A method, device, equipment, medium and product for processing tide level data

Abstract

The application discloses a kind of tidal level data processing method, device, equipment, medium and product, apply in marine surveying and mapping technical field, the method includes: by acquiring satellite navigation receiving equipment in ship gathers tidal level data observation value and camera in the ship gathers image data, and according to the image data, determine the attitude angle of the ship, according to the attitude angle, determine the attitude displacement correction of the satellite navigation receiving equipment, according to the attitude displacement correction, the tidal level data observation value is corrected.Through the embodiment of the present application, the problems of high cost, complex system or error drift in the prior art and the single-antenna BDS scheme cannot correctly obtain the influence of attitude change on the real tidal level signal are solved, the attitude displacement correction of the satellite navigation receiving equipment is calculated by the camera to collect images, the tidal level data observation value is corrected, and the stability and precision required by the tidal level data observation value are achieved.

Description

Technical Field

[0001] This invention belongs to the field of marine surveying and mapping technology, and specifically relates to a method, apparatus, equipment, medium and product for processing tidal data. Background Technology

[0002] The BeiDou Navigation Satellite System (BDS) provides global users with all-weather, all-time, high-precision positioning, navigation, and timing services. BDS tide gauge technology involves installing BDS satellite navigation receivers on ships to directly measure the elevation of the antenna phase center with centimeter-level accuracy. Through data conversion, it can obtain a true water surface time series. Particularly useful in offshore marine engineering, it can provide tidal levels at fixed-point tide gauge stations, avoiding the risks associated with the deployment, retrieval, and loss of seabed pressure tide gauges.

[0003] In complex sea conditions, the accuracy of BDS measurements is often affected by changes in the ship's attitude, leading to instability in the measurement results. Therefore, improving the accuracy and stability of BDS measurements is crucial. However, traditional methods typically rely on multiple BDS antennas or inertial measurement units for error elimination, which is prohibitively costly. Summary of the Invention

[0004] In view of the above problems, a method, apparatus, equipment, medium, and product for processing tidal level data are proposed to overcome or at least partially solve the above problems, including: In a first aspect, embodiments of this application provide a method for processing tide level data, the method comprising: Obtain tidal level data observations collected by satellite navigation receiving equipment on board the ship; Acquire image data captured by cameras on the ship; Based on the image data, determine the current attitude angle of the vessel; Based on the current attitude angle, determine the attitude displacement correction of the satellite navigation receiving device; The tide level data observations are corrected based on the attitude displacement correction.

[0005] Optionally, determining the attitude displacement correction of the satellite navigation receiving device based on the current attitude angle includes: Obtain the reference attitude angle; The attitude angle offset is determined based on the reference attitude angle and the current attitude angle; The attitude displacement correction of the satellite navigation receiving device is determined based on the attitude angle offset.

[0006] Optionally, obtain the reference attitude angle, including: Obtain multiple historical attitude angles of the vessel; The reference attitude angle is obtained by averaging the multiple historical attitude angles.

[0007] Optionally, determining the attitude displacement correction of the satellite navigation receiving device based on the attitude angle offset includes: Obtain the three-dimensional coordinates of the satellite navigation receiving device in the ship's coordinate system; The attitude displacement correction of the satellite navigation receiving device is determined based on the three-dimensional coordinates and the attitude angle offset.

[0008] Optionally, determining the current attitude angle of the vessel based on the image data includes: Waterline identification is performed on the image data to obtain waterline image features, and the first coordinate information of the waterline image features in the image coordinate system is determined. Obtain the second coordinate information of the target feature point in the ship in the ship coordinate system; The current attitude angle of the ship is determined based on the first coordinate information and the second coordinate information.

[0009] Optionally, determining the current attitude angle of the vessel based on the first coordinate information and the second coordinate information includes: Based on the first coordinate information, determine the third coordinate information in the camera coordinate system; Based on the second coordinate information, determine the fourth coordinate information in the camera coordinate system; The current attitude angle of the ship is determined based on the third coordinate information and the fourth coordinate information.

