Ship positioning method based on 5G and Internet of Things satellites

Abstract

The invention provides a ship positioning method based on 5G and Internet of Things satellites, and the method comprises the steps: obtaining a corresponding real-time satellite image from the Internet of Things satellites based on the real-time satellite positioning information of a ship, obtaining the real-time navigation state information of the ship from the real-time satellite image, and updating the navigation route of the ship in combination with the satellite radar information of a sea area where the ship is located. Therefore, the area range of satellite remote sensing tracking of the ship is adjusted, the ship is positioned in an ocean navigation scene by using an internet satellite, and continuous and reliable navigation positioning information can be provided for the ship; the method comprises the following steps: acquiring a real-time regional satellite image, analyzing the real-time regional satellite image to obtain relative position information between a ship and a wharf, carrying out 5G communication positioning on ship switching based on the relative position information to obtain real-time 5G positioning information of the ship, and sending a navigation indication message to a control end of the ship, so that a 5G base station is used for positioning the ship in a near-shore navigation scene. And the ship is ensured to obtain refined navigation and positioning information in the process of berthing at the wharf.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning, and in particular to a ship positioning method based on 5G and Internet of Things satellites. Background Art

[0002] When ships are sailing in the ocean, they rely on satellites for positioning and navigation. Satellite positioning has a large coverage area and can provide real-time positioning and communication in areas that ground communication base stations cannot cover. However, the accuracy of satellite positioning is low, and the stability of satellite positioning communication is low. When ships are docking at the dock, accurate navigation and positioning are required to ensure that the ship is safely and stably docked at the dock, but satellite navigation and positioning cannot guarantee the normal and stable navigation of the ship. In order to make up for the defect that satellite navigation and positioning cannot provide accurate positioning information when the ship is docking at the dock, it is necessary to use ground communication positioning to coordinate the positioning of the ship, so that the ship can obtain reliable positioning information in different navigation scenarios such as ocean voyages and near-shore navigation. Summary of the invention

[0003] The purpose of the present invention is to provide a ship positioning method based on 5G and Internet of Things satellites. Based on the real-time satellite positioning information of the ship, the corresponding real-time satellite images are obtained from the Internet of Things satellites, and then the real-time navigation status information of the ship is obtained from the real-time satellite images. In combination with the satellite radar information of the sea area where the ship is located, the navigation route of the ship is updated, thereby adjusting the regional scope of satellite remote sensing tracking of the ship, and using Internet satellites to position the ship in the ocean navigation scenario, which can ensure that continuous and reliable navigation and positioning information is provided for the ship; the real-time regional satellite images are analyzed to obtain the relative position information between the ship and the dock, and based on the relative position information, the ship is switched to 5G communication positioning to obtain the real-time 5G positioning information of the ship, thereby sending a navigation instruction message to the control end of the ship, so that the 5G base station is used to position the ship in the near-shore navigation scenario, ensuring that the ship obtains refined navigation and positioning information during the docking process, thereby obtaining reliable and stable navigation and positioning for the ship in different navigation scenarios.

[0004] The present invention is achieved through the following technical solutions:

[0005] Ship positioning methods based on 5G and IoT satellites include:

[0006] Perform satellite positioning on the ship to obtain the real-time satellite positioning information of the ship; based on the real-time satellite positioning information, obtain the real-time satellite image corresponding to the ship from the Internet of Things satellite;

[0007] Identify real-time satellite images to obtain real-time navigation status information of ships;

[0008] Update the ship's navigation route based on real-time navigation status information and satellite radar information of the sea area where the ship is located; adjust the area scope of satellite remote sensing tracking of the ship based on the updated navigation route;

[0009] Based on the regional scope, the corresponding real-time regional satellite images are obtained from the IoT satellite; the real-time regional satellite images are identified to obtain the relative position information between the ship and the dock;

[0010] Based on the relative position information, the ship is positioned through 5G communication to obtain the real-time 5G positioning information of the ship; based on the real-time 5G positioning information, a navigation instruction message is sent to the control end of the ship.

