A dynamic positioning system based on satellite positioning equipment

Abstract

The present invention relates to the field of positioning technology, and in particular to a dynamic positioning system based on a satellite positioning device, comprising: a perception layer, a calibration layer and an output layer; a position information perception frequency control logic is set in the perception layer, and the perception layer is controlled based on the position information perception frequency control logic to perceive the monitoring target position information in real time and store the monitoring target position information; the calibration layer receives the monitoring target position information stored in the perception layer in real time, and calibrates the monitoring target position information. The present invention collects the monitoring target position information in real time through satellite positioning technology and positioning sensors, calibrates the satellite positioning information based on the position information perceived by the positioning sensor, realizes the acquisition of high-precision monitoring target migration path, and draws the monitoring target migration path according to the position information, so as to provide users with dynamic reading conditions of the monitoring target migration path.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a dynamic positioning system based on satellite positioning equipment. Background Art

[0002] Satellite positioning technology is a technology that uses artificial satellites to locate targets. Multiple satellites send signals to ground receiving equipment, and the target position is determined based on the principle of distance intersection. Common systems include GPS, which are widely used in traffic navigation, surveying and mapping, logistics tracking, military and other fields, with high accuracy and easy use.

[0003] The invention patent with application number 202311484433.4 discloses an intelligent positioning system based on remote sensing satellite, which is characterized by comprising a remote sensing image acquisition module, a ground control point, an image processing module, an error detection module and a correction evaluation module; the remote sensing image acquisition module is connected to the control center; it is used to obtain ground remote sensing image data and target point remote sensing image data through high-resolution remote sensing satellites; the ground control points are used to provide ground reference information to the control center; the image processing module is connected to the control center, and is used to perform filtering gain processing on the acquired ground remote sensing image data and target point remote sensing image data to reduce the signal-to-noise ratio; the specific steps are: step one: denoising and enhancing the ground remote sensing image data and the target point remote sensing image data; step two: converting the colored ground remote sensing image data and the target point remote sensing image data into grayscale images; according to the grayscale ground remote sensing image data and the target point remote sensing image data, confirm Determine the pixel value of the grayscale image and establish a binary image; Step three: perform edge detection and matching on the acquired ground remote sensing image data and the target point remote sensing image data; compensate for the errors caused by the atmospheric influence on the ground remote sensing image data and the target point remote sensing image data, and invert the real surface reflectivity of the target point; Step four: splice two or more images through an image mosaic program, and crop the acquired image through an image cropping program; the image processing module is used to transmit the processed ground remote sensing image data and the target point remote sensing image data to the three-dimensional positioning module: the three-dimensional positioning module is used to construct an RPC model according to the ground reference information, the ground remote sensing image data and the target point remote sensing image data; then the target point is three-dimensionally positioned according to the RPC model; the error checking module is connected to the three-dimensional positioning module, and is used to obtain the three-dimensional positioning of the target point and perform error checking on the actual position of the target point to obtain positioning error data.

[0004] The application aims to solve the problem that "the existing remote sensing satellite positioning system has low positioning efficiency and poor positioning accuracy; when there is noise signal influence, it is easy to cause image blur, and the geometric positioning accuracy of satellite images is also limited."

[0005] For the monitoring of rare and group-living animals, GNSS receivers are fixed on the ears or fur of animals to monitor and track their migration routes, provide management and protection for rare and group-living animals, and protect the natural ecological chain;

[0006] However, the living environment of rare and gregarious animals is the wild. When they are positioned through GNSS receivers, they may be interfered by various uncertain factors in the natural environment, resulting in deviations in the positioning results, which are ultimately mapped to the migration path. It is just that it is impossible to accurately collect relevant information on the migration path of rare and gregarious animals. The same is true for similar technical scenarios.

[0007] Therefore, there is an urgent need for a dynamic positioning system based on satellite positioning equipment to solve the above problems. Summary of the invention

[0008] In view of the above-mentioned shortcomings of the prior art, the present invention provides a dynamic positioning system based on a satellite positioning device, which solves the technical problems raised in the above-mentioned background technology.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0010] A dynamic positioning system based on a satellite positioning device, comprising: a perception layer, a calibration layer and an output layer;

[0011] A location information perception frequency control logic is set in the perception layer. Based on the location information perception frequency control logic, the perception layer is controlled to perceive the monitoring target location information in real time and store the monitoring target location information. The calibration layer receives the monitoring target location information stored in the perception layer in real time, calibrates the monitoring target location information, and synchronously iterates the calibration result to the storage location of the corresponding monitoring target location information in the perception layer. The output layer runs in the perception layer to traverse the iterated monitoring target location information, and generates the monitoring target migration path based on the iterated monitoring target location information.

