Marine radio wave navigation and positioning system and positioning method

Abstract

This invention belongs to the field of measurement technology, particularly the field of radio orientation technology, and specifically relates to a marine radio wave navigation and positioning system and method, comprising: a powered lifebuoy, on which a first radio positioning device is mounted; a second radio positioning device, adapted to be worn by a person who has fallen into the water; the first radio positioning device and the second radio positioning device are adapted to transmit radio signals to each other, and the first radio positioning device is configured to determine the distance and relative positional relationship between the first radio positioning device and the second radio positioning device based on the received radio signals; the invention achieves the determination of the position between the powered lifebuoy and the person who has fallen into the water, and then generates a path based on the position between the two to facilitate the movement of the powered lifebuoy toward the person who has fallen into the water.

Description

Technical Field

[0001] The present 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 cannot accurately locate the person, so the powered life buoy cannot move directly to the person.

[0003] Therefore, due to the technical problem that the powered lifebuoy 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 purpose 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:

[0006] A powered life buoy and a first radio positioning device are provided on the powered life buoy;

[0007] a second radio positioning device, the second radio positioning device being suitable for being worn by a person who has fallen into the water;

[0008] The first radio positioning device and the second radio positioning device are adapted to send 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.

[0009] Furthermore, the powered 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 powered life buoy.

[0010] Furthermore, the control module is also electrically connected to a communication module, and the control module is adapted to send the position data acquired by the positioning module to a host computer via the communication module;

[0011] The host computer is suitable for generating a path of the powered lifebuoy according to the position data.

[0012] Furthermore, the host computer is adapted to generate the initial path of the powered lifebuoy according to the position data, i.e.

[0013] 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;

[0014] The initial position of the powered lifebuoy is obtained according to the position data ( x 0, y 0);

[0015] Planning for each lap N waypoints, then n Circle i The position coordinates of the path points ( xi , yi )for:

[0016] r = ( n + i / N )* a ;

[0017] α =2* PI * i / N ;

[0018] xi = x 0+ r * cos ( α );

[0019] yi = y 0+ r * sin ( α );

[0020] in, PI is pi;

[0021] The host computer is suitable for constructing an initial path according to the coordinates of each path point in each circle.

[0022] Furthermore, the communication module is adapted to receive an initial path sent by the host computer, and the powered lifebuoy moves along the initial path. During the movement of the powered lifebuoy, the first radio positioning device continuously sends radio signals within its signal coverage range.

[0023] Furthermore, 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 within its signal coverage range based on the feedback signal;

[0024] The first radio positioning device determines the distance and angle between itself and the second radio positioning device according to the feedback signal;

[0025] 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 lifebuoy at this time are recorded.

[0026] Furthermore, the powered lifebuoy is adapted to send the position coordinates at this time to a host computer;

[0027] The host computer is adapted to determine the portion where the initial path overlaps with the signal coverage range based on 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 endpoints of each arc of the initial path in the signal coverage range;

[0028] The host computer is adapted to generate 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 send the new path to the powered lifebuoy.

[0029] Furthermore, the powered lifebuoy is in a swing state when traveling in the new path, i.e.

[0030] The powered lifebuoy starts from the current position coordinates. 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 away from the current position of the powered lifebuoy.

[0031] Furthermore, when the powered life buoy travels along the 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.

[0032] 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, then update the initial path to 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.

[0033] Furthermore, 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 lifebuoy, which moves along the updated new path.

[0034] 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.

[0035] Furthermore, when the powered lifebuoy 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 re-travels along the initial path to find the second radio positioning device, and after finding the second radio positioning device, re-acquires the new path through the host computer;

[0036] When the powered lifebuoy 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 will travel along the updated path again to find the second radio positioning device. After finding the second radio positioning device, the first radio positioning device will obtain the updated new path again through the host computer.

[0037] On the other hand, the present invention also provides a positioning method using the above-mentioned marine radio wave navigation and positioning system, comprising:

[0038] 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.

