Anchor block construction positioning method

Abstract

The present application relates to a method for positioning anchor block construction. The method comprises: in response to an anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel; determining the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel; in the case where the shipboard transducer of the anchor block construction vessel cannot directly communicate with the underwater transponder, determining the anchor block construction area parameter information according to the anchor block construction coordinate system; based on the anchor block construction area parameter information, triangulating the position information of each underwater transponder to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system. The use of this method can effectively improve the positioning accuracy of the construction position of the anchor block, reduce errors, optimize construction efficiency, ensure the reliability and safety of the construction process under complex sea conditions and limited communication conditions, and ultimately improve the project quality and overall construction effect.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to an anchor block construction positioning method, device, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of computer technology, anchor block positioning technology has emerged. This technology ensures the accurate construction position of anchor blocks in the foundation construction of large structures through precise measurement, design and construction to ensure the stability and safety of the structure. This includes detailed on-site measurement, design planning, layout positioning, drilling installation, and detection and adjustment, using high-quality materials and professional equipment.

[0003] In traditional technology, the construction location of anchor blocks is usually located through manual measurement and layout. First, use measuring tools such as steel rulers and theodolites to measure the construction site in detail, mark the specific location of the anchor blocks on the ground according to the design drawings, and then drill holes and install the anchor blocks at the marked points. However, in some areas where it is difficult to locate by manual measurement and layout, traditional methods are still used to locate the construction location of the anchor blocks, resulting in insufficient positioning accuracy of the construction location of the anchor blocks. Summary of the invention

[0004] Based on this, it is necessary to provide an anchor block construction positioning method, device, computer equipment, computer readable storage medium and computer program product that can effectively improve the positioning accuracy of the construction position of the anchor block in response to the above technical problems.

[0005] In a first aspect, the present application provides an anchor block construction positioning method, comprising:

[0006] In response to the anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel;

[0007] Determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0008] In the case where the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determining the anchor construction area parameter information according to the anchor construction coordinate system;

[0009] According to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0010] In a second aspect, the present application also provides an anchor block construction positioning device, comprising:

[0011] A physical data acquisition module, used to respond to the anchor block construction instruction and obtain the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel;

[0012] A coordinate system construction module, used to determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0013] A construction area determination module, used to determine anchor construction area parameter information according to the anchor construction coordinate system when the shipboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder;

[0014] The anchor block coordinate obtaining module is used to perform triangulation on the position information of each underwater transponder according to the anchor block construction area parameter information to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0015] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0016] In response to the anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel;

[0017] Determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0018] In the case where the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determining the anchor construction area parameter information according to the anchor construction coordinate system;

[0019] According to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0020] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0021] In response to the anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel;

[0022] Determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0023] In the case where the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determining the anchor construction area parameter information according to the anchor construction coordinate system;

[0024] According to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0025] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0026] In response to the anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel;

[0027] Determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0028] In the case where the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determining the anchor construction area parameter information according to the anchor construction coordinate system;

[0029] According to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0030] The above-mentioned anchor construction positioning method, device, computer equipment, storage medium and computer program product obtain the positioning antenna coordinates corresponding to the anchor construction vessel and the physical parameters of the construction vessel by responding to the anchor construction instructions; determine the anchor construction coordinate system corresponding to the anchor construction vessel based on the positioning antenna coordinates and the physical parameters of the construction vessel; when the shipboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determine the anchor construction area parameter information based on the anchor construction coordinate system; based on the anchor construction area parameter information, triangulate the position information of each underwater transponder to obtain the anchor construction coordinates of each anchor in the anchor construction coordinate system.

[0031] By obtaining the positioning antenna coordinates of the anchor construction vessel and the physical parameters of the vessel, the anchor construction coordinate system is accurately determined. In this way, when the ship-borne transducer cannot directly communicate with the underwater transponder, the detailed parameter information of the construction area can be determined through this coordinate system. These parameter information are used for triangulation to accurately calculate the specific position of each anchor in the construction coordinate system. This process can not only effectively improve the positioning accuracy of the construction position of the anchor block and reduce errors, but also optimize the construction efficiency, ensure the reliability and safety of the construction process under complex sea conditions and limited communication conditions, and ultimately improve the project quality and overall construction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A diagram showing an application environment of an anchor block construction positioning method in an embodiment;

[0034] Figure 2 A schematic diagram of a flow chart of an anchor block construction positioning method in one embodiment;

[0035] Figure 3 It is a flowchart of a method for determining parameter information of an anchor block construction area in one embodiment;

[0036] Figure 4 It is a flow chart of a method for determining parameter information of an anchor block construction area in another embodiment;

[0037] Figure 5 A schematic diagram of a flow chart of a method for obtaining anchor block construction coordinates in one embodiment;

[0038] Figure 6 A schematic flow chart of a method for obtaining anchor block construction coordinates in another embodiment;

[0039] Figure 7 A schematic flow chart of a method for obtaining anchor block construction coordinates in another embodiment;

