Ship GPS antenna position adjusting method, related product and application

Abstract

The invention provides a ship GPS antenna position adjusting method, a related product and application, and the method is applied to a terminal, and the method comprises the steps: obtaining the reference point position coordinate of a target ship, and the attitude angle of the target ship measured at the reference point of the target ship; constructing an attitude angle rotation matrix based on the attitude angle of the target ship; calculating a first offset vector based on the reference point position coordinate of the target ship and the first GPS antenna coordinate, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; and correcting the first GPS antenna coordinate based on a second offset vector to generate a second GPS antenna coordinate. According to the invention, the GPS coordinate offset under the coordinate system of the GPS system is compensated, so that the change of GPS position coordinates caused by ship heeling in the prior art is reduced, and the accuracy of ship positioning and the precision and efficiency of ship operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship control, and in particular to a ship GPS antenna position adjustment method, related products and applications. Background Art

[0002] In the construction of hydraulic engineering projects, specifically in projects such as docks and submarine immersed tube tunnels, ship leveling, tamping and ship moving operations are required. During the ship leveling, tamping and ship moving operations, accurate positioning of the ship is a crucial link.

[0003] In the prior art, GPS antennas are commonly used as a positioning method. However, due to natural factors such as wind direction and river flow direction, ships are prone to heeling or pitching, which changes the position of the actual reference point of the ship's GPS antenna in the GPS coordinate system, causing inaccurate ship positioning and affecting operation accuracy and efficiency. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a ship GPS antenna position adjustment method, related products and applications, so as to improve the accuracy of ship positioning, ship operation precision and efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a method for adjusting the position of a ship GPS antenna, which is applied to a terminal, wherein the terminal is used to perform GPS positioning on a target ship, wherein the target ship is equipped with a GPS antenna, and the coordinates of the GPS antenna under the GPS system are first GPS antenna coordinates, wherein the method includes: Obtaining the reference point position coordinates of the target ship and the attitude angle of the target ship measured at the reference point of the target ship; Constructing an attitude angle rotation matrix based on the attitude angle of the target ship; Calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; The first GPS antenna coordinates are corrected based on the second offset vector to generate second GPS antenna coordinates.

[0006] In the embodiment provided in the present application, the GPS system coordinate system is rotated by constructing an attitude angle rotation matrix to compensate for the offset of the GPS antenna coordinates caused by the roll and pitch of the ship, thereby achieving adjustment and correction of the GPS position coordinates, reducing the GPS position coordinate offset caused by the roll of the ship in the prior art, improving the accuracy of ship positioning, and improving the accuracy and efficiency of subsequent ship operations.

[0007] One possible way is that the attitude angle includes: a pitch angle, a roll angle and a bow and stern angle, and in the step of constructing an attitude angle rotation matrix based on the attitude angle of the target ship, the attitude angle rotation matrix is ​​constructed in the following way: ; —Attitude angle rotation matrix —Fore and aft deflection angle rotation matrix; —Pitch angle rotation matrix; —Roll angle rotation matrix; in, ; —The bow and stern angles of the target ship; ; —The pitch angle of the target ship; ; —Roll angle of the target ship.

[0008] One possible way is that in the step of calculating the first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating the second offset vector based on the first offset vector and the attitude angle rotation matrix, The first offset vector is the difference between the reference point position coordinates of the target ship and the first GPS antenna coordinates.

[0009] One possible manner is that the reference point position coordinates include one of a geometric center position coordinate and a center of gravity position coordinate.

[0010] One possible way is that in the step of calculating the first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating the second offset vector based on the first offset vector and the attitude angle rotation matrix, the second offset vector is calculated in the following way: ; —Attitude angle rotation matrix; —First offset vector —the component of the second offset vector on the x-axis; —the component of the second offset vector on the y-axis; —the component of the second offset vector in the z-axis; —The second offset vector.

