Power distribution cabinet positioning and tracking method and system based on Beidou GPS fusion

Abstract

The invention relates to the technical field of positioning and tracking, and discloses a Beidou GPS fusion-based power distribution cabinet positioning and tracking method and system, and the method comprises the steps: carrying out the radio frequency front-end separation of a Beidou frequency band signal and a GPS frequency band signal received by an antenna in a mobile aviation power distribution cabinet, and obtaining a Beidou baseband digital signal and a GPS baseband digital signal; performing shielding attenuation analysis and signal gain compensation on the metal shell of the power distribution cabinet to obtain a signal after Beidou compensation and a signal after GPS compensation; performing geometric dilution precision calculation and power distribution cabinet attitude coupling analysis to obtain a Beidou system fusion weight and a GPS system fusion weight; and performing double-constellation weighted fusion and least square positioning solution on the signal after Beidou compensation and the signal after GPS compensation to obtain a real-time position coordinate, thereby solving the problem that the load state influence is neglected in the prior art, and improving the cooperative positioning precision of a double-constellation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning tracking, in particular to a power distribution cabinet positioning tracking method and system based on Beidou GPS fusion. BACKGROUND

[0002] Mobile aviation power distribution cabinets need to realize real-time positioning tracking and state monitoring requirements. Accurate positioning information not only can optimize the deployment and scheduling of power distribution cabinets, but also can provide an important basis for the coordination of aviation power support tasks. However, the power distribution cabinet adopts a metal shell structure to meet the electromagnetic shielding and protection requirements. However, such a metal shell has a significant shielding attenuation effect on satellite navigation signals, greatly reduces the positioning signal strength, and seriously reduces the positioning accuracy. At the same time, the strong electromagnetic field environment inside the power distribution cabinet will produce periodic electromagnetic interference, further affecting the reception quality of satellite signals, and thus leading to low accuracy of power distribution cabinet positioning. SUMMARY

[0003] The present application provides a power distribution cabinet positioning tracking method and system based on Beidou GPS fusion, which solves the problem of ignoring the influence of load state in the prior art, and improves the cooperative positioning accuracy of the dual constellation system.

[0004] In a first aspect, the present application provides a power distribution cabinet positioning tracking method based on Beidou GPS fusion, which comprises: Separating the Beidou frequency band signal and the GPS frequency band signal received by the antenna in the mobile aviation power distribution cabinet through a radio frequency front end to obtain a Beidou baseband digital signal and a GPS baseband digital signal; Performing power distribution cabinet metal shell shielding attenuation analysis and signal gain compensation on the Beidou baseband digital signal and the GPS baseband digital signal to obtain a Beidou compensated signal and a GPS compensated signal; Performing geometric dilution precision calculation and power distribution cabinet attitude coupling analysis according to the Beidou compensated signal and the GPS compensated signal to obtain a Beidou system fusion weight and a GPS system fusion weight; Performing dual constellation weighted fusion and least squares positioning solution on the Beidou compensated signal and the GPS compensated signal based on the Beidou system fusion weight and the GPS system fusion weight to obtain real-time position coordinates.

[0005] In combination with the first aspect, in a first implementation manner of the first aspect of the present application, the Beidou frequency band signal and the GPS frequency band signal received by the antenna in the mobile aviation power distribution cabinet are separated through a radio frequency front end to obtain a Beidou baseband digital signal and a GPS baseband digital signal, which comprises: The mixed satellite signals received by the antenna in the mobile aviation power distribution cabinet are filtered by four independent band-pass filters to obtain a Beidou frequency band signal and a GPS frequency band signal, the Beidou frequency band signal comprises a Beidou first frequency band radio frequency signal and a Beidou second frequency band radio frequency signal, and the GPS frequency band signal comprises a GPS first frequency band radio frequency signal and a GPS second frequency band radio frequency signal. The Beidou first frequency band radio frequency signal, the Beidou second frequency band radio frequency signal, the GPS first frequency band radio frequency signal and the GPS second frequency band radio frequency signal are respectively subjected to low-noise amplification and local oscillator mixing processing to obtain a Beidou first frequency band intermediate frequency signal, a Beidou second frequency band intermediate frequency signal, a GPS first frequency band intermediate frequency signal and a GPS second frequency band intermediate frequency signal. The Beidou first frequency band intermediate frequency signal, the Beidou second frequency band intermediate frequency signal, the GPS first frequency band intermediate frequency signal and the GPS second frequency band intermediate frequency signal are input into a 12-bit high-speed analog-to-digital converter for sampling and quantization to obtain a Beidou first frequency band intermediate frequency digital signal, a Beidou second frequency band intermediate frequency digital signal, a GPS first frequency band intermediate frequency digital signal and a GPS second frequency band intermediate frequency digital signal. The Beidou first frequency band intermediate frequency digital signal, the Beidou second frequency band intermediate frequency digital signal, the GPS first frequency band intermediate frequency digital signal and the GPS second frequency band intermediate frequency digital signal are subjected to four-way parallel digital down-conversion processing based on a field programmable gate array to obtain a Beidou baseband digital signal and a GPS baseband digital signal, the Beidou baseband digital signal comprises a Beidou first frequency band baseband digital signal and a Beidou second frequency band baseband digital signal, and the GPS baseband digital signal comprises a GPS first frequency band baseband digital signal and a GPS second frequency band baseband digital signal.

[0006] In combination with the first aspect, in a second implementation manner of the first aspect of the application, the power distribution cabinet metal shell shielding attenuation analysis and signal gain compensation on the Beidou baseband digital signal and the GPS baseband digital signal are performed to obtain a Beidou compensated signal and a GPS compensated signal, and the power distribution cabinet metal shell shielding attenuation analysis and signal gain compensation on the Beidou baseband digital signal and the GPS baseband digital signal comprise: The Beidou baseband digital signal and the GPS baseband digital signal are subjected to theoretical receiving power calculation according to satellite ephemeris data and satellite transmission power parameters to obtain a Beidou theoretical receiving power and a GPS theoretical receiving power; Actual receiving power measurement and power comparison are performed based on the Beidou baseband digital signal and the GPS baseband digital signal to obtain a Beidou initial attenuation coefficient and a GPS initial attenuation coefficient corresponding to the Beidou theoretical receiving power and the GPS theoretical receiving power; The load current parameter of the mobile aviation power distribution cabinet is taken as a correction factor to correct the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient in a load state, so as to obtain a Beidou attenuation compensation coefficient and a GPS attenuation compensation coefficient; Based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, signal gain compensation and electromagnetic interference suppression are performed on the Beidou baseband digital signal and the GPS baseband digital signal respectively, so as to obtain a Beidou compensated signal and a GPS compensated signal.

[0007] In combination with the first aspect, in a third implementation manner of the first aspect of the application, the actual received power measurement and power comparison based on the Beidou baseband digital signal and the GPS baseband digital signal to obtain the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient corresponding to the Beidou theoretical received power and the GPS theoretical received power comprises: The power spectrum density calculation and the carrier-to-noise ratio analysis are performed on the Beidou baseband digital signal and the GPS baseband digital signal to obtain the Beidou actual received power and the GPS actual received power; The Beidou actual received power and the GPS actual received power are normalized and calibrated according to the antenna gain parameter and the signal transmission loss parameter of the mobile aviation power distribution cabinet, so as to obtain the Beidou calibrated received power and the GPS calibrated received power; The Beidou theoretical received power is subjected to ratio operation with the Beidou calibrated received power to obtain a Beidou power attenuation ratio, and the GPS theoretical received power is subjected to ratio operation with the GPS calibrated received power to obtain a GPS power attenuation ratio; The Beidou initial attenuation coefficient and the GPS initial attenuation coefficient are obtained through logarithmic transformation and attenuation coefficient conversion based on the Beidou power attenuation ratio and the GPS power attenuation ratio.

[0008] In combination with the first aspect, in a fourth implementation manner of the first aspect of the application, the signal gain compensation and the electromagnetic interference suppression based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain the Beidou compensated signal and the GPS compensated signal comprises: The first-order direct amplitude compensation is performed on the Beidou baseband digital signal and the GPS baseband digital signal according to the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient respectively to obtain a Beidou first-order compensation signal and a GPS first-order compensation signal; The adaptive filtering and the second-order multipath reflection compensation are performed on the Beidou first-order compensation signal and the GPS first-order compensation signal to obtain a Beidou multipath compensation signal and a GPS multipath compensation signal; The Beidou multipath compensation signal and the GPS multipath compensation signal are input into a notch filter for power interference and harmonic component suppression processing to obtain a Beidou interference suppression signal and a GPS interference suppression signal. The Beidou interference suppression signal and the GPS interference suppression signal are subjected to signal drift correction caused by load change based on a Kalman filter state space model to obtain a Beidou compensated signal and a GPS compensated signal.

