A method for analyzing equipment maneuverability based on high-precision Beidou differential positioning

Abstract

The present invention discloses a method for analyzing equipment maneuverability based on high-precision Beidou differential positioning, which relates to the technical field of intelligent target positioning analysis. The method comprises determining at least two positioning acquisition locations on the equipment; acquiring positioning data collected and output by a Beidou differential base station in real time, as well as positioning data at each positioning acquisition location, performing differential processing to obtain the three-dimensional coordinates of each positioning acquisition location; using an intelligent decision-making classification algorithm to classify each obtained three-dimensional coordinate in real time to obtain the positioning acquisition location to which the three-dimensional coordinate belongs; and deducing the corresponding maneuverability performance value based on the three-dimensional coordinates of each positioning acquisition location within a preset time period and the time sequence in which they are obtained. The maneuverability performance values corresponding to each positioning acquisition location are then combined to obtain the final maneuverability performance value of the equipment. The present invention has the advantages of high positioning accuracy and high accuracy in analyzing the maneuverability of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of target intelligent positioning analysis, and in particular to a method for analyzing the maneuverability of equipment based on high-precision Beidou differential positioning. Background Art

[0002] As the military has attached more and more importance to the performance evaluation of equipment in recent years, the assessment of the mobility of some equipment with mobility has become increasingly important. Collecting and analyzing the mobility of equipment is of great significance to equipment capability assessment and equipment capability inspection.

[0003] Traditional data collection equipment, such as bus-based data collection devices, has limitations when collecting data. For example, while the bus can collect data such as equipment speed, the collected data needs to be parsed through a parsing protocol. Without the parsing protocol, the actual data cannot be obtained. Furthermore, bus-based data collection devices cannot obtain the equipment's real-time spatial position, making it impossible to analyze the equipment's mobility from this perspective. Therefore, the research and development of a positioning acquisition and analysis method that utilizes high-precision Beidou differential positioning technology to collect data and then conduct big data mining and analysis has become a new and effective solution for analyzing equipment mobility. Summary of the Invention

[0004] Therefore, a method for analyzing equipment maneuverability based on high-precision Beidou differential positioning in an embodiment of the present invention includes the following steps:

[0005] Determine at least two positioning acquisition locations on the equipment, where the positioning acquisition locations are used to install high-precision Beidou differential positioning acquisition equipment that can acquire and output positioning data;

[0006] Acquire the positioning data collected and output by the Beidou differential base station in real time, as well as the positioning data at each positioning collection location, and obtain the three-dimensional coordinates of each positioning collection location after differential processing;

[0007] Every time a 3D coordinate is obtained, an intelligent decision-making classification algorithm is used to classify it in real time to obtain the positioning acquisition position to which the 3D coordinate belongs;

[0008] According to the three-dimensional coordinates of each positioning and collection position within the preset time period and the time sequence obtained, the corresponding maneuverability performance value is deduced respectively, and the maneuverability performance value corresponding to each positioning and collection position is combined to obtain the final maneuverability performance value of the equipment.

[0009] Preferably, there may be two positioning and collecting positions, namely a first positioning and collecting position and a second positioning and collecting position. The first positioning and collecting position is the right front position on the equipment, and the second positioning and collecting position is the left rear position on the equipment.

[0010] Preferably, the method further comprises the following steps:

[0011] According to the three-dimensional coordinates of each positioning and collection position, including the first three-dimensional coordinates of the first positioning and collection position and the second three-dimensional coordinates of the second positioning and collection position, the three-dimensional coordinates of the center point of the equipment are calculated, and the maneuvering route of the equipment is drawn according to the three-dimensional coordinates of the center point at each moment, and can be output to the display device for display.

[0012] A system for analyzing equipment maneuverability based on high-precision Beidou differential positioning according to an embodiment of the present invention includes:

[0013] A positioning acquisition position determination device, used to determine at least two positioning acquisition positions on the equipment, wherein the positioning acquisition positions are used to install high-precision Beidou differential positioning acquisition equipment that can collect and output positioning data;

[0014] A three-dimensional coordinate real-time acquisition device is used to acquire the positioning data collected and output by the Beidou differential base station in real time, as well as the positioning data at each positioning collection position, and obtain the three-dimensional coordinates of each positioning collection position after differential processing;

[0015] A positioning acquisition position classification decision device is used to classify each three-dimensional coordinate in real time using an intelligent decision classification algorithm to obtain the positioning acquisition position to which the three-dimensional coordinate belongs;

[0016] The maneuverability acquisition device is used to deduce the corresponding maneuverability performance value based on the three-dimensional coordinates of each positioning and collection position within a preset time period and the time sequence in which they are obtained, and to obtain the final maneuverability performance value of the equipment by combining the maneuverability performance values corresponding to each positioning and collection position.

