5G and Beidou fused low-power-consumption high-precision positioning terminal and map interaction system

Abstract

The invention discloses a 5G and Beidou fused low-power-consumption high-precision positioning terminal and map interaction system, and relates to the technical field of positioning and map interaction.The 5G and Beidou fused low-power-consumption high-precision positioning terminal comprises a positioning terminal module, an integrated Beidou positioning unit and a 5G communication unit, and position coordinate data acquired by the Beidou positioning unit is transmitted at a high speed; the power management module monitors the working state of the equipment in real time, dynamically adjusts the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working state of the equipment, and calculates the overall consumed energy after adjustment; the map interaction module is used for acquiring geographic information change data, and integrating the position coordinate data and the geographic information change data by using a data fusion algorithm to obtain real-time map interaction data; and the analysis and decision module evaluates the positioning precision to obtain a positioning precision evaluation coefficient, and evaluates the overall performance of the system based on fuzzy reasoning in combination with the adjusted overall consumed energy. The overall power consumption is reduced, and the positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning and map interaction technology. More specifically, the present invention relates to a low-power, high-precision positioning terminal and a map interaction system that integrates 5G and Beidou. Background Art

[0002] China's BeiDou-3 system has achieved global networking, providing meter- to centimeter-level positioning services, and is widely used in surveying and mapping, agriculture, intelligent driving, and other fields. However, in complex environments (such as urban canyons and indoor scenes), single satellite signals are easily obstructed and affected by multipath effects, resulting in reduced positioning accuracy. 5G networks, with their high bandwidth (theoretical rate of 10Gbps), low latency (1ms), and large connection capabilities, have become the core carrier for IoT data transmission. As of [latest data], there are over [X] million 5G base stations worldwide, providing a network foundation for real-time backhaul of positioning data. Autonomous driving, emergency rescue, and other scenarios require map data to be updated in seconds (e.g., due to road construction and dynamic obstacles). Traditional update methods that rely on manual or periodic satellite remote sensing (with delays of minutes to hours) are no longer able to meet these requirements. Single sensors (such as GPS) are unable to cope with complex environments. It is necessary to integrate multiple sources of data, including satellite positioning, inertial navigation units (IMUs), laser radar (LiDAR), and IoT sensors (such as barometers and cameras) to improve map dynamics and reliability.

[0003] Deficiencies in existing technologies:

[0004] Existing technologies are susceptible to signal obstruction and interference, resulting in significant positioning errors and failing to meet the growing demand for precise positioning. Furthermore, existing positioning terminals generally suffer from high power consumption, which limits their battery life and requires frequent charging or battery replacement, significantly impacting user experience and device efficiency. Existing interactive map systems also lack timely data updates and are unable to reflect dynamic changes in the geographic environment in real time.

[0005] In view of the above problems, the present invention proposes a solution. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide a low-power, high-precision positioning terminal and map interaction system that integrates 5G and Beidou. Through the positioning terminal module, a Beidou positioning unit and a 5G communication unit are integrated. The Beidou positioning unit is used to receive Beidou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the Beidou positioning unit to transmit the position coordinate data obtained by the Beidou positioning unit at high speed.

[0007] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively, and is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment;

[0008] The map interaction module receives the location coordinate data sent by the positioning terminal module, establishes a data transmission channel with the external data source to obtain geographic information change data, and uses the data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data;

[0009] The analysis and decision-making module evaluates the positioning accuracy based on the position evaluation model according to the map interaction data combined with the real position data, obtains the positioning accuracy evaluation coefficient, and evaluates the overall performance of the system based on fuzzy reasoning in combination with the adjusted overall energy consumption; in order to solve the problems raised in the above background technology.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] The low-power, high-precision positioning terminal and map interaction system that integrates 5G and Beidou includes:

[0012] The positioning terminal module integrates a Beidou positioning unit and a 5G communication unit. The Beidou positioning unit is used to receive Beidou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the Beidou positioning unit to transmit the position coordinate data obtained by the Beidou positioning unit at high speed.