[0009] In combination with the first aspect, in a fifth implementation manner of the first aspect of the present application, the adaptive filtering and second-order multipath reflection compensation of the Beidou first-order compensation signal and the GPS first-order compensation signal to obtain the Beidou multipath compensation signal and the GPS multipath compensation signal comprises: The Beidou first-order compensation signal and the GPS first-order compensation signal are subjected to multipath propagation path modeling based on geometric structure parameters and material reflection characteristics of a metal shell in a mobile aviation power distribution cabinet to obtain a Beidou multipath signal model and a GPS multipath signal model; The Beidou first-order compensation signal and the GPS first-order compensation signal are subjected to multipath component identification and parameter extraction based on the Beidou multipath signal model and the GPS multipath signal model to obtain a Beidou multipath amplitude coefficient, a Beidou multipath phase delay, a GPS multipath amplitude coefficient and a GPS multipath phase delay; The Beidou multipath amplitude coefficient, the Beidou multipath phase delay, the GPS multipath amplitude coefficient and the GPS multipath phase delay are input into a minimum mean square error criterion algorithm for adaptive filter coefficient calculation to obtain a Beidou adaptive filter coefficient and a GPS adaptive filter coefficient; The multipath compensation parameters are subjected to iterative optimization and convergence determination based on the Beidou adaptive filter coefficient and the GPS adaptive filter coefficient to obtain Beidou optimized compensation parameters and GPS optimized compensation parameters; The Beidou first-order compensation signal and the GPS first-order compensation signal are subjected to second-order multipath reflection elimination processing according to the Beidou optimized compensation parameters and the GPS optimized compensation parameters respectively to obtain a Beidou multipath compensation signal and a GPS multipath compensation signal.

[0010] In combination with the first aspect, in a sixth implementation manner of the first aspect of the present application, the geometric dilution precision calculation and power distribution cabinet posture coupling analysis based on the Beidou compensated signal and the GPS compensated signal to obtain a Beidou system fusion weight and a GPS system fusion weight comprises: The satellite geometric distribution analysis and dilution precision calculation based on the Beidou compensated signal and the GPS compensated signal to obtain a Beidou system geometric dilution precision and a GPS system geometric dilution precision; According to the data of the three-axis accelerometer and the three-axis gyroscope built in the mobile aviation power distribution cabinet, the attitude angle of the power distribution cabinet is measured and the antenna attitude correction factor is calculated to obtain the antenna attitude correction factor of the power distribution cabinet; The Beidou system geometric dilution precision, the GPS system geometric dilution precision and the power distribution cabinet antenna attitude correction factor are input into a weight distribution algorithm for complementary analysis and weight calculation to obtain Beidou system fusion weight and GPS system fusion weight.

[0011] In combination with the first aspect, in a seventh implementation manner of the first aspect of the present application, the double constellation weighted fusion and least square positioning calculation of the Beidou compensated signal and the GPS compensated signal based on the Beidou system fusion weight and the GPS system fusion weight are performed to obtain real-time position coordinates, which includes: The Beidou compensated signal is weighted processed according to the Beidou system fusion weight to obtain a Beidou weighted signal, and the GPS compensated signal is weighted processed according to the GPS system fusion weight to obtain a GPS weighted signal; Based on the Beidou weighted signal and the GPS weighted signal, pseudo-range observation data extraction and double-system pseudo-range fusion are performed to obtain fused pseudo-range observation data; Based on the Beidou weighted signal and the GPS weighted signal, carrier phase observation data extraction and double-system phase fusion are performed to obtain fused carrier phase observation data; The fused pseudo-range observation data and the fused carrier phase observation data are executed to construct an observation data matrix to obtain fused positioning observation data; According to the load current parameter of the mobile aviation power distribution cabinet, the fused positioning observation data is corrected in load state and least square positioning calculation is performed to obtain real-time position coordinates.

[0012] In combination with the first aspect, in an eighth implementation manner of the first aspect of the present application, the load state correction and least square positioning calculation of the fused positioning observation data according to the load current parameter of the mobile aviation power distribution cabinet to obtain real-time position coordinates, which includes: Based on the load current parameter of the mobile aviation power distribution cabinet, load state index calculation and dynamic adjustment coefficient generation are performed to obtain power distribution cabinet load state index and observation data correction coefficient; According to the power distribution cabinet load state index and the observation data correction coefficient, the fused positioning observation data is corrected in load influence and data pre-processing to obtain corrected positioning observation data; The corrected positioning observation data is input into a least square solver for linearization processing and iterative solution calculation to obtain real-time position coordinates.

[0013] In a second aspect, the application provides a power distribution cabinet positioning and tracking system based on Beidou GPS fusion, comprising: A radio frequency front-end separation module is configured to separate the Beidou frequency band signals and GPS frequency band signals received by the antenna in the mobile aerial power distribution cabinet to obtain Beidou baseband digital signals and GPS baseband digital signals. A signal gain compensation module is configured to analyze the shielding attenuation of the metal shell of the power distribution cabinet and compensate the signal gain of the Beidou baseband digital signals and the GPS baseband digital signals to obtain compensated Beidou signals and compensated GPS signals. An attitude coupling analysis module is configured to perform geometric dilution of precision calculation and power distribution cabinet attitude coupling analysis based on the compensated Beidou signals and the compensated GPS signals to obtain Beidou system fusion weights and GPS system fusion weights. A positioning solution module is configured to perform double constellation weighted fusion and least squares positioning solution based on the Beidou system fusion weights and the GPS system fusion weights to obtain real-time position coordinates.

[0014] In the technical scheme provided by the application, the metal shielding attenuation rapid estimation algorithm is established to realize the differential attenuation compensation of the Beidou B1 / B2 frequency band and the GPS L1 / L2 frequency band, and the compensation accuracy is higher than that of the fixed attenuation model in the prior art. The power distribution cabinet load current parameter is used as a correction factor to establish a dynamic correlation model between the load state and the signal attenuation, thereby solving the problem that the load state is ignored in the prior art. The hierarchical compensation strategy is adopted, including first-order direct attenuation compensation, second-order multipath reflection compensation and electromagnetic interference suppression, which can completely eliminate the influence of the complex electromagnetic environment of the power distribution cabinet. The adaptive weight fusion controller based on the complementary geometric dilution of precision and the antenna attitude correction factor significantly improves the cooperative positioning accuracy of the double constellation system. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The steps of the power distribution cabinet positioning and tracking method based on Beidou GPS fusion in the embodiments of the application are shown in the flowchart. Figure 2 The structure of the power distribution cabinet positioning and tracking system based on Beidou GPS fusion in the embodiments of the application is shown in the structural diagram. DETAILED DESCRIPTION

[0017] The embodiment of the present application provides a power distribution cabinet positioning tracking method and system based on Beidou GPS fusion. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" or "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0018] For the convenience of understanding, the specific flow of the embodiment of the present application is described below. Please refer to Figure 1 One embodiment of the power distribution cabinet positioning tracking method based on Beidou GPS fusion in the embodiment of the present application comprises the following steps: Step S1, performing radio frequency front-end separation on the Beidou frequency band signal and the GPS frequency band signal received by the antenna in the mobile aerial power distribution cabinet to obtain a Beidou baseband digital signal and a GPS baseband digital signal; It can be understood that the execution subject of the present application can be a power distribution cabinet positioning tracking system based on Beidou GPS fusion, and can also be a terminal or a server, and the specific place is not limited. The embodiment of the present application takes the server as the execution subject for example.

[0019] Specifically, the mixed satellite signals received by the mobile aviation power distribution cabinet in the complex electromagnetic environment are subjected to frequency band screening processing. Since the Beidou system and the GPS system work in different frequency bands, the Beidou frequency band signals mainly include B1 frequency band (1561.098 MHz) and B2 frequency band (1207.140 MHz), and the GPS frequency band signals mainly cover L1 frequency band (1575.42 MHz) and L2 frequency band (1227.60 MHz). Therefore, the mixed satellite signals from the antenna are subjected to frequency band screening through four independently configured band-pass filters to physically isolate the target signals of the above four frequency bands, thereby obtaining four separated outputs containing the Beidou first frequency band radio frequency signal, the Beidou second frequency band radio frequency signal, the GPS first frequency band radio frequency signal and the GPS second frequency band radio frequency signal. The four separated radio frequency signals are input into low noise amplifiers for amplification processing, and the gain value is set to 35 dB to suppress the influence of background noise and improve the system sensitivity; the amplified signals enter the respective corresponding local oscillator mixing units, and are subjected to frequency mixing with the set local oscillator frequency to realize the conversion of high frequency signals to intermediate frequency signals, thereby obtaining the Beidou first frequency band intermediate frequency signal, the Beidou second frequency band intermediate frequency signal, the GPS first frequency band intermediate frequency signal and the GPS second frequency band intermediate frequency signal. Since the mixed intermediate frequency signals are still in analog form, the four intermediate frequency signals are input into a 12-bit high-speed analog-to-digital converter for synchronous sampling and quantization, and the sampling frequency is set to 20 MHz to ensure that each frequency band signal has sufficient bandwidth coverage in the frequency spectrum, and the quantization result is the Beidou first frequency band intermediate frequency digital signal, the Beidou second frequency band intermediate frequency digital signal, the GPS first frequency band intermediate frequency digital signal and the GPS second frequency band intermediate frequency digital signal. The four intermediate frequency digital signals are input in parallel into a field programmable gate array module deployed in the system, and the field programmable gate array realizes four parallel digital down conversion algorithm processing through embedded logic resources, specifically including the multiplication operation of the intermediate frequency signal and the local digital carrier and the process of filtering out the high frequency components by the low pass filter, so as to accurately down-convert each intermediate frequency digital signal to the baseband frequency band, and finally obtain the Beidou first frequency band baseband digital signal, the Beidou second frequency band baseband digital signal, the GPS first frequency band baseband digital signal and the GPS second frequency band baseband digital signal, wherein the former two are combined to form the Beidou baseband digital signal, and the latter two are combined to form the GPS baseband digital signal.

