Intelligent management and control method and system for Beidou positioning

Abstract

The invention relates to the technical field of Beidou positioning, and discloses an intelligent management and control method and system for Beidou positioning, and the method comprises the steps: setting a precision calibration index corresponding to a Beidou positioning device; based on the precision calibration index, analyzing the signal stability of the Beidou positioning device, and calculating a precision misalignment coefficient corresponding to the precision calibration index; measuring carrier tracks of a service target carrier carrying the Beidou positioning device in different time periods in real time, calculating a track deviation modulus of the service target carrier, calculating a positioning confidence index corresponding to the Beidou positioning device, and analyzing the positioning precision performance of the Beidou positioning device; electromagnetic interference source parameters of the Beidou positioning device in the installation position are collected, and the signal distortion degree of the Beidou positioning device in the installation position is calculated; and formulating a management and control strategy corresponding to the Beidou positioning device, and performing management and control processing on the Beidou positioning device to obtain a management and control result. According to the invention, the precision and reliability of Beidou positioning intelligent management and control can be improved.

Description

Technical Field

[0001] The present invention relates to an intelligent control method and system for Beidou positioning, belonging to the technical field of Beidou positioning. Background Art

[0002] With the continuous development of global positioning technology, the Beidou positioning system has been widely used in many fields, such as logistics and transportation, vehicle monitoring, personnel tracking, etc. In these application scenarios, the demand for intelligent control of positioning targets is increasing to ensure the safety and efficient operation of the targets and the rational allocation of resources.

[0003] Existing Beidou positioning control methods are usually based on traditional positioning data processing procedures. First, the location information of the target is obtained through Beidou positioning terminals. These terminals are installed on the controlled objects, such as vehicles, ships or mobile devices, and send location data to the control center at certain time intervals. After receiving the data, the control center stores it in the database, and then analyzes these historical location data according to preset rules and algorithms to determine whether the target is operating normally.

[0004] However, this method has obvious limitations. In practical applications, due to the dynamic changes in the environment and the emergence of emergencies, it is far from enough to rely solely on the analysis of historical data for control. For example, in logistics transportation, if there are emergencies such as road congestion, traffic accidents or abnormal weather, the control rules set based on historical data may not be able to make effective response measures in time, resulting in reduced transportation efficiency and delayed delivery of goods. Moreover, this static control method has poor flexibility for application scenarios with high real-time requirements. It is difficult to quickly adjust the control strategy according to the current actual situation of the target, thereby reducing the accuracy and reliability of Beidou positioning intelligent control. Summary of the invention

[0005] The present invention provides an intelligent control method and system for Beidou positioning, the main purpose of which is to improve the accuracy and reliability of the intelligent control of Beidou positioning.

[0006] To achieve the above object, the present invention provides an intelligent control method for Beidou positioning, comprising: Acquire the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement; Based on the accuracy calibration index, collecting signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation, combining the signal strength data and satellite connection quantity data, analyzing the signal stability of the Beidou positioning device, and calculating the accuracy inaccuracy coefficient corresponding to the accuracy calibration index based on the time delay data; Real-time measurement of the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods, combining the carrier trajectory and the preset driving trajectory, calculating the trajectory deviation modulus of the service target carrier, based on the trajectory deviation modulus, calculating the positioning confidence index corresponding to the Beidou positioning device, combining the precision misalignment coefficient and the positioning confidence index, analyzing the positioning accuracy performance of the Beidou positioning device; Collecting electromagnetic interference source parameters of the Beidou positioning device in the installation location, analyzing the location geomorphic representation of the installation location, and calculating the signal distortion of the Beidou positioning device in the installation location by combining the electromagnetic interference source parameters and the location geomorphic representation; In combination with the signal stability, the signal distortion and the positioning accuracy performance, a control strategy corresponding to the Beidou positioning device is formulated, and based on the control strategy, the Beidou positioning device is controlled and processed to obtain a control result.

[0007] Optionally, the setting of the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement includes: Collect all-round information on the application scenario to obtain comprehensive scenario information; Performing precision requirement mining on the comprehensive scene information to obtain the positioning precision requirement level; According to the positioning accuracy requirement level, a scene accuracy calibration indicator is selected from a pre-built accuracy calibration strategy library; According to the scene accuracy calibration index, the accuracy calibration index corresponding to the Beidou positioning device is set.

[0008] Optionally, combining the signal strength data and the satellite connection quantity data to analyze the signal stability of the Beidou positioning device includes: Smoothing the signal strength data to obtain a smoothed signal strength; Performing intensity classification on the smoothed signal intensity to obtain an intensity signal cluster; Based on the satellite connection quantity data, counting the satellite connection quantity spectrum corresponding to the strength signal cluster; Calculating a signal stability weight corresponding to the strength signal cluster based on the satellite connection quantity spectrum; The signal stability weight and the strength signal cluster are combined to calculate the signal stability attitude of the Beidou positioning device.

[0009] Optionally, the calculating, based on the time delay data, a precision misalignment coefficient corresponding to the precision calibration indicator includes: Eliminating abnormal data in the time delay data to obtain target time delay data; Performing visualization processing on the target time delay data to obtain a time delay curve; Query the reference delay time and indicator deviation threshold corresponding to the accuracy calibration indicator; Based on the reference delay time, constructing a reference delay curve corresponding to the accuracy calibration index; Calculating a curve deviation value between the time delay curve and the reference delay curve; In combination with the curve deviation value and the indicator deviation threshold, the accuracy misalignment coefficient corresponding to the accuracy calibration indicator is calculated by the following formula: Among them, A represents the accuracy inaccuracy coefficient corresponding to the accuracy calibration index, Indicates the ath deviation value in the curve deviation value, It indicates the indicator deviation threshold corresponding to the a-th deviation value in the curve deviation value, a indicates the sequence number corresponding to the curve deviation value, q indicates the number of curve deviation values, Indicates the time interval corresponding to the curve deviation value.

[0010] Optionally, the combining the carrier trajectory and the preset driving trajectory to calculate the trajectory deviation modulus of the service target carrier includes: Performing time-frequency coordinated processing on the carrier trajectory and the preset driving trajectory to obtain a coordinated driving trajectory; Performing curve fitting processing on the cooperative driving trajectory to obtain a fitting driving trajectory; Calculating the horizontal displacement and the vertical displacement between each track point in the fitting driving track; Combining the horizontal displacement and the vertical displacement, the trajectory deviation modulus of the service target carrier is calculated by the following formula: Where D represents the trajectory deviation modulus of the service target carrier, and They represent the horizontal and vertical displacement of the b-th trajectory point in the fitted driving trajectory, It represents the angle between the horizontal disparity and the vertical disparity of the bth trajectory point in the fitted driving trajectory, b represents the sequence number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

[0011] Optionally, the calculating, based on the trajectory deviation modulus, a positioning confidence index corresponding to the Beidou positioning device includes: Collecting historical trajectory data of the Beidou positioning device in different scenarios, and calculating the offset modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data; Combining the positioning accuracy coefficient, the trajectory deviation modulus scale and the trajectory offset, the positioning confidence index corresponding to the Beidou positioning device can be calculated by the following formula: Among them, E represents the positioning signal index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, represents the offset modulus scale, Indicates sensitivity.