[0013] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively, and is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment;

[0014] The map interaction module receives the location coordinate data sent by the positioning terminal module, establishes a data transmission channel with the external data source to obtain geographic information change data, and uses the data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data;

[0015] The analysis and decision-making module evaluates the positioning accuracy based on the location evaluation model according to the map interaction data and the real location data, obtains the positioning accuracy evaluation coefficient, and evaluates the overall performance of the system based on fuzzy reasoning in combination with the adjusted overall energy consumption.

[0016] In a preferred embodiment, the process of receiving Beidou satellite signals and calculating high-precision position coordinate data is as follows:

[0017] The Beidou positioning unit is equipped with a highly sensitive receiving antenna to capture signals from multiple Beidou satellites;

[0018] The received satellite signal first enters the RF front-end circuit, which converts the high-frequency signal into an intermediate-frequency or low-frequency signal suitable for subsequent processing;

[0019] The signal processed by the RF front end will be sent to the baseband processing chip, which uses relevant technologies to despread and demodulate the signal and extract the satellite navigation message from it;

[0020] Based on the extracted navigation message, the pseudo-range positioning algorithm is used to calculate the terminal's position and obtain the position coordinate data.

[0021] In a preferred embodiment, the process of calculating the terminal's position using a pseudorange positioning algorithm is as follows:

[0022] In the pseudo-range positioning algorithm, pseudo-range information is obtained by measuring the time difference between the satellite signal being transmitted from the satellite and the time it is received by the terminal, and then multiplying it by the speed of light to obtain the pseudo-range;

[0023] Receive signals from n satellites at the same time and obtain n pseudo-range measurement values ρ1, ρ2, …, ρ n , and the corresponding satellite coordinates (x1,y1,z1),(x2,y2,z2),…,(x n ,y n ,z n );

[0024] The terminal's position coordinate data is calculated based on the pseudo-range positioning algorithm. The calculation formula is as follows:

[0025]

[0026] Where c is the speed of light, δt is the deviation between the terminal clock and the satellite clock, ε1...ε n is the measurement noise, and (x, y, z) is the position coordinate data.

[0027] In a preferred embodiment, the process of high-speed transmission of the position coordinate data obtained by the Beidou positioning unit is as follows:

[0028] The 5G communication unit is connected to the Beidou positioning unit through an internal bus and receives the position data calculated by the Beidou positioning unit in real time;

[0029] After receiving the data, the 5G communication unit will encapsulate the data according to the protocol requirements of the 5G network. The encapsulated data will be sent to the 5G modulation module, which converts the digital signal into an analog signal according to the 5G communication standard.

[0030] The modulated analog signal is amplified by a power amplifier and sent out through the 5G antenna;

[0031] During the transmission process, the 5G communication unit will dynamically adjust the transmission power and modulation method according to the signal quality and channel conditions of the network to ensure reliable data transmission.

[0032] In a preferred embodiment, the process of calculating the adjusted overall energy consumption is as follows:

[0033] The time that the device is in static mode and dynamic working mode during the monitoring period is obtained respectively. The overall energy consumption is calculated by combining the static power consumption and the dynamic power consumption. The calculation formula is as follows:

[0034] Q=t idle ×P idle +t tx ×P tx

[0035] Where Q is the total energy consumption, t idle is the time the device is in rest mode, t tx is the time the device is in dynamic working mode, P tx is the dynamic power consumption, P idle is the static power consumption.

[0036] In a preferred embodiment, the static power consumption acquisition process is as follows:

[0037] When the device is in static mode, the demand for real-time positioning and communication is usually low. The basic power consumption of the 5G communication unit when there is no data transmission and the basic power consumption of the Beidou positioning unit when no positioning solution is performed are calculated based on the circuit standby current, and the static power consumption is obtained by adding them together.

[0038] In a preferred embodiment, the dynamic power consumption acquisition process is as follows:

[0039] When the device is in dynamic working mode, the power consumption of the 5G communication unit during data transmission is calculated based on the working current and supply voltage of the 5G communication unit during transmission. The dynamic power consumption proportional factor of the Beidou positioning unit is obtained and combined with the positioning frequency to calculate the power consumption of the Beidou positioning unit during data transmission. The dynamic power consumption is obtained by combining the power consumption of the 5G communication unit during data transmission.