[0020] Step S2, analyzing the power distribution cabinet metal shell shielding attenuation and signal gain compensation of the Beidou baseband digital signal and the GPS baseband digital signal to obtain the Beidou compensated signal and the GPS compensated signal; Specifically, the receiving quality of the Beidou baseband digital signal and the GPS baseband digital signal is quantitatively modeled, so that, combined with satellite ephemeris data and known satellite transmission power parameters, based on the spatial geometric relationship between the receiving antenna position and the satellite position, the theoretical receiving power of Beidou and the theoretical receiving power of GPS corresponding to the current time are calculated. The theoretical power reflects the power level that the receiving end should obtain in an ideal case without any channel loss and shell shielding. At the same time, the actual baseband signal received inside the power distribution cabinet is measured for power, and the current actual receiving power value is extracted through statistical analysis of the power amplitude envelope, and compared with the previously calculated theoretical receiving power, so as to calculate the preliminary signal attenuation, which is specifically represented by the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient, which respectively represent the signal strength attenuation amplitude caused by the metal shell and the structure shielding. Considering that the load current of the mobile airborne power distribution cabinet changes under different operating conditions, which will cause dynamic changes in the electromagnetic environment, and then affect the shielding effect of the metal structure on the electromagnetic wave, the real-time load current of the power distribution cabinet is introduced as a correction factor to dynamically adjust the initial attenuation coefficient. The correction process generates the corrected Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient by introducing the load sensitive coefficient obtained through experimental calibration, nonlinearly amplifying the load current and the initial attenuation coefficient, so as to adapt to the fluctuation of the shielding condition caused by the change of the load in real time. Based on the compensation value, the original Beidou baseband digital signal and the GPS baseband digital signal are executed for signal gain compensation, specifically by implementing amplitude re-calibration processing in the digital domain to correct the signal amplitude and compensate for the loss caused by the shielding effect. At the same time, in order to improve the anti-interference performance of the system, an electromagnetic interference suppression module is embedded at the same time of signal compensation. The module design includes a notch filter chain to suppress the 50Hz power frequency and its even and odd harmonic interference components, and combines an adaptive filter and a Kalman filter model to dynamically estimate and filter out the low-frequency signal drift caused by the current disturbance inside the power distribution cabinet, ensuring stable output of the signal characteristics. After attenuation analysis, load correction and multi-stage compensation, the Beidou compensated signal and the GPS compensated signal are finally obtained.

[0021] Step S3, performing geometric dilution of precision calculation and power distribution cabinet attitude coupling analysis according to the Beidou compensated signal and the GPS compensated signal to obtain a Beidou system fusion weight and a GPS system fusion weight; Specifically, the satellite constellation geometry of the current time received Beidou compensated signal and GPS compensated signal is analyzed, the number of satellites participating in positioning, azimuth angle, elevation angle and spatial distribution state are extracted according to the navigation solution model, the geometric dilution of precision calculation matrix is constructed, and the geometric dilution of precision parameters of Beidou system and GPS system are solved respectively. The parameter reflects the influence of the geometric distribution of each satellite on the amplification degree of positioning error. The smaller the value is, the better the system structure is, and the more beneficial to the positioning result is. On this basis, due to the change of pitch and roll attitude of mobile aviation power distribution cabinet in the running process, especially in the flight transportation, lifting docking or vibration environment, which is more significant, and these attitude changes will directly affect the relative relationship between the receiving antenna and the sky view angle, and then affect the effective reception of signals, therefore, the attitude state data of the current time is obtained through the three-axis accelerometer and three-axis gyroscope configured in the power distribution cabinet, and the attitude angle is solved based on this, two key parameters of pitch angle and roll angle are obtained. On this basis, according to the angle relationship between the antenna direction and the ideal vertical direction, the antenna attitude correction factor is calculated, which reflects the stability of the antenna towards the zenith direction. The closer the value is to the ideal state, the smaller the influence of the antenna on the attitude disturbance is, and the higher the signal reception stability is. The geometric dilution of precision of Beidou system, the geometric dilution of precision of GPS system and the antenna attitude correction factor are input into the fusion weight distribution module. According to the complementary analysis principle of multi-system signal, the signal quality and availability performance of two types of navigation systems under the current spatial distribution condition and attitude environment are comprehensively evaluated, and then the fusion weight values of each system are distributed. In the weight calculation process, the algorithm not only considers the influence degree of constellation geometry structure on positioning solution, but also corrects the degree of antenna view angle shielding by attitude state, so that the obtained Beidou system fusion weight and GPS system fusion weight can more dynamically reflect the actual difference of the contribution of two systems to positioning solution under the current space-time condition.

[0022] Step S4, based on the Beidou system fusion weight and the GPS system fusion weight, the Beidou compensated signal and the GPS compensated signal are weighted and fused by double constellation, and the least square positioning solution is solved to obtain the real-time position coordinates.

[0023] Specifically, based on the Beidou system fusion weight and the GPS system fusion weight, the Beidou compensated signal and the GPS compensated signal are weighted respectively to generate a Beidou weighted signal and a GPS weighted signal. The pseudorange observation information of the Beidou weighted signal and the GPS weighted signal is extracted synchronously. The pseudorange data is the core information of the navigation satellite ranging. The pseudorange value corresponding to each satellite is extracted by identifying the signal propagation delay and combining the satellite broadcast time information. Then, the pseudorange data from the Beidou and GPS systems is fused based on the weight to form a set of fused pseudorange observation data. At the same time, high-precision carrier phase observation data extraction is performed on the Beidou weighted signal and the GPS weighted signal. The extraction process involves accurate tracking of high-frequency phase changes and initial ambiguity estimation. Similarly, the system weight ratio is introduced during fusion to form the fused carrier phase observation data, ensuring that the observation results of the dual system under different signal propagation characteristics can be expressed uniformly. After the fused pseudorange observation data and the fused carrier phase observation data are summarized, a fused positioning observation data matrix is constructed, which contains all the observation residual information and measurement model structures that can be used for solving. According to the load current parameters of the mobile aerial power distribution cabinet, the fused positioning observation data is dynamically corrected. Because the change of the load current will cause the fluctuation of the electromagnetic characteristics inside the power distribution cabinet, and then affect the phase stability and propagation path characteristics of the received signal, therefore, by taking the load current as the adjustment factor, the weight and error term in the observation matrix are compensated in real time, so that it can more accurately reflect the actual measurement value under the current physical state. The least square solving algorithm is performed on the fused positioning observation data after load correction. The algorithm converges to the positioning solution with the smallest error by optimizing the sum of squares of the difference between the spatial geometric model and the measurement data, and finally outputs the three-dimensional real-time position coordinates of the current mobile aerial power distribution cabinet.

[0024] In a specific embodiment, the process of performing step S1 can specifically include the following steps: The mixed satellite signals received by the antenna in the mobile aerial power distribution cabinet are filtered by four independent band-pass filters to obtain Beidou frequency band signals and GPS frequency band signals. The Beidou frequency band signals include Beidou first frequency band radio frequency signals and Beidou second frequency band radio frequency signals, and the GPS frequency band signals include GPS first frequency band radio frequency signals and GPS second frequency band radio frequency signals. The Beidou first frequency band radio frequency signals, the Beidou second frequency band radio frequency signals, the GPS first frequency band radio frequency signals and the GPS second frequency band radio frequency signals are subjected to low noise amplification and local oscillator mixing respectively to obtain Beidou first frequency band intermediate frequency signals, Beidou second frequency band intermediate frequency signals, GPS first frequency band intermediate frequency signals and GPS second frequency band intermediate frequency signals. The Beidou first frequency band intermediate frequency signal, the Beidou second frequency band intermediate frequency signal, the GPS first frequency band intermediate frequency signal and the GPS second frequency band intermediate frequency signal are input into a 12-bit high-speed analog-to-digital converter for sampling and quantization to obtain a Beidou first frequency band intermediate frequency digital signal, a Beidou second frequency band intermediate frequency digital signal, a GPS first frequency band intermediate frequency digital signal and a GPS second frequency band intermediate frequency digital signal; The Beidou first frequency band intermediate frequency digital signal, the Beidou second frequency band intermediate frequency digital signal, the GPS first frequency band intermediate frequency digital signal and the GPS second frequency band intermediate frequency digital signal are subjected to four-way parallel digital down-conversion processing based on a field programmable gate array to obtain a Beidou baseband digital signal and a GPS baseband digital signal, the Beidou baseband digital signal comprising a Beidou first frequency band baseband digital signal and a Beidou second frequency band baseband digital signal, and the GPS baseband digital signal comprising a GPS first frequency band baseband digital signal and a GPS second frequency band baseband digital signal.