[0011] Optionally, satellite positioning is performed on the ship to obtain real-time satellite positioning information of the ship; based on the real-time satellite positioning information, a real-time satellite image corresponding to the ship is obtained from an Internet of Things satellite, including:

[0012] Instruct the control end of the ship to send a positioning request to the IoT satellite, perform satellite positioning on the ship based on the positioning request, and obtain real-time satellite positioning information of the ship; wherein the real-time satellite positioning information includes the real-time longitude and latitude position information of the ship;

[0013] Based on the real-time satellite positioning information, the longitude and latitude of the ship's navigation area are expanded outward to obtain the estimated navigation area of ​​the ship;

[0014] Based on the estimated navigation area, real-time satellite images corresponding to the estimated navigation area are obtained from the IoT satellite.

[0015] Optionally, real-time satellite images are identified to obtain real-time navigation status information of the ship, including:

[0016] The real-time satellite image is processed by framing to obtain a number of satellite image frames; after the satellite image frames are processed by pixel sharpening and pixel grayscale conversion, the contour feature information of the ship is identified from the satellite image frames;

[0017] Based on the corresponding shape contour feature information of all satellite image frames, the ship's heading direction information and average navigation speed information are obtained as real-time navigation status information.

[0018] Optionally, based on the real-time navigation status information and the satellite radar information of the sea area where the ship is located, the navigation route of the ship is updated, including:

[0019] The satellite radar information of the sea area where the ship is located is converted and processed to obtain the satellite radar echo map corresponding to the sea area; the satellite radar echo map is analyzed to obtain the location information of the storm belt area in the sea area;

[0020] Based on the ship's heading direction information and average sailing speed information, as well as the location information of the storm belt area, the heading direction offset information and sailing speed adjustment information corresponding to the storm belt area that the ship needs to avoid during navigation are determined, so as to update the ship's navigation route.

[0021] Optionally, based on the updated navigation route, the area for satellite remote sensing tracking of the vessel is adjusted, including:

[0022] The longitude and latitude coverage information corresponding to the navigation route is extracted from the updated navigation route, and the longitude and latitude area range for satellite remote sensing tracking of the ship is adjusted; wherein the longitude and latitude area range includes the longitude and latitude coverage information corresponding to the updated navigation route.

[0023] Optionally, based on the regional range, corresponding real-time regional satellite images are obtained from the IoT satellite; the real-time regional satellite images are identified to obtain relative position information between the ship and the wharf, including:

[0024] Extract the corresponding regional boundary longitude and latitude related information from the regional range, and obtain the corresponding real-time regional satellite image from the IoT satellite based on the regional boundary longitude and latitude related information;

[0025] The real-time regional satellite images are processed with pixel contour recognition to obtain the contour feature information of the ship and the dock respectively; based on the contour feature information, the relative distance information and relative orientation information between the ship and the dock are obtained.

[0026] Optionally, based on the relative position information, 5G communication positioning is performed on the ship to obtain real-time 5G positioning information of the ship, including:

[0027] Based on the relative distance and relative orientation information between the ship and the wharf, determine whether the ship has entered the signal coverage range of the 5G base station installed at the wharf;

[0028] When a ship enters the signal coverage area, 5G communication positioning is performed on the ship to obtain the real-time 5G positioning information of the ship.

[0029] Optionally, based on the relative position information, 5G communication positioning is performed on the ship to obtain real-time 5G positioning information of the ship, including:

[0030] Step S1, using the following formula (1), based on the relative distance information between the ship and the dock and the number of 5G base stations on the dock, determine whether to perform 5G communication positioning on the ship at the dock.

