Intelligent Control Method and System for Beidou Positioning

Abstract

The present invention relates to the technical field of Beidou positioning, and discloses an intelligent control method and system for Beidou positioning, including: setting accuracy calibration indexes corresponding to the Beidou positioning device; analyzing the signal stability degree of the Beidou positioning device based on the accuracy calibration indexes, and calculating an accuracy misalignment coefficient corresponding to the accuracy calibration indexes; measuring in real time the carrier trajectories of the service target carrier carrying the Beidou positioning device in different time periods, calculating the trajectory deviation modulus of the service target carrier, calculating the positioning confidence index corresponding to the Beidou positioning device, and analyzing the positioning accuracy performance of the Beidou positioning device; collecting electromagnetic interference source parameters within the installation position of the Beidou positioning device, and calculating the signal distortion degree within the installation position of the Beidou positioning device; formulating a control strategy corresponding to the Beidou positioning device, performing control processing on the Beidou positioning device, and obtaining a control result. The present invention can improve the accuracy and reliability of intelligent control of Beidou positioning.

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 transportation, vehicle monitoring, personnel tracking, etc. In these application scenarios, the demand for intelligent control of positioning targets is increasing day by day to ensure the safe and efficient operation of the targets and the reasonable allocation of resources.

[0003] The existing Beidou positioning control methods usually rely on traditional positioning data processing processes. First, the position information of the target is obtained through Beidou positioning terminals, which are installed on the objects to be controlled, such as vehicles, ships or mobile devices, etc., and send position data to the control center at regular time intervals. After receiving the data, the control center stores it in the database, and then analyzes these historical position data according to preset rules and algorithms to judge 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 occurrence of emergencies, relying solely on the analysis of historical data for control is far from enough. For example, in logistics transportation, if sudden situations such as road congestion, traffic accidents or abnormal weather occur, the control rules set based on historical data may not be able to make effective countermeasures 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, and 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, and its main purpose is to improve the accuracy and reliability of Beidou positioning intelligent control.

[0006] To achieve the above purpose, an intelligent control method for Beidou positioning provided by the present invention includes:

[0007] Obtain the Beidou positioning device to be controlled, identify the application scenario where the Beidou positioning device is located, determine the positioning accuracy requirement corresponding to the application scenario, and based on the positioning accuracy requirement, set the accuracy calibration index corresponding to the Beidou positioning device;

[0008] Based on the precision calibration index, collect the signal strength data, satellite connection number data, and time delay data of the Beidou positioning device during operation. Combine the signal strength data and satellite connection number data to analyze the signal stability of the Beidou positioning device. Based on the time delay data, calculate the precision misalignment coefficient corresponding to the precision calibration index;

[0009] Measure the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods in real time. Combine the carrier trajectory and the preset driving trajectory to calculate the trajectory deviation modulus of the service target carrier. Based on the trajectory deviation modulus, calculate the positioning confidence index corresponding to the Beidou positioning device. Combine the precision misalignment coefficient and the positioning confidence index to analyze the positioning accuracy performance of the Beidou positioning device;

[0010] Collect the electromagnetic interference source parameters of the Beidou positioning device within the installation location, and analyze the location and geomorphic characteristics of the installation location. Combine the electromagnetic interference source parameters and the location and geomorphic characteristics to calculate the signal distortion degree of the Beidou positioning device within the installation location;

[0011] Combine the signal stability, the signal distortion degree, and the positioning accuracy performance to formulate the control strategy corresponding to the Beidou positioning device. Based on the control strategy, perform control processing on the Beidou positioning device to obtain the control result.

[0012] Optionally, setting the precision calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirement includes:

[0013] Collect comprehensive information about the application scenario in all aspects to obtain the scenario comprehensive information;

[0014] Mine the precision requirement from the scenario comprehensive information to obtain the positioning accuracy requirement level;

[0015] Select the scenario precision calibration index from the pre-constructed precision calibration strategy library according to the positioning accuracy requirement level;

[0016] Set the precision calibration index corresponding to the Beidou positioning device according to the scenario precision calibration index.

[0017] Optionally, combining the signal strength data and the satellite connection number data to analyze the signal stability of the Beidou positioning device includes:

[0018] Perform smoothing processing on the signal strength data to obtain the smoothed signal strength;

[0019] Classify the smoothed signal strength by intensity to obtain the intensity signal cluster;

[0020] Based on the satellite connection number data, statistically analyze the satellite connection number spectrum corresponding to the intensity signal cluster;

[0021] Based on the satellite connection number spectrum, calculate the signal stability weight corresponding to the intensity signal cluster;

[0022] Integrate the signal stability weight and the intensity signal cluster to calculate the signal stability degree of the Beidou positioning device.

[0023] Optionally, the calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data includes:

[0024] Eliminate the abnormal data in the time delay data to obtain the target time delay data;

[0025] Perform visualization processing on the target time delay data to obtain a time delay curve;

[0026] Query the reference delay time and the index deviation threshold corresponding to the accuracy calibration index;

[0027] Based on the reference delay time, construct a reference delay curve corresponding to the accuracy calibration index;

[0028] Calculate the curve deviation value between the time delay curve and the reference delay curve;

[0029] Combine the curve deviation value and the index deviation threshold, and calculate the accuracy misalignment coefficient corresponding to the accuracy calibration index through the following formula: where A represents the accuracy misalignment coefficient corresponding to the accuracy calibration index, represents the a-th deviation value in the curve deviation value, represents the index deviation threshold corresponding to the a-th deviation value in the curve deviation value, a represents the serial number corresponding to the curve deviation value, q represents the number of curve deviation values, represents the time interval corresponding to the curve deviation value.

[0030] Optionally, the combining the carrier trajectory and the preset driving trajectory to calculate the trajectory deviation modulus of the service target carrier includes:

[0031] Perform time-frequency collaborative processing on the carrier trajectory and the preset driving trajectory to obtain a collaborative driving trajectory;

[0032] Perform curve fitting processing on the collaborative driving trajectory to obtain a fitted driving trajectory;

[0033] Calculate the horizontal displacement difference and the vertical displacement difference between each trajectory point in the fitted driving trajectory;

[0034] Combined with the horizontal displacement difference and the vertical displacement difference, calculate the trajectory deviation modulus of the service target carrier through the following formula: where D represents the trajectory deviation modulus of the service target carrier, and respectively represent the horizontal displacement difference and the vertical displacement difference of the b-th trajectory point in the fitted driving trajectory, represents the angle between the horizontal displacement difference and the vertical displacement difference of the b-th trajectory point in the fitted driving trajectory, b represents the serial number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

[0035] Optionally, calculating the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus includes:

[0036] Collect the historical trajectory data of the Beidou positioning device in different scenarios, and calculate the deviation modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data;

[0037] Combined with the positioning accuracy coefficient, the deviation modulus scale and the trajectory offset, the positioning confidence index corresponding to the Beidou positioning device can be calculated through the following formula: where E represents the positioning confidence index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, represents the deviation modulus scale, represents the sensitivity.

