Cooperative positioning method and system in mine pit topographic survey

Abstract

The embodiment of the invention relates to the technical field of measurement, and discloses a cooperative positioning method in mine pit topographic survey, which comprises the following steps: receiving monitoring data acquired by an unmanned aerial vehicle hovering above a mine pit; the method comprises the following steps: sending a corresponding ultra-wideband pulse signal to an ultra-wideband base station at an unmanned aerial vehicle hovering above a mine pit through an ultra-wideband label arranged on an unmanned ship, and calculating a relative position relationship between the corresponding unmanned aerial vehicle and the unmanned ship at the ultra-wideband base station according to the obtained ultra-wideband pulse signal; and determining the optimized positioning information of the corresponding unmanned ship according to the position relation, the positioning data detected by the unmanned aerial vehicle and the height information. The cooperative positioning method in mine pit topographic survey does not depend on satellite positioning purely, and can adapt to various complex terrains and signal environments in a mine pit through cooperation of the unmanned ship and the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of measurement technology, in particular to a cooperative positioning method and system in mine topography measurement. BACKGROUND

[0002] At present, abandoned mines are mostly located in remote mountainous areas, and the network communication environment is poor. After being abandoned, the top of the mine is covered with vegetation, and there is water in the mine. The top of the mine and the mine wall can be surveyed by the existing unmanned aerial vehicle aerial survey using the image control-free method. An unmanned surveying ship carries a depth sounder to conduct underwater measurement. The working principle of the unmanned ship depth sounding system is to obtain high-precision plane coordinates by obtaining differential data from a shore-based base station or a network base station through a Beidou satellite positioning module in the ship body, and to obtain high-precision underwater measurement point three-dimensional coordinate data by combining the high-precision water depth obtained by the single-beam depth sounding technology. Oftentimes, in abandoned mines, due to the large drop between the water surface and the top of the mine, it is impossible to erect a shore-based base station, and the base station is blocked by the terrain. The satellite positioning module of the unmanned ship receives poor satellite signals due to the terrain blockage, and the satellite positioning module cannot obtain high-precision position coordinates by jointly solving the satellite coordinates with the shore-based base station or the network base station. Ultimately, the measurement has deviations. Therefore, how to enable the unmanned ship to obtain accurate positioning in such a special geographical environment in the mine has become a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0003] In view of the above-mentioned defects, the present application discloses a cooperative positioning method in mine topography measurement, which solves the problem of positioning of the unmanned ship in the mine by using a dynamic reference station and a fusion algorithm.

[0004] The first aspect of the present application discloses a cooperative positioning method in mine topography measurement, comprising:

[0005] Receiving the satellite positioning signal obtained by the positioning module of the unmanned ship, if it is detected that the current unmanned ship is in a satellite lock loss state, then the next step is executed;

[0006] Receiving the monitoring data obtained by the unmanned aerial vehicle hovering above the mine, the monitoring data comprising the positioning data detected by the positioning module and the height information detected by the laser altimeter, wherein the height information is the height information of the unmanned aerial vehicle from the water surface;

[0007] The corresponding ultra-wideband pulse signal is sent to the ultra-wideband base station at the unmanned aerial vehicle hovering above the mine by the ultra-wideband tag arranged on the unmanned ship. The relative position relationship between the corresponding unmanned aerial vehicle and the unmanned ship is calculated at the ultra-wideband base station according to the obtained ultra-wideband pulse signal, and the relative position relationship between the unmanned aerial vehicle and the unmanned ship, the positioning data detected by the positioning module, and the height information detected by the laser altimeter are sent to the corresponding unmanned ship through the communication module;

[0008] According to the position relationship, the positioning data detected by the unmanned aerial vehicle, and the height information, the optimized positioning information of the corresponding unmanned ship is determined.

[0009] As an optional implementation, in the first aspect of the embodiment of the application, after receiving the satellite positioning signal acquired by the positioning module of the unmanned ship, the method further comprises:

[0010] According to the acquired number of visible satellites and the position dilution of precision, the corresponding satellite weight parameter is determined.

[0011] According to the acquired signal-to-noise ratio parameter of the ultra-wideband signal and the distance validity, the corresponding ultra-wideband weight parameter is determined.

[0012] According to the acquired satellite availability and the motion state information of the unmanned ship, the corresponding inertial measurement weight parameter is determined.

[0013] According to the satellite weight parameter, the ultra-wideband weight parameter, and the inertial measurement weight parameter, the position detection state of the unmanned ship is determined.

[0014] As an optional implementation, in the first aspect of the embodiment of the application, the cooperative positioning method further comprises:

[0015] The innovation value is detected by chi-square test, and if the innovation value exceeds a threshold value, the satellite weight parameter is reduced.

[0016] It is detected whether there is multipath interference of the ultra-wideband signal, and if yes, the ultra-wideband weight parameter is dynamically reduced.

[0017] When the speed estimation value continuously falls below a threshold value, a zero-speed correction mode is forcibly entered.

[0018] As an optional implementation, in the first aspect of the embodiment of the application, the cooperative positioning method further comprises:

[0019] When the unmanned ship is not in a lock loss state, a state vector feature is constructed according to a satellite original coordinate, and an initialized state vector and a covariance matrix are obtained.

[0020] According to the current position state, three-axis acceleration, and time interval, state prediction and covariance prediction are performed to obtain corresponding predicted state information and a predicted covariance matrix; wherein, each sensor is clock-aligned through a time stamp.

[0021] The multi-source observation data is acquired, and the multi-source observation data comprises satellite observation data, inertial navigation data, and ultra-wideband ranging data.

[0022] The Kalman gain is calculated for each observation data to perform state updating to obtain optimized observation parameters, and the optimized unmanned ship coordinates are output.

[0023] As an optional implementation, in the first aspect of the embodiment of the present application, before the receiving the monitoring data obtained by the unmanned aerial vehicle hovering above the pit, further comprising:

[0024] Before the cooperative positioning, aerial survey is performed by using the unmanned aerial vehicle to obtain the pit orthographic image and the corresponding pit three-dimensional model, and the corresponding measurement route is determined according to the pit orthographic image and the pit three-dimensional model, the measurement route comprising a measurement driving route and a hovering point of the unmanned aerial vehicle;

[0025] The unmanned aerial vehicle and the unmanned ship perform the pit topographic survey according to the measurement driving route, and the unmanned aerial vehicle hovers according to the hovering point to serve as a signal base station.

[0026] As an optional implementation, in the first aspect of the embodiment of the present application, after the aerial survey is performed by using the unmanned aerial vehicle to obtain the pit orthographic image and the corresponding pit three-dimensional model, further comprising:

[0027] The corresponding number of unmanned aerial vehicles is determined according to the pit condition obtained by the aerial survey; if the pit condition matches the first condition, one unmanned aerial vehicle is used for subsequent topographic survey;

[0028] If the pit condition matches the second condition, at least three unmanned aerial vehicles are used for topographic survey, and one of the three unmanned aerial vehicles is used as a master unmanned aerial vehicle, and the other two unmanned aerial vehicles are used as auxiliary unmanned aerial vehicles; wherein the master unmanned aerial vehicle hovers at a first height to provide a reference signal, and the auxiliary unmanned aerial vehicles hover at a second height to relay the signal; the master unmanned aerial vehicle and the auxiliary unmanned aerial vehicles communicate through ultra-wideband signals.

