A ship equipment array element center positioning tool and its application method

Abstract

The present invention discloses a center positioning tool for an array element of a ship equipment and an application method thereof. The positioning tool comprises a plate body adapted to a module, the edge of the plate body extends downward to form a mounting edge, the mounting edge is surrounded to form a cavity adapted to the outer edge surface of the module, and a positioning hole is provided at the center position of the plate body. By snapping the plate body onto the module, the center position of each module can be determined quickly and accurately by using the positioning hole and the laser reflection target, ensuring the correct installation of the array element on the entire hull. The present invention solves the problem of inaccurate center positioning of the array element in the prior art, and the positioning is accurate and fast, which not only saves labor costs, but also saves time costs, and further ensures measurement accuracy, providing a strong technical guarantee for unit production.

Description

Technical Field

[0001] The present invention relates to the technical field of marine detection equipment, and more specifically, to a ship equipment array element center positioning tool and an application method thereof. Background Art

[0002] In recent years, with the rapid development of ocean detection technology, countries have been committed to developing high-performance low-frequency, large-aperture arrays to meet the needs of long-range detection of targets and effective counter-detection. Among them, a certain equipment array has gradually become a research hotspot because of its installation along the ship type, consistent appearance with the hull, large array aperture, and high spatial gain. In order to ensure the performance of these arrays in practical applications, the three-dimensional coordinates of the array elements must be accurately measured, and the correct position of the array elements on the entire hull must be determined based on the measurement data, so as to participate in software calculations and obtain relevant information about the target.

[0003] Therefore, the work of positioning the center of the array element is extremely important, and a tooling that can quickly and accurately position the center of the array element must be developed to improve the measurement efficiency and accuracy. Existing positioning methods usually rely on manual measurement, which has problems such as inaccurate positioning, long time consumption, high cost, and it is difficult to ensure the consistency and repeatability of the measurement. To this end, the present invention provides a new type of ship equipment array element center positioning tooling, which aims to solve the deficiencies in the prior art and improve the accuracy and efficiency of array element positioning. Summary of the invention

[0004] The purpose of the present invention is to provide a ship equipment array element center positioning tool and its application method, which can simplify the operation process and reduce manpower and time costs while ensuring positioning accuracy. It is suitable for the installation and calibration of large-scale ship equipment array elements. The present invention not only improves the positioning accuracy, but also enhances the adaptability and robustness of the tool, providing strong technical support for the efficient application of marine detection equipment.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a center positioning tool for a ship equipment array element, wherein the ship equipment array element includes a base and a plurality of modules, and the modules are arranged on the base in a matrix form at intervals. The positioning tool includes a plate body adapted to the top shape of the module, and the edge of the plate body extends downward to form a mounting edge, and the mounting edges are multiple and spaced apart, and the inner side surface of the mounting edge is surrounded to form a cavity adapted to the outer edge surface of the module, and the plate body is clamped on the module through the cavity, and a positioning hole is provided at the center position of the plate body.

[0006] Furthermore, the plate body is in a rectangular structure, and the mounting edges are respectively arranged on four sides of the plate body.

[0007] Furthermore, the plate body is of a circular structure, and the number of the mounting edges is three and they are arranged at intervals on the outer edge surface of the plate body.

[0008] Furthermore, the positioning hole is circular or rectangular.

[0009] Furthermore, a laser reflection target is installed in the positioning hole of the positioning tool.

[0010] The present invention also provides a positioning method using the above-mentioned ship equipment array element center positioning tool, characterized in that it includes the following steps:

[0011] S1, clamping the positioning tools on the modules respectively;

[0012] S2, installing the laser reflection target in the positioning hole of the positioning tool;

[0013] S3, starting the laser positioning system, irradiating the laser beam to the positioning hole on the positioning tool, and the laser receiver receives the reflected light signal and transmits it to the data processing unit;

[0014] S4, the data processing unit calculates the preliminary coordinates of the center of the module in the hull coordinate system according to the reflected light signal;

[0015] S5, repeating the above positioning and measuring steps for multiple modules, integrating the center coordinates of each module and performing optimization processing to obtain the original calculated coordinates of the center of the ship equipment array element;

[0016] S6, analyze the factors that affect the positioning accuracy, establish an error compensation model, perform error compensation on the positioning results according to the actual measurement environment and conditions, and obtain the final positioning coordinates.

