Satellite positioning follow-up methods, systems, equipment, and media based on multi-source data

Abstract

This invention relates to the field of maritime navigation, providing a method, system, device, and medium for satellite positioning follow-up based on multi-source data. The method includes acquiring navigation data through navigation equipment, determining a reference timestamp, selecting a time window based on the reference timestamp and aligning the data to obtain satellite navigation data, log data, inertial navigation data, and compass data; calculating the yaw angle using the satellite navigation data and compass data, calculating the current velocity using the satellite navigation data and log data, and using the current velocity and yaw angle for follow-up; calculating the position offset based on the inertial navigation data, calculating the longitude and latitude changes using the position offset to obtain high-frequency satellite navigation data; calculating the position deviation, course deviation, and track speed deviation using the high-frequency satellite navigation data, and verifying the satellite navigation data using the position deviation, course deviation, and track speed deviation. This invention can both follow up and verify satellite navigation data.

Description

Technical Field

[0001] This invention relates to the field of maritime navigation technology, and in particular to satellite positioning follow-up methods, systems, equipment and media based on multi-source data. Background Technology

[0002] Satellite positioning equipment is widely used on ships. It determines the receiver's three-dimensional position by measuring the distance from satellites to the receiver and using triangulation or polygonal measurement methods. The receiver directly provides navigation data with high positioning accuracy. However, the positioning information is transmitted at a frequency on the order of seconds. This means that when a ship faces high-speed turns, emergency avoidance, or collision risks, the position data output by the receiver may lag behind the ship's actual motion. This error is sufficient to affect 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 between discovering a situation and needing to make a decision is very short, and an update frequency of 1 second will occupy a relatively long period of time within the window. For example, when two ships are traveling towards each other at a high relative speed, the relative distance will be shortened by tens of meters within 1 second. If the navigation data is delayed by 1 second, it may lead to insufficient safe distance between ships, ultimately causing an accident.

[0004] The real-time requirements of highly dynamic scenarios typically necessitate a high frequency of positioning data updates to achieve lag-free dynamic tracking, a requirement that current satellite navigation and positioning systems operate at second-level frequencies. This latency is not due to insufficient system accuracy, but rather a mismatch between the data update rhythm and the rapidly changing characteristics of highly dynamic scenarios. This mismatch results in significant application limitations in scenarios requiring high-frequency, highly synchronous positioning support. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a satellite positioning follow-up method, system, device, and medium based on multi-source data to realize the follow-up of low-frequency satellite positioning signals received by ships.

[0006] This invention provides a satellite positioning follow-up method based on multi-source data, including:

[0007] S1: Install navigation equipment and obtain navigation data through the navigation equipment;

[0008] S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp. Align the data with the navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data.

[0009] S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water current speed using satellite navigation data and log data, and use the water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data;

[0010] S4: Calculate the position offset based on the inertial navigation data, calculate the longitude and latitude changes based on the position offset, and obtain high-frequency satellite navigation data based on the longitude and latitude changes, high-frequency heading data, and high-frequency speed data;

[0011] S5: Use high-frequency satellite navigation data to calculate position deviation, course deviation and speed deviation, verify the satellite navigation data through position deviation, course deviation and speed deviation, and use high-frequency satellite navigation data to control ship navigation;

[0012] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0013] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, step S1 further includes:

[0014] S11: Install navigation equipment including a log, inertial navigation system, compass and satellite navigation terminal;

[0015] S12: Obtain initial log data through the log, initial inertial navigation data through the inertial navigation device, initial compass data through the compass, and initial satellite navigation data through the satellite navigation terminal, and use the initial log data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

[0016] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, step S2 further includes:

[0017] S21: Determine the time series from the initial inertial navigation data, select the reference timestamp from the time series, and determine the satellite data time window, the log time window, and the compass time window based on the navigation data and the reference timestamp;

[0018] S22: Obtain satellite navigation data from the initial satellite navigation data according to the satellite data time window, obtain odometer data from the initial odometer data according to the odometer time window, obtain compass data from the initial compass data according to the compass time window, and obtain inertial navigation data from the initial inertial navigation data.

[0019] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, step S3 further includes:

[0020] 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;

[0021] S32: Calculate the water flow speed using satellite navigation data and log data, and add the water flow speed to the log data to obtain high-frequency speed data.

[0022] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, step S4 further includes:

[0023] S41: Calculate the northward position offset based on the northward velocity in the inertial navigation data, calculate the eastward position offset based on the eastward velocity in the inertial navigation data, and use the northward position offset and the eastward position offset as the position offset.