[0040] Figure 8 It is a structural block diagram of an anchor block construction positioning device in one embodiment;

[0041] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The anchor block construction positioning method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. In response to the anchor block construction instruction, the server 104 obtains the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel from the terminal 102; according to the positioning antenna coordinates and the physical parameters of the construction vessel, the anchor block construction coordinate system corresponding to the anchor block construction vessel is determined; when the shipboard transducer of the anchor block construction vessel cannot directly communicate with the underwater transponder, the anchor block construction area parameter information is determined according to the anchor block construction coordinate system; according to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable device may be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0044] In an exemplary embodiment, Figure 2 As shown, a method for positioning an anchor block is provided, and the method is applied to Figure 1 The server in the example is used to illustrate, including the following steps 202 to 208. Among them:

[0045] Step 202, in response to the anchor block construction instruction, obtain the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel.

[0046] Among them, the anchor block construction instruction can be a start-up instruction for guiding the installation and construction of anchor blocks (i.e., block structures that are embedded in reinforced concrete or other materials to fix and support structures) in engineering construction.

[0047] Among them, the anchor block construction vessel can be a kind of ship equipment specially used for the installation and construction of anchor blocks in water projects. Such vessels are usually equipped with heavy cranes, positioning systems, anchors and other special tools for accurately placing and installing anchor blocks in waters such as oceans, rivers or lakes.

[0048] The positioning antenna coordinates can be the location information of the reference point of the positioning antenna, which is used to determine and describe the coordinate value of the precise position of the antenna in space. These coordinates usually adopt a three-dimensional coordinate system, including longitude, latitude and altitude, so as to accurately locate the position of the antenna in the global positioning system (GPS) or other navigation systems.

[0049] The physical parameters of the construction vessel may include the length and width of the vessel, the distance from the positioning antenna to the bow, and the distance from the positioning antenna to the port side.

[0050] Specifically, in response to the anchor construction instruction, the current positioning antenna coordinates of the anchor construction vessel, including information such as longitude, latitude and altitude, are obtained through the ship-borne navigation system and positioning equipment; then, the physical parameters of the anchor construction vessel are collected, such as the length, width, height, weight and posture of the vessel; this information is transmitted to the central control system through the data interface, and comprehensively analyzed and processed as the basic data for establishing the anchor construction coordinate system.

[0051] Step 204, determining the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel.

[0052] The anchor block construction coordinate system may be a temporary coordinate system established with a certain point of the anchor block construction vessel as the coordinate origin.

[0053] Specifically, according to the coordinate information of the positioning antenna and the relative position of any point of the anchor construction vessel, any point of the anchor construction vessel is determined as the coordinate origin, and a coordinate system is established according to the physical parameters of the construction vessel (such as the length, width, height, attitude angle, etc.). For example, the center of gravity of the construction vessel can be set as the coordinate origin; through the data of the attitude sensor, the pitch angle, roll angle and yaw angle of the vessel are applied to the coordinate transformation matrix to correct the direction of the coordinate system; and finally an accurate anchor construction coordinate system is formed. For example: taking the positioning antenna coordinates as the reference point, and according to the bow direction of the direction finder, it can be converted to any point on the ship, so as to meet the positioning work at different positions of the ship. The length and width of the ship, the distance from the positioning antenna coordinates to the bow and the distance from the positioning antenna coordinates to the port side can be input to establish the coordinate origin of the temporary coordinate system, and the bow direction is taken as the positive direction of the X axis, and the direction perpendicular to the starboard side is taken as the positive direction of the Y axis, so as to obtain a temporary anchor construction coordinate system, and the coordinates of the actual working point, the starting point of the system, the anchor cable exit point, etc. can be calculated.

[0054] Step 206, when the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, the anchor construction area parameter information is determined according to the anchor construction coordinate system.

[0055] The anchor block construction area parameter information may be information used to describe various key parameters and conditions in the construction area of ​​the anchor block installation project. These parameters generally include water depth, bottom type, tidal changes, flow velocity, wind speed, geographic coordinates of the construction area, and other environmental and geological conditions.

[0056] Specifically, when the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, the established anchor construction coordinate system is used to monitor the motion state and position changes of the vessel in real time through the shipboard navigation system and inertial measurement device; according to the positional relationship between the anchor construction coordinate system and the satellite for shipboard navigation, and the positional relationship between the satellite for shipboard navigation and the anchor construction area, the anchor construction area parameter information of the anchor construction area is calculated and determined on the basis of taking the anchor construction coordinate system as the reference coordinate.

[0057] Step 208, based on the anchor block construction area parameter information, triangulate the position information of each underwater transponder to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0058] The anchor block construction coordinates may be specific construction positions of different anchor blocks in the anchor block construction coordinate system.