[0025] Specifically, the mobile aviation power distribution cabinet as a kind of equipment with a metal closed structure, its shell structure itself has a significant shielding effect on high-frequency electromagnetic waves, causing the signal strength of Beidou and GPS signals to be significantly attenuated after entering the body, so the entire receiving system needs to have highly sensitive front-end processing capability and strong robustness multi-band separation mechanism. The system collects all frequency band signals from different navigation satellite systems through the external high-gain antenna installed on the power distribution cabinet. These signals are in a mixed state when received by the front-end module, containing both the first and second frequency band radio frequency signals of Beidou and the first and second frequency band radio frequency signals of GPS. The different signals overlapping in the same electromagnetic spectrum are separated. In the signal separation process, the system uses a four-way parallel configuration of bandpass filter sets. The center frequency and bandwidth of each filter are set according to the target frequency band, and the filters are designed and calibrated to ensure that they have sufficient passband gain for the specified frequency band signals and significant suppression ability for non-target frequency bands. For the Beidou system, a set of bandpass filters is set to extract the first frequency band radio frequency signal with a center frequency of 1561.098 MHz and the second frequency band radio frequency signal with a center frequency of 1207.140 MHz; for the GPS system, another set of bandpass filters is set to extract the first frequency band radio frequency signal of 1575.42 MHz and the second frequency band radio frequency signal of 1227.60 MHz. The four-way signals are clearly divided into Beidou first frequency band, Beidou second frequency band, GPS first frequency band, and GPS second frequency band radio frequency signals after filtering, completing the preliminary isolation in the frequency domain. To enhance the anti-interference ability of the signal processing link and improve the signal quality in the digital demodulation process, each radio frequency signal is then sequentially amplified by a low-noise amplifier. The low-noise amplifier is designed with high linearity and a fixed gain of 35 dB to compensate for the front-end energy loss caused by the antenna, transmission cable, and body shielding, and to improve the signal-to-noise ratio. The amplified radio frequency signals are still in a high-frequency state and cannot be directly digitized, so a local oscillator mixer is used for frequency down-conversion. The mixer multiplies the input radio frequency signal with the set local oscillator signal to generate mixed components containing sum and difference frequencies. The low-pass filter retains the difference frequency component to obtain the intermediate frequency signal. The first frequency band radio frequency signal of Beidou is mixed to obtain its corresponding intermediate frequency signal, and the second frequency band of Beidou, the first frequency band of GPS, and the second frequency band of GPS repeat the process to obtain four-way intermediate frequency signals, each corresponding to a specific frequency band of the original radio frequency signal. A high-performance 12-bit analog-to-digital converter is used to sample and quantize all intermediate frequency signals synchronously, with a sampling frequency of 20 MHz. The analog-to-digital converter outputs four-way intermediate frequency digital signals, corresponding to the first frequency band of Beidou, the second frequency band of Beidou, the first frequency band of GPS, and the second frequency band of GPS.To extract baseband information from the intermediate frequency digital signal, the system uses a field programmable gate array as the main computing unit in the digital processing module, and configures a dedicated digital down-conversion module inside the field programmable gate array to perform parallel down-conversion operation on four intermediate frequency digital signals at the same time. The intermediate frequency signal is multiplied by the corresponding frequency digital sine / cosine wave to shift the signal spectrum to low frequency; the high frequency component is filtered out by the finite impulse response low pass filter to retain the baseband component; the processed signal is decimated according to the sampling rate to compress the data stream to adapt to the subsequent processing rate. After down-conversion processing, the Beidou first frequency band intermediate frequency digital signal is converted into the Beidou first frequency band baseband digital signal, the Beidou second frequency band intermediate frequency digital signal is converted into the Beidou second frequency band baseband digital signal, and similarly, the GPS first frequency band and second frequency band intermediate frequency digital signals are converted into the GPS first frequency band and second frequency band baseband digital signals respectively. The system combines the Beidou first frequency band baseband digital signal and the second frequency band baseband digital signal to form the Beidou baseband digital signal, and combines the GPS first frequency band baseband digital signal and the second frequency band baseband digital signal to form the GPS baseband digital signal.

[0026] In a specific embodiment, the process of performing step S2 can specifically include the following steps: According to the satellite ephemeris data and the satellite transmission power parameter, the theoretical receiving power of the Beidou baseband digital signal and the GPS baseband digital signal is calculated to obtain the Beidou theoretical receiving power and the GPS theoretical receiving power; Based on the Beidou baseband digital signal and the GPS baseband digital signal, the actual receiving power is measured and compared to obtain the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient corresponding to the Beidou theoretical receiving power and the GPS theoretical receiving power; The load current parameter of the mobile aviation power distribution cabinet is used as a correction factor to correct the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient according to the load state to obtain the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient; Based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, the signal gain compensation and electromagnetic interference suppression are performed on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain the Beidou compensated signal and the GPS compensated signal.

[0027] Specifically, according to the satellite ephemeris data and satellite transmit power parameters, the path propagation model of the signals transmitted by the Beidou and GPS satellites in working state at the current time is established. The ephemeris data provides the three-dimensional spatial position of each satellite at a specific time, combined with the position of the antenna in the receiving end, i.e., the power distribution cabinet, the path length of the radio wave propagation in free space is calculated through the spatial geometric relationship, and the signal attenuation in the propagation process is calculated based on the free space propagation loss model. At the same time, considering the transmit antenna gain, polarization loss and receive antenna pattern parameters, the theoretical receiving power of Beidou and GPS signals in an ideal environment without metal structure interference is obtained. The system measures the actual receiving power of the Beidou and GPS baseband digital signals obtained by down-conversion in the power distribution cabinet. This step analyzes the energy accumulation value of the signal time domain envelope, extracts the instantaneous amplitude power, and obtains the current actual received Beidou and GPS signal strength by statistical averaging in multiple sampling periods. The initial attenuation coefficients of Beidou and GPS are calculated by comparing the actual signal strength with the theoretical power value. The initial attenuation coefficient represents the total power loss of the signal after entering the power distribution cabinet, which is mainly caused by shielding, absorption and multipath fading caused by the metal shell, as well as energy scattering caused by the non-ideal propagation phenomenon of the device structure. The real-time load current parameter of the mobile aerial power distribution cabinet is introduced as a correction factor. When the load current of the power distribution cabinet increases, the high current dense areas such as power cables, busbars and power modules inside the cabinet will produce stronger electromagnetic fields, which will produce coupling effects with the radio frequency signals and exacerbate signal attenuation. According to the previously established load state-signal attenuation correlation model, the load current is used as an adjustment factor in the initial attenuation coefficient, and the sensitive coefficient determined by the calibration experiment is used for nonlinear amplification or reduction correction, so as to obtain the Beidou and GPS attenuation compensation coefficients that can better reflect the actual propagation conditions in the dynamically changing environment. Based on the corrected attenuation compensation coefficients, the system applies them to the signal gain compensation link of the Beidou and GPS baseband digital signals, respectively, and uses the digital domain amplitude remapping method to amplify the signal strength in proportion, so that the signal strength is logically restored to the theoretical receiving level, thereby improving the pseudorange and carrier observation accuracy, enhancing the overall stability and solving reliability of the signal. At the same time, in order to avoid introducing systematic errors and interference amplification under high gain conditions, the system integrates an electromagnetic interference suppression mechanism in the gain compensation module, which includes a notch filter array and a spectrum suppression algorithm, and is specially designed to filter out the power frequency interference, even harmonics, switching noise and other noise sources generated by typical power equipment in the power distribution cabinet.A notch filter is configured on a digital signal processing channel to eliminate 50Hz power frequency and its integer multiple frequency components, to avoid aliasing with navigation signal spectrum in frequency domain, and to identify short-time amplitude mutation signals using time domain filtering algorithm and to suppress them through threshold strategy. To improve signal trajectory continuity and phase consistency in complex environment, a Kalman filter module is introduced to dynamically estimate slow drift trend of the signal, to compensate and track minute phase changes caused by thermal drift, power fluctuation or transient impedance change in real time in long-term operation, to ensure stability of the signal in amplitude, frequency and phase after gain amplification, and to improve carrier phase observation accuracy. The compensated signals of Beidou and GPS are output respectively.

[0028] In a specific embodiment, the performing step includes the following steps: calculating power spectrum density and analyzing carrier-to-noise ratio of the Beidou baseband digital signal and the GPS baseband digital signal to obtain the Beidou actual received power and the GPS actual received power; normalizing and calibrating the Beidou actual received power and the GPS actual received power according to the antenna gain parameter and the signal transmission loss parameter of the mobile aviation power distribution cabinet to obtain the Beidou calibrated received power and the GPS calibrated received power; performing ratio operation on the Beidou theoretical received power and the Beidou calibrated received power to obtain the Beidou power attenuation ratio, and performing ratio operation on the GPS theoretical received power and the GPS calibrated received power to obtain the GPS power attenuation ratio; performing logarithmic transformation and attenuation coefficient conversion based on the Beidou power attenuation ratio and the GPS power attenuation ratio to obtain the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient.