[0029] As an optional implementation, in the first aspect of the embodiment of the present application, the cooperative positioning method further comprises:

[0030] The signal coverage range is expanded by arranging a relay rod at the high point;

[0031] After the determining the optimal positioning information of the corresponding unmanned ship, further comprising:

[0032] The unmanned ship performs fusion calculation on the obtained multi-source data to obtain the three-dimensional coordinates of the underwater point, and generates a digital elevation model of the underwater topography to be spliced with the ground model.

[0033] The second aspect of the embodiment of the present application discloses a cooperative positioning system in pit topographic survey, comprising:

[0034] The first receiving module is used for receiving the satellite positioning signal obtained by the positioning module of the unmanned ship, and if it is detected that the current unmanned ship is in a satellite lock loss state, the next step is performed;

[0035] The second receiving module is used for receiving monitoring data obtained by the unmanned aerial vehicle hovering above the mine pit, wherein the monitoring data comprises positioning data detected by the positioning module and height information detected by the laser altimeter, and the height information is height information of the unmanned aerial vehicle from the water surface;

[0036] The ranging module is used for sending corresponding ultra-wideband pulse signals to the ultra-wideband base station at the unmanned aerial vehicle hovering above the mine pit through the ultra-wideband tag arranged on the unmanned ship, calculating the relative position relationship between the corresponding unmanned aerial vehicle and the unmanned ship at the ultra-wideband base station according to the obtained ultra-wideband pulse signals, and sending the relative position relationship between the unmanned aerial vehicle and the unmanned ship, the positioning data detected by the positioning module and the height information detected by the laser altimeter to the corresponding unmanned ship through the communication module.

[0037] The positioning optimization module is used for determining the optimized positioning information of the corresponding unmanned ship according to the position relationship, the positioning data detected at the unmanned aerial vehicle and the height information.

[0038] The third aspect of the embodiment of the present application discloses an electronic device, comprising: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory, and is used for executing the cooperative positioning method in the mine pit terrain measurement disclosed by the first aspect of the embodiment of the present application.

[0039] The fourth aspect of the embodiment of the present application discloses a computer readable storage medium storing a computer program, wherein the computer program makes the computer execute the cooperative positioning method in the mine pit terrain measurement disclosed by the first aspect of the embodiment of the present application.

[0040] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0041] The cooperative positioning method in the mine pit terrain measurement in the embodiment of the present application does not simply rely on satellite positioning, and through the cooperation of the unmanned ship and the unmanned aerial vehicle, various complex terrains and signal environments in the mine pit can be adapted. Whether it is an open area or a serious signal shielding area, effective positioning can be realized through the cooperation of the two, the adaptability of the measurement system to different mine pit environments is improved, and the measurement work is more flexible and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0043] Figure 1is a flowchart of a cooperative positioning method in mine terrain measurement disclosed by the embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a time synchronization mechanism disclosed by the embodiment of the present application;

[0045] Figure 3 is a structural schematic diagram of a multi-unmanned aerial vehicle relay network disclosed by the embodiment of the present application;

[0046] Figure 4 is a structural schematic diagram of a cooperative positioning system in mine terrain measurement provided by the embodiment of the present application;

[0047] Figure 5 is a structural schematic diagram of an electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0049] It should be noted that the terms "first", "second", "third", "fourth" and the like in the specification and claims of the present application are used to distinguish different objects, rather than to describe a specific sequence. The terms "include" and "have" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] The working principle of the unmanned ship depth measurement system is that high-precision plane coordinates are obtained by acquiring differential data from a shore-based base station or a network base station through a Beidou satellite positioning module in the ship body, and high-precision water depth is obtained by combining single-beam depth measurement technology to obtain high-precision three-dimensional coordinate data of underwater measurement points. Oftentimes, in abandoned mines, due to the large drop between the water surface and the top of the mine pit, it is impossible to erect a shore-based base station, the base station is blocked by the terrain, the satellite positioning module of the unmanned ship receives poor satellite signals due to terrain blocking, and the number of satellite coordinates calculated by the shore-based base station or the network base station is small, so that the unmanned ship cannot obtain high-precision position coordinates, and finally the measurement deviates. Based on this, the embodiment of the present application discloses a cooperative positioning method, system, electronic device and storage medium in mine pit terrain measurement, which does not simply rely on satellite positioning, and can adapt to various complex terrains and signal environments in the mine pit through the cooperation of the unmanned ship and the unmanned aerial vehicle. Whether it is an open area or a serious signal blocking area, effective positioning can be achieved through the cooperation of the two, improving the adaptability of the measurement system to different mine pit environments and making the measurement work more flexible and efficient.

[0051] Embodiment one

[0052] Please refer to Figure 1 , Figure 1 is a flowchart of the cooperative positioning method in mine pit terrain measurement disclosed by the embodiment of the present application. The execution subject of the method described in the embodiment of the present application is composed of software or / and hardware, which can receive relevant information through wired or / and wireless means and can send certain instructions. Of course, it can also have certain processing and storage functions. The execution subject can control multiple devices, such as remote physical servers or cloud servers and related software, or local hosts or servers and related software that perform related operations on devices placed in a certain place. In some scenarios, multiple storage devices can also be controlled, and the storage devices can be placed in the same place or different places. As Figures 1 to 3 shown, the cooperative positioning method based on mine pit terrain measurement includes the following steps:

[0053] S101: receiving the satellite positioning signal acquired by the positioning module of the unmanned ship, if it is detected that the current unmanned ship is in a satellite lockout state, then the next step is performed;

[0054] S102: receiving the monitoring data acquired by the unmanned aerial vehicle hovering above the mine pit, the monitoring data including positioning data detected by the positioning module and height information detected by the laser altimeter, wherein the height information is the height information of the unmanned aerial vehicle from the water surface;

[0055] S103: The corresponding ultra-wideband pulse signal is sent to the ultra-wideband base station above the unmanned ship through the ultra-wideband tag arranged on the unmanned ship, the relative position relationship between the corresponding unmanned ship and the unmanned ship is calculated at the ultra-wideband base station according to the acquired ultra-wideband pulse signal, and the relative position relationship between the unmanned ship and the unmanned ship, the positioning data detected by the positioning module and the height information detected by the laser altimeter are sent to the corresponding unmanned ship through the communication module.

[0056] S104: The optimal positioning information of the corresponding unmanned ship is determined according to the position relationship, the positioning data detected at the unmanned ship and the height information.

[0057] In actual measurement process, the satellite signal is easy to be shielded in complex mine pit environment, and the satellite positioning of the unmanned ship often appears to be lost. When the satellite loss of the unmanned ship is detected, the positioning data and height information of the unmanned ship are used to determine the position of the unmanned ship, which effectively solves the positioning problem caused by the satellite signal loss and ensures the continuity of the positioning.

