Single group and networking ship docking vehicle positioning method, system, medium and equipment

Abstract

The application provides a single set and networking ship docking vehicle positioning method, system, medium and equipment. The single set ship docking vehicle positioning method comprises the following steps: a ranging device is rapidly rotated to find the position of a target; the ranging device is controlled to rotate towards the target, when the target signal is received, the first angle turned is recorded; when the target signal is just not received, the second angle turned is recorded; the first and second angles are added and averaged to obtain the azimuth angle of the ranging device relative to the target; the ranging device is controlled to rotate to the position corresponding to the azimuth angle and then stop, the target signal is collected multiple times, the target signals are analyzed and added and averaged to obtain the distance of the ranging device from the target; and the azimuth angle and distance are converted into the relative azimuth angle and distance of the two docking vehicles. With the cooperation of the coarse scanning mode and the fine scanning mode, the relative position of the docking vehicles is measured, and the measurement efficiency and accuracy are improved.

Description

Technical Field

[0001] This application relates to the field of positioning technology for ship docking vehicles in shipbuilding, and more specifically, to a positioning method, system, medium, and equipment for single-unit and networked ship docking vehicles. Background Technology

[0002] In shipbuilding, the attitude adjustment commands for each docking vehicle used for section docking work need to be adjusted proportionally according to its relative position. Therefore, determining the relative position of the docking vehicles is an important part of the docking preparation work.

[0003] Ship docking vehicles typically operate on pre-laid tracks. Without considering ground undulations, the height deviation (i.e., Z-axis) of each vehicle can be ignored. Moreover, during the attitude adjustment process, only the main cylinder of the ship docking vehicle moves (parallel to the x-axis direction of the track) and the auxiliary cylinder moves (perpendicular to the y-axis direction of the track), and their relative positions remain unchanged. Therefore, the actual positioning task of the ship docking vehicle only requires determining the relative positions of each vehicle on the XY plane after the ship docking vehicle is placed in place before docking begins.

[0004] The on-site measurement method typically involves workers using handheld portable laser rangefinders to measure each docking vehicle individually, determining the coordinates of each vehicle and the relative positions of all docking vehicles. Manually measuring the position of each docking vehicle is time-consuming, resulting in extremely low efficiency and numerous potential sources of error. Summary of the Invention

[0005] The purpose of this application is to provide a positioning method for a single ship docking vehicle, which can measure the relative position of the ship docking vehicle by means of the combination of coarse scanning mode and fine scanning mode, thereby improving measurement efficiency and measurement accuracy.

[0006] A second objective of this application is to provide a method for positioning a networked ship docking vehicle.

[0007] A third objective of this application is to provide a ship docking vehicle positioning system using the above-described method.

[0008] A fourth objective of this application is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a positioning method for single-group and networked ship docking vehicles.

[0009] A fifth objective of this application is to provide a computer device, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the device performs the steps of the single-group and networked ship docking vehicle positioning method.

[0010] In a first aspect, a positioning method for a single set of ship docking vehicles is provided, characterized in that the single set of ship docking vehicles includes two ship docking vehicles, a ranging device is installed on one of the ship docking vehicles, the ranging device can rotate around its own axis, a target is installed on the other ship docking vehicle, the ranging device continuously emits a ranging signal when working, and when facing the target, the ranging signal is fed back by the target in the form of a target signal and received by the ranging device.

[0011] The positioning method for a single ship docking vehicle includes the following steps:

[0012] S11. Control the rotation of the ranging device. When the ranging device receives the target signal, record the position of the target and rotate the ranging device to a position that is not facing the target.

[0013] S12. Control the ranging device to rotate in the direction of the target. When the ranging device just receives the target signal, record the first angle through which the ranging device rotates; when the ranging device just stops receiving the target signal, record the second angle through which the ranging device rotates; the calculation starting point for the first angle and the second angle is the same.

[0014] S13. Add the first angle and the second angle and take the average value to obtain the target angle; the target angle is used to represent the azimuth angle of the ranging device relative to the target;

[0015] S14. Control the ranging device to rotate to the position corresponding to the target angle and then stop. Collect the target signal received by the ranging device multiple times, analyze the multiple target signals, add them together and take the average value to obtain the distance between the ranging device and the target.

[0016] S15. Convert the azimuth and distance of the ranging device relative to the target into the azimuth and distance between the two docking vehicles.

[0017] In one feasible embodiment, the rotation direction of the ranging device includes a second circumferential direction and a first circumferential direction, wherein the second circumferential direction is opposite to the first circumferential direction;

[0018] The rotational speed of the ranging device includes at least a first speed;

[0019] Step S11 includes the following steps:

[0020] S111, Control the ranging device to rotate in the first circumferential direction at a first speed;

[0021] S112. When the ranging device receives the target signal, control the ranging device to rotate in the second circumferential direction;

[0022] S113. After the ranging device changes from being able to receive the target signal to not being able to receive the target signal, the ranging device stops rotating, and the position of the ranging device at this time is recorded as the rotation zero position.