[0038] Optionally, analyzing the position geomorphic characterization of the installation location includes:

[0039] Collect the geological exploration report of the installation location, and extract the stratigraphic structure information of the installation location from the geological exploration report;

[0040] Calculate the information entropy corresponding to the stratigraphic structure information, and filter out the characterization structure information in the stratigraphic structure information based on the information entropy;

[0041] Collect the satellite remote sensing image corresponding to the installation location, and determine the topographic spatial elements of the installation location based on the satellite remote sensing image;

[0042] Combined with the characterization structure information and the topographic spatial elements, construct the position three-dimensional geomorphic model corresponding to the installation location;

[0043] Extract the features of the position three-dimensional geomorphic model to obtain the position geomorphic characterization of the installation location.

[0044] Optionally, determining the topographic spatial elements of the installation location based on the satellite remote sensing image includes:

[0045] Perform noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image;

[0046] Perform geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image;

[0047] Perform image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image;

[0048] Perform feature extraction processing on the enhanced remote sensing image to obtain remote sensing terrain features;

[0049] Analyze the terrain feature semantics corresponding to the remote sensing terrain features, and based on the terrain feature semantics, determine the terrain spatial elements of the installation location.

[0050] Optionally, combining the electromagnetic interference source parameters and the location geomorphic representation, calculating the signal distortion degree of the Beidou positioning device within the installation location includes:

[0051] Perform frequency band analysis on the electromagnetic interference source parameters to obtain frequency band interference parameters, and extract the electromagnetic interference power and antenna gain from the frequency band interference parameters;

[0052] Perform spatial quantization processing on the location geomorphic representation to obtain a signal spatial propagation factor;

[0053] Combining the electromagnetic interference power, the antenna gain, and the signal spatial propagation factor, the signal distortion degree of the Beidou positioning device within the installation location can be calculated through the following formula: where F represents the signal distortion degree of the Beidou positioning device within 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 geomorphic representation, 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 geomorphic representation, and u represents the number of location geomorphic representations.

[0054] To solve the above problems, the present invention also provides an intelligent management and control system for Beidou positioning, and the system includes:

[0055] The precision calibration index setting module is used to obtain the Beidou positioning device to be controlled, identify the application scenario where the Beidou positioning device is located, determine the positioning accuracy requirements corresponding to the application scenario, and set the precision calibration index corresponding to the Beidou positioning device based on the positioning accuracy requirements;

[0056] The precision deviation coefficient module is used to collect the signal strength data, satellite connection number 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 by combining the signal strength data and satellite connection number data, and calculate the precision deviation coefficient corresponding to the precision calibration index based on the time delay data;

[0057] The positioning accuracy performance analysis module 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, calculate the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory, calculate the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, and analyze the positioning accuracy performance of the Beidou positioning device by combining the precision deviation coefficient and the positioning confidence index;

[0058] The signal distortion degree calculation module is used to collect the electromagnetic interference source parameters within the installation position of the Beidou positioning device, analyze the position and landform characteristics of the installation position, and calculate the signal distortion degree of the Beidou positioning device within the installation position by combining the electromagnetic interference source parameters and the position and landform characteristics;

[0059] The device control module is used to formulate a control strategy corresponding to the Beidou positioning device by combining the signal stability, the signal distortion degree, and the positioning accuracy performance, and perform control processing on the Beidou positioning device based on the control strategy to obtain a control result.

[0060] Compared with the problems described in the background art, based on the positioning accuracy requirements, the present invention sets the corresponding accuracy calibration indexes for the Beidou positioning device, which can provide key support for the 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, enhance the stability and accuracy of the positioning service. Further, by combining the signal strength data and the satellite connection number data, the present invention analyzes the signal stability degree of the Beidou positioning device, can accurately grasp the signal stability of the Beidou positioning device during operation, and thus provides a key basis for subsequent performance optimization and intelligent control, effectively improving its positioning reliability in various application scenarios. Further, by combining the carrier trajectory and the preset driving trajectory, the present invention calculates the trajectory deviation modulus of the service target carrier, can accurately quantify the trajectory deviation degree of the service target carrier, and further provides key data support for evaluating the positioning accuracy performance of the Beidou positioning device, ensuring that it meets the positioning accuracy requirements of each scenario in actual application and improving the reliability and practicability of the positioning service. Further, by collecting the electromagnetic interference source parameters within the installation position of the Beidou positioning device and analyzing the position and terrain characteristics of the installation position, such as high-rise buildings, valleys, etc., it helps to predict in advance the signal occlusion or reflection situation, and further improves the calculation accuracy of the subsequent signal distortion degree. The present invention formulates the corresponding control strategy for the Beidou positioning device based on the signal stability degree, the signal distortion degree and the positioning accuracy performance. The control strategy can be enhanced in terms of pertinence and effectiveness by integrating multi-dimensional indexes, and the control processing of the Beidou positioning device is implemented 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 embodiments of the present invention can improve the accuracy and reliability of Beidou positioning intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 FIG. is a schematic flow chart of an intelligent control method for Beidou positioning provided by an embodiment of the present invention;

[0062] Figure 2 FIG. is a schematic module diagram for implementing the intelligent control method for Beidou positioning provided by an embodiment of the present invention.

[0063] The implementation, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] 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.

[0065] An 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 electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided in 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.

[0066] Embodiment 1:

[0067] Referring to Figure 1 As shown, it is a schematic flowchart 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:

[0068] S1. Obtain the Beidou positioning device to be controlled, identify the application scenario where the Beidou positioning device is located, determine the positioning accuracy requirement corresponding to the application scenario, and based on the positioning accuracy requirement, set the accuracy calibration index corresponding to the Beidou positioning device.

[0069] 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 the 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.

[0070] Among them, the Beidou positioning device is a device terminal that receives Beidou satellite signals to achieve 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 transportation scheduling, marine fishery operations, aerospace measurement and control, and geological exploration and survey. The application scenario refers to the specific environment and business scope where the Beidou positioning device is actually used, such as vehicle navigation in congested urban traffic sections, ship navigation under complex marine weather conditions, and personnel positioning in geological investigations in remote mountainous areas. Different scenarios have different requirements for positioning accuracy. The positioning accuracy requirement is a key performance index determined by comprehensive analysis of geographical environment factors corresponding to the application scenario, which can ensure that the Beidou positioning device provides reliable and accurate position information services for the service target in this scenario. The accuracy calibration index is a quantitative parameter and technical criterion for the positioning accuracy and stability performance corresponding to the Beidou positioning device. Further, the application scenario where the Beidou positioning device is located can be identified and realized through sensors; the positioning accuracy requirement corresponding to the application scenario can be determined through a big data knowledge base of industry specifications and measured data.

