module; 500, deviation check module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0026] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0027] The following combination Figures 1 to 3 Describe specific embodiments of the present invention, Figure 1 The figure is a flowchart of a satellite positioning update method based on multi-source data. The satellite positioning update method based on multi-source data specifically includes: S1: Install navigation equipment and obtain navigation data through the navigation equipment; Furthermore, the purpose of this stage is to obtain navigation data through the navigation device. Specifically, step S1 further includes: S11: Install navigation equipment including speed log, inertial navigation equipment, compass and satellite navigation terminal; S12: Acquire initial odometer data through the odometer, acquire initial inertial navigation data through the inertial navigation device, acquire initial compass data through the compass, and acquire initial satellite navigation data through the satellite navigation terminal, and use the initial odometer data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

[0028] Regarding the above steps, the specific implementation methods in this embodiment are as follows: First, various navigation devices must be installed on the vessel, including a speed log, inertial navigation equipment, a compass, and a satellite navigation terminal. The satellite navigation terminal in this case is a Beidou navigation system terminal. Initial speed log data, including timestamp and water speed, is collected from the speed log. Initial compass data, including timestamp and heading, is obtained from the compass. Initial satellite navigation data, including timestamp, longitude, latitude, track direction, and track speed, is obtained from the satellite navigation terminal. Initial inertial navigation data, including timestamp, longitude, latitude, easting speed, and northing speed, is obtained from the inertial navigation equipment. These initial speed log data, initial inertial navigation data, initial compass data, and initial satellite navigation data are used as navigation data.

[0029] Typically, the data collection frequency for initial satellite navigation data is 1Hz, the data collection frequency for initial odometer data and initial compass data is 40Hz, and the data collection frequency for initial inertial navigation data is 100Hz. Therefore, based on the data collection frequency and the characteristics of the data itself, abnormal data can be removed to prevent its impact. Here, for information such as heading and track direction, the acceptable range is 0° to 360°; data outside this range is considered abnormal. For easting speed, northing speed, and track speed, the acceptable range is -45 knots to 45 knots; data outside this range is considered abnormal. For position information, the acceptable range for longitude values ​​is -180° to 180°, and the acceptable range for latitude values ​​is -90° to 90°; data outside this range is considered abnormal.

[0030] In addition, for initial satellite navigation data, the data frequency is 1Hz. If the frequency drops below 1Hz within 3 seconds, the data is considered abnormal. For initial inertial navigation data, the data frequency should be 100Hz. If it drops below 10Hz within 1 second, the data is considered abnormal. For initial compass data, the data frequency should be 40Hz. If it drops below 10Hz within 1 second, the data is considered abnormal. For initial odometer data, the data frequency should be 40Hz. If it drops below 10Hz within 1 second, the data is considered abnormal.

[0031] S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp and align the time window with the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data. Furthermore, the purpose of this stage is to select a time window based on the reference timestamp and perform time alignment to obtain satellite navigation data, odometer data, inertial navigation data and compass data. Specifically, step S2 further includes: S21: determining the time sequence from the initial inertial navigation data, selecting the reference timestamp from the time sequence, and determining a satellite data time window, an odometer time window, and a compass time window according to the navigation data and the reference timestamp; S22: Acquire the satellite navigation data from the initial satellite navigation data according to the satellite data time window, acquire the odometer data from the initial odometer data according to the odometer time window, acquire the compass data from the initial compass data according to the compass time window, and acquire inertial navigation data from the initial inertial navigation data.

[0032] Regarding the above steps, the specific implementation methods in this embodiment are as follows: First, since the frequency of the initial inertial navigation data is the highest, based on the initial inertial navigation data, a series of continuous timestamps are selected from the initial inertial navigation data as a time series, and a timestamp is selected from the time series as a reference to obtain the i-th reference timestamp Then, for the initial satellite navigation data of 1Hz, based on the reference timestamp, [ ) seconds as the satellite data time window. Similarly, for the 40Hz initial compass data and initial odometer data, based on the reference timestamp, [ ) seconds as the time window of the odometer and the compass.