[0059] Specifically, on the basis of the anchor block construction coordinate system, according to the determined anchor block construction area parameter information, a plurality of measurement points with known coordinates are set in the anchor block construction area, and these measurement points can be used to place measurement equipment for measuring the construction position of each anchor block; since the underwater transponder and the specific construction position of the anchor block have a one-to-one correspondence, different measurement equipment are used to transmit measurement signals to different underwater transponders in the anchor block construction area at corresponding measurement points, and receive feedback signals, and through the principle of triangulation, these distance data are used to calculate the specific position coordinates of each underwater transponder in the construction coordinate system; the measured position information of each underwater transponder is corrected and optimized, and the position information of each underwater transponder is used as the coordinates of the corresponding anchor block, and finally the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system are obtained.

[0060] In the above-mentioned anchor construction positioning method, by responding to the anchor construction instruction, the positioning antenna coordinates corresponding to the anchor construction vessel and the physical parameters of the construction vessel are obtained; according to the positioning antenna coordinates and the physical parameters of the construction vessel, the anchor construction coordinate system corresponding to the anchor construction vessel is determined; when the shipborne transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, the anchor construction area parameter information is determined according to the anchor construction coordinate system; according to the anchor construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor construction coordinates of each anchor in the anchor construction coordinate system.

[0061] By obtaining the positioning antenna coordinates of the anchor construction vessel and the physical parameters of the vessel, the anchor construction coordinate system is accurately determined. In this way, when the ship-borne transducer cannot directly communicate with the underwater transponder, the detailed parameter information of the construction area can be determined through this coordinate system. These parameter information are used for triangulation to accurately calculate the specific position of each anchor in the construction coordinate system. This process can not only effectively improve the positioning accuracy of the construction position of the anchor block and reduce errors, but also optimize the construction efficiency, ensure the reliability and safety of the construction process under complex sea conditions and limited communication conditions, and ultimately improve the project quality and overall construction effect.

[0062] In an exemplary embodiment, Figure 3 As shown, according to the anchor block construction coordinate system, the anchor block construction area parameter information is determined, including steps 302 to 304. Among them:

[0063] Step 302, determining the detection satellite coordinates in the anchor block construction coordinate system.

[0064] The detection satellite coordinates may be coordinates of a satellite used to detect an anchor block construction area.

[0065] Specifically, according to the origin, reference point and benchmark point in the anchor block construction coordinate system, the real-time position data of the detection satellite, including longitude, latitude and altitude information, is obtained through a high-precision GNSS (Global Navigation Satellite System) receiver; these satellite position information are converted to the anchor block construction coordinate system, and the coordinate conversion formula and matrix transformation method are used to convert the satellite coordinates of the global coordinate system into coordinates in the construction coordinate system; the detection satellite coordinates are obtained through real-time data correction and error correction.

[0066] Step 304, controlling the detection satellite in the detection satellite coordinates to measure the anchor block construction area corresponding to each anchor block to obtain anchor block construction area parameter information.

[0067] The anchor block construction area may be an area where multiple anchor blocks are constructed.

[0068] Specifically, the detection satellite is positioned in the anchor block construction coordinate system through the control system command, so that it is aimed at the anchor block construction area corresponding to each anchor block; the detection satellite uses its onboard sensor (such as radar, laser rangefinder or high-resolution imaging equipment) to scan and measure the anchor block construction area, and collects parameter information including terrain, landform, altitude and environment; the measurement data is transmitted back to the ground control center, and the information is parsed and corrected by data processing and analysis software to form detailed three-dimensional parameters of the anchor block construction area, and the anchor block construction area parameter information for the anchor block construction area is determined from the three-dimensional parameters of the anchor block construction area, including multiple measurement points for measuring the specific construction position of the anchor block.

[0069] In this embodiment, by determining the precise coordinates of the detection satellite in the anchor block construction coordinate system and controlling the detection satellite to measure the construction area of ​​each anchor block, detailed construction area parameter information can be obtained. This process improves the accuracy and reliability of the anchor block construction area parameters, makes the anchor block layout more accurate, reduces positioning errors, improves construction efficiency and quality, ensures the controllability and safety of the construction process, and significantly improves the success rate of the overall project, especially in complex sea conditions and communication-restricted environments.

[0070] In an exemplary embodiment, Figure 4 As shown, the detection satellite in the detection satellite coordinates is controlled to measure the anchor block construction area corresponding to each anchor block to obtain the anchor block construction area parameter information, including steps 402 to 406. Wherein:

[0071] Step 402, controlling the detection satellite in the detection satellite coordinates to select at least three main measurement points and at least three auxiliary measurement points in the anchor block construction area.

[0072] The main measurement points and the auxiliary measurement points are measurement points for measuring the position information of the construction points of each anchor block in the anchor block construction area. Each main measurement point or each auxiliary measurement point cannot be located on the same straight line at the same time.

