Positioning method of port Beidou high-precision vehicle-mounted terminal

Abstract

The invention discloses a positioning method of a port Beidou high-precision vehicle-mounted terminal, which belongs to the technical field of vehicle-mounted terminal positioning, and comprises the following steps of: configuring a high-sensitivity multi-frequency-point Beidou signal receiving module, a high-precision IMU (Inertial Measurement Unit) and a wheel speed sensor of a specific model for the vehicle-mounted terminal, and initializing and calibrating all sensors before a vehicle is started; the special signal reflection and shielding problems in the harbor environment are considered, the three-dimensional environment model is constructed by integrating the harbor GIS, building distribution and weather data, and the propagation behavior of radio waves in the harbor environment can be simulated, so that the positioning error is finely corrected, and the positioning accuracy is improved. Compared with the prior art, high positioning precision can be maintained in a complex and changeable port environment, real-time data interaction with a base station is performed through a 5G network, and a hybrid filtering algorithm of extended Kalman filtering and particle filtering is adopted, so that the method can dynamically adjust a positioning result in real time, and the real-time performance and reliability of positioning are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle-mounted terminal positioning, and specifically refers to a method for positioning a port Beidou high-precision vehicle-mounted terminal. Background Art

[0002] With the growth of global trade, ports, as important hubs for the import and export of goods, have a direct impact on the development of the global economy through their operational efficiency. Existing vehicle positioning technology mainly relies on GPS systems, which perform well in open areas. However, in areas such as ports with tall buildings and complex electromagnetic environments, the positioning accuracy is often difficult to meet the requirements.

[0003] However, the existing port Beidou high-precision vehicle-mounted terminal positioning still has certain defects. The existing port Beidou high-precision vehicle-mounted terminal positioning only relies on a single satellite navigation system. In complex environments, it is difficult to achieve high-precision positioning due to the influence of common errors such as ionospheric delay and tropospheric delay. It ignores the signal reflection and shielding problems unique to specific environments, resulting in a significant decrease in positioning accuracy under densely built buildings or severe weather conditions. It lacks sufficient real-time processing capabilities and dynamic adjustment mechanisms, and cannot respond quickly to environmental changes, affecting the reliability and accuracy of the system. The signal propagation loss model used is usually fixed, and cannot be self-learned and optimized according to new data in actual operation, resulting in a decrease in positioning accuracy after long-term use. Therefore, a port Beidou high-precision vehicle-mounted terminal positioning method is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a method for positioning a high-precision Beidou vehicle-mounted terminal in a port to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for positioning a high-precision Beidou vehicle-mounted terminal at a port, comprising the following steps:

[0006] S1. Equip the vehicle terminal with a specific model of high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU and wheel speed sensor, and complete the initialization and calibration of all sensors before starting the vehicle;

[0007] S2, real-time synchronous collection of satellite signals, vehicle motion status and wheel speed data through Beidou signal receiving module, IMU and wheel speed sensor;

[0008] S3, pre-processing the collected satellite signals and vehicle data, including removing satellite data of poor quality and filtering the vehicle sensor data;

[0009] S4. According to the high-precision reference stations arranged in the port, the vehicle-mounted terminal exchanges data with the reference stations in real time through 5G, preliminarily eliminates the common errors and obtains the initial high-precision positioning value;

[0010] S5. Refine and correct the errors caused by signal reflection and occlusion unique to the port environment based on port GIS, building distribution, and weather data;

[0011] S6. Establish a signal propagation loss model by analyzing the signal propagation characteristics in different areas within the port, and compensate and correct the positioning errors in combination with the satellite signal strength and angle information collected in real time;

[0012] S7. Through a hybrid filtering algorithm of extended Kalman filter and particle filter, construct an equation based on vehicle dynamics and positioning error characteristics, use the extended Kalman filter for preliminary estimation and prediction, optimize and correct with the particle filter, and adaptively adjust the weights dynamically according to sensor data and environmental changes to optimize the positioning result;

[0013] S8. Transmit the high-precision positioning result to the port operation management system with low latency through the in-vehicle terminal 5G module according to a customized protocol.

[0014] Among them, for S1, equip the in-vehicle terminal with a specific model of high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU, and wheel speed sensor, and complete the initialization and calibration of all sensors before the vehicle starts; according to the requirements of the port Beidou high-precision in-vehicle terminal, select a suitable high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU, and wheel speed sensor, install them on the vehicle, and perform preliminary configuration through a software interface, including baud rate and data format settings. Before the vehicle starts, initialize and calibrate all sensors through the software system of the in-vehicle terminal, check the collaborative working conditions among all sensors when the vehicle is moving at a low speed, and save the calibration parameters of all sensors to the non-volatile memory of the in-vehicle terminal.

