Marine positioning method and cluster positioning system terminal thereof

Abstract

The application discloses a marine positioning method and a cluster positioning system terminal thereof, and comprises the steps of establishing a differential reference station, collecting and processing navigation information of a ship, exchanging and receiving data, displaying accurate navigation information and sharing the accurate navigation information. The marine positioning method uses the cluster positioning system terminal, a box cover for opening and closing the waterproof box body is arranged on the front of the waterproof box body, a partition plate is horizontally arranged on the middle upper portion of the waterproof box body, the partition plate divides the internal space of the waterproof box body into two layers, a computer, a switch and a power adapter are arranged in the lower space of the waterproof box body, a navigation satellite receiver and a serial port server are arranged in the upper space, a wireless ad hoc network device is arranged on the outer wall of any side of the waterproof box body, and a signal transmitting and receiving antenna is detachably arranged on the top of the wireless ad hoc network device. The marine positioning method and the cluster positioning system terminal have the characteristics of high single-point positioning precision, high measurement data update rate, real-time sharing of measurement data information and convenient installation and implementation.

Description

Technical Field

[0001] This invention relates to the field of high-precision cluster positioning technology, and in particular to a marine positioning method and its cluster positioning system terminal. Background Technology

[0002] Generally, in the field of navigation satellite measurement, navigation satellite receivers are typically used to receive satellite signals to perform point positioning. This method is simple to operate and has a low design cost, but its positioning accuracy is low and cannot meet the needs of specialized fields for high-precision position and velocity information. In addition, the various measurement nodes in the system are independent of each other and cannot share measurement information. On the other hand, general-purpose equipment with high accuracy and navigation information sharing is often poorly customized, lacking waterproof and collision-proof functions, and is not compatible with ship mounting structures, nor can it be configured with communication links according to specific requirements.

[0003] Therefore, the key to solving the above-mentioned technical problems lies in developing a high-precision GNSS cluster positioning method and terminal device for ships with high positioning accuracy. Summary of the Invention

[0004] The first objective of this invention is to provide a marine positioning method; the second objective is to provide a cluster positioning system terminal for the marine positioning method.

[0005] The first objective of this invention is achieved by the following technical solution:

[0006] S1. Establish differential reference stations. Several GNSS differential reference stations are established on shore. The signal transmission mode of the GNSS differential reference stations is differential transmission.

[0007] S2. Ship navigation information collection and processing: The cluster positioning system terminal collects the navigation information of the ship node it is located in, and transmits the collected navigation information to the GNSS differential reference station through a wireless ad hoc network. The GNSS differential reference station then transmits the received navigation information to the cluster positioning system terminal of other ship nodes connected to the GNSS differential reference station network through a wireless ad hoc network.

[0008] S3. Data exchange and reception: The cluster positioning system terminal of each ship node calculates the precise navigation information of its own ship node based on the navigation information of its own ship node and the navigation information of other ship nodes received. The precise navigation information is then transmitted to the GNSS differential reference station through the wireless ad hoc network. The GNSS differential reference station then transmits the precise navigation information of each ship node to the cluster positioning system terminal of other ship nodes.

[0009] S4. Precise navigation information display: The cluster positioning system terminal of each ship node converts, processes, and stores the received precise navigation information, and displays it on the display of the cluster positioning system terminal in the form of a map.

[0010] S5. Precise navigation information sharing: The cluster positioning system terminals of each vessel node transmit the precise navigation information processed in step S4 to the GNSS differential reference station, which then uploads it to the system situation monitoring center for sharing and storage.

[0011] The second objective of this invention is achieved by the following technical solution: including a waterproof enclosure (1), a partition (2), a computer (7), a wireless self-organizing network device (8), a signal transceiver antenna (9), a switch (6), a navigation satellite receiver (3), and a serial port server (4). The front of the waterproof enclosure (1) is provided with a cover (10) for opening and closing the waterproof enclosure (1). A partition (2) is horizontally arranged in the upper middle part of the waterproof enclosure (1). The partition (2) divides the internal space of the waterproof enclosure (1) into two lower layers. The computer (7), the switch (6), and the power adapter (5) are arranged in the lower space of the waterproof enclosure (1). The navigation satellite receiver (3) and the serial port server (4) are arranged in the upper space. The wireless self-organizing network device (8) is arranged on the outer wall of either side of the waterproof enclosure (1). The wireless self-organizing network device (8) is detachably provided with a signal transceiver antenna (9) on its top.