[0017] Furthermore, in step S5, the optimization processing step includes checking whether the relative relationship between the module coordinates conforms to the array layout rule, and correcting the abnormal coordinate points using a data optimization algorithm.

[0018] Furthermore, in step S6, the factors considered by the error compensation model include hull deformation, temperature change, and non-uniformity of the laser propagation medium, etc., and relevant physical parameters are monitored by installing sensors at key locations of the hull and input into the error compensation model to correct the positioning coordinates.

[0019] Furthermore, the error compensation model adopts a neural network algorithm to construct an error compensation model. Specifically, a neural network structure including an input layer, a hidden layer and an output layer is designed. The number of nodes in the input layer corresponds to the number of various physical parameters monitored, the number of nodes in the output layer is the correction value of the positioning coordinates, and the number of layers and nodes in the hidden layer are adjusted according to the complexity of the data and the training effect of the model. The weights and bias of the neural network are continuously optimized through the back propagation algorithm, so that the model can accurately predict the positioning error based on the input monitoring data and output the corresponding coordinate correction value.

[0020] Furthermore, the original calculated coordinates of the array element center are (x0, y0, z0), and the correction values ​​output by the error compensation model are (△x, △y, △z), so the final positioning coordinates are (x0+△x, y0+△y, z0+△z).

[0021] The present invention has the following beneficial effects:

[0022] (1) Unique tooling design, the board body is adapted to the module shape, the mounting edge is tightly engaged with the module, and the positioning holes are set with high precision to ensure that the center position of the module can be quickly found, significantly improving the positioning speed and accuracy.

[0023] (2) The positioning tooling is easy to install. You only need to snap the plate onto the module. The laser positioning system is easy to operate, which reduces reliance on manual measurement, reduces labor costs, improves positioning efficiency, shortens operation time, and reduces time costs.

[0024] (3) When calculating the center coordinates of the array element, various influencing factors are taken into account, such as hull deformation, temperature change, and inhomogeneity of the laser propagation medium. The positioning coordinate accuracy is ensured through sensor monitoring and error compensation model correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 It is a three-dimensional schematic diagram of the center positioning tooling of the marine equipment array element of the present invention;

[0027] Figure 2 A top view of the center positioning tool for array elements of ship equipment of the present invention;

[0028] Figure 3 It is a schematic diagram of the array element of the ship equipment of the present invention;

[0029] Figure 4 It is a flow chart of the positioning method using the ship equipment array element center positioning tooling of the present invention;

[0030] Description of Figure Numbers:

[0031] Plate body 1 , mounting edge 2 , positioning hole 3 , base 100 , module 200 . DETAILED DESCRIPTION

[0032] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0033] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0034] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0035] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0036] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of the various components of the present invention are not absolute but relative. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, the indications of these directions also change accordingly.

[0037] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0039] See also Figure 1 , and combined with Figure 2 and Figure 3As shown, a center positioning tool for a ship equipment array element of the present embodiment comprises a base 100 and a plurality of modules 200, and the modules 200 are arranged on the base 100 in a matrix form at intervals, and is characterized in that the positioning tool comprises a plate body 1 adapted to the top shape of the module 200, the edge of the plate body 1 extends downward to form a mounting edge 2, and the mounting edges 2 are multiple and arranged at intervals, the inner side surfaces of the mounting edges 2 are surrounded to form a cavity adapted to the outer edge surfaces of the module 200, and a positioning hole 3 is provided at the center position of the plate body 1.

[0040] When in use, the plate body 1 in this embodiment is respectively engaged on the module 200, and the center position of each module 200 can be determined by using the positioning hole 3. There is no need for manual measurement, which reduces the error caused by the measurement, and has low labor costs. In addition, the positioning is more accurate, and the laser reflection target standard is positioned by the positioning tool, which can accurately reflect the correct position of the center of the ship equipment array element in the entire hull.