[0017] Preferably, when setting up a Beidou differential base station, the equipment maneuvering area, including the maneuvering location and range, can be obtained, and the Beidou differential base station can be set up according to the terrain within the maneuvering area to adjust the base station power.

[0018] Preferably, it also includes:

[0019] The maneuvering route drawing unit is used to calculate the three-dimensional coordinates of the center point of the equipment based on the three-dimensional coordinates of each positioning and collection position, including the first three-dimensional coordinates of the first positioning and collection position and the second three-dimensional coordinates of the second positioning and collection position, and to draw the maneuvering route of the equipment based on the three-dimensional coordinates of the center point at each moment, and can output it to the display device for display.

[0020] The method for analyzing equipment maneuverability based on high-precision Beidou differential positioning according to an embodiment of the present invention has the following advantages:

[0021] By reasonably selecting several positioning collection positions, the positioning data obtained at each positioning collection position is differentially processed with the positioning data obtained by the Beidou differential base station, and the three-dimensional coordinate data after differential processing is obtained in real time. No preset means are needed to distinguish the data. The three-dimensional coordinates obtained in real time are classified through the intelligent decision-making classification algorithm, and the three-dimensional coordinates are corresponded to the positioning collection positions. Therefore, according to the movement characteristics of the three-dimensional coordinates of each positioning collection position, the final maneuverability performance value of the equipment is analyzed and obtained. It can be seen that the intelligent decision-making method is used in the entire process of equipment maneuverability analysis, which makes the obtained data more comprehensive and the final result more accurate, thereby improving the accuracy of equipment maneuverability analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the specific embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a flowchart of a specific example of the method for analyzing equipment maneuverability based on high-precision Beidou differential positioning in Example 1 of the present invention;

[0024] Figure 2 This is a flowchart of another specific example of the method for analyzing equipment maneuverability based on high-precision Beidou differential positioning in Example 1 of the present invention;

[0025] Figure 3 This is a flowchart of another specific example of the method for analyzing equipment maneuverability based on high-precision Beidou differential positioning in Example 1 of the present invention;

[0026] Figure 4 This is a principle block diagram of another specific example of a system for analyzing equipment maneuverability based on high-precision Beidou differential positioning in Example 2 of the present invention. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms used herein are only used for the purpose of describing specific embodiments and are not intended to limit the present invention. Unless the context clearly indicates, the singular forms "one", "an" and "the" as used herein are intended to include plural forms. When using terms such as "include" and / or "comprise", it is intended to illustrate the presence of the feature, integer, step, operation, element and / or component, without excluding the presence or increase of one or more other features, integers, steps, operations, elements, components, and / or other combinations. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In addition, some of the figures in this specification are flow charts for illustrating methods. It should be understood that each block in these flow charts, and combinations of blocks in these flow charts, can be implemented by computer program instructions. These computer program instructions can be loaded onto a computer or other programmable device to form a machine so that the instructions executed on the computer or other programmable device form a structure for implementing the functions specified in the flow chart blocks. These computer program instructions can also be stored in a computer-readable memory that can instruct a computer or other programmable device to operate in a specific manner so that the instructions stored in the computer-readable memory form an article containing an instruction structure for implementing the functions specified in the flow chart blocks. The computer program instructions can also be loaded onto a computer or other programmable device so that a series of operating steps are performed on the computer or other programmable device to form a process implemented by a computer, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flow chart blocks.

[0030] Accordingly, the blocks in each flowchart support a combination of structures for performing the specified functions and a combination of steps for performing the specified functions. It should also be understood that each block in the flowchart, and the combination of blocks in the flowchart, can be implemented by a computer system based on dedicated hardware that performs the specified functions or steps, or a combination of dedicated hardware and computer instructions.

