Satellite positioning method, system and terminal for power grid vehicle

Abstract

The invention relates to the technical field of power grid vehicle satellite positioning, in particular to a power grid vehicle satellite positioning method, system and terminal. The method comprises the following steps: receiving a Beidou satellite navigation signal at a vehicle-mounted terminal, analyzing the signal into a positioning parameter, and generating vehicle positioning data; performing data screening processing on the vehicle positioning data, judging data stability according to satellite received signal strength and coordinate offset, and retaining effective positioning data meeting the data stability; identifying the missing condition of the effective positioning data, and supplementing missing data segments on the time axis; encapsulating the vehicle positioning data subjected to data screening and missing data segment supplementation into a positioning message; according to the invention, through power grid vehicle satellite positioning, the accuracy and the stability of the data are ensured by acquiring and screening the vehicle positioning data in real time, and effective association between the vehicle positioning information and the operation task is realized through track supplementation and message transmission.

Description

Technical Field

[0001] This invention relates to the field of satellite positioning technology for power grid vehicles, and in particular to a method, system and terminal for satellite positioning of power grid vehicles. Background Technology

[0002] The demand for precise positioning and real-time monitoring of power grid vehicles during inspections, maintenance, and emergency dispatch is increasing. Traditional methods relying on manual recording or simple GNSS positioning suffer from low positioning accuracy, data lag, limited coverage, and susceptibility to signal interference in complex terrain, making it difficult to meet the efficiency and safety requirements of modern power grid vehicle dispatch. Furthermore, satellite signals are often obstructed or weakened when vehicles are traveling in environments with tall buildings or tunnels, leading to missing or unstable positioning data, further affecting the dispatch platform's accurate assessment of vehicle location and status. Therefore, how to obtain stable, continuous, and high-precision vehicle positioning information in variable environments and effectively transmit it to the dispatch platform to achieve real-time vehicle monitoring and task correlation has become a pressing technical problem for power grid operation and management. Summary of the Invention

[0003] Therefore, it is necessary to provide a satellite positioning method, system, and terminal for power grid vehicles to solve at least one of the aforementioned technical problems.

[0004] To achieve the above objectives, a satellite positioning method for power grid vehicles includes the following steps: Step S1: Receive BeiDou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data; Step S2: Perform data filtering processing on the vehicle positioning data, determine the data stability based on the satellite received signal strength and coordinate offset, and retain valid positioning data that meets the data stability requirements; Step S3: Identify missing valid positioning data, perform continuous trajectory extrapolation based on the vehicle positions at previous and subsequent times, and fill in the missing data segments on the time axis; Step S4: The vehicle positioning data, after data filtering and completion of missing data segments, is encapsulated into a positioning message and sent to the dispatch platform via wireless communication, and associated with the vehicle's task information.

[0005] The present invention also provides a satellite positioning system for power grid vehicles, for performing the satellite positioning method for power grid vehicles as described above, the satellite positioning system for power grid vehicles comprising: The vehicle positioning module is used to receive BeiDou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data. The data filtering module is used to perform data filtering processing on vehicle positioning data. It judges the stability of the data based on the strength of the satellite received signal and the coordinate offset, and retains the valid positioning data that meets the data stability requirements. The missing data completion module is used to identify missing valid positioning data, perform continuous trajectory calculation based on the vehicle positions before and after the time, and complete the missing data segments on the time axis. The positioning data encapsulation module is used to encapsulate the vehicle positioning data, after data filtering and missing data segments are filled, into a positioning message, and send it to the dispatch platform via wireless communication, and establish a connection with the vehicle's operation task information.

[0006] The present invention also provides a satellite positioning terminal for power grid vehicles, comprising: The communication module supports full network mobile communication and can access the communication network in 4G or 5G mode; The satellite positioning module is an independent BeiDou satellite navigation and positioning module that only receives or processes BeiDou satellite navigation signals and outputs the vehicle's positioning data. The processor, electrically connected to the communication module and the satellite positioning module, is used to perform filtering and message encapsulation of positioning data. Indicator lights are used to display the terminal's positioning status, communication status, and connection status.