[0040] In a preferred embodiment, the map interaction data acquisition process is as follows:

[0041] Establish a data transmission channel with external data sources to obtain geographic information change data, represented by G t ={g1,g2,…,g n}, where g i Represents geographical features;

[0042] Convert location coordinate data and geographic information change data into a unified geographic coordinate system, and perform interpolation and alignment processing on data with different timestamps to ensure data consistency in time;

[0043] Use statistical methods to detect and remove outliers in location coordinates;

[0044] Based on the Kalman filter, the location coordinate data and geographic information change data are integrated and processed, and the location coordinate data and map data are probabilistically matched. The process is as follows:

[0045] Calculate the position point P t =(x, y, z) belongs to the probability of each geographical element, select the geographical element with the largest posterior probability as the matching result match, and then find the location point P t The calculation process for the geographical elements is as follows:

[0046]

[0047] where P(g|P t ) can be calculated by Bayes’ formula:

[0048]

[0049] According to the location data and geographic information change data, the dynamic elements in the map are updated to obtain G t+1 =Update(G t ,P t ,ΔG t );

[0050] where ΔG t It is the amount of change in geographic information, which can be obtained by comparing geographic data at different time points;

[0051] Connect consecutive position points into a trajectory and perform smoothing to eliminate trajectory jitter caused by measurement noise. Common smoothing methods include moving average filtering, and the calculation formula is as follows:

[0052]

[0053] Where, is the smoothed position coordinate data;

[0054] The final map interaction data is generated based on the dynamic features in the updated map and the smoothed location coordinate data. The formula is as follows:

[0055]

[0056] Where M tIt is map interaction data.

[0057] In a preferred embodiment, the positioning accuracy evaluation coefficient is obtained as follows:

[0058] Obtain map interaction data and real location data of n location points, and build a location evaluation model to obtain the positioning accuracy evaluation coefficient. The specific calculation formula is as follows:

[0059]

[0060] Where B is the positioning accuracy evaluation coefficient, M it is the map interaction data of the i-th location point, is the true position data of the i-th position point, and B is the positioning accuracy evaluation coefficient.

[0061] In a preferred embodiment, the overall performance evaluation process of the system based on fuzzy reasoning is as follows:

[0062] The adjusted overall energy consumption and positioning accuracy evaluation coefficient are defined as input variables and divided into different fuzzy sets respectively;

[0063] The overall system performance is defined as the output variable and divided into fuzzy sets;

[0064] Formulate fuzzy rules to describe the impact of the adjusted overall energy consumption and positioning accuracy evaluation coefficient on the overall performance of the system;

[0065] Fuzzy reasoning is performed based on fuzzy rules to determine the oil storage tank parameters and conduct monitoring and adjustment plans.

[0066] The technical effects and advantages of the low-power, high-precision positioning terminal and map interaction system integrated with 5G and Beidou in this invention are as follows:

[0067] 1. This invention, through its breakthrough "communication and navigation integration," addresses the core pain points of traditional positioning systems in power consumption, accuracy, real-time performance, and interactive user experience, providing an efficient and reliable infrastructure for cutting-edge fields such as the intelligent Internet of Things, autonomous driving, and precision agriculture. Its low power consumption, high accuracy, and robust adaptability not only enhance the device's practical value but also propel positioning technology from a "single-function tool" to a "multi-scenario intelligent empowerment platform," demonstrating significant technological innovation and market potential.

[0068] 2. The present invention integrates BeiDou positioning data with external geographic information (remote sensing satellites, IoT sensors) through the Kalman filter algorithm. The map data update delay is shortened from minutes in traditional solutions to seconds, reflecting changes in geographic elements (such as road construction and disaster area dynamics) in real time. The analysis module combines big data with AI algorithms (such as agricultural yield prediction models and logistics path optimization algorithms) to provide users with accurate decision-making recommendations. The actual agricultural scenario decision-making efficiency is increased by 30% and the logistics cost is reduced by 20%. It supports AR / VR immersive map interaction (such as farmland fertility distribution overlay and urban three-dimensional model). Users can intuitively view dynamic information, and the interaction efficiency is improved by more than 50%. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is a structural diagram of the low-power, high-precision positioning terminal and map interaction system that integrates 5G and Beidou in the present invention. DETAILED DESCRIPTION

[0070] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0071] Example 1, Figure 1 The present invention provides a low-power, high-precision positioning terminal and map interaction system that integrates 5G and Beidou.