[0058] The positioning module of the unmanned ship can obtain accurate positioning data, the laser altimeter can accurately measure the height from the water surface, and the ultra-wideband technology can accurately calculate the relative position of the unmanned ship and the unmanned ship. By fusing these information, the positioning accuracy of the unmanned ship in the mine pit can be greatly improved, more accurate position data can be provided for the mine pit terrain measurement, which is helpful to generate more accurate terrain model and provide reliable basis for subsequent resource exploitation and slope monitoring. The method does not simply rely on satellite positioning, but through the cooperation of the unmanned ship and the unmanned ship, it can adapt to various complex terrains and signal environments in the mine pit. Whether it is an open area or a serious signal shielding area, effective positioning can be realized through the cooperation of the two, which improves the adaptability of the measurement system to different mine pit environments, makes the measurement work more flexible and efficient. The unmanned ship and the unmanned ship cooperate to realize automatic measurement, reduce manual participation and reduce the risk of measurement personnel working in dangerous environment. At the same time, the unmanned equipment can quickly acquire data and transmit in real time, compared with the traditional measurement method, the measurement efficiency is greatly improved, and the mine pit terrain measurement task can be completed more quickly.

[0059] More preferably, after receiving the satellite positioning signal acquired by the positioning module of the unmanned ship, it further comprises:

[0060] According to the acquired number of visible satellites and position accuracy factor, the corresponding satellite weight parameter is determined;

[0061] According to the signal-to-noise ratio parameter and distance validity of the acquired ultra-wideband signal, the corresponding ultra-wideband weight parameter is determined;

[0062] Determine the corresponding inertial measurement weight parameter according to the acquired satellite availability and the motion state information of the unmanned ship;

[0063] Determine the position detection state of the unmanned ship according to the satellite weight parameter, the ultra-wideband weight parameter and the inertial measurement weight parameter.

[0064] The scheme of the embodiment of the application realizes the differentiated evaluation of different positioning data sources (satellite positioning, ultra-wideband relative positioning and inertial measurement) by calculating the satellite weight parameter, the ultra-wideband weight parameter and the inertial measurement weight parameter respectively.

[0065] The satellite weight parameter in the embodiment of the application combines the number of visible satellites and the position dilution of precision (PDOP) and can accurately reflect the reliability of satellite positioning (for example, when the number of visible satellites is small and the PDOP value is high, the satellite weight is reduced); when the number of satellites is greater than or equal to 4 and the PDOP is less than 6, the weight increases linearly with the increase of the number of satellites and decreases exponentially with the increase of the PDOP. For example: the number of satellites = 8 and the PDOP = 1.5→sat_weight≈1.0.

[0066] The number of satellites = 5 and the PDOP = 4.0→sat_weight≈0.5.

[0067] The number of satellites = 3→sat_weight = 0.0 (satellite data is forcibly disabled).

[0068] The ultra-wideband weight parameter in the embodiment of the application can judge the stability of the ultra-wideband signal according to the signal-to-noise ratio and the distance effectiveness (for example, when the signal-to-noise ratio is low and the distance calculation is abnormal, the weight is reduced); when the signal-to-noise ratio of the UWB signal is high (SNR>20dB) and the distance is short (<500m), the weight is close to 1.0; if the multipath interference is detected (SNR drops sharply), the weight is automatically reduced (for example, SNR = 5dB→uwb_weight≈0.4); when the distance exceeds 800m, the weight is zero (exceeding the effective range of UWB).

[0069] The inertial measurement weight parameter in the embodiment of the application is related to the satellite availability and the motion state of the unmanned ship (for example, when the satellite is out of lock and the motion is violent, the inertial measurement drift risk is high, and the weight is reduced). When the satellite is disabled, the IMU weight increases to 0.7 and becomes the main positioning source; in the static state, even if the satellite is available, the IMU weight is reduced to 0.1 (to avoid cumulative error); in the normal motion state, the auxiliary weight is maintained at 0.3. Based on the comprehensive judgment of the three types of weight parameters, the position detection state of the unmanned ship can be determined, the reliability of the current positioning data can be more accurately identified, and the influence of the error of a single data source on the positioning result can be avoided.

[0070] The scheme of the embodiment of the present application can make the system adapt to the change of the mine environment by dynamically adjusting the weight of different positioning modes. For example, when the satellite signal is good, the satellite weight accounts for a high proportion, and high-precision satellite positioning is preferentially relied on; when the satellite signal is weakened or lost, the weight of the ultra-wideband and inertial measurement is automatically increased (if the signal is stable), and the deficiency of a single data source is made up through multi-source data fusion; when the ultra-wideband signal is interfered by shielding, the weight of the ultra-wideband signal is reduced, and the error transmission is reduced. The dynamic weight mechanism significantly improves the anti-interference ability of the system in a complex mine environment (such as signal mutation and multipath interference), and ensures continuous and stable positioning.

[0071] In the specific implementation, the data source in the high-reliability state is given a higher confidence, and is directly used for the positioning result; the data in the low-reliability state is corrected in combination with the historical trajectory and multi-source checking, and the accuracy and reliability of the final positioning information are further improved. Through comprehensive evaluation of multi-dimensional parameters (the number of visible satellites, PDOP, signal-to-noise ratio, motion state, etc.), the problem of false positioning state determination caused by a single index (such as false positioning failure determination due to a small number of satellites, ignoring the high stability of the ultra-wideband signal at this time) is avoided, the judgment of the positioning state of the system is more objective and comprehensive, and the efficient operation of the cooperative positioning is ensured.

[0072] More preferably, the cooperative positioning method further comprises:

[0073] The new information value is detected by chi-square test, and if the new information value exceeds the threshold value, the satellite weight parameter is reduced;

[0074] Whether there is multipath interference of the ultra-wideband signal is detected, and if so, the ultra-wideband weight parameter is dynamically reduced;

[0075] When the speed estimation value continuously falls below the threshold value, a zero-speed correction mode is forcibly entered.

[0076] The scheme of the embodiment of the present application can improve the anti-interference ability and reduce the influence of abnormal data; the new information value (the deviation between the measured value and the predicted value) is detected by chi-square test, when the new information value exceeds the threshold value, it indicates that the satellite positioning data may be abnormal (such as signal jump, multipath error, etc.), at this time, the satellite weight parameter is reduced, which can reduce the interference of abnormal data on the final positioning result and avoid the positioning drift caused by the satellite signal mutation.

[0077] For the ultra-wideband signal, the multipath interference of the ultra-wideband signal (the signal is received after reflection, causing distance calculation deviation) is easily caused by buildings, rock walls and the like in the mine environment. By detecting the multipath interference and dynamically reducing the ultra-wideband weight parameter, the error caused by such interference can be effectively suppressed, and the ultra-wideband data can fully play a role when it is reliable and reduce its influence when it is abnormal.

[0078] Optimize positioning accuracy in low-speed / static state. When the unmanned ship speed estimate value is continuously below the threshold value (such as low-speed sailing or temporary static), the inertial measurement unit (IMU) is prone to cause positioning drift (zero-speed drift) due to the accumulation of integral error. After forced entry into the zero-speed correction mode, the inertial measurement data can be calibrated using the constraint condition of zero speed to eliminate the accumulated error, significantly improve the positioning accuracy of the unmanned ship in low-speed or static state, avoid trajectory deviation caused by long-time low-speed movement, and ensure the position data of key points (such as pit bottom low-lying area, slope edge) in mine pit terrain measurement.