[0071] Specifically, based on the positioning accuracy requirements, set the accuracy calibration indicators corresponding to the Beidou positioning device, including:

[0072] Collect comprehensive information about the application scenario to obtain scenario comprehensive information;

[0073] Mine the accuracy requirements from the scenario comprehensive information to obtain the positioning accuracy requirement level;

[0074] Based on the positioning accuracy requirement level, screen out the scenario accuracy calibration indicators from the pre-constructed accuracy calibration strategy library;

[0075] Set the accuracy calibration indicators corresponding to the Beidou positioning device according to the scenario accuracy calibration indicators.

[0076] Among them, the scenario comprehensive information covers geospatial information (such as topographic and geomorphic features, altitude changes, longitude and latitude coordinates, etc.), electromagnetic environment information (including the frequency range, power intensity, distribution location, etc. of various electromagnetic interference sources), and dynamic target information (such as the moving speed range, acceleration change, movement trajectory trend, etc. of the target). The positioning accuracy requirement level is the specific accuracy level requirement determined based on the scenario comprehensive information. For example, vehicle navigation in an urban traffic scenario may require a positioning accuracy in the range of 3 - 8 meters. The accuracy calibration strategy library is a repository pre-constructed using big data analysis and simulation technologies, storing a database of accuracy calibration schemes and parameter configurations for the Beidou positioning device in different application scenarios. The scenario accuracy calibration indicators are the relevant technical criteria in the accuracy calibration strategy library corresponding to the positioning accuracy requirement level.

[0077] Furthermore, the all-round information collection in the application scenario can achieve the fusion acquisition of data through various means such as satellite remote sensing technology, ground sensor networks, and mobile measurement devices; the mining of the accuracy requirement of the scenario comprehensive information can be completed with the help of the convolutional neural network model in the deep learning algorithm. By learning a large amount of historical scenario data and actual positioning cases, a complex mapping relationship between the scenario features and the positioning accuracy requirements is constructed; the scenario accuracy calibration indicators selected from the pre-constructed accuracy calibration strategy library can rely on the intelligent algorithm recommendation system to quickly and accurately locate the most suitable scenario accuracy calibration indicator according to the positioning accuracy requirement level; based on the scenario accuracy calibration indicator, the corresponding accuracy calibration indicator of the Beidou positioning device is set. If the selected strategy is for the complex terrain environment in mountainous areas, it will focus on optimizing the satellite signal capture algorithm, enhancing the tracking ability of weak signals, and at the same time adjusting the positioning solution model, fully considering the delay impact of the terrain on signal propagation to improve the positioning accuracy. For example, when the Beidou positioning device performs geological exploration tasks in mountainous areas, according to the set accuracy calibration indicator, it automatically optimizes the signal processing process and effectively compensates for the signal attenuation and multipath effects caused by the terrain to ensure that the positioning accuracy meets the exploration requirements.

[0078] S2. Based on the accuracy calibration indicator, collect the signal strength data, satellite connection number data, and time delay data of the Beidou positioning device during operation. Combine the signal strength data and satellite connection number data to analyze the signal stability of the Beidou positioning device. Based on the time delay data, calculate the accuracy misalignment coefficient corresponding to the accuracy calibration indicator.

[0079] The present invention analyzes the signal stability of the Beidou positioning device by combining the signal strength data and satellite connection number 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. Among them, 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 signals; the satellite connection number 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 by means of a high-precision timing chip and a signal transmission time measurement algorithm, characterizing the time delay situation of the signal from the satellite to the positioning device. The signal stability represents the signal stability of the Beidou positioning device during operation. Furthermore, the collection of the signal strength data, satellite connection number data, and time delay data of the Beidou positioning device during operation can be achieved through the internal integration of a high-sensitivity radio frequency signal detection module, a satellite link monitoring module, and a high-precision time synchronization and timing module in the Beidou positioning device.

[0080] Specifically, analyzing the signal stability degree of the Beidou positioning device by combining the signal strength data and the satellite connection number data includes:

[0081] Performing smoothing processing on the signal strength data to obtain smoothed signal strength;

[0082] Performing intensity classification on the smoothed signal strength to obtain intensity signal clusters;

[0083] Based on the satellite connection number data, statistically obtaining the satellite connection number spectrum corresponding to the intensity signal clusters;

[0084] Based on the satellite connection number spectrum, calculating the signal stability weight corresponding to the intensity signal clusters;

[0085] Combining the signal stability weight and the intensity signal clusters, calculating the signal stability degree of the Beidou positioning device.

[0086] Wherein, 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 intensity signal clusters are sets divided according to the similarity of signal strength; the satellite connection number spectrum is the distribution characteristics of the satellite connection number corresponding to the intensity signal clusters in different value intervals, and the signal stability weight reflects the contribution degree of each signal cluster in the intensity signal clusters to the overall signal stability.

[0087] Further, the smoothing processing of the signal strength data can be implemented 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 through a clustering algorithm, and the DBSCAN algorithm based on density can be selected for the clustering algorithm to divide signal clusters according to the distribution density of signal strength; the statistics of the satellite connection number spectrum corresponding to the intensity signal clusters can be visually presented by constructing a frequency histogram; the calculation of the signal stability weight can be based on the information entropy theory, and higher weights are given to signal clusters with more uniform satellite connection number distributions and more stable signal strengths; combining the signal stability weight and the intensity signal clusters, the signal stability degree of the Beidou positioning device can be calculated by using a weighted summation method.

[0088] By calculating the precision misalignment coefficient corresponding to the precision calibration index based on the time delay data, the present invention can understand the positioning precision deviation situation 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 between the precision calibration index and the set standard.

[0089] Specifically, calculating the precision misalignment coefficient corresponding to the precision calibration index based on the time delay data includes:

[0090] Eliminate the abnormal data in the time delay data to obtain the target time delay data;

[0091] Perform visualization processing on the target time delay data to obtain a time delay curve;

[0092] Query the reference delay time and the index deviation threshold corresponding to the accuracy calibration index;

[0093] Based on the reference delay time, construct a reference delay curve corresponding to the accuracy calibration index;

[0094] Calculate the curve deviation value between the time delay curve and the reference delay curve;

[0095] Combine the curve deviation value and the index deviation threshold, and calculate the accuracy misalignment coefficient corresponding to the accuracy calibration index through the following formula: where A represents the accuracy misalignment coefficient corresponding to the accuracy calibration index, represents the a-th deviation value in the curve deviation value, represents the index deviation threshold corresponding to the a-th deviation value in the curve deviation value, a represents the serial number corresponding to the curve deviation value, q represents the number of curve deviation values, represents the time interval corresponding to the curve deviation value.