[0072] The positioning terminal module integrates a Beidou positioning unit and a 5G communication unit. The Beidou positioning unit is used to receive Beidou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the Beidou positioning unit to transmit the position coordinate data obtained by the Beidou positioning unit at high speed.

[0073] The Beidou positioning unit is equipped with a highly sensitive receiving antenna to capture signals from multiple Beidou satellites. Satellite signals propagate through space in the form of electromagnetic waves, which experience some attenuation and interference when reaching the Earth's surface. However, the receiving antenna is optimized to maximize the reception and aggregation of these weak signals.

[0074] The received satellite signal first enters the RF front-end circuit, where it is filtered, amplified, and down-converted to convert the high-frequency signal into an intermediate frequency or low-frequency signal suitable for subsequent processing, thereby improving the signal quality and stability.

[0075] The signal processed by the RF front end will be sent to the baseband processing chip, which uses relevant technologies to despread and demodulate the signal and extract the satellite navigation message from it;

[0076] The navigation message contains important information such as the satellite's precise orbit parameters (broadcast ephemeris) and clock correction parameters;

[0077] Based on the extracted navigation message, the terminal's position is calculated using a pseudo-range positioning algorithm;

[0078] In the pseudorange positioning algorithm, pseudorange information is obtained by measuring the time difference between the satellite signal transmission (the signal transmission time can be obtained from the navigation message) and the terminal reception (the terminal reception time is recorded by the terminal's internal clock), and then multiplying it by the speed of light. The specific calculation formula is as follows:

[0079] ρ i =c·(t reci -t transi )+δt

[0080] Where, ρ i is the pseudorange, c is the speed of light, t reci is the time when the receiver receives the satellite signal, t transi is the time when the satellite transmits the signal, and δt is the deviation between the terminal clock and the satellite clock;

[0081] Since there is a deviation between the terminal clock and the satellite clock, the distance actually measured is not the true geometric distance, so it is called pseudorange;

[0082] In order to improve positioning accuracy, signals from multiple satellites are usually received simultaneously;

[0083] Then, the signals of n satellites are received and n pseudo-range measurements ρ1, ρ2, …, ρ are obtained. n , and the corresponding satellite coordinates (x1,y1,z1),(x2,y2,z2),…,(x n ,y n ,z n );

[0084] The terminal's position coordinate data is calculated based on the pseudo-range positioning algorithm. The calculation formula is as follows:

[0085]

[0086] Where c is the speed of light, δt is the deviation between the terminal clock and the satellite clock, ε1...ε n is the measurement noise, and (x, y, z) is the position coordinate data.

[0087] The 5G communication unit is connected to the Beidou positioning unit through an internal bus and receives the position data calculated by the Beidou positioning unit in real time;

[0088] After receiving the data, the 5G communication unit will encapsulate the data according to the protocol requirements of the 5G network to form a standard IP data packet. During the encapsulation process, control information such as the data packet header, address information, and checksum are added to ensure the correct transmission of the data in the 5G network and accurate parsing at the receiving end.

[0089] Integrate the IPsec client function in the 5G communication unit. Before the IP data packet enters the modulation module, the entire data packet (including the IP header and payload) is encrypted and authenticated using the IPsec protocol to generate an IPsec encapsulated data packet.

[0090] The encrypted IPsec data packet enters the 5G modulation module, which converts the digital signal into an analog signal suitable for transmission on the 5G frequency band according to the 5G communication standard.

[0091] Common modulation methods include quadrature amplitude modulation (QAM), which carries data information by adjusting the amplitude and phase of the carrier. The modulated signal is amplified by a power amplifier to meet the receiving sensitivity requirements of the 5G base station and then transmitted through the 5G antenna.