[0073] Specifically, the optimal observation position of the detection satellite is determined in the construction coordinate system, and the detection satellite is controlled to move to the optimal observation position to perform a high-precision scan of the anchor block construction area; at least three main measurement points are selected from the scanning results. These points should be located at key positions in the anchor block construction area and should be representative and stable for measuring the position of the underwater transponder; at the same time, according to the terrain and layout of the construction area, at least three auxiliary measurement points are selected. These points should be able to provide additional reference data for measuring the position of the underwater transponder, and assist in correcting and optimizing the information of the main measurement points.

[0074] Step 404, based on the detection satellite coordinates and the anchor block construction coordinate system, determine the main measurement coordinates of each main measurement point in the anchor block construction coordinate system, and determine the auxiliary measurement coordinates of each auxiliary measurement point in the anchor block construction coordinate system.

[0075] The main measurement coordinates and the auxiliary measurement coordinates are the position coordinates corresponding to each main measurement point and the auxiliary measurement point respectively.

[0076] Specifically, based on the relative position relationship between the origin of the anchor block construction coordinate system and the detection satellite coordinates, as well as the relative position relationship between the detection satellite coordinates and each main measurement point and each auxiliary measurement point, the position of each main measurement point is converted into the main measurement coordinates in the anchor block construction coordinate system through equivalent substitution through the coordinate conversion formula and matrix transformation method; then, the position of each auxiliary measurement point is measured and converted using the same method to obtain the auxiliary measurement coordinates of each auxiliary measurement point in the construction coordinate system.

[0077] Step 406, obtaining anchor block construction area parameter information according to each main measurement coordinate and each auxiliary measurement coordinate.

[0078] Specifically, each main measurement coordinate and each auxiliary measurement coordinate are applied to the anchor block construction area as some elements of the anchor block construction area parameter information; then, through the data processing algorithm, each main measurement coordinate and each auxiliary measurement coordinate are interpolated and fitted to calculate the detailed parameter information of the anchor block construction area, including terrain undulation, landform characteristics, depth and relative position, etc.; using these parameter information, a digital model of the construction area is established, and error correction and optimization are performed; finally, more accurate and reliable anchor block construction area parameter information is obtained.

[0079] In this embodiment, by controlling the detection satellite to select at least three main measurement points and at least three auxiliary measurement points in the anchor block construction area, and determining the specific coordinates of these measurement points according to the detection satellite coordinates and the anchor block construction coordinate system, the parameter information of the anchor block construction area can be accurately obtained. This method improves the accuracy and integrity of the construction area data, helps to accurately locate the layout of the anchor block, reduce construction errors, and improve construction efficiency and quality. At the same time, through multi-point measurement and coordinate conversion, it can effectively cope with complex sea conditions and ensure the reliability and safety of the construction process.

[0080] In an exemplary embodiment, Figure 5 As shown, according to the anchor block construction area parameter information, the position information of each underwater transponder is triangulated to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system, including steps 502 to 506. Wherein:

[0081] Step 502: for any underwater transponder, control the electromagnetic wave transmitters at each main measurement coordinate to transmit electromagnetic waves to the underwater transponder to obtain electromagnetic feedback signals from each transponder.

[0082] The transponder electromagnetic feedback signal may be a signal in which the underwater transponder sends feedback information to the battery wave transmitter after receiving the electromagnetic wave.

[0083] Specifically, electromagnetic wave transmitters are deployed at each main measurement coordinate and aimed at the target underwater transponder through the control system; then, each transmitter is activated in turn according to the predetermined transmission sequence to transmit electromagnetic wave signals to the underwater transponder; after the underwater transponder receives the electromagnetic wave signal, it generates and returns the transponder electromagnetic feedback signal to the receiving device of the electromagnetic wave transmitter; the receiving device captures these feedback signals and records the arrival time and strength of the signal. The same method is used for each underwater transponder to obtain the electromagnetic feedback signal of each transponder corresponding to each underwater transponder.

[0084] Step 504, for any underwater transponder, control the sonar transmitters at each auxiliary measurement coordinate to transmit sound waves to the underwater transponder to obtain sound wave feedback signals from each transponder.

[0085] The transponder acoustic wave feedback signal may be a signal in which the underwater transponder sends feedback information to the sonar transmitter after receiving the acoustic wave.

[0086] Specifically, a sonar transmitter is deployed at each auxiliary measurement coordinate and aimed at the target underwater transponder through a control system; then, each transmitter is activated in turn according to a predetermined transmission sequence to transmit sound waves to the underwater transponder; after the underwater transponder receives the transmitted sound waves, it generates and returns the transponder sound wave feedback signal to the receiving device of the sonar transmitter; the receiving device captures these feedback signals and records the arrival time and intensity of the signals. The same method is used for each underwater transponder to obtain each transponder sound wave feedback signal corresponding to each underwater transponder.

[0087] Step 506: for any underwater transponder, triangulate the position information of the underwater transponder according to the electromagnetic feedback signal and the acoustic feedback signal of each transponder to obtain the construction coordinates of the anchor block.