[0010] Optionally, the current attitude angle of the vessel is determined based on the third coordinate information and the fourth coordinate information, including: Determine the rotation matrix based on the third coordinate information and the fourth coordinate information; The current attitude angle of the ship is determined based on the rotation matrix.

[0011] Optionally, correcting the tide level data observations based on the attitude displacement correction further includes: Obtain the high-frequency error correction amount of the tide level data observations; The tide level data observations are corrected based on the high-frequency error correction and the attitude displacement correction.

[0012] Secondly, embodiments of this application provide a tidal data processing apparatus, the apparatus comprising: The tide level observation acquisition module is used to acquire tide level data observations collected by the satellite navigation receiving equipment on the ship; The image acquisition module is used to acquire image data captured by cameras in the ship; An attitude angle determination module is used to determine the attitude angle of the ship based on the image data. The attitude displacement correction determination module is used to determine the attitude displacement correction of the satellite navigation receiving device based on the attitude angle. The tide level observation correction module is used to correct the tide level data observations based on the attitude displacement correction.

[0013] Thirdly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method described above.

[0014] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, and when the program or instructions are executed by a processor, they implement the method described above.

[0015] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0016] The embodiments of the present invention have the following advantages: In this embodiment of the invention, by acquiring tidal level data observations collected by a satellite navigation receiving device on a ship and image data collected by a camera on the ship, and determining the ship's attitude angle based on the image data, determining the attitude displacement correction amount of the satellite navigation receiving device based on the attitude angle, and correcting the tidal level data observations based on the attitude displacement correction amount, the tidal level data observations are corrected. This achieves the goal of calculating the attitude displacement correction amount of the satellite navigation receiving device through camera-acquired images, correcting the tidal level data observations, and achieving the required stability and accuracy of the tidal level data observations. This solves the problems of high cost, complex systems, or error drift in existing technologies, and the inability of low-cost single-antenna BDS schemes to correctly obtain the influence of attitude changes on the real tidal level signal. It also eliminates the influence of the ship's own motion on the observations of the satellite navigation receiving device, ensuring that the obtained water level observations meet the accuracy and stability requirements. Attached Figure Description

[0017] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of the steps of a method for processing tide level data provided in some embodiments of the present invention; Figure 2 This is an equipment installation diagram of a method for processing tide level data according to some embodiments of the present invention; Figure 3 This is a structural block diagram of an apparatus for processing tide level data according to some embodiments of the present invention. Detailed Implementation

[0019] Ship attitude correction is required for the receiver to eliminate its impact on the measurement accuracy of the BDS receiver.

[0020] Existing receiver-based ship attitude correction technologies generally employ two approaches: First, deploying two or more BDS antennas on the hull to form a baseline, determining the ship's heading, roll, and pitch by calculating the carrier phase difference between the antennas. Second, installing an Inertial Measurement Unit (IMU) at the ship's center of gravity, which provides high-frequency angular velocity and acceleration information, allowing attitude changes to be obtained through integration. The IMU approach suffers from high cost, system complexity, and potential error drift issues. However, the low-cost single-antenna BDS approach cannot accurately capture the impact of attitude changes on the true tide level signal.

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] Reference Figure 1 The diagram illustrates a flowchart of a method for processing tidal data according to some embodiments of the present invention, which may specifically include the following steps: Step 101: Obtain the tide level data observation value collected by the satellite navigation receiving equipment in the ship.

[0023] In some examples, the satellite navigation receiving device can be a BeiDou satellite navigation receiver, and the tide level data observation value is the height of the sea surface observed and obtained by the BeiDou satellite navigation receiver.

[0024] In practical applications, a BeiDou satellite navigation receiver can be deployed on a ship. During the ship's movement, the values ​​observed by the BeiDou satellite navigation receiver are collected, and the original height observation value of the sea surface is obtained through data conversion. For example, tidal data observation values ​​can be obtained from the receiver through specific acquisition modes, data parsing, and reference conversion. Specifically, these values ​​can be obtained directly through measurement methods such as Real-Time Kinematic (RTK), Post-Processed Kinematic (PPK), and Precise Point Positioning (PPP).