[0041] The shape of the positioning tooling plate is precisely matched with the top shape of the ship equipment array element module, and can be rectangular, circular or other complex geometric shapes to accommodate a variety of module designs. The edge of the plate is carefully designed with multiple spaced mounting edges, and the inner side surfaces of these mounting edges are cleverly enclosed to form a cavity that perfectly fits the outer edge of the module, ensuring that the tooling is quickly and firmly installed on the module, just like a tailor-made one. High-precision positioning holes are set at the core position of the plate, and their shapes can be flexibly selected as circular, rectangular or other special shapes, depending on the accuracy requirements of the positioning measurement and the convenience of actual operation. The dimensional tolerance of the positioning holes is strictly controlled. The diameter tolerance of the circular positioning holes can reach ±0.01 mm, and the side length and diagonal tolerance of the rectangular positioning holes are also within the micron-level accuracy range, ensuring that the center position of the array element can be accurately indicated.

[0042] The positioning tooling is made of high-quality materials such as aviation-grade aluminum alloy or high-strength stainless steel. These materials not only have excellent strength and rigidity to withstand the harsh conditions in the marine environment, such as seawater corrosion, wave impact and temperature changes, but also have good processing performance, which is convenient for high-precision manufacturing. Advanced CNC processing technology, such as five-axis linkage machining center, combined with laser cutting and precision EDM processes, is used to ensure that every detail of the tooling meets extremely high precision requirements. The matching clearance between the mounting edge and the module has been carefully optimized and controlled within a very small range of ±0.05 mm to ensure the stability and accuracy of the tooling during the engagement process and eliminate any possible shaking or deviation.

[0043] As an embodiment, when the module 200 has a rectangular shape, the board body 1 has a rectangular structure, and the mounting edges 2 are respectively arranged on the four sides of the board body 1 .

[0044] As another embodiment, when the module 200 is rectangular in shape, the plate body 1 is circular in structure, and there are three mounting edges 2 which are spaced apart on the outer edge surface of the plate body 1 .

[0045] Preferably, the positioning hole 3 is circular or rectangular.

[0046] The above-mentioned ship equipment array element center positioning tooling of the present invention is based on the relatively uniform shape of the module 200 on the base 100. Therefore, a plate body 1 adapted to the module 200 is adopted, and the mounting edge 2 on the plate body 1 is quickly snapped onto the module 200. The positioning hole 3 on the plate body 1 can be used to quickly find the correct position of the ship equipment array element center in the entire hull.

[0047] See also Figure 4 , is a flow chart of a method for positioning using the above-mentioned ship equipment array element center positioning tooling in this embodiment, which specifically includes the following steps:

[0048] Step 1, tool installation and preliminary positioning: Install the designed positioning tool on the module of the ship equipment array element. Select a plate of appropriate shape according to the shape of the module, align the installation edge with the outer edge of the module, and gently press the tool to snap on the module, ensuring that the positioning tool fits tightly with the module without looseness or offset. At this point, the positioning hole on the plate preliminarily indicates the area near the center of the module.

[0049] Step 2, install the laser reflective target: install the laser reflective target in the positioning hole, and ensure that the target is aligned with the central axis of the positioning hole. The laser reflective target should be installed as vertically as possible to ensure the accuracy of the reflected signal.

[0050] Step 3, precise measurement and data collection: Start the laser positioning system, and the laser beam will irradiate the laser reflection target in the positioning hole on the positioning fixture. The laser receiver receives the reflected light signal and transmits it to the data processing unit. The data processing unit records the emission angle, reflection time and other information of the laser beam, and accurately calculates the position coordinates of the positioning hole relative to the laser transmitter through trigonometric function calculation and coordinate conversion algorithm, and then determines the preliminary coordinates of the module center in the hull coordinate system.

[0051] Step 4, multi-module collaborative positioning and optimization: For a ship equipment array element composed of multiple modules, repeat the above steps to perform positioning measurements on each module. For a ship equipment array element composed of multiple modules, first formulate a detailed measurement plan to determine the measurement order of the modules. The measurement order can be arranged according to the order of the physical positions of the modules in the array element (such as from bow to stern, from port to starboard, etc.), or it can be performed in a pre-set numbering order. Such an orderly measurement arrangement helps to improve measurement efficiency and reduce omissions or duplications during the measurement process. Specifically, in an array element composed of 10 modules, they are numbered 1-10 starting from the bow, and each module is positioned and measured in sequence according to the numbering order to ensure that each module can be accurately measured.