[0012] Optionally, the analyzing the location topography representation of the installation location includes: Collecting a geological survey report of the installation location, and extracting stratigraphic structure information of the installation location from the geological survey report; Calculating information entropy corresponding to the stratigraphic structure information, and filtering out representative structural information in the stratigraphic structure information based on the information entropy; Collecting satellite remote sensing images corresponding to the installation location, and determining the terrain spatial elements of the installation location based on the satellite remote sensing images; Combining the representative structural information and the terrain spatial elements, constructing a three-dimensional topographic model corresponding to the installation location; Feature extraction is performed on the three-dimensional topographic model of the location to obtain a location topographic representation of the installation location.

[0013] Optionally, determining the terrain spatial elements of the installation location based on the satellite remote sensing image includes: Performing noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image; Performing geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image; Performing image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image; Performing feature extraction processing on the enhanced remote sensing image to obtain remote sensing terrain features; The terrain feature semantics corresponding to the remote sensing terrain feature are analyzed, and the terrain spatial elements of the installation location are determined based on the terrain feature semantics.

[0014] Optionally, the combining the electromagnetic interference source parameter and the location topography representation to calculate the signal distortion of the Beidou positioning device in the installation location includes: Performing frequency band analysis on the electromagnetic interference source parameters to obtain frequency band interference parameters, and extracting electromagnetic interference power and antenna gain from the frequency band interference parameters; Performing spatial quantization processing on the topographic representation of the location to obtain a signal spatial propagation factor; Combining the electromagnetic interference power, the antenna gain and the signal spatial propagation factor, the signal distortion of the Beidou positioning device in the installation position can be calculated by the following formula: Where F represents the signal distortion of the Beidou positioning device in the installation location. represents the electromagnetic interference power corresponding to the e-th electromagnetic interference source, represents the antenna gain corresponding to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, f represents the operating frequency of the Beidou positioning device, represents the signal spatial propagation factor corresponding to the i-th representation in the location topography representation, It represents the signal sensitivity coefficient of the Beidou positioning device to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, i represents the serial number corresponding to the location and topography representation, and u represents the number corresponding to the location and topography representation.

[0015] In order to solve the above problems, the present invention also provides an intelligent management and control system for Beidou positioning, the system comprising: The accuracy calibration index setting module is used to obtain the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement; An accuracy misalignment coefficient module is used to collect signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation based on the accuracy calibration index, analyze the signal stability of the Beidou positioning device in combination with the signal strength data and the satellite connection quantity data, and calculate the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data; A positioning accuracy performance analysis module is used to measure in real time the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods, and calculate the trajectory deviation modulus of the service target carrier in combination with the carrier trajectory and the preset driving trajectory. Based on the trajectory deviation modulus, the positioning signal index corresponding to the Beidou positioning device is calculated, and the positioning accuracy performance of the Beidou positioning device is analyzed in combination with the precision misalignment coefficient and the positioning signal index. A signal distortion calculation module is used to collect electromagnetic interference source parameters of the Beidou positioning device in the installation position, analyze the location topography representation of the installation position, and calculate the signal distortion of the Beidou positioning device in the installation position by combining the electromagnetic interference source parameters and the location topography representation; The device control module is used to formulate a control strategy corresponding to the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance, and to control the Beidou positioning device based on the control strategy to obtain a control result.

[0016] Compared with the problems described in the background technology, the present invention sets the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement, which can provide key support for the subsequent accurate evaluation and optimization of the performance of the Beidou positioning device, and ensure that it can meet the corresponding positioning accuracy standards in various application scenarios, and enhance the stability and accuracy of the positioning service. Furthermore, the present invention analyzes the signal stability of the Beidou positioning device by combining the signal strength data and the number of satellite connections data, and can accurately grasp the signal stability of the Beidou positioning device during operation, thereby providing a key basis for subsequent performance optimization and intelligent management and control, and effectively improving its positioning reliability in various application scenarios. Furthermore, the present invention calculates the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory, and can accurately quantify the trajectory deviation of the service target carrier. The degree of separation, and then provide key data support for evaluating the positioning accuracy performance of the Beidou positioning device, ensure that it meets the positioning accuracy requirements of various scenarios in practical applications, and improve the reliability and practicality of positioning services. Further, the present invention collects the electromagnetic interference source parameters of the Beidou positioning device in the installation position, and analyzes the location and topographic characteristics of the installation position, such as high-rise buildings, valleys, etc., which helps to predict the signal blocking or reflection in advance, and then extract the calculation accuracy of the subsequent signal distortion. The present invention formulates the corresponding control strategy of the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance. The comprehensive multi-dimensional indicators can enhance the pertinence and effectiveness of the control strategy, and implement the control processing of the Beidou positioning device based on the control strategy, thereby improving the accuracy and reliability of the control of the Beidou positioning device. Therefore, the intelligent control method and system for Beidou positioning provided by the embodiment of the present invention can improve the accuracy and reliability of Beidou positioning intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of an intelligent control method for Beidou positioning provided by an embodiment of the present invention; Figure 2 A schematic diagram of modules for implementing the intelligent control method for Beidou positioning provided in one embodiment of the present invention.

[0018] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0020] The embodiment of the present application provides an intelligent control method for Beidou positioning. The execution subject of the intelligent control method for Beidou positioning includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the intelligent control method for Beidou positioning can be executed by software or hardware installed on a terminal device or a server device. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0021] Embodiment 1: Reference Figure 1 FIG. 1 is a flow chart of an intelligent control method for Beidou positioning provided by an embodiment of the present invention. In this embodiment, the intelligent control method for Beidou positioning includes: S1. Acquire the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement.

[0022] Based on the positioning accuracy requirement, the present invention sets the accuracy calibration index corresponding to the Beidou positioning device, which can provide key support for subsequent accurate evaluation and optimization of the performance of the Beidou positioning device, ensure that it can meet the corresponding positioning accuracy standards in various application scenarios, and enhance the stability and accuracy of the positioning service.