[0007] The beneficial effects of this invention are as follows: (1) By receiving BeiDou satellite navigation signals and parsing them into positioning parameters at the vehicle terminal, high-precision vehicle positioning data can be generated in real time, ensuring the timeliness and accuracy of vehicle location acquisition. Compared with traditional manual recording or simple GNSS positioning methods, this method can maintain stable data acquisition in various geographical environments, improving the reliability of vehicle positioning information.

[0008] (2) By performing data filtering processing on vehicle positioning data and judging data stability based on satellite signal strength and coordinate offset, this method can eliminate abnormal or unreliable positioning information, ensuring that the positioning data received by the dispatching platform is valid and reliable, reducing positioning errors caused by signal interference or environmental factors, thereby improving the safety of power grid vehicle dispatching and operation management.

[0009] (3) Continuous trajectory calculation and timeline completion are performed on missing positioning data, and the complete data is encapsulated into a positioning message and sent to the dispatching platform, so that the vehicle's positioning information and the task information can be effectively linked. This measure not only ensures the continuity and integrity of the data, but also provides the dispatching platform with a data foundation that can be used for real-time monitoring, route optimization and emergency decision-making, realizing the refinement, intelligence and efficiency of power grid vehicle management. Attached Figure Description

[0010] Figure 1 This is a flowchart illustrating the steps of a satellite positioning method for power grid vehicles. Figure 2 A schematic diagram of a module for a satellite positioning system for power grid vehicles; Figure 3 Satellite positioning trajectory map of power grid vehicles; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0011] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0012] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor methods and / or microcontroller methods.

[0013] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0014] To achieve the above objectives, please refer to Figures 1 to 3 A satellite positioning method for power grid vehicles includes the following steps: Step S1: Receive BeiDou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data; Step S2: Perform data filtering processing on the vehicle positioning data, determine the data stability based on the satellite received signal strength and coordinate offset, and retain valid positioning data that meets the data stability requirements; Step S3: Identify missing valid positioning data, perform continuous trajectory extrapolation based on the vehicle positions at previous and subsequent times, and fill in the missing data segments on the time axis; Step S4: The vehicle positioning data, after data filtering and completion of missing data segments, is encapsulated into a positioning message and sent to the dispatch platform via wireless communication, and associated with the vehicle's task information.

[0015] In one embodiment, after the vehicle-mounted terminal starts up, its built-in satellite receiving module first captures the downlink signal from the BeiDou satellite and caches the signal in its local storage area. A demodulation program is invoked to convert the cached signal into a data set containing positioning parameters such as timestamps, satellite numbers, pseudorange, and carrier phase. The terminal processing unit calculates the vehicle's real-time coordinates based on the parameter set and writes the coordinate results as vehicle positioning data into a cache queue. In the generated data queue, the signal strength of each piece of positioning data is judged. If the strength is below 35dBHz or there is a lateral offset exceeding 5 meters, the data is marked as invalid and discarded. For continuously collected data, the timestamp interval is checked. If a gap exceeding 1 second is found, linear interpolation is performed using the coordinates of the preceding and following times to fill in the missing trajectory points. The filtered and supplemented data is packaged into a positioning message. The message structure includes fields such as vehicle number, timestamp, coordinate point sequence, and task number, and is transmitted to the power grid dispatching platform via a 4G wireless link.

[0016] In another embodiment, when the electric power grid vehicle is running, several seconds of positioning data are lost due to tunnel obstruction. After identifying a gap of more than 3 seconds, instead of using a single linear interpolation, the vehicle's speed and heading angle from the previous moment are combined to predict the trajectory within the missing segment. For example, if the vehicle's speed before entering the tunnel is 40 km / h and its heading angle is 85°, the speed and heading angle are used as boundary conditions to extend the trajectory in a straight line at a fixed speed within the missing segment until the coordinates at the exit point meet the predicted trajectory. The resulting continuous trajectory stream is also encapsulated as a positioning message and sent to the dispatch platform via wireless communication.