[0011] One possible way is that, in the step of correcting the first GPS antenna coordinates based on the second offset vector to generate the second GPS antenna coordinates, the first GPS antenna coordinates are corrected based on the second offset vector to generate the second GPS antenna coordinates as follows: ; ; ; — The x-axis coordinate of the second GPS antenna coordinate; -x-axis coordinate of the first GPS antenna coordinate; -y-axis coordinate of the second GPS antenna coordinate; -y-axis coordinate of the first GPS antenna coordinate; - the z-axis coordinate of the second GPS antenna coordinate; —The z-coordinate of the first GPS antenna coordinate.

[0012] In a second aspect, an embodiment of the present application provides a device for adjusting the position of a ship GPS antenna, which is applied to a terminal, wherein the terminal is used to perform GPS positioning on a target ship, wherein the target ship is equipped with a GPS antenna, and the coordinates of the GPS antenna under the GPS system are first GPS antenna coordinates, including: Acquisition module: used to acquire the reference point position coordinates of the target ship and the attitude angle of the target ship measured at the reference point of the target ship; A construction module: used for constructing an attitude angle rotation matrix based on the attitude angle of the target ship; A calculation module: used for calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; Correction module: used to correct the first GPS antenna coordinates based on the second offset vector to generate second GPS antenna coordinates.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and At least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method described in the first aspect.

[0015] In a fifth aspect, an embodiment of the present application provides an application of the ship GPS antenna position adjustment method as described in the first aspect, which is applied to ship leveling operations and / or ship tamping operations and / or ship movement.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flow chart of a method for adjusting the position of a ship GPS antenna provided by an embodiment of the present invention; Figure 2 A structural diagram of a ship GPS antenna position adjustment device provided by an embodiment of the present invention; Figure 3 This is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to better understand the technical solution of the embodiment of the present invention, the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0021] It should be clear that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments in 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 embodiments of the present invention.

[0022] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0023] Hydraulic engineering construction specifically refers to the construction and management of projects related to water resources, including waterway projects, port projects, water conservancy and hydropower projects and other hydraulic engineering projects. In projects such as docks and submarine immersed tube tunnels, ship leveling, tamping and ship moving operations are required. In the process of ship leveling, tamping and ship moving operations, accurate positioning of the ship is a crucial link.

[0024] In the prior art, GPS antennas are commonly used as a positioning method. However, due to natural factors such as wind direction and river flow direction, ships are prone to heeling or pitching, which changes the position of the actual reference point of the ship's GPS antenna in the GPS coordinate system, causing inaccurate ship positioning and affecting operation accuracy and efficiency.

[0025] In order to solve the above problems, the present application provides a method for adjusting the position of a ship GPS antenna, related products and applications, in order to solve at least part of the above problems.

[0026] First, a method for adjusting the position of a ship GPS antenna provided in an embodiment of the present application is described: Reference Figure 1 An embodiment of the present application provides a method for adjusting the position of a ship GPS antenna, which is applied to a terminal, and the terminal is used to perform GPS positioning on a target ship. The target ship is equipped with a GPS antenna, and the coordinates of the GPS antenna under the GPS system are the first GPS antenna coordinates.

[0027] Specifically, the target ship is the ship that performs the operation, and the first GPS antenna coordinates are the coordinates of the GPS antenna of the target ship in the GPS system coordinate system. For example, the first GPS antenna coordinates may specifically refer to the coordinates of the GPS antenna of the target ship in the WGS-84 coordinate system (World Geodical System-84).

[0028] In the embodiments provided in this application, the following steps are specifically included: S10: Acquire the position coordinates of the reference point of the target ship and the attitude angle of the target ship measured at the reference point of the target ship.

[0029] Combined with the definition of attitude angle in the prior art, attitude angle is usually used to describe the rotation relationship of one coordinate system (such as the carrier coordinate system) relative to another coordinate system (such as the navigation coordinate system), and the rotation matrix is ​​specifically used to rotate an object from one coordinate system to another.

