A method and system for constructing a high-precision marine dynamic reference station

Abstract

The present invention discloses a method and system for constructing a high-precision marine dynamic reference station, which relates to the field of marine positioning technology. The method and system for constructing a high-precision marine dynamic reference station can identify and reduce the factors affecting the positioning result by setting a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module, and by analyzing the motion characteristics and environmental factors of the marine dynamic reference station, thereby reducing the positioning error, obtaining a screening index for the marine dynamic reference station, screening the marine dynamic reference station, realizing the screening and optimization of the marine dynamic reference station, selecting a marine dynamic reference station with a suitable location and good signal quality, improving the accuracy and stability of the positioning system, and at the same time providing high-precision marine positioning services by constructing a positioning model for the marine dynamic reference station.

Description

Technical Field

[0001] The present invention relates to the technical field of marine positioning, and specifically provides a method and system for constructing a high-precision marine dynamic reference station. Background Art

[0002] With the increasing attention and utilization of marine resources by people, the marine economy has developed rapidly. The demand for high-precision positioning services in fields such as marine engineering, marine energy development, fisheries, and shipping is increasing.

[0003] At the same time, with the progress of technology, especially in positioning technology and data processing technology, the accuracy and reliability of marine dynamic reference stations have been significantly improved. Modern technologies such as multi-constellation global navigation satellite systems, precise point positioning, and high-precision antenna technology have made it possible to perform high-precision positioning in harsh environments. The development of these technologies has driven the demand for advanced marine dynamic reference station positioning systems and promoted innovation in scientific research and the marine industry.

[0004] However, the traditional coastal dynamic reference station positioning method has difficulties in constructing and maintaining reference stations in the marine environment, low positioning accuracy, insufficient drift error correction, and fails to fully consider the influence of the marine environment and the motion characteristics of floating platforms on positioning accuracy, resulting in unstable positioning data, and relying on complex data processing and manual intervention, leading to low efficiency and errors. At the same time, the construction and maintenance costs of the static and dynamic reference station network database are high, making it difficult to apply to marine high-precision positioning services. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a method and system for constructing a high-precision marine dynamic reference station, which solves the problems in the above background art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A high-precision marine dynamic reference station construction system, comprising the following modules: a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module; the reference station data acquisition module is used to obtain marine dynamic reference station monitoring data through a floating platform; the reference station screening module is used to analyze the motion characteristics and environmental factors of the marine dynamic reference station based on the marine dynamic reference station monitoring data, obtain a marine dynamic reference station screening index, and screen the marine dynamic reference station; the reference station positioning model construction module is used to construct a marine dynamic reference station positioning model through the screened marine dynamic reference stations to provide high-precision marine positioning services; the reference station positioning evaluation module is used to position a sea surface positioning reference station through the marine dynamic reference station positioning model, evaluate the positioning coordinates of the marine dynamic reference station, and obtain a marine dynamic reference station positioning model accuracy index; the reference station positioning correction module is used to analyze the marine dynamic reference station positioning model accuracy index, obtain a marine dynamic reference station positioning compliance index, and when the marine dynamic reference station positioning compliance index exceeds the standard range of the marine dynamic reference station positioning compliance index, correct the marine dynamic reference station positioning model through a filtering algorithm.

[0007] Further, the marine dynamic reference station monitoring data includes marine dynamic reference station motion data and marine dynamic reference station environmental data; the marine dynamic reference station motion data includes the longitude value of the marine dynamic reference station, the latitude value of the marine dynamic reference station, the horizontal speed of the marine dynamic reference station, and the vertical speed of the marine dynamic reference station; the marine dynamic reference station environmental data includes the environmental water flow speed of the marine dynamic reference station, the environmental wind force value of the marine dynamic reference station, and the environmental temperature value of the sea water at the marine dynamic reference station.

[0008] Further, the specific process of analyzing the motion characteristics of the marine dynamic reference station is as follows: Based on the marine dynamic reference station motion data, calculate the Euclidean distance between the longitude value and latitude value of each marine dynamic reference station and the optimal longitude value and optimal latitude value of the marine dynamic reference station to obtain the distance value of each marine dynamic reference station from the optimal position, and perform a ratio operation on the distance value of each marine dynamic reference station from the optimal position and the maximum allowable distance value of the marine dynamic reference station from the optimal position to obtain a marine dynamic reference station position change index; normalize the horizontal speed and vertical speed of the marine dynamic reference station, and assign weights to the normalized horizontal speed and vertical speed of the marine dynamic reference station, and perform a comprehensive operation to obtain a marine dynamic reference station speed index; perform a comprehensive operation on the marine dynamic reference station position change index and the marine dynamic reference station speed index to obtain a marine dynamic reference station motion screening index.