[0052] In the data processing unit, select a suitable data structure to store the center coordinate data of each module. Common data structures can be two-dimensional arrays or matrices, in which each row represents the center coordinate information of a module, including the center coordinate value and possible other related information (such as module number, measurement time, etc.). Use a 10*4 two-dimensional array to store the coordinate data of 10 modules, in which the first to third columns store the x, y, and z coordinate values ​​of the modules respectively, and the fourth column stores the module number. Such a data structure facilitates data management, query, and subsequent processing.

[0053] In the data processing unit, the center coordinates of each module are integrated and analyzed, considering the relative position relationship between modules and the array layout requirements. Generally, the relative positions of modules are in a horizontal plane, and there is no special position relationship in the Z direction. Therefore, we only optimize the preliminary measurement results of the coordinate values ​​in the XY direction. Specifically, the relative position relationship between modules is calculated, including geometric parameters such as the distance, angle, and orientation between modules. By calculating the coordinate difference between adjacent modules, their distance in the X and Y directions can be obtained. At the same time, the angle between the connecting line between modules and the coordinate axis is calculated to determine their orientation relationship and establish a geometric relationship model between modules, so as to intuitively understand the layout of the modules in the array element.

[0054] According to the established geometric relationship model, evaluate whether the relative position relationship between modules meets the expected array layout requirements. In a uniformly distributed module array, the distance between adjacent modules should be roughly equal, and the angle relationship should also conform to certain rules. If it is found that the distance or angle between some modules deviates greatly from the expected value, there may be problems such as measurement error or abnormal module installation. By setting reasonable thresholds, the relative position relationship between modules is detected for abnormalities. When the distance deviation between adjacent modules exceeds 5% of the average distance or the angle deviation exceeds 3°, it is marked as an abnormal situation for further inspection and processing.

[0055] Clarify the array layout requirements of the ship equipment array elements, which are usually determined based on the functional requirements of the ship equipment, signal transmission characteristics, space limitations and other factors. In some array elements, the modules are required to be evenly distributed in specific geometric shapes such as circles and rectangles to achieve the best signal coverage and reception effect. According to these layout requirements, the corresponding mathematical model is established.

[0056] Establishment of mathematical model of circular array layout:

[0057] For circular array layout, a polar coordinate system is usually established with the center of the array as the origin. Let the polar coordinates of the i-th module be (r i ,θ i ), where r i represents the distance from the module to the center of the array, θ i Indicates the polar angle. Ideally, the modules should be evenly distributed on a circle with a radius of r, and its mathematical model can be expressed as (r i = r for all modules i), and should satisfy the law of uniform distribution, such as (where n is the total number of modules). In practical applications, due to factors such as measurement errors, the actual coordinates of the modules There will be deviations from the ideal coordinates, and the polar coordinates can be converted into rectangular coordinates for subsequent calculation and optimization. According to the established mathematical model, the ideal position of the module is expressed as a mathematical function or constraint condition, and a suitable optimization algorithm is selected. Common optimization algorithms include least squares method, gradient descent method, genetic algorithm, etc. to adjust the center coordinates of the module to better meet the array layout requirements, and finally obtain the original calculated coordinates of the center.

[0058] The following uses the least squares method as an example to illustrate how to calculate the original coordinates of the center of the module based on the above mathematical model:

[0059] In the circular array layout, let the actual measured coordinates of the i-th module be According to the circular array mathematical model established above, its ideal coordinates are in (r is the ideal radius and n is the total number of modules).

[0060] Defining the function error Objective Function

[0061] The objective function J is respectively about r and θ (where θ is implicitly affected by i and n and ) to find the partial derivative:

[0062]

[0063]

[0064]

[0065]

[0066] make and A set of equations is obtained. By solving this set of equations, the optimized r and θ values ​​can be obtained, and then the optimized coordinates of each module can be obtained. These coordinates are the original calculated coordinates of the module center that meet the array layout requirements.