[0023] Among them, the Beidou positioning device is an equipment terminal that receives Beidou satellite signals to realize the positioning function, including various forms such as vehicle-mounted locators, handheld navigators, aerospace positioning modules, etc., and is widely used in many fields such as intelligent traffic scheduling, marine fishery operations, aerospace measurement and control, geological exploration and measurement, etc. The application scenario refers to the specific environment and business scope of the actual application of the Beidou positioning device, such as vehicle navigation in urban traffic congestion sections, ship navigation under complex meteorological conditions at sea, and personnel positioning in geological surveys in remote mountainous areas. Different scenarios have differentiated requirements for positioning accuracy. The positioning accuracy requirement is determined after comprehensive analysis of factors based on the geographical environment corresponding to the application scenario, which can ensure that the Beidou positioning device provides reliable and accurate location information services for the service targets in the scenario. The key performance indicator, the accuracy calibration indicator is the quantitative parameter and technical criterion of the positioning accuracy and stability performance corresponding to the Beidou positioning device. Furthermore, the application scenario of the Beidou positioning device can be realized through sensor identification; the positioning accuracy requirement corresponding to the application scenario can be determined through a big data knowledge base of industry specifications and measured data.

[0024] In detail, the setting of the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement includes: Collect all-round information on the application scenario to obtain comprehensive scenario information; Performing precision requirement mining on the comprehensive scene information to obtain the positioning precision requirement level; According to the positioning accuracy requirement level, a scene accuracy calibration indicator is selected from a pre-built accuracy calibration strategy library; According to the scene accuracy calibration index, the accuracy calibration index corresponding to the Beidou positioning device is set.

[0025] Among them, the scene comprehensive information covers geographic space information (such as terrain features, altitude changes, longitude and latitude coordinates, etc.), electromagnetic environment information (including frequency range, power intensity, distribution location, etc. of various electromagnetic interference sources), dynamic target information (such as target moving speed range, acceleration changes, motion trajectory trends, etc.), the positioning accuracy requirement level is a specific accuracy level requirement determined based on the scene comprehensive information. For example, vehicle navigation in urban traffic scenarios may require positioning accuracy in the range of 3-8 meters. The accuracy calibration strategy library is a storage library constructed in advance using big data analysis and simulation technology. It stores a database of Beidou positioning device accuracy calibration schemes and parameter configurations for different application scenarios. The scene accuracy calibration index is the relevant technical criteria in the accuracy calibration strategy library corresponding to the positioning accuracy requirement level.

[0026] Furthermore, the all-round information collection of the application scenario can be achieved through the fusion acquisition of data by various means such as satellite remote sensing technology, ground sensor network and mobile measurement equipment; the accuracy requirement mining of the scene comprehensive information can be completed with the help of the convolutional neural network model in the deep learning algorithm, and a complex mapping relationship between scene characteristics and positioning accuracy requirements is constructed by learning a large amount of historical scene data and actual positioning cases; the scene accuracy calibration index selected from the pre-built accuracy calibration strategy library can rely on the intelligent algorithm recommendation system to quickly and accurately locate the most suitable scene accuracy calibration index according to the positioning accuracy requirement level; based on the scene accuracy calibration index, the accuracy calibration index corresponding to the Beidou positioning device is set. If the selected strategy is for the complex terrain environment in the mountainous area, it will focus on optimizing the satellite signal capture algorithm and enhancing the tracking capability of weak signals. At the same time, the positioning solution model will be adjusted to fully consider the delay effect of the terrain on signal propagation to improve the positioning accuracy. For example, when the Beidou positioning device performs geological exploration tasks in the mountainous area, according to the set accuracy calibration index, the signal processing process is automatically optimized, and the signal attenuation and multipath effect caused by the terrain are effectively compensated to ensure that the positioning accuracy meets the exploration requirements.

[0027] S2. Based on the accuracy calibration index, the signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation are collected, and the signal stability of the Beidou positioning device is analyzed by combining the signal strength data and the satellite connection quantity data. Based on the time delay data, the accuracy inaccuracy coefficient corresponding to the accuracy calibration index is calculated.

[0028] The present invention analyzes the signal stability of the Beidou positioning device by combining the signal strength data and the number of satellite connections data, and can accurately grasp the signal stability of the Beidou positioning device during operation, thereby providing a key basis for subsequent performance optimization and intelligent management and control, and effectively improving its positioning reliability in various application scenarios, wherein the signal strength data is collected by a high-sensitivity signal receiving module installed in the Beidou positioning device, reflecting the strength of the received satellite signal; the number of satellite connections data is recorded by the satellite connection monitoring unit of the device, reflecting the number of satellites currently establishing an effective connection with the Beidou satellite system; the time delay data is obtained with the help of a high-precision timing chip and a signal transmission time measurement algorithm, characterizing the time delay experienced by the signal from the satellite to the positioning device, and the signal stability indicates the signal stability during the operation of the Beidou positioning device. Furthermore, the collection of the signal strength data, the number of satellite connections data and the time delay data of the Beidou positioning device during operation can be achieved by integrating a high-sensitivity radio frequency signal detection module, a satellite link monitoring module and a high-precision time synchronization and timing module inside the Beidou positioning device.

[0029] In detail, the combining of the signal strength data and the satellite connection quantity data to analyze the signal stability of the Beidou positioning device includes: Smoothing the signal strength data to obtain a smoothed signal strength; Performing intensity classification on the smoothed signal intensity to obtain an intensity signal cluster; Based on the satellite connection quantity data, counting the satellite connection quantity spectrum corresponding to the strength signal cluster; Calculating a signal stability weight corresponding to the strength signal cluster based on the satellite connection quantity spectrum; The signal stability weight and the strength signal cluster are combined to calculate the signal stability attitude of the Beidou positioning device.

[0030] Among them, the smoothed signal strength is a relatively stable sequence of signal strength values ​​obtained after removing noise and abnormal fluctuations in the signal strength data; the strength signal cluster is a set divided according to the similarity of signal strength; the satellite connection number spectrum is the distribution characteristics of the number of satellite connections corresponding to the strength signal cluster in different value ranges, and the signal stability weight reflects the contribution of each signal cluster in the strength signal cluster to the overall signal stability.

[0031] Furthermore, the smoothing of the signal strength data can be achieved by using a wavelet transform algorithm, which can effectively remove high-frequency noise interference; the intensity classification of the smoothed signal strength can be achieved by a clustering algorithm, and the clustering algorithm can select a density-based DBSCAN algorithm to divide the signal clusters according to the distribution density of the signal strength; the statistics of the frequency spectrum of the number of satellite connections corresponding to the intensity signal cluster can be intuitively presented by constructing a frequency histogram; the calculation of the signal stability weight can be based on the information entropy theory, giving a higher weight to a signal cluster with a more uniform distribution of the number of satellite connections and a more stable signal strength; combining the signal stability weight and the intensity signal cluster, the signal stability attitude of the Beidou positioning device can be calculated by a weighted summation method.

[0032] The present invention calculates the precision misalignment coefficient corresponding to the precision calibration index based on the time delay data, so as to understand the positioning accuracy deviation corresponding to the precision calibration index, thereby providing a basis for the subsequent analysis of the positioning accuracy performance of the Beidou positioning device, wherein the precision misalignment coefficient represents the proportional relationship of the deviation of the precision calibration index from the set standard.