[0012] The perception layer includes a perception module, a design module and a storage module. The perception module is used to perceive the location information of the monitoring target. The design module is used to set the location information perception frequency control logic, feed the location information perception frequency control logic back to the perception module, control the perception module to continuously perceive the monitoring target location information based on the location information perception frequency control logic, and the storage module is used to receive the monitoring target location information perceived by the perception module and store the monitoring target location information.

[0013] Among them, the perception module is integrated by a GNSS receiver and a position sensor. There are no less than two groups of perception modules set in the perception layer, and they are applied to different monitoring targets, so that each monitoring target is configured with a group of perception modules. The GNSS receiver locates the monitoring target based on the satellite, and the position sensor locates the monitoring target based on the position sensor configured for the nearest group of monitoring targets among other monitoring targets as a reference. When the storage module receives and stores the monitoring target position information, the monitoring target position information is differentiated and stored based on the monitoring target position information source perception module, and the differentiated and stored monitoring target position information is sorted and stored based on its corresponding perception timestamp;

[0014] The calibration layer includes a receiving module, a calibration module and a transmission module. The receiving module is used to receive the monitoring target position information stored in the perception layer, and forward the received monitoring target position information to the calibration module. The calibration module is used to traverse the monitoring target position information and calibrate the monitoring target position information. The transmission module is used to receive the calibrated monitoring target position information in the calibration module, and transmit the calibrated monitoring target position information to the perception layer.

[0015] The output layer includes a traversal module, a generation module and an output module. The traversal module is used to traverse the monitoring target position information that has completed the calibration process and is stored in the perception layer. The generation module is used to obtain the monitoring target position information traversed in the traversal module, and to generate a monitoring target migration path in three-dimensional space with the monitoring target position information. The output module is used to receive the monitoring target migration path generated in the generation module and output the monitoring target migration path.

[0016] The output module is connected to the computer device via a wireless network. The computer device serves as the output target of the output module. The computer device receives the migration path of the monitoring target and displays the migration path of the monitoring target on a display screen of the computer device.

[0017] Furthermore, the calibration logic for the monitoring target position information in the calibration module is expressed as:

[0018] ;

[0019] Where: n is the number of monitoring target location information groups; is the distance between the position coordinates received by the GNSS receiver and the previous set of received position coordinates in the jth set of monitoring target position information, and the distance between the position coordinates sensed by the position sensor and the last sensed position coordinates, and the difference between the two sets of distances; d0 is the judgment value; α is the calibration factor; is d GNSS The corresponding line segment and d PS The difference between the slopes of the corresponding line segments; For the slope level, take the maximum value in brackets; is d GNSS The corresponding line segment and d PS The difference between the lengths of the corresponding line segments; Take the maximum value in the brackets for the length level; ω1 and ω2 are weights;

[0020] Among them, the values ​​of weights ω1 and ω2 are customized by the system end user, and the sum of weights ω1 and ω2 is 1. Represents the judgment function. After the calibration factor α is obtained, the GNSS receiver receiving position coordinates in the monitoring target position information are calibrated based on the calibration factor α:

[0021] Assume that the GNSS receiver receives the position coordinates (x, y, z) in the monitoring target location information, and after introducing the calibration factor α for calibration:

[0022] d GNSS >d PS , then: the calibration result of (x, y, z) is (x·(1-α), y·(1-α), z·(1-α));

[0023] d GNSS <d PS , then: the calibration result of (x, y, z) is (x·(1+α), y·(1+α), z·(1+α));

[0024] d GNSS =d PS , then: The calibration result of (x, y, z) is (x·α 0 ,y·α 0 ,z·α 0 ).

[0025] Furthermore, the position information-aware frequency control logic set in the design module complies with:

[0026] Select any group of monitoring targets to sense the current location information based on the sensing module configured by them, and determine a group of circular areas with a diameter of 75km or more with the current location information as the center of the circle. The initial default setting is a circular area with a diameter of 75km, and further cover the circular area with a grid, and set the length and width of the grid to be 1km;

[0027] ;

[0028] Where: F is the sensing frequency of the sensing module; F0 is the sensing frequency base of the sensing module; H max , H min is the maximum and minimum elevation in the circular area; D is the diameter of the area; P is the number of slope changes in the circular area based on the slopes of the grids; Q is the total number of grids in the circular area; hi is the ground height of the i-th grid; is the average surface height of the circular area determined based on grid division; L is the total length of the water system in the circular area; A is the area of ​​the circular area; γ is the coordination factor;

[0029] Among them, the perception frequency F of the perception module is the position information perception frequency control logic set in the design module, and the coordination factor γ∈(0, 0.25], when any group of the monitored targets leaves the circular area, the position information perception frequency control logic designed in the design module is reset, and the perception frequency F of the perception module is further re-calculated and applied.

