Maritime radio wave navigation positioning system and positioning method

Abstract

The invention belongs to the technical field of measurement, in particular to the technical field of radio orientation, and particularly relates to a maritime radio wave navigation positioning system and method, and the system comprises a power life buoy which is provided with a first radio positioning device; the second radio positioning device is suitable for being worn on a person falling into water; the first radio positioning device and the second radio positioning device are suitable for transmitting radio signals to each other, and the first radio positioning device is configured to judge the distance and the relative position relation between the first radio positioning device and the second radio positioning device according to the received radio signals; the position between the power life buoy and the person falling into water is judged, and then the path is generated according to the position between the power life buoy and the person falling into water, so that the power life buoy moves towards the person falling into water.

Description

Technical Field

[0001] The invention belongs to the field of measurement technology, in particular to the field of radio orientation technology, and specifically relates to a marine radio wave navigation and positioning system and a positioning method. Background Art

[0002] When a person falls into the water in the sea, a powered life buoy is needed to rescue the person. However, the powered life buoy and the person cannot be accurately positioned, so the powered life buoy cannot be accurately moved directly to the person.

[0003] Therefore, due to the technical problem that the powered life buoy cannot directly and accurately move to the person who falls into the water, it is necessary to design a new marine radio wave navigation and positioning system and positioning method. Summary of the invention

[0004] The object of the present invention is to provide a marine radio wave navigation and positioning system and a positioning method.

[0005] In order to solve the above technical problems, the present invention provides a marine radio wave navigation and positioning system, comprising: A powered life buoy, and a first radio positioning device, arranged on the powered life buoy; a second radio positioning device, the second radio positioning device being suitable for being worn by a person who falls into the water; The first radio positioning device and the second radio positioning device are suitable for sending radio signals to each other, and the first radio positioning device is configured to determine the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on the received radio signals.

[0006] Furthermore, a control module is provided on the powered life buoy, the control module is electrically connected to the first radio positioning device, and the control module is electrically connected to a positioning module, and the positioning module is suitable for obtaining the position of the powered life buoy.

[0007] Furthermore, the control module is also electrically connected to a communication module, and the control module is suitable for sending the position data acquired by the positioning module to the host computer through the communication module; The host computer is suitable for generating a path of the powered life buoy according to the position data.

[0008] Further, the host computer is suitable for generating the initial path of the powered life buoy according to the position data, that is, The initial path of the powered life buoy is spiral, and the radius of motion increases with each turn as the powered life buoy moves along the initial path. a rice; The initial position of the powered lifebuoy is obtained according to the position data ( x 0, y 0); Planning for each lap N waypoints, then n Circle i The position coordinates of the path points ( xi , yi )for: r = ( n + i / N )* a ; α =2* PI * i / N ; xi = x 0+ r * cos ( α ); yi = y 0+ r * sin ( α ); in, PI is the ratio of pi; The host computer is suitable for constructing an initial path according to the coordinates of each path point in each circle.

[0009] Further, the communication module is adapted to receive an initial path sent by the host computer, and the powered life buoy moves along the initial path. During the movement of the powered life buoy, the first radio positioning device continuously sends radio signals within its signal coverage range.

[0010] Further, after the second radio positioning device receives the radio signal sent by the first radio positioning device, the second radio positioning device sends a feedback signal to the first radio positioning device, and the first radio positioning device determines that the second radio positioning device is already within its signal coverage range according to the feedback signal; The first radio positioning device determines the distance and angle between itself and the second radio positioning device according to the feedback signal; As the first radio positioning device moves, when the second radio positioning device is at the center line of the signal coverage range of the first radio positioning device, the position coordinates of the powered life buoy at this time are recorded.

[0011] Further, the powered lifebuoy is suitable for sending the position coordinates at this time to the host computer; The host computer is adapted to determine the overlapped portion of the initial path and the signal coverage range according to the position coordinates at this time and the boundary of the signal coverage range of the first radio positioning device, so as to obtain the coordinates of the two end points of each arc of the initial path in the signal coverage range; The host computer is suitable for generating a new path according to the position coordinates at this time and the coordinates of the two end points of each arc in the signal coverage range, and sending the new path to the powered life buoy.

[0012] Furthermore, the powered lifebuoy is in a swing state when traveling in the new path, i.e. Starting from the current position coordinates of the powered life buoy, the next target point is any endpoint of the arc of the next circle in the initial path within the signal coverage range. After reaching the endpoint, the next target point is the endpoint of the arc of the next circle in the initial path within the signal coverage range that is farther from the current position of the powered life buoy.