[0031] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] Example 1

[0033] This embodiment provides a method for analyzing equipment maneuverability based on high-precision Beidou differential positioning. Figure 1 As shown, the following steps are included:

[0034] S1. Determine at least two positioning collection locations on the equipment, including a first positioning collection location and a second positioning collection location. The positioning collection locations are used to install high-precision Beidou differential positioning collection equipment that can collect and output positioning data. Preferably, the positioning collection locations can be determined based on factors such as the equipment's appearance and the location of key equipment. For example, the first positioning collection location is the right front location on the equipment, and the second positioning collection location is the left rear location on the equipment, to improve the overall positioning accuracy of the equipment. The positioning data includes pseudorange, etc.

[0035] S2. Acquire positioning data collected and output by a Beidou differential base station, as well as positioning data at each positioning collection position, in real time, and perform differential processing to obtain three-dimensional coordinates of each positioning collection position, including a first three-dimensional coordinate of a first positioning collection position and a second three-dimensional coordinate of a second positioning collection position;

[0036] S3. For each obtained three-dimensional coordinate, an intelligent decision-making classification algorithm is used to classify it in real time to obtain the positioning acquisition location to which the three-dimensional coordinate belongs. This eliminates the need to distinguish the received data by pre-marking the positioning data of each positioning acquisition location, synchronizing the outputs of different positioning acquisition locations, or other data encoding methods. After differential processing, each three-dimensional coordinate can be classified using a classification algorithm to determine which positioning acquisition location it comes from, and the obtained three-dimensional coordinate corresponds to the positioning acquisition location.

[0037] S4. Deducing corresponding maneuverability performance values based on the three-dimensional coordinates of each location within a preset time period and their corresponding time sequence, and combining the maneuverability performance values corresponding to each location to obtain a final maneuverability performance value for the equipment. Preferably, the maneuverability performance values include maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, average acceleration, and mileage.

[0038] The above-mentioned method for analyzing the maneuverability of equipment based on high-precision Beidou differential positioning reasonably selects several positioning collection positions, performs differential processing on the positioning data obtained at each positioning collection position and the positioning data obtained by the Beidou differential base station, and obtains the three-dimensional coordinate data after differential processing in real time without any preset means to distinguish the data. The three-dimensional coordinates obtained in real time are classified by an intelligent decision-making classification algorithm, and the three-dimensional coordinates are corresponded to the positioning collection positions. Therefore, according to the movement characteristics of the three-dimensional coordinates of each positioning collection position, the final maneuverability performance value of the equipment is analyzed and obtained. It can be seen that the intelligent decision-making method is used in the entire process of analyzing the maneuverability of the equipment, which makes the obtained data more comprehensive and the final result more accurate, thereby improving the accuracy of the analysis of the maneuverability of the equipment.

[0039] Preferably, if Figure 2 As shown, the step S2 includes:

[0040] S21. Obtain the pseudorange of the i-th Beidou satellite measured by the Beidou differential base station And the pseudorange of the i-th BeiDou satellite The formula can be expressed as:

[0041]

[0042] in, is the pseudorange of the i-th BeiDou satellite measured by the BeiDou differential base station, i=1,2,…,n, n≥4, is the true distance between the BeiDou differential base station and the i-th BeiDou satellite, c is the speed of light, Δt B is the Beidou differential base station clock error, Δt i is the clock error of the i-th Beidou satellite, is the distance deviation between the Beidou differential base station and the i-th Beidou satellite caused by the ephemeris error of the i-th Beidou satellite, is the distance deviation between the BeiDou differential base station and the i-th BeiDou satellite caused by the ionospheric delay, is the distance deviation between the BeiDou differential base station and the i-th BeiDou satellite caused by the tropospheric delay;

[0043] S22. Calculate the true distance between the Beidou differential base station and the i-th Beidou satellite based on the three-dimensional coordinates of the Beidou differential base station and the i-th Beidou satellite ephemeris.