[0029] Specifically, the system performs power spectral density analysis based on the baseband digital representation of the Beidou and GPS signals, extracts frequency domain power spectral density data by performing Fourier transform on the energy distribution of the digital signals within a unit time, and the processing is completed in parallel in an FPGA or digital signal processing unit. Specifically, the energy distribution of each frequency point is obtained through a fast Fourier transform algorithm, and the total power spectral density value is obtained by integrating the energy distribution within the target frequency band. The system extracts the carrier-to-noise ratio based on the same signal sample, calculates the signal clarity in the current electromagnetic environment by calculating the ratio of the average power of the target signal component to the noise power in the adjacent frequency band. Through the above frequency domain processing, the actual received power corresponding to the Beidou baseband digital signal and the GPS baseband digital signal is obtained respectively. Due to the influence of antenna characteristics and signal path structure on the power value, antenna gain parameters and signal transmission path loss parameters are introduced for normalization calibration. The system calls the directivity gain value given in the antenna technical document, which reflects the enhancement effect of the receiving ability of the antenna to the signal under a specific incident angle; at the same time, the loss parameters of each level of transmission path (such as coaxial cable, connector, circuit board trace, etc.) between the antenna and the analog-to-digital conversion unit are considered, which are obtained through experiments or manufacturer calibration and are interpolated and corrected according to the frequency characteristics. Divide the actual received power by the antenna gain and multiply by the path loss compensation factor to normalize the power data of different receiving links to a unified reference state, thereby obtaining the calibrated Beidou received power and GPS received power. After completing the calibration of the actual power, the system compares and analyzes the result with the theoretical received power, which is derived from the satellite ephemeris, transmission power and spatial free propagation model calculated in the early stage, and reflects the power expectation value in the ideal environment without shell shielding and interference. By performing ratio operation on the theoretical received power and the calibrated received power of Beidou, the Beidou power attenuation ratio is obtained, and the larger the ratio, the more serious the shielding and interference of the signal in the transmission process; similarly, by performing ratio operation on the theoretical received power and the calibrated received power of GPS, the GPS power attenuation ratio is obtained. In order to convert the power attenuation ratio into a standardized attenuation coefficient that can be used for signal gain control and filter design, the system introduces a logarithmic transformation processing mechanism to convert the linear power ratio to a logarithmic domain representation. By performing logarithmic conversion on the Beidou power attenuation ratio and combining the reference power unit defined by the system, the Beidou initial attenuation coefficient is calculated, and the higher the coefficient value, the greater the attenuation degree of the signal from free space propagation to the receiving terminal; in the same way, the GPS power attenuation ratio is processed to calculate the GPS initial attenuation coefficient.

[0030] In a specific embodiment, the performing step is based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, and the process of performing signal gain compensation and electromagnetic interference suppression on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain the Beidou compensated signal and the GPS compensated signal can specifically include the following steps: First-order direct amplitude compensation is performed on the Beidou baseband digital signal and the GPS baseband digital signal according to the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient respectively to obtain the Beidou first-order compensation signal and the GPS first-order compensation signal; Adaptive filtering and second-order multipath reflection compensation are performed on the Beidou first-order compensation signal and the GPS first-order compensation signal to obtain the Beidou multipath compensation signal and the GPS multipath compensation signal; The Beidou multipath compensation signal and the GPS multipath compensation signal are input into a notch filter for power frequency interference and harmonic component suppression processing to obtain the Beidou interference suppression signal and the GPS interference suppression signal; Signal drift correction caused by load change is performed on the Beidou interference suppression signal and the GPS interference suppression signal based on a Kalman filter state space model to obtain the Beidou compensated signal and the GPS compensated signal.

[0031] Specifically, according to the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, the Beidou baseband digital signal and the GPS baseband digital signal are respectively subjected to first-order direct amplitude compensation, which is realized by linearly re-labeling the amplitude value of the input signal and the corresponding compensation coefficient in the digital domain, so as to restore the energy lost by the signal after penetrating the metal structure, so that the signal amplitude characteristic is close to the theoretical receiving state. After the processing is completed, the Beidou first-order compensation signal and the GPS first-order compensation signal are output. The system starts the second-order multipath reflection compensation mechanism to solve the problem of multipath effect caused by the complex metal structure of the power distribution cabinet. The mechanism takes the Beidou first-order compensation signal and the GPS first-order compensation signal as input, identifies the main reflection path component and the delay time distribution existing in the signal through short-time Fourier analysis and channel delay feature extraction, and then combines an adaptive filtering algorithm to establish a channel estimation model including the direct path and multiple reflection paths. Under this model framework, the multipath amplitude coefficient and phase mismatch are iteratively calculated through the least mean square error criterion, and the inverse filtering method is used to eliminate or cancel the reflection interference components in the signal, so as to maximize the direct path energy and clear the time delay overlap signal. After the step processing is completed, the Beidou multipath compensation signal and the GPS multipath compensation signal are output. The multipath compensation only solves the error caused by the structure reflection, but the power frequency interference existing in the power distribution cabinet in the working state cannot be completely suppressed, especially the 50Hz power frequency and its high harmonic components will penetrate into the baseband frequency region, which will interfere with the observation value extraction of the satellite signal. Therefore, the system introduces a specially constructed notch filter module in the third stage, which takes the Beidou multipath compensation signal and the GPS multipath compensation signal as input, and uses a group of digital notch filters with adjustable notch depth and center frequency adaptive adjustment capability to clean the target signal in the frequency domain. The filter designs high suppression notch channels for integer multiple frequency points such as 50Hz, 100Hz and 150Hz, and combines bandpass restriction and high-pass protection measures to ensure that the navigation signal frequency band is completely retained and not affected by secondary waveform distortion. After the filtering process is completed, the Beidou interference suppression signal and the GPS interference suppression signal are output. The Beidou interference suppression signal and the GPS interference suppression signal are subjected to signal drift correction caused by load change based on the Kalman filter state space model. The model establishes the state transition equation and the observation equation between the navigation signal amplitude, frequency, phase and drift trend, and combines the load current, power factor and voltage fluctuation data collected at the current time of the system to set the noise covariance matrix and the prediction error initialization value. The state estimation is iteratively updated through the difference between the signal observation residual and the prediction value at each time, and the Kalman gain is dynamically adjusted to realize real-time prediction and reverse compensation of the signal drift direction and amplitude. By removing the predicted drift from the current signal, the Beidou compensated signal and the GPS compensated signal are finally obtained.

[0032] In a specific embodiment, the process of performing step adaptive filtering and second-order multipath reflection compensation on the Beidou first-order compensation signal and the GPS first-order compensation signal to obtain the Beidou multipath compensation signal and the GPS multipath compensation signal can specifically include the following steps: According to the geometric structure parameters and material reflection characteristics of the metal shell in the mobile aviation power distribution cabinet, the Beidou first-order compensation signal and the GPS first-order compensation signal are modeled for multipath propagation path, and the Beidou multipath signal model and the GPS multipath signal model are obtained; Based on the Beidou multipath signal model and the GPS multipath signal model, the Beidou first-order compensation signal and the GPS first-order compensation signal are identified for multipath component and parameters are extracted, and the Beidou multipath amplitude coefficient, the Beidou multipath phase delay, the GPS multipath amplitude coefficient and the GPS multipath phase delay are obtained; The Beidou multipath amplitude coefficient, the Beidou multipath phase delay, the GPS multipath amplitude coefficient and the GPS multipath phase delay are input into the least mean square error criterion algorithm for adaptive filter coefficient calculation, and the Beidou adaptive filter coefficient and the GPS adaptive filter coefficient are obtained; Based on the Beidou adaptive filter coefficient and the GPS adaptive filter coefficient, the multipath compensation parameters are iteratively optimized and the convergence is determined, and the Beidou optimized compensation parameters and the GPS optimized compensation parameters are obtained; According to the Beidou optimized compensation parameters and the GPS optimized compensation parameters, the Beidou first-order compensation signal and the GPS first-order compensation signal are respectively processed for second-order multipath reflection elimination, and the Beidou multipath compensation signal and the GPS multipath compensation signal are obtained.