[0030] Furthermore, the monitoring target location information includes the following two categories:

[0031] The location coordinates obtained by the GNSS receiver when positioning the monitored target;

[0032] Assume that the coordinates of one set of position sensors are always (0, 0, 0), and the relative coordinates of the remaining position sensors relative to the position sensor with the coordinates (0, 0, 0).

[0033] Furthermore, when the receiving module receives the monitoring target location information stored in the perception layer, the storage module in the perception layer is used as the receiving target, and the receiving module receives all the monitoring target location information stored in two groups of differentiated storage intervals each time it runs, and each type of monitoring target location information stored in the differentiated storage intervals is not less than three groups;

[0034] When the transmission module transmits the calibrated monitoring target position information to the perception layer, the storage module in the perception layer is used as the transmission target, and the calibrated monitoring target position information is placed in the storage position of the original monitoring target position information corresponding to the calibrated monitoring target position information, so as to iterate the original monitoring target position information corresponding to the calibrated monitoring target position information;

[0035] Among them, after the monitoring target position information received by the receiving module is forwarded to the calibration module and delivered to the calibration module, the monitoring target position information still maintains the original order.

[0036] Furthermore, a calibration factor is obtained based on the position information of each monitoring target, and the calibration factor corresponding to the position information of each monitoring target is used to calibrate the receiving position coordinates of the GNSS receiver in the position information of each monitoring target;

[0037] The determination value d0 is defined by the system user, and the determination function The value of , then f(●)=1, , then f(●)=0;

[0038] When the calibration logic of the monitoring target position information is satisfied with equation (1), the calibration factor is obtained. Otherwise, the calibration factor is not obtained. When the calibration factor is not obtained, the calibration operation of the monitoring target position information is not performed.

[0039] Furthermore, each time the traversal module runs, it takes a set of differentiated storage intervals in the storage module in the perception layer as the traversal target, and sequentially traverses each position coordinate in the differentiated storage interval. When each set of position coordinates is traversed, the generation module synchronously marks the corresponding position of the coordinate in the three-dimensional space, and further sequentially connects the positions of the continuous marks to obtain the migration path of the monitoring target;

[0040] Using the monitoring target location information stored in each partitioned storage interval in the storage module to generate a set of monitoring target migration paths;

[0041] Among them, during the traversal module operation stage, the GNSS receiver receives the position coordinates in the monitoring target position information that is only traversed within the distinguished storage interval, and the monitoring target migration path is placed in the same three-dimensional space for representation. The line segments representing the migration paths of each group of monitoring targets in the three-dimensional space are rendered in different colors to distinguish the migration paths of different monitoring targets.

[0042] Furthermore, the generation module continuously runs to complete the update of each monitoring target migration path, and the output module runs synchronously with the update of the monitoring target migration path, and outputs the latest monitoring target migration path in real time;

[0043] Among them, in the output stage of the migration path of the monitored target, a geomorphic model of the circular area tangent to the two ends of the migration path of the monitored target is simultaneously constructed, and the migration path of the monitored target is further covered on the surface of the geomorphic model.

[0044] Furthermore, the receiving module is interactively connected to the storage module via a wireless network, the storage module is interactively connected to the design module and the perception module via a wireless network, the receiving module is interactively connected to the calibration module and the transmission module via a wireless network, the transmission module is interactively connected to the traversal module via a wireless network, and the traversal module is interactively connected to the generation module and the output module via a wireless network.