[0024] S42: Calculate the longitude change using the northward position offset and the latitude change using the eastward position offset. Obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

[0025] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, in step S5, the northward position deviation is calculated using the longitude data updated by inertial navigation data in the high-frequency satellite navigation data, the eastward position deviation is calculated using the latitude data updated by inertial navigation data in the high-frequency satellite navigation data, and the position deviation is calculated using the northward position deviation and the eastward position deviation.

[0026] According to the satellite positioning follow-up method based on multi-source data provided by the present invention, in step S5, when verifying the satellite navigation data by position deviation, trajectory deviation and trajectory speed deviation, an abnormal threshold is set, and the position deviation, trajectory deviation and trajectory speed deviation are compared with the abnormal threshold. If two of them are higher than the abnormal threshold, it is determined that the satellite navigation data is abnormal. If all of them are higher than the abnormal threshold, it is determined that the satellite navigation data is interfered with.

[0027] When the satellite navigation data is abnormal, the satellite navigation data is checked and corrected, specifically including:

[0028] Determine the test path, obtain the first test path and the second test path through the test path, calculate the first course change rate and the first course speed change rate of the first test path, calculate the second course change rate and the second course speed change rate of the second test path, and check the satellite navigation data through the first course change rate, the first course speed change rate, the second course change rate and the second course speed change rate;

[0029] For satellite navigation data that fails the inspection, the error types, including normal and skewed distributions, are determined by segmented clustering. When the error type is normally distributed, the satellite navigation data is corrected using high-frequency satellite navigation data.

[0030] When the error type is skewed, determine the high-frequency coordinates and satellite coordinates of the high-frequency satellite navigation data, and then correct the satellite navigation data using the high-frequency coordinates, satellite coordinates, and high-frequency satellite navigation data.

[0031] This invention also provides a satellite positioning follow-up system based on multi-source data, including:

[0032] Navigation data module: Used to install navigation equipment and obtain navigation data through the navigation equipment;

[0033] Data alignment module: used to determine the time series, determine the reference timestamp from the time series, select a time window based on the reference timestamp, and perform data alignment with navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data;

[0034] Data supplementation module: used to calculate yaw angle using satellite navigation data and compass data, calculate water current speed using satellite navigation data and log data, and use water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data;

[0035] Latitude and Longitude Change Module: Used to calculate position offset based on inertial navigation data, calculate longitude and latitude changes based on position offset, and obtain high-frequency satellite navigation data based on longitude and latitude changes, high-frequency heading data and high-frequency speed data;

[0036] Deviation verification module: used to calculate position deviation, course deviation and speed deviation using high-frequency satellite navigation data, verify the satellite navigation data through position deviation, course deviation and speed deviation, and control ship navigation using high-frequency satellite navigation data;

[0037] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0038] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the satellite positioning follow-up method based on multi-source data as described above.

[0039] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the satellite positioning follow-up method based on multi-source data as described above.

[0040] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0041] The satellite positioning data supplementation method provided by this invention supplements satellite navigation data using data from a log and compass, converting low-frequency satellite navigation data into high-frequency satellite navigation data, thereby improving the adaptability of satellite navigation data to high-dynamic scenarios. Furthermore, it verifies the data using inertial navigation data and high-frequency satellite navigation data to further ensure the validity of the satellite navigation data, thereby controlling ship navigation. Additionally, it can correct abnormal high-frequency satellite navigation data to reduce the impact of errors, further improving navigation accuracy.

[0042] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating the satellite positioning follow-up method based on multi-source data provided by the present invention.

[0045] Figure 2 This is a schematic diagram of the structure of the satellite positioning follow-up system based on multi-source data provided by the present invention.

[0046] Figure 3This is a schematic diagram of the structure of the satellite positioning follow-up device based on multi-source data provided by the present invention.

[0047] Figure label:

[0048] 100. Navigation data module; 200. Data alignment module; 300. Data continuation module; 400. Latitude and longitude change module; 500. Deviation verification module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0050] 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 construed as indicating or implying relative importance.