[0031]

[0032] In the above formula (1), E represents the judgment value of whether to perform 5G communication positioning on the ship at the dock; S represents the relative distance between the ship and the dock; S0 represents the preset 5G signal coverage radius threshold; n0 represents the 5G base station number threshold. When the 5G base station number threshold is exceeded, the ship can be positioned by 5G communication at the dock. Otherwise, the ship cannot be positioned by 5G communication at the dock; N represents the total number of 5G base stations at the dock; min[,] represents the minimum value of the values ​​on both sides of the comma in the brackets;

[0033] If E=1, it means that the ship is positioned by 5G communication at the dock;

[0034] If E = 0, it means that the ship is not positioned by 5G communication at the dock;

[0035] Step S2: If the ship is positioned by 5G communication at the dock, the following formula (2) is used to determine the 5G base station for 5G communication positioning according to the relative distance information and relative orientation information between the ship and the dock and the distribution position of the 5G base stations at the dock.

[0036]

[0037] In the above formula (2), I indicates that the 5G base station for 5G communication positioning is the Ith 5G base station at the wharf; Represents the vector pointing from the ship to the i-th 5G base station at the dock; represents the vector pointing from the ship to the dock; | | represents the modulus of the vector; Represents the vector With vector The angle between them; It means that the value of i from 1 to N is substituted into the brackets to obtain the value of i when the minimum value is obtained in the brackets, and it is recorded as I;

[0038] Step S3, using the following formula (3), according to the relative distance between the ship and the selected 5G base station on the dock, control the current communication positioning state of the 5G base station,

[0039]

[0040] In the above formula (3), G represents the current communication positioning state control value of the 5G base station; The vector representing the direction from the ship to the first 5G base station on the dock; The vector representing the direction from the ship to the first 5G base station on the dock;

[0041] If G=1, it means that the 5G base station is currently switched to the working state of 5G communication positioning;

[0042] If G=0, it means that the 5G base station is currently switched to the closed state of 5G communication positioning.

[0043] Optionally, based on the real-time 5G positioning information, a navigation instruction message is sent to the control terminal of the ship, including:

[0044] The real-time 5G positioning information is compared with the position information of the ship berthing area at the dock to obtain the position deviation difference information between the two; based on the position deviation difference information, a navigation instruction message is sent to the control end of the ship; wherein the navigation instruction message includes a heading adjustment instruction message and / or a speed adjustment instruction message.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The ship positioning method based on 5G and IoT satellite provided in the present application is based on the real-time satellite positioning information of the ship, obtains the corresponding real-time satellite images from the IoT satellite, and then obtains the real-time navigation status information of the ship from the real-time satellite images, and combines the satellite radar information of the sea area where the ship is located to update the ship's navigation route, thereby adjusting the regional scope of satellite remote sensing tracking of the ship, and using Internet satellites to position the ship in ocean navigation scenarios, which can ensure that continuous and reliable navigation and positioning information is provided to the ship; analyze the real-time regional satellite images to obtain the relative position information between the ship and the dock, and based on the relative position information, switch the ship to 5G communication positioning to obtain the ship's real-time 5G positioning information, thereby sending a navigation instruction message to the ship's control end, so as to use the 5G base station to position the ship in the near-shore navigation scenario, so as to ensure that the ship obtains refined navigation and positioning information during the docking process, so as to obtain reliable and stable navigation and positioning for the ship in different navigation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0048] Figure 1 A schematic flow chart of the ship positioning method based on 5G and IoT satellites provided by the present invention. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0051] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0052] See also Figure 1 As shown, a ship positioning method based on 5G and IoT satellites provided in an embodiment of the present application includes:

[0053] Perform satellite positioning on the ship to obtain real-time satellite positioning information of the ship; based on the real-time satellite positioning information, obtain real-time satellite images corresponding to the ship from the Internet of Things satellite; wherein the Internet of Things satellite may be, but is not limited to, a satellite with positioning and remote sensing functions connected to the Internet of Things;

[0054] Identify real-time satellite images to obtain real-time navigation status information of ships;

[0055] Update the ship's navigation route based on real-time navigation status information and satellite radar information of the sea area where the ship is located; adjust the area scope of satellite remote sensing tracking of the ship based on the updated navigation route;

[0056] Based on the regional scope, the corresponding real-time regional satellite images are obtained from the IoT satellite; the real-time regional satellite images are identified to obtain the relative position information between the ship and the dock;

[0057] Based on the relative position information, the ship is positioned through 5G communication to obtain the real-time 5G positioning information of the ship; based on the real-time 5G positioning information, a navigation instruction message is sent to the control end of the ship.