[0079] The above strategy realizes the triggered dynamic adjustment of weight parameters and working modes by monitoring abnormal features (innovation value exceeding the standard, multipath interference, low-speed state) in the positioning process in real time, so that the positioning system can quickly adapt to the complex and changeable environment in the mine pit (such as sudden signal obstruction, prominent multipath effect in local area, and speed reduction of the unmanned ship due to terrain limitation), avoids the one-size-fits-all problem in fixed weight or mode, makes the positioning data fusion more in line with the actual scene, and improves the overall robustness of the system.

[0080] Targeted measures are taken for the defects of different data sources (satellite signal anomaly, ultra-wideband multipath, and low-speed drift of inertia), so that when a single data source has a problem, the weight of the data source can be reduced or the correction mode can be switched, and other reliable data sources can be relied on in priority, to ensure that the positioning process does not interrupt. For example, when the satellite signal is abnormal, the weight of the satellite signal is reduced, and the roles of the ultra-wideband and the inertial measurement (after zero-speed correction) are enhanced, so that the continuity of positioning is maintained, and stable position support is provided for efficient development of mine pit terrain measurement.

[0081] More preferably, the cooperative positioning method further comprises:

[0082] When the unmanned ship is not in the lock loss state, a state vector feature is constructed according to the satellite original coordinates, and an initialized state vector and a covariance matrix are obtained;

[0083] State prediction and covariance prediction are performed according to the current position state, three-axis acceleration, and time interval to obtain corresponding predicted state information and predicted covariance matrix; wherein the clocks of the sensors are aligned through time stamps;

[0084] Multi-source observation data is obtained, the multi-source observation data including satellite observation data, inertial navigation data, and ultra-wideband ranging data;

[0085] The Kalman gain is calculated for each observation data to perform state updating to obtain optimized observation parameters, and the optimized unmanned ship coordinates are output.

[0086] In the embodiment of the application, when the unmanned ship is not lost, a state vector feature is constructed in satellite original coordinates and the state vector and covariance matrix are initialized to provide a reliable initial reference for subsequent positioning calculation, thereby avoiding accumulated errors caused by initial value deviation. State prediction and covariance prediction are performed in combination with the current position state, three-axis acceleration and time interval, the position change trend of the unmanned ship is predicted based on kinematic rules, prior reference is provided for multi-source data fusion, the impact of observation data mutation on the positioning result is reduced, and the smoothness of positioning is improved.

[0087] Clocks of various sensors (satellite positioning module, inertial navigation device and ultra-wideband module) are aligned through timestamps, time differences in data collection of different devices are eliminated, consistency of satellite observation data, inertial navigation data and ultra-wideband ranging data in the time dimension is ensured, and a foundation is laid for accurate fusion of multi-source data. Comprehensive utilization of multi-source observation data (satellite data provide absolute coordinates, inertial data reflect motion attitude, and ultra-wideband data provide relative distance) can make up for the limitations of a single data source (such as satellite signal fluctuation, inertial drift and ultra-wideband range limitation), and improve the redundancy and reliability of positioning through data complementation.

[0088] The Kalman gain is calculated for each observation data and state updating is performed, the weight of each data source in the fusion result can be dynamically adjusted according to the real-time accuracy (reflected by the covariance matrix) of the data source, that is, the data with high accuracy is given higher gain and has greater impact on the final result; the gain of the data with low accuracy is reduced to reduce error propagation. This adaptive adjustment mechanism makes the fused observation parameters closer to the real state, and significantly improves the optimization accuracy of the coordinates of the unmanned ship.

[0089] The output optimized coordinates take into account the advantages of absolute positioning, relative positioning and motion continuity, especially when the satellite signal is good but there is local interference, the inertial and ultra-wideband data can be used for supplementary correction to avoid positioning jump and ensure the stability of the coordinate output.

[0090] The flow still retains the multi-source data fusion logic when the unmanned ship is not lost, rather than simply relying on satellite positioning. Even if the satellite signal is in a critical state of not being lost but with decreased accuracy, such as fewer visible satellites and high PDOP value, the inertial navigation and ultra-wideband data can be used for auxiliary correction to maintain high positioning accuracy. Dynamic updating of the covariance matrix can reflect the change trend of the positioning error in real time, when the accuracy of a data source decreases, such as ultra-wideband signal interference, the corresponding covariance will increase, and the Kalman gain will automatically decrease, thereby reducing the impact of the data on the result, so that the system can still maintain stable positioning performance in complex environments.

[0091] The scheme of the embodiment of the present application is complementary to the aforementioned lock loss state processing, weight dynamic adjustment and other mechanisms, and a positioning fusion framework covering the normal-critical-lock loss of the satellite is constructed: in the normal state, fine fusion of multi-source data is realized through Kalman filtering, in the critical state, abnormal data is suppressed through weight adjustment, and in the lock loss state, the positioning accuracy and continuity of the unmanned ship in the whole scene of the mine pit are ensured through the cooperation of the unmanned aerial vehicle and the inertial correction.

[0092] More preferably, before the unmanned aerial vehicle hovering above the mine pit obtains the monitoring data, it further comprises:

[0093] Before cooperative positioning, aerial survey is performed using the unmanned aerial vehicle to obtain mine pit orthophoto and corresponding mine pit three-dimensional model, and the corresponding measurement route is determined according to the mine pit orthophoto and mine pit three-dimensional model, the measurement route comprising a measurement driving route and a hovering point of the unmanned aerial vehicle;

[0094] The unmanned aerial vehicle and the unmanned ship perform mine pit terrain measurement according to the measurement driving route, and the unmanned aerial vehicle hovers according to the hovering point to serve as a signal base station.

[0095] In the scheme of the embodiment of the present application, the mine pit orthophoto and three-dimensional model generated by the pre-aerial survey of the unmanned aerial vehicle can intuitively reflect the overall terrain and topographic features of the mine pit (such as the strike of the slope, the distribution of water areas, the location of obstacles, etc.). Based on these data, the measurement route (including the driving route of the unmanned ship and the hovering point of the unmanned aerial vehicle) can be planned to ensure that the driving path of the unmanned ship covers the key measurement areas (such as areas with rapid terrain changes, key monitoring points), while avoiding the unmanned ship from being stranded or colliding due to complex terrain (such as shoals, reefs); the reasonable setting of the hovering point of the unmanned aerial vehicle (such as locations with less signal obstruction and wide coverage) can ensure stable ultra-wideband signal transmission and reliable positioning reference. This advance planning makes the cooperative operation of the unmanned aerial vehicle and the unmanned ship more targeted, reduces invalid navigation and repeated measurement, and greatly improves the measurement efficiency.