[0045] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects:

[0046] The present invention provides a dynamic positioning system based on a satellite positioning device. During operation, the system collects the position information of the monitoring target in real time through satellite positioning technology and positioning sensors, calibrates the satellite positioning information based on the position information sensed by the positioning sensor, realizes the acquisition of the migration path of the monitoring target with high precision, and draws the migration path of the monitoring target according to the position information, so as to provide users with dynamic reading conditions of the migration path of the monitoring target;

[0047] At the same time, during the operation of the system, the operating perception frequency of the perception module in the specified logic design system is configured. Based on the perception frequency, the amount of collected monitoring target location information is adaptively controlled, and the amount of processing of the monitoring target location information is constrained to a certain extent, so that the accuracy of the monitoring target migration path finally output by the system can obtain a certain adaptive control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 It is a structural schematic diagram of a dynamic positioning system based on satellite positioning equipment;

[0050] Figure 2 This is an example schematic diagram of line segments representing migration paths of each group of monitored targets in three-dimensional space in the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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.

[0052] The present invention will be further described below in conjunction with the embodiments.

[0053] Embodiment 1:

[0054] A dynamic positioning system based on a satellite positioning device in this embodiment, such as Figure 1 As shown, it includes: a perception layer, a calibration layer and an output layer;

[0055] A location information perception frequency control logic is set in the perception layer. Based on the location information perception frequency control logic, the perception layer is controlled to perceive the monitoring target location information in real time and store the monitoring target location information. The calibration layer receives the monitoring target location information stored in the perception layer in real time, calibrates the monitoring target location information, and synchronously iterates the calibration result to the storage location of the corresponding monitoring target location information in the perception layer. The output layer runs in the perception layer to traverse the iterated monitoring target location information, and generates the monitoring target migration path based on the iterated monitoring target location information.

[0056] The perception layer includes a perception module, a design module and a storage module. The perception module is used to perceive the location information of the monitoring target. The design module is used to set the location information perception frequency control logic, feed the location information perception frequency control logic back to the perception module, control the perception module to continuously perceive the monitoring target location information based on the location information perception frequency control logic, and the storage module is used to receive the monitoring target location information perceived by the perception module and store the monitoring target location information.

[0057] Among them, the perception module is integrated by a GNSS receiver and a position sensor. There are no less than two groups of perception modules set in the perception layer, and they are applied to different monitoring targets, so that each monitoring target is configured with a group of perception modules. The GNSS receiver locates the monitoring target based on the satellite, and the position sensor locates the monitoring target based on the position sensor configured for the nearest group of monitoring targets among other monitoring targets as a reference. When the storage module receives and stores the monitoring target position information, the monitoring target position information is distinguished and stored based on the monitoring target position information source perception module, and the distinguished and stored monitoring target position information is sorted and stored based on its corresponding perception timestamp;

[0058] The calibration layer includes a receiving module, a calibration module and a transmission module. The receiving module is used to receive the monitoring target location information stored in the perception layer and forward the received monitoring target location information to the calibration module. The calibration module is used to traverse the monitoring target location information and calibrate the monitoring target location information. The transmission module is used to receive the calibrated monitoring target location information in the calibration module and transmit the calibrated monitoring target location information to the perception layer.

[0059] The calibration logic for the monitoring target position information in the calibration module is expressed as:

[0060] ;

[0061] Where: n is the number of monitoring target location information groups; is the distance between the position coordinates received by the GNSS receiver and the previous set of received position coordinates in the jth set of monitoring target position information, and the distance between the position coordinates sensed by the position sensor and the last sensed position coordinates, and the difference between the two sets of distances; d0 is the judgment value; α is the calibration factor; is d GNSS The corresponding line segment and d PS The difference between the slopes of the corresponding line segments; For the slope level, take the maximum value in brackets; is d GNSS The corresponding line segment and d PS The difference between the lengths of the corresponding line segments; Take the maximum value in the brackets for the length level; ω1 and ω2 are weights;

[0062] Among them, the values ​​of weights ω1 and ω2 are customized by the system end user, and the sum of weights ω1 and ω2 is 1. Represents the judgment function. After the calibration factor α is obtained, the GNSS receiver receiving position coordinates in the monitoring target position information are calibrated based on the calibration factor α:

[0063] Assume that the GNSS receiver receives the position coordinates (x, y, z) in the monitoring target location information, and after introducing the calibration factor α for calibration:

[0064] d GNSS >d PS , then: the calibration result of (x, y, z) is (x·(1-α), y·(1-α), z·(1-α));

[0065] d GNSS <d PS , then: the calibration result of (x, y, z) is (x·(1+α), y·(1+α), z·(1+α));

[0066] d GNSS =d PS , then: The calibration result of (x, y, z) is (x·α 0 ,y·α 0 ,z·α 0 );

[0067] Obtain a calibration factor based on the location information of each monitoring target, and apply the calibration factor corresponding to the location information of each monitoring target to calibrate the receiving location coordinates of the GNSS receiver in the location information of each monitoring target;