[0025] Step 102: Obtain image data captured by the camera in the ship.

[0026] In some examples, the camera uses an infrared network camera, such as an industrial-grade infrared network camera with "automatic IR-CUT" function, which can automatically switch between different light source environments and adapt to visible light during the day and infrared supplementary light at night to capture clear images, ensuring all-weather tide monitoring; the image data is the edge (hull) of the ship on one or both sides and its boundary with the water surface captured by the camera.

[0027] In practical applications, during ship movement, cameras collect images around the clock. For example, an industrial-grade infrared network camera, an infrared fill light, and a Beidou satellite navigation receiver can be installed in the middle of the ship's deck or near the ship's center of gravity. Figure 2 As shown, the three devices are aligned vertically (the vertical distance between the camera and the BeiDou satellite navigation receiver should be less than 0.5 meters). The BeiDou satellite navigation receiver is installed at the top to ensure that the satellite signal reception is not interfered with. The infrared fill light is installed between the BeiDou satellite navigation receiver and the camera. The camera is installed at a lower position with its optical axis parallel to the X-axis (pointing towards the bow), ensuring that it can clearly capture the hull side (ship's side) and its boundary with the water surface on one or both sides. The three-dimensional coordinates of the camera in the ship's coordinate system are (dX, dY, dZ1), and the three-dimensional coordinates of the BDS receiver in the ship's coordinate system are (dX, dY, dZ2).

[0028] Step 103: Determine the current attitude angle of the ship based on the image data.

[0029] In some examples, the ship's current attitude angles include roll and pitch angles; the roll angle is the angle at which the hull tilts to the left or right, and the pitch angle is the angle at which the ship tilts about its transverse axis.

[0030] In practical applications, the image data captured by the camera in the current frame is obtained, horizontal features are extracted from the current image data, perspective-n-point (PnP) problems are constructed on the horizontal features, and the attitude angle of the ship in the current frame is obtained by solving the PnP problem.

[0031] Sub-step 11 involves performing waterline recognition on the image data to obtain waterline image features, and determining the first coordinate information of the waterline image features in the image coordinate system.

[0032] In some examples, the waterline is the boundary between the hull side and the water surface, and the first coordinate information refers to the pixel coordinates of the waterline in the image coordinate system.

[0033] In practical applications, waterline detection is performed on the image data of the current frame to identify the pixel coordinates of the waterline in the image coordinate system. For example, for each frame of a video sequence, computer vision algorithms are used to automatically identify and accurately extract the pixel coordinates of the boundary line between the ship's hull and the water surface (i.e., the "waterline") in the image coordinate system. Optional algorithms include the classic Canny edge detection combined with Hough transform line extraction, or a more robust semantic segmentation model based on deep learning, the latter being particularly suitable for complex sea conditions and lighting conditions.

[0034] Sub-step 12: Obtain the second coordinate information of the target feature point in the ship in the ship coordinate system.

[0035] In some examples, the target feature point is an inherent structural point on the ship, which is a feature point at the intersection of the waterline and the ship in a certain frame of the image, and the second coordinate is the three-dimensional coordinate of the feature point in the ship coordinate system.

[0036] In practical applications, n fixed target feature points are selected in advance on the ship, and the three-dimensional coordinates of these target feature points in the ship's coordinate system are determined. For example, the inherent structure at the intersection of the ship's side and the waterline is considered as a series of feature points with known three-dimensional coordinates in the ship's coordinate system. From the waterline detection results, n clear, unobstructed feature points are selected. These feature points are required to be distributed in different orientations in the ship's coordinate system; n ≥ 6 is recommended to improve robustness. The three-dimensional coordinates of the feature points in the ship's coordinate system are... It is determined by the ship's structural design drawings or by on-site measurements.

[0037] Sub-step 13: Determine the current attitude angle of the ship based on the first coordinate information and the second coordinate information.