[0039] The beneficial effect of the present invention is that the present invention uses a powered lifebuoy, on which a first radio positioning device is provided; a second radio positioning device, which 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 based on the received radio signal; the position between the powered lifebuoy and the person who falls into the water is judged, and then a path is generated based on the position between the two, so that the powered lifebuoy can move toward the person who falls into the water.

[0040] Other features and advantages of the present invention will be described in the following description, and in part will 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.

[0041] 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

[0042] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is a principle block diagram of the marine radio wave navigation and positioning system of the present invention;

[0044] Figure 2 It is a schematic diagram of the initial path of the present invention;

[0045] Figure 3 It is a schematic diagram of the signal coverage of the present invention;

[0046] Figure 4 It is a schematic diagram of the swing state of the new path of the present invention;

[0047] Figure 5 It is a schematic diagram of the update path of the present invention. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] like Figures 1 to 5As 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 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; the position between the powered life buoy and the person who falls into the water is determined, and then a path is generated based on 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 powered life buoy being unable to directly and accurately approach the person who falls into the water.

[0050] 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 GPS The module has errors, resulting in the fact that even if the powered lifebuoy and the person in the water are determined to be in the same position, there is still a certain distance between them in reality. In this case, the host computer needs to calculate and determine the powered lifebuoy path so that the powered lifebuoy can move quickly to the person in the water. In the path generation method adopted, the powered lifebuoy adopts a spiral forward method. The radius of movement increases with each rotation of the powered lifebuoy, gradually approaching the person in the water. However, this method will cause the powered lifebuoy to take a long time to approach the person in the water, making it impossible to rescue the person in the water in time. Moreover, if the movement radius increases too much, the person in the water will not be able to grab the powered lifebuoy after approaching the person in the water. If the movement radius increases too little, it will increase the time it takes for the powered lifebuoy to reach the person in the water, making it impossible to rescue the person in time. When the person falls into the water, the positioning device on their body will immediately send an alarm signal and the location of the fall, so that rescuers can rush to the rescue as soon as possible.

[0051] The first radio positioning device and the second radio positioning device can both use UWB High-precision positioning technology.

[0052] 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.

[0053] The control module is also electrically connected to a communication module, and the control module is suitable for sending the position data obtained by the positioning module to a host computer through the communication module; the host computer is suitable for generating a path of the powered lifebuoy according to the position data.

[0054] 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 radius of motion increases with each turn when the powered life buoy moves along the initial path. a m; According to the position data, the initial position of the powered lifebuoy is ( x 0, y 0); per circle planning N waypoints, then n Circle i The position coordinates of the path points ( xi , yi )for:

[0055] r = ( n + i / N )* a ;

[0056] α =2* PI * i / N ;

[0057] xi = x 0+ r * cos ( α );

[0058] yi = y 0+ r * sin ( α );

[0059] in, PI is pi;

[0060] 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 revolution 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 the center of the circle, and the radius of the largest circle is the search radius.

[0061] like Figure 3As 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 toward 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 toward the person who falls into the water.

[0062] After the second radio positioning device receives the radio signal transmitted by the first radio positioning device, it sends a feedback signal to the first radio positioning device. The first radio positioning device determines based on the feedback signal that the second radio positioning device is within its signal coverage range. The first radio positioning device also determines the distance and angle between itself and the second radio positioning device based on the feedback signal. As the first radio positioning device moves, when the second radio positioning device is at the centerline of the first radio positioning device's signal coverage range, the coordinates of the powered lifebuoy at that time are recorded. Because the signal coverage range of the first radio positioning device is fan-shaped and the signal transmission direction is fixed, the signal transmission direction of the first radio positioning device changes as the powered lifebuoy moves along the circle of the initial path. As the powered lifebuoy moves along the initial path, the signal transmission direction of the first radio positioning device can cover 360 degrees, facilitating the direction of finding the person who has fallen into the water. When the person who has fallen into the water is at the centerline of the signal coverage range, the coordinates of the powered lifebuoy are located again. This prevents the person from exceeding the signal coverage range during subsequent movement of the powered lifebuoy, facilitating the rapid and accurate movement of the powered lifebuoy.