[0088] Specifically, for any underwater transponder, the relative position of the underwater transponder is calculated based on the electromagnetic feedback signals and acoustic feedback signals of each transponder returned by the underwater transponder, including the arrival time and strength of the signal, through the triangulation algorithm, using the propagation time difference and distance of the signals transmitted from different measurement points; combined with the differences in the calculation results between the electromagnetic feedback signals of each transponder and the acoustic feedback signals of each transponder, comprehensive analysis and error correction are performed to improve positioning accuracy; finally, the position information of the underwater transponder is converted into specific coordinates in the anchor block construction coordinate system to obtain accurate anchor block construction coordinates.

[0089] In this embodiment, the electromagnetic wave transmitter on the main measurement coordinates is controlled to transmit electromagnetic waves to the underwater transponder, and the sonar transmitter on the auxiliary measurement coordinates is controlled to transmit sound waves to the underwater transponder, and the electromagnetic feedback signal and the sound wave feedback signal are obtained respectively, and then triangulation is performed based on these feedback signals, so that the position of the underwater transponder can be accurately determined. This method combines the dual measurement methods of electromagnetic waves and sound waves to improve positioning accuracy and reliability, especially in complex underwater environments, and can effectively reduce the errors that may be caused by a single measurement method, ensure the accuracy of the anchor block construction coordinates, and thus improve construction efficiency and project quality.

[0090] In an exemplary embodiment, Figure 6 As shown, according to the electromagnetic feedback signals of each transponder and the acoustic feedback signals of each transponder, the position information of the underwater transponder is triangulated to obtain the construction coordinates of the anchor block, including steps 602 to 606. Wherein:

[0091] Step 602: triangulate the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder to obtain the first initial construction coordinate.

[0092] The first initial construction coordinates may be a measurement result obtained by measuring the underwater transponder using a transmission signal from an electromagnetic wave transmitter.

[0093] Specifically, based on the electromagnetic feedback signals of each transponder returned by the underwater transponder, including the arrival time and strength of the signal, the relative position of the underwater transponder is calculated by a triangulation algorithm; the specific steps include measuring the distances from different transmitting points to the transponder, determining the position of the transponder by a geometric method based on these distances and the known coordinates of the transmitting points, correcting and optimizing the calculation results, and finally obtaining the first initial construction coordinates of the underwater transponder in the anchor block construction coordinate system.

[0094] Step 604: triangulate the position information of the underwater transponder according to the acoustic wave feedback signal of each transponder to obtain a second initial construction coordinate.

[0095] The second initial construction coordinates may be a measurement result obtained by measuring the underwater transponder using the transmission signal of the sonar transmitter.

[0096] Specifically, according to the acoustic wave feedback signals of each transponder returned by the underwater transponder, including the arrival time and intensity of the signal, the relative position of the underwater transponder is calculated by a triangulation algorithm; the specific steps include measuring the acoustic wave propagation time from different transmitting points to the transponder, determining the position of the transponder by a geometric method based on these time differences and the known coordinates of the transmitting points, correcting and optimizing the calculation results, and finally obtaining the second initial construction coordinates of the underwater transponder in the anchor block construction coordinate system.

[0097] Step 606, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, control a plurality of electromagnetic wave transmitters to be set at each auxiliary measurement coordinate to obtain each new transponder electromagnetic feedback signal, and control a corresponding plurality of sonar transmitters to be set at each main measurement coordinate to obtain each new transponder acoustic wave feedback signal.

[0098] Specifically, the difference between the first initial construction coordinate and the second initial construction coordinate is calculated and compared. If the difference is greater than a predetermined threshold, the re-measurement program is started, and the control system instructs several electromagnetic wave transmitters to move to the corresponding auxiliary measurement coordinates, and obtains each new transponder electromagnetic feedback signal of the underwater transponder from these new positions; at the same time, the corresponding several sonar transmitters are controlled to move to the main measurement coordinates, and each new transponder acoustic wave feedback signal of the underwater transponder is obtained from these new positions.

[0099] Step 608: re-triangulate the position information of the underwater transponder according to each new transponder acoustic feedback signal and each new transponder electromagnetic feedback signal to obtain the anchor block construction coordinates.

[0100] Specifically, based on each new transponder electromagnetic feedback signal obtained from the auxiliary measurement coordinates and each new transponder acoustic wave feedback signal obtained from the main measurement coordinates, the relative position of the underwater transponder is recalculated using each new transponder electromagnetic feedback signal and each new transponder acoustic wave feedback signal through a triangulation algorithm; the specific steps include measuring the signal propagation time and intensity from different transmitting points to the transponder, and determining the precise position of the transponder through geometric methods and error correction based on these data and the known transmitting point coordinates; combining the differences in the calculation results between each new transponder electromagnetic feedback signal and each new transponder acoustic wave feedback signal, performing comprehensive analysis and error correction to improve positioning accuracy; finally, converting the calculation results into specific coordinates in the anchor block construction coordinate system to obtain accurate anchor block construction coordinates.