[0033] Specifically, the system models the geometric structure parameters of the mobile aviation power distribution cabinet, which is an approximately cuboid or a closed metal shell with irregular concave and convex surfaces. The shell is made of highly reflective metal material, and its interior contains metal accessories such as cable supports, power distribution units, and isolation plates, all of which provide complex propagation media for multipath reflection. Therefore, in the initial stage, the system extracts key geometric parameters including shell size, edge profile, metal surface material, and interfacial angle from the three-dimensional structural drawings of the power distribution cabinet. The reflection characteristics of the material, such as electromagnetic reflectivity, electrical conductivity, and surface roughness, are introduced into the propagation modeling module. The ray tracing technique is used to simulate the reflection paths of Beidou and GPS signals within the structure. Combined with the location of the antenna and the spatial angle and distance relationships between the main reflection surfaces, Beidou and GPS multipath signal models are established. The models include multiple typical reflection paths, the propagation distance of each path, the number of reflections, and the estimated time delay range. Based on the Beidou multipath signal model, the first-order compensated Beidou signal and the first-order compensated GPS signal are input into the channel response analysis module, and combined with the reflection path characteristics provided by the model, the multipath component identification and parameter extraction are performed. The system uses the short-time Fourier transform combined with the sliding window cross-correlation function method to locate the secondary peak values in the signal on the time axis, and matches them with the time delay estimates of each reflection path in the theoretical model, thereby identifying the location of the multipath component. For each identified effective multipath path, the system extracts the amplitude attenuation value and phase delay corresponding to the path, forming the Beidou multipath amplitude coefficient, Beidou multipath phase delay, GPS multipath amplitude coefficient, and GPS multipath phase delay data sets. These parameters collectively reflect the actual impact of multipath on Beidou and GPS signals in a specific metal structure at the current time point. To suppress multipath signal interference and achieve effective compensation, the amplitude coefficient and phase delay parameters are introduced as input quantities into the least mean square error criterion algorithm framework. By constructing an equivalent model of the multipath channel, the residual square between the current received signal and the theoretical direct path signal is minimized, and the adaptive filter coefficient calculation is performed. The filter structure adopts the finite impulse response form, and its weight parameters are dynamically updated based on the gradient descent principle in each iteration. In this process, the system updates the Beidou adaptive filter coefficients and GPS adaptive filter coefficients based on the direction of the error signal at each time, so that the filter output restores the ideal multipath-free signal form as much as possible. These coefficients reflect the damage intensity and offset method of different delay paths to the signal in the current structural environment. Based on the Beidou adaptive filter coefficients and GPS adaptive filter coefficients, the multipath compensation parameters are iteratively optimized. In each round of optimization, the filter coefficients are adjusted based on the current error term, and the convergence trend is evaluated in real time to determine whether the filter output residual is less than the set threshold or the variation amplitude is less than the limited proportion within a certain number of steps.If the convergence condition is met, the system considers that the current filter has reached the optimal state, and then extracts the corresponding coefficient set as the Beidou optimization compensation parameter and the GPS optimization compensation parameter. Based on the Beidou optimization compensation parameter and the GPS optimization compensation parameter, the system performs a second-order multipath reflection elimination process on the initial Beidou first-order compensation signal and the GPS first-order compensation signal. The multipath interference is regarded as an additive disturbance component, and through the construction of an interference subspace and orthogonal decomposition with the signal principal component, the accurate stripping and dynamic elimination of the multipath component are realized. In the elimination process, the system synchronously adjusts the signal amplitude, phase and delay characteristics in real time to ensure that the compensated signal maintains the integrity of the original signal and does not introduce secondary distortion. The processing result is the Beidou multipath compensation signal and the GPS multipath compensation signal.

[0034] In a specific embodiment, the process of performing step S3 can specifically include the following steps: Based on the Beidou compensated signal and the GPS compensated signal, satellite geometric distribution analysis and dilution precision calculation are performed to obtain the Beidou system geometric dilution precision and the GPS system geometric dilution precision; According to the data of the three-axis accelerometer and the three-axis gyroscope built in the mobile aviation power distribution cabinet, the attitude angle of the power distribution cabinet is measured and the antenna attitude correction factor is calculated to obtain the power distribution cabinet antenna attitude correction factor; The Beidou system geometric dilution precision, the GPS system geometric dilution precision and the power distribution cabinet antenna attitude correction factor are input into the weight distribution algorithm for complementary analysis and weight calculation to obtain the Beidou system fusion weight and the GPS system fusion weight.

[0035] Specifically, based on the compensated signals of Beidou and GPS, the number of available satellites, spatial distribution, orbit information and observation time contained in each signal are analyzed to model the satellite geometric structure. The system extracts the spatial coordinate data of each visible satellite from the compensated signals, which is derived based on ephemeris information and combined with the coordinates of the receiving antenna in the Earth reference frame. By constructing satellite observation equations and observation matrices, the position vectors of all satellites are combined to form a spatial geometric structure model. This model is used to calculate the geometric dilution of precision (GDOP), which is obtained by singular value decomposition or covariance matrix inversion of the geometric characteristics of the observation equation and reflects the influence of the spatial distribution of available satellites on the final positioning accuracy. On this basis, the system constructs independent observation matrices for the Beidou constellation and the GPS constellation respectively and performs relevant calculations to obtain the GDOP of the Beidou system and the GDOP of the GPS system respectively. This result is used to evaluate the geometric structure performance of the two systems under the current antenna receiving field of view conditions. The smaller the dilution of precision value, the more uniform the constellation distribution, the wider the angle of view coverage, and the smaller the positioning error. Conversely, it indicates that the constellation is concentrated, the geometric conditions are not ideal, and the error expansion coefficient is large. According to the data of the three-axis accelerometer and three-axis gyroscope built-in the mobile power distribution cabinet, acceleration and angular velocity data are collected, and the attitude angle parameters at the current time are calculated through the attitude solution algorithm, mainly including the pitch angle and roll angle. These two angles reflect the rotation state of the device in the spatial attitude coordinate system around the X and Y axes. On this basis, the system defines an antenna attitude correction factor, which reflects the degree of deviation of the antenna from the ideal vertical direction. The closer the value to the ideal state, the smaller the impact of the current antenna orientation on signal reception, and vice versa, which will cause obstruction, multipath or directional loss. Therefore, the attitude correction factor is used as a penalty factor in the fusion control, dynamically adjusting the contribution of the constellation dilution of precision to the actual weight. The GDOP of the Beidou system, the GDOP of the GPS system and the antenna attitude correction factor of the power distribution cabinet are input into the weight allocation algorithm for complementary analysis and weight calculation. Based on the complementary analysis mechanism, the system constructs an evaluation model to map the GDOP value and the attitude correction factor, coupling the constellation structure capability and the device receiving capability into a comprehensive performance indicator, representing the current positioning contribution capability of the Beidou system and the GPS system respectively. The system normalizes the two indicators and proportionally allocates them according to the set complementary constraint conditions, that is, giving higher fusion weight to the system with stronger performance and gradually transitioning to the other system when its performance decreases, so as to ensure that the fusion weight is always adaptively distributed between the two systems.In order to enhance the smoothness and stability of the weight change, the exponential weighted moving average method is introduced to fuse the current weight with the previous time weight, so as to avoid the sudden change caused by instantaneous attitude jitter or short time constellation change, and at the same time, the lower limit threshold of the weight is set to ensure that any system still has the minimum participation in the weak visible state, and prevent the solution from failing due to isolated data. The system outputs the Beidou system fusion weight and the GPS system fusion weight at the current time.

[0036] In a specific embodiment, the process of performing step S4 can specifically include the following steps: According to the Beidou system fusion weight, the signal compensated by Beidou is weighted to obtain a Beidou weighted signal, and at the same time, according to the GPS system fusion weight, the signal compensated by GPS is weighted to obtain a GPS weighted signal; Based on the Beidou weighted signal and the GPS weighted signal, pseudo-range observation data extraction and double-system pseudo-range fusion are performed to obtain fused pseudo-range observation data; Based on the Beidou weighted signal and the GPS weighted signal, carrier phase observation data extraction and double-system phase fusion are performed to obtain fused carrier phase observation data; The fused pseudo-range observation data and the fused carrier phase observation data are executed to construct an observation data matrix to obtain fused positioning observation data; According to the load current parameters of the mobile aviation power distribution cabinet, the fused positioning observation data is corrected for load state and least square positioning solution to obtain real-time position coordinates.

[0037] Specifically, the signal compensated by the Beidou system is adjusted in amplitude and calibrated in weight with the Beidou system fusion weight as the weighting factor. This process realizes the weighted mapping of the signal in numerical value by multiplying the signal amplitude at each time sampling point by the fusion weight, and the result forms a weighted signal of Beidou, which represents the actual participation intensity of the Beidou signal in the overall positioning contribution in the physical sense. At the same time, the system uses the GPS system fusion weight to perform the same weighted processing on the signal compensated by the GPS system, generating a weighted signal of GPS. After the signal weighting is completed, the system extracts the pseudorange observation data from the weighted signal of Beidou and the weighted signal of GPS in turn. Pseudorange is the most basic positioning observation, and its extraction process estimates the distance by detecting the propagation delay between the timestamp in the navigation message and the local receiving time, combined with the signal propagation speed. The pseudorange data extracted from the weighted signal contains the observation results after power compensation, attenuation correction, attitude influence, etc., and its accuracy is higher than that of the original signal. In the fusion algorithm, the system combines the pseudorange observation data of the two systems according to the corresponding fusion weight ratio, that is, it calculates the weighted average pseudorange value according to the Beidou weight and the GPS weight at the current time point, and eliminates the multipath abnormal values or low confidence data existing in the low weight path, forming the fusion pseudorange observation data. At the same time, the system extracts the carrier phase observation data from the weighted signal of Beidou and the weighted signal of GPS. Carrier phase observation has higher resolution than pseudorange observation, and its extraction method is based on continuous wave tracking technology, which calculates the integer period change and decimal period offset of the carrier in the transmission and reception process, and establishes a continuous phase trajectory combined with the initial ambiguity estimation. After extraction is completed, the system synchronously pairs the phase observation results of Beidou and GPS systems according to the fusion weight, and fuses the weights in the overlapping time period to obtain the fusion carrier phase observation data. The fusion pseudorange observation data and the fusion carrier phase observation data are input into the observation matrix construction module, the relationship between the observation values, geometric factors and unknown parameters is expressed in matrix form by structuring the ranging equations between all satellites and receiving antennas, and the fusion positioning observation data matrix is constructed, where each row in the matrix represents the pseudorange or carrier observation equation of a satellite, and the matrix contains key elements such as position variables, time bias items and ambiguity items to be solved. Because the load current of the mobile aviation distribution cabinet often fluctuates dynamically in actual operation, the change of the load current will cause the fluctuation of the electromagnetic interference field strength, the change of the power supply stability and the structure current coupling, etc., thereby affecting the phase stability and time delay characteristics of the received signal at the microscopic level. Therefore, the system corrects the load state of the fusion positioning observation data before positioning calculation.The correction process obtains current load current data from the power management module of the power distribution cabinet and compares and analyzes the historical load characteristic curve to determine whether the current load change exceeds the preset interference tolerance interval. If it does, the numerical fine-tuning of data related to propagation delay, phase shift, etc. in the observation matrix is performed according to the load state modeling result, specifically by adding a current offset correction term in the observation vector or introducing a weight adjustment factor in the design matrix to realize the matching correction of the observation data to the current electromagnetic state. The fused observation matrix after load state compensation is input into the least squares positioning solution module. According to the minimum error square criterion, the least squares solution module solves the error term between the observation matrix and the observation vector to iteratively solve the unknown power distribution cabinet position coordinates and system time deviation. In the solution process, numerical methods such as QR decomposition, Kalman filter iteration or incremental Gauss-Newton method are used to improve the convergence speed and avoid matrix singularity problems. During the entire iteration process, the system monitors the residual change trend and convergence speed to ensure that the optimal solution is obtained within a limited number of steps and the convergence is judged, and finally the real-time position coordinates at the current time are output.