[0023] Among them, the rotation zero position is the starting point for calculating the first angle and the second angle in step S12.

[0024] In one feasible embodiment, the rotational speed of the ranging device further includes a second speed, which is less than the first speed;

[0025] In step 12, controlling the ranging device to rotate in the direction of the turning target specifically means controlling the ranging device to rotate in the first circumferential direction at a second speed.

[0026] In one feasible approach, the second speed shall not exceed half the first speed.

[0027] In one feasible embodiment, in step S15, the azimuth and distance of the ranging device relative to the target are converted into the azimuth and distance between the center positions of the two ship docking vehicles.

[0028] According to a second aspect of this application, a positioning method for a networked ship docking vehicle is also provided. The networked ship docking vehicle includes at least two ship docking vehicles, each of which is equipped with a ranging device and a target. The ranging device can rotate around its own axis. When the ranging device is working, it continuously emits a ranging signal. After receiving the ranging signal, the target can feed back a target signal. When the ranging device on the ship docking vehicle is directed toward the target on another ship docking vehicle within a predetermined distance, the ranging device can receive the target signal fed back by the target.

[0029] The positioning method for docking vehicles in a network includes the following steps:

[0030] S21. Run the ranging device on each ship docking vehicle to complete steps S11 to S15 of the above single-group ship docking vehicle positioning method, and obtain the relative azimuth and distance between two adjacent ship docking vehicles within the predetermined spacing.

[0031] S22. Establish a relative position coordinate system, transform the relative azimuth and distance of all ship docking vehicles to the same relative position coordinate system, and represent the positional differences between ship docking vehicles in the relative position coordinate system using relative azimuth and distance, and generate a relative position matrix expression;

[0032] S23. Directly measure the coordinate data of at least one ship docking vehicle in the world coordinate system and incorporate them into the relative position matrix expression to obtain the position solution equation of the ship docking vehicle;

[0033] S24. Solve the position equations using the least squares method to obtain the positioning coordinates of all ship docking vehicles in the world coordinate system.

[0034] In one feasible approach, in step S22, the expression for the relative position matrix is:

[0035] ,

[0036] in, for The coefficient matrix has one element of 1 and one element of -1 in each row, and the rest are 0;

[0037] Indicates the number of ship docking vehicles in the network; This indicates the number of measurements taken by the distance measuring device;

[0038] for The position matrix of order, Representing the The x-coordinate of the ship docking vehicle in the relative position coordinate system. Representing the The ordinate of the two ship docking vehicles in the relative position coordinate system;

[0039] for dimensional matrix, Represents the length of the ship docking vehicle. Represents the width of the ship docking vehicle;

[0040] for The matrix of relative position measurement results, Representing the The relative azimuth angles of the docking vehicles of the group of ships are converted into angle values ​​with the abscissa axis of the relative position coordinate system as the zero point. Representing the The relative distance between the docking vehicles of the groups of ships, and the number of docking vehicles in each group of ships is two.

[0041] In one feasible embodiment, step S23 includes the following steps:

[0042] S231, Direct Measurement The coordinate data of the docking vehicle of the ship in the world coordinate system are obtained, and the coordinate system relationship matrix expression between the relative position coordinate system and the world coordinate system is generated.

[0043] ,

[0044] in, for A coefficient matrix of order, where each row has only one element that is 1, and the rest are 0. ;

[0045] Indicates the number of ship docking vehicles in the network; This indicates the number of ship docking vehicles used for world coordinate data measurement;

[0046] The position matrix in claim 7 ;

[0047] for Measurement result matrix in the world coordinate system. Representing the The x-coordinate of the ship docking vehicle in the world coordinate system. Representing the The vertical coordinate of the ship docking vehicle in the world coordinate system;

[0048] S232. Combine the coordinate system relationship matrix expression and the relative position matrix expression to obtain the position solution equation for the ship docking vehicle:

[0049] .

[0050] In one feasible embodiment, step S24 includes the following steps:

[0051] The solution equation for the true position matrix of all the aforementioned ship docking vehicles in the world coordinate system is obtained by using the least squares method:

[0052] ,

[0053] in, A matrix representing the positions of all ships and vehicles in the world coordinate system. The optimal estimate.

[0054] In one feasible embodiment, step S24 includes the following steps:

[0055] S241. Using the weighted least squares method to analyze the coefficient matrix. sum coefficient matrix Weighted; the weight matrix is ;in, The weight representing the measurement results of the ranging device. The weights represent the coordinate data of the directly measured ship vehicle in the world coordinate system. indivual The results obtained by the ranging device are weighted equally. indivual The results of the measured ship docking vehicle in the world coordinate system use the same weight;

[0056] S242. Combining the weight matrix with the position solution equation, we obtain the solution equation for the true position matrix of all ship docking vehicles in the world coordinate system:

[0057] ,

[0058] in, This represents considering the weight matrix. The position matrix of all subsequent ships and vehicles in the world coordinate system The optimal estimate.