[0051] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] The following is combined Figures 1 to 3 The specific embodiments of the present invention are described below. Figure 1This is a flowchart illustrating a satellite positioning follow-up method based on multi-source data. The multi-source data-based satellite positioning follow-up method specifically includes:

[0054] S1: Install navigation equipment and obtain navigation data through the navigation equipment;

[0055] Furthermore, the objective of this stage is to acquire navigation data through the navigation device. Specifically, step S1 further includes:

[0056] S11: Install navigation equipment including a log, inertial navigation system, compass and satellite navigation terminal;

[0057] S12: Obtain initial log data through the log, initial inertial navigation data through the inertial navigation device, initial compass data through the compass, and initial satellite navigation data through the satellite navigation terminal, and use the initial log data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

[0058] The specific implementation method for the above steps in this embodiment is as follows:

[0059] First, various navigation devices need to be installed on the ship, including a log, inertial navigation system (INS), compass, and satellite navigation terminal (specifically, a BeiDou Navigation Satellite System terminal). Next, initial log data, including timestamps and speed over water, is collected; initial compass data, including timestamps and heading, is obtained; initial satellite navigation data, including timestamps, longitude, latitude, course, and track speed, is obtained from the satellite navigation terminal; and initial INS data, including timestamps, longitude, latitude, eastward speed, and northward speed, is obtained from the INS. These initial log, INS, compass, and satellite navigation data are then used as navigation data.

[0060] Typically, the initial satellite navigation data acquisition frequency is 1Hz, the initial log and compass data acquisition frequency is 40Hz, and the initial inertial navigation data acquisition frequency is 100Hz. Therefore, based on the data acquisition frequency and the characteristics of the data itself, abnormal data can be removed to avoid its impact. Here, for heading and track information, the reasonable range is 0°~360°; data outside this range is considered abnormal. For east speed, north speed, and track speed information, the reasonable range is -45 knots to 45 knots; data outside this range is considered abnormal. For position information, the reasonable range for longitude values ​​should be -180°~180°, and the reasonable range for latitude values ​​should be -90°~90°; data outside this range is considered abnormal.

[0061] Furthermore, for initial satellite navigation data, the data frequency should be 1 Hz. If the frequency drops below 1 Hz for 3 seconds, the data is considered abnormal. For initial inertial navigation data, the data frequency should be 100 Hz. If the frequency drops below 10 Hz for 1 second, the data is considered abnormal. For initial compass data, the data frequency should be 40 Hz. If the frequency drops below 10 Hz for 1 second, the data is considered abnormal. For initial odometer data, the data frequency should be 40 Hz. If the frequency drops below 10 Hz for 1 second, the data is considered abnormal.

[0062] S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp. Align the data with the navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data.

[0063] Furthermore, the objective of this stage is to select a time window based on the reference timestamp and perform time alignment to obtain satellite navigation data, log data, inertial navigation data, and compass data. Specifically, step S2 further includes:

[0064] S21: Determine the time series from the initial inertial navigation data, select the reference timestamp from the time series, and determine the satellite data time window, the log time window, and the compass time window based on the navigation data and the reference timestamp;

[0065] S22: Obtain satellite navigation data from the initial satellite navigation data according to the satellite data time window, obtain odometer data from the initial odometer data according to the odometer time window, obtain compass data from the initial compass data according to the compass time window, and obtain inertial navigation data from the initial inertial navigation data.

[0066] The specific implementation method for the above steps in this embodiment is as follows:

[0067] First, since the initial inertial navigation data has the highest frequency, it is used as the basis for selecting a series of consecutive timestamps from the initial inertial navigation data as a time series, and then selecting one timestamp from the time series as a reference to obtain the i-th reference timestamp. Subsequently, for the initial 1Hz satellite navigation data, based on the reference timestamp, [ The time interval of ) seconds is used as the satellite data time window. Similarly, for the initial compass data and initial log data at 40Hz, the reference timestamp is used as the reference, and [ The time interval of ) seconds is used as the time window for the odometer and the time window for the compass.

[0068] Subsequently, within a satellite data time window, there should normally be one initial satellite navigation data point; this initial satellite navigation data is used as the satellite navigation data. The odometer time window and compass time window corresponding to the reference timestamp should also each contain one initial odometer data point and one initial compass data point, respectively. After obtaining these data, determine the previous adjacent satellite data time window corresponding to the timestamp one second before the reference timestamp. This allows us to determine the initial odometer and compass data contained in the odometer and compass time windows 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 the 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 the compass data; and the initial inertial navigation data between the reference timestamp and the timestamp one second before the reference timestamp is used as the inertial navigation data.

[0069] S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water current speed using satellite navigation data and log data, and use the water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data;

[0070] Furthermore, the objective of this stage is to calculate the yaw angle and current velocity, thereby using the current velocity and yaw angle for follow-up data to obtain high-frequency heading data and high-frequency speed data. Specifically, step S3 further includes:

[0071] 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;

[0072] S32: Calculate the water flow speed using satellite navigation data and log data, and add the water flow speed to the log data to obtain high-frequency speed data.