[0038] In practical applications, a matching relationship is established between the pixel coordinates of the waterline in the image coordinate system and the three-dimensional coordinates of the feature points in the ship coordinate system to determine the ship's attitude angle in the current frame. For example, when the ship's attitude changes, the projection positions of these feature points on the image plane change accordingly. This is achieved by using the detected two-dimensional waterline pixel coordinates... Coordinates of the corresponding 3D hull feature points By establishing a matching relationship and constructing a Perspective-n-Point (PnP) problem, solving this PnP problem allows us to calculate the relative rotation matrix R between the camera coordinate system and the ship coordinate system. By decomposing the rotation matrix R, we can further analyze the roll and pitch angles of the ship relative to the initial calibration sea level of the camera. Since the camera and the hull are rigidly connected, the calculated angles are the ship's real-time attitude angles.

[0039] In some embodiments of the present invention, determining the current attitude angle of the vessel based on the first coordinate information and the second coordinate information includes: Sub-step 121: Determine the third coordinate information in the camera coordinate system based on the first coordinate information.

[0040] In some examples, the third coordinate information is the coordinates of the two-dimensional waterline pixels. Normalized coordinates in the camera coordinate system.

[0041] In practical applications, the camera's intrinsic parameters can be obtained. Based on the camera's intrinsic parameters and the pixel coordinates of the waterline in the image coordinate system, the normalized coordinates of the two-dimensional waterline pixels in the camera coordinate system can be obtained. For example, the camera focal length can be obtained first. , ), main point ( , ) and lens distortion coefficients (k1,k2,p1,p2,k3), first for two-dimensional pixel coordinates Correction is performed to obtain the coordinates of the undistorted pixels. , This invention uses a Brownian distortion model to determine the pixel coordinates of detected feature points and the obtained camera focal length. , ), main point ( , Correction is performed using the lens distortion coefficients (k1,k2,p1,p2,k3) to obtain the coordinates of the distortion-free pixels. , This further transforms the distortion-free pixel coordinates into normalized coordinates in the camera coordinate system. , The conversion formula is as follows:

[0042] in, , For camera focal length, , The coordinates of the main point.

[0043] Sub-step 122: Determine the fourth coordinate information in the camera coordinate system based on the second coordinate information.

[0044] In some examples, the fourth coordinate refers to the three-dimensional coordinates of the target feature point in the camera coordinate system.

[0045] In practical applications, the three-dimensional coordinates of feature points in the ship coordinate system are converted into fourth coordinate information in the camera coordinate system using a formula, for example... Represented as points in the ship's coordinate system Convert to points in camera coordinate system (Rotation + Translation), where T is the position of the camera's optical center in the ship's coordinate system.

[0046] Sub-step 123: Determine the current attitude angle of the ship based on the third coordinate information and the fourth coordinate information.

[0047] In practical applications, a matching relationship is constructed based on the normalized coordinates of the transformed two-dimensional pixels in the camera coordinate system and the three-dimensional coordinates of the target feature points in the camera coordinate system, and the attitude angle of the ship in the current frame is obtained by solving the problem.

[0048] In some embodiments of the present invention, determining the current attitude angle of the vessel based on the third coordinate information and the fourth coordinate information includes: Sub-step 1231: Determine the rotation matrix based on the third coordinate information and the fourth coordinate information.

[0049] In practical applications, based on the pinhole camera imaging model, the projection relationship between 3D spatial points and 2D image points is constructed. Equations are then established for this projection relationship, and the rotation matrix R is solved. For example, a matching relationship is established between the 3D coordinates of feature points in the ship's coordinate system and their 2D pixel coordinates.

[0050] Based on the pinhole camera imaging model, three-dimensional spatial points To two-dimensional image points The projection relationship is as follows:

[0051] in: Let be the scale factor at the i-th point. K represents the camera intrinsic parameter matrix;

[0052] Expand the formula and perform a cross product on both sides. ,get:

[0053] For n feature points, 2n linear equations can be constructed, i.e., the rotation matrix R can be solved.