[0017] Please see Figure 3In another embodiment, after the vehicle terminal is powered on, the BeiDou receiving module enters the working state, and the antenna begins to search for visible satellite signals. The receiving unit continuously scans the BeiDou signals in the L1 band (1561.098MHz). Among the six satellites (S1-S6) shown in the figure, the system successfully captures satellites with a signal strength ≥35dB. The received radio frequency signals are digitized and stored in a 2MB buffer unit. The satellite signals in the buffer are down-converted and filtered, carrier tracking and code tracking are performed, signal synchronization is completed, the navigation bit stream is extracted, the navigation message data is demodulated, satellite ephemeris and clock parameters are extracted from the navigation message, pseudorange measurements are calculated, the three-dimensional coordinates of the vehicle are obtained, and positioning data including a timestamp is generated: longitude 120.156°E, latitude 36.067°N, elevation 85.3m.

[0018] Read the signal strength values ​​of 6 satellites corresponding to each positioning data point, and normalize the signal strength: strength value / maximum strength value, calculate the average value as 38dB and the minimum value as 33dB. Compare with the preset thresholds: if the average value is ≥35dB and the minimum value is ≥30dB, the signal is considered valid. Read the current location coordinates (120.156°E, 36.067°N) and the coordinates of the adjacent points before and after. Read the vertical trend: the north-south offset is 1.2m. Compare with the preset stability threshold of 5m, and the data is considered stable. Data with a signal strength below 35dB or an offset >5m is marked as invalid and removed from the buffer. 94.2% of the valid positioning data is retained.

[0019] Checking the timestamp continuity revealed three missing data segments: the first missing segment was 3 seconds of data between time T1 (10:15:23) and time T2 (10:15:26); the second missing segment was 2 seconds of data between time T3 (10:15:45) and time T4 (10:15:47); and the third missing segment was 3 seconds of data between time T5 (10:16:12) and time T6 (10:16:15). Extract the position before the missing moment: (120.1545°E, 36.0665°N). Extract the position after the missing moment: (120.1565°E, 36.0675°N). Establish the range of the missing segment: longitude span 0.002°, latitude span 0.001°. Analyze the speed change of the vehicle before and after the missing moment: 45.2km / h → 43.8km / h. Calculate the change in the driving direction angle: 68°NE → 72°NE. Based on the uniformly accelerated motion model, deduce the continuous trajectory of the missing segment. Fill in 3 interpolation points at 1-second intervals on the time axis. Merge the filled trajectory points with the original data to generate a continuous and complete vehicle trajectory data stream.

[0020] The location message is sent to the dispatch platform via 4G / 5G network at a frequency of once per second, with a data packet size of approximately 128 bytes. A TCP connection is established with the server to ensure reliable data transmission. A real-time monitoring interface is generated on the dispatch platform, supporting historical trajectory playback and abnormal alarm functions.

[0021] It should be noted that the satellite positioning module supports dual-band positioning and has no fewer than 24 satellite receiving channels.

[0022] Preferably, step S1 includes: Start the satellite receiving unit of the vehicle terminal to put the receiving unit into working condition; The control receiving unit continuously captures downlink signals from BeiDou satellites and writes the captured signals into the buffer unit; Demodulation operations are performed on the satellite signals in the buffer unit to obtain navigation message data; Extract the set of positioning parameters for power grid vehicles from navigation message data; The set of positioning parameters is written to the terminal's local memory and marked as vehicle positioning data.

[0023] In one embodiment, when the electric vehicle is ignited, the satellite receiving module in the onboard terminal automatically starts and enters continuous acquisition mode. The receiving module first scans the satellite signal frequency band, and after finding an available BeiDou satellite downlink signal, stores its modulated waveform in the terminal's buffer unit. Subsequently, the terminal's built-in digital signal processor calls a demodulation algorithm to despread, filter, and phase-track the buffered signal, obtaining a navigation message with a time stamp. The satellite position, timestamp, pseudorange value, and other fields in the message are further analyzed and integrated into a set of vehicle positioning parameters. To ensure data traceability, the terminal creates a new data record in its local memory, including the vehicle number, acquisition time, and positioning parameters, and labels it as vehicle positioning data.