[0059] According to a third aspect of this application, a ship docking vehicle positioning system is also provided, including a quick scan module, an angle measurement module, an angle calculation module, a distance measurement module, and a conversion module.

[0060] The fast-scan module controls the rotation of the ranging device. When the ranging device receives a target signal, it records the target's position and rotates the ranging device to a position where it is not facing the target. The angle measurement module controls the ranging device to rotate in the direction of the target. When the ranging device just receives the target signal, it records the first angle rotated; when the ranging device just stops receiving the target signal, it records the second angle rotated. The calculation starting points for the first and second angles are the same. The angle calculation module adds the first and second angles and takes the average to obtain the target angle; the target angle represents the azimuth of the ranging device relative to the target. The distance measurement module controls the ranging device to rotate to the position corresponding to the target angle and then stops. It repeatedly collects the target signal received by the ranging device, analyzes the multiple target signals, adds them together, and takes the average to obtain the distance between the ranging device and the target. The conversion module converts the azimuth and distance of the ranging device relative to the target into the azimuth and distance between the two ship docking vehicles.

[0061] In one feasible solution, the ship docking vehicle positioning system also includes a network measurement module, a relative position calculation module, and a solution module.

[0062] The network measurement module operates the ranging device on each ship docking vehicle, completing steps S11 to S15 of the single-group ship docking vehicle positioning method in Example 1, obtaining the relative azimuth and distance between two adjacent ship docking vehicles within a predetermined interval. The relative position calculation module establishes a relative position coordinate system, transforming the relative azimuth and distance of all ship docking vehicles to the same relative position coordinate system, and representing the positional differences between ship docking vehicles in the relative position coordinate system using relative azimuth and distance, generating a relative position matrix expression. The solution module incorporates the coordinate data from the world coordinate system into the relative position matrix expression, obtaining the position solution equation for the ship docking vehicles; and uses the least squares method to solve the position solution equation, obtaining the positioning coordinate data of all ship docking vehicles in the world coordinate system.

[0063] According to a fourth aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of a positioning method for single-group and networked ship docking vehicles.

[0064] According to a fifth aspect of this application, a computer device is also provided, comprising: a processor and a memory; the memory for storing a computer program, and the processor for executing the computer program stored in the memory to cause the device to perform the steps of a single-group and networked ship docking vehicle positioning method.

[0065] Compared with the prior art, the beneficial effects of this application are as follows:

[0066] The key to the single-unit ship docking vehicle positioning method of this application lies in dividing the measurement steps into a coarse scan mode and a fine scan mode. Step S11 is the coarse scan mode, which is used to find the approximate azimuth of the target relative to the ranging device, thus requiring no complex processing. Steps S12 to S13 are the fine scan modes, where a precise scan is performed based on the approximate azimuth determined by the coarse scan mode. This makes the rotation of the ranging device more targeted rather than blind, thereby improving measurement efficiency and accuracy to obtain the azimuth angle between the ranging device and the target. Combined with the ranging in step S14 and the conversion in step S15, the azimuth angle and distance between the ship docking vehicles can be obtained. The entire method replaces manual measurement and, by combining the coarse and fine scan modes, achieves the measurement of the relative position of the ship docking vehicles, improving measurement efficiency and accuracy. Attached Figure Description

[0067] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating a single-unit ship docking vehicle positioning method according to an embodiment of this application;

[0069] Figure 2 This is a flowchart illustrating a positioning method for a networked ship docking vehicle, as shown in an embodiment of this application.

[0070] Figure 3 This is a top view of a networked ship docking vehicle as shown in an embodiment of this application;

[0071] Figure 4 This is a schematic diagram illustrating the operation of a networked ship docking vehicle positioning method according to an embodiment of this application;

[0072] Figure 5 This is a schematic diagram showing the azimuth and distance of ship docking vehicles B1, B2, and D2 relative to ship docking vehicle D1, as illustrated in an embodiment of this application.

[0073] In the picture: 10, target; 20, ranging device; 30, ship docking vehicle. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0075] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0076] According to the first aspect of this application, Figure 1 As shown, a method for positioning a single set of ship docking vehicles is first provided. For example... Figure 3As shown, a single ship docking vehicle includes two ship docking vehicles 30. A ranging device 20 is installed on one of the ship docking vehicles 30. The ranging device 20 can rotate around its own axis. A target 10 is installed on the other ship docking vehicle 30. When the ranging device 20 is working, it continuously emits a ranging signal. When it is facing the target 10, the ranging signal is fed back by the target 10 in the form of a target signal and is received by the ranging device 20.