[0044] S23, according to the pseudo-range of the i-th Beidou satellite The actual distance between the Beidou differential base station and the i-th Beidou satellite Calculate the pseudorange correction value of the i-th Beidou satellite The formula is:

[0045]

[0046] S24, obtain the pseudo range of the i-th Beidou satellite measured by the high-precision Beidou differential positioning acquisition equipment at each positioning acquisition position And the pseudorange The formula can be expressed as:

[0047]

[0048] in, is the pseudorange of the i-th BeiDou satellite measured at the j-th positioning acquisition position, j = 1, 2, ..., h, h ≥ 2, is the true distance between the jth positioning acquisition position and the i-th BeiDou satellite, c is the speed of light, Δtj is the clock error of the high-precision Beidou differential positioning acquisition device at the jth positioning acquisition location, Δt i is the clock error of the i-th Beidou satellite, is the distance deviation between the jth positioning acquisition position and the i-th Beidou satellite caused by the ephemeris error of the i-th Beidou satellite, is the distance deviation between the jth positioning acquisition position and the i-th BeiDou satellite caused by the ionospheric delay, is the distance deviation between the jth positioning acquisition position and the i-th BeiDou satellite caused by the tropospheric delay;

[0049] S25, using the pseudo-range correction value of the i-th Beidou satellite Correct the pseudorange of the i-th BeiDou satellite measured at the j-th positioning acquisition position The coordinate relationship between the three-dimensional coordinates of the i-th Beidou satellite and the three-dimensional coordinates of the j-th positioning collection position is established as follows:

[0050]

[0051] Among them, (X i ,Y i ,Z i ) is the three-dimensional coordinate of the i-th BeiDou satellite, (X j ,Y j ,Z j ) is the three-dimensional coordinate of the jth positioning acquisition position, ΔE=c(Δt j -Δt B );

[0052] S26, using n BeiDou satellites (for example, 4), obtain n coordinate relationship equations, and solve to obtain the three-dimensional coordinates of each positioning acquisition position. For example, based on the three-dimensional coordinates of 4 BeiDou satellites, 4 coordinate relationship equations are obtained, including X j 、Y j , Z j There are four unknowns in total, and ΔE. After combining them, the three-dimensional coordinates (X j ,Y j ,Z j ).

[0053] Preferably, when the equipment is provided with two positioning and collecting positions, namely, a first positioning and collecting position and a second positioning and collecting position, the step S3 includes:

[0054] S31. All three-dimensional coordinates obtained within a preset historical time period are combined into a test sample set. in, is the three-dimensional coordinate of the first positioning acquisition position or the second positioning acquisition position, u=1,2,…,m;

[0055] S32. Using the adaptive boosting algorithm to build a strong classifier Deducing based on the test sample set to minimize the risk function in, Represents a test sample The class labels include a first class label representing the three-dimensional coordinates of the first positioning acquisition position and a second class label representing the three-dimensional coordinates of the second positioning acquisition position;

[0056] S33, by comparing the distance between each test sample in the test sample set and the nearest neighbor set, select k1 from each test sample in the test sample set to form the lower subspace; specifically:

[0057] S331, respectively calculate each test sample in the test sample set and the known points The Euclidean distance between

[0058] S332. Find the smallest N from all Euclidean distances A The corresponding test samples form a neighbor set

[0059] S333: Select k1 samples with the smallest mean distance from the nearest neighbor set, and their corresponding samples form the lower subspace. The calculation formula of the mean distance is:

[0060]

[0061] in, N A Among the samples, there are indivual,

[0062] S34. By comparing the distances between the samples in the lower subspace and the nearest neighbor points, k2 samples are selected from the lower subspace to form the upper subspace and determine the classification boundary. Specifically:

[0063] S341, respectively calculate each sample in the lower subspace and the nearest neighbor point The classification distance between them is calculated as follows:

[0064]

[0065] S342. Find the smallest k2 distances from all classification distances, and their corresponding samples constitute the upper subspace;

[0066] S343. Based on the 3D coordinates of each sample in the upper subspace, a minimum envelope is obtained as the classification boundary. 3D coordinates within the minimum envelope are classified as first-class labels, corresponding to the first location. Samples are measured sequentially using mean distance and classification distance, reducing the classification error rate and improving classification accuracy.

[0067] S35 , judging each obtained three-dimensional coordinate according to the classification boundary to obtain a class label of the three-dimensional coordinate, whether it is a first class label (corresponding to the first positioning acquisition position) or a second class label (corresponding to the second positioning acquisition position).