[0068] The judgment value d0 is defined by the system user. The value of , then f(●)=1, , then f(●)=0;

[0069] Among them, when the calibration logic of the monitoring target position information is satisfied, the calibration factor is obtained; otherwise, the calibration factor is not obtained. When the calibration factor is not obtained, the calibration operation of the monitoring target position information is not performed;

[0070] The output layer includes a traversal module, a generation module and an output module. The traversal module is used to traverse the monitoring target position information that has completed the calibration process and is stored in the perception layer. The generation module is used to obtain the monitoring target position information traversed in the traversal module, and to generate a monitoring target migration path in three-dimensional space with the monitoring target position information. The output module is used to receive the monitoring target migration path generated in the generation module and output the monitoring target migration path.

[0071] The output module is connected to the computer device via a wireless network. The computer device serves as the output target of the output module. The computer device receives the migration path of the monitoring target and displays the migration path of the monitoring target on the display screen of the computer device.

[0072] The receiving module is interactively connected to the storage module through a wireless network, the storage module is interactively connected to the design module and the perception module through a wireless network, the receiving module is interactively connected to the calibration module and the transmission module through a wireless network, the transmission module is interactively connected to the traversal module through a wireless network, and the traversal module is interactively connected to the generation module and the output module through a wireless network.

[0073] In this embodiment, the sensing module operates to sense the location information of the monitoring target, the design module synchronously sets the location information sensing frequency control logic, feeds back the location information sensing frequency control logic to the sensing module, controls the sensing module to continuously sense the monitoring target location information based on the location information sensing frequency control logic, the storage module post-operates to receive the monitoring target location information sensed by the sensing module, and stores the monitoring target location information, the receiving module further receives the monitoring target location information stored in the sensing layer, forwards the received monitoring target location information to the calibration module, the calibration module traverses the monitoring target location information, calibrates the monitoring target location information, and then the transmission module receives the calibrated monitoring target location information in the calibration module, transmits the calibrated monitoring target location information to the sensing layer, and finally traverses the calibrated monitoring target location information stored in the sensing layer through the traversal module, the generation module obtains the traversed monitoring target location information in the traversal module, generates a monitoring target migration path in three-dimensional space with the monitoring target location information, the output module receives the monitoring target migration path generated in the generation module in real time, and outputs the monitoring target migration path.

[0074] When the above system is operated in actual application scenarios, it can effectively and accurately monitor the migration paths of rare animals living in groups, provide accurate migration path references for staff, and monitor the migration paths of rare animals living in groups. This allows staff to collect more effective data on the migration paths of rare animals living in groups, so as to monitor rare animals, protect them from harsh natural environments, and ensure the stability and integrity of ecosystems and ecological chains.

[0075] See also Figure 2 As shown, the figure further shows the line segments representing the migration paths of each group of monitoring targets in three-dimensional space. In order to distinguish different monitoring targets, the line segments of the migration paths of each group of monitoring targets are represented by different line shapes and different rendering colors.

[0076] Embodiment 2:

[0077] In terms of specific implementation, based on Example 1, this example refers to Figure 1 A dynamic positioning system based on a satellite positioning device in Example 1 is further described in detail:

[0078] The location-aware frequency control logic set in the design module obeys:

[0079] Select any group of monitoring targets to sense the current location information based on the sensing module configured by them, and determine a group of circular areas with a diameter of 75km or more with the current location information as the center of the circle. The initial default setting is a circular area with a diameter of 75km, and further cover the circular area with a grid, and set the length and width of the grid to be 1km;

[0080] ;

[0081] Where: F is the sensing frequency of the sensing module; F0 is the sensing frequency base of the sensing module; H max , H min is the maximum and minimum elevation in the circular area; D is the diameter of the area; P is the number of slope changes in the circular area based on the slopes of the grids; Q is the total number of grids in the circular area; h i is the ground height of the i-th grid; is the average surface height of the circular area determined based on grid division; L is the total length of the water system in the circular area; A is the area of ​​the circular area; γ is the coordination factor;

[0082] Among them, the perception frequency F of the perception module is the position information perception frequency control logic set in the design module, and the coordination factor γ∈(0, 0.25], when any group of the monitored targets leaves the circular area, the position information perception frequency control logic designed in the design module is reset, and the perception frequency F of the perception module is further re-calculated and applied.