[0024] In another embodiment, when the electric vehicle is in operation, the onboard terminal, upon startup, simultaneously acquires signals from multiple BeiDou satellites via multiple antennas to improve signal stability. For example, when downlink signals from six satellites are detected, and the signal strength of four of them exceeds 38 dBHz, the data from these four satellites will be preferentially selected for processing in the demodulation unit. After demodulation, the navigation message acquired by the terminal is organized into a matrix format, where rows represent different satellites and columns represent parameters such as pseudorange, carrier phase, and satellite coordinates. This matrix data is written to local flash memory in real time and bound to the vehicle's task order number.

[0025] Preferably, performing demodulation operations on the satellite signals in the buffer unit includes: A frame of satellite signal sample is read from the buffer unit and transferred to the demodulation processing unit; In the demodulation processing unit, the satellite signal is subjected to amplitude adjustment and out-of-band noise filtering. Carrier tracking is performed on the processed satellite signal, and the tracked signal is matched with the local pseudo-code to complete the code synchronization operation. The navigation bit stream is extracted from the synchronized signal, and the extracted navigation bit stream is organized into navigation message data.

[0026] In one embodiment, after completing signal buffering, the vehicle-mounted terminal retrieves a frame of satellite signal from the buffer according to a preset sampling period and sends it to the demodulation processing unit. The demodulation unit first performs amplitude normalization on the original signal to avoid distortion caused by differences in the strength of different satellite signals, and at the same time removes out-of-band interference noise through a bandpass filter. Subsequently, the processor performs carrier phase-locked loop tracking on the filtered signal to ensure that the locally generated carrier remains in phase with the received signal.

[0027] After carrier tracking is completed, the terminal will compare the locally stored pseudocode sequence with the received signal bit by bit to find the optimal phase matching point and achieve code synchronization accordingly. After synchronization is completed, the terminal will extract the navigation bit stream from the signal bit by bit and assemble the bit stream into a complete navigation message according to the protocol structure. The message contains satellite time, satellite orbit parameters, and check fields for subsequent positioning calculations.

[0028] In another embodiment, when the electric grid vehicle is operating in a noisy urban environment, the terminal employs an enhanced demodulation strategy. For example, after reading a frame of satellite signal samples, the demodulation processing unit not only performs conventional amplitude adjustment and filtering, but also uses a moving average method to smooth out transient impulse interference.

[0029] During carrier tracking, the phase trends of the signals from the preceding and following frames are simultaneously referenced to improve tracking stability. If there is uncertainty in the code phase matching result at a certain moment, a secondary correction is performed by combining the phase difference between two adjacent frames to avoid misjudgments caused by single-point interference. The final navigation bitstream is encapsulated into multiple subframes and stored in the terminal's local buffer.

[0030] Preferably, step S2 includes: Read the location entries from the vehicle location data cache; Obtain the satellite signal strength value corresponding to each positioning data point and compare it with a preset signal threshold; When the satellite signal strength of the positioning data reaches a threshold, the coordinate offset of each positioning data is calculated and compared with a preset stability threshold. Positioning data with signal strength below the threshold or coordinate offset exceeding the threshold will be marked as invalid. Invalid positioning data is removed from the buffer, and valid positioning data that meets the requirements of signal strength and coordinate offset stability is retained.