[0068] Preferably, the step S4 includes:

[0069] S41, converting the three-dimensional coordinates of each positioning collection position within a preset time period into longitude and latitude;

[0070] S42. Calculate the displacement between each adjacent moment of each positioning acquisition position based on the longitude and latitude obtained at each adjacent moment of each positioning acquisition position. The calculation formula is:

[0071]

[0072] in, is the displacement between two adjacent moments, is the longitude obtained at the previous moment between two adjacent moments, is the longitude obtained at the later of two adjacent moments, is the latitude obtained at the previous moment between two adjacent moments, is the latitude obtained at the later of two adjacent moments, and R is the equatorial radius of the Earth;

[0073] S43. Based on the displacement of each positioning and collection position at each adjacent moment, the maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, average acceleration, and other maneuverability performance values of each positioning and collection position within a preset time period are calculated using the velocity formula and the acceleration formula. The maneuverability performance values of each positioning and collection position are averaged to obtain the final maneuverability performance value of the equipment.

[0074] Preferably, the method of analyzing equipment maneuverability based on high-precision Beidou differential positioning in this embodiment is as follows: Figure 3 As shown, the following steps are also included:

[0075] S5. Calculate the three-dimensional coordinates of the center point of the equipment based on the three-dimensional coordinates of each positioning and collection location, including the first three-dimensional coordinates of the first positioning and collection location and the second three-dimensional coordinates of the second positioning and collection location. Plot the equipment's maneuvering route based on the three-dimensional coordinates of the center point at each moment, and output the plot to a display device for display. Preferably, the map locations of the three-dimensional coordinates of the center points at adjacent moments can be connected by drawing lines to plot the equipment's maneuvering route.

[0076] When the equipment is provided with two positioning and collection positions, the first positioning and collection position and the second positioning and collection position, the calculation formula for the three-dimensional coordinates of the center point of the equipment is:

[0077]

[0078]

[0079]

[0080] Where (X1, Y1, Z1) is the first 3D coordinate obtained from the first location captured at any given moment, and (X2, Y2, Z2) is the second 3D coordinate obtained from the second location captured at the nearest moment. By locating 3D data from a large number of locations, the equipment's maneuvering route can be mapped, achieving high positioning precision and accuracy.

[0081] Example 2

[0082] This embodiment provides a system for analyzing equipment maneuverability based on high-precision Beidou differential positioning, such as Figure 4 Shown, including:

[0083] Positioning acquisition position determination device 1, used to determine at least two positioning acquisition positions on the equipment, said positioning acquisition positions are used to install high-precision Beidou differential positioning acquisition equipment that can collect and output positioning data;

[0084] The three-dimensional coordinate real-time acquisition device 2 is used to acquire the positioning data collected and output by the Beidou differential base station in real time, as well as the positioning data at each positioning collection position, and obtain the three-dimensional coordinates of each positioning collection position after differential processing; preferably, the equipment maneuvering area, including the maneuvering location and range, is obtained, and the Beidou differential base station is set up according to the terrain within the maneuvering area, and the base station power is adjusted. Therefore, the appropriate Beidou differential base station setting location can be selected according to the actual on-site environment of the collection area, thereby improving the stability of data transmission, improving the accuracy of the collected data, and thereby improving the accuracy of the equipment maneuverability analysis;

[0085] The positioning acquisition position classification decision device 3 is used to classify each three-dimensional coordinate in real time using an intelligent decision classification algorithm to obtain the positioning acquisition position to which the three-dimensional coordinate belongs;

[0086] The maneuverability obtaining device 4 is configured to derive a corresponding maneuverability performance value based on the three-dimensional coordinates of each positioning acquisition location within a preset time period and the time sequence in which they are obtained, and to combine the maneuverability performance values corresponding to each positioning acquisition location to obtain a final maneuverability performance value for the equipment. Preferably, the maneuverability performance values include maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, average acceleration, and mileage.