[0030] Specifically, in the provided embodiment, in order to characterize the rotation around the x-axis, y-axis and z-axis of the object respectively, the attitude angle specifically includes the roll angle (i.e., the roll angle), the pitch angle and the bow and stern angle (i.e., the heading angle), so as to characterize the rotation around the x-axis, y-axis and z-axis of the object respectively. After the reference point of the target ship is determined, the attitude angle of the target ship is measured at the reference point position of the target ship.

[0031] S20: construct an attitude angle rotation matrix based on the attitude angle of the target ship.

[0032] Based on the above, it can be known that the attitude angle of the target ship is measured. After the attitude angle is obtained, the attitude angle rotation matrix can be constructed.

[0033] S30: Calculate a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculate a second offset vector based on the first offset vector and the attitude angle rotation matrix.

[0034] In the embodiment provided in the present application, the first offset vector specifically refers to the coordinate offset of the reference point of the target ship and the position of the first GPS antenna, and the second offset vector specifically uses the first offset vector multiplied by the attitude angle rotation matrix to characterize the offset of the GPS antenna coordinates caused by the roll and pitch of the ship. Therefore, the second offset vector can determine the offset of the GPS antenna coordinates caused by the roll and pitch of the ship.

[0035] S40: Correct the first GPS antenna coordinates based on the second offset vector to generate second GPS antenna coordinates.

[0036] In this embodiment, combined with the above, it can be known that the first GPS antenna coordinates can be compensated by using the second offset vector. Here, the second GPS antenna coordinates correspond to the corrected GPS antenna coordinates.

[0037] In the embodiment provided in the present application, the GPS system coordinate system is rotated by constructing an attitude angle rotation matrix to compensate for the offset of the GPS antenna coordinates caused by the roll and pitch of the ship, thereby achieving adjustment and correction of the GPS position coordinates, reducing the GPS position coordinate offset caused by the roll of the ship in the prior art, improving the accuracy of ship positioning, and improving the accuracy and efficiency of subsequent ship operations.

[0038] In combination with the foregoing, it can be known that in the embodiment provided in the present application, the attitude angle of the target ship specifically includes the pitch angle, roll angle and bow and stern angle of the target ship. In the aforementioned S20: step of constructing an attitude angle rotation matrix based on the attitude angle of the target ship, the attitude angle rotation matrix can be constructed in the following manner: ; —Attitude angle rotation matrix; —Fore and aft deflection angle rotation matrix; —Pitch angle rotation matrix; —Roll angle rotation matrix; in, ; —The bow and stern angles of the target ship; ; —The pitch angle of the target ship; ; —Roll angle of the target ship.

[0039] Through the above method, the attitude angle rotation matrix can be constructed to rotate the GPS system coordinate system.

[0040] In this embodiment, the bow and stern angle rotation matrix, the pitch angle rotation matrix and the roll angle rotation matrix are all orthogonal matrices, so that the length of the vector is not changed after rotation, only its direction is changed, thereby ensuring that the coordinates after conversion still maintain physical correctness.

[0041] In combination with the above, it can be known that in order to obtain the second offset vector, the first offset vector needs to be calculated. The first offset vector can be obtained in the following manner: First, the reference point position coordinates and the first GPS antenna coordinates of the target ship are acquired, and then the first offset vector is calculated based on the reference point position coordinates and the first GPS antenna coordinates of the target ship.

[0042] Specifically, the first offset vector is the difference between the reference point position coordinates of the target ship and the first GPS antenna coordinates.

[0043] In the above manner, the offset between the reference point of the target ship and the GPS antenna can be determined.

[0044] In some scenarios, the reference point position coordinates are the geometric center position coordinates. In this scenario, the reference point position coordinates of the target ship are the geometric center position coordinates of the target ship. In other scenarios, the reference point position coordinates are the center of gravity position coordinates. In this scenario, the reference point position coordinates of the target ship are the center of gravity position coordinates of the target ship.