[0015] Among them, for S2, synchronously collect satellite signals, vehicle motion states, and wheel rotation speed data through the Beidou signal receiving module, IMU, and wheel speed sensor in real time; after the vehicle starts, the Beidou signal receiving module keeps working, scans and receives signals from multiple Beidou satellites in real time, and collects positioning information including longitude, latitude, altitude, and speed. The accelerometer and gyroscope in the IMU sense the vehicle's motion state in real time, convert the measured analog signals of acceleration and angular velocity into digital signals through the built-in analog-to-digital converter. The wheel speed sensor generates pulse signals by sensing the rotation of the wheel, and the number of pulses is proportional to the wheel rotation speed.

[0016] Among them, in step S3, the collected satellite signals and vehicle data are preprocessed, including eliminating poor-quality satellite data and filtering the vehicle sensor data; the central processing unit of the vehicle-mounted terminal receives the collected data from the Beidou signal receiving module, IMU, and wheel speed sensor, stores it in the buffer, evaluates the quality of the collected satellite signal data, and the evaluation indicators include the strength, signal-to-noise ratio, and multipath effect of the satellite signal. According to the set threshold, the quality of each satellite signal is judged. According to the result of the satellite signal quality evaluation, the poor-quality satellite data is eliminated, the vehicle data collected by the IMU and wheel speed sensor is filtered, and the filtered vehicle sensor data is fused with the selected satellite signal data.

[0017] Among them, in step S4, a high-precision reference station is set up according to the port layout. The vehicle-mounted terminal interacts with the reference station in real time through 5G to initially eliminate the common error and obtain a high-precision positioning initial value; the Beidou signal receiving device of the reference station collects satellite signal data in real time, including the position, time, pseudorange, and carrier phase information of the satellite, and the auxiliary devices such as weather stations collect the meteorological data in the port. In the data processing center of the reference station, the collected satellite signal data and meteorological data are processed and analyzed.

[0018] Among them, in step S4, the high-precision positioning algorithm accurately calculates the coordinates of the reference station itself as the known reference position. Then, according to the observation data and the known position of the reference station, an error correction model dT is constructed. m The vehicle-mounted terminal establishes a real-time data interaction connection with the reference station through the 5G network, sends the satellite signal data and vehicle position information collected by the vehicle-mounted terminal to the data processing center of the reference station, and at the same time receives the error correction model transmitted by the reference station. The satellite signal data sent by the vehicle-mounted terminal is compared and analyzed with the observation data of the reference station, and the common error of the satellite signal data of the vehicle-mounted terminal is eliminated through the constructed error correction model.

[0019] Among them, in step S5, the error caused by the unique signal reflection and occlusion in the port environment is refined and corrected according to the port GIS, building distribution, and weather data; the detailed geographic information system data of the port area is collected and integrated to form a building distribution map, and the weather conditions in the port area are obtained in real time. According to the port GIS data and the building distribution map, a three-dimensional environment model is constructed to simulate the behavior of radio waves propagating in the environment, predict the Beidou satellite signal paths at different positions through ray tracing, identify the areas where multipath effects or signal occlusion may exist, and consider the impact of weather conditions on signal propagation.

[0020] Among them, in S5, according to the model results, an error mapping diagram of each position point in the port is generated. Combining with the vehicle driving route planning, high-risk areas that are about to be entered are predicted, and the positioning algorithm parameters are adjusted in advance. During the actual operation of the vehicle, the surrounding environmental changes are continuously monitored, and the error correction scheme is updated in a timely manner.

[0021] Among them, in S6, by analyzing the signal propagation characteristics in different areas of the port, a signal propagation loss model is established. Combining with the satellite signal strength and angle information collected in real time, the positioning error is compensated and corrected; the signal propagation data in different areas of the port is obtained, the signal characteristic data in different areas collected is analyzed, the main factors affecting signal propagation are identified, and a signal propagation loss model is constructed and trained according to the analysis results.