[0087] The above-mentioned system for analyzing the maneuverability of equipment based on high-precision Beidou differential positioning, by reasonably selecting several positioning collection positions, performs differential processing on the positioning data obtained at each positioning collection position and the positioning data obtained by the Beidou differential base station, and obtains the three-dimensional coordinate data after differential processing in real time, without any preset means to distinguish the data. The three-dimensional coordinates obtained in real time are classified by an intelligent decision-making classification algorithm, and the three-dimensional coordinates are corresponded to the positioning collection positions, so as to analyze and obtain the final maneuverability performance value of the equipment based on the movement characteristics of the three-dimensional coordinates of each positioning collection position. It can be seen that the intelligent decision-making method is used in the entire process of analyzing the maneuverability of the equipment, making the obtained data more comprehensive and the final result more accurate, thereby improving the accuracy of the analysis of the maneuverability of the equipment.

[0088] Preferably, the three-dimensional coordinate real-time acquisition device includes:

[0089] The base station Beidou satellite pseudorange acquisition unit is used to obtain the pseudorange of the i-th Beidou satellite measured by the Beidou differential base station

[0090] The real distance calculation unit is used to calculate the real distance between the Beidou differential base station and the i-th Beidou satellite based on the three-dimensional coordinates of the Beidou differential base station and the i-th Beidou satellite ephemeris

[0091] The pseudorange correction value calculation unit is used to calculate the pseudorange of the i-th Beidou satellite The actual distance between the Beidou differential base station and the i-th Beidou satellite Calculate the pseudorange correction value of the i-th Beidou satellite The formula is:

[0092]

[0093] The Beidou satellite pseudo-range acquisition unit at the positioning collection position is used to obtain the pseudo-range of the i-th Beidou satellite measured by the high-precision Beidou differential positioning acquisition equipment at each positioning collection position

[0094] Coordinate relationship establishment unit, used to use the pseudo-range correction value of the i-th Beidou satellite Correct the pseudorange of the i-th BeiDou satellite measured at the j-th positioning acquisition position The coordinate relationship between the three-dimensional coordinates of the i-th Beidou satellite and the three-dimensional coordinates of the j-th positioning collection position is established as follows:

[0095]

[0096] Among them, (X i ,Y i ,Z i ) is the three-dimensional coordinate of the i-th BeiDou satellite, (X j ,Y j ,Z j ) is the three-dimensional coordinate of the jth positioning acquisition position, ΔE=c(Δt j -Δt B );

[0097] The three-dimensional coordinate solving unit is used to obtain n coordinate relationship expressions using n Beidou satellites, and solve to obtain the three-dimensional coordinates of each positioning collection position.

[0098] Preferably, when the equipment is provided with two positioning and collecting positions, a first positioning and collecting position and a second positioning and collecting position, the positioning and collecting position classification and decision-making device includes:

[0099] The test sample set acquisition unit is used to form a test sample set from all three-dimensional coordinates obtained within a preset historical time period in, is the three-dimensional coordinate of the first positioning acquisition position or the second positioning acquisition position, u=1,2,…,m;

[0100] Strong classifier acquisition unit, used to construct a strong classifier using the adaptive boosting algorithm Deducing based on the test sample set to minimize the risk function in, Represents a test sample The class labels include a first class label representing the three-dimensional coordinates of the first positioning acquisition position and a second class label representing the three-dimensional coordinates of the second positioning acquisition position;

[0101] A lower subspace obtaining unit is used to select k1 samples from each test sample in the test sample set by comparing the distance between each test sample in the test sample set and the nearest neighbor set to form a lower subspace;

[0102] The upper subspace and classification boundary acquisition unit is used to select k2 samples from the lower subspace to form the upper subspace and determine the classification boundary by comparing the distance between the samples in the lower subspace and the nearest neighbor points;

[0103] The three-dimensional coordinate classification determination unit is used to judge each obtained three-dimensional coordinate according to the classification boundary to obtain the class label of the three-dimensional coordinate, whether it is a first class label (corresponding to the first positioning acquisition position) or a second class label (corresponding to the second positioning acquisition position).