[0054] In some examples, such as in vision libraries like OpenCV, there are various mature functions for solving the PnP problem. This invention recommends using the PnP solver `solvePnPRansac` with Random Sample Consensus (RANSAC). RANSAC iteratively selects a small number of points to compute the model, filters out erroneous detection points that may be present in waterline detection, and finds a set of points consistent with the model. Finally, it uses all point sets to optimize the position and pose estimation, thus obtaining more robust and accurate results.

[0055] Sub-step 1232: Determine the current attitude angle of the ship based on the rotation matrix.

[0056] In practical applications, the rotation matrix is ​​decomposed, and the pitch and roll angles are obtained by solving the decomposed rotation matrix. For example, R can be expressed as the product of the three basic rotation matrices (in the order ZYX):

[0057] Multiplying the three rotation matrices together, we obtain the expansion of R:

[0058] The pitch angle θ (around the Y-axis) can be calculated using the element in the 3rd row and 1st column of the rotation matrix R. The formula is as follows:

[0059] The roll angle is solved using the two-parameter arctangent function based on the elements in the 3rd row, 2nd column and the 3rd row, 3rd column of the rotation matrix R. (Around the X-axis), the calculation formula is:

[0060] It should be noted that solving the rotation matrix R yields the pitch angle, roll angle, and heading angle. In this example, the heading angle does not affect the vertical direction, so only the pitch angle and roll angle need to be calculated.

[0061] Step 104: Determine the attitude displacement correction of the satellite navigation receiving device based on the current attitude angle.

[0062] Sub-step 21: Obtain the reference attitude angle.

[0063] In some examples, the reference attitude angle is a preset value.

[0064] In practical applications, before calculating the attitude angle in the current frame, the reference attitude angle is obtained first. By setting a reference attitude, the angle under the reference attitude is the reference attitude angle.

[0065] In some embodiments of the present invention, obtaining the reference attitude angle includes: Sub-step 211: Obtain multiple historical attitude angles of the vessel.

[0066] In some examples, the historical pose angle refers to the historical pose angle acquired before the current frame.

[0067] Sub-step 212: Average the multiple historical attitude angles to obtain the reference attitude angle.

[0068] In practical applications, multiple historical attitude angles are acquired, and their average values ​​are calculated. The resulting angle is set as the reference attitude angle. For example, the initial attitude reference is obtained by statistically analyzing the attitude observations of the ship during continuous movement under natural sea conditions, and the periodic averaging method is used for initial attitude calibration. The pitch angle within a certain period is then obtained. and roll angle The sequence (t=1,2,3……n) is denoised and smoothed, and the initial attitude reference is calculated using the arithmetic mean method: =mean( ), =mean( When anchored in calm waters at a port, a calibration time of 30-60 minutes is recommended, with an expected initial reference accuracy better than 0.1°. During anchoring operations in the open sea, the average value is calculated using data from the entire observation period, with an expected initial reference accuracy better than 0.3°.

[0069] Sub-step 22: Determine the attitude angle offset based on the reference attitude angle and the current attitude angle.

[0070] In some examples, attitude angle offset refers to the difference between the attitude angle of the current frame and the reference attitude angle.

[0071] In practical applications, after obtaining the current attitude angle, the difference between the current attitude angle and the reference attitude angle is calculated to obtain the attitude angle offset.

[0072] Sub-step 23: Determine the attitude displacement correction of the satellite navigation receiving device based on the attitude angle offset.

[0073] In some examples, the attitude displacement correction of the satellite navigation receiver refers to the displacement correction of the Beidou satellite navigation receiver in the vertical direction relative to point O in the ship's coordinate system caused by the ship's roll and pitch.

[0074] In practical applications, the current attitude angle offset of the ship is obtained and applied to the Beidou satellite navigation receiver.

[0075] In some embodiments of the present invention, determining the attitude displacement correction of the satellite navigation receiving device based on the attitude angle offset includes: Sub-step 231: Obtain the three-dimensional coordinates of the satellite navigation receiving device in the ship coordinate system.