[0022] Among them, in S6, according to the satellite signal strength and angle information collected in real time, the theoretically signal loss amount under the current observation conditions is calculated through the established signal propagation loss model. The difference between the actually received signal strength and the model prediction value is compared, and the positioning result is compensated and corrected for errors. As the vehicle travels in different areas of the port, new signal propagation data is continuously collected, and the signal propagation loss model is updated and optimized.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. By equipping with a high-sensitivity multi-frequency Beidou signal receiving module, a high-precision IMU and a wheel speed sensor, and combining with a high-precision reference station for the port layout, the present invention can obtain the positioning information of the vehicle in real time and accurately, effectively eliminate the common error, and improve the positioning accuracy;

[0025] 2. By considering the unique signal reflection and occlusion problems in the port environment, integrating the port GIS, building distribution and weather data, the present invention constructs a three-dimensional environment model, which can simulate the propagation behavior of radio waves in the port environment, thereby finely correcting the positioning error and maintaining a high positioning accuracy in the complex and changeable port environment;

[0026] 3. By real-time interacting data between the 5G network and the reference station, and adopting a hybrid filtering algorithm of extended Kalman filter and particle filter, the method of the present invention can adjust the positioning result in real time and dynamically, and improve the real-time performance and reliability of the positioning;

[0027] 4. By initializing and calibrating the sensors through the interface, the present invention can automatically identify and eliminate satellite data with poor quality, filter the vehicle sensor data, adaptively adjust the algorithm parameters according to the environmental changes, realize the intelligent and automatic positioning process, continuously collect new signal propagation data, update and optimize the signal propagation loss model, and thus continuously improve the positioning accuracy and adaptability. Brief Description of the Drawings

[0028] Figure 1 This is the operation flow of a positioning method for a Beidou high-precision vehicle-mounted terminal in a port according to the present invention Figure 1 ;

[0029] Figure 2 This is the operation flow of a positioning method for a Beidou high-precision vehicle-mounted terminal in a port according to the present invention Figure 2 ;

[0030] Figure 3 This is the operation flow of a positioning method for a Beidou high-precision vehicle-mounted terminal in a port according to the present invention Figure 3 . Detailed Description of the Preferred Embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0032] Embodiment

[0033] Please refer to Figures 1-3 as shown. The present invention provides a technical solution, including the following steps

[0034] S1. Equip the vehicle-mounted terminal with a high-sensitivity multi-frequency Beidou signal receiving module of a specific model, a high-precision IMU, and a wheel speed sensor, and complete the initialization and calibration of all sensors before the vehicle starts

[0035] S2. Synchronously collect satellite signals, vehicle motion states, and wheel speed data in real time through the Beidou signal receiving module, IMU, and wheel speed sensor

[0036] S3. Preprocess the collected satellite signals and vehicle data, including eliminating satellite data with poor quality and filtering the vehicle sensor data

[0037] S4. According to the high-precision reference station in the port layout, the vehicle-mounted terminal interacts with the reference station in real time through 5G to initially eliminate the common error and obtain a high-precision positioning initial value

[0038] S5. According to the port GIS, building distribution, and weather data, refine and correct the errors caused by the unique signal reflection and occlusion in the port environment

[0039] S6. By analyzing the signal propagation characteristics in different areas within the port, establish a signal propagation loss model, and combine the satellite signal strength and angle information collected in real time to compensate and correct the positioning error;

[0040] S7. Through a hybrid filtering algorithm of extended Kalman filter and particle filter, construct an equation based on vehicle dynamics and positioning error characteristics. The extended Kalman filter makes a preliminary estimation and prediction, and the particle filter optimizes and corrects. At the same time, adaptively and dynamically adjust the weights according to sensor data and environmental changes to optimize the positioning result;

[0041] S8. Transmit the high-precision positioning result to the port operation management system through the in-vehicle terminal 5G module according to a customized protocol with low latency.

[0042] Among them, for S1, equip the in-vehicle terminal with a specific model of high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU and wheel speed sensor, and complete the initialization and calibration of all sensors before the vehicle starts; according to the requirements of the port Beidou high-precision in-vehicle terminal, select a suitable high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU and wheel speed sensor, install them on the vehicle, and perform preliminary configuration through software interfaces, including baud rate and data format settings. Before the vehicle starts, initialize and calibrate all sensors through the software system of the in-vehicle terminal. When the vehicle is moving at a low speed, check the collaborative work situation among the sensors, and save the calibration parameters of all sensors to the non-volatile memory of the in-vehicle terminal.