[0063] like Figure 4As 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 part of the initial path that overlaps with the signal coverage range based on 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 based on 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 a smaller size, so as to facilitate the powered life buoy to quickly approach the person who falls into the water.

[0064] The powered life buoy is in a swing state when traveling in the new path, that is, the powered life buoy starts from the current position coordinates, 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 that 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, and the powered life buoy moves in a swing state on the new path. 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.

[0065] 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. At this time, the host computer updates the initial path, 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 increases with each turn in the initial path generation process, too large an increase in the movement radius will result in the person falling into the water being unable to grab the power lifebuoy even if the power lifebuoy is close to the person falling into the water. Therefore, when the power lifebuoy moves along the new path, when the distance between the power lifebuoy and the person falling into the water is less than the preset distance, it is judged that it is about to reach the person falling into the water. 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 actual conditions. For example, the new movement radius increase can be 0.2 meters, etc. Under the new increase in the movement radius per turn, the original spiral path will become more dense, so as to avoid the power lifebuoy being too far away from the person falling into the water and the person falling into the water being unable to grab the power lifebuoy.

[0066] The host computer is suitable for updating the new path according to the coordinates of the two endpoints of each arc of the updated path within the signal coverage range, and sending the updated new path to the powered life buoy. 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 updated path within the signal coverage range; the arcs of the updated path within the signal coverage range are denser, so that when the powered life buoy moves, 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.

[0067] When the powered lifebuoy is traveling along the new path, if the first radio positioning device cannot obtain a feedback signal from the second radio positioning device, the first radio positioning device determines that the second radio positioning device has left the signal coverage range of the first radio positioning device. In this case, the first radio positioning device will re-travel along the initial path to search for the second radio positioning device. After finding the second radio positioning device, the first radio positioning device will re-acquire the new path from the host computer. When the powered lifebuoy is traveling along the updated new path, if the first radio positioning device cannot obtain a feedback signal from the second radio positioning device, the first radio positioning device will determine that the second radio positioning device has left the signal coverage range of the first radio positioning device. In this case, the first radio positioning device will re-travel along the updated path to search for the second radio positioning device. After finding the second radio positioning device, the first radio positioning device will re-acquire the updated new path from the host computer. Due to uncertain factors such as waves, the position of a person who has fallen into the water may change during the movement of the powered lifebuoy. Therefore, if the first radio positioning device does not receive a feedback signal from the second radio positioning device, it will determine that the person who has fallen into the water has left the signal coverage range. In this case, it is necessary to re-search and locate the person who has fallen into the water to ensure that the powered lifebuoy can move quickly and accurately to the person who has fallen into the water.

[0068] 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.

[0069] 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 judge the distance and relative position relationship between the first radio positioning device and the second radio positioning device based on 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 based on the position between the two, so that the powered life buoy can move toward the person who falls into the water.

[0070] In the several embodiments provided in this 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 merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0071] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0072] 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.

[0073] With the above-mentioned ideal embodiment of the present invention as inspiration, through the above description, relevant personnel can make various changes and modifications without departing from the scope of the technical idea of ​​this 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 adapted to send 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; 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 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; 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 adapted to generate 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 send the new path to the powered life buoy; The host computer is suitable for generating an initial path of the powered life buoy according to the position data, that is, the initial path of the powered life buoy is spiral.

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: When the powered life buoy follows the initial path, the radius of motion increases with each turn. 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 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: 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.

7. The marine radio wave navigation and positioning system as claimed in claim 6, 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.

8. The marine radio wave navigation and positioning system as claimed in claim 7, 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.

9. The marine radio wave navigation and positioning system as claimed in claim 8, 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.

10. 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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