[0031] In one embodiment, after receiving continuous positioning data, the vehicle terminal first calls the data management module to read each positioning entry in the buffer, analyzes the satellite signal strength corresponding to each entry, and compares it with a preset reference threshold, such as 35dBHz. If the average signal strength of a data entry is lower than this threshold, it is directly marked as invalid. When the signal strength meets the requirements, the coordinate offset of the data is further calculated: the processor extracts the longitude, latitude, and altitude of the data entry and performs a three-dimensional difference calculation with the data from the previous moment to obtain the vehicle's displacement in the lateral, longitudinal, and vertical directions. If the displacement exceeds a set stability threshold (e.g., 5 meters), the data entry is considered to have an abnormal jump point and is discarded. Only data that simultaneously meets the signal strength and coordinate offset conditions is retained in the buffer.

[0032] In another embodiment, when the electric vehicle is in operation, multipath effects can cause location point drift. In this scenario, in addition to conventional signal strength comparison, dynamic detection of coordinate offset is added. For example, during normal driving, the coordinate difference between two consecutive points of a vehicle is usually no more than 3 meters. However, if a lateral difference of 15 meters is detected between a location data point and the previous data point, and the calculated speed significantly exceeds the vehicle's physical capabilities (e.g., instantaneously exceeding 200 km / h), then the data is immediately identified as an outlier and removed. In this way, even in complex environments, abnormal jump points can be effectively identified and eliminated.

[0033] In one embodiment, after receiving a location data entry, the vehicle-mounted terminal reads the signal strengths of multiple satellites corresponding to that data entry from its cache, for example, obtaining the signal strength values ​​of each of six satellites. These strength values ​​are then normalized to fall within a uniform range (e.g., 0-1) to eliminate deviations caused by differences in the signal power of different satellites. Subsequently, the processor calculates the average and minimum values ​​of the normalized signals. A reference threshold of 0.7 and a minimum threshold of 0.5 for a single satellite are set. If the average value is higher than 0.7 and the minimum value is not lower than 0.5, the location data entry is considered valid; if either condition is not met, it is marked as invalid and discarded.

[0034] In another embodiment, when the power grid vehicle is in operation, some satellite signals are blocked, causing a significant weakening of certain satellite signals. The processor reads the signal strengths of eight satellites for the same positioning data from the cached data and normalizes them. Then, the processor sorts the normalized values ​​from highest to lowest and calculates the average and the signal strengths of the two lowest-valued satellites. For example, if the average is 0.75 but the lowest value is only 0.3, the data is considered to have a single-satellite signal anomaly and will be discarded; if the average is 0.72 and the lowest value is 0.55, it is considered valid.

[0035] Preferably, when the satellite signal strength of the positioning data reaches a threshold, the coordinate offset of each piece of positioning data is calculated and compared with a preset stable threshold, including: When the satellite signal strength of the positioning data reaches the threshold, the coordinate information of the current positioning data is read sequentially from the buffer and its timestamp is marked. Read the coordinate data adjacent to the current location data in sequence, and arrange them into coordinate pairs in chronological order; The spatial distance is calculated by using the difference between the current positioning data and the three-dimensional coordinates of the previous and next coordinate points, and the difference between different coordinate axes is recorded. The horizontal and vertical variation trends are analyzed to obtain the offset. The calculated spatial distance offset is compared with a preset stability threshold in the terminal. Based on the comparison results, a validity tag is generated for each location data and recorded in the data cache.

[0036] In one embodiment, after determining that the satellite signal strength meets the threshold condition, the vehicle-mounted terminal further determines the spatial stability of the positioning data. Specifically, the terminal retrieves the coordinate data of the current moment from the buffer, along with the corresponding timestamp information, to ensure the temporal integrity of the trajectory. Subsequently, the terminal sequentially retrieves the coordinate entries of the adjacent moments before and after the current coordinate point, arranging the three coordinate points in chronological order to form a coordinate sequence for comparison. For this coordinate sequence, the terminal calls the built-in three-dimensional coordinate difference calculation module to calculate the spatial distance between the current coordinate point and the coordinate points of the previous and next moments, respectively, and decomposes the difference into longitude, latitude, and elevation directions to obtain the lateral and longitudinal changes. The terminal performs trend analysis on the changes; for example, if both the lateral and longitudinal offsets show abrupt changes within a sampling period, it is recorded as an offset anomaly; if the offset changes are gradual and within an acceptable range, it is recorded as stable data. The terminal compares the final offset with the stability threshold stored locally. When the offset is less than the threshold, the location data is marked as "valid" and stored in the valid data cache. When the offset is greater than the threshold, the location data is marked as "invalid" and removed in subsequent trajectory processing.