[0045] It can be seen from this that the reference point position coordinates include one of the geometric center position coordinates and the center of gravity position coordinates.

[0046] In some scenarios, the reference point position coordinates are specified position coordinates.

[0047] The following will explain how to calculate the second offset vector: As a preferred embodiment, the second offset vector may be calculated in the following manner: ; —Attitude angle rotation matrix; - first offset vector; —the component of the second offset vector on the x-axis; —the component of the second offset vector in the y-axis; —the component of the second offset vector in the z-axis; —The second offset vector.

[0048] After the second offset vector is generated, the first GPS antenna coordinates are corrected in the following manner to generate the second GPS antenna coordinates: ; ; ; — The x-axis coordinate of the second GPS antenna coordinate; -x-axis coordinate of the first GPS antenna coordinate; -y-axis coordinate of the second GPS antenna coordinate; -y-axis coordinate of the first GPS antenna coordinate; - the z-axis coordinate of the second GPS antenna coordinate; —The z-coordinate of the first GPS antenna coordinate.

[0049] The following is a specific example: In this example, the coordinates of the first GPS antenna are (Unit: meter), the first offset vector is , in attitude angle, roll angle , pitch angle , bow and stern angle .

[0050] In this example, first, the rotation matrix is ​​constructed using the following formula to construct the roll angle Rotation Matrix , Pitch angle Rotation Matrix and bow and stern angle Rotation Matrix , and calculate the attitude angle rotation matrix: Roll Angle Rotation Matrix : ; Pitch Angle Rotation Matrix : ; Bow and stern angle Rotation Matrix

[0051] ; Attitude angle rotation matrix:

[0052] Then, the second offset vector is obtained using the attitude angle rotation matrix and the aforementioned first offset vector: ; Finally, the first GPS antenna coordinates are corrected using the second offset vector:

[0053] Reference Figure 2 , based on the above embodiment, applied to a terminal, the terminal is used to perform GPS positioning on a target ship, the target ship is equipped with a GPS antenna, and the coordinates of the GPS antenna under the GPS system are first GPS antenna coordinates, the method includes: Acquisition module: used to acquire the reference point position coordinates of the target ship and the attitude angle of the target ship measured at the reference point of the target ship; A construction module: used for constructing an attitude angle rotation matrix based on the attitude angle of the target ship; A calculation module: used for calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; Correction module: used to correct the first GPS antenna coordinates based on the second offset vector to generate second GPS antenna coordinates.

[0054] The implementation principle and technical effects of the device provided in the embodiment of the present invention are the same as those of the aforementioned method embodiment, and will not be described in detail here.

[0055] On the basis of the above-mentioned embodiments, the embodiments of the present application further provide an application of the method for adjusting the position of a ship GPS antenna as described in the above-mentioned embodiments, which is applied to ship leveling operations and / or ship tamping operations and / or ship movement. In addition, an embodiment of the present application also provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method described in the aforementioned embodiment.

[0056] On the basis of the foregoing embodiments, an embodiment of the present application provides an application of a method for adjusting the position of a ship GPS antenna, which is applied to ship leveling operations and / or ship tamping operations and / or ship movement.

[0057] Figure 3 A block diagram of an exemplary electronic device suitable for implementing an exemplary embodiment of the present invention is shown. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0058] like Figure 3 As shown, the electronic device is in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 410, a memory 430, and a communication bus 440 connecting different system components (including the memory 430 and the processing unit 410).

[0059] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0060] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0061] The memory 430 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of each embodiment of the present invention.

[0062] A program / utility having a set (at least one) of program modules may be stored in the memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in the embodiments of the present invention.

[0063] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the embodiments of the present invention. Figure 1 The illustrated embodiment provides a method for adjusting the position of a ship GPS antenna.