[0012] The beneficial effects of this invention compared to the prior art are:

[0013] 1. The marine GNSS high-precision cluster positioning system terminal of the present invention overcomes the shortcomings of existing GNSS single-point positioning equipment, such as low accuracy, low measurement data update rate, and inability to share measurement information in real time. After connecting to an external power source, it can carry out high-precision position and velocity measurements and realize measurement information sharing. It has the characteristics of convenient installation and implementation.

[0014] 2. This invention can effectively provide high-precision real-time vessel position and speed data for lake-based testing. Furthermore, this intellectual property can also serve as a measurement system for equipment challenge competitions on lakes or land, providing reliable criteria for judging competition test results.

[0015] 3. This invention has a wide range of applications and can also be used as a measurement system for equipment challenge competitions on lakes or land, providing reliable criteria for judging competition test results;

[0016] 4. The present invention has low installation and processing difficulty, meets practical application needs, and the overall technical solution is feasible. It can be installed at an appropriate location on a ship or other moving vehicle.

[0017] 5. It can be applied to the real-time acquisition of high-precision position, speed and time information of multiple dynamic carriers, and can be shared by transmitting the data to designated network nodes of the cluster measurement system via wireless network. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the marine GNSS high-precision cluster positioning system of the present invention;

[0019] Figure 2 This is a schematic diagram of the working principle of the cluster positioning system terminal of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the cluster positioning system terminal of the present invention;

[0021] Numbering in the diagram: 1—Waterproof enclosure, 2—Block, 3—Navigation satellite receiver, 4—Serial server, 5—Power adapter, 6—Switch, 7—Computer, 8—Wireless self-organizing network equipment, 9—Signal transceiver antenna, 10—Enclosure cover, 11—Storage compartment. Detailed Implementation

[0022] To make the technical means, inventive features, objectives and effects of the present invention easier to understand, the technical solution of the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1 The marine positioning method shown includes the following steps:

[0024] S1. Establish differential reference stations. Several GNSS differential reference stations are established on shore. The signal transmission mode of the GNSS differential reference stations is differential transmission.

[0025] S2. Ship navigation information collection and processing: The cluster positioning system terminal collects the navigation information of the ship node where it is located. The navigation information includes position, speed and positioning status. The collected navigation information is transmitted to the GNSS differential reference station through a wireless ad hoc network. The GNSS differential reference station then transmits the received navigation information to the cluster positioning system terminal of other ship nodes connected to the GNSS differential reference station network through a wireless ad hoc network.

[0026] S3. Data Exchange and Reception: Each vessel node's cluster positioning system terminal calculates its precise navigation information based on its own navigation information and the navigation information received from other vessel nodes. This precise navigation information includes position, speed, and measurement time. The precise navigation information is then transmitted to the GNSS differential reference station via a wireless ad hoc network. The GNSS differential reference station then transmits the precise navigation information of each vessel node to the cluster positioning system terminals of other vessel nodes. The wireless ad hoc network system is a Mesh wireless ad hoc network system, and the transmission protocol is UDP.

[0027] S4. Precise navigation information display: The cluster positioning system terminal of each ship node converts, processes, and stores the received precise navigation information, and displays it on the display of the cluster positioning system terminal in the form of a map.

[0028] S5. Precise navigation information sharing: The cluster positioning system terminals of each vessel node transmit the precise navigation information processed in step S4 to the GNSS differential reference station, which then uploads it to the system situation monitoring center for sharing and storage.

[0029] Furthermore, precise navigation information includes the speed of each ship node, the distance between the ship node and other ship nodes, its position coordinates, and its direction of movement.