[0037] In another embodiment, when the electric vehicle is in operation, the satellite signal received at a certain moment during the vehicle's journey meets the strength threshold, but the positioning data exhibits abrupt jumps due to mountain obstruction. When processing this data, the onboard terminal first reads the latitude, longitude, and elevation values ​​of the point from the buffer and obtains its timestamp, such as "10:15:30". Subsequently, the terminal retrieves the adjacent coordinates of "10:15:20" and "10:15:40", obtaining the spatial positions at three consecutive moments. Calculations show that the planar distance between the current position and the previous position is approximately 2.5 meters, and the planar distance to the next position is approximately 2.8 meters. The offset trend among the three remains continuous, and the maximum offset is less than the set 5-meter threshold. Based on this, the terminal determines that the data is stable and valid, and retains it in the valid dataset. If the calculation results show that the spatial distance suddenly increases to more than 20 meters, exceeding the 5-meter stability threshold, the data will be marked as invalid and replaced by a continuous trajectory from adjacent moments during the trajectory completion process.

[0038] Preferably, step S3 includes the following steps: The continuity of timestamps of valid location data is detected. If the time interval between adjacent location data exceeds the preset sampling period, it is determined that there is missing data. Extract the vehicle position coordinates of the previous and next moments of the missing data; Based on the extracted vehicle location coordinates, the continuous trajectory of the missing points within the missing section is deduced; By stitching together the continuous trajectory and the original positioning data, a continuous data stream is generated on the time axis.

[0039] In one embodiment, after receiving valid positioning data, the vehicle terminal prioritizes verifying the continuity of the data's timestamps. The terminal maintains an internal time interval determination program corresponding to a preset sampling period. For example, if the sampling period is set to 1 second, the timestamp difference between two adjacent positioning data points should not exceed 1 second. If the time difference between adjacent data points exceeds this period, it automatically determines that the segment contains missing data. Subsequently, the terminal extracts the vehicle coordinates of the moment before and after the missing point from the buffer and uses these as boundary points. Based on the time interval between the boundary points, the terminal calls the trajectory estimation module to interpolate the trajectory of the missing segment. This module estimates the intermediate position of the missing moment based on the latitude and longitude differences and elevation differences between the preceding and following coordinate points, combined with the vehicle's speed and direction vector, generating a continuous trajectory. Finally, the terminal concatenates the calculated trajectory points with the original positioning data and inserts them into the data stream in chronological order, thus obtaining a continuous and complete positioning trajectory on the timeline.

[0040] In another embodiment, when the electric vehicle is running, the on-board terminal's normal sampling period is 1 second. While the vehicle is in motion, due to signal obstruction, a 10-second gap in positioning data occurs between 10:20:15 and 10:20:25. The terminal detects a sudden increase in the timestamp interval from 1 second to 10 seconds, triggering a missing data determination. At this time, the terminal reads the coordinates of point A (longitude 118.2501, latitude 32.1410, elevation 120 meters) at 10:20:15 and point B (longitude 118.2509, latitude 32.1417, elevation 121 meters) at 10:20:25, and uses these as the trajectory boundaries. Based on the vehicle's historical speed of approximately 3 meters per second, and considering the straight-line distance between points A and B (approximately 27 meters), the terminal calculates that the vehicle should have traveled along an approximately straight path during these 10 seconds. Therefore, the terminal automatically generates interpolation points for each missing second, such as generating coordinates (118.2505, 32.1414, 120.5 meters) at 10:20:20, and inserts them into the original trajectory. After completion, the data stream is restored to a complete sequence on the timeline.