[0096] Among them, the time delay curve is constructed based on the time series analysis method corresponding to the target time delay data, and is used to reflect the change trend of time delay over time under normal circumstances; the reference delay time and the index deviation threshold are respectively the standard reference time value for measuring the reasonable range of time delay and the deviation critical value for determining whether the positioning accuracy is misaligned corresponding to the accuracy calibration index; the reference delay curve is the standard change curve that the time delay should follow in line with the ideal positioning state corresponding to the accuracy calibration index; the curve deviation value is the difference reflecting the deviation degree between the actual time delay and the ideal situation between the time delay curve and the reference delay curve.

[0097] Further, abnormal data in the time delay data can be removed through an outlier detection algorithm based on the Grubbs criterion to obtain target time delay data; the target time delay data can be visualized through the Matplotlib plotting library in the Python language to obtain a time delay curve; the reference delay time and the index deviation threshold corresponding to the accuracy calibration index can be queried from the Internet in a human-computer interaction manner, specifically, it can be searched through platforms such as professional positioning technology forums and industry database websites; based on the reference delay time, a reference delay curve corresponding to the accuracy calibration index can be constructed by using the cubic spline interpolation method to simulate the time delay change trend under ideal conditions; 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 deviation degree between the actual time delay and the ideal state, thereby providing a key data basis for the calculation of the subsequent accuracy misalignment coefficient, ensuring the accurate evaluation and effective control of the operating state of the Beidou positioning device, enabling it to better meet the positioning accuracy requirements in different application scenarios, improving the reliability and stability of the overall positioning service, and ensuring the efficient operation and accurate decision-making of relevant systems or services.

[0098] S3. Measure the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods in real time, combine the carrier trajectory and the preset driving trajectory, calculate the trajectory deviation modulus of the service target carrier, calculate the positioning confidence 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 accuracy misalignment coefficient and the positioning confidence index.

[0099] In the present invention, by combining the carrier trajectory and the preset driving trajectory, the trajectory deviation modulus of the service target carrier is calculated, which can accurately quantify the trajectory deviation degree of the service target carrier, and further provide 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 actual applications, and improving the reliability and practicality of the positioning service. Among them, the service target carrier covers various mobile objects equipped with the Beidou positioning device, 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 preset based on factors such as destination planning, traffic rules, historical driving data or standard shipping lanes, and is stored in the database of the navigation system or control center of the service target carrier as a benchmark for comparative evaluation. Further, the real-time measurement of the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods can be realized through various sensors such as the odometer and speed sensor of the service target carrier.

[0100] Specifically, calculating the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory includes:

[0101] Performing time-frequency collaborative processing on the carrier trajectory and the preset driving trajectory to obtain a collaborative driving trajectory;

[0102] Performing curve fitting processing on the collaborative driving trajectory to obtain a fitted driving trajectory;

[0103] Calculating the horizontal displacement difference and the vertical displacement difference between each pair of trajectory points in the fitted driving trajectory;

[0104] Combining the horizontal displacement difference and the vertical displacement difference, and calculating the trajectory deviation modulus of the service target carrier through the following formula: where D represents the trajectory deviation modulus of the service target carrier, and respectively represent the horizontal displacement difference and the vertical displacement difference of the b-th trajectory point in the fitted driving trajectory, represents the included angle between the horizontal displacement difference and the vertical displacement difference of the b-th trajectory point in the fitted driving trajectory, b represents the serial number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

[0105] 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 collaborative processing such as data fusion and spatio-temporal calibration of the carrier trajectory and the preset driving trajectory; the fitted driving trajectory is a trajectory obtained by performing curve fitting processing on the collaborative driving trajectory with the help of a suitable mathematical algorithm to smooth and regularize it so that it can be better described by a mathematical function; the horizontal displacement difference and the vertical displacement difference are respectively the coordinate differences between each pair of trajectory points in the fitted driving trajectory in the horizontal and vertical directions, which are used to quantify the deviation of the trajectory in these two dimensions.

[0106] Optionally, the time-frequency collaborative processing of the carrier trajectory and the preset driving trajectory can be performed by using the time-frequency analysis algorithm of wavelet transform to obtain a collaborative driving trajectory; the curve fitting processing of the collaborative driving trajectory can be performed by using the cubic spline interpolation method to obtain a fitted driving trajectory; the two-dimensional Cartesian coordinate system can be constructed, and each trajectory point in the fitted driving trajectory can be projected onto this coordinate system, and the differences between adjacent trajectory points on the horizontal and vertical coordinate axes can be calculated respectively through coordinate difference operations to obtain the horizontal displacement difference and the vertical displacement difference between each pair of trajectory points in the fitted driving trajectory.

[0107] By calculating the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, the reliability of the positioning result corresponding to the Beidou positioning device can be understood, thereby providing an important basis for the subsequent analysis of the positioning accuracy performance of the Beidou positioning device. Among them, the positioning confidence index represents the reliability of the positioning result corresponding to the Beidou positioning device.

[0108] Specifically, calculating the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus includes:

[0109] Collect the historical trajectory data of the Beidou positioning device in different scenarios, and calculate the deviation modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data;

[0110] 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 through the following formula: Among them, E represents the positioning confidence index corresponding to the Beidou positioning device, and D represents the trajectory deviation modulus. represents the deviation modulus scale. represents the sensitivity.

[0111] Among them, the historical trajectory data is the past trajectory record containing information such as the carrier position and movement time generated by the actual operation of the Beidou positioning device in different scenarios. The positioning accuracy coefficient and the deviation modulus scale are respectively quantitative measurement indicators corresponding to the trajectory deviation modulus that reflect the range levels of the positioning accuracy and the deviation degree. Further, based on the historical trajectory data, the historical deviation modulus is calculated, and the average value of the historical deviation modulus is calculated to obtain the deviation modulus scale. The sensitivity can be calculated by using professional mathematical software in combination with the trajectory 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. By analyzing the characteristics such as the slope or change rate of the fitting function, the sensitivity is determined. 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.

[0112] By combining the accuracy misalignment coefficient and the positioning confidence index, the present invention analyzes the positioning accuracy performance of the Beidou positioning device, can more comprehensively and accurately quantify the positioning error situation, and intuitively presents the positioning accuracy; through the comprehensive consideration of the two indicators, it can adapt to various complex scenarios, provide a reliable basis for the performance evaluation of Beidou positioning devices in different application scenarios (such as intelligent transportation, precision agriculture, etc.), help to timely detect 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 by combining the numerical values of the accuracy misalignment coefficient and the positioning confidence index. For example, when the value of the accuracy misalignment coefficient is low and the value of the positioning confidence 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 with strict positioning accuracy requirements such as high-precision surveying and mapping, autonomous driving, etc. On the contrary, if the accuracy misalignment coefficient is high and the positioning confidence index is low, it means that there is a large deviation in positioning, and the positioning accuracy may decrease in a strong signal interference or complex geographical environment, and the reliability and safety of applications such as logistics transportation tracking and marine navigation cannot be guaranteed. Measures such as optimizing signal reception and improving algorithms need to be taken to improve the positioning performance.