[0043] Among them, for S2, synchronously collect satellite signals, vehicle motion states and wheel rotation speed data through the Beidou signal receiving module, IMU and wheel speed sensor in real time; after the vehicle starts, the Beidou signal receiving module works continuously, scans and receives signals from multiple Beidou satellites in real time, and collects positioning information including longitude, latitude, altitude and speed. The accelerometer and gyroscope in the IMU sense the vehicle motion state in real time, convert the measured acceleration and angular velocity analog signals into digital signals through the built-in analog-to-digital converter. The wheel speed sensor generates pulse signals by sensing the rotation of the wheel, and the number of pulses is proportional to the wheel rotation speed.

[0044] Among them, in S3, the collected satellite signals and vehicle data are preprocessed, including eliminating satellite data with poor quality and filtering the vehicle sensor data; the central processing unit of the vehicle-mounted terminal receives the collected data from the Beidou signal receiving module, IMU, and wheel speed sensor, stores it in the buffer area, evaluates the quality of the collected satellite signal data, and the evaluation indicators include the strength, signal-to-noise ratio, and multipath effect of the satellite signal. According to the set threshold, the quality of each satellite signal is judged. According to the result of the satellite signal quality evaluation, the satellite data with poor quality is eliminated, the vehicle data collected by the IMU and wheel speed sensor is filtered, and the filtered vehicle sensor data is fused with the selected satellite signal data.

[0045] Among them, in S4, a high-precision reference station is set up according to the port layout. The vehicle-mounted terminal interacts with the reference station in real time through 5G to initially eliminate the common error and obtain a high-precision positioning initial value; the Beidou signal receiving device of the reference station collects satellite signal data in real time, including the position, time, pseudorange, and carrier phase information of the satellite, and auxiliary devices such as weather stations collect meteorological data in the port. In the data processing center of the reference station, the collected satellite signal data and meteorological data are processed and analyzed.

[0046] Among them, in S4, the high-precision positioning algorithm accurately calculates the coordinates of the reference station itself as the known reference position. Then, according to the observation data and known position of the reference station, an error correction model dT is constructed. m The vehicle-mounted terminal establishes a real-time data interaction connection with the reference station through the 5G network, sends the satellite signal data and vehicle position information collected by the vehicle-mounted terminal to the data processing center of the reference station, and at the same time receives the error correction model transmitted by the reference station. The satellite signal data sent by the vehicle-mounted terminal is compared and analyzed with the observation data of the reference station. Through the constructed error correction model, the common error elimination process is performed on the satellite signal data of the vehicle-mounted terminal.

[0047] Among them, in S5, according to the port GIS, building distribution, and weather data, the error caused by the unique signal reflection and occlusion in the port environment is refined and corrected; the detailed geographic information system data of the port area is collected and integrated, the detailed geographic information system data of the port area is collected and integrated to form a building distribution map, and the weather conditions in the port area are obtained in real time. According to the port GIS data and the building distribution map, a three-dimensional environment model is constructed to simulate the behavior of radio waves propagating in the environment, predict the Beidou satellite signal paths at different positions through ray tracing, identify the areas where multipath effects or signal occlusion may exist, and consider the influence of weather conditions on signal propagation.

[0048] Among them, in S5, according to the model results, an error mapping diagram of each position point in the port is generated. Combining with the vehicle driving route planning, the upcoming high-risk areas are predicted, and the positioning algorithm parameters are adjusted in advance. During the actual operation of the vehicle, the surrounding environment changes are continuously monitored, and the error correction scheme is updated in a timely manner.

[0049] Among them, in S6, by analyzing the signal propagation characteristics in different areas of the port, a signal propagation loss model is established. Combining with the satellite signal strength and angle information collected in real time, the positioning error is compensated and corrected; the signal propagation data in different areas of the port is obtained, the signal characteristic data in different areas collected is analyzed, the main factors affecting signal propagation are identified, and a signal propagation loss model is constructed and trained according to the analysis results.

[0050] Among them, in S6, according to the satellite signal strength and angle information collected in real time, the theoretically signal loss amount under the current observation conditions is calculated through the established signal propagation loss model, the difference between the actually received signal strength and the model prediction value is compared, and the positioning result is compensated and corrected for errors. As the vehicle travels in different areas of the port, new signal propagation data is continuously collected, and the signal propagation loss model is updated and optimized.