[0073] The specific implementation method for the above steps in this embodiment is as follows:

[0074] First, determine the course from the satellite navigation data. Heading in compass data and the ship's yaw angle The relationship between them:

[0075]

[0076] At this point, the track direction from the satellite navigation data is taken as the track direction, and the heading from the first data point in the log is taken as the heading. This allows for the calculation of the yaw angle. Since the yaw angle is unlikely to change significantly within the one-second interval between the previous satellite navigation data point, it can be considered a constant value. Therefore, based on the above formula, adding each heading and yaw angle from the compass data yields the h-th high-frequency heading data. :

[0077]

[0078] in, This represents the heading in the h-th data point of the compass data. This completes the continuation of the heading sequence, increasing the frequency of heading updates.

[0079] Next, determine the water flow velocity. The water velocity in the log data and track speed in satellite navigation data The relationship between them:

[0080]

[0081] Based on this relationship, the track speed from the satellite navigation data is used as the track speed, and the velocity relative to the water in the first data point from the log is used as the velocity relative to the water to calculate the current speed. Since the current speed is unlikely to change significantly within the one-second interval between the previous satellite navigation data point, it can be considered a constant. Therefore, each velocity relative to the water in the log data can be added sequentially to the current speed to obtain the k-th high-frequency speed data point. :

[0082]

[0083] in, This represents the water speed in the k-th data point from the log. This completes the follow-up on the track speed, increasing the frequency of speed data. Follow-up significantly improves the update rate of heading and speed data in satellite navigation, thereby enhancing the ability to respond to emergencies.

[0084] S4: Calculate the position offset based on the inertial navigation data, calculate the longitude and latitude changes based on the position offset, and obtain high-frequency satellite navigation data based on the longitude and latitude changes, high-frequency heading data, and high-frequency speed data;

[0085] Furthermore, the objective of this stage is to calculate the position offset and latitude change to obtain high-frequency satellite navigation data. Specifically, step S4 further includes:

[0086] S41: Calculate the northward position offset based on the northward velocity in the inertial navigation data, calculate the eastward position offset based on the eastward velocity in the inertial navigation data, and use the northward position offset and the eastward position offset as the position offset.

[0087] S42: Calculate the longitude change using the northward position offset and the latitude change using the eastward position offset. Obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

[0088] The specific implementation method for the above steps in this embodiment is as follows:

[0089] 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. :

[0090]

[0091] in, Let F be the eastward velocity in the f-th data point of the inertial navigation system (INS) data set, and F be the total number of data points in the INS data set. The time interval between two data points in inertial navigation data.

[0092] Similarly, the northward position offset corresponding to the i-th reference timestamp is calculated based on the northward velocity in the inertial navigation data. ;

[0093]

[0094] in, The position offset is obtained by summing the products of the northward velocity and time in the f-th data point of the inertial navigation system. The northward and eastward position offsets are used as the total position offset.

[0095] Then, the change in longitude corresponding to the i-th reference timestamp is calculated using the northward position offset. :

[0096]

[0097] Where M is the radius of curvature on the meridian.

[0098] The latitude change corresponding to the i-th reference timestamp is calculated using the eastward position offset. :

[0099]

[0100] Where N is the radius of curvature on the ramid, and B is the longitude data corresponding to the i-th reference timestamp in the satellite navigation data. This completes the calculation of longitude and latitude changes. After calculating the longitude and latitude changes, these changes are added to the longitude and latitude data corresponding to the timestamp one second before the i-th reference timestamp in the high-frequency satellite navigation data, respectively. This updates the original longitude and latitude data using inertial navigation data. Thus, the high-frequency heading data, high-frequency speed data, the longitude data updated by inertial navigation data, and the latitude data updated by inertial navigation data can be used as high-frequency satellite navigation data.

[0101] S5: Use high-frequency satellite navigation data to calculate position deviation, course deviation and speed deviation, verify the satellite navigation data through position deviation, course deviation and speed deviation, and use high-frequency satellite navigation data to control ship navigation;

[0102] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0103] Furthermore, the objective of this stage is to verify the satellite navigation data using position deviation, course deviation, and course speed deviation, and to control ship navigation using high-frequency satellite navigation data. Specifically, in step S5, the northward position deviation is calculated using the longitude data updated from the inertial navigation data in the high-frequency satellite navigation data, and the eastward position deviation is calculated using the latitude data updated from the inertial navigation data in the high-frequency satellite navigation data. The final position deviation is then calculated using the northward and eastward position deviations.