[0083] In this embodiment, the location information perception frequency control logic is further limited so that when the perception layer of the system in Example 1 perceives the monitoring target location information, it performs the perception operation with adaptive perception logic to ensure the effective collection of the monitoring target location information, thereby reducing the collection of massive monitoring target location information and ultimately presenting key and significant changes in the monitoring target location.

[0084] Embodiment 3:

[0085] In terms of specific implementation, based on Example 1, this example refers to Figure 1 A dynamic positioning system based on a satellite positioning device in Example 1 is further described in detail:

[0086] The monitoring target location information includes the following two categories:

[0087] The location coordinates obtained by the GNSS receiver when positioning the monitored target;

[0088] Assume that the coordinates of one set of position sensors are always (0, 0, 0), and the relative coordinates of the remaining position sensors relative to the position sensor with the coordinates (0, 0, 0).

[0089] Through the above settings, the type and content of the monitoring target location information are further limited.

[0090] like Figure 1 As shown, when the receiving module receives the monitoring target location information stored in the perception layer, the storage module in the perception layer is used as the receiving target. Each time the receiving module runs, it receives all the monitoring target location information stored in two groups of differentiated storage intervals, and each type of monitoring target location information stored in the differentiated storage intervals is not less than three groups;

[0091] When the transmission module transmits the calibrated monitoring target position information to the perception layer, the storage module in the perception layer is used as the transmission target, and the calibrated monitoring target position information is placed in the storage position of the original monitoring target position information corresponding to the calibrated monitoring target position information, so as to iterate the original monitoring target position information corresponding to the calibrated monitoring target position information;

[0092] Among them, after the monitoring target position information received by the receiving module is forwarded to the calibration module and delivered to the calibration module, the monitoring target position information still maintains the original order.

[0093] Through the above settings, the perception layer and calibration layer of the system in Example 1 are further provided with specified interaction logic, so that based on the interaction between the perception layer and the calibration layer, further operation data support is provided for the output layer, ensuring the stable operation of the output layer and outputting the migration path of the monitoring target.

[0094] like Figure 1 As shown, each time the traversal module runs, it takes a set of differentiated storage intervals in the storage module in the perception layer as the traversal target, and sequentially traverses each position coordinate in the differentiated storage interval. When each set of position coordinates is traversed, the generation module synchronously marks the corresponding position of the coordinate in the three-dimensional space, and further sequentially connects the positions of the continuous marks to obtain the migration path of the monitoring target;

[0095] Using the monitoring target location information stored in each partitioned storage interval in the storage module to generate a set of monitoring target migration paths;

[0096] Among them, during the traversal module operation phase, the GNSS receiver receives the position coordinates of the monitoring target position information that is only traversed within the distinguished storage interval, and the monitoring target migration path is placed in the same three-dimensional space for representation. The line segments representing the migration paths of each group of monitoring targets in the three-dimensional space are rendered in different colors to distinguish the migration paths of different monitoring targets.

[0097] The generation module runs continuously to complete the update of the migration path of each monitoring target, and the output module runs synchronously with the update of the migration path of the monitoring target, and outputs the latest migration path of each monitoring target in real time;

[0098] Among them, in the output stage of the migration path of the monitored target, a geomorphic model of the circular area tangent to the two ends of the migration path of the monitored target is simultaneously constructed, and the migration path of the monitored target is further covered on the surface of the geomorphic model.

[0099] Through the above settings, the output layer of the system in Example 1 is provided with specified production logic when generating the monitoring target migration path, and its representation logic is further limited to ensure the stable output of the monitoring target migration path.

[0100] In summary, in the above-mentioned embodiments, during the operation of the system, the location information of the monitoring target is collected in real time through satellite positioning technology and positioning sensors, and the satellite positioning information is calibrated based on the location information sensed by the positioning sensor to achieve the acquisition of high-precision monitoring target migration path, and the monitoring target migration path is drawn according to the location information, so as to provide users with dynamic reading conditions of the monitoring target migration path. At the same time, during the operation of the system, the operating perception frequency of the perception module in the specified logic design system is configured, and based on the perception frequency, the amount of monitoring target location information collected is adaptively controlled, and the amount of monitoring target location information processed is constrained to a certain extent, so that the accuracy of the monitoring target migration path finally output by the system can obtain a certain adaptive control effect.