[0113] S4. Collect the electromagnetic interference source parameters of the Beidou positioning device within the installation location, analyze the location and geomorphic characteristics of the installation location, and calculate the signal distortion degree of the Beidou positioning device within the installation location by combining the electromagnetic interference source parameters and the location and geomorphic characteristics.

[0114] The present invention collects the electromagnetic interference source parameters of the Beidou positioning device within the installation location and analyzes the location and geomorphic characteristics of the installation location, such as high-rise buildings, valleys, etc., which helps to predict in advance the signal occlusion or reflection situation, and then improves the calculation accuracy of the subsequent signal distortion degree. It should be explained that the electromagnetic interference source parameters refer to the relevant parameters of various electromagnetic radiation sources that may affect the signal reception of the Beidou positioning device around the installation location, such as electromagnetic intensity, frequency range, etc.; the location and geomorphic characteristics refer to the description of the geographical features such as the terrain and ground objects of the installation location, such as the height and distribution of surrounding buildings, the degree of terrain undulation, etc. Further, the collection of the electromagnetic interference source parameters can be achieved through an electromagnetic spectrum analyzer.

[0115] Specifically, the analysis of the location and geomorphic characteristics of the installation location includes:

[0116] Collect the geological exploration report of the installation location and extract the stratigraphic structure information of the installation location from the geological exploration report;

[0117] Calculate the information entropy corresponding to the formation structure information, and based on the information entropy, screen out the representative structure information in the formation structure information;

[0118] Collect the satellite remote sensing image corresponding to the installation location, and based on the satellite remote sensing image, determine the topographic spatial elements of the installation location;

[0119] Combine the representative structure information and the topographic spatial elements to construct a three-dimensional geomorphic model corresponding to the installation location;

[0120] Extract features from the three-dimensional geomorphic model of the location to obtain the geomorphic representation of the installation location.

[0121] Among them, the geological exploration report is a written material containing various geological details formed after professional geological exploration of the installation location, and the formation structure information is a specific description of the composition, distribution and related characteristic conditions of different underground formations of the installation location in the geological exploration report; the information entropy represents a quantitative index corresponding to the formation structure information that reflects its internal uncertainty and orderliness; the representative structure information is the representative content in the formation structure information that can prominently reflect the key features and differences of the formation; the satellite remote sensing image is the image data corresponding to the installation location obtained through satellite remote sensing technology, which reflects the surface morphology and related elements, and the topographic spatial elements are the spatial distribution of topographic and geomorphic components such as mountains, rivers, plains, etc. on the surface of the installation location; the three-dimensional geomorphic model of the location is a model corresponding to the installation location constructed by integrating various data, which intuitively shows its geomorphic three-dimensional shape and features.

[0122] Furthermore, the geological exploration report of the installation location can be collected by means of a professional geological data database or by applying for access to relevant geological exploration institutions. The formation structure information of the installation location can be extracted from the geological exploration report using text mining and data extraction algorithms. The information entropy corresponding to the formation structure information can be calculated by means of 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 different geological complexity regions, different engineering precision requirements, etc.), a feature screening algorithm is used to screen out the representative structure information in the formation structure information. A satellite remote sensing data receiving device and a professional image processing platform can be used to collect the satellite remote sensing image corresponding to the installation location. Combining the representative structure information and the topographic spatial elements, a three-dimensional geomorphic model of the installation location can be constructed based on the powerful modeling function of a geographic information system (GIS). Advanced three-dimensional model analysis tools and feature extraction algorithms can be used to extract features from the three-dimensional geomorphic model of the location, so as to obtain the geomorphic representation of the installation location, thereby realizing a comprehensive, accurate and efficient analysis and presentation of the geomorphic features of the installation location, and providing solid data support and scientific basis for subsequent applications such as engineering construction planning, geological disaster assessment, natural resource exploration, etc.

[0123] Furthermore, as an alternative embodiment of the present invention, determining the topographic spatial elements of the installation location based on the satellite remote sensing image includes:

[0124] Perform noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image;

[0125] Perform geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image;

[0126] Perform image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image;

[0127] Perform feature extraction processing on the enhanced remote sensing image to obtain remote sensing topographic features;

[0128] Analyze the topographic feature semantics corresponding to the remote sensing topographic features, and determine the topographic spatial elements of the installation location based on the topographic feature semantics.

[0129] Among them, the noise-reduced remote sensing image is a clearer and smoother image obtained by removing the noise points generated by factors such as sensor noise and atmospheric interference from the satellite remote sensing image; the corrected remote sensing image is an image formed after the noise-reduced remote sensing image corrects geometric distortion so that its spatial position conforms to the actual geographical spatial position; the enhanced remote sensing image is an image after the corrected remote sensing image uses image enhancement technology to highlight the differences in different topographic and geomorphic features; the remote sensing topographic feature is the information obtained by the enhanced remote sensing image using a feature extraction algorithm to highlight various features related to the terrain; the topographic feature semantics is the content that describes, classifies, and interprets the topographic features in semantic form corresponding to the remote sensing topographic features, which is used to more intuitively and accurately understand the terrain situation.

[0130] Furthermore, the satellite remote sensing image can be denoised by a mean filtering algorithm to obtain a noise-reduced remote sensing image; the noise-reduced remote sensing image can be geometrically corrected by a professional image processing tool to obtain a corrected remote sensing image; the corrected remote sensing image can be image-enhanced by a histogram equalization method to obtain an enhanced remote sensing image; the enhanced remote sensing image can be feature-extracted 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 to obtain remote sensing topographic features; the topographic feature semantics corresponding to the remote sensing topographic features can be analyzed by a semantic analysis system based on natural language processing technology and a topographic feature knowledge base; based on the topographic feature semantics, the topographic spatial elements of the installation location are determined. Assuming that the feature of "gentle slope mountain" is identified near the installation location in the topographic feature semantics, then through further analysis, it can be determined that the average slope of this gentle slope mountain is about 15°, the slope direction is towards the southeast, and its altitude range is between 200 and 300 meters. These data such as slope, slope direction, and altitude constitute the topographic spatial elements.