[0051] Working principle: First, the vehicle terminal is equipped with a high-sensitivity multi-frequency Beidou signal receiving module of a specific model, a high-precision IMU, and a wheel speed sensor, and all sensors are initialized and calibrated before the vehicle starts. When the vehicle is running, the system synchronously collects satellite signals, vehicle motion states, and wheel speed data in real time through the Beidou signal receiving module, IMU, and wheel speed sensor, and preprocesses the collected raw data, including removing satellite data with poor quality and filtering the vehicle sensor data. Through the high-precision reference station in the port layout, the vehicle terminal conducts real-time data interaction with the reference station through the 5G network, compares the observation data of the two to initially eliminate common errors, and thus obtains a relatively accurate initial positioning value. Based on the port GIS, building distribution map, and real-time weather data, a three-dimensional environment model is constructed to simulate the behavior of radio waves propagating in this environment, identify possible multipath effects or signal occlusion areas, and refine and correct the positioning result accordingly. By analyzing the signal propagation characteristics in different areas of the port, a signal propagation loss model is established. Combining the real-time collected satellite signal strength and angle information, this model is used to estimate the theoretical signal loss under the current observation conditions, and the actually received signal strength is compared with the model prediction value to compensate and correct the positioning error. By combining the extended Kalman filter and the particle filter, an equation is constructed according to the vehicle dynamics characteristics and positioning error characteristics. The extended Kalman filter provides a preliminary position estimate, and the particle filter further optimizes and corrects this estimate value. At the same time, the weights are adaptively adjusted according to the sensor data and environmental changes to achieve a more accurate positioning result. Finally, the high-precision positioning result processed through the above steps is transmitted to the port operation management system with low latency through the 5G module of the vehicle terminal according to a customized protocol.

[0052] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0053] The above describes the present invention and its implementation manners. This description is not restrictive, and what is shown in the drawings is only one of the implementation manners of the present invention. The actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative efforts without departing from the purpose of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A positioning method for a Beidou high-precision vehicle-mounted terminal at a port, characterized in that It includes the following steps: S1. Equip the vehicle terminal with a high-sensitivity multi-frequency Beidou signal receiving module of a specific model, a high-precision IMU, and a wheel speed sensor, and complete the initialization and calibration of all sensors before the vehicle starts; S2. Synchronously collect satellite signals, vehicle motion states, and wheel speed data in real time through the Beidou signal receiving module, IMU, and wheel speed sensor; S3. Preprocess the collected satellite signals and vehicle data, including removing satellite data with poor quality and filtering the vehicle sensor data; S4. Based on the high-precision reference station in the port layout, the vehicle terminal interacts with the reference station in real time through 5G to initially eliminate common errors and obtain a high-precision positioning initial value; S5. According to the port GIS, building distribution, and weather data, finely correct the errors caused by the unique signal reflection and occlusion in the port environment; S6. By analyzing the signal propagation characteristics in different areas within the port, establish a signal propagation loss model, and combine the satellite signal strength and angle information collected in real time to compensate and correct the positioning error; S7. Through a hybrid filtering algorithm of extended Kalman filtering and particle filtering, construct an equation based on vehicle dynamics and positioning error characteristics, use extended Kalman filtering for preliminary estimation and prediction, and particle filtering for optimization and correction. At the same time, adaptively and dynamically adjust the weights according to sensor data and environmental changes to optimize the positioning result; S8. Transmit the high-precision positioning result to the port operation management system through the 5G module of the vehicle terminal at low latency according to a customized protocol.

2. The positioning method of a Beidou high-precision vehicle-mounted terminal for ports according to claim 1, characterized in that: In step S1, the vehicle terminal is equipped with a high-sensitivity multi-frequency Beidou signal receiving module of a specific model, a high-precision IMU, and a wheel speed sensor, and the initialization and calibration of all sensors are completed before the vehicle starts. According to the requirements of the port Beidou high-precision vehicle terminal, select a suitable high-sensitivity multi-frequency Beidou signal receiving module, high-precision IMU, and wheel speed sensor, install them on the vehicle, and perform preliminary configuration through a software interface, including baud rate and data format settings. Before the vehicle starts, initialize and calibrate all sensors through the software system of the vehicle terminal, check the collaborative work situation among the sensors when the vehicle is moving at a low speed, and save the calibration parameters of all sensors to the non-volatile memory of the vehicle terminal.

3. The positioning method of a Beidou high-precision vehicle-mounted terminal for ports according to claim 1, wherein: In step S2, satellite signals, vehicle motion states, and wheel speed data are synchronously collected in real time through the Beidou signal receiving module, IMU, and wheel speed sensor. After the vehicle starts, the Beidou signal receiving module keeps working, scans and receives signals from multiple Beidou satellites in real time, and collects positioning information including longitude, latitude, altitude, and speed. The accelerometer and gyroscope in the IMU sense the vehicle's motion state in real time, convert the measured analog signals of acceleration and angular velocity into digital signals through the built-in analog-to-digital converter. The wheel speed sensor generates a pulse signal by sensing the rotation of the wheel, and the number of pulses is proportional to the wheel speed.