[0033] In detail, the calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data includes: Eliminating abnormal data in the time delay data to obtain target time delay data; Performing visualization processing on the target time delay data to obtain a time delay curve; Query the reference delay time and indicator deviation threshold corresponding to the accuracy calibration indicator; Based on the reference delay time, constructing a reference delay curve corresponding to the accuracy calibration index; Calculating a curve deviation value between the time delay curve and the reference delay curve; In combination with the curve deviation value and the indicator deviation threshold, the accuracy misalignment coefficient corresponding to the accuracy calibration indicator is calculated by the following formula: Among them, A represents the accuracy inaccuracy coefficient corresponding to the accuracy calibration index, Indicates the ath deviation value in the curve deviation value, It indicates the indicator deviation threshold corresponding to the a-th deviation value in the curve deviation value, a indicates the sequence number corresponding to the curve deviation value, q indicates the number of curve deviation values, Indicates the time interval corresponding to the curve deviation value.

[0034] Among them, the time delay curve is a curve corresponding to the target time delay data and constructed based on the time series analysis method, which is used to reflect the trend of time delay changes over time under normal circumstances; the reference delay time and the indicator deviation threshold are respectively the standard reference time value corresponding to the accuracy calibration indicator as a measure of the reasonable range of time delay and the deviation critical value for determining whether the positioning accuracy is inaccurate; the reference delay curve is the standard change curve that the time delay should follow under the ideal positioning state corresponding to the accuracy calibration indicator; the curve deviation value is the difference between the time delay curve and the reference delay curve, which reflects the degree of deviation between the actual time delay and the ideal situation.

[0035] Furthermore, the abnormal data in the time delay data can be eliminated by an outlier detection algorithm based on the Grubbs criterion to obtain the target time delay data; the target time delay data can be visualized by using the Matplotlib drawing library in the Python language to obtain a time delay curve; the reference delay time and the index deviation threshold corresponding to the precision calibration index can be queried from the Internet in a human-computer interactive manner, and the search can be carried out with the help of professional positioning technology forums, industry database websites and other platforms; based on the reference delay time, the reference delay curve corresponding to the precision calibration index can be constructed by using the cubic spline interpolation method to simulate the time delay change trend under the ideal state; the curve deviation value between the time delay curve and the reference delay curve can be calculated by calculating the square root of the sum of the squares of the coordinate differences of the corresponding points of the two curves, so as to quantify the degree of deviation of the actual time delay from the ideal state, thereby providing a key data basis for the subsequent calculation of the precision misalignment coefficient, ensuring the accurate evaluation and effective control of the operating status of the Beidou positioning device, so that it can better meet the positioning accuracy requirements in different application scenarios, improve the reliability and stability of the overall positioning service, and ensure the efficient operation and accurate decision-making of related systems or businesses.

[0036] S3. Real-time measurement of the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods, combining the carrier trajectory and the preset driving trajectory, calculating the trajectory deviation modulus of the service target carrier, based on the trajectory deviation modulus, calculating the positioning signal index corresponding to the Beidou positioning device, combining the precision misalignment coefficient and the positioning signal index, analyzing the positioning accuracy performance of the Beidou positioning device.

[0037] The present invention calculates the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory, and can accurately quantify the trajectory deviation degree of the service target carrier, thereby providing key data support for evaluating the positioning accuracy performance of the Beidou positioning device, ensuring that it meets the positioning accuracy requirements of various scenarios in practical applications, and improving the reliability and practicality of positioning services. The service target carrier covers various mobile objects equipped with Beidou positioning devices, such as cars, ships, airplanes, drones, etc. The carrier trajectory is the driving route corresponding to the service target carrier, and the preset driving trajectory is an ideal trajectory route pre-set based on factors such as destination planning, traffic rules, historical driving data or standard routes, and is stored in the database of the navigation system or control center of the service target carrier as a benchmark for comparative evaluation. Furthermore, real-time measurement of the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods can be achieved through various sensors such as the odometer and speed sensor of the service target carrier.

[0038] In detail, the step of combining the carrier trajectory and the preset driving trajectory to calculate the trajectory deviation modulus of the service target carrier includes: Performing time-frequency coordinated processing on the carrier trajectory and the preset driving trajectory to obtain a coordinated driving trajectory; Performing curve fitting processing on the cooperative driving trajectory to obtain a fitting driving trajectory; Calculating the horizontal displacement and the vertical displacement between each track point in the fitting driving track; Combining the horizontal displacement and the vertical displacement, the trajectory deviation modulus of the service target carrier is calculated by the following formula: Where D represents the trajectory deviation modulus of the service target carrier, and They represent the horizontal and vertical displacement of the b-th trajectory point in the fitted driving trajectory, It represents the angle between the horizontal disparity and the vertical disparity of the bth trajectory point in the fitted driving trajectory, b represents the sequence number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

[0039] Among them, the collaborative driving trajectory is a trajectory that comprehensively reflects the actual and ideal driving path conditions of the service target carrier after the carrier trajectory and the preset driving trajectory are collaboratively processed through data fusion, time and space calibration, etc.; the fitted driving trajectory is a curve fitting process of the collaborative driving trajectory that is smoothed and regularized with the help of a suitable mathematical algorithm so that it can be better described by a mathematical function; the horizontal displacement and the vertical displacement are respectively the coordinate differences between each trajectory point in the fitting driving trajectory in the horizontal direction and the vertical direction, which are used to quantify the deviation of the trajectory in these two dimensions.

[0040] Optionally, the carrier trajectory and the preset driving trajectory can be subjected to time-frequency coordinated processing by using a wavelet transform time-frequency analysis algorithm to obtain a coordinated driving trajectory; the coordinated driving trajectory can be subjected to curve fitting processing by using a cubic spline interpolation method to obtain a fitted driving trajectory; a two-dimensional Cartesian coordinate system can be constructed, each trajectory point in the fitted driving trajectory can be projected onto the coordinate system, and the differences between adjacent trajectory points on the horizontal coordinate axis and the vertical coordinate axis can be calculated respectively by coordinate difference operations, so as to obtain the horizontal displacement and vertical displacement between each trajectory point in the fitted driving trajectory.

[0041] The present invention calculates the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, so as to understand the credibility of the positioning result corresponding to the Beidou positioning device, thereby providing an important basis for the subsequent analysis of the positioning accuracy performance of the Beidou positioning device, wherein the positioning confidence index represents the credibility of the positioning result corresponding to the Beidou positioning device.

[0042] In detail, the calculating the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus includes: Collecting historical trajectory data of the Beidou positioning device in different scenarios, and calculating the offset modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data; Combining the positioning accuracy coefficient, the trajectory deviation modulus scale and the trajectory offset, the positioning confidence index corresponding to the Beidou positioning device can be calculated by the following formula: Among them, E represents the positioning signal index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, represents the offset modulus scale, Indicates sensitivity.