[0077] The target 10 necessarily has a certain width, so that the target 10 will feed back the ranging signal throughout the entire process of scanning from one edge to the other. Preferably, the target 10 is configured as a vertically placed cylindrical shape to ensure that the measurement results in all directions are the same.

[0078] It should be noted that the ranging device 20 can be a laser ranging device, and is driven to rotate around its own axis via a motor, servo motor, or gear-driven transmission device. The angle rotated by the ranging device 20 can be obtained by measuring the output of the motor, servo motor, etc., that drives the ranging device 20, or by directly measuring the rotation angle using some optical grating sensors or absolute encoders. The ranging device 20 can emit a ranging signal, which, after hitting the target 10, is fed back by the target 10 as a target signal and received by the ranging device 20.

[0079] like Figure 1 As shown, the positioning method for a single ship docking vehicle includes the following steps S11 to S15:

[0080] S11. Control the rotation of the ranging device. When the ranging device receives the target signal, record the position of the target and rotate the ranging device to a position that is not facing the target.

[0081] S12. Control the ranging device to rotate in the direction of the target. When the ranging device just receives the target signal, record the first angle through which the ranging device rotates; when the ranging device just stops receiving the target signal, record the second angle through which the ranging device rotates; the calculation starting point for the first angle and the second angle is the same.

[0082] S13. Add the first angle and the second angle and take the average value to obtain the target angle; the target angle is used to represent the azimuth angle of the ranging device relative to the target;

[0083] S14. Control the ranging device to rotate to the position corresponding to the target angle and then stop. Collect the target signal received by the ranging device multiple times, analyze the multiple target signals, add them together and take the average value to obtain the distance between the ranging device and the target.

[0084] S15. Convert the azimuth and distance of the ranging device relative to the target into the azimuth and distance between the two docking vehicles.

[0085] As can be seen from the above technical solution, the key to the single-unit ship docking vehicle positioning method in this embodiment lies in dividing the measurement steps into a coarse scanning mode and a fine scanning mode. Step S11 is the coarse scanning mode, which is to find the approximate azimuth of the target relative to the ranging device, so no complicated processing is required. Steps S12 to S13 are the fine scanning modes. Based on the approximate azimuth determined by the coarse scanning mode, a precise scan is performed, making the rotation of the ranging device more targeted rather than blind, thereby improving measurement efficiency and accuracy to obtain the azimuth angle between the ranging device and the target. Combined with the ranging in step S14 and the conversion in step S15, the azimuth angle and distance between the ship docking vehicles can be obtained.

[0086] The entire method replaces manual measurement and, with the help of coarse and fine scanning modes, enables the measurement of the relative position of the ship docking vehicle, thus improving measurement efficiency and accuracy.

[0087] In one embodiment, the rotation direction of the ranging device includes a second circumferential direction and a first circumferential direction, wherein the second circumferential direction is opposite to the first circumferential direction. The rotation speed of the ranging device includes at least a first speed.

[0088] Step S11 includes the following steps:

[0089] S111, Control the ranging device to rotate in the first circumferential direction at a first speed;

[0090] S112. When the ranging device receives the target signal, control the ranging device to rotate in the second circumferential direction;

[0091] S113. After the ranging device changes from being able to receive the target signal to not being able to receive the target signal, the ranging device stops rotating, and the position of the ranging device at this time is recorded as the rotation zero position.

[0092] Among them, the rotation zero position is the starting point for calculating the first angle and the second angle in step S12.

[0093] The first speed is preferably the maximum value within the rotation speed range of the ranging device, so as to maximize the efficiency of the coarse scan mode.

[0094] In one implementation, the rotation speed of the ranging device further includes a second speed, which is lower than the first speed. This corresponds to a fast scanning mode (fast scan) and a slow scanning mode (slow scan). By combining these two scanning modes, target positioning can be achieved quickly while maintaining measurement accuracy. Preferably, the second speed is kept as low as possible, while ensuring measurement accuracy remains within a predetermined range.

[0095] Furthermore, in step 12, controlling the ranging device to rotate in the direction of the target is specifically done by controlling the ranging device to rotate in the first circumferential direction at a second speed, and then rotating back in the opposite direction. On the one hand, the rotation distance is short, and on the other hand, it can actually detect and determine again whether the ranging device has scanned the target.

[0096] In one implementation, the second speed does not exceed half of the first speed.

[0097] In one implementation, in step S15, the azimuth and distance of the ranging device relative to the target can be converted into the azimuth and distance between the center positions of the two ship docking vehicles.

[0098] According to the second aspect of this application, such as Figure 2 As shown, a method for positioning networked ship docking vehicles is also provided. Figure 3 and Figure 4 As shown, the networked ship docking vehicle includes at least two ship docking vehicles 30. Each ship docking vehicle 30 is equipped with a ranging device 20 and a target 10. The ranging device 20 can rotate around its own axis. When working, the ranging device 20 continuously emits a ranging signal. After receiving the ranging signal, the target 10 can feed back the target signal. When the ranging device 20 on the ship docking vehicle is directed toward the target 10 on other ship docking vehicles 30 within a predetermined distance, the ranging device 20 can receive the target signal fed back by the target 10.