[0013] Furthermore, when the powered life buoy travels along a new path, the distance between the first radio positioning device and the second radio positioning device is detected in real time. When the distance is less than a preset distance, the powered life buoy sends a path update signal to the host computer, and the host computer updates the initial path. The host computer increases the radius of motion per turn in the initial path by a Meters, updated as the movement radius increases per revolution a / 2 meters, then update the initial path, obtain the updated path, and then obtain the coordinates of the two end points of each arc of the updated path in the signal coverage range.

[0014] Further, the host computer is adapted to update the new path according to the coordinates of the two end points of each arc in the signal coverage range of the updated path, and send the updated new path to the powered life buoy, and the powered life buoy moves along the updated new path, that is, The next target point of the powered life buoy is the farther one of the two endpoints of the arc of the next circle in the update path within the signal coverage range.

[0015] Furthermore, when the powered life buoy is traveling along the new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device travels along the initial path again to find the second radio positioning device, and obtains the new path again through the host computer after finding the second radio positioning device. When the powered life buoy is traveling along the updated new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device travels along the updated path again to find the second radio positioning device. After finding the second radio positioning device, the first radio positioning device obtains the updated new path again through the host computer.

[0016] On the other hand, the present invention also provides a positioning method using the above-mentioned marine radio wave navigation and positioning system, comprising: By sending radio signals to each other, the first radio positioning device and / or the second radio positioning device determine the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on the received radio signals.

[0017] The beneficial effect of the present invention is that the present invention uses a powered life buoy, on which a first radio positioning device is provided; a second radio positioning device, the second radio positioning device is suitable for being worn on a person who falls into the water; the first radio positioning device and the second radio positioning device are suitable for sending radio signals to each other, and the first radio positioning device is configured to judge the distance and relative position relationship between the first radio positioning device and the second radio positioning device according to the received radio signal; the position between the powered life buoy and the person who falls into the water is judged, and then a path is generated according to the position between the two, so that the powered life buoy can move toward the person who falls into the water.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1It is a principle block diagram of the marine radio wave navigation and positioning system of the present invention; Figure 2 is a schematic diagram of the initial path of the present invention; Figure 3 is a schematic diagram of the signal coverage of the present invention; Figure 4 is a schematic diagram of the swing state of the new path of the present invention; Figure 5 It is a schematic diagram of the update path of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figures 1 to 5 As shown, in at least one embodiment, a marine radio wave navigation and positioning system is provided, comprising: a powered life buoy, on which a first radio positioning device is provided; a second radio positioning device, which is suitable for being worn by a person who falls into the water; the first radio positioning device and the second radio positioning device are suitable for mutually transmitting radio signals, and the first radio positioning device is configured to determine the distance and relative position relationship between the first radio positioning device and the second radio positioning device according to the received radio signal; the position between the powered life buoy and the person who falls into the water is determined, and then a path is generated according to the position between the two, so that the powered life buoy can move toward the person who falls into the water. Waves and wind on the sea surface will affect the precise positioning, resulting in the inability of the powered life buoy to directly and accurately approach the person who falls into the water.

[0024] The person who falls into the water carries a positioning device, which is provided with a second radio positioning device and a positioning module. The positioning module can be GPS Module, due to GPSThere is an error in the module, resulting in that even if the power lifebuoy and the person who falls into the water are judged to be in the same position, there is still a certain distance between them in actual situations. At this time, the upper computer needs to be used to calculate and determine the path of the power lifebuoy, so that the power lifebuoy can quickly move to the person who falls into the water; in the adopted path generation method, the power lifebuoy adopts a spiral forward method, and the movement radius of the power lifebuoy increases with each turn, gradually approaching the person who falls into the water, but this method will cause the power lifebuoy to take a long time to approach the person who falls into the water, and it is impossible to rescue the person who falls into the water in time. In addition, if the movement radius increases too much, the person who falls into the water will not be able to grab the power lifebuoy after the power lifebuoy approaches the person who falls into the water. If the movement radius increases too little, it will increase the time for the power lifebuoy to approach the person who falls into the water, resulting in the person who falls into the water not being rescued in time. When a person falls into the water, the positioning device on his body will send an alarm signal and the location of the fall into the water as soon as possible, so that rescuers can rush to rescue as soon as possible.

[0025] The first radio positioning device and the second radio positioning device can both use UWB High-precision positioning technology.