[0033] Subsequently, a satellite data time window should normally contain initial satellite navigation data, which is used as satellite navigation data. The odometer time window and compass time window corresponding to the reference timestamp should also contain initial odometer data and initial compass data, respectively. After obtaining these data, the previous adjacent satellite data time window corresponding to the timestamp one second prior to the reference timestamp is determined. This allows the determination of the initial odometer data and initial compass data contained in the odometer time window and compass time window corresponding to the previous satellite data time window. The initial odometer data between the initial odometer data corresponding to the reference timestamp and the initial odometer data corresponding to the previous satellite data time window is used as odometer data. The initial compass data between the initial compass data corresponding to the reference timestamp and the initial compass data corresponding to the previous satellite data time window is used as compass data. The initial inertial navigation data between the reference timestamp and the timestamp one second prior to the reference timestamp is used as inertial navigation data.

[0034] S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for continuous compensation to obtain high-frequency heading data and high-frequency speed data; Furthermore, the purpose of this stage is to calculate the yaw angle and water velocity, so as to use the water velocity and yaw angle to continuously supplement and obtain high-frequency heading data and high-frequency speed data. Specifically, step S3 further includes: S31: Calculate the yaw angle using satellite navigation data and compass data, and add the yaw angle to the compass data to obtain high-frequency heading data; S32: Calculating water flow velocity using satellite navigation data and odometer data, and adding the water flow velocity to the odometer data to obtain high-frequency ship speed data.

[0035] Regarding the above steps, the specific implementation methods in this embodiment are as follows: First, determine the track direction in the satellite navigation data , heading in compass data and the ship's yaw angle The relationship between: At this time, the track direction of the satellite navigation data is used as the track direction, and the heading in the first data in the odometer data is used as the heading. In this way, the yaw angle can be calculated. Since the yaw angle is unlikely to change significantly within 1 second between the satellite navigation data and the previous satellite navigation data, it can be regarded as a constant value. Therefore, according to the above relationship, the hth high-frequency heading data can be obtained by adding each heading and yaw angle in the compass data. : in, is the heading in the hth data in the compass data. This completes the continuous supplement of the track direction and improves the frequency of the track direction.

[0036] Then determine the water flow rate , water speed in the speed log data and track speed in satellite navigation data The relationship between: According to this relationship, the water velocity can be calculated by taking the track speed of the satellite navigation data as the track speed and the water velocity of the first data in the odometer data as the water velocity. Since the water velocity is unlikely to change significantly in the 1 second between the satellite navigation data and the previous satellite navigation data, the water velocity can be regarded as a constant value. Therefore, each water velocity in the odometer data can be sequentially added to the water velocity to obtain the kth high-frequency speed data. : in, is the water speed in the kth data point in the odometer data. This completes the continuous update of the track speed, increasing the frequency of speed data. This continuous update can significantly increase the update rate of the heading and speed data in the satellite navigation data, thereby improving the ability to respond to emergencies.

[0037] S4: Calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data; Furthermore, the purpose of this stage is to calculate the position offset and latitude change, thereby obtaining high-frequency satellite navigation data. Specifically, step S4 further includes: S41: calculating a north position offset according to the north velocity in the inertial navigation data, calculating an east position offset according to the east velocity in the inertial navigation data, and using the north position offset and the east position offset as the position offset; S42: Calculate the longitude change by the north position offset, and calculate the latitude change by the east position offset, and obtain high-frequency satellite navigation data according to the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

[0038] Regarding the above steps, the specific implementation methods in this embodiment are as follows: First, the eastward position offset corresponding to the i-th reference timestamp needs to be calculated based on the eastward velocity in the inertial navigation data. : in, is the eastward velocity in the fth data in the inertial navigation data, F is the total number of data in the inertial navigation data, is the time interval between two data in the inertial navigation data, Similarly, the north position offset corresponding to the i-th reference timestamp is calculated based on the north velocity in the inertial navigation data. ; in, The north velocity of the fth data in the inertial navigation data is accumulated, and the position offset is obtained by accumulating the product of velocity and time. The north position offset and the east position offset are taken as the position offset.

[0039] Then the longitude change corresponding to the i-th reference timestamp is calculated by the north position offset : Where M is the radius of curvature on the meridian.

[0040] Calculate the latitude change corresponding to the i-th reference timestamp using the eastward position offset : Where N is the radius of curvature on the azimuth circle, and B is the longitude data corresponding to the i-th reference timestamp in the satellite navigation data. This completes the calculation of the longitude change and latitude change. After calculating the longitude change and latitude change, the longitude change and latitude change are added to the longitude data and latitude data corresponding to the timestamp 1 second before the i-th reference timestamp in the high-frequency satellite navigation data, respectively, to update the original longitude data and latitude data with the inertial navigation data. In this way, the high-frequency heading data, high-frequency speed data, longitude data updated with the inertial navigation data, and latitude data updated with the inertial navigation data can be used as high-frequency satellite navigation data.