[0096] Specifically, the hovering point of the unmanned aerial vehicle as a signal base station is determined through three-dimensional model planning, which can avoid signal obstruction sources (such as tall rock walls, buildings) in the mine pit, ensure smoother ultra-wideband signal transmission path between the unmanned aerial vehicle and the unmanned ship, and reduce multipath interference; at the same time, the distribution of the hovering point can be grid-covered according to the mine pit terrain, so that the unmanned ship can maintain effective communication with at least one unmanned aerial vehicle hovering point at any position on the measurement route, avoiding positioning failure caused by signal interruption of a single hovering point, and enhancing the stability and redundancy of the positioning reference.

[0097] The three-dimensional model of the mine pit pre-acquired in the embodiment of the present application contains accurate terrain elevation information, which can be used as a terrain constraint for subsequent positioning. For example, when the positioning result of the unmanned ship obviously contradicts the terrain features in the three-dimensional model (such as the actual water depth of a certain area is relatively shallow), the positioning information can be corrected in combination with the model data to reduce the positioning deviation caused by sensor errors (such as inertial drift and ultra-wideband ranging deviation). Meanwhile, the measurement route is planned based on the three-dimensional model, which can ensure that the driving track of the unmanned ship is in line with the actual terrain, so that the matching degree of the collected terrain data with the preset route is higher, and the accuracy of the finally generated measurement results (such as the underwater terrain model) is better.

[0098] The mine pit environment often has hidden dangers (such as underwater obstacles and slope rockfall areas), and the pre-aerial survey of the unmanned aerial vehicle can identify these risk areas and actively avoid them when planning the measurement route. The unmanned ship driving according to the planned route can reduce the probability of entering the dangerous area, and the unmanned aerial vehicle operating at the preset hovering point can also avoid the high-risk airspace (such as the unstable area above the slope), thereby reducing the risk of equipment damage and improving the operation safety of the entire measurement system.

[0099] The scheme of the embodiment of the present application combines global aerial survey planning and local cooperative positioning to form a complete measurement logic: first, the global terrain of the mine pit is mastered through aerial survey by the unmanned aerial vehicle, then local operation details are planned based on the global information, and finally the unmanned ship and the unmanned aerial vehicle perform cooperative positioning measurement according to the planning. This framework avoids the inefficiency and chaos of the traditional exploration and measurement mode, making the mine pit terrain measurement more systematic and scientific, providing a unified spatial reference for subsequent data splicing, terrain modeling and other links, and improving the consistency and reliability of the overall measurement results.

[0100] More preferably, after the aerial survey using the unmanned aerial vehicle to obtain the mine pit orthophoto and the corresponding mine pit three-dimensional model, it further comprises:

[0101] determining the corresponding matching number of unmanned aerial vehicles according to the mine pit condition obtained by the aerial survey; if the mine pit condition matches the first condition, then using one unmanned aerial vehicle for subsequent terrain measurement;

[0102] if the mine pit condition matches the second condition, then using at least three unmanned aerial vehicles for terrain measurement, and taking one of the three unmanned aerial vehicles as a master unmanned aerial vehicle and the other two as auxiliary unmanned aerial vehicles; wherein the master unmanned aerial vehicle hovers at a first height to provide a reference signal, and the auxiliary unmanned aerial vehicles hover at a second height to relay signals; the master unmanned aerial vehicle and the auxiliary unmanned aerial vehicles communicate through ultra-wideband signals.

[0103] The embodiment of the present application matches the number of unmanned aerial vehicles based on the mine pit condition obtained by the aerial survey (such as the size of the mine pit, the complexity of the terrain, the degree of signal shielding, etc.), which avoids the problems of resource waste or insufficient configuration:

[0104] For the mine pit meeting the first condition (such as small size, simple terrain, no obvious signal shielding area), only one unmanned aerial vehicle can complete the signal base station function, reducing equipment investment and energy consumption, and improving measurement economy; for the mine pit meeting the second condition (such as large mine pit, complex terrain, multiple signal shielding areas), through the cooperation of at least three unmanned aerial vehicles, a wider area can be covered and the signal transmission problem can be solved, ensuring that the positioning demand in the complex environment is met.

[0105] The division mode of the combination of the main unmanned aerial vehicle and the auxiliary unmanned aerial vehicle (the main unmanned aerial vehicle provides a reference signal at a first height, and the auxiliary unmanned aerial vehicle relays a signal at a second height) can effectively solve the signal shielding problem in the mine pit, the high-altitude hovering of the main unmanned aerial vehicle can reduce the shielding of the positioning signal (such as satellite signal) of the main unmanned aerial vehicle, and ensure the accuracy of the reference positioning data; the auxiliary unmanned aerial vehicle can transmit the signal of the main unmanned aerial vehicle to the unmanned ship blocked by the rock wall and the obstacle, or receive the ultra-wideband signal sent by the unmanned ship in the blind area and forward it to the main unmanned aerial vehicle, eliminate the "dead angle" of signal transmission, and ensure that the unmanned ship can maintain stable communication with the unmanned aerial vehicle in each area of the mine pit (especially in the complex terrain), and avoid positioning failure caused by signal interruption.

[0106] In the embodiment of the application, the configuration of at least three unmanned aerial vehicles forms a multi-node cooperative positioning reference network: the main unmanned aerial vehicle provides a core reference signal, and the auxiliary unmanned aerial vehicle can serve as a backup node to temporarily assume the reference or relay function when the main unmanned aerial vehicle cannot work normally due to unexpected situations (such as temporary loss of signal, equipment failure), thereby improving the fault tolerance of the system; at the same time, the ultra-wideband communication of multiple unmanned aerial vehicles can realize mutual verification, reduce the influence of measurement errors (such as laser height measurement deviation, positioning drift) of a single unmanned aerial vehicle on the overall positioning, and ensure the reliability of the reference signal.

[0107] For large and complex mine pits (such as multiple steps, deep recess areas, and dense obstacles), the signal coverage range and penetration ability of a single unmanned aerial vehicle are limited, and the layered hovering (different heights) and relay cooperation of multiple unmanned aerial vehicles can adapt to the three-dimensional spatial structure of the mine pit: the low-altitude auxiliary unmanned aerial vehicle can be close to the complex terrain to ensure signal coverage of the unmanned ship in the near shore and shoal areas; the high-altitude main unmanned aerial vehicle can control the overall situation to realize reference signal coverage of the overall area of the mine pit, so that the system can cope with various positioning challenges in complex mine pit environments.

[0108] The multi-path effect, electromagnetic interference and the like in the mine pit can easily affect the ultra-wideband signal transmission quality, the relay function of the auxiliary unmanned aerial vehicle can shorten the transmission distance of the ultra-wideband signal, reduce signal attenuation and interference; at the same time, the main unmanned aerial vehicle and the auxiliary unmanned aerial vehicle realize real-time data synchronization through ultra-wideband communication, ensure that the position information and time stamp of each node are consistent, provide a more accurate cooperative reference for relative positioning calculation of the unmanned ship, and further improve the positioning accuracy.

[0109] The scheme of the embodiment of the application dynamically adjusts the number and function of the unmanned aerial vehicles according to the mine pit situation, and constructs a cooperative architecture that is expanded on demand: the lightweight configuration (single unmanned aerial vehicle) in a simple scene guarantees efficiency, and the multi-node configuration (main + auxiliary unmanned aerial vehicles) in a complex scene guarantees performance, so that the system can not only adapt to the low-cost measurement demand of small mines, but also meet the high-precision and high-reliability measurement requirements of large and complex mines, and expand the application range of the cooperative positioning method.