[0026] The power life buoy is provided with a control module, the control module is electrically connected to the first radio positioning device, and the control module is electrically connected to a positioning module, the positioning module is suitable for obtaining the position of the power life buoy; the positioning module can be GPS module.

[0027] The control module is also electrically connected to a communication module, and the control module is suitable for sending the position data acquired by the positioning module to a host computer through the communication module; the host computer is suitable for generating a path of the powered life buoy according to the position data.

[0028] like Figure 2 As shown, the host computer is suitable for generating the initial path of the powered life buoy according to the position data, that is, the initial path of the powered life buoy is spiral, and the movement radius of the powered life buoy increases by 100% per turn when it travels along the initial path. a m; according to the position data, the initial position of the powered life buoy is ( x 0, y 0); each circle planning N waypoints, then n Circle i The position coordinates of the path points ( xi , yi )for: r = ( n + i / N )* a ; α =2* PI * i / N ; xi = x 0+ r * cos ( α ); yi = y 0+ r * sin ( α ); in, PI is the ratio of pi; The host computer is suitable for constructing an initial path according to the coordinates of each path point in each circle; the distance increased by the movement radius per circle can be specifically 1 meter; the specific search radius can be set according to the accuracy of the positioning module, that is, the initial position of the powered lifebuoy is taken as the center of the circle, and the radius of the largest circle is the search radius.

[0029] like Figure 3 As shown, the communication module is suitable for receiving the initial path sent by the host computer, and the powered life buoy moves along the initial path. During the movement of the powered life buoy, the first radio positioning device continuously sends radio signals within its signal coverage range; the signal coverage range of the first radio positioning device is a sector. When the powered life buoy is thrown into the water, the first radio positioning device starts to work, first through the GPS The module obtains its position data and sends the position data to the host computer. If there is still a certain distance between the position of the lifebuoy and the position of the person who falls into the water, the powered lifebuoy will move directly to the position of the person who falls into the water until the positions detected by the positioning module of the powered lifebuoy and the person who falls into the water are consistent. However, due to the detection accuracy of the positioning module, there is still a certain distance between the powered lifebuoy and the person who falls into the water. At this time, the host computer needs to generate an initial path to make the powered lifebuoy move spirally towards the person who falls into the water.

[0030] After the second radio positioning device receives the radio signal sent by the first radio positioning device, the second radio positioning device sends a feedback signal to the first radio positioning device, and the first radio positioning device determines that the second radio positioning device is already within its signal coverage range according to the feedback signal; the first radio positioning device determines the distance and angle between itself and the second radio positioning device according to the feedback signal; as the first radio positioning device moves, when the second radio positioning device is at the position of the center line of the signal coverage range of the first radio positioning device, the position coordinates of the powered life buoy at this time are recorded; since the signal coverage range of the first radio positioning device is fan-shaped and the signal transmission direction is fixed, when the powered life buoy moves along the circle of the initial path, the signal transmission direction of the first radio positioning device will change, and as the powered life buoy moves along the initial path, the signal transmission direction of the first radio positioning device can cover 360 degrees, which is convenient for finding the direction of the person who falls into the water; when the person who falls into the water is located on the center line of the signal coverage range, the coordinates of the powered life buoy at this time are located again, so as to avoid the person who falls into the water from exceeding the signal coverage range during the subsequent movement of the powered life buoy, and facilitate the rapid and accurate movement of the powered life buoy.

[0031] like Figure 4 As shown, the powered life buoy is suitable for sending the current position coordinates to the host computer; the host computer is suitable for judging the overlapped part of the initial path with the signal coverage range according to the current position coordinates and the boundary of the signal coverage range of the first radio positioning device, so as to obtain the coordinates of the two end points of each arc of the initial path in the signal coverage range; the host computer is suitable for generating a new path according to the current position coordinates and the coordinates of the two end points of each arc in the signal coverage range, and sending the new path to the powered life buoy; dividing the original spiral initial path, leaving only a part of the fan-shaped initial path corresponding to the signal coverage range of the first radio positioning device, and dividing the original initial path that the powered life buoy needs to travel completely into smaller parts, so as to facilitate the powered life buoy to quickly approach the person who falls into the water.

[0032] The powered life buoy is in a swing state when traveling in the new path, that is, the powered life buoy starts from the position coordinates at this time, and the next target point is any endpoint of the arc of the next circle in the initial path within the signal coverage range. After traveling to the endpoint, the next target point is the endpoint of the arc of the next circle in the initial path within the signal coverage range, which is farther from the current position of the powered life buoy. After the initial path is divided, the upper machine will generate a new path at this time. Under the new path, the powered life buoy moves in a swing state. When the powered life buoy moves to the endpoint of the divided arc, its next position will move directly to the endpoint farther away from the next arc, so as to quickly approach the person who falls into the water.