[0043] Among them, the historical trajectory data is the past trajectory record containing information such as carrier position and movement time generated by the actual operation of the Beidou positioning device in different scenarios. The positioning accuracy coefficient and the offset modulus scale are respectively quantitative measurement indicators corresponding to the trajectory deviation modulus reflecting the positioning accuracy and the range level of the deviation degree. Further, the historical offset modulus is calculated based on the historical trajectory data, and the average value corresponding to the historical offset modulus is calculated to obtain the offset modulus scale. The sensitivity can be calculated using professional mathematical software combined with the track offset corresponding to the historical trajectory data and its corresponding trajectory accuracy. The trajectory deviation modulus is used as the independent variable and the trajectory accuracy is used as the dependent variable for function fitting. The sensitivity is determined by analyzing the slope or rate of change of the fitting function. For example, in the fitting curve, when the trajectory deviation modulus changes, the speed at which the trajectory accuracy decreases can be used to measure the sensitivity.

[0044] The present invention analyzes the positioning accuracy performance of the Beidou positioning device by combining the precision misalignment coefficient and the positioning signal index, which can quantify the positioning error more comprehensively and accurately, and intuitively present the positioning accuracy. Through the comprehensive consideration of the two indicators, it can adapt to a variety of complex scenarios, and provide a reliable basis for the performance evaluation of the Beidou positioning device in different application scenarios (such as intelligent transportation, precision agriculture, etc.), which is helpful to timely discover and solve the problem of inaccurate positioning, and improve the overall positioning service quality and stability. Among them, the positioning accuracy performance is a description of the positioning accuracy of the Beidou positioning device. Further, the positioning accuracy performance of the Beidou positioning device can be analyzed in combination with the values ​​of the precision misalignment coefficient and the positioning signal index. When the value of the precision misalignment coefficient is low and the positioning signal index is high, it indicates that the positioning accuracy performance of the Beidou positioning device is good, the actual trajectory deviates little from the preset trajectory, and the positioning error is within an acceptable range, which can meet application scenarios such as high-precision mapping and automatic driving that have strict requirements on positioning accuracy. On the contrary, if the precision inaccuracy coefficient is high and the position signal index is low, it means that there is a large deviation in positioning. The positioning accuracy may decrease in areas with strong signal interference or in complex geographical environments, and the reliability and safety of applications such as logistics transportation tracking and maritime navigation cannot be guaranteed. Measures such as optimizing signal reception and improving algorithms are needed to improve positioning performance.

[0045] S4. Collect electromagnetic interference source parameters of the Beidou positioning device in the installation location, analyze the location topography representation of the installation location, and calculate the signal distortion of the Beidou positioning device in the installation location by combining the electromagnetic interference source parameters and the location topography representation.

[0046] The present invention collects the electromagnetic interference source parameters of the Beidou positioning device in the installation position and analyzes the location topography of the installation position, such as high-rise buildings and valleys, to help predict signal obstruction or reflection in advance, and then extract the calculation accuracy of subsequent signal distortion. It should be explained that the electromagnetic interference source parameters refer to the relevant parameters of various electromagnetic radiation sources around the installation position that may affect the signal reception of the Beidou positioning device, such as electromagnetic intensity, frequency range, etc.; the location topography refers to the description of the terrain, landforms and other geographical features of the installation position, such as the height and distribution of surrounding buildings, the undulation of the terrain and other factors. Furthermore, the collection of the electromagnetic interference source parameters can be achieved by an electromagnetic spectrum analyzer.

[0047] In detail, the analyzing the location geomorphic representation of the installation location includes: Collecting a geological survey report of the installation location, and extracting stratigraphic structure information of the installation location from the geological survey report; Calculating information entropy corresponding to the stratigraphic structure information, and filtering out representative structural information in the stratigraphic structure information based on the information entropy; Collecting satellite remote sensing images corresponding to the installation location, and determining the terrain spatial elements of the installation location based on the satellite remote sensing images; Combining the representative structural information and the terrain spatial elements, constructing a three-dimensional topographic model corresponding to the installation location; Feature extraction is performed on the three-dimensional topographic model of the location to obtain a location topographic representation of the installation location.

[0048] Among them, the geological survey report is a written document containing various geological details formed after professional geological exploration of the installation location, and the stratigraphic structure information is a specific description of the composition, distribution and related characteristics of different underground strata at the installation location in the geological survey report; the information entropy represents the quantitative index corresponding to the stratigraphic structure information reflecting its internal uncertainty and degree of order; the characterization structure information is the representative content in the stratigraphic structure information that can highlight the key characteristics and differences of the strata; the satellite remote sensing image is the image data reflecting the surface morphology and related elements obtained by satellite remote sensing technology corresponding to the installation location, and the terrain spatial element is the spatial distribution of terrain and landform components such as mountains, rivers, plains, etc. on the surface of the installation location; the three-dimensional terrain model of the location is a model corresponding to the installation location that is constructed by integrating multiple data to intuitively display its three-dimensional terrain morphology and characteristics.

[0049] Furthermore, the geological survey report of the installation location can be collected through a professional geological data database or by applying for access to relevant geological survey institutions. The stratigraphic structure information of the installation location can be extracted from the geological survey report using text mining and data extraction algorithms. The information entropy corresponding to the stratigraphic structure information can be calculated using the entropy calculation method in information theory and professional data analysis software. When the information entropy is greater than a preset entropy value (such as 0.8, which can also be flexibly set according to actual application scenarios, such as areas with different geological complexity and different engineering precision requirements), the characteristic structural information in the stratigraphic structure information can be screened out using a feature screening algorithm. Satellite remote sensing can be used to obtain the stratigraphic structure information. The satellite remote sensing images corresponding to the installation location are collected by using sensing data receiving equipment and a professional image processing platform; a three-dimensional topographic model corresponding to the installation location can be constructed based on the powerful modeling function of the geographic information system (GIS) in combination with the representation structure information and the terrain spatial elements; advanced three-dimensional model analysis tools and feature extraction algorithms can be used to extract features from the three-dimensional topographic model of the location, so as to obtain the location topographic representation of the installation location, thereby realizing a comprehensive, accurate and efficient analysis and presentation of the topographic features of the installation location, and providing solid data support and scientific basis for subsequent applications such as engineering construction planning, geological disaster assessment, and natural resource exploration.

[0050] Further, as an optional embodiment of the present invention, determining the terrain spatial elements of the installation location based on the satellite remote sensing image includes: Performing noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image; Performing geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image; Performing image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image; Performing feature extraction processing on the enhanced remote sensing image to obtain remote sensing terrain features; The terrain feature semantics corresponding to the remote sensing terrain feature are analyzed, and the terrain spatial elements of the installation location are determined based on the terrain feature semantics.