[0038] In a specific embodiment, the process of performing load state correction and least squares positioning solution on the fused positioning observation data according to the load current parameters of the mobile aerial power distribution cabinet to obtain real-time position coordinates can specifically include the following steps: Performing load state index calculation and dynamic adjustment coefficient generation based on the load current parameters of the mobile aerial power distribution cabinet to obtain the power distribution cabinet load state index and observation data correction coefficient; According to the power distribution cabinet load state index and the observation data correction coefficient, the load influence correction and data preprocessing are performed on the fused positioning observation data to obtain the corrected positioning observation data; Input the corrected positioning observation data into the least squares solver for linearization processing and iterative solution calculation to obtain real-time position coordinates.

[0039] Specifically, based on the load current parameters of the mobile aviation power distribution cabinet, combined with the historical rated electrical characteristic parameters of the power distribution cabinet, including the rated current value, voltage level, power factor range and working mode label, a load state index calculation model is established. The model processes the normalized ratio of the current actual output current value and the rated current value, and introduces the voltage offset and power factor change trend of the power distribution cabinet to structurally correct the single current data, so as to reflect the influence intensity of the current load state on the electromagnetic environment of the whole machine. The model fuses the above-mentioned multiple parameters into a comprehensive evaluation index, and outputs the load state index. The closer the value is to the rated state, the more stable the system works, and the more deviated, the more the current load state interferes with the positioning system. After obtaining the load state index of the power distribution cabinet, the system performs a dynamic adjustment coefficient generation operation. According to the amplitude and change rate of the load state index, the corresponding observation data correction coefficient is calculated in the preset model framework, which is used to dynamically fine-tune the pseudo-range observation item, carrier phase item and weight factor in the signal processing process. The generation mechanism of the correction coefficient adopts an exponential mapping function or a segmented linear interpolation strategy to ensure that the correction amplitude is small when the load state slightly deviates, and the adjustment intensity is increased when there is a large abnormal fluctuation. At the same time, a time decay factor is introduced in the calculation process to ensure that short-term mutations do not cause dramatic jumps in the calculation parameters. The physical meaning of the observation data correction coefficient is that it reflects the compensation factor of the additional error introduced by the load environment disturbance in the signal propagation and observation process, which is an important intermediate variable that maps electrical disturbances to the observation data layer. The system inputs the load state index of the power distribution cabinet and the observation data correction coefficient into the observation data preprocessing module to correct the load influence on the integrated positioning observation data. This processing includes two levels: first, the propagation delay item in the pseudo-range observation value is adjusted for load sensitivity, and the signal propagation error caused by power supply fluctuations or local field strength changes is adjusted in amplitude to avoid being misjudged as a spatial geometric change; second, the phase stability factor is introduced to compensate for the carrier phase observation item to reduce the influence of phase jumps caused by load electromagnetic disturbance on ambiguity estimation and continuity detection. At the same time, in the data preprocessing process, the system performs outlier rejection and weight redistribution operations on the affected data items, that is, in the presence of high load disturbance areas, the weight coefficient of the corresponding observation equation is dynamically reduced to control the uncertainty of the data within the minimum range. The correction mechanism ensures that the integrated positioning observation data has stronger representativeness, continuity and solvability under the background of physical disturbance, and outputs a set of corrected positioning observation data that has been fully adapted to the current load state. The corrected positioning observation data is input into the least squares solver to perform position inversion calculation. The solver linearizes the nonlinear satellite ranging model, first-order Taylor expands the original ranging equation at the initial estimate value, and constructs the corresponding design matrix and observation residual vector.Subsequently, the system is solved by iteration method, in each step, based on the error term between the current estimated position and the pseudo-range or carrier phase data, the solution is updated until convergence. The iteration process enhances the robustness of the disturbed observation by introducing dynamic weight factor and residual suppression mechanism, and considers the carrier ambiguity resolution integration constraint condition in the calculation, which improves the stability and accuracy of the final positioning solution. During the entire solving process, the system synchronously monitors the convergence speed and error change trend, when it is found that the residual error appears continuous growth or oscillation non-convergence phenomenon, the re-initialization mechanism is triggered to avoid positioning failure caused by false initial value or abnormal interference. The three-dimensional coordinates output by the least square solver are the real-time spatial position of the mobile aerial power distribution cabinet.

[0040] The above describes the power distribution cabinet positioning and tracking method based on Beidou GPS fusion in the embodiment of the application. The power distribution cabinet positioning and tracking system based on Beidou GPS fusion in the embodiment of the application is described below. Please refer to Figure 2 An embodiment of the power distribution cabinet positioning and tracking system based on Beidou GPS fusion in the embodiment of the application includes: A radio frequency front-end separation module is configured to separate the Beidou frequency band signal and the GPS frequency band signal received by the antenna in the mobile aerial power distribution cabinet to obtain Beidou baseband digital signals and GPS baseband digital signals. A signal gain compensation module is configured to analyze the shielding attenuation of the metal shell of the power distribution cabinet and compensate the signal gain of the Beidou baseband digital signals and the GPS baseband digital signals to obtain compensated Beidou signals and compensated GPS signals. An attitude coupling analysis module is configured to perform geometric dilution precision calculation and power distribution cabinet attitude coupling analysis based on the compensated Beidou signals and the compensated GPS signals to obtain Beidou system fusion weights and GPS system fusion weights. A positioning solution module is configured to perform double constellation weighted fusion and least square positioning solution based on the Beidou system fusion weights and the GPS system fusion weights to obtain real-time position coordinates.

[0041] Through the cooperation of the above-mentioned various components, the application can calculate the differential attenuation coefficient of Beidou B1 / B2 frequency band and GPS L1 / L2 frequency band in real time by establishing a metal shielding attenuation rapid estimation algorithm, compared with the fixed attenuation model of the prior art, which can more accurately compensate the shielding effect of the power distribution cabinet metal shell on different frequency band signals. The power distribution cabinet load current parameter is used as a correction factor to establish a dynamic correlation model between the load state and the signal attenuation, which can real-time correct the influence of load change on the shielding effect, solving the problem of ignoring the dynamic influence of load state in the prior art. A hierarchical compensation strategy is adopted, including first-order direct attenuation compensation, second-order multipath reflection compensation and electromagnetic interference suppression, compared with the single compensation mode of the prior art, which can more comprehensively eliminate the influence of the complex electromagnetic environment of the power distribution cabinet on the signal quality. Based on the complementarity of geometric dilution of precision and the antenna attitude correction factor, an adaptive weight fusion controller is established, which can dynamically adjust the Beidou / GPS fusion weight according to the signal quality, compared with the fixed weight distribution of the prior art, which significantly improves the cooperative positioning performance of the dual constellation system. An adaptive signal interruption recovery unit of the power distribution cabinet electromagnetic environment is introduced, a multi-stage recovery strategy and a signal prediction algorithm are adopted, which can effectively deal with the signal interruption problem in the serious metal shielding area, and ensure the continuity and availability of positioning. Through the notch filter and Kalman filter algorithm, the power frequency interference and its harmonic components generated during the operation of the power distribution cabinet can be effectively suppressed, and the signal drift caused by load change can be corrected, compared with the prior art lacking of targeted interference suppression means, which significantly improves the signal reception quality. By introducing three-axis accelerometer and three-axis gyroscope data, a coupling analysis model of power distribution cabinet attitude change and metal shielding effect is established, which can accurately compensate the influence of attitude change on positioning performance during movement, solving the problem of ignoring the attitude coupling effect in the prior art.