[0099] The ranging device 20 and the target 10 on each ship docking vehicle 30 are installed in the same position. Preferably, the target 10 and the ranging device 20 on each ship docking vehicle 30 are installed at any diagonally opposite position. And preferably, throughout the entire network, the target 10 and the ranging device 20 on each ship docking vehicle 30 are in the same orientation, for example... Figure 3 As shown, the ranging devices 20 are all located in the upper right corner of the ship docking vehicle 30, and the targets 10 are all located in the lower left corner of the ship docking vehicle 30.

[0100] The target 10 necessarily has a certain width, so that the target 10 will feed back the ranging signal throughout the entire process of scanning from one edge to the other. Preferably, the target 10 is configured as a vertically placed cylindrical shape to ensure that the measurement results in all directions are the same.

[0101] It should be noted that the ranging device 20 can be a laser ranging device, and is driven to rotate around its own axis via a motor, servo motor, or gear-driven transmission device. The angle rotated by the ranging device 20 can be obtained by measuring the output of the motor, servo motor, etc., that drives the ranging device 20, or by directly measuring the rotation angle using some optical grating sensors or absolute encoders. The ranging device 20 can emit a ranging signal, which, after hitting the target 10, is fed back by the target 10 as a target signal and received by the ranging device 20.

[0102] like Figure 2 As shown, the positioning method for the docking vehicle of the networked ships includes the following steps S21 to S24:

[0103] S21. Run the ranging device on each ship docking vehicle to complete steps S11 to S15 of the single-group ship docking vehicle positioning method in Example 1, and obtain the relative azimuth and distance between two adjacent ship docking vehicles within a predetermined distance.

[0104] S22. Establish a relative position coordinate system, transform the relative azimuth and distance of all ship docking vehicles to the same relative position coordinate system, and represent the positional differences between ship docking vehicles in the relative position coordinate system using relative azimuth and distance, and generate a relative position matrix expression;

[0105] S23. Directly measure the coordinate data of at least one ship docking vehicle in the world coordinate system and incorporate them into the relative position matrix expression to obtain the position solution equation of the ship docking vehicle;

[0106] S24. Solve the position equations using the least squares method to obtain the positioning coordinates of all ship docking vehicles in the world coordinate system.

[0107] The steps described above are described in detail below.

[0108] In one implementation, the relative position coordinate system in step S22 is a relative coordinate system in which the networked vessel docking vehicle is located. The expression for the relative position matrix is:

[0109] ,

[0110] in, for The coefficient matrix has one element of 1 and one element of -1 in each row, and the rest are 0;

[0111] Indicates the number of ship docking vehicles in the network; This represents the number of measurements taken by the ranging device; in a preferred embodiment, .

[0112] for The position matrix of order, Representing the The x-coordinate of the ship docking vehicle in the relative position coordinate system. Representing the The ordinate of the two ship docking vehicles in the relative position coordinate system;

[0113] for dimensional matrix, Represents the length of the ship docking vehicle. Represents the width of the ship docking vehicle;

[0114] for The matrix of relative position measurement results, Representing the The relative azimuth angles of the docking vehicles of the group of ships are converted into angle values ​​with the abscissa axis of the relative position coordinate system as the zero point. Representing the The relative distance between the docking vehicles of the groups of ships, and the number of docking vehicles in each group of ships is two.

[0115] For example, such as Figure 4 As shown, for ease of description, each ship docking vehicle 30 is numbered approximately in rows and columns, where the auxiliary cylinders of rows A and B move in the following directions: The axis is positive, opposite to rows C and D. Regarding the row numbering of each row, taking row C as an example, although cars C3 and C4 are in... While there is a deviation in direction from vehicles C1 and C2, their auxiliary cylinder movement patterns are consistent during the attitude adjustment process, so they are still grouped into the same row. Assuming that the ship docking vehicle numbered D1 follows steps S11 to S15 in Example 1, and the final ranging and angle measuring devices return three sets of azimuth and distance results, then according to the design working range of the ranging device and the naming rules for ship docking vehicles, these three sets of results must correspond to the three ship docking vehicles B1, B2, and D2. Furthermore, based on the approximate azimuth of the three vehicles, these three sets of results can be easily distinguished, corresponding one-to-one with the actual ship docking vehicles. Combining the size information of the ship docking vehicles (length is...)... Width is The azimuth and distance information of the three docking vehicles B1, B2, and D2 relative to D1, measured by the ranging and angle measuring devices on the docking vehicle D1, can be converted into the relative position information of the docking vehicle center. The azimuth and distance are as follows: Figure 5As shown, the relative position matrix of vehicles D1 and B1, B2, and D2 in the relative coordinate system is as follows:

[0116] .