[0076] In some examples, the phase center of the BeiDou satellite navigation receiver is shown in three-dimensional coordinates in the ship's coordinate system.

[0077] In practical applications, a ship coordinate system with the ship's center as the origin is established, and the three-dimensional coordinates of the phase center of the satellite navigation receiver in the ship coordinate system are measured. For example, a ship coordinate system (O-XYZ) with the ship's center of gravity or a fixed point as the origin is established, where the X-axis points to the bow, the Y-axis points to the starboard side, and the Z-axis is vertically downward. The three-dimensional coordinates (dX, dY, dZ2) of the phase center of the satellite navigation receiver in the ship coordinate system are accurately measured.

[0078] Sub-step 232: Determine the attitude displacement correction of the satellite navigation receiving device based on the three-dimensional coordinates and the attitude angle offset.

[0079] In practical applications, the reference position and attitude relationship of the satellite navigation receiving device are determined by measuring its three-dimensional coordinates in the ship's coordinate system. The spatial displacement of the satellite navigation receiving device relative to the reference position is calculated using these three-dimensional coordinates. The ship's attitude angle offset is then converted into the attitude displacement correction of the satellite navigation receiving device. For example, if the BDS receiver and camera are connected to the same vertical line, and the camera is calibrated and considered a rigid body with its coordinate axes aligned with the ship's coordinate system, the ship's attitude angle can be considered the attitude angle of the satellite navigation receiving device. Based on the roll angle (φ) and pitch angle (θ), the attitude displacement correction ΔH1 of the BeiDou satellite navigation antenna in the vertical direction relative to point O in the ship's coordinate system due to roll and pitch can be calculated. The formula for calculating ΔH1 is:

[0080] in, = - ; = - ; It is the roll angle of the current frame. It is the reference roll angle; It is the pitch angle of the current frame; It is the reference pitch angle.

[0081] Step 105: Correct the tide level data observation value according to the attitude displacement correction amount.

[0082] Sub-step 31: Obtain the high-frequency error correction amount of the tide level data observation value.

[0083] In some examples, the high-frequency error correction is a high-frequency component formed by the superposition of ship heave motion and satellite navigation receiver observation noise in the frequency domain. For instance, the original elevation time series hBDS(t) acquired by the BeiDou satellite navigation receiver is the result of superposition of multiple signals, including the true water surface elevation H(t) at time t and various observation errors. The true water surface elevation H(t) is mainly composed of tidal changes, which manifests as a low-frequency signal in the frequency domain. Its energy is concentrated within the period represented by the major astronomical tides, which is much larger than the heave motion period caused by the ship's wave influence and the time scale corresponding to the BeiDou satellite navigation observation noise. The ship heave motion and BeiDou satellite navigation observation noise superimpose in the frequency domain, jointly constituting the high-frequency component in the original sequence.

[0084] In practical applications, a low-pass filter is set up to effectively separate high-frequency disturbances by using a cutoff period. The residual values ​​of the tide level observations after attitude displacement correction are then obtained and high-frequency errors are eliminated. For example, a suitable low-pass filter can be designed and a cutoff period that can effectively separate tidal signals from high-frequency disturbances can be set. In the application of synchronous tide gauge sea surface elevation transfer in marine engineering, a cutoff period of 2 hours is recommended. This can retain the basic tidal components necessary for elevation transfer calculations and the residual water levels of basic tide gauge stations and fixed-point tide gauge stations at sea. This can significantly suppress or eliminate high-frequency errors caused by heave and observation noise and extract the high-frequency sequence that reflects the actual water surface changes.

[0085] Sub-step 12: Correct the tide level data observations based on the high-frequency error correction and the attitude displacement correction.