4. The positioning method of a Beidou high-precision vehicle-mounted terminal for ports according to claim 1, characterized in that: In step S3, preprocess the collected satellite signals and vehicle data, including removing satellite data with poor quality and filtering the vehicle sensor data; The central processing unit of the vehicle terminal receives the acquisition data from the Beidou signal receiving module, IMU, and wheel speed sensor, stores it in the buffer area, evaluates the quality of the acquired satellite signal data, and the evaluation indicators include the strength, signal-to-noise ratio, and multipath effect of the satellite signal. According to the set threshold, it judges the quality of each satellite signal, eliminates the satellite data with poor quality based on the result of the satellite signal quality evaluation, filters the vehicle data collected by the IMU and wheel speed sensor, and fuses the filtered vehicle sensor data with the selected satellite signal data.

5. A positioning method for a Beidou high-precision vehicle-mounted terminal at a port according to claim 1, characterized in that: In step S4, based on the high-precision reference station layout of the port, the vehicle terminal interacts with the reference station in real time through 5G to initially eliminate the common error and obtain the high-precision positioning initial value. The Beidou signal receiving device of the reference station collects satellite signal data in real time, including the position, time, pseudorange, and carrier phase information of the satellite, and the meteorological station auxiliary device collects the meteorological data in the port. In the data processing center of the reference station, the collected satellite signal data and meteorological data are processed and analyzed.

6. The positioning method of a Beidou high-precision vehicle-mounted terminal for ports according to claim 5, characterized in that: In step S4, the high-precision positioning algorithm accurately calculates the coordinates of the reference station itself as the known reference position. Then, based on the observation data and the known position of the reference station, an error correction model dT is constructed. m The vehicle terminal establishes a real-time data interaction connection with the reference station through the 5G network, sends the satellite signal data and vehicle position information collected by the vehicle terminal to the reference station data processing center, and at the same time receives the error correction model transmitted by the reference station. The satellite signal data sent by the vehicle terminal is compared and analyzed with the observation data of the reference station, and the common error elimination process is performed on the satellite signal data of the vehicle terminal through the constructed error correction model.

7. The positioning method of a high-precision Beidou vehicle-mounted terminal for ports according to claim 1, characterized in that: In step S5, according to the port GIS, building distribution, and weather data, the errors caused by the unique signal reflection and occlusion in the port environment are refined and corrected. Collect and integrate the detailed geographic information system data of the port area, form a building distribution map, and obtain the weather conditions in the port area in real time. According to the port GIS data and the building distribution map, construct a three-dimensional environment model, simulate the behavior of radio waves propagating in the environment, predict the Beidou satellite signal paths at different positions through ray tracing, identify the areas where multipath effects or signal occlusion may exist, and consider the impact of weather conditions on signal propagation.

8. A positioning method for a Beidou high-precision vehicle-mounted terminal at a port according to claim 7, characterized in that: In step S5, according to the model results, generate the error mapping diagram of each position point in the port, combine with the vehicle driving route planning, predict the upcoming high-risk areas in advance, adjust the positioning algorithm parameters in advance, continuously monitor the changes in the surrounding environment during the actual operation of the vehicle, and update the error correction scheme in a timely manner.

9. The positioning method of a Beidou high-precision vehicle-mounted terminal for a port according to claim 1, characterized in that: In step S6, by analyzing the signal propagation characteristics in different areas of the port, establish a signal propagation loss model, and combine with the satellite signal strength and angle information collected in real time to compensate and correct the positioning error; obtain the signal propagation data in different areas of the port, analyze the signal characteristic data collected in different areas, identify the main factors affecting signal propagation, and construct and train the signal propagation loss model according to the analysis results.

10. A positioning method for a high-precision Beidou vehicle-mounted terminal at a port according to claim 9, characterized in that: In step S6, according to the combination of the satellite signal strength and angle information collected in real time, calculate the theoretically signal loss amount under the current observation conditions through the established signal propagation loss model, compare the difference between the actually received signal strength and the model prediction value, compensate and correct the positioning result. As the vehicle travels in different areas of the port, continuously collect new signal propagation data to update and optimize the signal propagation loss model.

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