[0104] In step S5, when verifying satellite navigation data by position deviation, course deviation and track speed deviation, an anomaly threshold is set. The position deviation, course deviation and track speed deviation are compared with the anomaly threshold. If two of them are higher than the anomaly threshold, the satellite navigation data is determined to be abnormal. If all of them are higher than the anomaly threshold, the satellite navigation data is determined to be interfered with.

[0105] When the satellite navigation data is abnormal, the satellite navigation data is checked and corrected, specifically including:

[0106] Determine the test path, obtain the first test path and the second test path through the test path, calculate the first course change rate and the first course speed change rate of the first test path, calculate the second course change rate and the second course speed change rate of the second test path, and check the satellite navigation data through the first course change rate, the first course speed change rate, the second course change rate and the second course speed change rate;

[0107] For satellite navigation data that fails the inspection, the error types, including normal and skewed distributions, are determined by segmented clustering. When the error type is normally distributed, the satellite navigation data is corrected using high-frequency satellite navigation data.

[0108] When the error type is skewed, determine the high-frequency coordinates and satellite coordinates of the high-frequency satellite navigation data, and then correct the satellite navigation data using the high-frequency coordinates, satellite coordinates, and high-frequency satellite navigation data.

[0109] The specific implementation method for the above steps in this embodiment is as follows:

[0110] Here, we need to use the longitude change to calculate the northward position deviation corresponding to the i-th reference timestamp. :

[0111]

[0112] in, This is the longitude data updated using inertial navigation data.

[0113] Similarly, the eastward position deviation corresponding to the i-th reference timestamp is calculated using the latitude change. :

[0114]

[0115] in, L represents the latitude data updated using inertial navigation data, where L is the latitude data corresponding to the i-th reference timestamp in the satellite navigation data.

[0116] This allows us to calculate the position deviation corresponding to the i-th reference timestamp using the northward and eastward position deviations. :

[0117]

[0118] Next, the high-frequency satellite navigation data is used to calculate the heading deviation and the speed deviation. That is, the heading deviation is obtained by subtracting the high-frequency heading data from the high-frequency satellite navigation data closest to the i-th reference timestamp from the heading data from the satellite navigation data corresponding to the i-th reference timestamp and taking the absolute value of the difference. Similarly, the speed deviation is obtained by subtracting the high-frequency speed data from the high-frequency satellite navigation data closest to the i-th reference timestamp from the speed data from the satellite navigation data corresponding to the i-th reference timestamp and taking the absolute value of the difference.

[0119] After obtaining the trajectory deviation and trajectory speed deviation, anomaly thresholds are set, including a trajectory deviation threshold, a trajectory speed deviation threshold, and a position deviation threshold, to verify the satellite navigation data. In this embodiment, the position deviation threshold is set to 1.5m, the trajectory deviation threshold to 5°, and the trajectory speed deviation threshold to 0.3m / s. The position deviation is compared with the position deviation threshold, the trajectory deviation is compared with the trajectory deviation threshold, and the trajectory speed deviation is compared with the trajectory speed deviation threshold. If two of these values ​​exceed their respective anomaly thresholds, the satellite navigation data is determined to be abnormal, requiring correction and inspection measures to correct the abnormal high-frequency satellite navigation data. If all values ​​exceed their respective anomaly thresholds, the satellite navigation data is determined to have a large error, and the satellite navigation data is unreliable, requiring the use of a log, inertial navigation equipment, etc., to control the unmanned surface vessel's navigation. After verification, the vessel's bearing, speed, and heading can be determined based on the high-frequency satellite navigation data, thereby controlling the vessel's navigation.

[0120] When correcting and checking abnormal satellite navigation data, a test path needs to be pre-set. Several closely spaced waypoints are selected from this test path, allowing the unmanned surface vessel (USV) to complete the test route by passing through each waypoint. For example, in this embodiment, the test path can be a continuous S-shaped route. The USV then navigates solely under the control of satellite navigation data, sequentially passing through the waypoints to complete the test route, obtaining the first test path. During this process, the USV sends a response signal each time it passes a waypoint. The actual position of the USV at the time of the response signal is recorded using a speedometer, inertial navigation system, and compass, obtaining the satellite waypoints. Next, without using satellite navigation data, the USV navigates solely using the speedometer, inertial navigation system, and compass, sequentially passing through the waypoints to complete the test route, obtaining the second test path. During the process of obtaining the first test path, due to errors in satellite navigation data and changes in the path itself, the unmanned surface vessel (USV) will experience multiple changes in its trajectory speed and trajectory direction. The rate of change of trajectory direction relative to time and the rate of change of trajectory speed relative to time at each waypoint will be taken as the first trajectory direction change rate and the first trajectory speed change rate, respectively. Similarly, the second test path will also generate a second trajectory direction change rate and a second trajectory speed change rate.