[0117] In one implementation, step S23 includes the following steps S231 and S232:

[0118] S231, Direct Measurement The coordinate data of the docking vehicle of the ship in the world coordinate system are obtained, and the coordinate system relationship matrix expression between the relative position coordinate system and the world coordinate system is generated.

[0119] ,

[0120] in, for A coefficient matrix of order, where each row has only one element that is 1, and the rest are 0. ;

[0121] Indicates the number of ship docking vehicles in the network; This indicates the number of ship docking vehicles that are used for world coordinate data measurement; preferably, only the world coordinate data of one or more ship docking vehicles closest to the edge of the network are measured.

[0122] The position matrix in claim 7 ;

[0123] for Measurement result matrix in the world coordinate system. Representing the The x-coordinate of the ship docking vehicle in the world coordinate system. Representing the The vertical coordinate of the ship docking vehicle in the world coordinate system.

[0124] It should be noted that direct measurement The coordinate data of the docking vehicle in the world coordinate system can be obtained using tools such as laser trackers and total stations. The results obtained in this way are relatively accurate.

[0125] S232. Combine the coordinate system relationship matrix expression and the relative position matrix expression to obtain the position solution equation for the ship docking vehicle:

[0126] .

[0127] This application proposes two methods for solving the true position matrix of all the aforementioned ship docking vehicles in the world coordinate system.

[0128] In the first embodiment, step S24 includes the following steps:

[0129] The solution equation for the true position matrix of all the aforementioned ship docking vehicles in the world coordinate system is obtained by using the least squares method:

[0130] ,

[0131] in, A matrix representing the positions of all ships and vehicles in the world coordinate system. The optimal estimate.

[0132] In the second implementation, step S24 includes the following steps:

[0133] S241. Using the weighted least squares method to analyze the coefficient matrix. sum coefficient matrix Weighted; the weight matrix is ;in, The weight representing the measurement results of the ranging device. The weights represent the coordinate data of the directly measured ship vehicle in the world coordinate system. indivual The results obtained by the ranging device are weighted equally. indivual The results of the measured ship docking vehicle in the world coordinate system use the same weight;

[0134] S242. Combining the weight matrix with the position solution equation, we obtain the solution equation for the true position matrix of all ship docking vehicles in the world coordinate system:

[0135] ,

[0136] in, This represents considering the weight matrix. The positions of all subsequent ships and vehicles in the world coordinate system Optimal estimate.

[0137] In steps S232 and S242, to address the mismatch in accuracy between the measurement results from the ranging device 20 and the measurement results from devices such as the laser tracker, weights are introduced to unify the impact of the measurement errors of both on the final estimated value, thus obtaining the true position matrix of step S242.

[0138] Here This represents considering the weight matrix. After Optimal estimate, It is a positive definite diagonal matrix, only changing , The magnitude of the measurement error has no effect on the absolute value of the estimated result.

[0139] It should be noted that, and The value can be determined based on the relative measurement accuracy of the two measurement results.

[0140] In the scheme of this embodiment 2, the ranging device on each ship docking vehicle can measure the targets on multiple surrounding ship docking vehicles, and each target can also be scanned by the ranging devices on multiple ship docking vehicles. This redundant measurement data enables network mutual verification, which not only improves the robustness against external interference, but also improves the overall network positioning accuracy.

[0141] Furthermore, by using the method of Example 2, all targets can be quickly scanned in a short time, and the position matrix of all vehicles can be directly given, which greatly shortens the time spent on on-site preparation.

[0142] Furthermore, by incorporating auxiliary measurement data from other measurement fields (such as laser trackers) using the weighted least squares method, the accuracy of the locator data was verified, and the overall positioning accuracy was improved.

[0143] According to a third aspect of this application, a ship docking vehicle positioning system is provided that can implement the methods in Embodiments 1 and 2. It includes a quick scan module, an angle measurement module, an angle calculation module, a distance measurement module, and a conversion module.

[0144] The fast-scan module controls the rotation of the ranging device. When the ranging device receives a target signal, it records the target's position and rotates the ranging device to a position where it is not facing the target. The angle measurement module controls the ranging device to rotate in the direction of the target. When the ranging device just receives the target signal, it records the first angle rotated; when the ranging device just stops receiving the target signal, it records the second angle rotated. The calculation starting points for the first and second angles are the same. The angle calculation module adds the first and second angles and takes the average to obtain the target angle; the target angle represents the azimuth of the ranging device relative to the target. The distance measurement module controls the ranging device to rotate to the position corresponding to the target angle and then stops. It repeatedly collects the target signal received by the ranging device, analyzes the multiple target signals, adds them together, and takes the average to obtain the distance between the ranging device and the target. The conversion module converts the azimuth and distance of the ranging device relative to the target into the azimuth and distance between the two ship docking vehicles.