[0058] The beneficial effects of the above embodiments are as follows: the ship positioning method based on 5G and IoT satellite obtains the corresponding real-time satellite images from the IoT satellite based on the real-time satellite positioning information of the ship, and then obtains the real-time navigation status information of the ship from the real-time satellite images, and combines the satellite radar information of the sea area where the ship is located to update the navigation route of the ship, thereby adjusting the regional scope of satellite remote sensing tracking of the ship, and using Internet satellites to position the ship in ocean navigation scenarios, which can ensure that continuous and reliable navigation and positioning information is provided to the ship; analyzing the real-time regional satellite images to obtain the relative position information between the ship and the dock, and based on the relative position information, switching the ship to 5G communication positioning to obtain the real-time 5G positioning information of the ship, thereby sending a navigation instruction message to the control end of the ship, so as to use the 5G base station to position the ship in the near-shore navigation scenario, so as to ensure that the ship obtains refined navigation and positioning information during the docking process, thereby obtaining reliable and stable navigation and positioning for the ship in different navigation scenarios.

[0059] In another embodiment, satellite positioning is performed on a ship to obtain real-time satellite positioning information of the ship; based on the real-time satellite positioning information, a real-time satellite image corresponding to the ship is obtained from an Internet of Things satellite, including:

[0060] Instruct the control end of the ship to send a positioning request to the IoT satellite, perform satellite positioning on the ship based on the positioning request, and obtain real-time satellite positioning information of the ship; wherein the real-time satellite positioning information includes the real-time longitude and latitude position information of the ship;

[0061] Based on the real-time satellite positioning information, the longitude and latitude of the ship's navigation area are expanded outward to obtain the estimated navigation area of ​​the ship;

[0062] Based on the estimated navigation area, real-time satellite images corresponding to the estimated navigation area are obtained from the IoT satellite.

[0063] The beneficial effect of the above embodiment is that in the actual positioning process, the satellite navigation equipment installed on the ship itself can be used for satellite navigation. The control end of the ship instructs the satellite navigation equipment to send a positioning request to the Internet of Things satellite. The satellite navigation equipment can obtain the real-time satellite positioning information of the ship from the Internet of Things satellite, so as to locate the real-time longitude and latitude position of the ship during the ocean voyage. Then, with the real-time longitude and latitude position of the ship as the center, expand outward from the two dimensions of longitude and latitude to obtain the estimated navigation area of ​​the ship (that is, the sea surface area involved in the navigation process of the ship). Then, based on the estimated navigation area, a real-time satellite image consistent with the estimated navigation area is obtained from the Internet of Things satellite, that is, the real-time satellite image completely covers and includes the estimated navigation area.

[0064] In another embodiment, real-time satellite images are recognized to obtain real-time navigation status information of the ship, including:

[0065] The real-time satellite image is processed by framing to obtain a number of satellite image frames; after the satellite image frames are processed by pixel sharpening and pixel grayscale conversion, the contour feature information of the ship is identified from the satellite image frames;

[0066] Based on the corresponding shape contour feature information of all satellite image frames, the ship's heading direction information and average navigation speed information are obtained as real-time navigation status information.

[0067] The beneficial effect of the above embodiment is that the actual satellite image can be a dynamic satellite image, and the real-time satellite image is framed to obtain a plurality of satellite image frames, and then each satellite image frame is subjected to pixel sharpening and pixel grayscale conversion processing, and each satellite image frame is subjected to ship shape contour recognition processing to obtain the ship shape contour information. Then, the shape contour information corresponding to all satellite image frames is compared and analyzed to obtain the ship's navigation direction information and average navigation speed information, which belongs to the conventional image processing method in this field and will not be described in detail here.