[0064] An embodiment of the present invention provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute an embodiment of the present invention. Figure 1 The illustrated embodiment provides a method for adjusting the position of a ship GPS antenna.

[0065] The above-mentioned computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0066] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the embodiments of the present invention and the features of the different embodiments or examples, without contradiction.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0068] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred implementation of the embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0069] The above description is only a preferred embodiment of the embodiment of the present invention and is not intended to limit the embodiment of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiment of the present invention should be included in the scope of protection of the embodiment of the present invention.

Claims

1. A method for adjusting the position of a ship GPS antenna, characterized in that: Applied to a terminal, the terminal is used to perform GPS positioning on a target ship, the target ship is equipped with a GPS antenna, the coordinates of the GPS antenna under the GPS system are first GPS antenna coordinates, and the method includes: Obtaining the reference point position coordinates of the target ship and the attitude angle of the target ship measured at the reference point of the target ship; Constructing an attitude angle rotation matrix based on the attitude angle of the target ship; Calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; The first GPS antenna coordinates are corrected based on the second offset vector to generate second GPS antenna coordinates.

2. The method according to claim 1, characterized in that: The attitude angle of the target ship includes: the pitch angle, roll angle and bow and stern angle of the target ship. In the step of constructing an attitude angle rotation matrix based on the attitude angle of the target ship, the attitude angle rotation matrix is ​​constructed in the following manner: ； —Attitude angle rotation matrix; —Fore and aft deflection angle rotation matrix; —Pitch angle rotation matrix; —Roll angle rotation matrix; in, ; —The bow and stern angles of the target ship; ； —The pitch angle of the target ship; ； —Roll angle of the target ship.

3. The method according to claim 2, characterized in that In the step of calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix, The first offset vector is the difference between the reference point position coordinates of the target ship and the first GPS antenna coordinates.

4. The method according to claim 3, characterized in that The reference point position coordinates include one of a geometric center position coordinate and a center of gravity position coordinate.

5. The method according to claim 4, characterized in that In the step of calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix, the second offset vector is calculated in the following manner: ； —Attitude angle rotation matrix; —First offset vector —the component of the second offset vector on the x-axis; —the component of the second offset vector in the y-axis; —the component of the second offset vector in the z-axis; —The second offset vector.

6. The method according to claim 5, characterized in that In the step of correcting the first GPS antenna coordinates based on the second offset vector to generate the second GPS antenna coordinates, the first GPS antenna coordinates are corrected based on the second offset vector to generate the second GPS antenna coordinates as follows: ; ； ； — The x-axis coordinate of the second GPS antenna coordinate; —x-axis coordinate of the first GPS antenna coordinate -y-axis coordinate of the second GPS antenna coordinate; -y-axis coordinate of the first GPS antenna coordinate; - the z-axis coordinate of the second GPS antenna coordinate; —The z-coordinate of the first GPS antenna coordinate.

7. A device for adjusting the position of a ship GPS antenna, characterized in that: Applied to a terminal, the terminal is used to perform GPS positioning on a target ship, the target ship is equipped with a GPS antenna, and the coordinates of the GPS antenna under the GPS system are first GPS antenna coordinates, including: Determination module: used to obtain the reference point position coordinates of the target ship and the attitude angle of the target ship measured at the reference point of the target ship; A construction module: used for constructing an attitude angle rotation matrix based on the attitude angle of the target ship; A calculation module: used for calculating a first offset vector based on the reference point position coordinates of the target ship and the first GPS antenna coordinates, and calculating a second offset vector based on the first offset vector and the attitude angle rotation matrix; Correction module: used to correct the first GPS antenna coordinates based on the second offset vector to generate second GPS antenna coordinates.

8. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 6 by calling the program instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method according to any one of claims 1 to 6.

10. An application of the method for adjusting the position of a ship GPS antenna according to any one of claims 1 to 6, characterized in that: The method is applied to ship leveling operations and / or ship tamping operations and / or ship movement.

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