[0101] In this embodiment, the electromagnetic feedback signal and the acoustic feedback signal of the underwater transponder are triangulated to obtain the first initial construction coordinate and the second initial construction coordinate. When the difference between the two is greater than the threshold, the position of the electromagnetic wave transmitter and the sonar transmitter is reset, a new feedback signal is obtained, and triangulation is performed again to determine the exact position of the underwater transponder. This process can significantly improve the positioning accuracy, ensure the accuracy of the anchor block construction coordinates through comprehensive multiple measurements and error correction, reduce construction errors, improve construction efficiency and safety, and ensure the reliability of construction in complex marine environments.

[0102] In an exemplary embodiment, Figure 7As shown, the method further includes steps 702 to 706. Among them:

[0103] Step 702, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, for any underwater transponder, the electromagnetic wave transmitters on each main measurement coordinate and each auxiliary measurement coordinate are controlled to transmit electromagnetic waves to the underwater transponder to obtain electromagnetic feedback signals from each transponder.

[0104] Specifically, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold value, a re-measurement procedure is started for any underwater transponder, and the control system instructs each electromagnetic wave transmitter to move to each main measurement coordinate and each auxiliary measurement coordinate respectively, and further, the electromagnetic wave transmitters at each main measurement coordinate and each auxiliary measurement coordinate transmit electromagnetic waves to the underwater transponder in turn, and record and collect each transponder electromagnetic feedback signal returned from the underwater transponder, including the arrival time and strength of the signal.

[0105] Alternatively, in step 704, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, for any underwater transponder, the sonar transmitters on each main measurement coordinate and each auxiliary measurement coordinate are controlled to transmit sound waves to the underwater transponder to obtain sound wave feedback signals from each transponder.

[0106] Specifically, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold value, a re-measurement procedure is started for any underwater transponder, and the control system instructs each sonar transmitter to move to each main measurement coordinate and each auxiliary measurement coordinate respectively, and further, the sonar transmitters at each main measurement coordinate and each auxiliary measurement coordinate transmit sound waves to the underwater transponder in turn, and record and collect each transponder sound wave feedback signal returned from the underwater transponder, including the arrival time and intensity of the signal.

[0107] Step 706: for any underwater transponder, perform multi-point measurement on the position information of the underwater transponder according to the electromagnetic feedback signal or the acoustic feedback signal of each transponder to obtain the construction coordinates of the anchor block.

[0108] Specifically, for any underwater transponder, based on the electromagnetic feedback signals or the acoustic feedback signals of each transponder, a multi-point measurement algorithm is used to comprehensively analyze these feedback signals and calculate the relative position of the underwater transponder; the measurement data is error corrected and optimized, and finally the precise position information of the underwater transponder is converted into specific coordinates in the anchor block construction coordinate system to obtain accurate anchor block construction coordinates.

[0109] In one embodiment, the nonlinear calculation equation corresponding to the multi-point measurement is:

[0110]

[0111] Among them, the main measurement coordinates and auxiliary measurement coordinates are , the anchor block construction coordinates are , the propagation speed of electromagnetic waves is , the propagation time of electromagnetic waves is .

[0112] In this embodiment, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, the electromagnetic wave transmitter or sonar transmitter on the main measurement coordinate and the auxiliary measurement coordinate is controlled to transmit a signal to the underwater transponder, an electromagnetic feedback signal or an acoustic wave feedback signal is obtained, and multi-point measurement is performed to determine the exact position of the underwater transponder. This process can significantly improve the accuracy and reliability of positioning, ensure the accuracy and consistency of the anchor block construction coordinates, reduce construction deviations and rework caused by measurement errors, improve construction efficiency, save resources and time, and especially enhance the controllability and safety of construction in complex marine environments.

[0113] It is understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiment of the present application also provides an anchor block construction positioning device for implementing the anchor block construction positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more anchor block construction positioning device embodiments provided below can refer to the above limitations on an anchor block construction positioning method, and will not be repeated here.

[0115] In an exemplary embodiment, Figure 8 As shown, an anchor block construction positioning device is provided, comprising: a physical data acquisition module 802, a coordinate system construction module 804, a construction area determination module 806 and an anchor block coordinate acquisition module 808, wherein:

[0116] The physical data acquisition module 802 is used to obtain the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel in response to the anchor block construction instruction;

[0117] A coordinate system construction module 804 is used to determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel;

[0118] The construction area determination module 806 is used to determine the anchor block construction area parameter information according to the anchor block construction coordinate system when the shipboard transducer of the anchor block construction vessel cannot directly communicate with the underwater transponder;

[0119] The anchor block coordinate obtaining module 808 is used to perform triangulation on the position information of each underwater transponder according to the anchor block construction area parameter information to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system.

[0120] In one embodiment, the construction area determination module 806 is also used to determine the detection satellite coordinates in the anchor block construction coordinate system; control the detection satellite in the detection satellite coordinates to measure the anchor block construction area corresponding to each anchor block to obtain the anchor block construction area parameter information.