[0068] In another embodiment, the navigation route of the ship is updated based on the real-time navigation status information and the satellite radar information of the sea area where the ship is located, including:

[0069] The satellite radar information of the sea area where the ship is located is converted and processed to obtain the satellite radar echo map corresponding to the sea area; the satellite radar echo map is analyzed to obtain the location information of the storm belt area in the sea area;

[0070] Based on the ship's heading direction information and average sailing speed information, as well as the location information of the storm belt area, the heading direction offset information and sailing speed adjustment information corresponding to the storm belt area that the ship needs to avoid during navigation are determined, so as to update the ship's navigation route.

[0071] The beneficial effect of the above embodiment is that the Internet of Things satellite can also perform satellite radar detection on the sea area where the ship is located to obtain the satellite radar echo map corresponding to the sea area. The satellite radar echo map can reflect the distribution information of the rain belt cloud layer in the sea area where the ship is located, and the satellite radar echo map is identified to obtain the location information of the storm belt area in the sea area (such as the location information of the typhoon rain belt area). Combined with the heading direction information and the average sailing speed information of the ship, as well as the location information of the storm belt area, it is determined that the ship needs to bypass the heading direction offset information and the navigation speed adjustment information corresponding to the storm belt area during the navigation process, so that a reliable navigation route can be determined for the ship to avoid the storm belt during the navigation process.

[0072] In another embodiment, adjusting the area for satellite remote sensing tracking of the ship based on the updated navigation route includes:

[0073] The longitude and latitude coverage information corresponding to the navigation route is extracted from the updated navigation route, and the longitude and latitude area range for satellite remote sensing tracking of the ship is adjusted; wherein the longitude and latitude area range includes the longitude and latitude coverage information corresponding to the updated navigation route.

[0074] The beneficial effect of the above embodiment is to extract the trajectory direction of the route from the updated navigation route, and then extract the longitude and latitude coverage information corresponding to the trajectory direction (that is, all longitudes and latitudes corresponding to the trajectory direction), and then use the longitude and latitude coverage information as a basis to adjust the longitude and latitude area range for satellite remote sensing tracking of the ship, so as to ensure comprehensive and accurate remote sensing tracking and shooting of the ship.

[0075] In another embodiment, based on the regional range, corresponding real-time regional satellite images are obtained from the Internet of Things satellite; the real-time regional satellite images are identified to obtain relative position information between the ship and the dock, including:

[0076] Extract the corresponding regional boundary longitude and latitude related information from the regional range, and obtain the corresponding real-time regional satellite image from the IoT satellite based on the regional boundary longitude and latitude related information;

[0077] The real-time regional satellite images are processed with pixel contour recognition to obtain the contour feature information of the ship and the dock respectively; based on the contour feature information, the relative distance information and relative orientation information between the ship and the dock are obtained.

[0078] The beneficial effect of the above embodiment is that the longitude and latitude related information of the regional boundary is extracted from the regional range, and then based on this, a consistent real-time regional satellite image is obtained from the IoT satellite; wherein the real-time regional satellite image covers both ships and docks. Then, the real-time regional satellite image is subjected to pixel contour recognition processing to obtain the contour feature information of the ship and the dock respectively, and the relative distance information and relative orientation information between the ship and the dock are obtained based on the respective contours of the ship and the dock, so as to accurately determine whether the ship has entered the signal coverage range of the 5G base station set up at the dock.

[0079] In another embodiment, based on the relative position information, 5G communication positioning is performed on the ship to obtain real-time 5G positioning information of the ship, including:

[0080] Based on the relative distance and relative orientation information between the ship and the wharf, determine whether the ship has entered the signal coverage range of the 5G base station installed at the wharf;

[0081] When a ship enters the signal coverage area, 5G communication positioning is performed on the ship to obtain the real-time 5G positioning information of the ship.