[0041] S5: Use high-frequency satellite navigation data to calculate position deviation, track deviation and track speed deviation, verify the satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control the ship's navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0042] Furthermore, the purpose of this stage is to verify the satellite navigation data using position deviation, track direction deviation, and track speed deviation, and to use the high-frequency satellite navigation data to control the ship's navigation. Specifically, in step S5, the northing position deviation is calculated using the longitude data in the high-frequency satellite navigation data that has been updated using the inertial navigation data, and the easting position deviation is calculated using the latitude data in the high-frequency satellite navigation data that has been updated using the inertial navigation data. The position deviation is calculated using the northing position deviation and the easting position deviation.

[0043] In step S5, when verifying the satellite navigation data by using the position deviation, track deviation, and track speed deviation, an abnormality threshold is set, and the position deviation, track deviation, and track speed deviation are compared with the abnormality threshold. If any two of them are higher than the abnormality threshold, it is determined that the satellite navigation data has an abnormality; if all of them are higher than the abnormality threshold, it is determined that the satellite navigation data has been interfered with. When the satellite navigation data is abnormal, checking and correcting the satellite navigation data specifically includes: determining a test path, obtaining a first test path and a second test path through the test path, calculating a first track direction change rate and a first track speed change rate for the first test path, calculating a second track direction change rate and a second track speed change rate for the second test path, and checking satellite navigation data using the first track direction change rate, the first track speed change rate, the second track direction change rate, and the second track speed change rate; For satellite navigation data that fails the inspection, segmented clustering is performed to determine the error type, including normal distribution and skewed distribution. When the error type is normal distribution, the satellite navigation data is corrected using high-frequency satellite navigation data. When the error type is skewed distribution, the high-frequency coordinates of the high-frequency satellite navigation data and the satellite coordinates of the satellite navigation data are determined, and the satellite navigation data is corrected using the high-frequency coordinates, the satellite coordinates and the high-frequency satellite navigation data.

[0044] Regarding the above steps, the specific implementation methods in this embodiment are as follows: Here, the longitude change is needed to calculate the north position deviation corresponding to the i-th reference timestamp : in, It is the longitude data updated by inertial navigation data.

[0045] Similarly, the latitude change is used to calculate the eastward position deviation corresponding to the i-th reference timestamp : in, is the latitude data updated by the inertial navigation data, and L is the latitude data corresponding to the i-th reference timestamp in the satellite navigation data.

[0046] In this way, the position deviation corresponding to the i-th reference timestamp can be calculated using the north position deviation and the east position deviation : Then, the high-frequency satellite navigation data is used to calculate the track direction deviation and track speed deviation. That is, the high-frequency heading data in the high-frequency satellite navigation data closest to the i-th reference timestamp is subtracted from the track direction data in the satellite navigation data corresponding to the i-th reference timestamp and the absolute value is taken to obtain the track direction deviation; the high-frequency speed data in the high-frequency satellite navigation data closest to the i-th reference timestamp is subtracted from the track speed data in the satellite navigation data corresponding to the i-th reference timestamp and the absolute value is taken to obtain the track speed deviation.

[0047] After obtaining the track deviation and track speed deviation, set abnormal thresholds including the track deviation threshold, track speed deviation threshold and position deviation threshold to verify the satellite navigation data. In this embodiment, the position deviation threshold is 1.5m, the track deviation threshold is 5°, and the track speed deviation threshold is 0.3m / s. Compare the position deviation with the position deviation threshold, the track deviation with the track deviation threshold, and the track speed deviation with the track speed deviation threshold. If two of them are higher than their respective abnormal thresholds, it is determined that the satellite navigation data is abnormal and needs to be corrected, inspected, and other measures are taken to correct the abnormal high-frequency satellite navigation data. If all are higher than their respective abnormal thresholds, it is determined that the error of the satellite navigation data is large. At this time, the satellite navigation data is unreliable and it is necessary to rely on the odometer, inertial navigation equipment, etc. to control the navigation of the unmanned boat. After the verification is completed, the ship's position, speed, heading, etc. can be determined based on the high-frequency satellite navigation data to control the navigation of the ship.