[0042] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned system, system and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0043] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0044] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the same; even though the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

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steps: The method comprises the According to satellite ephemeris data and satellite transmitting power parameters, theoretical receiving power of the Beidou baseband digital signal and the GPS baseband digital signal is calculated to obtain Beidou theoretical receiving power and GPS theoretical receiving power; Based on the Beidou baseband digital signal and the GPS baseband digital signal, actual receiving power measurement and power comparison are carried out to obtain Beidou initial attenuation coefficient and GPS initial attenuation coefficient corresponding to the Beidou theoretical receiving power and the GPS theoretical receiving power; The load current parameters of the mobile aviation power distribution cabinet are taken as correction factors to correct the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient in the load state to obtain Beidou attenuation compensation coefficient and GPS attenuation compensation coefficient; Based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, signal gain compensation and electromagnetic interference suppression are carried out on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain Beidou compensated signal and GPS compensated signal.

4. The power distribution cabinet positioning and tracking method based on Beidou GPS fusion according to claim 3, characterized in that, The actual receiving power measurement and power comparison based on the Beidou baseband digital signal and the GPS baseband digital signal to obtain the Beidou initial attenuation coefficient and the GPS initial attenuation coefficient corresponding to the Beidou theoretical receiving power and the GPS theoretical receiving power, comprises: Power spectrum density calculation and carrier-to-noise ratio analysis are carried out on the Beidou baseband digital signal and the GPS baseband digital signal to obtain Beidou actual receiving power and GPS actual receiving power; According to the antenna gain parameters and signal transmission loss parameters of the mobile aviation power distribution cabinet, the Beidou actual receiving power and the GPS actual receiving power are normalized and calibrated to obtain Beidou calibrated receiving power and GPS calibrated receiving power; The Beidou theoretical receiving power and the Beidou calibrated receiving power are subjected to ratio operation to obtain Beidou power attenuation ratio, and the GPS theoretical receiving power and the GPS calibrated receiving power are subjected to ratio operation to obtain GPS power attenuation ratio; Based on the Beidou power attenuation ratio and the GPS power attenuation ratio, logarithmic transformation and attenuation coefficient conversion are carried out to obtain Beidou initial attenuation coefficient and GPS initial attenuation coefficient.

5. The power distribution cabinet positioning and tracking method based on Beidou GPS fusion according to claim 3, characterized in that, The signal gain compensation and electromagnetic interference suppression based on the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain Beidou compensated signal and GPS compensated signal, comprises: According to the Beidou attenuation compensation coefficient and the GPS attenuation compensation coefficient, first-order direct amplitude compensation is carried out on the Beidou baseband digital signal and the GPS baseband digital signal respectively to obtain Beidou first-order compensation signal and GPS first-order compensation signal; Adaptive filtering and second-order multipath reflection compensation are carried out on the Beidou first-order compensation signal and the GPS first-order compensation signal to obtain Beidou multipath compensation signal and GPS multipath compensation signal; The Beidou multipath compensation signal and the GPS multipath compensation signal are input into a notch filter for power frequency interference and harmonic component suppression processing to obtain Beidou interference suppression signal and GPS interference suppression signal; The Kalman filter state space model is used for signal drift correction caused by load change of the Beidou interference suppression signal and the GPS interference suppression signal, so as to obtain a compensated Beidou signal and a compensated GPS signal.

6. The power distribution cabinet positioning and tracking method based on Beidou GPS fusion according to claim 5, characterized in that, The first-order compensated Beidou signal and the first-order compensated GPS signal are subjected to adaptive filtering and second-order multipath reflection compensation, so as to obtain a Beidou multipath compensation signal and a GPS multipath compensation signal. According to the geometric structure parameters and material reflection characteristics of the metal shell in the mobile aviation power distribution cabinet, a multipath propagation path model is established for the first-order compensated Beidou signal and the first-order compensated GPS signal, so as to obtain a Beidou multipath signal model and a GPS multipath signal model. Based on the Beidou multipath signal model and the GPS multipath signal model, multipath component identification and parameter extraction are performed on the first-order compensated Beidou signal and the first-order compensated GPS signal, so as to obtain a Beidou multipath amplitude coefficient, a Beidou multipath phase delay, a GPS multipath amplitude coefficient and a GPS multipath phase delay. The Beidou multipath amplitude coefficient, the Beidou multipath phase delay, the GPS multipath amplitude coefficient and the GPS multipath phase delay are input into a minimum mean square error criterion algorithm for adaptive filter coefficient calculation, so as to obtain a Beidou adaptive filter coefficient and a GPS adaptive filter coefficient. Based on the Beidou adaptive filter coefficient and the GPS adaptive filter coefficient, iterative optimization and convergence determination are performed on the multipath compensation parameters, so as to obtain a Beidou optimized compensation parameter and a GPS optimized compensation parameter. According to the Beidou optimized compensation parameter and the GPS optimized compensation parameter, second-order multipath reflection elimination processing is respectively performed on the first-order compensated Beidou signal and the first-order compensated GPS signal, so as to obtain a Beidou multipath compensation signal and a GPS multipath compensation signal.

7. The power distribution cabinet positioning and tracking method based on Beidou GPS fusion according to claim 1, characterized in that, The compensated Beidou signal and the compensated GPS signal are subjected to geometric dilution precision calculation and power distribution cabinet attitude coupling analysis, so as to obtain a Beidou system fusion weight and a GPS system fusion weight. Based on the compensated Beidou signal and the compensated GPS signal, satellite geometric distribution analysis and dilution precision calculation are performed, so as to obtain a Beidou system geometric dilution precision and a GPS system geometric dilution precision. According to the data of the built-in three-axis accelerometer and three-axis gyroscope in the mobile aviation power distribution cabinet, the power distribution cabinet attitude angle is measured and the antenna attitude correction factor is calculated, so as to obtain a power distribution cabinet antenna attitude correction factor. The Beidou system geometric dilution precision, the GPS system geometric dilution precision and the power distribution cabinet antenna attitude correction factor are input into a weight distribution algorithm for complementarity analysis and weight calculation, so as to obtain a Beidou system fusion weight and a GPS system fusion weight. 8.The power distribution cabinet positioning and tracking method based on Beidou GPS fusion of claim 1, characterized in that, The compensated Beidou signal and the compensated GPS signal are subjected to double constellation weighted fusion and least square positioning solution based on the Beidou system fusion weight and the GPS system fusion weight, so as to obtain real-time position coordinates. According to the Beidou system fusion weight, the Beidou compensated signal is weighted and processed to obtain a Beidou weighted signal, and according to the GPS system fusion weight, the GPS compensated signal is weighted and processed to obtain a GPS weighted signal; Based on the Beidou weighted signal and the GPS weighted signal, pseudo-range observation data extraction and double-system pseudo-range fusion are performed to obtain fused pseudo-range observation data; Based on the Beidou weighted signal and the GPS weighted signal, carrier phase observation data extraction and double-system phase fusion are performed to obtain fused carrier phase observation data; The fused pseudo-range observation data and the fused carrier phase observation data are subjected to observation data matrix construction to obtain fused positioning observation data; According to the load current parameter of the mobile aerial power distribution cabinet, the fused positioning observation data is subjected to load state correction and least squares positioning solution to obtain real-time position coordinates.

9. The power distribution cabinet positioning and tracking method based on Beidou GPS fusion according to claim 8, characterized in that, According to the load current parameter of the mobile aerial power distribution cabinet, the fused positioning observation data is subjected to load state correction and least squares positioning solution to obtain real-time position coordinates, including: Based on the load current parameter of the mobile aerial power distribution cabinet, load state index calculation and dynamic adjustment coefficient generation are performed to obtain a power distribution cabinet load state index and an observation data correction coefficient; According to the power distribution cabinet load state index and the observation data correction coefficient, the fused positioning observation data is subjected to load influence correction and data preprocessing to obtain corrected positioning observation data; The corrected positioning observation data is input into a least squares solver for linearization processing and iterative solution calculation to obtain real-time position coordinates.

10. A power distribution cabinet positioning and tracking system based on Beidou GPS fusion, characterized in that, A Beidou GPS fusion-based power distribution cabinet positioning tracking method is used to perform the method according to any one of claims 1-9, comprising: A radio frequency front-end separation module is used to separate the Beidou frequency band signal and the GPS frequency band signal received by the antenna in the mobile aerial power distribution cabinet to obtain a Beidou baseband digital signal and a GPS baseband digital signal; A signal gain compensation module is used to analyze the power distribution cabinet metal shell shielding attenuation and perform signal gain compensation on the Beidou baseband digital signal and the GPS baseband digital signal to obtain a Beidou compensated signal and a GPS compensated signal; An attitude coupling analysis module is used to perform geometric dilution precision calculation and power distribution cabinet attitude coupling analysis based on the Beidou compensated signal and the GPS compensated signal to obtain a Beidou system fusion weight and a GPS system fusion weight; A positioning solution module is used to perform double-constellation weighted fusion and least squares positioning solution based on the Beidou system fusion weight and the GPS system fusion weight on the Beidou compensated signal and the GPS compensated signal to obtain real-time position coordinates.

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