[0030] As attached Figures 2-3 The marine positioning method shown uses a cluster positioning system terminal, including a waterproof housing 1, a partition 2, a computer 7, a wireless self-organizing network device 8, a signal transceiver antenna 9, a switch 6, a navigation satellite receiver 3, and a serial port server 4. The front of the waterproof housing 1 is provided with a cover 10 for opening and closing the waterproof housing 1. The partition 2 is horizontally arranged in the upper middle part of the waterproof housing 1, dividing the internal space of the waterproof housing 1 into two lower layers. The computer 7, the switch 6, and the power adapter 5 are arranged in the lower space of the waterproof housing 1, and the navigation satellite receiver 3 and the serial port server 4 are arranged in the upper space. The wireless self-organizing network device 8 is arranged on the outer wall of either side of the waterproof housing 1, and the top of the wireless self-organizing network device 8 is detachably provided with a signal transceiver antenna 9.

[0031] The navigation satellite receiver 3 is used to receive navigation data and perform differential positioning calculations. It is connected to the serial server 4 via a serial cable.

[0032] The serial port server 4 is used to realize the physical connection conversion between the serial port and the Ethernet port, and is connected to the switch 6 via a network cable;

[0033] The computer 7 is equipped with ship dynamic positioning software, which is used to receive navigation information from the ship node and other ship nodes, and to allow manual intervention to interactively access and view data.

[0034] The power adapter 5 is used to supply power to the navigation receiver, serial server 4, switch 6, computer 7 and wireless self-organizing network device 8. It takes in 220V AC power and converts it to output 12V and / or 24V DC power respectively.

[0035] The waterproof box 1 has a breathable mesh on its lid 10 or back, and the partition 2 is a hollow mesh structure to dissipate heat inside the waterproof box 1.

[0036] It also includes external devices. A storage compartment 11 is provided in the lower or upper space of the waterproof housing 1. The external devices are set in the storage compartment 11 and are a monitor, keyboard and mouse, providing human-computer interaction and facilitating the viewing of data information.

[0037] The waterproof box 1 shown is made of metal.

[0038] Before use, the user needs to move the cluster positioning system terminal to the designated vessel working position using appropriate handling equipment or manually for installation as a backup. The specific installation steps are as follows: First, install the vessel dynamic positioning software on the computer 7 in advance. Second, install the signal transceiver antenna 9 onto the wireless self-organizing network device 8, and connect the feeder connector of the wireless self-organizing network device 8 to the navigation satellite receiver 3 inside the waterproof housing 1. Third, take out the monitor, keyboard, and mouse and connect them to the computer 7. Connect the power adapter 5 to 220V AC power through the power cord to complete the equipment installation. Fourth, open the vessel dynamic positioning software already installed on the computer 7, and obtain high-precision navigation information of all currently operating vessels in real time through electronic maps.

[0039] The specific implementation method of the cluster positioning system terminal is as follows: Ship dynamic positioning software is pre-installed on computer 7; each cluster positioning system terminal's navigation satellite receiver 3 first collects the navigation information of its respective ship node, and then uploads it to the differential reference station through wireless self-organizing network device 8 and signal transceiver antenna 9. The differential reference station transmits the navigation information to each ship node. Each navigation satellite receiver 3 combines the received navigation information with the navigation information of its respective ship node to perform differential positioning calculation to obtain accurate navigation information, and transmits the accurate navigation information to computer 7 through serial port server 4 and switch 6. The ship dynamic positioning software installed on computer 7 then performs visualization processing on the accurate navigation information. Finally, a person intervenes to control computer 7 through an external device monitor, keyboard and mouse to call the ship dynamic positioning software and display it on the monitor. The accurate navigation information includes the ship node's position information, speed information and measurement time, realizing the function of calling and viewing data and operation; at the same time, each navigation satellite receiver 3 also transmits the calculation results back to the differential reference station, and the differential reference station remotely transmits the calculation results to the system situation monitoring center for sharing and storage.

[0040] In summary, the ship positioning method of the present invention, in cooperation with the cluster positioning system terminal, can obtain high-precision navigation information of the ship and other operating vessels, thereby realizing the sharing of navigation information among various nodes within the system; the computer 7 can automatically record measurement data, and after connecting external devices such as keyboard, mouse and monitor, the dynamic information of all operating vessels can be viewed on the local electronic map; the terminal device housing has waterproof, anti-collision and electromagnetic shielding functions, and is simple and convenient to implement.