[0009] Further, the specific process of analyzing the environmental factors of the marine dynamic reference station is as follows: Based on the environmental data of the marine dynamic reference station, the environmental water flow velocity, environmental wind force value, and environmental temperature value of each marine dynamic reference station are respectively compared with the maximum allowable values of the environmental water flow velocity, environmental wind force value, and environmental temperature value of the set marine dynamic reference station, and normalized to obtain the environmental screening index of the marine dynamic reference station.

[0010] Further, the specific process of obtaining the screening index of the marine dynamic reference station is as follows: Based on the motion screening index and environmental screening index of the marine dynamic reference station, the motion screening index and environmental screening index of the marine dynamic reference station are respectively subjected to ratio operations with the standard values of the motion screening index and environmental screening index of the set marine dynamic reference station; a comparison matrix is established for the motion screening index and environmental screening index of the marine dynamic reference station through the analytic hierarchy process, a weight vector is obtained, and comprehensive operations are performed to obtain the screening index of the marine dynamic reference station.

[0011] Further, the specific formula for the screening index of the marine dynamic reference station is as follows:

[0012]

[0013] In the formula, represents the screening index of the marine dynamic reference station, represents the motion screening index of the marine dynamic reference station, represents the standard value of the motion screening index of the marine dynamic reference station, represents the environmental screening index of the marine dynamic reference station, represents the standard value of the environmental screening index of the marine dynamic reference station, represents the weight factor of the motion screening index of the marine dynamic reference station, represents the weight factor of the environmental screening index of the marine dynamic reference station.

[0014] Further, the specific process of screening the marine dynamic reference station is as follows: The screening index of the marine dynamic reference station is compared with the standard value of the screening index of the set marine dynamic reference station. When the screening index of the marine dynamic reference station exceeds the threshold value of the screening index of the set marine dynamic reference station, the marine dynamic reference station is screened out.

[0015] Further, the specific process of constructing the positioning model of the marine dynamic reference station is as follows: Obtain GPS positioning service data from the selected marine dynamic reference stations and integrate it into the dataset. Fit the GPS positioning service data in the dataset through a regression model, and use the backpropagation algorithm and optimizer to adjust the model parameters to construct the positioning model of the marine dynamic reference station and obtain the positioning service.

[0016] Further, the specific process of evaluating the positioning coordinates of the marine dynamic reference station and obtaining the accuracy index of the positioning model of the marine dynamic reference station is as follows: Locate the sea surface positioning reference station through the positioning model of the marine dynamic reference station to obtain the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station, and obtain the accurate coordinate value of the sea surface positioning reference station through the sea surface positioning reference station; Calculate the Euclidean distance between the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station and the accurate coordinate value of the sea surface positioning reference station; Obtain the distance deviation value between the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station and the accurate coordinate value of the sea surface positioning reference station, and perform a ratio operation with the set allowable deviation value of the sea surface positioning distance to obtain the accuracy index of the positioning model of the marine dynamic reference station.

[0017] A method for constructing a high-precision marine dynamic reference station includes the following steps: S1. Obtain the monitoring data of the marine dynamic reference station through a floating platform; S2. Based on the monitoring data of the marine dynamic reference station, analyze the motion characteristics and environmental factors of the marine dynamic reference station to obtain the screening index of the marine dynamic reference station and screen the marine dynamic reference station; S3. Through the selected marine dynamic reference stations, construct the positioning model of the marine dynamic reference station to provide high-precision marine positioning services; S4. Locate the sea surface positioning reference station through the positioning model of the marine dynamic reference station and evaluate the positioning coordinates of the marine dynamic reference station to obtain the accuracy index of the positioning model of the marine dynamic reference station; S5. Analyze the accuracy index of the positioning model of the marine dynamic reference station to obtain the compliance index of the positioning of the marine dynamic reference station. If the compliance index of the positioning of the marine dynamic reference station exceeds the standard range of the compliance index of the positioning of the marine dynamic reference station, correct the positioning model of the marine dynamic reference station through a filtering algorithm.

[0018] The present invention has the following beneficial effects:

[0019] (1) The high-precision marine dynamic reference station construction system reduces the need for manual intervention through an automated processing flow by setting up a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module. This can reduce the need for static reference stations, thereby reducing the construction and maintenance costs of the reference station network database. At the same time, it improves the flexibility and applicability of the positioning system. Through the integration of multi-marine dynamic reference station data and model optimization, it improves the real-time performance and stability of the positioning service, constructs a marine dynamic reference station positioning model, and provides high-precision marine positioning services.

[0020] (2) The high-precision marine dynamic reference station construction method can identify and reduce factors affecting the positioning results by analyzing the motion characteristics and environmental factors of the marine dynamic reference station, thereby reducing positioning errors, obtaining a marine dynamic reference station screening index, and screening the marine dynamic reference stations to achieve the screening and optimization of the marine dynamic reference stations, selecting reference stations with suitable locations and good signal quality, and improving the accuracy and stability of the positioning system.