[0033] like Figure 5 As shown, when the powered life buoy moves along a new path, the distance between the first radio positioning device and the second radio positioning device is detected in real time. When the distance is less than the preset distance, the powered life buoy sends a path update signal to the host computer, and the host computer updates the initial path at this time, that is, the host computer increases the movement radius of each turn in the initial path by a Meters, updated as the movement radius increases per revolution a / 2 meters, and then the initial path is updated to obtain the updated path, and then the coordinates of the two endpoints of each arc of the updated path in the signal coverage range are obtained; since the movement radius will increase with each turn of the initial path generation process, too large an increase in the movement radius will result in the power life buoy being close to the person in the water, but the person in the water cannot grab the power life buoy. Therefore, in the process of the power life buoy moving along the new path, when the distance between the power life buoy and the person in the water is less than the preset distance, it is judged that the person in the water is about to be reached. At this time, the initial path is updated with the new movement radius increase distance, and the new movement radius increase distance is half of the original increase distance. This change can be adjusted according to the actual situation. For example, the new movement radius increase can be 0.2 meters, etc. Under the new movement radius increase distance per turn, the original spiral path will become more dense, so as to avoid the power life buoy being too far away from the person in the water and the person in the water cannot grab the power life buoy.

[0034] The host computer is suitable for updating the new path according to the coordinates of the two end points of each arc of the update path in the signal coverage range, and sending the updated new path to the powered life buoy, and the powered life buoy moves along the updated new path, that is, the next target point of the powered life buoy is the farther one of the two end points of the arc of the next circle in the update path within the signal coverage range; the arcs of the updated path under the signal coverage range are denser, so that during the movement of the powered life buoy, it is ensured that the person who falls into the water can grab the powered life buoy after the powered life buoy approaches the person who falls into the water.

[0035] When the powered life buoy is traveling along a new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device re-travels along the initial path to find the second radio positioning device, and re-acquires the new path through the host computer after finding the second radio positioning device; when the powered life buoy is traveling along an updated new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device re-travels along the updated path to find the second radio positioning device, and re-acquires the updated new path through the host computer after finding the second radio positioning device; due to uncertain factors such as waves, the position of the person who falls into the water will change during the movement of the powered life buoy. Therefore, after the first radio positioning device does not receive the feedback signal sent by the second radio positioning device, it is determined that the person who falls into the water is beyond the signal coverage. At this time, it is necessary to re-find and determine the person who falls into the water to ensure that the powered life buoy can move quickly and accurately to the person who falls into the water.

[0036] In at least one other embodiment, a positioning method using the above-mentioned marine radio wave navigation and positioning system is also provided, including: sending radio signals between the first radio positioning device and the second radio positioning device, and the first radio positioning device and / or the second radio positioning device determining the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on the received radio signals.

[0037] In summary, a powered life buoy is provided with a first radio positioning device; a second radio positioning device, the second radio positioning device is suitable for being worn on a person who falls into the water; the first radio positioning device and the second radio positioning device are suitable for sending radio signals to each other, and the first radio positioning device is configured to determine the distance and relative position relationship between the first radio positioning device and the second radio positioning device according to the received radio signals; the position between the powered life buoy and the person who falls into the water is determined, and then a path is generated according to the position between the two, so that the powered life buoy can move toward the person who falls into the water.

[0038] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0039] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0040] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0041] With the above-mentioned ideal embodiments of the present invention as inspiration, through the above-mentioned description content, relevant personnel can make various changes and modifications without departing from the scope of the technical idea of ​​the present invention.

Claims

1. A marine radio wave navigation and positioning system, characterized in that: include: Powered life buoy; A first radio positioning device, arranged on the powered lifebuoy; a second radio positioning device, the second radio positioning device being suitable for being worn by a person who falls into the water; The first radio positioning device and the second radio positioning device are suitable for sending radio signals to each other, and the first radio positioning device is configured to determine the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on the received radio signals.

2. The marine radio wave navigation and positioning system as claimed in claim 1, characterized in that: The power life buoy is provided with a control module, the control module is electrically connected to the first radio positioning device, and the control module is electrically connected to a positioning module, and the positioning module is suitable for obtaining the position of the power life buoy.