Claims

1. A marine positioning method, characterized in that, The positioning method includes the following steps: S1. Establish differential reference stations. Several GNSS differential reference stations are established on shore. The signal transmission mode of the GNSS differential reference stations is differential transmission. S2. Ship navigation information collection and processing: The cluster positioning system terminal collects the navigation information of the ship node it is located in, and transmits the collected navigation information to the GNSS differential reference station through a wireless ad hoc network. The GNSS differential reference station then transmits the received navigation information to the cluster positioning system terminal of other ship nodes connected to the GNSS differential reference station network through a wireless ad hoc network. S3. Data exchange and reception: The cluster positioning system terminal of each ship node calculates the precise navigation information of its own ship node based on the navigation information of its own ship node and the navigation information of other ship nodes received. The precise navigation information is then transmitted to the GNSS differential reference station through the wireless ad hoc network. The GNSS differential reference station then transmits the precise navigation information of each ship node to the cluster positioning system terminal of other ship nodes. S4. Precise navigation information display: The cluster positioning system terminal of each ship node converts, processes, and stores the received precise navigation information, and displays it on the display of the cluster positioning system terminal in the form of a map. S5. Precise navigation information sharing: The cluster positioning system terminals of each vessel node transmit the precise navigation information processed in step S4 to the GNSS differential reference station, which then uploads it to the system situation monitoring center for sharing and storage. The wireless ad hoc network system in steps S2 and S3 is a Mesh wireless ad hoc network system, and the transmission protocol is UDP.

2. The marine positioning method according to claim 1, characterized in that: The navigation information in step S2 includes location, speed, and positioning status.

3. The marine positioning method according to claim 1, characterized in that: The precise navigation information in step S3 includes location information, speed information, and measurement time.

4. A cluster positioning system terminal for a marine positioning method according to any one of claims 1 to 3, characterized in that: The device includes a waterproof enclosure (1), a partition (2), a computer (7), a wireless self-organizing network device (8), a signal transceiver antenna (9), a switch (6), a navigation satellite receiver (3), and a serial port server (4). The front of the waterproof enclosure (1) is provided with a cover (10) for opening and closing the waterproof enclosure (1). A partition (2) is horizontally arranged in the upper middle part of the waterproof enclosure (1). The partition (2) divides the internal space of the waterproof enclosure (1) into two lower layers. The computer (7), the switch (6), and the power adapter (5) are arranged in the lower space of the waterproof enclosure (1). The navigation satellite receiver (3) and the serial port server (4) are arranged in the upper space. The wireless self-organizing network device (8) is arranged on the outer wall of either side of the waterproof enclosure (1). The wireless self-organizing network device (8) is detachably provided with a signal transceiver antenna (9) on the top. The waterproof box (1) has a breathable mesh on its lid (10) or back, and the partition (2) is a hollow mesh structure.

5. The cluster positioning system terminal for the marine positioning method according to claim 4, characterized in that: The navigation satellite receiver (3) is used to receive navigation data and perform differential positioning calculations. It is connected to the serial port server (4) via a serial cable. The serial port server (4) is used to realize the physical connection conversion between the serial port and the Ethernet port, and is connected to the switch (6) via a network cable; The computer (7) is equipped with ship dynamic positioning software, which is used to receive navigation information of the ship node and other ship nodes, and to allow manual intervention to interactively call and view data; The power adapter (5) is used to supply power to the navigation receiver, serial server (4), switch (6), computer (7) and wireless self-organizing network device (8), with 220V AC input and 12V and / or 24V DC output respectively.

6. The cluster positioning system terminal for the marine positioning method according to claim 4, characterized in that: It also includes external devices. A storage compartment (11) is provided in the lower or upper space of the waterproof housing (1). The external devices are set in the storage compartment (11) and are a monitor, keyboard and mouse, providing human-computer interaction and facilitating the viewing of data information.

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