[0021] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flowchart of a high-precision marine dynamic reference station construction system according to the present invention.

[0023] Figure 2 It is a flowchart of a high-precision marine dynamic reference station construction method according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The embodiments of the present application solve the problems of insufficient positioning accuracy in the coastal dynamic reference station positioning method and high construction and maintenance costs of the static and dynamic reference station network database through a high-precision marine dynamic reference station construction method and system.

[0025] The general idea for the problems in the embodiments of the present application is as follows:

[0026] Obtain the monitoring data of the marine dynamic reference station through a floating platform, analyze the motion characteristics and environmental factors of the marine dynamic reference station, obtain the marine dynamic reference station screening index, and screen the marine dynamic reference stations.

[0027] Through the screened marine dynamic reference stations, construct a marine dynamic reference station positioning model and provide high-precision marine positioning services.

[0028] Locate the sea surface positioning reference station through the ocean dynamic reference station positioning model, evaluate the positioning coordinates of the ocean dynamic reference station, and obtain the accuracy index of the ocean dynamic reference station positioning model.

[0029] Analyze the accuracy index of the ocean dynamic reference station positioning model to obtain the positioning compliance index of the ocean dynamic reference station. If the positioning compliance index of the ocean dynamic reference station exceeds the standard range of the positioning compliance index of the ocean dynamic reference station, correct the ocean dynamic reference station positioning model through a filtering algorithm.

[0030] Please refer to Figure 1 , an embodiment of the present invention provides a technical solution: a high-precision ocean dynamic reference station construction system, including the following modules: a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module; the reference station data acquisition module is used to obtain the monitoring data of the ocean dynamic reference station through a floating platform; the reference station screening module is used to analyze the motion characteristics and environmental factors of the ocean dynamic reference station based on the monitoring data of the ocean dynamic reference station, obtain the screening index of the ocean dynamic reference station, and screen the ocean dynamic reference station; the reference station positioning model construction module is used to construct an ocean dynamic reference station positioning model through the screened ocean dynamic reference station to provide high-precision ocean positioning services; the reference station positioning evaluation module is used to locate the sea surface positioning reference station through the ocean dynamic reference station positioning model, evaluate the positioning coordinates of the ocean dynamic reference station, and obtain the accuracy index of the ocean dynamic reference station positioning model; the reference station positioning correction module is used to analyze the accuracy index of the ocean dynamic reference station positioning model to obtain the positioning compliance index of the ocean dynamic reference station. If the positioning compliance index of the ocean dynamic reference station exceeds the standard range of the positioning compliance index of the ocean dynamic reference station, correct the ocean dynamic reference station positioning model through a filtering algorithm.

[0031] In this implementation plan, in the deep - sea area of the ocean, the lack of public network coverage makes it impossible to use CORS stations for RTK high - precision positioning. In the system, through multi - constellation GNSS systems and precise point positioning (PPP) technical means, higher - precision positioning is achieved. PPP precise point positioning is a high - precision positioning technology based on a single GNSS receiver, which can obtain centimeter - level or even sub - centimeter - level positioning accuracy through precise calculation of satellite observation data. The PPP technology provides high - precision positioning results by obtaining the navigation message of GNSS satellites, precise ephemeris data, and high - precision meteorological data in real - time and performing strict error correction. The position change error caused by factors such as wind, waves, and tides on the floating platform can be corrected in real - time through the inertial navigation system (INS) providing high - frequency motion state data, which is fused with GNSS data through filtering algorithms such as Kalman filtering. In addition, the differential correction data provided by the dynamic buoy network and the accurate tide and ocean current models are used to further correct the error caused by the position change of the platform. A floating platform refers to a platform that can float freely in the ocean, usually composed of buoys, pontoons, or ships, etc. Various sensors and devices are usually installed on these floating platforms to collect marine environmental data and monitor relevant information of the marine dynamic reference station; Marine dynamic reference station: This refers to a positioning station that moves with factors such as water flow and tides in the marine environment and is used to provide positioning services. After the reference station screening module obtains the monitoring data of the marine dynamic reference station, the reference stations are screened through this module, and the qualified reference stations are selected; After the reference station positioning model construction module selects the qualified reference stations, the positioning model is constructed using the monitoring data of these reference stations. The reference station positioning evaluation module evaluates the performance of the positioning model. When the reference station positioning correction module evaluates and finds that there are deviations or errors in the positioning model, the model is corrected, and filtering algorithms are used to smooth the data.