[0121] Since the test path is short, the control of the log, inertial navigation equipment, and compass can be considered relatively accurate over a short distance. Therefore, the second rate of change of course and the second rate of change of speed can be used as reference standards. When the error of the satellite navigation signal is large, random errors will cause the unmanned surface vessel to frequently change speed and direction. Therefore, the difference between the sum of the absolute values ​​of the first rate of change of course and the sum of the absolute values ​​of the second rate of change of course is calculated, as is the difference between the sum of the absolute values ​​of the first rate of change of speed and the sum of the absolute values ​​of the second rate of change of speed. This yields the cumulative difference of the rate of change of course and the cumulative difference of the rate of change of speed. Based on experience, thresholds for the cumulative difference of the rate of change of course and the cumulative difference of the rate of change of speed are set. If the cumulative difference of the rate of change of course is greater than the threshold or the cumulative difference of the rate of change of speed is greater than the threshold, then the satellite navigation data is considered to have failed the inspection and cannot be used directly, requiring correction.

[0122] When performing calibration, it is necessary to first determine the type of error in the satellite navigation data, that is, to identify its error category. Generally, satellite navigation data errors are caused by two factors. One is due to factors such as strong environmental electromagnetic interference or weak satellite signals. Errors caused by this factor follow a normal distribution, meaning the satellite path points are distributed normally along both sides of the test path. The other is due to signal reflection from the sea surface causing multipath effects or incomplete satellite constellation coverage in the area where the unmanned surface vessel is located, resulting in errors and causing the satellite path points to follow a skewed distribution, meaning the distribution of satellite path points is significantly biased towards one side of the test path. To determine the type of error in the satellite navigation data, segmented clustering is required. This involves dividing the first test path into an odd number of segments, and then clustering the satellite path points in each segment of the first test path to determine its cluster center. If the cluster center of the satellite path points in a segment is within 1.5 meters of either side of the test path, the error type for that segment is considered to be normally distributed; otherwise, it is considered to be skewed. If a normal distribution is predominant in each segment of the first test path, then the error types of the satellite navigation data are considered to be normally distributed; otherwise, they are considered to be skewed. Skewed distributions tend to be biased towards one side of the test path. Here, the side biased by the skewed distribution is defined as the biased side, and the other side is defined as the non-biased side. For example, if the cluster centers in a skewed distribution are generally biased towards the left side of the test path, then the left side is defined as the biased side, and the right side as the non-biased side. Therefore, the biased side of the skewed distribution can also be determined through the first test path.

[0123] Subsequently, the satellite navigation data needs to be calibrated. When calibrating satellite navigation data with normally distributed errors, after acquiring 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 this satellite navigation data, its longitude, latitude, track direction, and track speed are each taken as the median of the original data and the updated longitude, latitude, high-frequency track direction, and high-frequency speed data, respectively. This allows the median of the original satellite navigation data and the high-frequency satellite navigation data to be used as the satellite navigation data, thereby correcting the satellite navigation data with normally distributed errors and improving the accuracy of the subsequently obtained high-frequency satellite navigation data.

[0124] When correcting satellite navigation data with skewed error distribution, it is necessary to determine the satellite coordinates pointed to by the satellite navigation data, that is, the longitude and latitude of the satellite navigation data corresponding to the i-th reference timestamp, and obtain the high-frequency satellite navigation data closest to the i-th reference timestamp. Based on the longitude data updated by inertial navigation data and the latitude data updated by inertial navigation data in the high-frequency satellite navigation data, the high-frequency coordinates pointed to by the high-frequency satellite navigation data are determined. If the distance difference between the high-frequency coordinates and the satellite coordinates is within 1.5 meters, or if the satellite coordinates are located on the non-biased side of the high-frequency coordinates, then the correction method for satellite navigation data with normally distributed errors is used. When the distance difference between the high-frequency coordinates and the satellite coordinates is more than 1.5 meters and the satellite coordinates are located on the biased side of the high-frequency coordinates, then for the satellite navigation data, the longitude, latitude, course direction, and course speed within it need to be taken sequentially from the longitude data updated by the inertial navigation data, the latitude data updated by the inertial navigation data, the high-frequency course data, and the high-frequency speed data, respectively, so as to correct the satellite navigation data with skewed error distribution.