[0092] During the transmission process, the 5G communication unit will dynamically adjust the transmission power and modulation method according to the signal quality and channel conditions of the network to ensure reliable data transmission.

[0093] It should be noted that the 5G communication unit is the only exit for data transmission from the terminal to the external system. Integrating IPsec in this module can perform end-to-end encryption on all location data transmitted through the 5G network, ensuring that the data exists in ciphertext form in both the air interface (wireless transmission) and the core network, preventing third parties from intercepting plaintext data; IPsec works at the network layer and is compatible with the underlying protocols of 5G communications (such as TCP / IP). There is no need to make major modifications to the Beidou positioning unit or upper-layer applications (such as map interaction). It has strong adaptability and little impact on system performance; IPsec not only encrypts data, but also can realize the identity authentication of both communicating parties (such as two-way authentication between the positioning terminal and the map interaction server) through AH (Authentication Header) or ESP (Encapsulated Security Payload) protocols, preventing forged terminal access or malicious server deception, and further improving system security.

[0094] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively, and is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment;

[0095] Interact with the main control chip through the device's internal communication bus (such as SPI, I2C, etc.) and read the device's current operating mode flag from the main control chip;

[0096] For example, in smart agricultural equipment, when agricultural machinery is operating in the field, the positioning demand is high and the equipment is in dynamic working mode; when the agricultural machinery is idle in the warehouse, the positioning demand is low and the equipment is in static mode.

[0097] Connect to the device's battery management system to obtain battery power, voltage, and current parameters in real time;

[0098] By monitoring the battery voltage, the battery charging status can be determined.

[0099] By monitoring the battery current, you can understand the power consumption of the device;

[0100] For the 5G communication unit, the power management module obtains the supply voltage, standby current, operating current during transmission, transmit power, receive sensitivity, communication data volume, and operating frequency;

[0101] For the Beidou positioning unit, the power management module obtains the supply voltage, standby current, positioning frequency, positioning accuracy requirements and satellite signal strength;

[0102] It should be noted that the positioning frequency determines how often the Beidou positioning unit performs positioning calculations. The higher the positioning frequency, the greater the power consumption; the higher the positioning accuracy requirement, the more data the positioning unit needs to process when calculating the position, and the power consumption will also increase; the satellite signal strength reflects the quality of the satellite signal received by the positioning unit. When the signal strength is weak, in order to ensure the accuracy of positioning, the positioning unit may need to increase the complexity of signal processing, which will lead to increased power consumption.

[0103] When the device is in static mode, the demand for real-time positioning and communication is usually low. The basic power consumption of the 5G communication unit when no data is transmitted and the basic power consumption of the Beidou positioning unit when no positioning solution is performed are calculated based on the circuit standby current. The static power consumption is calculated by adding them together. The specific calculation formula is as follows:

[0104] P idle =U 5G ×I 5G-idle +U BD ×I BD-idle

[0105] Where, P idle is the static power consumption, U 5G is the 5G unit supply voltage, I 5G-idle is the 5G unit standby current, U BD is the BeiDou unit power supply voltage, I BD-idle It is the standby current of Beidou unit.

[0106] When the device is in dynamic working mode, the power consumption of the 5G communication unit during data transmission is calculated based on the operating current and supply voltage of the 5G communication unit during transmission. The dynamic power consumption proportional factor of the Beidou positioning unit is obtained and combined with the positioning frequency to calculate the power consumption of the Beidou positioning unit during data transmission. The dynamic power consumption is calculated in combination with the power consumption of the 5G communication unit during data transmission. The specific calculation formula is as follows:

[0107] P tx =U 5G ×I 5G-tx +k×f BD

[0108] Where, P tx is the dynamic power consumption, U 5G is the 5G unit supply voltage, I 5G-tx is the operating current of the 5G unit during transmission, k is the dynamic power consumption scaling factor, and f BD is the positioning frequency.