[0048] When correcting and checking satellite navigation data that contains anomalies, a test path needs to be pre-set. Several relatively dense path points are selected from the test path so that the unmanned boat can complete the navigation of the test path by passing through each path point. For example, in this embodiment, the test path can be a continuous S-shaped route. The unmanned boat then navigates only under the control of the satellite navigation data and passes through the path points in sequence, completing the navigation along the test path and obtaining a first test path. During the navigation process, each time the unmanned boat passes through a path point, it will emit a response signal. The actual position of the unmanned boat at the time of the response signal is recorded using the odometer, inertial navigation equipment, and compass to obtain the satellite path point. The unmanned boat then navigates only using the odometer, inertial navigation equipment, and compass without using satellite navigation data, and passes through the path points in sequence, completing the navigation along the test path and obtaining a second test path. During the process of obtaining the first test path, the UAV experienced multiple changes in track speed and direction due to factors such as errors in satellite navigation data and changes in the path itself. The rates of change of track direction with respect to time and the rates of change of track speed with respect to time when passing through the path points were used as the first track direction change rate and the first track speed change rate, respectively. Similarly, the second test path also generated second track direction change rates and second track speed change rates.

[0049] Since the test path is not long, the control of the odometer, inertial navigation equipment, and compass can be considered to be relatively accurate in a shorter distance. Therefore, the second track direction change rate and the second track speed change rate can be used as reference standards. When the error of the satellite navigation signal is large, random errors will cause the unmanned boat to frequently change speed and direction. Therefore, the difference between the sum of the absolute values ​​of the first track direction change rate and the sum of the absolute values ​​of the second track direction change rate is calculated, and the difference between the sum of the absolute values ​​of the first track speed change rate and the sum of the absolute values ​​of the second track speed change rate is calculated to obtain the cumulative difference of the track direction change rate and the cumulative difference of the track speed change rate. The cumulative difference threshold of the track direction change rate and the cumulative difference threshold of the track speed change rate are set according to experience. If the cumulative difference of the track direction change rate is greater than the cumulative difference threshold of the track direction change rate or the cumulative difference of the track speed change rate is greater than the cumulative difference threshold of the track speed change rate, it is considered that the satellite navigation data has failed the inspection and cannot be used directly and needs to be corrected.

[0050] When performing corrections, it's necessary to first determine the type of error in the satellite navigation data—that is, the error type. Typically, satellite navigation data errors are caused by two factors. One is due to factors like high ambient electromagnetic interference and weak satellite signals. Errors caused by these factors exhibit a normal distribution, with satellite path points distributed along both sides of the test path. Another cause of error is multipath effects caused by signal reflection from the sea surface or incomplete satellite constellation coverage in the area where the unmanned vehicle is located. This results in a skewed distribution of satellite path points, with the distribution of satellite path points significantly tilted toward one side of the test path. To determine the type of error in the satellite navigation data, segmented clustering is performed. Specifically, the first test path is divided into odd-numbered segments. The satellite path points in each segment are then clustered to determine their cluster centers. If the cluster centers of the satellite path points in a segment are within 1.5 meters of either side of the test path, the error type for that segment is considered normal; otherwise, it is considered skewed. If the normal distribution is the majority in each segment of the first test path, the error type of the satellite navigation data is considered to belong to the normal distribution; otherwise, it is considered to be a skewed distribution, and the skewed distribution will generally tend to one side of the test path. Here, the side to which the skewed distribution tends to be defined as the biased side, and the other side is defined as the non-biased side. For example, in the skewed distribution, the cluster center generally tends to the left side of the test path, then the left side is defined as the biased side, and the right side is defined as the non-biased side. Therefore, the biased side of the skewed distribution can also be determined through the first test path.

[0051] The satellite navigation data then needs to be corrected. When correcting satellite navigation data with a normally distributed error, after obtaining the satellite navigation data, it is also necessary to determine the i-th reference timestamp corresponding to the satellite navigation data and the high-frequency satellite navigation data closest to the i-th reference timestamp. Then, for the satellite navigation data, the longitude, latitude, track direction, and track speed therein need to be taken in turn as the median of the longitude data updated by the inertial navigation data, the latitude data updated by the inertial navigation data, the high-frequency heading data, and the high-frequency speed data, so as to realize the use of the median of the satellite navigation data and the high-frequency satellite navigation data as the satellite navigation data, thereby realizing the correction of the satellite navigation data with a normally distributed error, so as to improve the accuracy of the subsequently obtained high-frequency satellite navigation data.