[0104] Preferably, the maneuverability acquisition device comprises:

[0105] A latitude and longitude conversion unit, configured to convert the three-dimensional coordinates of each positioning collection position within a preset time period into longitude and latitude;

[0106] The displacement calculation unit is used to calculate the displacement between each adjacent moment of each positioning collection position based on the longitude and latitude obtained at each adjacent moment of each positioning collection position. The calculation formula is:

[0107]

[0108] in, is the displacement between two adjacent moments, is the longitude obtained at the previous moment between two adjacent moments, is the longitude obtained at the later of two adjacent moments, is the latitude obtained at the previous moment between two adjacent moments, is the latitude obtained at the later of two adjacent moments, and R is the equatorial radius of the Earth;

[0109] The maneuverability performance value obtaining unit is used to calculate the maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, average acceleration and other maneuverability performance values of each positioning and collection position within a preset time period based on the displacement between each adjacent moment of each positioning and collection position using the speed formula and the acceleration formula, and to take the average of each maneuverability performance value of each positioning and collection position to obtain the final maneuverability performance value of the equipment.

[0110] Preferably, the system for analyzing equipment maneuverability based on high-precision Beidou differential positioning of this embodiment further includes:

[0111] The maneuvering route drawing unit is used to calculate the three-dimensional coordinates of the center point of the equipment based on the three-dimensional coordinates of each positioning and collection position, including the first three-dimensional coordinates of the first positioning and collection position and the second three-dimensional coordinates of the second positioning and collection position, and to draw the maneuvering route of the equipment based on the three-dimensional coordinates of the center point at each moment, and can output it to the display device for display.

[0112] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A method for analyzing equipment maneuverability based on high-precision Beidou differential positioning, characterized in that: The following steps are involved: Determine at least two positioning collection locations on the equipment, wherein the positioning collection locations are used to install high-precision Beidou differential positioning collection equipment that can collect and output positioning data; the number of the positioning collection locations is two, namely a first positioning collection location and a second positioning collection location; Acquire the positioning data collected and output by the Beidou differential base station in real time, as well as the positioning data at each positioning collection location, and obtain the three-dimensional coordinates of each positioning collection location after differential processing; Every time a 3D coordinate is obtained, an intelligent decision-making classification algorithm is used to classify it in real time to obtain the positioning acquisition position to which the 3D coordinate belongs; Based on the three-dimensional coordinates of each positioning and collection position within a preset time period and the time sequence obtained, the corresponding maneuverability performance value is deduced and obtained respectively. The maneuverability performance values corresponding to each positioning and collection position are combined to obtain the final maneuverability performance value of the equipment; The step of deducing and obtaining the corresponding maneuverability performance value based on the three-dimensional coordinates of each positioning acquisition position within the preset time period and the obtained time sequence includes: Convert the three-dimensional coordinates of each positioning collection position within a preset time period into longitude and latitude; Based on the longitude and latitude obtained at each adjacent moment of each positioning acquisition position, the displacement between each adjacent moment of each positioning acquisition position is calculated. The calculation formula is: in, is the displacement between two adjacent moments, is the longitude obtained at the previous moment between two adjacent moments, is the longitude obtained at the later of two adjacent moments, is the latitude obtained at the previous moment between two adjacent moments, is the latitude obtained at the later of two adjacent moments, and R is the equatorial radius of the Earth; Based on the displacement of each positioning and collection position at each adjacent moment, the maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, and average acceleration of the maneuverability performance value of each positioning and collection position within a preset time period are calculated using the speed formula and the acceleration formula; The three-dimensional coordinates of the center point of the equipment are calculated based on the three-dimensional coordinates of each positioning and collection position, including the first three-dimensional coordinates of the first positioning and collection position and the second three-dimensional coordinates of the second positioning and collection position. The maneuvering route of the equipment is plotted based on the three-dimensional coordinates of the center point at each moment, and can be output to a display device for display; When the equipment is provided with two positioning and collection positions, the first positioning and collection position and the second positioning and collection position, the calculation formula for the three-dimensional coordinates of the center point of the equipment is: Among them, (X1, Y1, Z1) is the first three-dimensional coordinate obtained by the first positioning and acquisition position at any moment, and (X2, Y2, Z2) is the second three-dimensional coordinate obtained by the second positioning and acquisition position at the nearest moment of the said any moment.