[0032] Specifically, the monitoring data of the marine dynamic reference station includes the motion data of the marine dynamic reference station and the environmental data of the marine dynamic reference station; the motion data of the marine dynamic reference station includes the longitude value of the marine dynamic reference station, the latitude value of the marine dynamic reference station, the horizontal speed of the marine dynamic reference station, and the vertical speed of the marine dynamic reference station; the environmental data of the marine dynamic reference station includes the environmental water flow speed of the marine dynamic reference station, the environmental wind force value of the marine dynamic reference station, and the environmental temperature value of the seawater at the marine dynamic reference station.

[0033] In this implementation scheme, the longitude value and latitude value of the ocean dynamic reference station are the geographical coordinates of the location of the reference station, expressed in longitude and latitude; the horizontal speed of the ocean dynamic reference station represents the speed at which the reference station moves in the horizontal direction, and the vertical speed represents the speed at which the reference station moves in the vertical direction, that is, the speed at which the ocean dynamic reference station rises or falls relative to the water surface; the environmental wind force value of the ocean dynamic reference station refers to the magnitude of the wind force in the ocean, usually expressed in wind force levels or wind speeds. Wind force also has a certain impact on the stability and movement trajectory of the ocean dynamic reference station. The environmental temperature value of the ocean dynamic reference station in seawater is the temperature of the seawater, which is one of the important parameters of the ocean environment and has an impact on the ocean ecosystem and ocean climate.

[0034] Specifically, the specific process of analyzing the motion characteristics of the ocean dynamic reference station is as follows: Based on the motion data of the ocean dynamic reference station, calculate the Euclidean distance between the longitude value and latitude value of each ocean dynamic reference station and the optimal longitude value and optimal latitude value of the ocean dynamic reference station to obtain the distance value of each ocean dynamic reference station from the optimal position. Perform a ratio operation on the distance value of each ocean dynamic reference station from the optimal position and the maximum allowable value of the distance value of the ocean dynamic reference station from the optimal position to obtain the position change index of the ocean dynamic reference station; normalize the horizontal speed and vertical speed of the ocean dynamic reference station, and assign weights to the normalized horizontal speed and vertical speed of the ocean dynamic reference station, and perform a comprehensive operation to obtain the speed index of the ocean dynamic reference station; perform a comprehensive operation on the position change index and speed index of the ocean dynamic reference station to obtain the motion screening index of the ocean dynamic reference station.

[0035] In this implementation scheme, each ocean dynamic reference station is numbered in sequence as , and the specific formula for the position change index of the ocean dynamic reference station is as follows: ; In the formula, represents the position change index of the a-th ocean dynamic reference station, used to evaluate the position change of the ocean dynamic reference station, represents the longitude value of the a-th ocean dynamic reference station, represents the latitude value of the ocean dynamic reference station, represents the optimal longitude value of the a-th ocean dynamic reference station, represents the optimal latitude value of the a-th ocean dynamic reference station, It represents the maximum allowable distance value of the marine dynamic reference station from the optimal position, which is used to measure the allowable distance of the marine dynamic reference station from the optimal position. Here, a represents the number of the marine dynamic reference station. The maximum allowable distance value of the marine dynamic reference station from the optimal position, the optimal longitude value of the marine dynamic reference station, and the optimal latitude value of the marine dynamic reference station are measured by professional positioning personnel. The horizontal speed and vertical speed of the marine dynamic reference station are normalized to obtain the normalized horizontal speed value and the normalized vertical speed value of the marine dynamic reference station. The specific formula for the speed index of the marine dynamic reference station is as follows: ; In the formula, represents the speed index of the marine dynamic reference station, which is used to evaluate the speed of the marine dynamic reference station, represents the normalized horizontal speed value of the a-th marine dynamic reference station, represents the normalized vertical speed value of the a-th marine dynamic reference station, represents the weight factor of the normalized horizontal speed value of the marine dynamic reference station, indicating the influence degree of the normalized horizontal speed value of the marine dynamic reference station on the speed index of the marine dynamic reference station, represents the weight factor of the normalized vertical speed value of the marine dynamic reference station, indicating the influence degree of the normalized vertical speed value of the marine dynamic reference station on the speed index of the marine dynamic reference station. In addition to filtering and data processing of the original motion data to extract the motion signals within a specific frequency range to obtain the motion screening index of the marine dynamic reference station, the motion screening index of the marine dynamic reference station can also be calculated through the following calculation formula. The specific formula for the motion screening index of the marine dynamic reference station is as follows: ; In the formula, represents the motion screening index of the marine dynamic reference station, which is used to measure the screening degree of the marine dynamic reference station, represents the position change index of the marine dynamic reference station, represents the speed index of the marine dynamic reference station, represents the weight factor of the position change index of the marine dynamic reference station, represents the weight factor of the speed index of the marine dynamic reference station.