[0131] The present invention calculates the signal distortion degree of the Beidou positioning device within the installation location by combining the electromagnetic interference source parameters and the position and geomorphic characteristics, which can accurately quantify the influence degree of external factors on the signal. For example, it can accurately evaluate the signal attenuation and distortion caused by electromagnetic interference such as nearby high-voltage lines and communication base stations, and geomorphic characteristics such as high-rise buildings and valleys. Furthermore, it provides a basis for formulating the corresponding control strategy for the subsequent Beidou positioning device. Among them, the signal distortion degree represents the degree of deviation, distortion, attenuation, etc. that occurs in the received satellite signal during transmission compared with the original signal due to factors such as electromagnetic interference sources and position and geomorphic characteristics within the installation location of the Beidou positioning device.

[0132] Specifically, calculating the signal distortion degree of the Beidou positioning device within the installation location by combining the electromagnetic interference source parameters and the location and terrain characteristics includes:

[0133] Performing frequency band analysis on the electromagnetic interference source parameters to obtain frequency band interference parameters, and extracting the electromagnetic interference power and antenna gain from the frequency band interference parameters;

[0134] Performing spatial quantization processing on the location and terrain characteristics to obtain a signal spatial propagation factor;

[0135] Combining the electromagnetic interference power, the antenna gain, and the signal spatial propagation factor, the signal distortion degree of the Beidou positioning device within the installation location can be calculated through the following formula: Where F represents the signal distortion degree of the Beidou positioning device within 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 characterization in the location and terrain characteristics, 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 terrain characteristics, and u represents the number of location and terrain characteristics.

[0136] Among them, the higher the operating frequency f, the greater the propagation loss (consistent with the negative exponential relationship), This term reflects the attenuation effect of electromagnetic interference on the distortion of the Beidou positioning signal at different frequency bands.

[0137] Among them, the frequency band interference parameters are specific interference parameters related to the operating frequency band of the Beidou positioning device obtained after frequency band analysis of the electromagnetic interference source parameters. The electromagnetic interference power and the antenna gain are respectively the key indicators in the frequency band interference parameters that reflect the emission energy size of the interference source and its radiation ability in the direction towards the Beidou positioning device. The signal spatial propagation factor is a comprehensive quantization value obtained after spatial quantization processing of the location and terrain characteristics, which is used to reflect the influence degree of environmental factors such as terrain, buildings, and vegetation on the propagation of electromagnetic signals. The signal sensitivity coefficient represents a quantization parameter that reflects the sensitivity degree of the Beidou positioning device to different interference sources based on its own signal reception characteristics, and is used to measure the strength of the influence of the interference source on its signal.

[0138] Furthermore, the parameters of the electromagnetic interference source can be analyzed in terms of frequency bands by using a high-precision spectrum analyzer. According to the frequency distribution characteristics of the electromagnetic signals and the operating frequency band range of the Beidou positioning device, the frequency band interference parameters can be screened and extracted. Then, with the help of signal analysis software, the electromagnetic interference power representing the emission energy of the electromagnetic interference source and the antenna gain reflecting its radiation ability in a specific direction can be identified and separated from the frequency band interference parameters. The spatial quantization processing of the position and landform characterization can be carried out by using a Geographic Information System (GIS) in combination with satellite remote sensing images, topographic mapping data, and professional electromagnetic propagation models. Analyze the influence of factors such as terrain undulation, building distribution and height, and vegetation coverage on the electromagnetic signal propagation path and attenuation degree, so as to obtain the signal spatial propagation factor. Based on this, further evaluate the comprehensive influence situation of the Beidou positioning device at the installation position, and provide key data support for subsequent signal distortion calculation and optimization measure formulation. 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 signal amplitude interference. Through the theoretical analysis of these algorithms, the relationship between the signal sensitivity coefficient and the type of interference signal (such as frequency, phase, amplitude, etc.) can be initially determined.

[0139] S5. Combine the signal stability degree, the signal distortion degree, and the positioning accuracy performance to formulate the corresponding control strategy for the Beidou positioning device. Based on the control strategy, perform control processing on the Beidou positioning device to obtain a control result.

[0140] In the present invention, by formulating the corresponding control strategy for the Beidou positioning device based on the signal stability degree, the signal distortion degree, and the positioning accuracy performance, the multi-dimensional indicators can enhance the pertinence and effectiveness of the control strategy, and based on the control strategy, perform control processing on the Beidou positioning device, thereby improving the accuracy and reliability of the control of the Beidou positioning device. Among them, the control strategy is the specific scheme for the operation control of the Beidou positioning device.

[0141] Furthermore, the steps for formulating the control strategy corresponding to the Beidou positioning device are as follows: Assume that the signal stability degree of the Beidou positioning device is high, the signal distortion degree is low, and the positioning accuracy performance is high. Then, maintain the current stable signal reception and processing parameter settings, continuously monitor the signal quality, regularly conduct routine inspections on the antenna and signal transmission lines to ensure that the connections are firm and without looseness, maintain the device in a stable operating environment, such as avoiding the approach of strong electromagnetic interference sources and ensuring stable power supply, etc. At the same time, conduct performance verification on the core components of the positioning device according to the established maintenance cycle to ensure that it continues to be 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 device status can be appropriately reduced, but the long-term records of key performance indicators need to be retained for performance trend analysis and early detection of potential problems. Establish a rapid response technical support channel so that professional technical guidance and solutions can be obtained in a timely manner when sudden satellite signal anomalies occur. Assume that the signal stability degree of the Beidou positioning device is low, the signal distortion degree is high, and the positioning accuracy performance is low. Then, immediately conduct a comprehensive debugging of the signal reception system, check the pointing, gain of the antenna, and whether there is any damage. If necessary, replace the antenna with better performance, optimize the signal filter parameters to reduce noise interference and improve signal stability. For the signal distortion problem, analyze in detail the influence of electromagnetic interference sources and the surrounding terrain and landforms, and adopt shielding measures to reduce electromagnetic interference. For problems such as signal reflection and refraction caused by the terrain and landforms, adjust the installation position or angle of the device to improve the signal propagation path. To improve the positioning accuracy performance, recalibrate the positioning algorithm parameters and optimize them in combination with the actual environmental characteristics. At the same time, increase the monitoring frequency of satellite signals and the data acquisition volume to more accurately analyze the signal change trend, strengthen the synchronous calibration operation with the satellite system to ensure the accuracy of clock synchronization. In terms of the operating environment, take measures such as constant temperature and humidity to ensure the stability of the device working environment, regularly conduct a comprehensive performance evaluation of the device, cooperate with the technology R & D team or professional institutions to obtain the latest technology improvement solutions and troubleshooting methods in a timely manner, and thus generate the control strategy corresponding to the Beidou positioning device.