[0145] In one implementation, the ship docking vehicle positioning system further includes a network measurement module, a relative position calculation module, and a solution module.

[0146] The network measurement module operates the ranging device on each ship docking vehicle, completing steps S11 to S15 of the single-group ship docking vehicle positioning method in Example 1, obtaining the relative azimuth and distance between two adjacent ship docking vehicles within a predetermined interval. The relative position calculation module establishes a relative position coordinate system, transforming the relative azimuth and distance of all ship docking vehicles to the same relative position coordinate system, and representing the positional differences between ship docking vehicles in the relative position coordinate system using relative azimuth and distance, generating a relative position matrix expression. The solution module incorporates the coordinate data from the world coordinate system into the relative position matrix expression, obtaining the position solution equation for the ship docking vehicles; and uses the least squares method to solve the position solution equation, obtaining the positioning coordinate data of all ship docking vehicles in the world coordinate system.

[0147] According to a fourth aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the methods in Embodiments 1 and 2.

[0148] According to a fifth aspect of this application, a computer device is also provided, comprising: a processor and a memory; the memory for storing a computer program, and the processor for executing the computer program stored in the memory to cause the device to perform the steps of the methods in Embodiments 1 and 2.

[0149] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A positioning method for a single set of ship docking vehicles, characterized in that, The single set of ship docking vehicles includes two ship docking vehicles, a ranging device is arranged on one of the ship docking vehicles, the ranging device can rotate around its own axis, a target is arranged on the other ship docking vehicle, the ranging device emits ranging signals at all times when working, when facing the target, the ranging signals are fed back by the target in the form of target signals and received by the ranging device; The single set of ship docking vehicle positioning method includes the following steps: S11, control the ranging device to rotate, when the ranging device receives the target signal, record the position of the target, and rotate the ranging device to a position not facing the target; S12, control the ranging device to rotate in the direction of turning to the target, when the ranging device just receives the target signal, record the first angle turned by the ranging device; when the ranging device just cannot receive the target signal, record the second angle turned by the ranging device; the calculation starting point of the first angle and the second angle is the same; S13, add the first angle and the second angle and take the average to obtain the target angle; the target angle is used to represent the azimuth angle of the ranging device relative to the target; S14, control the ranging device to rotate to the position corresponding to the target angle and stop, collect the target signal received by the ranging device multiple times, analyze and add the multiple target signals and take the average to obtain the distance between the ranging device and the target; S15, convert the azimuth angle and distance of the ranging device relative to the target into the relative azimuth angle and distance of the center positions of the two ship docking vehicles; The rotation direction of the ranging device includes a second circumferential direction and a first circumferential direction, the second circumferential direction is opposite to the first circumferential direction; The rotation speed of the ranging device at least includes a first speed; The step S11 includes the following steps: S111, control the ranging device to rotate in the first circumferential direction at the first speed; S112, when the ranging device receives the target signal, control the ranging device to rotate in the second circumferential direction; S113, after the ranging device changes from being able to receive the target signal to being unable to receive the target signal, the ranging device stops rotating, and the position of the ranging device at this time is recorded as the rotation zero position; The rotation zero position is the calculation starting point of the first angle and the second angle in the step S12; The rotation speed of the ranging device further includes a second speed, the second speed is less than the first speed; In the step S12, controlling the ranging device to rotate in the direction of turning to the target is specifically: controlling the ranging device to rotate in the first circumferential direction at the second speed; The second speed is not more than half of the first speed.

2. The method of claim 1, wherein, In the step S15, the azimuth angle and distance of the ranging device relative to the target are converted into the relative azimuth angle and distance of the center positions of the two ship docking vehicles.

3. A method for positioning a docking vehicle of a networked vessel, characterized in that, The networked ship docking vehicle comprises at least two ship docking vehicles, each of which is provided with a ranging device and a target, the ranging device can rotate around its own axis, the ranging device emits ranging signals at all times when working, and the target can feed back target signals after receiving the ranging signals; when the ranging device on the ship docking vehicle is directed towards the target on the other ship docking vehicle within a predetermined distance, the ranging device can receive the target signals fed back by the target; The networked ship docking vehicle positioning method comprises the following steps: S21, operating the ranging device on each ship docking vehicle to complete steps S11 to S15 of the single-group ship docking vehicle positioning method according to any one of claims 1 to 2, to obtain the relative azimuth and distance of two adjacent ship docking vehicles within a predetermined distance; S22, establishing a relative position coordinate system, converting the relative azimuth and distance of all ship docking vehicles into the same relative position coordinate system, expressing the position difference between the ship docking vehicles in the relative position coordinate system by the relative azimuth and distance, and generating a relative position matrix expression; S23, directly measuring the coordinate data of at least one ship docking vehicle in the world coordinate system and incorporating it into the relative position matrix expression to obtain a position solving equation of the ship docking vehicle; S24, solving the position solving equation by using the least square method to obtain the positioning coordinate data of all ship docking vehicles in the world coordinate system.