[0036] Specifically, the specific process of analyzing the environmental factors of the marine dynamic reference station is as follows: Based on the environmental data of the marine dynamic reference station, the environmental water flow speed, environmental wind force value, and environmental temperature value of the marine dynamic reference station are respectively compared with the maximum allowable values of the environmental water flow speed, environmental wind force value, and environmental temperature value allowed for the marine dynamic reference station and normalized to obtain the environmental screening index of the marine dynamic reference station.

[0037] In this implementation plan, in addition to using statistical analysis methods or establishing environmental models to predict the changing trend of the marine environment and obtain the environmental screening index of the marine dynamic reference station, the environmental screening index of the marine dynamic reference station can also be calculated through the following calculation formula. The specific formula for the environmental screening index of the marine dynamic reference station is as follows: ; In the formula, represents the environmental screening index of the marine dynamic reference station, which is used to represent the degree of environmental screening of the marine dynamic reference station, represents the environmental water flow velocity of the marine dynamic reference station, represents the environmental wind force value of the marine dynamic reference station, represents the environmental temperature value of the marine dynamic reference station, represents the maximum allowable value of the environmental water flow velocity of the marine dynamic reference station, represents the maximum allowable value of the environmental wind force value of the marine dynamic reference station, represents the maximum allowable value of the environmental temperature value of the marine dynamic reference station, represents the weight factor of the environmental water flow velocity of the marine dynamic reference station, represents the weight factor of the environmental wind force value of the marine dynamic reference station, represents the weight factor of the environmental temperature value of the marine dynamic reference station, .

[0038] Specifically, the specific process of obtaining the screening index of the marine dynamic reference station is as follows: Based on the motion screening index of the marine dynamic reference station and the environmental screening index of the marine dynamic reference station, perform ratio operations on the motion screening index of the marine dynamic reference station and the environmental screening index of the marine dynamic reference station with the set standard values of the motion screening index of the marine dynamic reference station and the environmental screening index of the marine dynamic reference station respectively; establish a comparison matrix for the motion screening index of the marine dynamic reference station and the environmental screening index of the marine dynamic reference station through the analytic hierarchy process, obtain the weight vector and perform comprehensive operations to obtain the screening index of the marine dynamic reference station.

[0039] In this implementation scheme, by performing a ratio operation on the two with a set standard value, the comprehensive performance evaluation of the marine dynamic reference station is realized. Compared with the traditional method that only considers a single factor in the evaluation, this comprehensive evaluation method is more comprehensive and accurate; the analytic hierarchy process is used to establish a comparison matrix for the motion screening index and the environmental screening index of the marine dynamic reference station, and the weight vector is obtained through the analytic hierarchy process, so that the importance of each factor in the comprehensive evaluation can be objectively determined, and the scientificity and credibility of the evaluation results are improved; the standard values of the set motion screening index and environmental screening index of the marine dynamic reference station are introduced, so that the evaluation results can be compared with the previously determined standards, and the performance of the marine dynamic reference station can be better understood. Through comprehensive calculation, the motion screening index and the environmental screening index of the marine dynamic reference station are combined to obtain the final screening index of the marine dynamic reference station, which can intuitively reflect the overall performance level of the marine dynamic reference station and provide a basis for subsequent decision-making and applications.

[0040] Specifically, in addition to using big data analysis technology and machine learning algorithms, combining historical data and real-time monitoring data to establish a prediction model to evaluate the screening index of the marine dynamic reference station, the screening index of the marine dynamic reference station can also be calculated through the following calculation formula. The specific formula for the screening index of the marine dynamic reference station is as follows: ; In the formula, represents the screening index of the marine dynamic reference station, represents the motion screening index of the marine dynamic reference station, represents the standard value of the motion screening index of the marine dynamic reference station, represents the environmental screening index of the marine dynamic reference station, represents the standard value of the environmental screening index of the marine dynamic reference station, represents the weight factor of the motion screening index of the marine dynamic reference station, represents the weight factor of the environmental screening index of the marine dynamic reference station.

[0041] In this implementation scheme, the analytic hierarchy process is used to establish a comparison matrix for the motion screening index and the environmental screening index of the marine dynamic reference station, and the weight vector is obtained through the analytic hierarchy process to obtain the weight factor of the motion screening index of the marine dynamic reference station and the weight factor of the environmental screening index of the marine dynamic reference station, indicating the importance of the motion screening index and the environmental screening index of the marine dynamic reference station in the overall evaluation.

[0042] Specifically, the specific process of screening the marine dynamic reference station is as follows: compare the screening index of the marine dynamic reference station with the set standard value of the screening index of the marine dynamic reference station. When the screening index of the marine dynamic reference station exceeds the set threshold of the screening index of the marine dynamic reference station, then the marine dynamic reference station is screened out.