[0110] More preferably, the cooperative positioning method further comprises:

[0111] The signal coverage range is expanded by arranging relay poles at the commanding heights;

[0112] After the optimization positioning information of the corresponding unmanned ship is determined, the method further comprises:

[0113] The unmanned ship performs fusion calculation on the obtained multi-source data to obtain the three-dimensional coordinates of the underwater point, and generates a digital elevation model of the underwater terrain to perform data splicing with the surface model.

[0114] First, the mine pit terrain is analyzed to determine the commanding height positions around the mine pit, such as high mountains, building tops, etc. Then, relay poles are installed on these commanding heights, and wireless communication relay devices such as wireless network bridges are carried on the relay poles. These devices can receive signals from unmanned aerial vehicles or other signal sources and forward them to various areas within the mine pit, realizing relay transmission of signals. The power supply of the relay poles can adopt a combination of solar panels and storage batteries to realize maintenance-free operation.

[0115] In a mine pit with complex terrain, signal blind areas are likely to exist. The arrangement of relay poles at commanding heights can transmit signals to areas that are originally difficult to cover, ensuring that the unmanned ship can receive stable signals at any position in the mine pit, reducing signal interruption phenomena, and ensuring the normal operation of the cooperative positioning system. As fixed signal transfer nodes, relay poles can provide more stable signal transmission paths than mobile relay devices, reduce signal fluctuations caused by changes in the flight attitude of unmanned aerial vehicles, and provide reliable positioning signal support for unmanned ships, which helps to improve positioning accuracy.

[0116] Specifically, the unmanned ship of the embodiment of the present application carries multiple sensors, such as a depth sounder, a GPS receiver, an inertial measurement unit, etc., which collect underwater topographic data in real time during navigation, including water depth, position, attitude, and other information. At the same time, it receives multi-source data such as aerial survey data from the unmanned aerial vehicle and other ground control point data. Using these data, the three-dimensional coordinates of the underwater point are calculated through data fusion algorithms such as Kalman filtering. Then, using special geographic information software or surveying and mapping software, a digital elevation model (DEM) of the underwater topography is generated according to the three-dimensional coordinates of the underwater point. For the ground model, it can be obtained by photogrammetry processing from the aerial survey data of the unmanned aerial vehicle. Finally, through coordinate conversion and matching algorithm, the underwater topography DEM and the ground model are spliced to form a complete land-sea integrated topographic model.

[0117] It can obtain complete topographic information of the mine pit underwater and on the ground, providing comprehensive data support for the comprehensive management and analysis of the mine pit, such as evaluating the water storage capacity of the mine pit and analyzing the impact of topographic changes on the surrounding environment. Multi-source data fusion can fully utilize the advantages of each sensor, complement and verify each other, reduce the influence of single sensor measurement error, and improve the accuracy of underwater topographic measurement, making the generated digital elevation model closer to the real topography, providing more reliable basis for subsequent engineering design and decision-making. The spliced land-sea integrated topographic model can more intuitively display the overall topography and geomorphology of the mine pit, facilitating visual analysis by staff, helping to discover potential problems and risks such as underwater obstacle distribution and topographic mutation areas, and providing strong support for the safe operation and rational development of the mine pit.

[0118] When implementing the specific embodiment, the unmanned aerial vehicle hovers 50-100 meters above the mine pit, and RTK-GPS (Real-Time Kinematic GPS) is used to obtain high-precision absolute position:

[0119] (uav_pos=[X_uav,Y_uav,Z_uav]), ensuring that the self-positioning error is <0.1 meters. If the satellite signal of the unmanned aerial vehicle is also partially blocked, the position drift is corrected through the fusion of inertial navigation and visual odometry (such as IMU + downward-looking camera), and the self-coordinate is updated every 0.1 seconds as the original point of the dynamic reference.

[0120] The embodiment of the present application provides a set of unmanned aerial vehicle-unmanned ship cooperative positioning system, which solves the positioning problem through dynamic reference station and fusion algorithm:

[0121] 1. The unmanned aerial vehicle carries a module, which includes:

[0122] Dual-frequency RTK positioning module: supports Beidou / GPS dual system, with built-in high-precision IMU

[0123] Ultra-wideband (UWB) base station: Transmit centimeter-precision ranging signals (effective range 500-800 meters)

[0124] Laser altimeter: Real-time acquisition of UAV height above water surface

[0125] Integrated communication module: Supports LoRa (long-range) + Wi-Fi (high-speed) dual-channel.

[0126] 2. Unmanned ship upgrade module, including:

[0127] UWB positioning tag: Form a relative positioning system with the UAV UWB base station

[0128] Multi-source fusion positioning controller: Integrates satellite positioning / UWB / IMU data processing

[0129] Underwater acoustic transducer: Transmit acoustic positioning signals (backup solution)

[0130] Anti-shielding antenna: Four-feedpoint helical antenna, enhances low-elevation angle signal reception

[0131] 3. Shore-based auxiliary equipment

[0132] Portable weather station: Real-time acquisition of atmospheric delay parameters

[0133] Foldable signal relay pole: Temporarily deployed at mine high points

[0134] Core positioning algorithm design in the embodiments of the present application

[0135] # Pseudocode implementation def awf_kf (uav_pos, usv_raw, uwb_dist, imu_data):

[0136] # Input: UAV position / USV raw positioning / UWB distance / IMU data

[0137] # Output: Optimized USV position

[0138] # 1. Calculate the weight factor of each data source sat_weight = calculate_sat_weight (satellite_num, PDOP) # Satellite weight uwb_weight = 1-exp (-uwb_snr / 10) # UWB signal-to-noise ratio weight imu_weight = 0.7 if sat_num < 4 else 0.3 # IMU dynamic weight

[0139] # 2. Construct the state vector X = [usv_raw.x, usv_raw.y, usv_raw.z, vx, vy, vz]

[0140] #3. Kalman prediction (IMU dominant)

[0141] X_pred = imu_prediction(X, imu_data)

[0142] #4. Multi-source observation update Z = []

[0143] ifsat_weight > 0.2:

[0144] Z.append(satellite_obs())

[0145] ifuwb_dist_valid:

[0146] Z.append(uwb_range_obs(uav_pos, uwb_dist))

[0147] iflaser_alt_valid:

[0148] Z.append(surface_height_obs())

[0149] #5. Adaptive measurement update for obs in Z:

[0150] K = adaptive_kalman_gain(obs.weight) # Dynamically adjust gain X = update_state(X_pred, obs, K)

[0151] return X[0:3] # Return optimized position

[0152] In particular, the dual-platform linkage workflow of the embodiment of the application

[0153] Step 1: Establish a dynamic reference for the UAV

[0154] 1. Air anchoring

[0155] Hover directly above the mine pit (50-100m height)

[0156] RTK obtains a fixed solution: $σ_{xy} = 8mm + 1ppm$$σ_z = 15mm + 1ppm$

[0157] 2. UWB signal coverage

[0158] Transmit pulse signals (bandwidth 500MHz, anti-multipath interference)