[0041] Most importantly, stitching together continuous trajectory data with the original positioning data to generate a continuous data stream on the timeline includes: Read the continuous trajectory data derived from the trajectory and obtain its corresponding time stamp; By comparing the time stamps of the trajectory data with the time stamps of the original positioning data, the insertion position of the missing segment in the original data can be determined. The trajectory data is inserted one by one into the missing segments of the original positioning data in chronological order. During the insertion process, the continuity of the trajectory data with the adjacent original data in terms of position is checked; The stitched positioning data is organized into a continuous data stream in chronological order.

[0042] In one embodiment, the coordinate point sequence generated by interpolation calculation is read from the trajectory estimation module. Each interpolation point contains three-dimensional coordinates (X, Y, Z) and a corresponding timestamp, with a time interval of 1 second. The timestamps of the interpolated data are compared one by one with the timestamps in the original positioning data buffer. The start and end positions of the missing segments are quickly located using a binary search algorithm. The interpolated coordinate points are inserted into the corresponding positions of the original data array in ascending order of time using an array insertion operation, while maintaining the integrity of the data structure during insertion. After each insertion, the Euclidean distance between the newly inserted point and the adjacent original data points is calculated. If the distance exceeds a preset continuity threshold (e.g., 50 meters), the position of the interpolated point is fine-tuned to ensure a smooth transition of the trajectory. After all interpolation points are inserted, the entire data array is quickly sorted by timestamp to generate a complete positioning data stream with continuous time and smooth position. A data source identifier (original data or interpolated data) is added to each data point.

[0043] In another embodiment, taking a power distribution emergency repair vehicle as an example, when a 30-second data gap is detected between 13:25:15 and 13:25:45, 30 intermediate coordinate points with a 1-second interval are generated using a linear interpolation algorithm based on the position coordinates at 13:25:15 (116.3980°E, 39.9082°N) and 13:25:45 (116.3985°E, 39.9088°N). These interpolated points are then inserted into the original data sequence in chronological order to form a continuous trajectory from 13:25:15 to 13:25:45.

[0044] Preferably, based on the extracted vehicle position coordinates, the calculation of the continuous trajectory of the missing points within the missing segment includes: The vehicle position coordinates before and after the missing point are used as boundary points to establish the range of the missing section. By utilizing the range of the missing segment, the path of vehicle position change before and after the missing point can be identified; Compare the speed and angle changes in the vehicle position change path between the previous and next time moments, and analyze the trend of speed and angle changes within the missing segment. The continuous trajectory of the missing segment can be deduced based on the changing trend within the missing segment.

[0045] In one embodiment, the previous valid location point before the missing data is extracted. (Time T1) and the next valid position point (Time T2) is used as the boundary constraint condition for interpolation calculation, and a system is established based on this constraint. and The straight-line distance from the endpoints is used as the spatial range of the missing segment; by analyzing the coordinate changes of 3-5 consecutive points before the missing point, the average driving speed of the vehicle before the missing point is calculated. and driving direction angle Similarly, analyze 3-5 consecutive points after the missing point to obtain the average velocity after the missing point. and direction angle The cubic spline interpolation algorithm is used to reduce the speed from arrive The change is set as a smooth transition curve, with the direction angle from arrive The changes are calculated using an angle interpolation function to ensure that the steering process conforms to vehicle kinematic constraints; based on the length of the missing time... The missing segment is evenly divided into segments at 1-second intervals. Each interpolation point has a position coordinate determined by velocity integration and direction angle interpolation. The generated trajectory point sequence is subjected to curvature check to ensure that the turning radius between adjacent points is not less than the vehicle's minimum turning radius (usually 5-8 meters). If the constraint is exceeded, the trajectory is smoothed and corrected.