3. The marine radio wave navigation and positioning system as claimed in claim 2, characterized in that: The control module is also electrically connected to a communication module, and the control module is suitable for sending the position data acquired by the positioning module to the host computer through the communication module; The host computer is suitable for generating a path of the powered life buoy according to the position data.

4. The marine radio wave navigation and positioning system as claimed in claim 3, characterized in that: The host computer is suitable for generating the initial path of the powered life buoy according to the position data, that is, The initial path of the powered life buoy is spiral, and the radius of motion increases with each turn as the powered life buoy moves along the initial path. a rice; The initial position of the powered lifebuoy is obtained according to the position data ( x 0, y 0); Planning for each lap N waypoints, then n Circle i The position coordinates of the path points ( xi , yi )for: r = ( n + i / N )* a ； α =2* PI * i / N ； xi = x 0+ r * cos ( α )； yi = y 0+ r * sin ( α )； in, PI is the ratio of pi; The host computer is suitable for constructing an initial path according to the coordinates of each path point in each circle.

5. The marine radio wave navigation and positioning system as claimed in claim 4, characterized in that: The communication module is suitable for receiving the initial path sent by the host computer. The powered life buoy moves along the initial path. During the movement of the powered life buoy, the first radio positioning device continuously sends radio signals within its signal coverage range.

6. The marine radio wave navigation and positioning system as claimed in claim 5, characterized in that: When the second radio positioning device receives the radio signal sent by the first radio positioning device, the second radio positioning device sends a feedback signal to the first radio positioning device, and the first radio positioning device determines that the second radio positioning device is already within its signal coverage range according to the feedback signal; The first radio positioning device determines the distance and angle between itself and the second radio positioning device according to the feedback signal; As the first radio positioning device moves, when the second radio positioning device is at the center line of the signal coverage range of the first radio positioning device, the position coordinates of the powered life buoy at this time are recorded.

7. The marine radio wave navigation and positioning system as claimed in claim 6, characterized in that: The powered lifebuoy is suitable for sending the position coordinates at this time to the host computer; The host computer is adapted to determine the overlapped portion of the initial path and the signal coverage range according to the position coordinates at this time and the boundary of the signal coverage range of the first radio positioning device, so as to obtain the coordinates of the two end points of each arc of the initial path in the signal coverage range; The host computer is suitable for generating a new path according to the position coordinates at this time and the coordinates of the two end points of each arc in the signal coverage range, and sending the new path to the powered life buoy.

8. The marine radio wave navigation and positioning system as claimed in claim 7, characterized in that: The power life buoy is in a swing state when traveling in the new path, that is, Starting from the current position coordinates of the powered life buoy, the next target point is any endpoint of the arc of the next circle in the initial path within the signal coverage range. After reaching the endpoint, the next target point is the endpoint of the arc of the next circle in the initial path within the signal coverage range that is farther from the current position of the powered life buoy.

9. The marine radio wave navigation and positioning system as claimed in claim 8, characterized in that: When the powered life buoy travels on a new path, the distance between the first radio positioning device and the second radio positioning device is detected in real time. When the distance is less than the preset distance, the powered life buoy sends a path update signal to the host computer, and the host computer updates the initial path. The host computer increases the radius of motion per turn in the initial path by a Meters, updated as the movement radius increases per revolution a / 2 meters, then update the initial path, obtain the updated path, and then obtain the coordinates of the two end points of each arc of the updated path in the signal coverage range.

10. The marine radio wave navigation and positioning system as claimed in claim 9, characterized in that: The host computer is suitable for updating the new path according to the coordinates of the two end points of each arc in the signal coverage range of the updated path, and sending the updated new path to the power life buoy, and the power life buoy moves along the updated new path, that is, The next target point of the powered life buoy is the farther one of the two endpoints of the arc of the next circle in the update path within the signal coverage range.

11. The marine radio wave navigation and positioning system as claimed in claim 10, characterized in that: When the powered life buoy is traveling along the new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device travels along the initial path again to find the second radio positioning device, and obtains the new path again through the host computer after finding the second radio positioning device; When the powered life buoy is traveling along the updated new path, if the first radio positioning device cannot obtain the feedback signal of the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage of the first radio positioning device. At this time, the first radio positioning device travels along the updated path again to find the second radio positioning device. After finding the second radio positioning device, the first radio positioning device obtains the updated new path again through the host computer.

12. A positioning method using the marine radio wave navigation and positioning system as claimed in claim 1, characterized in that: include: By sending radio signals between the first radio positioning device and the second radio positioning device, the first radio positioning device and / or the second radio positioning device determines the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on the received radio signals.

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