[0125] This invention can not only replenish satellite navigation data, effectively improving the timeliness of the data and enabling it to adapt to complex and ever-changing environments that require high real-time response, but also verify satellite navigation data, promptly detecting anomalies in the satellite navigation data, thereby preventing abnormal data from interfering with the operation of ships.

[0126] The satellite positioning follow-up device based on multi-source data provided by the present invention is described below. The satellite positioning follow-up device based on multi-source data described below can be referred to in correspondence with the satellite positioning follow-up method based on multi-source data described above.

[0127] Figure 2 A schematic diagram of a satellite positioning follow-up system based on multi-source data is shown in the example. Figure 2As shown, the method for performing satellite positioning follow-up based on multi-source data as described above includes:

[0128] Navigation data module 100: Used to install navigation equipment and acquire navigation data through the navigation equipment;

[0129] Data alignment module 200: used to determine the time series, determine the reference timestamp from the time series, select a time window based on the reference timestamp, and perform data alignment with navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data;

[0130] Data replenishment module 300: It is used to calculate the yaw angle through satellite navigation data and compass data, calculate the water flow speed through satellite navigation data and log data, and use the water flow speed and yaw angle for replenishment to obtain high-frequency heading data and high-frequency speed data;

[0131] Latitude and Longitude Change Module 400: Used to calculate position offset based on inertial navigation data, calculate longitude and latitude changes based on position offset, and obtain high-frequency satellite navigation data based on longitude and latitude changes, high-frequency heading data and high-frequency speed data;

[0132] Deviation verification module 500: Used to calculate position deviation, course deviation and speed deviation using high-frequency satellite navigation data, verify the satellite navigation data through position deviation, course deviation and speed deviation, and control ship navigation using high-frequency satellite navigation data;

[0133] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0134] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a satellite positioning follow-up method based on multi-source data, the method including:

[0135] S1: Install navigation equipment and obtain navigation data through the navigation equipment;

[0136] S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp. Align the data with the navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data.

[0137] S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water current speed using satellite navigation data and log data, and use the water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data;

[0138] S4: Calculate the position offset based on the inertial navigation data, calculate the longitude and latitude changes based on the position offset, and obtain high-frequency satellite navigation data based on the longitude and latitude changes, high-frequency heading data, and high-frequency speed data;

[0139] S5: Use high-frequency satellite navigation data to calculate position deviation, course deviation and speed deviation, verify the satellite navigation data through position deviation, course deviation and speed deviation, and use high-frequency satellite navigation data to control ship navigation;

[0140] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0141] Furthermore, when the computer program in the aforementioned memory 830 can be implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part 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 several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] In another aspect, the present invention also 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 aforementioned satellite positioning follow-up methods based on multi-source data, the method comprising:

[0143] S1: Install navigation equipment and obtain navigation data through the navigation equipment;

[0144] S2: Determine the time series and the reference timestamp from the time series. Select a time window based on the reference timestamp. Align the data with the navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data.

[0145] S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water current speed using satellite navigation data and log data, and use the water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data;

[0146] S4: Calculate the position offset based on the inertial navigation data, calculate the longitude and latitude changes based on the position offset, and obtain high-frequency satellite navigation data based on the longitude and latitude changes, high-frequency heading data, and high-frequency speed data;

[0147] S5: Use high-frequency satellite navigation data to calculate position deviation, course deviation and speed deviation, verify the satellite navigation data through position deviation, course deviation and speed deviation, and use high-frequency satellite navigation data to control ship navigation;

[0148] When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

[0149] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0150] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part 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, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A satellite positioning follow-up 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. Align the data with the navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data. S3: Calculate the yaw angle using satellite navigation data and compass data, calculate the water current speed using satellite navigation data and log data, and use the water current speed and yaw angle for supplementation 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 and latitude changes based on the position offset, and obtain high-frequency satellite navigation data based on the longitude and latitude changes, high-frequency heading data, and high-frequency speed data; S5: Use high-frequency satellite navigation data to calculate position deviation, course deviation and speed deviation, verify the satellite navigation data through position deviation, course deviation and speed deviation, and use high-frequency satellite navigation data to control ship navigation; When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by segmented clustering, and the satellite navigation data is corrected according to the error type.