[0052] When correcting satellite navigation data with a skewed distribution error, it is necessary to determine the satellite coordinates pointed to by the satellite navigation data based on the longitude and latitude in the satellite navigation data corresponding to the i-th reference timestamp, obtain the high-frequency satellite navigation data closest to the i-th reference timestamp, and determine the high-frequency coordinates pointed to by the high-frequency satellite navigation data based on the longitude data updated by the inertial navigation data and the latitude data updated by the inertial navigation data. If the distance difference between the high-frequency coordinates and the satellite coordinates is within 1.5 meters or the satellite coordinates are located on the non-deflected side of the high-frequency coordinates, the method for correcting the satellite navigation data with a normally distributed error is used for correction. When the distance difference between the high-frequency coordinates and the satellite coordinates is beyond 1.5 meters and the satellite coordinates are located on the deflected side of the high-frequency coordinates, then for the satellite navigation data, the longitude, latitude, track direction and track speed therein need to be respectively taken in sequence as the longitude data updated by the inertial navigation data, the latitude data updated by the inertial navigation data, the high-frequency heading data and the high-frequency speed data, so as to realize the correction of the satellite navigation data with a skewed distribution error.

[0053] The present invention can not only supplement satellite navigation data, effectively improving the immediacy of the data so that it can adapt to complex and changeable environments that require high-immediacy responses, but also verify satellite navigation data and promptly detect anomalies in satellite navigation data, thereby avoiding interference with ship control caused by abnormal data.

[0054] The satellite positioning update device based on multi-source data provided by the present invention is described below. The satellite positioning update device based on multi-source data described below and the satellite positioning update method based on multi-source data described above can correspond to each other.

[0055] Figure 2 The structural diagram of the satellite positioning supplement system based on multi-source data is shown as an example. Figure 2As shown, the method for performing the satellite positioning supplementation method based on multi-source data as described above includes: Navigation data module 100: used to install navigation equipment and obtain navigation data through the navigation equipment; Data alignment module 200: used to determine a time series, determine a reference timestamp from the time series, select a time window based on the reference timestamp, and perform data alignment between the time window and the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data; Data supplement module 300: used to calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data; Longitude and latitude change module 400: used to calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data and high-frequency speed data; Deviation verification module 500: used to calculate position deviation, track deviation and track speed deviation using high-frequency satellite navigation data, verify the satellite navigation data by the position deviation, track deviation and track speed deviation, and use the high-frequency satellite navigation data to control the navigation of the ship; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0056] Figure 3 An example of a physical structure diagram of an electronic device is shown below. Figure 3 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute a satellite positioning supplement method based on multi-source data, the method comprising: S1: Install navigation equipment and obtain navigation data through the navigation equipment; S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp and align the time window with the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data. S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for continuous compensation to obtain high-frequency heading data and high-frequency speed data; S4: Calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data; S5: Use high-frequency satellite navigation data to calculate position deviation, track deviation and track speed deviation, verify the satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control the ship's navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0057] Furthermore, the computer program in the aforementioned memory 830 can be implemented as a software functional unit and, when sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0058] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the satellite positioning continuous compensation method based on multi-source data provided above, the method comprising: S1: Install navigation equipment and obtain navigation data through the navigation equipment; S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp and align the time window with the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data. S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for continuous compensation to obtain high-frequency heading data and high-frequency speed data; S4: Calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data; S5: Use high-frequency satellite navigation data to calculate position deviation, track deviation and track speed deviation, verify the satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control the ship's navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

[0059] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0060] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A satellite positioning supplementation method based on multi-source data, characterized in that: include: S1: Install navigation equipment and obtain navigation data through the navigation equipment; S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp and align the time window with the navigation data to obtain satellite navigation data, odometer data, inertial navigation data, and compass data. S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water velocity using satellite navigation data and odometer data, and use the water velocity and yaw angle for continuous compensation to obtain high-frequency heading data and high-frequency speed data; S4: Calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change based on the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data; S5: Use high-frequency satellite navigation data to calculate position deviation, track deviation and track speed deviation, verify the satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control the ship's navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

2. The satellite positioning supplement method based on multi-source data according to claim 1, characterized in that: Step S1 further comprises: S11: Install navigation equipment including speed log, inertial navigation equipment, compass and satellite navigation terminal; S12: Acquire initial odometer data through the odometer, acquire initial inertial navigation data through the inertial navigation device, acquire initial compass data through the compass, and acquire initial satellite navigation data through the satellite navigation terminal, and use the initial odometer data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

3. The satellite positioning supplement method based on multi-source data according to claim 2, characterized in that: Step S2 further comprises: S21: determining the time sequence from the initial inertial navigation data, selecting the reference timestamp from the time sequence, and determining a satellite data time window, an odometer time window, and a compass time window according to the navigation data and the reference timestamp; S22: Acquire the satellite navigation data from the initial satellite navigation data according to the satellite data time window, acquire the odometer data from the initial odometer data according to the odometer time window, acquire the compass data from the initial compass data according to the compass time window, and acquire inertial navigation data from the initial inertial navigation data.