[0051] Among them, the denoised remote sensing image is a clearer and smoother image obtained by removing the noise points caused by sensor noise, atmospheric interference and other factors from the satellite remote sensing image; the corrected remote sensing image is an image formed by correcting the geometric distortion of the denoised remote sensing image so that its spatial position is consistent with the actual geographic spatial position; the enhanced remote sensing image is an image obtained by highlighting the differences in different terrain and landform features using image enhancement technology from the corrected remote sensing image; the remote sensing terrain feature is the information highlighting various terrain-related features obtained by the enhanced remote sensing image using a feature extraction algorithm; the terrain feature semantics is the content corresponding to the remote sensing terrain feature that describes, classifies and interprets the terrain features in a semantic form, which is used to understand the terrain conditions more intuitively and accurately.

[0052] Furthermore, the satellite remote sensing image can be subjected to denoising by a mean filtering algorithm to obtain a denoised remote sensing image; the denoised remote sensing image can be subjected to geometric correction by a professional image processing tool to obtain a corrected remote sensing image; the corrected remote sensing image can be subjected to image enhancement by a histogram equalization method to obtain an enhanced remote sensing image; the enhanced remote sensing image can be subjected to feature extraction by using an image feature extraction algorithm based on edge detection operators (such as Sobel operator, Canny operator, etc.), texture feature extraction methods (such as gray level co-occurrence matrix, etc.) and shape feature analysis. The remote sensing terrain features are obtained by processing; the terrain feature semantics corresponding to the remote sensing terrain features can be analyzed by a semantic analysis system based on natural language processing technology and a terrain feature knowledge base; based on the terrain feature semantics, the terrain spatial elements of the installation location are determined. Assuming that the terrain feature semantics identify the presence of a "gentle slope mountain" feature near the installation location, further analysis can determine that the average slope of the gentle slope mountain is about 15°, the slope direction is southeast, and the altitude range is between 200 and 300 meters. These slope, slope direction, altitude and other data constitute the terrain spatial elements.

[0053] The present invention calculates the signal distortion of the Beidou positioning device in the installation location by combining the electromagnetic interference source parameters and the location topography representation, and can accurately quantify the degree of influence of external factors on the signal, such as accurately evaluating the signal attenuation and distortion caused by electromagnetic interference such as nearby high-voltage lines and communication base stations and topographic features such as high-rise buildings and valleys, thereby providing a basis for the subsequent formulation of corresponding management and control strategies for the Beidou positioning device, wherein the signal distortion degree indicates the degree to which the received satellite signal deviates, is distorted, is attenuated, etc. compared with the original signal during the transmission process due to the influence of factors such as the electromagnetic interference source and the location topography in the installation location of the Beidou positioning device.

[0054] In detail, the signal distortion of the Beidou positioning device in the installation position is calculated by combining the electromagnetic interference source parameters and the position topography representation, including: Performing frequency band analysis on the electromagnetic interference source parameters to obtain frequency band interference parameters, and extracting electromagnetic interference power and antenna gain from the frequency band interference parameters; Performing spatial quantization processing on the topographic representation of the location to obtain a signal spatial propagation factor; Combining the electromagnetic interference power, the antenna gain and the signal spatial propagation factor, the signal distortion of the Beidou positioning device in the installation position can be calculated by the following formula: Where F represents the signal distortion of the Beidou positioning device in the installation location. represents the electromagnetic interference power corresponding to the e-th electromagnetic interference source, represents the antenna gain corresponding to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, f represents the operating frequency of the Beidou positioning device, represents the signal spatial propagation factor corresponding to the i-th representation in the location topography representation, It represents the signal sensitivity coefficient of the Beidou positioning device to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, i represents the serial number corresponding to the location and topography representation, and u represents the number corresponding to the location and topography representation.

[0055] Among them, the higher the operating frequency f, the greater the propagation loss (consistent with the negative exponential relationship), This item reflects the attenuation effect of electromagnetic interference on Beidou positioning signal distortion in different frequency bands.

[0056] Among them, the frequency band interference parameter is a specific interference parameter related to the working frequency band of the Beidou positioning device obtained after the electromagnetic interference source parameter is analyzed by the frequency band. The electromagnetic interference power and the antenna gain are respectively key indicators in the frequency band interference parameters that reflect the emission energy of the interference source and its radiation capability in the direction toward the Beidou positioning device. The signal space propagation factor is a comprehensive quantitative value of the location topography representation after spatial quantization processing to reflect the degree of influence of environmental factors such as terrain, buildings, vegetation, etc. on the propagation of electromagnetic signals. The signal sensitivity coefficient represents a quantitative parameter of the Beidou positioning device's sensitivity to different interference sources based on its own signal receiving characteristics, which is used to measure the strength of the influence of the interference source on its signal.

[0057] Furthermore, the electromagnetic interference source parameters can be analyzed in frequency bands by using a high-precision spectrum analyzer, and the frequency band interference parameters can be screened and extracted according to the frequency distribution characteristics of the electromagnetic signal and the working frequency band range of the Beidou positioning device. Then, the electromagnetic interference power representing the energy emitted by the electromagnetic interference source and the antenna gain reflecting its radiation capability in a specific direction can be identified and separated from the frequency band interference parameters with the help of signal analysis software; the topographic representation of the location can be spatially quantified by using a geographic information system (GIS) combined with satellite remote sensing images, topographic mapping data and professional electromagnetic propagation models, and the influence of factors such as terrain undulation, building distribution and height, and vegetation coverage on the propagation path and attenuation of electromagnetic signals can be analyzed, thereby obtaining the signal spatial propagation factor, and on this basis, further evaluating the comprehensive influence of the Beidou positioning device at the installation location, providing key data support for the subsequent calculation of signal distortion and formulation of optimization measures; the signal sensitivity coefficient can be obtained by analyzing the sensitivity of the signal processing algorithm of the Beidou positioning device to interference. For example, some high-precision positioning algorithms may be more sensitive to interference such as phase noise, while some simple positioning algorithms may be more sensitive to interference of signal amplitude. Through theoretical analysis of these algorithms, the relationship between the signal sensitivity coefficient and the interference signal type (such as frequency, phase, amplitude, etc.) can be preliminarily determined.

[0058] S5. Based on the signal stability, signal distortion and positioning accuracy, formulate a control strategy corresponding to the Beidou positioning device, and based on the control strategy, perform control processing on the Beidou positioning device to obtain a control result.

[0059] The present invention formulates a control strategy corresponding to the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance. The comprehensive multi-dimensional indicators can enhance the pertinence and effectiveness of the control strategy, and implements control processing of the Beidou positioning device based on the control strategy, thereby improving the accuracy and reliability of the control of the Beidou positioning device, wherein the control strategy is a specific plan for the operation control of the Beidou positioning device.