2. The satellite positioning follow-up method based on multi-source data according to claim 1, characterized in that, Step S1 further includes: S11: Install navigation equipment including a log, inertial navigation system, compass and satellite navigation terminal; S12: Obtain initial log data through the log, initial inertial navigation data through the inertial navigation device, initial compass data through the compass, and initial satellite navigation data through the satellite navigation terminal, and use the initial log data, initial inertial navigation data, initial compass data, and initial satellite navigation data as the navigation data.

3. The satellite positioning follow-up method based on multi-source data according to claim 2, characterized in that, Step S2 further includes: S21: Determine the time series from the initial inertial navigation data, select the reference timestamp from the time series, and determine the satellite data time window, the log time window, and the compass time window based on the navigation data and the reference timestamp; S22: Obtain satellite navigation data from the initial satellite navigation data according to the satellite data time window, obtain odometer data from the initial odometer data according to the odometer time window, obtain compass data from the initial compass data according to the compass time window, and obtain inertial navigation data from the initial inertial navigation data.

4. The satellite positioning follow-up method based on multi-source data according to claim 1, characterized in that, 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: Calculate the water flow speed using satellite navigation data and log data, and add the water flow speed to the log data to obtain high-frequency speed data.

5. The satellite positioning follow-up method based on multi-source data according to claim 1, characterized in that, Step S4 further includes: S41: Calculate the northward position offset based on the northward velocity in the inertial navigation data, calculate the eastward position offset based on the eastward velocity in the inertial navigation data, and use the northward position offset and the eastward position offset as the position offset. S42: Calculate the longitude change using the northward position offset and the latitude change using the eastward position offset. Obtain high-frequency satellite navigation data based on the longitude change, latitude change, high-frequency heading data, and high-frequency speed data.

6. The satellite positioning follow-up method based on multi-source data according to claim 1, characterized in that, In step S5, the northward position deviation is calculated using the longitude data updated by inertial navigation data from the high-frequency satellite navigation data, and the eastward position deviation is calculated using the latitude data updated by inertial navigation data from the high-frequency satellite navigation data. The position deviation is then calculated using the northward position deviation and the eastward position deviation.

7. The satellite positioning follow-up method based on multi-source data according to claim 1, characterized in that, In step S5, when verifying satellite navigation data by position deviation, course deviation and track speed deviation, an anomaly threshold is set. The position deviation, course deviation and track speed deviation are compared with the anomaly threshold. If two of them are higher than the anomaly threshold, the satellite navigation data is determined to be abnormal. If all of them are higher than the anomaly threshold, the satellite navigation data is determined to be interfered with. When the satellite navigation data is abnormal, the satellite navigation data is checked and corrected, specifically including: Determine the test path, obtain the first test path and the second test path through the test path, calculate the first course change rate and the first course speed change rate of the first test path, calculate the second course change rate and the second course speed change rate of the second test path, and check the satellite navigation data through the first course change rate, the first course speed change rate, the second course change rate and the second course speed change rate; For satellite navigation data that fails the inspection, the error types, including normal and skewed distributions, are determined by segmented clustering. When the error type is normally distributed, the satellite navigation data is corrected using high-frequency satellite navigation data. When the error type is skewed, determine the high-frequency coordinates and satellite coordinates of the high-frequency satellite navigation data, and then correct the satellite navigation data using the high-frequency coordinates, satellite coordinates, and high-frequency satellite navigation data.

8. A satellite positioning follow-up system based on multi-source data, used to execute the satellite positioning follow-up method based on multi-source data as described in 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, determine the reference timestamp from the time series, select a time window based on the reference timestamp, and perform data alignment with navigation data through the time window to obtain satellite navigation data, log data, inertial navigation data and compass data; Data supplementation module: used to calculate yaw angle using satellite navigation data and compass data, calculate water current speed using satellite navigation data and log data, and use water current speed and yaw angle for supplementation to obtain high-frequency heading data and high-frequency speed data; Latitude and Longitude Change Module: Used to calculate position offset based on inertial navigation data, calculate longitude and latitude changes based on position offset, and obtain high-frequency satellite navigation data based on longitude and latitude changes, high-frequency heading data and high-frequency speed data; Deviation verification module: used to calculate position deviation, course deviation and speed deviation using high-frequency satellite navigation data, verify the satellite navigation data through position deviation, course deviation and speed deviation, and control ship navigation using high-frequency satellite navigation data; When verifying satellite navigation data, if an anomaly is found, a test path is determined, and the satellite navigation data is checked using the test path. For satellite navigation data that fails the check, the error type is determined by 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, characterized in that, When the processor executes the computer program, it implements the steps of the satellite positioning follow-up method based on multi-source data as described in any one of claims 1 to 7.

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

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