[0142] Compared with the problems described in the background art, based on the positioning accuracy requirements, the present invention sets the corresponding accuracy calibration indexes for the Beidou positioning device, which can provide key support for the 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, enhance the stability and accuracy of the positioning service. Further, by combining the signal strength data and the satellite connection number data, the present invention analyzes the signal stability degree of the Beidou positioning device, can accurately grasp the signal stability of the Beidou positioning device during operation, and thus provides a key basis for subsequent performance optimization and intelligent control, effectively improving its positioning reliability in various application scenarios. Further, by combining the carrier trajectory and the preset driving trajectory, the present invention calculates the trajectory deviation modulus of the service target carrier, can accurately quantify the trajectory deviation degree of the service target carrier, and further provides key data support for evaluating the positioning accuracy performance of the Beidou positioning device, ensuring that it meets the positioning accuracy requirements of each scenario in practical applications and improving the reliability and practicability of the positioning service. Further, by collecting the electromagnetic interference source parameters within the installation position of the Beidou positioning device and analyzing the position and terrain characteristics of the installation position, such as high-rise buildings, valleys, etc., it helps to predict signal occlusion or reflection in advance, and then improves the calculation accuracy of the subsequent signal distortion degree. The present invention formulates the corresponding control strategy for the Beidou positioning device based on the signal stability degree, the signal distortion degree and the positioning accuracy performance. The control strategy can be enhanced in terms of pertinence and effectiveness by integrating multi-dimensional indexes, and the control processing of the Beidou positioning device is implemented 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 embodiments of the present invention can improve the accuracy and reliability of Beidou positioning intelligent control.

[0143] Embodiment 2:

[0144] As Figure 2 shown, it is a functional module diagram of an intelligent control system for Beidou positioning according to the present invention.

[0145] The intelligent control system 200 for Beidou positioning according to the present invention can be installed in an electronic device. According to the implemented functions, the intelligent control system for Beidou positioning may include an accuracy calibration index setting module 201, an accuracy misalignment coefficient module 202, a positioning accuracy performance analysis module 203, a signal distortion degree calculation module 204, and a device control module 205. The modules in the present invention may also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, and are stored in the memory of the electronic device.

[0146] In the embodiments of the present invention, the functions of each module / unit are as follows:

[0147] The accuracy calibration index setting module 201 is configured to obtain the Beidou positioning device to be controlled, identify the application scenario where the Beidou positioning device is located, 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;

[0148] The accuracy deviation coefficient module 202 is configured to collect signal strength data, satellite connection number 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 by combining the signal strength data and the satellite connection number data, and calculate the accuracy deviation coefficient corresponding to the accuracy calibration index based on the time delay data;

[0149] The positioning accuracy performance analysis module 203 is configured to measure the carrier trajectory of the service target carrier equipped with the Beidou positioning device in different time periods in real time, calculate the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory, calculate the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, and analyze the positioning accuracy performance of the Beidou positioning device by combining the accuracy deviation coefficient and the positioning confidence index;

[0150] The signal distortion degree calculation module 204 is configured to collect the electromagnetic interference source parameters within the installation position of the Beidou positioning device, analyze the position and landform characteristics of the installation position, and calculate the signal distortion degree of the Beidou positioning device within the installation position by combining the electromagnetic interference source parameters and the position and landform characteristics;

[0151] The device control module 205 is configured to formulate a control strategy corresponding to the Beidou positioning device by combining the signal stability, the signal distortion degree, and the positioning accuracy performance, and perform control processing on the Beidou positioning device based on the control strategy to obtain a control result.

[0152] Specifically, each module in the intelligent control system 200 for Beidou positioning in the embodiments of the present invention adopts the same technical means as those Figure 1 described in the above-mentioned intelligent control method for Beidou positioning and can produce the same technical effects, which will not be elaborated here.

[0153] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An intelligent control method for Beidou positioning, characterized in that The method includes: Obtaining a Beidou positioning device to be controlled, identifying the application scenario where the Beidou positioning device is located, determining the positioning accuracy requirement corresponding to the application scenario, and setting an 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 number data, and time delay data during the operation of the Beidou positioning device, analyzing the signal stability of the Beidou positioning device by combining the signal strength data and the satellite connection number data, and calculating an accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data. Among them, calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data includes: Removing abnormal data from 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; Querying a reference delay time and an index deviation threshold corresponding to the accuracy calibration index; Constructing a reference delay curve corresponding to the accuracy calibration index based on the reference delay time; Calculating a curve deviation value between the time delay curve and the reference delay curve; Combining the curve deviation value and the index deviation threshold, and calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index through the following formula: Among them, A represents the accuracy misalignment coefficient corresponding to the accuracy calibration index, and B a represents the a-th deviation value among the curve deviation values, represents the index deviation threshold corresponding to the a-th deviation value among the curve deviation values, a represents the serial number corresponding to the curve deviation value, q represents the number of curve deviation values, and Δt represents the time interval corresponding to the curve deviation values; Real-time measuring the carrier trajectory of a service target carrier carrying the Beidou positioning device in different time periods, calculating a trajectory deviation modulus of the service target carrier by combining the carrier trajectory and a preset driving trajectory, calculating a positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, and analyzing the positioning accuracy performance of the Beidou positioning device by combining the accuracy misalignment coefficient and the positioning confidence index. Among them, 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 a deviation modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data; Combining the deviation modulus scale and the trajectory deviation modulus, and calculating the positioning confidence index corresponding to the Beidou positioning device through the following formula: Where E represents the positioning confidence index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, δ represents the deviation modulus scale, and α represents the sensitivity; Collecting electromagnetic interference source parameters within the installation position of the Beidou positioning device, and analyzing the position and geomorphic characteristics of the installation position. Calculating a signal distortion degree of the Beidou positioning device within the installation position by combining the electromagnetic interference source parameters and the position and geomorphic characteristics. Among them, calculating the signal distortion degree of the Beidou positioning device within the installation position by combining the electromagnetic interference source parameters and the position and geomorphic characteristics 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 position and geomorphic characteristics to obtain a signal spatial propagation factor; Combined with the electromagnetic interference power, the antenna gain, and the signal space propagation factor, calculate the signal distortion degree of the Beidou positioning device within the installation position through the following formula: Among them, F represents the signal distortion degree of the Beidou positioning device within the installation position, and G e represents the electromagnetic interference power corresponding to the e-th electromagnetic interference source, and H e 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, and L i represents the signal space propagation factor corresponding to the i-th representation in the position geomorphic representation, and S e 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 position geomorphic representation, and u represents the number of position geomorphic representations; Combined with the signal stability degree, the signal distortion degree, and the positioning accuracy performance, formulate a control strategy corresponding to the Beidou positioning device. Based on the control strategy, perform control processing on the Beidou positioning device to obtain a control result.