2. The method according to claim 1, characterized in that The steps of obtaining each three-dimensional coordinate and classifying it in real time using an intelligent decision-making classification algorithm to obtain the positioning and collection position to which the three-dimensional coordinate belongs include: All three-dimensional coordinates obtained within the preset historical time period form a test sample set in, is the three-dimensional coordinate of the first positioning acquisition position or the second positioning acquisition position, u=1,2,…,m; Building a strong classifier using the adaptive boosting algorithm Deducing based on the test sample set to minimize the risk function in, Represents a test sample The class labels include a first class label representing the three-dimensional coordinates of the first positioning acquisition position and a second class label representing the three-dimensional coordinates of the second positioning acquisition position; By comparing the distance between each test sample in the test sample set and the nearest neighbor set, k1 samples are selected from each test sample in the test sample set to form the lower subspace; By comparing the distance between the samples in the lower subspace and the nearest neighbor points, k2 samples are selected from the lower subspace to form the upper subspace and determine the classification boundary; Each obtained three-dimensional coordinate is judged according to the classification boundary to obtain a class label for the three-dimensional coordinate.

3. The method according to claim 1, characterized in that The step of synthesizing the maneuverability performance values corresponding to the various positioning and collection positions to obtain the final maneuverability performance value of the equipment includes: The final maneuverability performance value of the equipment is obtained by taking the average of the maneuverability performance values of each positioning and collection position.

4. A system for analyzing equipment maneuverability based on high-precision Beidou differential positioning, characterized in that: include: A positioning collection position determination device is used to determine at least two positioning collection positions on the equipment, wherein the positioning collection positions are used to install high-precision Beidou differential positioning collection equipment that can collect and output positioning data; the number of the positioning collection positions is two, namely a first positioning collection position and a second positioning collection position; A three-dimensional coordinate real-time acquisition device is used to acquire the positioning data collected and output by the Beidou differential base station in real time, as well as the positioning data at each positioning collection position, and obtain the three-dimensional coordinates of each positioning collection position after differential processing; A positioning acquisition position classification decision device is used to classify each three-dimensional coordinate in real time using an intelligent decision classification algorithm to obtain the positioning acquisition position to which the three-dimensional coordinate belongs; A maneuverability obtaining device is used to deduce and obtain corresponding maneuverability performance values based on the three-dimensional coordinates of each positioning and collection position within a preset time period and the time sequence in which they are obtained, and to obtain a final maneuverability performance value of the equipment by combining the maneuverability performance values corresponding to each positioning and collection position; The maneuverability acquisition device comprises: A latitude and longitude conversion unit, configured to convert the three-dimensional coordinates of each positioning collection position within a preset time period into longitude and latitude; The displacement calculation unit is used to calculate the displacement between each adjacent moment of each positioning collection position based on the longitude and latitude obtained at each adjacent moment of each positioning collection position. The calculation formula is: in, is the displacement between two adjacent moments, is the longitude obtained at the previous moment between two adjacent moments, is the longitude obtained at the later of two adjacent moments, is the latitude obtained at the previous moment between two adjacent moments, is the latitude obtained at the later of two adjacent moments, and R is the equatorial radius of the Earth; a maneuverability performance value obtaining unit, configured to calculate, based on the displacement of each positioning and collection position between adjacent moments, the maximum speed, minimum speed, maximum acceleration, minimum acceleration, average speed, and average acceleration of each positioning and collection position within a preset time period using a speed formula and an acceleration formula; A maneuvering route drawing unit is used to calculate the three-dimensional coordinates of the center point of the equipment based on the three-dimensional coordinates of each positioning and collection position, including the first three-dimensional coordinates of the first positioning and collection position and the second three-dimensional coordinates of the second positioning and collection position, and to draw the maneuvering route of the equipment based on the three-dimensional coordinates of the center point at each moment, and output it to a display device for display; When the equipment is provided with two positioning and collection positions, the first positioning and collection position and the second positioning and collection position, the calculation formula for the three-dimensional coordinates of the center point of the equipment is: Among them, (X1, Y1, Z1) is the first three-dimensional coordinate obtained by the first positioning and acquisition position at any moment, and (X2, Y2, Z2) is the second three-dimensional coordinate obtained by the second positioning and acquisition position at the nearest moment of the said any moment.

5. A system for analyzing equipment maneuverability based on high-precision Beidou differential positioning, characterized in that: include: one or more processors; as well as a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for analyzing the maneuverability of equipment based on high-precision Beidou differential positioning as described in any one of claims 1 to 3.

6. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by the processor, the method for analyzing the maneuverability of equipment based on high-precision Beidou differential positioning as described in any one of claims 1-3 is implemented.

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