[0043] In this implementation plan, the standard value of the set screening index of the marine dynamic reference station is introduced as the basis for evaluation, so that the evaluation results can be compared with the predetermined standards, and the performance of the marine dynamic reference station can be better understood. This way of setting the standard value helps to improve the scientificity and objectivity of the evaluation results; by setting the threshold value of the screening index of the marine dynamic reference station, the marine dynamic reference station is screened out only when its screening index exceeds the threshold value. Such a setting can be adjusted according to the actual situation, and the screening can be carried out more flexibly, improving the accuracy and effectiveness of the screening; it is applicable to screening a large number of marine dynamic reference stations. By comparing the screening index of the marine dynamic reference station with the standard value, the marine dynamic reference station can be quickly and effectively screened out, thus improving the screening efficiency.

[0044] Specifically, the specific process of constructing the positioning model of the marine dynamic reference station is as follows: Obtain the GPS positioning service data from the screened marine dynamic reference stations and integrate it into the dataset. Fit the GPS positioning service data in the dataset through a regression model, and use the backpropagation algorithm and optimizer to adjust the model parameters to construct the positioning model of the marine dynamic reference station and obtain the positioning service.

[0045] In this implementation plan, collect the GPS positioning service data from the screened marine dynamic reference stations. These data include the location information, signal strength, and timestamp of the base station. These data will be used to train and validate the positioning model; integrate the collected GPS positioning service data into a dataset to ensure the consistency and integrity of the data. Include data cleaning, preprocessing, and feature engineering steps to prepare the data for model training; select an appropriate regression model to fit the GPS positioning service data in the dataset; by fitting the data, the model can learn the relationship between the location information and other features; use the backpropagation algorithm and optimizer to adjust the parameters of the model so that the model performs better on the training data. The backpropagation algorithm calculates the gradient of the loss function with respect to the model parameters, and then uses the optimizer to update the model parameters to minimize the loss function; after adjusting the parameters through multiple iterations, the positioning model of the marine dynamic reference station is obtained.

[0046] Specifically, the specific process of evaluating the positioning coordinates of the marine dynamic reference station and obtaining the precise index of the marine dynamic reference station positioning model is as follows: Use the marine dynamic reference station positioning model to position the sea surface positioning reference station to obtain the positioning coordinate value of the sea surface positioning reference station of the marine dynamic reference station positioning model, and obtain the accurate coordinate value of the sea surface positioning reference station through the sea surface positioning reference station; Calculate the Euclidean distance between the positioning coordinate value of the sea surface positioning reference station of the marine dynamic reference station positioning model and the accurate coordinate value of the sea surface positioning reference station; Obtain the distance deviation value between the positioning coordinate value of the sea surface positioning reference station of the marine dynamic reference station positioning model and the accurate coordinate value of the sea surface positioning reference station, and perform a ratio operation with the set allowable deviation value of the sea surface positioning distance to obtain the precise index of the marine dynamic reference station positioning model.

[0047] In this implementation plan, in addition to predicting environmental changes or the stability of the reference station by analyzing various environmental factors and the motion characteristics of the dynamic reference station to obtain the precise index of the marine dynamic reference station positioning model, the precise index of the marine dynamic reference station positioning model can also be calculated through the following calculation formula. The specific calculation formula of the precise index of the marine dynamic reference station positioning model is as follows: ; In the formula, represents the precise index of the marine dynamic reference station positioning model, which is used to measure the precision of the marine dynamic reference station positioning model. represents the Euclidean distance between the positioning coordinate value of the sea surface positioning reference station of the marine dynamic reference station positioning model and the accurate coordinate value of the sea surface positioning reference station. represents the set allowable deviation value of the sea surface positioning distance. The Euclidean distance between the positioning coordinates output by the marine dynamic reference station positioning model and the actual sea surface positioning reference station coordinates. The Euclidean distance refers to the straight-line distance between two points in Euclidean space and is used to evaluate the accuracy of positioning.

[0048] Please refer to Figure 2, a method for constructing a high-precision marine dynamic reference station, comprising the following steps: S1. Obtain the monitoring data of the marine dynamic reference station through a floating platform; S2. Based on the monitoring data of the marine dynamic reference station, analyze the motion characteristics and environmental factors of the marine dynamic reference station, obtain the screening index of the marine dynamic reference station, and screen the marine dynamic reference station; S3. Through the screened marine dynamic reference station, construct a positioning model of the marine dynamic reference station to provide high-precision marine positioning services; S4. Locate the sea surface positioning reference station through the positioning model of the marine dynamic reference station, and evaluate the positioning coordinates of the marine dynamic reference station to obtain the precision index of the positioning model of the marine dynamic reference station; S5. Analyze the precision index of the positioning model of the marine dynamic reference station to obtain the positioning compliance index of the marine dynamic reference station. When the positioning compliance index of the marine dynamic reference station exceeds the standard range of the positioning compliance index of the marine dynamic reference station, correct the positioning model of the marine dynamic reference station through a filtering algorithm.