[0086] In practical applications, the original tide level data observations are corrected using two calculated correction values ​​to obtain the actual tide level data observations. For example, firstly, time synchronization between the camera and the BeiDou satellite navigation receiver is ensured, guaranteeing that the synchronization error between the attitude angle calculation time and the BeiDou satellite navigation observation epoch time is ≤10ms. This can be implemented using either hardware-triggered synchronization or post-event timestamp calibration. The accuracy of time synchronization is guaranteed as follows: the hardware-triggered synchronization error of method one is determined by the equipment response delay, typically ≤1ms; method two uses a shooting frame rate of 10fps or higher and offset calibration, with a synchronization error ≤5ms. Both methods meet the time matching requirements for BeiDou tide gauge attitude correction in offshore waters (when the ship's attitude changes dynamically, the angle change within 10ms is ≤0.01°, and the impact on the height correction is ≤0.1mm, which can be ignored). The actual water surface elevation H(t) at time t includes the original BDS geodetic height observation value hBDS(t), ship roll and pitch corrections. Ship heave and BDS observation noise correction (t). The calculation formula is:

[0087] In the formula: hBDS(t) is the vertical observation value of BDS, which can be directly obtained through measurement methods such as RTK, PPK, and PPP. This refers to the attitude displacement correction for the ship's roll and pitch attitudes. The correction amount for ship heave and BDS system observation noise is obtained by using the residual of low-pass filtering.

[0088] This method enables the calculation of attitude displacement corrections for satellite navigation receivers by acquiring images through cameras, thereby correcting tidal level data observations to achieve the required stability and accuracy.

[0089] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0090] Reference Figure 3 The diagram shows a structural schematic of an apparatus for processing tidal data according to some embodiments of the present invention, which may specifically include the following modules: The tide level observation acquisition module 201 is used to acquire tide level data observations collected by the satellite navigation receiving equipment in the ship; Image acquisition module 202 is used to acquire image data captured by cameras in the ship; The attitude angle determination module 203 is used to determine the attitude angle of the ship based on the image data; The attitude displacement correction determination module 204 is used to determine the attitude displacement correction of the satellite navigation receiving device based on the attitude angle. The tide level observation correction module 205 is used to correct the tide level data observation based on the attitude displacement correction amount.

[0091] In some embodiments of the present invention, the attitude displacement correction determination module 204 includes: The reference attitude angle acquisition submodule is used to acquire the reference attitude angle; The attitude angle offset determination submodule is used to determine the attitude angle offset based on the reference attitude angle and the current attitude angle. The attitude displacement correction quantum module is used to determine the attitude displacement correction amount of the satellite navigation receiving device based on the attitude angle offset.

[0092] In some embodiments of the present invention, the reference attitude angle acquisition submodule includes: The historical attitude angle acquisition unit is used to acquire multiple historical attitude angles of the ship. The reference attitude angle determination unit is used to average the multiple historical attitude angles to obtain the reference attitude angle.

[0093] In some embodiments of the present invention, the attitude displacement correction quantum module includes: A coordinate acquisition unit is used to acquire the three-dimensional coordinates of the satellite navigation receiving device in the ship coordinate system; The attitude displacement correction determination unit is used to determine the attitude displacement correction of the satellite navigation receiving device based on the three-dimensional coordinates and the attitude angle offset.

[0094] In some embodiments of the present invention, the attitude angle determination module 203 includes: The first coordinate information determination submodule is used to perform waterline recognition on the image data, obtain waterline image features, and determine the first coordinate information of the waterline image features in the image coordinate system. The second coordinate information acquisition submodule is used to acquire the second coordinate information of the target feature points in the ship in the ship coordinate system; The attitude angle determination submodule is used to determine the current attitude angle of the ship based on the first coordinate information and the second coordinate information.

[0095] In some embodiments of the present invention, the attitude angle determination submodule includes: The third coordinate information determination unit is used to determine the third coordinate information in the camera coordinate system based on the first coordinate information; The fourth coordinate information determination unit is used to determine the fourth coordinate information in the camera coordinate system based on the second coordinate information; The attitude angle determination unit is also used to determine the current attitude angle of the ship based on the third coordinate information and the fourth coordinate information.