[0082] The beneficial effect of the above embodiment is that the relative distance information and relative orientation information between the ship and the dock are compared with the 5G signal coverage range of the 5G base station, so as to determine whether the ship has entered the signal coverage range of the 5G base station; when the ship enters the signal coverage range, the 5G communication equipment on the ship is instructed to communicate with the 5G base station, thereby switching to 5G positioning of the ship to obtain the real-time 5G positioning information of the ship.

[0083] In another embodiment, based on the relative position information, 5G communication positioning is performed on the ship to obtain real-time 5G positioning information of the ship, including:

[0084] Step S1, using the following formula (1), based on the relative distance information between the ship and the dock and the number of 5G base stations on the dock, determine whether to perform 5G communication positioning on the ship at the dock.

[0085]

[0086] In the above formula (1), E represents the judgment value of whether to perform 5G communication positioning on the ship at the dock; S represents the relative distance between the ship and the dock; S0 represents the preset 5G signal coverage radius threshold; n0 represents the 5G base station number threshold. When the 5G base station number threshold is exceeded, the ship can be positioned by 5G communication at the dock. Otherwise, the ship cannot be positioned by 5G communication at the dock; N represents the total number of 5G base stations at the dock; min[,] represents the minimum value of the values ​​on both sides of the comma in the brackets;

[0087] If E=1, it means that the ship is positioned by 5G communication at the dock;

[0088] If E = 0, it means that the ship is not positioned by 5G communication at the dock;

[0089] Step S2: If the ship is positioned by 5G communication at the dock, the following formula (2) is used to determine the 5G base station for 5G communication positioning according to the relative distance information and relative orientation information between the ship and the dock and the distribution position of the 5G base stations at the dock.

[0090]

[0091] In the above formula (2), I indicates that the 5G base station for 5G communication positioning is the Ith 5G base station at the wharf; Represents the vector pointing from the ship to the i-th 5G base station at the dock; represents the vector pointing from the ship to the dock; | | represents the modulus of the vector; Represents the vector With vector The angle between them; It means that the value of i from 1 to N is substituted into the brackets to obtain the value of i when the minimum value is obtained in the brackets, and it is recorded as I;

[0092] Step S3, using the following formula (3), according to the relative distance between the ship and the selected 5G base station on the dock, control the current communication positioning state of the 5G base station,

[0093]

[0094] In the above formula (3), G represents the current communication positioning state control value of the 5G base station; The vector representing the direction from the ship to the first 5G base station on the dock; The vector representing the direction from the ship to the first 5G base station on the dock;

[0095] If G=1, it means that the 5G base station is currently switched to the working state of 5G communication positioning;

[0096] If G=0, it means that the 5G base station is currently switched to the closed state of 5G communication positioning.

[0097] The beneficial effect of the above embodiment is that, by using the above formula (1), according to the relative distance information between the ship and the wharf and the number of 5G base stations on the wharf, it is determined whether to perform 5G communication positioning on the ship at the wharf, so that 5G communication positioning is performed when there are more base stations at the wharf and the distance is close to the wharf, thereby ensuring the accuracy of 5G communication positioning; then, by using the above formula (2), according to the relative distance information and relative orientation information between the ship and the wharf and the distribution position of the 5G base stations at the wharf, the 5G base station for 5G communication positioning is determined, so that the base station for positioning is selected as early as possible, and control preparations are made in advance to ensure the reliability of the system; finally, by using the above formula (3), according to the relative distance between the ship and the selected 5G base station on the wharf, the current communication positioning state of the 5G base station is controlled, so that reliable positioning is performed when communication positioning is required, and it is shut down when it is not used to reduce system power consumption and save energy.

[0098] In another embodiment, based on the real-time 5G positioning information, sending a navigation instruction message to the control terminal of the ship includes:

[0099] The real-time 5G positioning information is compared with the position information of the ship berthing area at the dock to obtain the position deviation difference information between the two; based on the position deviation difference information, a navigation instruction message is sent to the control end of the ship; wherein the navigation instruction message includes a heading adjustment instruction message and / or a speed adjustment instruction message.