[0049] In this implementation plan, the specific process of calculating the positioning compliance index of the marine dynamic reference station is as follows through the following calculation formula: ; In the formula, represents the positioning compliance index of the marine dynamic reference station, which is used to measure the positioning compliance degree of the marine dynamic reference station, represents the precision index of the positioning model of the marine dynamic reference station, represents the standard value of the precision index of the positioning model of the marine dynamic reference station, which is used to represent the ideal standard value of the precision index of the specified positioning model, represents the allowable deviation value of the precision index of the positioning model of the marine dynamic reference station, which is used to represent the allowable deviation range of the precision index of the specified positioning model. When the positioning compliance index of the marine dynamic reference station exceeds the standard range of the positioning compliance index of the marine dynamic reference station, initialize the filter, use the current positioning result as the initial state, restart the filtering process, re-run the filtering algorithm, compare the Euclidean distance between the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station after re-initialization and the accurate value of the sea surface positioning reference station coordinates with the allowable deviation value of the sea surface positioning distance, and correct the position and speed of the marine dynamic reference station.

[0050] In summary, this application has at least the following effects:

[0051] A method and system for constructing a high-precision marine dynamic reference station. By setting up a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module, analyzing the motion characteristics and environmental factors of the marine dynamic reference station, factors affecting the positioning result can be identified and reduced, thereby reducing positioning errors, obtaining a screening index for the marine dynamic reference station, screening the marine dynamic reference station, realizing the screening and optimization of the marine dynamic reference station, selecting a reference station with a suitable location and good signal quality, improving the accuracy and stability of the positioning system, realizing the screening and optimization of the marine dynamic reference station, selecting a reference station with a suitable location and good signal quality, and improving the accuracy and stability of the positioning system.

[0052] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0053] The present invention is described with reference to the flowcharts and / or block diagrams of systems, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0054] These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0055] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, causing a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for implementing the functions specified in one block or a plurality of blocks.

[0056] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to cover the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0057] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A high-precision marine dynamic reference station construction system, characterized in that It includes the following modules: a reference station data acquisition module, a reference station screening module, a reference station positioning model construction module, a reference station positioning evaluation module, and a reference station positioning correction module; The reference station data acquisition module is used to obtain marine dynamic reference station monitoring data through a floating platform; The reference station screening module is used to analyze the motion characteristics and environmental factors of the marine dynamic reference station based on the marine dynamic reference station monitoring data, obtain the marine dynamic reference station screening index, and screen the marine dynamic reference station; The reference station positioning model construction module is used to construct a marine dynamic reference station positioning model through the screened marine dynamic reference stations to provide high-precision marine positioning services; The reference station positioning evaluation module is used to position the sea surface positioning reference station through the marine dynamic reference station positioning model, evaluate the positioning coordinates of the marine dynamic reference station, and obtain the marine dynamic reference station positioning accuracy index; The reference station positioning correction module is used to analyze the marine dynamic reference station positioning accuracy index, obtain the marine dynamic reference station positioning compliance index. When the marine dynamic reference station positioning compliance index exceeds the standard range of the marine dynamic reference station positioning compliance index, the marine dynamic reference station positioning model is corrected through a filtering algorithm.

2. The high-precision marine dynamic reference station construction system according to claim 1, characterized in that: The marine dynamic reference station monitoring data includes marine dynamic reference station motion data and marine dynamic reference station environmental data; The marine dynamic reference station motion data includes the longitude value of the marine dynamic reference station, the latitude value of the marine dynamic reference station, the horizontal speed of the marine dynamic reference station, and the vertical speed of the marine dynamic reference station; The marine dynamic reference station environmental data includes the environmental water flow speed of the marine dynamic reference station, the environmental wind force value of the marine dynamic reference station, and the environmental temperature value of the sea water of the marine dynamic reference station.

3. The high-precision marine dynamic reference station construction system according to claim 2, wherein: The specific process of analyzing the motion characteristics of the marine dynamic reference station is as follows: Based on the marine dynamic reference station motion data, the Euclidean distance between the longitude value and latitude value of each marine dynamic reference station and the optimal longitude value and optimal latitude value of the marine dynamic reference station is calculated to obtain the distance value of each marine dynamic reference station from the optimal position. The ratio of the distance value of each marine dynamic reference station from the optimal position to the maximum allowable value of the distance value of the marine dynamic reference station from the optimal position is calculated to obtain the marine dynamic reference station position change index; The horizontal speed and vertical speed of the marine dynamic reference station are normalized, and weights are assigned to the normalized horizontal speed and vertical speed of the marine dynamic reference station, and comprehensive arithmetic processing is performed to obtain the marine dynamic reference station speed index; The marine dynamic reference station position change index and the marine dynamic reference station speed index are comprehensively calculated to obtain the marine dynamic reference station motion screening index.