[0096] In some embodiments of the present invention, the attitude angle determination unit includes: A rotation matrix determination sub-unit is used to determine the rotation matrix based on the third coordinate information and the fourth coordinate information; The attitude angle determination subunit is also used to determine the current attitude angle of the ship based on the rotation matrix.

[0097] In some embodiments of the present invention, the tide level observation correction module 205 includes: The high-frequency error correction acquisition submodule is used to acquire the high-frequency error correction of the tide level data observations; The tide level observation correction submodule is used to correct the tide level data observations based on the high-frequency error correction and the attitude displacement correction.

[0098] Some embodiments of the present invention also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0099] Some embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and which, when executed by a processor, implements the method described above.

[0100] Some embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0101] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0109] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0110] The above provides a detailed description of the method, apparatus, equipment, medium, and product for processing tidal data. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for processing tidal level data, characterized in that, The method includes: Obtain tidal level data observations collected by satellite navigation receiving equipment on board the ship; Acquire image data captured by cameras on the ship; Based on the image data, determine the current attitude angle of the vessel; Based on the current attitude angle, determine the attitude displacement correction of the satellite navigation receiving device; The tide level data observations are corrected based on the attitude displacement correction.

2. The method according to claim 1, characterized in that, Based on the current attitude angle, the attitude displacement correction of the satellite navigation receiving device is determined, including: Obtain the reference attitude angle; The attitude angle offset is determined based on the reference attitude angle and the current attitude angle; The attitude displacement correction of the satellite navigation receiving device is determined based on the attitude angle offset.

3. The method according to claim 2, characterized in that, Obtain the reference attitude angle, including: Obtain multiple historical attitude angles of the vessel; The reference attitude angle is obtained by averaging the multiple historical attitude angles.

4. The method according to claim 2, characterized in that, Based on the attitude angle offset, the attitude displacement correction of the satellite navigation receiving device is determined, including: Obtain the three-dimensional coordinates of the satellite navigation receiving device in the ship's coordinate system; The attitude displacement correction of the satellite navigation receiving device is determined based on the three-dimensional coordinates and the attitude angle offset.

5. The method according to any one of claims 1-4, characterized in that, Determining the current attitude angle of the ship based on the image data includes: Waterline identification is performed on the image data to obtain waterline image features, and the first coordinate information of the waterline image features in the image coordinate system is determined. Obtain the second coordinate information of the target feature point in the ship in the ship coordinate system; The current attitude angle of the ship is determined based on the first coordinate information and the second coordinate information.

6. The method according to claim 5, characterized in that, Based on the first coordinate information and the second coordinate information, the current attitude angle of the vessel is determined, including: Based on the first coordinate information, determine the third coordinate information in the camera coordinate system; Based on the second coordinate information, determine the fourth coordinate information in the camera coordinate system; The current attitude angle of the ship is determined based on the third coordinate information and the fourth coordinate information.

7. The method according to claim 6, characterized in that, Based on the third coordinate information and the fourth coordinate information, the current attitude angle of the vessel is determined, including: Determine the rotation matrix based on the third coordinate information and the fourth coordinate information; The current attitude angle of the ship is determined based on the rotation matrix.

8. The method according to any one of claims 1-4, characterized in that, The tide level data observations are corrected based on the attitude displacement correction, including: Obtain the high-frequency error correction amount of the tide level data observations; The tide level data observations are corrected based on the high-frequency error correction and the attitude displacement correction.

9. A device for processing tidal level data, characterized in that, The device includes: The tide level observation acquisition module is used to acquire tide level data observations collected by the satellite navigation receiving equipment on the ship; The image acquisition module is used to acquire image data captured by cameras in the ship; An attitude angle determination module is used to determine the attitude angle of the ship based on the image data. The attitude displacement correction determination module is used to determine the attitude displacement correction of the satellite navigation receiving device based on the attitude angle. The tide level observation correction module is used to correct the tide level data observations based on the attitude displacement correction.

10. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the tide data processing method as described in any one of claims 1-8.

11. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the tide data processing method as described in any one of claims 1-8.

12. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 8.

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