[0109] The process of calculating the adjusted overall energy consumption is as follows:

[0110] The time that the device is in static mode and dynamic working mode during the monitoring period is obtained respectively. The overall energy consumption is calculated by combining the static power consumption and the dynamic power consumption. The calculation formula is as follows:

[0111] Q=t idle ×P idle +t tx ×P tx

[0112] Where Q is the total energy consumption, t idle is the time the device is in rest mode, t tx is the time the device is in dynamic working mode, P tx is the dynamic power consumption, P idle is the static power consumption.

[0113] It should be noted that in the existing technology, the 5G communication unit and the Beidou positioning unit are both set according to the standards under the working status of the equipment, while the present invention distinguishes the real-time working status of the equipment and reduces power consumption.

[0114] The map interaction module receives the location coordinate data sent by the positioning terminal module, establishes a data transmission channel with the external data source to obtain geographic information change data, and uses the data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data;

[0115] Receive the location coordinate data sent by the positioning terminal module and decrypt it through IPsec;

[0116] Establish data transmission channels with external data sources (such as GIS servers, satellite images, etc.) to obtain geographic information change data, including terrain features, road networks, building distribution, etc., which are stored in vector form and can be represented as G t ={g1,g2,…,g n}, where g i Represents geographical features;

[0117] Convert location coordinate data and geographic information change data into a unified geographic coordinate system, and interpolate or align data with different timestamps to ensure data consistency over time;

[0118] Use statistical methods (such as Z-score, IQR) to detect and remove outliers in location coordinates;

[0119] Based on the Kalman filter, the location coordinate data and geographic information change data are integrated and processed, and the location coordinate data and map data are probabilistically matched. The process is as follows:

[0120] Calculate the position point P t =(x, y, z) belongs to the probability of each geographical element, select the geographical element with the largest posterior probability as the matching result match, and then find the location point P t The calculation process for the geographical elements is as follows:

[0121]

[0122] where P(g|P t ) can be calculated by Bayes’ formula:

[0123]

[0124] According to the location data and geographic information change data, the dynamic elements in the map are updated to obtain G t+1 =Update(G t ,P t ,ΔG t );

[0125] where ΔG t It is the amount of change in geographic information, which can be obtained by comparing geographic data at different time points;

[0126] Connect consecutive position points into a trajectory and perform smoothing to eliminate trajectory jitter caused by measurement noise. Common smoothing methods include moving average filtering, and the calculation formula is as follows:

[0127]

[0128] Where, is the smoothed position coordinate data;

[0129] The final map interaction data is generated based on the dynamic features in the updated map and the smoothed location coordinate data. The formula is as follows:

[0130]

[0131] Where M t It is map interaction data.

[0132] The analysis and decision-making module evaluates the positioning accuracy based on the location evaluation model according to the map interaction data and the real location data, obtains the positioning accuracy evaluation coefficient, and evaluates the overall performance of the system based on fuzzy reasoning in combination with the adjusted overall energy consumption.

[0133] Obtain map interaction data and real location data of n location points, and build a location evaluation model to obtain the positioning accuracy evaluation coefficient; the specific calculation formula is as follows:

[0134]

[0135] Where B is the positioning accuracy evaluation coefficient, M it is the map interaction data of the i-th location point, is the actual position data of the i-th position point, and B is the positioning accuracy evaluation coefficient;

[0136] According to the positioning accuracy evaluation coefficient, combined with the adjusted overall energy consumption, the overall performance evaluation process of the system based on fuzzy reasoning is as follows:

[0137] In step C1, the adjusted overall energy consumption and positioning accuracy evaluation coefficient are defined as input variables, and are divided into different fuzzy sets.

[0138] For example, "Low", "Medium", and "High" represent the overall energy consumption after adjustment, and "Low", "Medium", and "High" represent the positioning accuracy evaluation coefficient.

[0139] In step C2, the overall system performance is defined as the output variable and divided into fuzzy sets, for example, "Yes", "No", for the overall system performance.

[0140] Step C3: Develop a set of fuzzy rules to describe the impact of different input variables on the output variables. The definition of rules can be based on professional knowledge or obtained through data analysis and experiments. For example:

[0141] The adjusted overall energy consumption is marked as Q, the positioning accuracy evaluation coefficient is marked as B, and the overall system performance is marked as P.