4. A high-precision marine dynamic reference station construction system according to claim 2, characterized in that: The specific process of analyzing the environmental factors of the marine dynamic reference station is as follows: Based on the environmental data of the marine dynamic reference station, the environmental water flow velocity, environmental wind force value, and environmental temperature value of the marine dynamic reference station are respectively compared with the maximum allowable values of the environmental water flow velocity, environmental wind force value, and environmental temperature value of the set marine dynamic reference station, and normalized to obtain the environmental screening index of the marine dynamic reference station.

5. The construction system of a high-precision marine dynamic reference station according to claim 4, characterized in that: The specific process of obtaining the screening index of the marine dynamic reference station is as follows: Based on the motion screening index and environmental screening index of the marine dynamic reference station, the motion screening index and environmental screening index of the marine dynamic reference station are respectively subjected to ratio operations with the standard values of the motion screening index and environmental screening index of the set marine dynamic reference station; A comparison matrix is established for the motion screening index and environmental screening index of the marine dynamic reference station through the analytic hierarchy process, a weight vector is obtained, and comprehensive operations are performed to obtain the screening index of the marine dynamic reference station.

6. The high-precision marine dynamic reference station construction system according to claim 5, characterized in that: The specific formula for the ocean dynamic reference station screening index is as follows: ; In the formula, represents the screening index of ocean dynamic reference stations, represents the motion screening index of ocean dynamic reference stations, represents the standard value of the motion screening index of ocean dynamic reference stations, represents the environmental screening index of ocean dynamic reference stations, represents the standard value of the environmental screening index of ocean dynamic reference stations, represents the weight factor of the motion screening index of ocean dynamic reference stations, represents the weight factor of the environmental screening index of ocean dynamic reference stations.

7. A high-precision marine dynamic reference station construction system according to claim 6, characterized in that: The specific process of screening the marine dynamic reference station is as follows: The screening index of the marine dynamic reference station is compared with the standard value of the screening index of the set marine dynamic reference station. When the screening index of the marine dynamic reference station exceeds the threshold value of the screening index of the set marine dynamic reference station, the marine dynamic reference station is screened out.

8. The high-precision marine dynamic reference station construction system according to claim 7, characterized in that: The specific process of constructing the positioning model of the marine dynamic reference station is as follows: Obtain GPS positioning service data from the screened marine dynamic reference stations, integrate it into the dataset, fit the GPS positioning service data in the dataset through a regression model, and use the backpropagation algorithm and optimizer to adjust the model parameters to construct the positioning model of the marine dynamic reference station and obtain the positioning service.

9. The high-precision marine dynamic reference station construction system according to claim 8, wherein: The specific process of evaluating the positioning coordinates of the marine dynamic reference station and obtaining the precise index of the positioning model of the marine dynamic reference station is as follows: Locate the sea surface positioning reference station through the positioning model of the marine dynamic reference station to obtain the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station, and obtain the accurate coordinate value of the sea surface positioning reference station through the sea surface positioning reference station; Calculate the Euclidean distance between the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station and the accurate coordinate value of the sea surface positioning reference station; obtain the distance deviation value between the positioning coordinate value of the sea surface positioning reference station of the positioning model of the marine dynamic reference station and the accurate coordinate value of the sea surface positioning reference station, and perform a ratio operation with the set allowable deviation value of the sea surface positioning distance to obtain the precise index of the positioning model of the marine dynamic reference station.

10. A method for constructing a high-precision marine dynamic reference station, applied to a high-precision marine dynamic reference station construction system according to any one of claims 1-9, comprising the following steps: S1. Obtain the monitoring data of the marine dynamic reference station through a floating platform; S2. Based on the monitoring data of the marine dynamic reference station, analyze the motion characteristics and environmental factors of the marine dynamic reference station, obtain the screening index of the marine dynamic reference station, and screen the marine dynamic reference station. S3. Construct a positioning model for the marine dynamic reference station through the screened marine dynamic reference stations to provide high-precision marine positioning services; S4. Locate the sea surface positioning reference stations through the positioning model of the marine dynamic reference station, evaluate the positioning coordinates of the marine dynamic reference station, and obtain the precise index of the positioning model of the marine dynamic reference station; S5. Analyze the precise index of the positioning model of the marine dynamic reference station to obtain the positioning compliance index of the marine dynamic reference station. If the positioning compliance index of the marine dynamic reference station exceeds the standard range of the positioning compliance index of the marine dynamic reference station, correct the positioning model of the marine dynamic reference station through the filtering algorithm.

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