[0159] Coverage: Conical area diameter = 2x height (100m height covers 200m water area)

[0160] Step 2: Real-time positioning of unmanned ship

[0161] Pseudo code for position fusion

[0162] while surveying:

[0163] # Get UWB slant range (including carrier phase observation)

[0164] uwb_range = get_uwb_range() # precision ±10 cm

[0165] uav_pos = receive_uav_position() # coordinates of UAV

[0166] # IMU data solving

[0167] imu_delta = imu.get_displacement() # displacement increment

[0168] # Fusion solving (extended Kalman filter)

[0169] predicted_pos = prev_pos + imu_delta

[0170] measured_pos = calculate_position(uav_pos, uwb_range)

[0171] # Adaptive weighting (according to signal quality)

[0172] k = 0.7 if uwb_snr > 30 else 0.3 # UWB dominates when signal is strong

[0173] fused_pos = k * measured_pos + (1 - k) * predicted_pos

[0174] # Water surface elevation constraint (from UAV laser scanning)

[0175] fused_pos.z = surface_equation(fused_pos.x, fused_pos.y)

[0176] output_position(fused_pos)

[0177] Step 3: Dynamic error correction

[0178] 1. Multipath interference suppression

[0179] Joint solving using time of flight (ToF) + angle of arrival (AoA)

[0180] $ρ = \frac{c \cdot Δt}{2} + \frac{λ \cdot Δφ}{2π}$

[0181] (c: speed of light, λ: wavelength, Δφ: phase difference)

[0182] Reject reflected signals: discard when signal path difference > direct path 20%

[0183] 2、IMU zero velocity update (ZUPT)

[0184] When the unmanned ship speed <0.1 m / s:

[0185] Reset velocity error: $v_x = v_y = v_z = 0$

[0186] Compensate for accelerometer bias.

[0187] The system advantages of the embodiments of the present application include:

[0188] 1、Precision jump: improve the positioning accuracy of the occluded environment from meter level to sub-meter level, and increase the height accuracy by 20 times (laser water surface modeling);

[0189] 2、Robustness enhancement: maintain high-precision positioning for 10 minutes after satellite lock loss, and the IMU autonomous navigation error is <1 m / 5 min when UWB is interrupted;

[0190] 3、Engineering applicability: deployment time <30 minutes (traditional shore-based base station requires 2 hours), and adapts to a deep mine pit with a drop of >200m.

[0191] The key technical breakthroughs of the embodiments of the present application are:

[0192] 1、Dynamic reference positioning technology, the unmanned aerial vehicle hovers 50-100 meters above the mine pit, forming an air mobile reference station, providing a relative positioning reference through UWB, solving the satellite signal shielding problem.

[0193] 2、Water surface elevation constraint model, using unmanned aerial vehicle laser height measurement data + water surface echo characteristics, constructing a water surface elevation plane equation: Z_surface = aX + bY + c, as a strong constraint for unmanned ship positioning height, reducing the vertical direction error.

[0194] 3、Robust adaptive filtering, the algorithm automatically identifies abnormal observations: when the satellite loses lock, switch to UWB / IMU dominant mode, detect UWB multipath interference (mine pit wall reflection), and IMU zero velocity update prevents error accumulation.

[0195] 4、Terrain matching assisted positioning, pre-generate a mine pit three-dimensional model using unmanned aerial vehicle aerial survey, and provide position correction amount by matching the measured water depth and model terrain when the unmanned ship is sailing.

[0196] The scheme breaks through the terrain restriction through air-water dynamic reference transmission, and can maintain sub-meter positioning accuracy in the extreme case of complete absence of satellite signals in combination with an adaptive multi-source fusion algorithm. In actual application, the DJI M300RTK unmanned aerial vehicle and the OceanAlpha SL20 depth measuring unmanned ship platform are recommended to be matched, the whole system can be stored in two transport boxes, and is suitable for mobile deployment in mountainous areas.

[0197] The cooperative positioning method in the mine terrain measurement in the embodiment of the application does not simply rely on satellite positioning, and through the cooperation of the unmanned ship and the unmanned aerial vehicle, various complex terrains and signal environments in the mine can be adapted. Whether it is an open area or a serious signal shielding area, effective positioning can be realized through the cooperation of the two, the adaptability of the measurement system to different mine environments is improved, and the measurement work is more flexible and efficient.

[0198] Embodiment two

[0199] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of the cooperative positioning system in the mine terrain measurement disclosed by the embodiment of the application. As Figure 4 shown, the cooperative positioning system in the mine terrain measurement can include:

[0200] The first receiving module 21 is used for receiving the satellite positioning signal acquired by the positioning module of the unmanned ship, and if it is detected that the current unmanned ship is in a satellite lock loss state, the next step is executed;

[0201] The second receiving module 22 is used for receiving the monitoring data acquired by the unmanned aerial vehicle hovering above the mine, the monitoring data including the positioning data detected by the positioning module and the height information detected by the laser altimeter, wherein the height information is the height information of the unmanned aerial vehicle from the water surface;

[0202] The ranging module 23 is used for sending corresponding ultra-wideband pulse signals to the ultra-wideband base station at the unmanned aerial vehicle hovering above the mine through the ultra-wideband tag arranged on the unmanned ship, calculating the relative position relationship between the corresponding unmanned aerial vehicle and the unmanned ship at the ultra-wideband base station according to the acquired ultra-wideband pulse signals, and sending the relative position relationship between the unmanned aerial vehicle and the unmanned ship, the positioning data detected by the positioning module and the height information detected by the laser altimeter to the corresponding unmanned ship through the communication module;

[0203] The positioning optimization module 24 is used for determining the optimized positioning information of the corresponding unmanned ship according to the position relationship, the positioning data detected at the unmanned aerial vehicle and the height information.

[0204] The cooperative positioning method in the mine terrain measurement in the embodiment of the application does not simply rely on satellite positioning, and through the cooperation of the unmanned ship and the unmanned aerial vehicle, various complex terrains and signal environments in the mine can be adapted. Whether it is an open area or a serious signal shielding area, effective positioning can be realized through the cooperation of the two, the adaptability of the measurement system to different mine environments is improved, and the measurement work is more flexible and efficient. 424

[0205] 425Embodiment three 426

[0206] 427Please refer to Figure 5 428, Figure 5 429is a structural schematic diagram of an electronic device disclosed by the embodiment of the application. The electronic device can be a computer, a server and the like, and of course, under certain circumstances, it can also be a mobile phone, a tablet computer, a monitoring terminal and the like intelligent device, and an image acquisition device with processing function. As shown in Figure 5 430, the electronic device can include: 431

[0207] 432a memory 510 storing executable program codes; 433

[0208] 434a processor 520 coupled with the memory 510; 435

[0209] 436The processor 520 calls the executable program codes stored in the memory 510 to execute part or all of the steps in the cooperative positioning method in the mine terrain measurement in the embodiment one. 437

[0210] 438The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program causes a computer to execute part or all of the steps in the cooperative positioning method in the mine terrain measurement in the embodiment one. 439

[0211] 440The embodiment of the application further discloses a computer program product, wherein when the computer program product runs on a computer, it causes the computer to execute part or all of the steps in the cooperative positioning method in the mine terrain measurement in the embodiment one. 441

[0212] 442The embodiment of the application further discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, it causes the computer to execute part or all of the steps in the cooperative positioning method in the mine terrain measurement in the embodiment one. 443

[0213] 444In various embodiments of the application, it should be understood that the size of the serial number of the processes does not mean the inevitable sequence of execution, and the execution sequence of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application. 445

[0214] 446The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0215] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0216] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer accessible memory. Based on this understanding, the technical scheme of the present application or the part that contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of a software product. The computer software product stored in a memory includes some or all steps of the method for enabling a computer device (which can be a personal computer, a server or a network device, etc., and specifically can be a processor in the computer device) to execute the method described in each embodiment of the present application.