[0067] Establishment of mathematical model of rectangular array layout:

[0068] In a rectangular array layout, a rectangular coordinate system is established with one corner of the array as the origin. Suppose the rectangular array has m modules in the x direction and m modules in the y direction, and the module spacing in the x direction is d x , in the y direction is d y The ideal coordinates of the module in row i and column j are In actual measurement, due to various factors, the actual coordinates of the module It will deviate from the ideal coordinates and needs to be adjusted through optimization algorithms.

[0069] Defining the function error Objective Function

[0070] For the objective function J, respectively, x and d y Find partial derivatives:

[0071]

[0072]

[0073]

[0074]

[0075] make and Solve to get d x and d y The optimized value of , and then the optimized coordinates of each module are obtained These are the original calculated coordinates of the module center.

[0076] Step 5, construction and application of error compensation model: Based on the above analysis of factors such as hull deformation, temperature change and laser propagation medium inhomogeneity, a comprehensive error compensation model is constructed. The model uses multiple linear regression, neural network or other suitable machine learning algorithms, takes hull deformation monitoring data (displacement, strain, etc.), temperature data and laser propagation medium parameters (refractive index distribution, etc.) as input variables, and positioning error as output variable, and is trained and optimized through a large amount of experimental data and actual measurement data. In one embodiment, a neural network algorithm is used to construct an error compensation model, and a neural network structure including an input layer, a hidden layer and an output layer is designed. The number of input layer nodes corresponds to the number of various physical parameters monitored, and the number of output layer nodes is the correction value of the positioning coordinate (such as (△x, △y, △z)). The number of layers and nodes of the hidden layer are adjusted according to the complexity of the data and the training effect of the model. The weights and biases of the neural network are continuously optimized through the back propagation algorithm, so that the model can accurately predict the positioning error according to the input monitoring data and output the corresponding coordinate correction value.

[0077] When there is a relatively obvious linear relationship between the factors affecting the positioning error (such as hull deformation, temperature change, laser propagation medium parameters, etc.) and the positioning coordinates, multiple linear regression is a suitable choice. If a large amount of experimental data and actual measurements are used to find that the deformation of the hull in a certain direction is approximately linearly proportional to the change in the positioning error in that direction, and the influence of temperature change on the positioning error can also be well fitted by a linear function, then multiple linear regression can effectively use these linear relationships to establish a model. In some relatively simple array element positioning systems for ship equipment, if the measurement environment is relatively stable, the range of variation of each influencing factor is small and the relationship between them is relatively simple, multiple linear regression can quickly train a model based on known data and compensate for the positioning error.

[0078] Neural networks have obvious advantages when dealing with complex nonlinear relationships. When there are complex interactions between factors such as hull deformation, temperature changes, and laser propagation medium inhomogeneity, and when the relationship between these factors and positioning errors is difficult to describe with simple linear functions, neural networks can capture these complex patterns through their powerful learning capabilities. In the high-precision positioning system of large ships, the structure of the ship is complex and may be affected by a variety of complex mechanical factors, causing the hull to deform. At the same time, the marine environment is complex and changeable, and the characteristics of the laser propagation medium vary greatly in different regions and times. At this time, neural networks can better adapt to this complex situation. Especially when there is a large amount of historical measurement data available for training, neural networks can fully tap the hidden information in the data and establish a more accurate error compensation model.

[0079] In practical applications, we can also consider combining the advantages of the two algorithms. When the initial data volume is small and the relationship is relatively simple, we can first use multivariate linear regression to establish a preliminary error compensation model. As the data accumulates and the understanding of the complexity of the positioning system deepens, we can introduce a neural network algorithm to optimize and expand the model to adapt to more complex actual situations, thereby achieving more accurate and efficient error compensation and ensuring the high-precision requirements for the center positioning of the ship equipment array element.