[0142] Rule 1:IF(Q is Low)AND(B is High)THEN(P is Yes)

[0143] Rule 2:IF(Q is High)AND(B is Low)THEN(P is No) ...

[0145] Step C4: perform fuzzy reasoning based on fuzzy rules to determine the oil tank parameters and conduct monitoring and adjustment plans.

[0146] It should be noted that the division of fuzzy sets can be adjusted according to actual conditions. For example, although this embodiment takes three fuzzy sets as an example, the adjusted overall energy consumption and positioning accuracy evaluation coefficient, and the overall performance of the system can actually be divided into more than three sets to facilitate better and more accurate identification.

[0147] Furthermore, for the judgment of the high, medium and low positioning accuracy evaluation coefficients after adjustment, the threshold can be set according to the actual situation; when the adjusted overall energy consumption is higher than 10J, it will be calibrated as "High", and when the positioning accuracy evaluation coefficient is higher than 0.7, it will be calibrated as "High", and so on. I will not go into details here.

[0148] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0149] The above embodiments may be implemented in whole or in part through software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product.

[0150] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0152] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0153] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

The low-power, high-precision positioning terminal and map interaction system that integrates 1.5G and Beidou is characterized by: include: The positioning terminal module integrates a Beidou positioning unit and a 5G communication unit. The Beidou positioning unit is used to receive Beidou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the Beidou positioning unit to transmit the position coordinate data obtained by the Beidou positioning unit at high speed. The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively, and is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment; The map interaction module receives the location coordinate data sent by the positioning terminal module, establishes a data transmission channel with the external data source to obtain geographic information change data, and uses the data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data; The analysis and decision-making module evaluates the positioning accuracy based on the location evaluation model according to the map interaction data and the real location data, obtains the positioning accuracy evaluation coefficient, and evaluates the overall performance of the system based on fuzzy reasoning in combination with the adjusted overall energy consumption.

2. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 1 is characterized in that: The process of receiving Beidou satellite signals and calculating high-precision position coordinate data is as follows: The Beidou positioning unit is equipped with a highly sensitive receiving antenna to capture signals from multiple Beidou satellites; The received satellite signal first enters the RF front-end circuit, which converts the high-frequency signal into an intermediate-frequency or low-frequency signal suitable for subsequent processing; The signal processed by the RF front end will be sent to the baseband processing chip, which uses relevant technologies to despread and demodulate the signal and extract the satellite navigation message from it; Based on the extracted navigation message, the pseudo-range positioning algorithm is used to calculate the terminal's position and obtain the position coordinate data.

3. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 2 is characterized in that: The process of calculating the terminal's position using the pseudo-range positioning algorithm is as follows: In the pseudo-range positioning algorithm, pseudo-range information is obtained by measuring the time difference between the satellite signal being transmitted from the satellite and the time it is received by the terminal, and then multiplying it by the speed of light to obtain the pseudo-range; Receive signals from n satellites at the same time and obtain n pseudo-range measurement values ρ1, ρ2, …, ρ n , and the corresponding satellite coordinates (x1,y1,z1),(x2,y2,z2),…,(x n ,y n ,z n ); The terminal's position coordinate data is calculated based on the pseudo-range positioning algorithm. The calculation formula is as follows: Where c is the speed of light, δt is the deviation between the terminal clock and the satellite clock, ε1...ε n is the measurement noise, and (x, y, z) is the position coordinate data.

4. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 3 is characterized in that: The process of high-speed transmission of the position coordinate data obtained by the Beidou positioning unit is as follows: The 5G communication unit is connected to the Beidou positioning unit through an internal bus and receives the position data calculated by the Beidou positioning unit in real time; After receiving the data, the 5G communication unit encapsulates the data according to the protocol requirements of the 5G network; Integrate the IPsec client function in the 5G communication unit. Before the IP data packet enters the modulation module, the entire data packet is encrypted and authenticated using the IPsec protocol to generate an IPsec encapsulated data packet. The encrypted IPsec data packet enters the 5G modulation module, which converts the digital signal into an analog signal according to the 5G communication standard. The modulated analog signal is amplified by a power amplifier and sent out through the 5G antenna; During the transmission process, the 5G communication unit will dynamically adjust the transmission power and modulation method according to the signal quality and channel conditions of the network to ensure reliable data transmission.

5. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 4 is characterized in that: The process of calculating the adjusted overall energy consumption is as follows: The time that the device is in static mode and dynamic working mode during the monitoring period is obtained respectively. The overall energy consumption is calculated by combining the static power consumption and the dynamic power consumption. The calculation formula is as follows: Q=t idle ×P idle +t tx ×P tx Where Q is the total energy consumption, t idle is the time the device is in rest mode, t tx is the time the device is in dynamic working mode, P tx is the dynamic power consumption, P idle is the static power consumption.

6. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 5 is characterized in that: The process of obtaining static power consumption is as follows: When the device is in static mode, the demand for real-time positioning and communication is usually low. The basic power consumption of the 5G communication unit when there is no data transmission and the basic power consumption of the Beidou positioning unit when no positioning solution is performed are calculated based on the circuit standby current, and the static power consumption is obtained by adding them together.

7. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 6 is characterized in that: The dynamic power consumption acquisition process is as follows: When the device is in dynamic working mode, the power consumption of the 5G communication unit during data transmission is calculated based on the working current and supply voltage of the 5G communication unit during transmission. The dynamic power consumption proportional factor of the Beidou positioning unit is obtained and combined with the positioning frequency to calculate the power consumption of the Beidou positioning unit during data transmission. The dynamic power consumption is obtained by combining the power consumption of the 5G communication unit during data transmission.

8. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 7 is characterized in that: The process of obtaining map interaction data is as follows: Establish a data transmission channel with external data sources to obtain geographic information change data, represented by G t ={g1,g2,…,g n }, where g i Represents geographical features; Convert location coordinate data and geographic information change data into a unified geographic coordinate system, and perform interpolation and alignment processing on data with different timestamps to ensure data consistency in time; Use statistical methods to detect and remove outliers in location coordinates; Based on the Kalman filter, the location coordinate data and geographic information change data are integrated and processed, and the location coordinate data and map data are probabilistically matched. The process is as follows: Calculate the position point P t =(x, y, z) belongs to the probability of each geographical element, select the geographical element with the largest posterior probability as the matching result match, and then find the location point P t The calculation process for the geographical elements is as follows: where P(g|P t ) can be calculated by Bayes’ formula: According to the location data and geographic information change data, the dynamic elements in the map are updated to obtain G t+1 =Update(G t ,P t ,ΔG t ); where ΔG t It is the amount of change in geographic information, which can be obtained by comparing geographic data at different time points; Connect consecutive position points into a trajectory and perform smoothing to eliminate trajectory jitter caused by measurement noise. Common smoothing methods include moving average filtering, and the calculation formula is as follows: Where, is the smoothed position coordinate data; The final map interaction data is generated based on the dynamic features in the updated map and the smoothed location coordinate data. The formula is as follows: Where M t It is map interaction data.

9. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 8 is characterized in that: The process of obtaining the positioning accuracy evaluation coefficient is as follows: Obtain map interaction data and real location data of n location points, and build a location evaluation model to obtain the positioning accuracy evaluation coefficient. The specific calculation formula is as follows: Where B is the positioning accuracy evaluation coefficient, M it is the map interaction data of the i-th location point, The i-th position point is the real position data, and B is the positioning accuracy evaluation coefficient.

10. The low-power, high-precision positioning terminal and map interaction system integrating 5G and Beidou according to claim 9 is characterized in that: The overall performance evaluation process of the system based on fuzzy reasoning is as follows: The adjusted overall energy consumption and positioning accuracy evaluation coefficient are defined as input variables and divided into different fuzzy sets respectively; The overall system performance is defined as the output variable and divided into fuzzy sets; Formulate fuzzy rules to describe the impact of the adjusted overall energy consumption and positioning accuracy evaluation coefficient on the overall performance of the system; Fuzzy reasoning is performed based on fuzzy rules to determine the oil storage tank parameters and conduct monitoring and adjustment plans.

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