[0121] In one embodiment, the construction area determination module 806 is also used to control the detection satellite in the detection satellite coordinates to select at least three main measurement points and at least three auxiliary measurement points in the anchor block construction area; determine the main measurement coordinates of each main measurement point in the anchor block construction coordinate system according to the detection satellite coordinates and the anchor block construction coordinate system, and determine the auxiliary measurement coordinates of each auxiliary measurement point in the anchor block construction coordinate system; obtain the anchor block construction area parameter information according to each main measurement coordinate and each auxiliary measurement coordinate.

[0122] In one embodiment, the anchor block coordinate obtaining module 808 is also used to control the electromagnetic wave transmitters on each main measurement coordinate to transmit electromagnetic waves to the underwater transponder for any underwater transponder to obtain electromagnetic feedback signals of each transponder; to control the sonar transmitters on each auxiliary measurement coordinate to transmit sound waves to the underwater transponder for any underwater transponder to obtain sound wave feedback signals of each transponder; and to triangulate the position information of the underwater transponder according to the electromagnetic feedback signals of each transponder and the sound wave feedback signals of each transponder to obtain the anchor block construction coordinates.

[0123] In one embodiment, the anchor block coordinate obtaining module 808 is also used to triangulate the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder to obtain the first initial construction coordinate; triangulate the position information of the underwater transponder according to the acoustic wave feedback signal of each transponder to obtain the second initial construction coordinate; when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, control a number of electromagnetic wave transmitters to be set at each auxiliary measurement coordinate to obtain each new transponder electromagnetic feedback signal, and control a corresponding number of sonar transmitters to be set at each main measurement coordinate to obtain each new transponder acoustic wave feedback signal; according to each new transponder acoustic wave feedback signal and each new transponder electromagnetic feedback signal, re-triangulate the position information of the underwater transponder to obtain the anchor block construction coordinate.

[0124] In one embodiment, the anchor block coordinate obtaining module 808 is also used to control the electromagnetic wave transmitters on each main measurement coordinate and each auxiliary measurement coordinate to transmit electromagnetic waves to the underwater transponder for any underwater transponder when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold value, so as to obtain electromagnetic feedback signals of each transponder; or, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold value, control the sonar transmitters on each main measurement coordinate and each auxiliary measurement coordinate to transmit sound waves to the underwater transponder for any underwater transponder, so as to obtain sound wave feedback signals of each transponder; for any underwater transponder, perform multi-point measurement of the position information of the underwater transponder according to the electromagnetic feedback signals of each transponder or the sound wave feedback signals of each transponder to obtain the anchor block construction coordinates.

[0125] Each module in the above-mentioned anchor block construction positioning device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0126] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig. 9As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store server data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for positioning the construction of an anchor block is implemented.

[0127] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0128] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0129] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0130] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0131] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0132] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0133] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An anchor block construction positioning method, characterized in that: The method comprises: In response to the anchor block construction instruction, obtaining the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel; Determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel; In the case where the onboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder, determining the anchor construction area parameter information according to the anchor construction coordinate system; According to the anchor block construction area parameter information, triangulate the position information of each underwater transponder to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system; Wherein, determining the anchor block construction area parameter information according to the anchor block construction coordinate system includes: Determining the detection satellite coordinates in the anchor block construction coordinate system; Controlling the detection satellite to measure the anchor block construction area corresponding to each anchor block to obtain parameter information of the anchor block construction area; The control detection satellite measures the anchor block construction area corresponding to each anchor block to obtain parameter information of the anchor block construction area, including: Control the detection satellite to select at least three main measurement points and at least three auxiliary measurement points in the anchor block construction area; Determine the main measurement coordinates of each of the main measurement points in the anchor block construction coordinate system, and determine the auxiliary measurement coordinates of each of the auxiliary measurement points in the anchor block construction coordinate system according to the detection satellite coordinates and the anchor block construction coordinate system; Obtaining the anchor block construction area parameter information according to each of the main measurement coordinates and each of the auxiliary measurement coordinates; The method of triangulating the position information of each underwater transponder according to the anchor block construction area parameter information to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system includes: For any of the underwater transponders, controlling the electromagnetic wave transmitters on the main measurement coordinates to transmit electromagnetic waves to the underwater transponders to obtain electromagnetic feedback signals from the transponders; For any of the underwater transponders, control the sonar transmitters at the auxiliary measurement coordinates to transmit sound waves to the underwater transponders to obtain sound wave feedback signals from each transponder; For any of the underwater transponders, triangulate the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder and the acoustic wave feedback signal of each transponder to obtain the construction coordinates of the anchor block; The method of triangulating the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder and the acoustic feedback signal of each transponder to obtain the construction coordinates of the anchor block includes: Performing triangulation on the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder to obtain a first initial construction coordinate; Performing triangulation on the position information of the underwater transponder according to the acoustic wave feedback signals of each transponder to obtain a second initial construction coordinate; When the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, controlling a plurality of the electromagnetic wave transmitters to be disposed at each of the auxiliary measurement coordinates to obtain each new transponder electromagnetic feedback signal, and controlling a corresponding plurality of the sonar transmitters to be disposed at each of the main measurement coordinates to obtain each new transponder acoustic wave feedback signal; According to each of the new transponder acoustic wave feedback signals and each of the new transponder electromagnetic feedback signals, the position information of the underwater transponder is re-triangulated to use the position information of each of the underwater transponders as the coordinates of the corresponding anchor block to obtain the anchor block construction coordinates.