[0101] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic positioning system based on satellite positioning equipment, characterized in that: include: Perception layer, calibration layer and output layer; A location information perception frequency control logic is set in the perception layer. Based on the location information perception frequency control logic, the perception layer is controlled to perceive the monitoring target location information in real time and store the monitoring target location information. The calibration layer receives the monitoring target location information stored in the perception layer in real time, calibrates the monitoring target location information, and synchronously iterates the calibration result to the storage location of the corresponding monitoring target location information in the perception layer. The output layer runs in the perception layer to traverse the iterated monitoring target location information, and generates the monitoring target migration path based on the iterated monitoring target location information. The calibration layer includes a receiving module, a calibration module and a transmission module. The receiving module is used to receive the monitoring target position information stored in the perception layer, and forward the received monitoring target position information to the calibration module. The calibration module is used to traverse the monitoring target position information and calibrate the monitoring target position information. The transmission module is used to receive the calibrated monitoring target position information in the calibration module, and transmit the calibrated monitoring target position information to the perception layer. The calibration logic for monitoring target position information in the calibration module is expressed as: ； Where: n is the number of monitoring target location information groups; is the distance between the position coordinates received by the GNSS receiver and the previous set of received position coordinates in the jth set of monitoring target position information, and the distance between the position coordinates sensed by the position sensor and the last sensed position coordinates, and the difference between the two sets of distances; d0 is the judgment value; α is the calibration factor; is d GNSS The corresponding line segment and d PS The difference between the slopes of the corresponding line segments; For the slope level, take the maximum value in brackets; is d GNSS The corresponding line segment and d PS The difference between the lengths of the corresponding line segments; Take the maximum value in the brackets for the length level; ω1 and ω2 are weights; Among them, the values ​​of weights ω1 and ω2 are customized by the system end user, and the sum of weights ω1 and ω2 is 1. Represents the judgment function. After the calibration factor α is obtained, the GNSS receiver receiving position coordinates in the monitoring target position information are calibrated based on the calibration factor α: Assume that the GNSS receiver receives the position coordinates (x, y, z) in the monitoring target location information, and after introducing the calibration factor α for calibration: d GNSS >d PS , then: the calibration result of (x, y, z) is (x·(1-α), y·(1-α), z·(1-α)); d GNSS <d PS , then: the calibration result of (x, y, z) is (x·(1+α), y·(1+α), z·(1+α)); d GNSS =d PS , then: The calibration result of (x, y, z) is (x·α 0 ,y·α 0 ,z·α 0 ).

2. A dynamic positioning system based on a satellite positioning device according to claim 1, characterized in that: The perception layer includes a perception module, a design module and a storage module. The perception module is used to perceive the location information of the monitoring target. The design module is used to set the location information perception frequency control logic, feed the location information perception frequency control logic back to the perception module, control the perception module to continuously perceive the monitoring target location information based on the location information perception frequency control logic, and the storage module is used to receive the monitoring target location information perceived by the perception module and store the monitoring target location information. Among them, the perception module is integrated by a GNSS receiver and a position sensor. There are no less than two groups of perception modules set in the perception layer, and they are applied to different monitoring targets, so that each monitoring target is configured with a group of perception modules. The GNSS receiver locates the monitoring target based on the satellite, and the position sensor locates the monitoring target based on the position sensor configured for the nearest group of monitoring targets among other monitoring targets as a reference. When the storage module receives and stores the monitoring target position information, the monitoring target position information is differentiated and stored based on the perception module from which the monitoring target position information comes, and the differentiated and stored monitoring target position information is sorted and stored based on its corresponding perception timestamp.

3. A dynamic positioning system based on satellite positioning equipment according to claim 2, characterized in that: The position information sensing frequency control logic set in the design module complies with: Select any group of monitoring targets to sense the current location information based on the sensing module configured by them, and determine a group of circular areas with a diameter of 75km or more with the current location information as the center of the circle. The initial default setting is a circular area with a diameter of 75km, and further cover the circular area with a grid, and set the length and width of the grid to be 1km; ； Where: F is the sensing frequency of the sensing module; F0 is the sensing frequency base of the sensing module; H max , H min is the maximum and minimum elevation in the circular area; D is the diameter of the area; P is the number of slope changes in the circular area based on the slopes of the grids; Q is the total number of grids in the circular area; h i is the ground height of the i-th grid; is the average surface height of the circular area determined based on grid division; L is the total length of the water system in the circular area; A is the area of ​​the circular area; γ is the coordination factor; Among them, the perception frequency F of the perception module is the position information perception frequency control logic set in the design module, and the coordination factor γ∈(0, 0.25], when any group of the monitored targets leaves the circular area, the position information perception frequency control logic designed in the design module is reset, and the perception frequency F of the perception module is further re-calculated and applied.