4. The method of claim 3, wherein, In the step S22, the relative position matrix expression is: ， wherein is a matrix of order n, each row having only one element equal to 1 and one equal to -1, the others being equal to 0; represents the number of vessels docking the vehicle in the network; represents the number of results measured by the ranging device; for a matrix of step positions, representing the first lateral coordinate of the first vehicle in the relative position coordinate system, representing the first longitudinal coordinate of the first vehicle in the relative position coordinate system; for a step size matrix, represents the length of the ship to be docked, represents the width of the ship to be docked; for the relative position measurement matrix of the phase, representing the first relative azimuth angle of the group of ship docking vehicles after conversion, which is the angle value after the horizontal coordinate axis of the relative position coordinate system is zeroed, representing the first relative distance of the group of ship docking vehicles, and the number of the group of ship docking vehicles is two.

5. The method of claim 4, wherein, The step S23 comprises the following steps: S231、directly measure The kitchen said that the ship docking car in the world coordinate system coordinate data, and generate relative position coordinate system and world coordinate system coordinate system relationship matrix expression; ， wherein is a coefficient matrix of order n, each row having only one element equal to 1 and the others equal to 0, ; represents the number of ship docking vehicles in the networking; represents the number of ship docking vehicles that perform world coordinate data measurement; For a measurement matrix in a world coordinate system, representing the first lateral coordinate of the first vehicle in the world coordinate system, representing the first longitudinal coordinate of the first vehicle in the world coordinate system; S232, combining the coordinate system relationship matrix expression with the relative position matrix expression to obtain the position solving equation of the ship docking vehicle: 。 6. The method of claim 5, wherein, The step S24 comprises the following steps: S241, using the least square method to calculate and solve to obtain a real position matrix solving equation of all ship docking vehicles in the world coordinate system: ， wherein, represents the optimal estimate of the position matrix of all ship vehicles in the world coordinate system .

7. The method of claim 5, wherein, The step S24 comprises the following steps: S241, using weighted least squares method to coefficient matrix and coefficient matrix weighting; weight matrix is ; wherein, represent the weight of the measurement results of the ranging device, represent the weight of the directly measured coordinate data of the ship vehicle in the world coordinate system, represent the same weight of the results measured by the ranging device, represent the same weight of the measured results of the ship docking vehicle in the world coordinate system;​​ S242, combining the weight matrix with the position solving equation to obtain a real position matrix solving equation of all ship docking vehicles in the world coordinate system: ， wherein, represents a weight matrix under consideration all subsequent ship vehicles in the world coordinate system position matrix optimal estimate value.

8. A marine docking vehicle positioning system characterized by, It comprises: A fast scanning module for controlling the rotation of the ranging device, recording the position of the target when the ranging device receives the target signal, and rotating the ranging device to a position not facing the target; An angle measurement module for controlling the ranging device to rotate in the direction of the target, recording a first angle turned by the ranging device when the ranging device just receives the target signal, and recording a second angle turned by the ranging device when the ranging device just cannot receive the target signal; the calculation starting point of the first angle and the second angle is the same; An angle calculation module for adding the first angle and the second angle and taking the average to obtain a target angle; The target angle is used to represent the azimuth angle of the ranging device relative to the target; A distance measurement module for controlling the ranging device to stop after rotating to the position corresponding to the target angle, collecting the target signals received by the ranging device multiple times, analyzing and adding the multiple target signals to obtain the distance between the ranging device and the target. The conversion module is configured to convert the azimuth angle and the distance of the ranging device relative to the target into the relative azimuth angle and the distance of the two ship docking vehicles. The networking measurement module is configured to operate the ranging device on each ship docking vehicle to complete steps S11-S15 of the single-group ship docking vehicle positioning method according to any one of claims 1-2, and obtain the relative azimuth angle and the distance of the two adjacent ship docking vehicles within the predetermined distance. The relative position calculation module is configured to establish a relative position coordinate system, convert the relative azimuth angle and the distance of all the ship docking vehicles into the same relative position coordinate system, express the position difference between the ship docking vehicles in the relative position coordinate system by using the relative azimuth angle and the distance, and generate a relative position matrix expression. The solving module is configured to combine the coordinate data in the world coordinate system into the relative position matrix expression to obtain a position solving equation of the ship docking vehicles, and solve the position solving equation by using a least square method to obtain the positioning coordinate data of all the ship docking vehicles in the world coordinate system.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method according to any one of claims 1-7.

10. A computer device, comprising: The program is executed by the processor to implement the steps of the method according to any one of claims 1-7. The program is executed by the processor to implement the steps of the method according to any one of claims 1-7. The program is executed by the processor to implement the steps of the method according to any one of claims 1-7.

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