2. The method according to claim 1, characterized in that The method further comprises: When the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, for any of the underwater transponders, controlling the electromagnetic wave transmitters at the main measurement coordinates and the auxiliary measurement coordinates to transmit electromagnetic waves to the underwater transponder to obtain electromagnetic feedback signals from the transponders; Alternatively, when the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, for any of the underwater transponders, the sonar transmitters at the main measurement coordinates and the auxiliary measurement coordinates are controlled to transmit sound waves to the underwater transponder to obtain sound wave feedback signals from each transponder; For any of the underwater transponders, multi-point measurement is performed on the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder or the acoustic wave feedback signal of each transponder to obtain the construction coordinates of the anchor block.

3. The method according to claim 2, characterized in that The nonlinear calculation equation corresponding to the multi-point measurement is: Wherein, each of the main measurement coordinates and each of the auxiliary measurement coordinates is , the construction coordinates of the anchor block are , the propagation speed of electromagnetic waves or sound waves is , the propagation time of electromagnetic waves or sound waves is .

4. An anchor block construction positioning device, characterized in that: The device comprises: A physical data acquisition module, used to respond to the anchor block construction instruction and obtain the positioning antenna coordinates corresponding to the anchor block construction vessel and the physical parameters of the construction vessel; A coordinate system construction module, used to determine the anchor block construction coordinate system corresponding to the anchor block construction vessel according to the positioning antenna coordinates and the physical parameters of the construction vessel; A construction area determination module, used to determine anchor construction area parameter information according to the anchor construction coordinate system when the shipboard transducer of the anchor construction vessel cannot directly communicate with the underwater transponder; An anchor block coordinate obtaining module, used to triangulate the position information of each underwater transponder according to the anchor block construction area parameter information, and obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system; Wherein, determining the anchor block construction area parameter information according to the anchor block construction coordinate system includes: Determining the detection satellite coordinates in the anchor block construction coordinate system; Controlling the detection satellite to measure the anchor block construction area corresponding to each anchor block to obtain parameter information of the anchor block construction area; The control detection satellite measures the anchor block construction area corresponding to each anchor block to obtain parameter information of the anchor block construction area, including: Control the detection satellite to select at least three main measurement points and at least three auxiliary measurement points in the anchor block construction area; Determine the main measurement coordinates of each of the main measurement points in the anchor block construction coordinate system, and determine the auxiliary measurement coordinates of each of the auxiliary measurement points in the anchor block construction coordinate system according to the detection satellite coordinates and the anchor block construction coordinate system; Obtaining the anchor block construction area parameter information according to each of the main measurement coordinates and each of the auxiliary measurement coordinates; The method of triangulating the position information of each underwater transponder according to the anchor block construction area parameter information to obtain the anchor block construction coordinates of each anchor block in the anchor block construction coordinate system includes: For any of the underwater transponders, controlling the electromagnetic wave transmitters on the main measurement coordinates to transmit electromagnetic waves to the underwater transponders to obtain electromagnetic feedback signals from the transponders; For any of the underwater transponders, control the sonar transmitters at the auxiliary measurement coordinates to transmit sound waves to the underwater transponders to obtain sound wave feedback signals from each transponder; For any of the underwater transponders, triangulate the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder and the acoustic wave feedback signal of each transponder to obtain the construction coordinates of the anchor block; The method of triangulating the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder and the acoustic feedback signal of each transponder to obtain the construction coordinates of the anchor block includes: Performing triangulation on the position information of the underwater transponder according to the electromagnetic feedback signal of each transponder to obtain a first initial construction coordinate; Performing triangulation on the position information of the underwater transponder according to the acoustic wave feedback signals of each transponder to obtain a second initial construction coordinate; When the difference between the first initial construction coordinate and the second initial construction coordinate is greater than a threshold, controlling a plurality of the electromagnetic wave transmitters to be disposed at each of the auxiliary measurement coordinates to obtain each new transponder electromagnetic feedback signal, and controlling a corresponding plurality of the sonar transmitters to be disposed at each of the main measurement coordinates to obtain each new transponder acoustic wave feedback signal; According to each of the new transponder acoustic wave feedback signals and each of the new transponder electromagnetic feedback signals, the position information of the underwater transponder is re-triangulated to use the position information of each of the underwater transponders as the coordinates of the corresponding anchor block to obtain the anchor block construction coordinates.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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