[0217] In the embodiments provided by the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but also can be determined according to A and / or other information.

[0218] Those skilled in the art can understand that part or all of the steps in the various methods of the embodiments can be completed by instructing the relevant hardware by a program, and the program can be stored in a computer readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk memories, magnetic disk memories, magnetic tape memories, or any other medium capable of carrying or storing data which can be read by a computer.

[0219] The above disclosed mine terrain measurement cooperative positioning method, system, electronic device and storage medium are described in detail, specific examples are applied to explain the principles and implementation modes of the present application, and the above embodiment description is only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. A collaborative positioning method for mine topography surveying, characterized in that: include: Receive the satellite positioning signal obtained by the positioning module of the unmanned vessel. If it is detected that the current unmanned vessel is in the satellite loss state, execute the next step; Receive monitoring data acquired by a drone hovering above the mine, the monitoring data including positioning data detected by a positioning module and height information detected by a laser altimeter, wherein the height information is the height of the drone from the water surface; The ultra-wideband tag set on the unmanned ship sends a corresponding ultra-wideband pulse signal to an ultra-wideband base station of a drone hovering above the mine pit. The ultra-wideband base station calculates the relative position relationship between the corresponding drone and the unmanned ship based on the acquired ultra-wideband pulse signal, and sends the relative position relationship between the drone and the unmanned ship, the positioning data detected by the positioning module, and the height information detected by the laser altimeter to the corresponding unmanned ship through the communication module; The optimized positioning information of the corresponding unmanned ship is determined based on the position relationship, the positioning data detected at the unmanned aerial vehicle, and the altitude information.

2. The collaborative positioning method in mine topography surveying according to claim 1, characterized in that: After receiving the satellite positioning signal obtained by the positioning module of the unmanned vessel, the method further includes: Determine the corresponding satellite weight parameters based on the number of visible satellites and position precision factor obtained; Determine the corresponding ultra-wideband weight parameter according to the signal-to-noise ratio parameter of the obtained ultra-wideband signal and the distance validity; Determine the corresponding inertial measurement weight parameters based on the acquired satellite availability and the motion status information of the unmanned ship; The position detection state of the unmanned ship is determined according to the satellite weight parameter, the ultra-wideband weight parameter and the inertial measurement weight parameter.

3. The collaborative positioning method in mine topography surveying according to claim 2, characterized in that: The collaborative positioning method further includes: Detecting the innovation value through a chi-square test, and reducing the satellite weight parameter if the innovation value exceeds a threshold; Detect whether there is multipath interference of the UWB signal, and if so, dynamically reduce the UWB weight parameter; When the speed estimate is continuously lower than the threshold, the system is forced to enter zero speed correction mode.

4. The collaborative positioning method in mine topography surveying according to claim 2, characterized in that: The collaborative positioning method further includes: When the UAV is not in the locked state, the state vector features are constructed according to the original satellite coordinates, and the initialized state vector and covariance matrix are obtained; State prediction and covariance prediction are performed based on the current position state, three-axis acceleration, and time interval to obtain the corresponding predicted state information and predicted covariance matrix; wherein, each sensor is clock-aligned through timestamps; Acquiring multi-source observation data, wherein the multi-source observation data includes satellite observation data, inertial navigation data, and ultra-wideband ranging data; The Kalman gain is calculated for each observation data to perform state update to obtain the optimized observation parameters, and the optimized coordinates of the unmanned ship are output.

5. The collaborative positioning method in mine topography surveying according to claim 1, characterized in that: Before receiving the monitoring data acquired by the drone hovering above the mine, the method further includes: Before collaborative positioning, an aerial survey is performed using a drone to obtain an orthophoto image of the mine pit and a corresponding three-dimensional model of the mine pit. A corresponding measurement route is determined based on the orthophoto image and the three-dimensional model of the mine pit. The measurement route includes a measurement route and a hovering point of the drone. The UAV and the unmanned ship perform mine topography measurement according to the measurement driving route, and the UAV hovers according to the hovering point to serve as a signal base station.

6. The collaborative positioning method in mine topography surveying according to claim 5, characterized in that: After the aerial survey is performed using a drone to obtain an orthophoto of the mine and a corresponding three-dimensional model of the mine, the method further includes: Determine the number of drones to match based on the mine conditions obtained from the aerial survey; if the mine conditions match the first condition, use one drone for subsequent topographic survey; If the mine conditions match the second condition, at least three drones are used to perform topographic measurement, and one of the three drones is used as a main drone, and the other two drones are used as auxiliary drones; wherein, the main drone hovers at a first height to provide a reference signal, and the auxiliary drone hovers at a second height to relay the signal; the main drone and the auxiliary drone communicate via ultra-wideband signals.

7. The collaborative positioning method in mine topography surveying according to claim 5, characterized in that: The collaborative positioning method further comprises: Extend signal coverage by deploying relay poles at high points; After determining the optimized positioning information of the corresponding unmanned ship, the method further includes: The unmanned vessel performs fusion calculations based on the acquired multi-source data to obtain the three-dimensional coordinates of the underwater points, and generates a digital elevation model of the underwater terrain for data splicing with the surface model.

8. A collaborative positioning system for mine topography surveying, characterized in that: include: The first receiving module is used to receive the satellite positioning signal obtained by the positioning module of the unmanned vessel. If it is detected that the current unmanned vessel is in a satellite loss state, the next step is executed; The second receiving module is used to receive monitoring data acquired by a drone hovering above the mine, wherein the monitoring data includes positioning data detected by the positioning module and height information detected by the laser altimeter, wherein the height information is the height of the drone from the water surface; Ranging module: used to send the corresponding ultra-wideband pulse signal to the ultra-wideband base station of the drone hovering above the mine pit through the ultra-wideband tag set on the unmanned ship. The ultra-wideband base station calculates the relative position relationship between the corresponding drone and the unmanned ship based on the acquired ultra-wideband pulse signal, and sends the relative position relationship between the drone and the unmanned ship, the positioning data detected by the positioning module, and the height information detected by the laser altimeter to the corresponding unmanned ship through the communication module; Positioning optimization module: used to determine the optimized positioning information of the corresponding unmanned ship based on the position relationship, the positioning data detected at the UAV and the altitude information.

9. An electronic device, characterized in that: include: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the collaborative positioning method in mine topography measurement according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute the collaborative positioning method for mine topography surveying according to any one of claims 1 to 7.

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