[0080] In the actual positioning process, the physical parameter data related to the hull deformation, temperature and laser propagation medium are collected in real time, and these data are input into the error compensation model. The model calculates the correction value of the positioning coordinates based on the parameters and algorithms obtained in advance. The data processing unit applies the correction value to the original positioning coordinate calculation result to obtain the final positioning coordinate after error compensation. When the original calculated array element center coordinates are (x0, y0, z0), the correction value output by the error compensation model is (△x, △y, △z), then the final positioning coordinates are (x0+△x, y0+△y, z0+△z). Through continuous real-time monitoring and error compensation, it is ensured that the center positioning results of the ship equipment array element always maintain high precision and are not affected by various complex environmental factors, providing reliable technical guarantees for the normal operation of ocean exploration and ship equipment. At the same time, the error compensation model is regularly updated and optimized, and the model parameters and algorithms are adjusted according to new measurement data and actual application conditions to improve the accuracy and adaptability of the model.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A center positioning tool for array elements of ship equipment, characterized in that: The ship equipment array element includes a base and multiple modules, and the modules are arranged in a matrix form on the base. The positioning tooling includes a plate body adapted to the top shape of the module, and the edge of the plate body extends downward to form a mounting edge, and the mounting edges are multiple and spaced apart. The inner side surface of the mounting edge is surrounded to form a cavity adapted to the outer edge surface of the module, and the plate body is clamped on the module through the cavity, and a positioning hole is provided at the center of the plate body.

2. A ship equipment array element center positioning tool as claimed in claim 1, characterized in that: The plate body is in a rectangular structure, and the mounting edges are respectively arranged on four sides of the plate body.

3. A ship equipment array element center positioning tool as claimed in claim 1, characterized in that: The plate body is in a circular structure, and the number of the mounting edges is three and they are arranged at intervals on the outer edge surface of the plate body.

4. A ship equipment array element center positioning tool as claimed in claim 1, characterized in that: The positioning hole is circular or rectangular.

5. A ship equipment array element center positioning tool as claimed in claim 4, characterized in that: A laser reflection target is installed in the positioning hole of the positioning tool.

6. A positioning method using the ship equipment array element center positioning tool as described in any one of claims 1 to 5, characterized in that: The following steps are involved: S1, clamping the positioning tools on the modules respectively; S2, installing the laser reflection target in the positioning hole of the positioning tool; S3, starting the laser positioning system, irradiating the laser beam to the positioning hole on the positioning tool, and the laser receiver receives the reflected light signal and transmits it to the data processing unit; S4, the data processing unit calculates the preliminary coordinates of the center of the module in the hull coordinate system according to the reflected light signal; S5, repeating the above positioning and measuring steps for multiple modules, integrating the center coordinates of each module and performing optimization processing to obtain the original calculated coordinates of the center of the ship equipment array element; S6, analyze the factors that affect the positioning accuracy, establish an error compensation model, perform error compensation on the positioning results according to the actual measurement environment and conditions, and obtain the final positioning coordinates.

7. The positioning method according to claim 6, characterized in that: In step S5, the optimization process includes checking whether the relative relationship between the module coordinates conforms to the array layout rule, and correcting the abnormal coordinate points using a data optimization algorithm.

8. The positioning method according to claim 6, characterized in that: In step S6, the factors considered by the error compensation model include hull deformation, temperature change, and inhomogeneity of the laser propagation medium. Sensors are installed at key locations on the hull to monitor relevant physical parameters, which are then input into the error compensation model to correct the positioning coordinates.

9. The positioning method according to claim 7, characterized in that: The error compensation model adopts a neural network algorithm to construct an error compensation model. Specifically, a neural network structure including an input layer, a hidden layer and an output layer is designed. The number of nodes in the input layer corresponds to the number of various physical parameters monitored, and the number of nodes in the output layer is the correction value of the positioning coordinates. The number of layers and nodes in the hidden layer are adjusted according to the complexity of the data and the training effect of the model. The weights and bias of the neural network are continuously optimized through the back propagation algorithm, so that the model can accurately predict the positioning error based on the input monitoring data and output the corresponding coordinate correction value.

10. The positioning method according to claim 6, characterized in that: The original calculated coordinates of the array element center are (x0, y0, z0), and the correction values ​​output by the error compensation model are (△x, △y, △z). The final positioning coordinates are (x0+△x, y0+△y, z0+△z).

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