2. The intelligent control method for Beidou positioning according to claim 1, wherein Based on the positioning accuracy requirement, set the accuracy calibration index corresponding to the Beidou positioning device, including: Perform all-round information collection on the application scenario to obtain comprehensive scenario information; Mine the accuracy requirement from the comprehensive scenario information to obtain the positioning accuracy requirement level; According to the positioning accuracy requirement level, screen out the scenario accuracy calibration index from the pre-constructed accuracy calibration strategy library; According to the scenario accuracy calibration index, set the accuracy calibration index corresponding to the Beidou positioning device.

3. The intelligent control method for Beidou positioning according to claim 1, wherein The analysis of the signal stability degree of the Beidou positioning device by combining the signal strength data and the satellite connection number data includes: Perform smoothing processing on the signal strength data to obtain smoothed signal strength; Perform intensity classification on the smoothed signal strength to obtain an intensity signal cluster; Based on the satellite connection number data, count the satellite connection number spectrum corresponding to the intensity signal cluster; Based on the satellite connection number spectrum, calculate the signal stability weight corresponding to the intensity signal cluster; Combine the signal stability weight and the intensity signal cluster to calculate the signal stability degree of the Beidou positioning device.

4. The intelligent control method for Beidou positioning according to claim 1, characterized in that, The calculation of the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and the preset driving trajectory includes: Perform time-frequency collaborative processing on the carrier trajectory and the preset driving trajectory to obtain a collaborative driving trajectory; Perform curve fitting processing on the collaborative driving trajectory to obtain a fitted driving trajectory; Calculate the horizontal phase difference and the vertical phase difference between each trajectory point in the fitted driving trajectory; Combine the horizontal phase difference and the vertical phase difference, and calculate the trajectory deviation modulus of the service target carrier through the following formula: Among them, D represents the trajectory deviation modulus of the service target carrier, X b and Y b respectively represent the horizontal phase difference and the vertical phase difference of the b-th trajectory point in the fitted driving trajectory, θ b represents the included angle between the horizontal phase difference and the vertical phase difference of the b-th trajectory point in the fitted driving trajectory, b represents the serial number of the trajectory point in the fitted driving trajectory, and r represents the number of trajectory points in the fitted driving trajectory.

5. The intelligent control method for Beidou positioning according to claim 1, characterized in that, The analysis of the position geomorphic representation of the installation position includes: Collect the geological exploration report of the installation position, and extract the formation structure information of the installation position from the geological exploration report; Calculate the information entropy corresponding to the formation structure information, and based on the information entropy, screen out the representative structure information in the formation structure information; Collect the satellite remote sensing image corresponding to the installation position, and based on the satellite remote sensing image, determine the terrain spatial elements of the installation position; Combine the representative structure information and the terrain spatial elements to construct a position three-dimensional geomorphic model corresponding to the installation position; Perform feature extraction on the position three-dimensional geomorphic model to obtain the position geomorphic representation of the installation position.

6. The intelligent control method for Beidou positioning according to claim 5, characterized in that, Based on the satellite remote sensing image, determining the terrain spatial elements of the installation position includes: Perform noise reduction processing on the satellite remote sensing image to obtain a noise-reduced remote sensing image; Perform geometric correction processing on the noise-reduced remote sensing image to obtain a corrected remote sensing image; Perform image enhancement processing on the corrected remote sensing image to obtain an enhanced remote sensing image; Perform feature extraction processing on the enhanced remote sensing image to obtain remote sensing terrain features; Analyze the terrain feature semantics corresponding to the remote sensing terrain features, and based on the terrain feature semantics, determine the terrain spatial elements of the installation location.

7. An intelligent control system for Beidou positioning, characterized in that, The system includes: An accuracy calibration index setting module, configured to obtain a Beidou positioning device to be controlled, identify the application scenario where the Beidou positioning device is located, determine the positioning accuracy requirements corresponding to the application scenario, and based on the positioning accuracy requirements, set the accuracy calibration index corresponding to the Beidou positioning device; An accuracy misalignment coefficient module, configured to collect signal strength data, satellite connection number 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 by combining the signal strength data and the satellite connection number data, and calculate the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data, where calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index based on the time delay data includes: Removing abnormal data from 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; Querying the reference delay time and the index deviation threshold corresponding to the accuracy calibration index; Constructing a reference delay curve corresponding to the accuracy calibration index based on the reference delay time; Calculating the curve deviation value between the time delay curve and the reference delay curve; Combining the curve deviation value and the index deviation threshold, and calculating the accuracy misalignment coefficient corresponding to the accuracy calibration index through the following formula: Among them, A represents the accuracy misalignment coefficient corresponding to the accuracy calibration index, and B a represents the a-th deviation value among the curve deviation values, represents the index deviation threshold corresponding to the a-th deviation value among the curve deviation values, a represents the serial number corresponding to the curve deviation value, q represents the number of curve deviation values, and Δt represents the time interval corresponding to the curve deviation values; A positioning accuracy performance analysis module, configured to measure the carrier trajectory of a service target carrier carrying the Beidou positioning device in different time periods in real time, calculate the trajectory deviation modulus of the service target carrier by combining the carrier trajectory and a preset driving trajectory, calculate the positioning confidence index corresponding to the Beidou positioning device based on the trajectory deviation modulus, and analyze the positioning accuracy performance of the Beidou positioning device by combining the accuracy misalignment coefficient and the positioning confidence index, where 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 deviation modulus scale corresponding to the trajectory deviation modulus based on the historical trajectory data; Combining the deviation modulus scale and the trajectory deviation modulus, and calculating the positioning confidence index corresponding to the Beidou positioning device through the following formula: where E represents the positioning confidence index corresponding to the Beidou positioning device, D represents the trajectory deviation modulus, δ represents the deviation modulus scale, and α represents the sensitivity; A signal distortion calculation module, which is used to collect the electromagnetic interference source parameters of the Beidou positioning device within the installation location, analyze the position and landform characteristics of the installation location, and calculate the signal distortion of the Beidou positioning device within the installation location by combining the electromagnetic interference source parameters and the position and landform characteristics. Among them, the calculation of the signal distortion of the Beidou positioning device within the installation location by combining the electromagnetic interference source parameters and the position and landform characteristics 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 position and landform characteristics to obtain a signal spatial propagation factor; Combining the electromagnetic interference power, the antenna gain and the signal spatial propagation factor, and calculating the signal distortion of the Beidou positioning device within the installation location through the following formula: Among them, F represents the signal distortion degree of the Beidou positioning device within the installation position, G e represents the electromagnetic interference power corresponding to the e-th electromagnetic interference source, H e 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, L i represents the signal spatial propagation factor corresponding to the i-th representation in the position geomorphic representation, S e 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 position geomorphic representation, and u represents the number of position geomorphic representations; A device control module, which is used to formulate a control strategy corresponding to the Beidou positioning device by combining the signal stability degree, the signal distortion degree and the positioning accuracy performance, and perform control processing on the Beidou positioning device based on the control strategy to obtain a control result.

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