4. The satellite positioning supplement method based on multi-source data according to claim 1, characterized in that: Step S3 further comprises: S31: Calculate the yaw angle using satellite navigation data and compass data, and add the yaw angle to the compass data to obtain high-frequency heading data; S32: Calculating water flow velocity using satellite navigation data and odometer data, and adding the water flow velocity to the odometer data to obtain high-frequency ship speed data.

5. The satellite positioning supplement method based on multi-source data according to claim 1, characterized in that: Step S4 further comprises: S41: calculating a north position offset according to the north velocity in the inertial navigation data, calculating an east position offset according to the east velocity in the inertial navigation data, and using the north position offset and the east position offset as the position offset; S42: Calculate the longitude change by the north position offset, and calculate the latitude change by the east position offset, and obtain high-frequency satellite navigation data according to the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

6. The satellite positioning supplement method based on multi-source data according to claim 1, characterized in that: In step S5, the longitude data updated by the inertial navigation data in the high-frequency satellite navigation data is used to calculate the north position deviation, and the latitude data updated by the inertial navigation data in the high-frequency satellite navigation data is used to calculate the east position deviation, and the position deviation is calculated using the north position deviation and the east position deviation.

7. The satellite positioning supplement method based on multi-source data according to claim 1, characterized in that: In step S5, when verifying the satellite navigation data by using the position deviation, track deviation, and track speed deviation, an abnormality threshold is set, and the position deviation, track deviation, and track speed deviation are compared with the abnormality threshold. If any two of them are higher than the abnormality threshold, it is determined that the satellite navigation data has an abnormality; if all of them are higher than the abnormality threshold, it is determined that the satellite navigation data has been interfered with. When the satellite navigation data is abnormal, checking and correcting the satellite navigation data specifically includes: determining a test path, obtaining a first test path and a second test path through the test path, calculating a first track direction change rate and a first track speed change rate for the first test path, calculating a second track direction change rate and a second track speed change rate for the second test path, and checking satellite navigation data using the first track direction change rate, the first track speed change rate, the second track direction change rate, and the second track speed change rate; For satellite navigation data that fails the inspection, segmented clustering is performed to determine the error type, including normal distribution and skewed distribution. When the error type is normal distribution, the satellite navigation data is corrected using high-frequency satellite navigation data. When the error type is skewed distribution, the high-frequency coordinates of the high-frequency satellite navigation data and the satellite coordinates of the satellite navigation data are determined, and the satellite navigation data is corrected using the high-frequency coordinates, the satellite coordinates and the high-frequency satellite navigation data.

8. A satellite positioning update system based on multi-source data, used to execute the satellite positioning update method based on multi-source data according to any one of claims 1 to 7, characterized in that: include: Navigation data module: used to install navigation equipment and obtain navigation data through the navigation equipment; Data alignment module: used to determine the time series and the reference timestamp from the time series, select the time window according to the reference timestamp, align the time window with the navigation data, and obtain satellite navigation data, odometer data, inertial navigation data and compass data; Data supplement module: used to calculate the yaw angle through satellite navigation data and compass data, calculate the water flow speed through satellite navigation data and odometer data, and use the water flow speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data; Longitude and latitude change module: used to calculate the position offset based on the inertial navigation data, calculate the longitude change and latitude change through the position offset, and obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data and high-frequency speed data; Deviation verification module: used to calculate position deviation, track deviation and track speed deviation using high-frequency satellite navigation data, verify satellite navigation data through position deviation, track deviation and track speed deviation, and use high-frequency satellite navigation data to control ship navigation; When verifying satellite navigation data, if it is determined that the satellite navigation data is abnormal, a test path is determined and the satellite navigation data is checked through the test path. For satellite navigation data that fails the inspection, the error type is determined through segmented clustering, and the satellite navigation data is corrected according to the error type.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the satellite positioning supplement method based on multi-source data as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the satellite positioning supplement method based on multi-source data as described in any one of claims 1 to 7 are implemented.

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