4. A dynamic positioning system based on satellite positioning equipment according to claim 1, characterized in that: The monitoring target location information includes the following two categories: The location coordinates obtained by the GNSS receiver when positioning the monitored target; Assume that the coordinates of one set of position sensors are always (0, 0, 0), and the relative coordinates of the remaining position sensors relative to the position sensor with the coordinates (0, 0, 0).

5. A dynamic positioning system based on satellite positioning equipment according to claim 1, characterized in that: When the receiving module receives the monitoring target location information stored in the perception layer, the storage module in the perception layer is used as the receiving target. Each time the receiving module runs, it receives all the monitoring target location information stored in two groups of differentiated storage intervals, and each type of monitoring target location information stored in the differentiated storage intervals is not less than three groups; When the transmission module transmits the calibrated monitoring target position information to the perception layer, the storage module in the perception layer is used as the transmission target, and the calibrated monitoring target position information is placed in the storage position of the original monitoring target position information corresponding to the calibrated monitoring target position information, so as to iterate the original monitoring target position information corresponding to the calibrated monitoring target position information; Among them, after the monitoring target position information received by the receiving module is forwarded to the calibration module and delivered to the calibration module, the monitoring target position information still maintains the original order.

6. A dynamic positioning system based on satellite positioning equipment according to claim 1, characterized in that: Obtain a calibration factor based on the location information of each monitoring target, and apply the calibration factor corresponding to the location information of each monitoring target to calibrate the receiving location coordinates of the GNSS receiver in the location information of each monitoring target; The determination value d0 is defined by the system user, and the determination function The value of , then f(●)=1, , then f(●)=0; When the calibration logic of the monitoring target position information is satisfied with equation (1), the calibration factor is obtained. Otherwise, the calibration factor is not obtained. When the calibration factor is not obtained, the calibration operation of the monitoring target position information is not performed.

7. A dynamic positioning system based on satellite positioning equipment according to claim 1, characterized in that: The output layer includes a traversal module, a generation module and an output module. The traversal module is used to traverse the monitoring target position information that has completed the calibration process and is stored in the perception layer. The generation module is used to obtain the monitoring target position information traversed in the traversal module, and to generate a monitoring target migration path in three-dimensional space with the monitoring target position information. The output module is used to receive the monitoring target migration path generated in the generation module and output the monitoring target migration path. The output module is connected to the computer device via a wireless network. The computer device serves as the output target of the output module. The computer device receives the migration path of the monitoring target and displays the migration path of the monitoring target on a display screen of the computer device.

8. A dynamic positioning system based on satellite positioning equipment according to claim 7, characterized in that: Each time the traversal module runs, it takes a set of differentiated storage intervals in the storage module in the perception layer as the traversal target, and sequentially traverses each position coordinate in the differentiated storage interval. When each set of position coordinates is traversed, the generation module synchronously marks the corresponding position of the coordinate in the three-dimensional space, and further sequentially connects the positions of the continuous marks to obtain the migration path of the monitoring target; Using the monitoring target location information stored in each partitioned storage interval in the storage module to generate a set of monitoring target migration paths; Among them, during the traversal module operation stage, the GNSS receiver receives the position coordinates in the monitoring target position information that is only traversed within the distinguished storage interval, and the monitoring target migration path is placed in the same three-dimensional space for representation. The line segments representing the migration paths of each group of monitoring targets in the three-dimensional space are rendered in different colors to distinguish the migration paths of different monitoring targets.

9. A dynamic positioning system based on satellite positioning equipment according to claim 8, characterized in that: The generation module continuously runs to complete the update of each monitoring target migration path, and the output module runs synchronously with the update of the monitoring target migration path, and outputs the latest monitoring target migration path in real time; Among them, in the output stage of the migration path of the monitored target, a geomorphic model of the circular area tangent to the two ends of the migration path of the monitored target is simultaneously constructed, and the migration path of the monitored target is further covered on the surface of the geomorphic model.

10. A dynamic positioning system based on satellite positioning equipment according to claim 1, characterized in that: The receiving module is interactively connected to the storage module via a wireless network, the storage module is interactively connected to the design module and the perception module via a wireless network, the receiving module is interactively connected to the calibration module and the transmission module via a wireless network, the transmission module is interactively connected to the traversal module via a wireless network, and the traversal module is interactively connected to the generation module and the output module via a wireless network.

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