[0100] The beneficial effect of the above embodiment is to compare the real-time 5G positioning information with the position information of the ship berthing area at the dock to obtain the position deviation difference information between the two, so as to provide reliable heading adjustment instructions and / or speed adjustment instructions for the ship to accurately dock in the berthing area of ​​the dock.

[0101] In general, the ship positioning method based on 5G and IoT satellites is based on the real-time satellite positioning information of the ship, obtains the corresponding real-time satellite images from the IoT satellite, and then obtains the real-time navigation status information of the ship from the real-time satellite images, and combines the satellite radar information of the sea area where the ship is located to update the ship's navigation route, thereby adjusting the regional scope of satellite remote sensing tracking of the ship, and using Internet satellites to position the ship in ocean navigation scenarios, which can ensure that continuous and reliable navigation and positioning information is provided to the ship; analyze the real-time regional satellite images to obtain the relative position information between the ship and the dock, and based on the relative position information, switch the ship to 5G communication positioning to obtain the ship's real-time 5G positioning information, thereby sending a navigation instruction message to the ship's control end, so as to use the 5G base station to position the ship in the near-shore navigation scenario, ensuring that the ship obtains refined navigation and positioning information during the docking process, so as to obtain reliable and stable navigation and positioning for the ship in different navigation scenarios.

[0102] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A ship positioning method based on 5G and IoT satellites, characterized in that: include: Carry out satellite positioning on the ship and obtain the real-time satellite positioning information of the ship; Based on real-time satellite positioning information, real-time satellite images corresponding to the ship are obtained from the IoT satellite; Identify real-time satellite images to obtain real-time navigation status information of ships; Update the ship's navigation route based on real-time navigation status information and satellite radar information of the sea area where the ship is located; adjust the area scope of satellite remote sensing tracking of the ship based on the updated navigation route; Based on the regional scope, obtain the corresponding real-time regional satellite images from the IoT satellite; Identify real-time regional satellite images to obtain the relative position information between the ship and the dock; Based on the relative position information, the ship is positioned through 5G communication to obtain the real-time 5G positioning information of the ship; Based on real-time 5G positioning information, navigation instruction messages are sent to the ship's control terminal.

2. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Carry out satellite positioning on the ship and obtain the real-time satellite positioning information of the ship; Based on real-time satellite positioning information, real-time satellite images corresponding to the ship are obtained from the IoT satellite, including: Instruct the control end of the ship to send a positioning request to the IoT satellite, perform satellite positioning on the ship based on the positioning request, and obtain real-time satellite positioning information of the ship; wherein the real-time satellite positioning information includes the real-time longitude and latitude position information of the ship; Based on the real-time satellite positioning information, the longitude and latitude of the ship's navigation area are expanded outward to obtain the estimated navigation area of ​​the ship; Based on the estimated navigation area, real-time satellite images corresponding to the estimated navigation area are obtained from the IoT satellite.

3. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Recognize real-time satellite images to obtain real-time navigation status information of the ship, including: The real-time satellite image is processed by framing to obtain a number of satellite image frames; after the satellite image frames are processed by pixel sharpening and pixel grayscale conversion, the contour feature information of the ship is identified from the satellite image frames; Based on the corresponding shape contour feature information of all satellite image frames, the ship's heading direction information and average navigation speed information are obtained as real-time navigation status information.

4. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on the real-time navigation status information and the satellite radar information of the sea area where the ship is located, the ship's navigation route is updated, including: The satellite radar information of the sea area where the ship is located is converted and processed to obtain the satellite radar echo map corresponding to the sea area; the satellite radar echo map is analyzed to obtain the location information of the storm belt area in the sea area; Based on the ship's heading direction information and average sailing speed information, as well as the location information of the storm belt area, the heading direction offset information and sailing speed adjustment information corresponding to the storm belt area that the ship needs to avoid during navigation are determined, so as to update the ship's navigation route.

5. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on the updated navigation route, the area for satellite remote sensing tracking of ships will be adjusted, including: The longitude and latitude coverage information corresponding to the navigation route is extracted from the updated navigation route, and the longitude and latitude area range for satellite remote sensing tracking of the ship is adjusted; wherein the longitude and latitude area range includes the longitude and latitude coverage information corresponding to the updated navigation route.

6. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on the regional scope, obtain the corresponding real-time regional satellite images from the IoT satellite; Recognize the real-time regional satellite image to obtain the relative position information between the ship and the dock, including: Extract the corresponding regional boundary longitude and latitude information from the regional range, and based on the regional boundary longitude and latitude information, obtain the corresponding real-time regional satellite image from the Internet of Things satellite; perform pixel contour recognition processing on the real-time regional satellite image to obtain the contour feature information of the ship and the dock; Based on the contour feature information, the relative distance information and relative orientation information between the ship and the dock are obtained.

7. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on the relative position information, the ship is positioned by 5G communication to obtain the ship’s real-time 5G positioning information, including: Based on the relative distance and relative orientation information between the ship and the wharf, determine whether the ship has entered the signal coverage range of the 5G base station installed at the wharf; When a ship enters the signal coverage area, 5G communication positioning is performed on the ship to obtain the real-time 5G positioning information of the ship.

8. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on the relative position information, the ship is positioned by 5G communication to obtain the ship’s real-time 5G positioning information, including: Step S1, using the following formula (1), based on the relative distance information between the ship and the dock and the number of 5G base stations on the dock, determine whether to perform 5G communication positioning on the ship at the dock. In the above formula (1), E represents the judgment value of whether to perform 5G communication positioning on the ship at the dock; S represents the relative distance between the ship and the dock; S0 represents the preset 5G signal coverage radius threshold; n0 represents the 5G base station number threshold. When the 5G base station number threshold is exceeded, the ship can be positioned by 5G communication at the dock. Otherwise, the ship cannot be positioned by 5G communication at the dock; N represents the total number of 5G base stations at the dock; min[,] represents the minimum value of the values ​​on both sides of the comma in the brackets; If E=1, it means that the ship is positioned by 5G communication at the dock; If E = 0, it means that the ship is not positioned by 5G communication at the dock; Step S2: If the ship is positioned by 5G communication at the dock, the following formula (2) is used to determine the 5G base station for 5G communication positioning according to the relative distance information and relative orientation information between the ship and the dock and the distribution position of the 5G base stations at the dock. In the above formula (2), I indicates that the 5G base station for 5G communication positioning is the Ith 5G base station at the wharf; Represents the vector pointing from the ship to the i-th 5G base station at the dock; represents the vector pointing from the ship to the dock; | | represents the modulus of the vector; Represents the vector With vector The angle between them; It means that the value of i from 1 to N is substituted into the brackets to obtain the value of i when the minimum value is obtained in the brackets, and it is recorded as I; Step S3, using the following formula (3), according to the relative distance between the ship and the selected 5G base station on the dock, control the current communication positioning state of the 5G base station, In the above formula (3), G represents the current communication positioning state control value of the 5G base station; The vector representing the direction from the ship to the first 5G base station on the dock; The vector representing the direction from the ship to the first 5G base station on the dock; If G=1, it means that the 5G base station is currently switched to the working state of 5G communication positioning; If G=0, it means that the 5G base station is currently switched to the closed state of 5G communication positioning.

9. The ship positioning method based on 5G and IoT satellite as claimed in claim 1, characterized in that: Based on real-time 5G positioning information, send navigation instructions to the ship's control terminal, including: The real-time 5G positioning information is compared with the position information of the ship berthing area at the dock to obtain the position deviation difference information between the two; based on the position deviation difference information, a navigation instruction message is sent to the control end of the ship; wherein the navigation instruction message includes a heading adjustment instruction message and / or a speed adjustment instruction message.

Images