[0060] Furthermore, the formulation steps of the control strategy corresponding to the Beidou positioning device are as follows: assuming that the Beidou positioning device has high signal stability, low signal distortion, and high positioning accuracy, then maintain the current stable signal reception and processing parameter settings, continuously monitor the signal quality, and regularly perform routine inspections on the antenna and signal transmission lines to ensure that the connection is stable and not loose, and maintain the equipment in a stable operating environment, such as avoiding the proximity of strong electromagnetic interference sources, ensuring stable power supply, etc. At the same time, the core components of the positioning device are performance-checked according to the established maintenance cycle to ensure that they are continuously in the best working state, continue to use the existing high-precision positioning algorithm, and maintain stable data interaction with the satellite system. The frequent detection of the equipment status can be appropriately reduced, but long-term records of key performance indicators must be retained to facilitate performance trend analysis and early detection of potential problems, and establish a rapid response technical support channel so that professional technical guidance and solutions can be obtained in a timely manner when encountering sudden satellite signal anomalies. Assuming that the Beidou positioning device has low signal stability, high signal distortion, and low positioning accuracy, Then immediately conduct a comprehensive debugging of the signal receiving system, check the antenna's direction, gain, and whether there is any damage. If necessary, replace the antenna with better performance, optimize the signal filter parameters, reduce noise interference, and improve signal stability. For signal distortion problems, analyze the electromagnetic interference source and the influence of the surrounding terrain in detail, adopt shielding measures to reduce electromagnetic interference, and adjust the installation position or angle of the device for signal reflection, refraction, etc. caused by terrain to improve the signal propagation path. To improve the positioning accuracy, recalibrate the positioning algorithm parameters and optimize them in combination with the actual environmental characteristics. At the same time, increase the monitoring frequency and data collection volume of satellite signals to more accurately analyze the signal change trend, strengthen the synchronization calibration operation with the satellite system, and ensure the accuracy of clock synchronization. In terms of the operating environment, take measures such as constant temperature and constant humidity to ensure the stability of the equipment's working environment, conduct a comprehensive performance evaluation of the equipment regularly, cooperate with the technical research and development team or professional institutions, and obtain the latest technical improvement plans and troubleshooting methods in a timely manner, so as to generate the corresponding management and control strategy of the Beidou positioning device.

[0061] Compared with the problems described in the background technology, the present invention sets the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement, which can provide key support for the subsequent accurate evaluation and optimization of the performance of the Beidou positioning device, and ensure that it can meet the corresponding positioning accuracy standards in various application scenarios, and enhance the stability and accuracy of the positioning service. Furthermore, the present invention analyzes the signal stability of the Beidou positioning device by combining the signal strength data and the number of satellite connections data, and can accurately grasp the signal stability of the Beidou positioning device during operation, thereby providing a key basis for subsequent performance optimization and intelligent management and control, and effectively improving its positioning reliability in various application scenarios. Furthermore, the present invention calculates the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory, and can accurately quantify the trajectory deviation of the service target carrier. The degree of separation, and then provide key data support for evaluating the positioning accuracy performance of the Beidou positioning device, ensure that it meets the positioning accuracy requirements of various scenarios in practical applications, and improve the reliability and practicality of positioning services. Further, the present invention collects the electromagnetic interference source parameters of the Beidou positioning device in the installation position, and analyzes the location and topographic characteristics of the installation position, such as high-rise buildings, valleys, etc., which helps to predict the signal blocking or reflection in advance, and then extract the calculation accuracy of the subsequent signal distortion. The present invention formulates the corresponding control strategy of the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance. The comprehensive multi-dimensional indicators can enhance the pertinence and effectiveness of the control strategy, and implement the control processing of the Beidou positioning device based on the control strategy, thereby improving the accuracy and reliability of the control of the Beidou positioning device. Therefore, the intelligent control method and system for Beidou positioning provided by the embodiment of the present invention can improve the accuracy and reliability of Beidou positioning intelligent control.

[0062] Embodiment 2: like Figure 2 As shown, it is a functional module diagram of an intelligent management and control system for Beidou positioning according to the present invention.

[0063] The intelligent control system 200 for Beidou positioning described in the present invention can be installed in an electronic device. According to the functions implemented, the intelligent control system for Beidou positioning can include an accuracy calibration index setting module 201, an accuracy misalignment coefficient module 202, a positioning accuracy performance analysis module 203, a signal distortion calculation module 204 and a device control module 205. The module described in the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0064] In the embodiment of the present invention, the functions of each module / unit are as follows: The accuracy calibration index setting module 201 is used to obtain the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement; The precision misalignment coefficient module 202 is used to collect signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation based on the precision calibration index, analyze the signal stability of the Beidou positioning device in combination with the signal strength data and the satellite connection quantity data, and calculate the precision misalignment coefficient corresponding to the precision calibration index based on the time delay data; The positioning accuracy performance analysis module 203 is used to measure the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods in real time, and calculate the trajectory deviation modulus of the service target carrier in combination with the carrier trajectory and the preset driving trajectory, and calculate the positioning signal index corresponding to the Beidou positioning device based on the trajectory deviation modulus, and analyze the positioning accuracy performance of the Beidou positioning device in combination with the precision misalignment coefficient and the positioning signal index; The signal distortion calculation module 204 is used to collect the electromagnetic interference source parameters of the Beidou positioning device in the installation position, analyze the location topography representation of the installation position, and calculate the signal distortion of the Beidou positioning device in the installation position by combining the electromagnetic interference source parameters and the location topography representation; The device control module 205 is used to formulate a control strategy corresponding to the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance, and to control the Beidou positioning device based on the control strategy to obtain a control result.

[0065] In detail, each module in the intelligent management and control system 200 for Beidou positioning in the embodiment of the present invention is used in the same manner as above. Figure 1 The intelligent control method for Beidou positioning described in the present invention has the same technical means and can produce the same technical effects, so I will not go into details here.

[0066] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0067] 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 the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. An intelligent control method for Beidou positioning, characterized in that: The method comprises: Acquire the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement; Based on the accuracy calibration index, collecting signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation, combining the signal strength data and satellite connection quantity data, analyzing the signal stability of the Beidou positioning device, and calculating the accuracy inaccuracy coefficient corresponding to the accuracy calibration index based on the time delay data; Real-time measurement of the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods, combining the carrier trajectory and the preset driving trajectory, calculating the trajectory deviation modulus of the service target carrier, based on the trajectory deviation modulus, calculating the positioning confidence index corresponding to the Beidou positioning device, combining the precision misalignment coefficient and the positioning confidence index, analyzing the positioning accuracy performance of the Beidou positioning device; Collecting electromagnetic interference source parameters of the Beidou positioning device in the installation location, analyzing the location geomorphic representation of the installation location, and calculating the signal distortion of the Beidou positioning device in the installation location by combining the electromagnetic interference source parameters and the location geomorphic representation; In combination with the signal stability, the signal distortion and the positioning accuracy performance, a control strategy corresponding to the Beidou positioning device is formulated, and based on the control strategy, the Beidou positioning device is controlled and processed to obtain a control result.

2. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The setting of the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement includes: Collect all-round information on the application scenario to obtain comprehensive scenario information; Performing precision requirement mining on the comprehensive scene information to obtain the positioning precision requirement level; According to the positioning accuracy requirement level, a scene accuracy calibration indicator is selected from a pre-built accuracy calibration strategy library; According to the scene accuracy calibration index, the accuracy calibration index corresponding to the Beidou positioning device is set.

3. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The combining the signal strength data and the satellite connection quantity data to analyze the signal stability of the Beidou positioning device includes: Smoothing the signal strength data to obtain a smoothed signal strength; Performing intensity classification on the smoothed signal intensity to obtain an intensity signal cluster; Based on the satellite connection quantity data, counting the satellite connection quantity spectrum corresponding to the strength signal cluster; Calculating a signal stability weight corresponding to the strength signal cluster based on the satellite connection quantity spectrum; The signal stability weight and the strength signal cluster are combined to calculate the signal stability attitude of the Beidou positioning device.

4. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The calculating, based on the time delay data, the accuracy misalignment coefficient corresponding to the accuracy calibration indicator comprises: Eliminating abnormal data in the time delay data to obtain target time delay data; Performing visualization processing on the target time delay data to obtain a time delay curve; Query the reference delay time and indicator deviation threshold corresponding to the accuracy calibration indicator; Based on the reference delay time, constructing a reference delay curve corresponding to the accuracy calibration index; Calculating a curve deviation value between the time delay curve and the reference delay curve; In combination with the curve deviation value and the indicator deviation threshold, the accuracy misalignment coefficient corresponding to the accuracy calibration indicator is calculated by the following formula: Among them, A represents the accuracy inaccuracy coefficient corresponding to the accuracy calibration index, Indicates the ath deviation value in the curve deviation value, It indicates the indicator deviation threshold corresponding to the a-th deviation value in the curve deviation value, a indicates the sequence number corresponding to the curve deviation value, q indicates the number of curve deviation values, Indicates the time interval corresponding to the curve deviation value.

5. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The step of combining the carrier trajectory and the preset driving trajectory to calculate the trajectory deviation modulus of the service target carrier includes: Performing time-frequency coordinated processing on the carrier trajectory and the preset driving trajectory to obtain a coordinated driving trajectory; Performing curve fitting processing on the cooperative driving trajectory to obtain a fitting driving trajectory; Calculating the horizontal displacement and the vertical displacement between each track point in the fitting driving track; Combining the horizontal displacement and the vertical displacement, the trajectory deviation modulus of the service target carrier is calculated by the following formula: Where D represents the trajectory deviation modulus of the service target carrier, and They represent the horizontal and vertical displacement of the b-th trajectory point in the fitted driving trajectory, It represents the angle between the horizontal disparity and the vertical disparity of the bth trajectory point in the fitted driving trajectory, b represents the sequence number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

6. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The calculating, based on the trajectory deviation modulus, a positioning confidence index corresponding to the Beidou positioning device includes: Collecting historical trajectory data of the Beidou positioning device in different scenarios, and calculating the offset modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data; Combining the positioning accuracy coefficient, the trajectory deviation modulus scale and the trajectory offset, the positioning confidence index corresponding to the Beidou positioning device can be calculated by the following formula: Among them, E represents the positioning signal index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, represents the offset modulus scale, Indicates sensitivity.

7. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The analyzing the location geomorphic representation of the installation location includes: Collecting a geological survey report of the installation location, and extracting stratigraphic structure information of the installation location from the geological survey report; Calculating information entropy corresponding to the stratigraphic structure information, and filtering out representative structural information in the stratigraphic structure information based on the information entropy; Collecting satellite remote sensing images corresponding to the installation location, and determining the terrain spatial elements of the installation location based on the satellite remote sensing images; Combining the representative structural information and the terrain spatial elements, constructing a three-dimensional topographic model corresponding to the installation location; Feature extraction is performed on the three-dimensional topographic model of the location to obtain a location topographic representation of the installation location.

8. The intelligent control method for Beidou positioning according to claim 7, characterized in that: The determining of the terrain spatial elements of the installation location based on the satellite remote sensing image includes: Performing noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image; Performing geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image; Performing image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image; Performing feature extraction processing on the enhanced remote sensing image to obtain remote sensing terrain features; The terrain feature semantics corresponding to the remote sensing terrain feature are analyzed, and the terrain spatial elements of the installation location are determined based on the terrain feature semantics.

9. The intelligent control method for Beidou positioning according to claim 1, characterized in that: The calculating the signal distortion of the Beidou positioning device in the installation position by combining the electromagnetic interference source parameter and the position topography representation includes: Performing frequency band analysis on the electromagnetic interference source parameters to obtain frequency band interference parameters, and extracting electromagnetic interference power and antenna gain from the frequency band interference parameters; Performing spatial quantization processing on the topographic representation of the location to obtain a signal spatial propagation factor; Combining the electromagnetic interference power, the antenna gain and the signal spatial propagation factor, the signal distortion of the Beidou positioning device in the installation position can be calculated by the following formula: Where F represents the signal distortion of the Beidou positioning device in the installation location. represents the electromagnetic interference power corresponding to the e-th electromagnetic interference source, represents the antenna gain corresponding to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, f represents the operating frequency of the Beidou positioning device, represents the signal spatial propagation factor corresponding to the i-th representation in the location topography representation, It represents the signal sensitivity coefficient of the Beidou positioning device to the e-th electromagnetic interference source, e represents the serial number corresponding to the electromagnetic interference source, t represents the number of electromagnetic interference sources, i represents the serial number corresponding to the location and topography representation, and u represents the number corresponding to the location and topography representation.

10. An intelligent management and control system for Beidou positioning, characterized in that: The system comprises: The accuracy calibration index setting module is used to obtain the Beidou positioning device to be controlled, identify the application scenario of the Beidou positioning device, determine the positioning accuracy requirement corresponding to the application scenario, and set the accuracy calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement; An accuracy misalignment coefficient module is used to collect signal strength data, satellite connection quantity data and time delay data of the Beidou positioning device during operation based on the accuracy calibration index, analyze the signal stability of the Beidou positioning device in combination with the signal strength data and the satellite connection quantity data, and calculate the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data; A positioning accuracy performance analysis module is used to measure in real time the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods, and calculate the trajectory deviation modulus of the service target carrier in combination with the carrier trajectory and the preset driving trajectory. Based on the trajectory deviation modulus, the positioning signal index corresponding to the Beidou positioning device is calculated, and the positioning accuracy performance of the Beidou positioning device is analyzed in combination with the precision misalignment coefficient and the positioning signal index. A signal distortion calculation module is used to collect electromagnetic interference source parameters of the Beidou positioning device in the installation position, analyze the location topography representation of the installation position, and calculate the signal distortion of the Beidou positioning device in the installation position by combining the electromagnetic interference source parameters and the location topography representation; The device control module is used to formulate a control strategy corresponding to the Beidou positioning device based on the signal stability, the signal distortion and the positioning accuracy performance, and to control the Beidou positioning device based on the control strategy to obtain a control result.

Images