[0046] In one embodiment, after detecting missing valid positioning data, the vehicle terminal first uses the coordinates of the point before and after the missing point as boundary points to determine the spatial range of the missing segment. Then, it extracts vehicle path information before and after the boundary points, including position, speed, and direction data, and analyzes speed changes and angular changes in direction within the missing segment. Based on the analyzed trends, the terminal uses linear or curvilinear interpolation methods to calculate the continuous trajectory of the missing point. The calculation process considers the rate of change of speed at both ends, the steering angle, and the time interval to generate smooth and continuous trajectory points. Finally, the generated trajectory points are concatenated with the original positioning data in chronological order to obtain a continuous and complete data sequence on the timeline, providing a foundation for subsequent positioning message encapsulation and transmission by the scheduling platform.

[0047] In another embodiment, taking the electric emergency repair vehicle driving on urban roads as an example, when a 20-second data gap is detected between the vehicle's location A (116.3975°E, 39.9080°N, speed 45km / h, direction 45° northeast) and location B (116.4015°E, 39.9120°N, speed 35km / h, direction 60° northeast), the analysis shows that the speed linearly decreases from 45km / h to 35km / h, and the direction angle smoothly turns from 45° to 60°, generating 20 trajectory points with a 1-second interval, forming a continuous driving trajectory that conforms to the turning characteristics of urban roads.

[0048] Of particular importance, step S4 includes: The vehicle location data, after data filtering and missing data filling, are organized in chronological order to form a continuous data sequence. Pack a continuous data sequence into a location message that conforms to the communication protocol format; Establish a communication connection with the dispatch platform using the wireless communication unit of the vehicle terminal; The location message is transmitted to the dispatch platform via a communication connection; Within the dispatch platform, the received location messages are associated with the vehicle's task information.

[0049] In one embodiment, the vehicle positioning data, after data filtering and missing data completion, is sorted by timestamp in ascending order. Each data entry includes fields such as longitude, latitude, altitude, timestamp, and precision factor, forming a continuous data sequence. The data sequence is formatted, and each positioning data is encapsulated into a fixed-length data packet according to a predefined communication protocol. The header of the data packet includes the vehicle identification code, data type identifier, and data length information, the data body contains specific positioning parameters, and a checksum is added to the tail. The 4G / 5G wireless communication module of the vehicle terminal automatically searches for network signals and establishes a TCP / IP connection with the dispatch platform server. After the connection is established, authentication and encryption key exchange are performed. Through the established secure communication channel, the encapsulated positioning message is transmitted to the dispatch platform in real time at a frequency of once every 3 seconds. Data compression technology is used during transmission to reduce bandwidth consumption. After receiving the positioning message, the dispatch platform searches for the corresponding task record in the task database based on the vehicle identification code in the message, automatically matches and associates the positioning information with information such as task execution progress and work area range, and updates the real-time location status of the vehicle.

[0050] In another embodiment, taking a power line inspection vehicle as an example, when the inspection vehicle is performing a line inspection task, it combines the processed GNSS coordinates (such as 116.3975°E, 39.9085°N, altitude 45 meters) with the timestamp March 15, 2024, 14:30:25, and encapsulates them into a standard positioning message containing the vehicle number "XJ001". The message is sent to the power grid dispatch center through the vehicle's 4G module. The dispatch center automatically identifies that the vehicle is performing a "220kV line spring inspection" task, marks the location information on the electronic map, calculates the inspection progress as 68%, and triggers the navigation instruction push for the next inspection point.

[0051] The present invention also provides a satellite positioning system for power grid vehicles, for performing the satellite positioning method for power grid vehicles as described above, the satellite positioning system for power grid vehicles comprising: The vehicle positioning module 101 is used to receive Beidou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data. The data filtering module 102 is used to perform data filtering processing on vehicle positioning data, and to determine the stability of the data based on the strength of the satellite received signal and the coordinate offset, and retain the valid positioning data that meets the data stability requirements. The missing data completion module 103 is used to identify missing valid positioning data, perform continuous trajectory calculation based on the vehicle positions at previous and subsequent times, and complete the missing data segments on the time axis. The positioning data encapsulation module 104 is used to encapsulate the vehicle positioning data, after data filtering and missing data segments are filled, into a positioning message, and send it to the dispatching platform via wireless communication, and establish a connection with the vehicle's operation task information.

[0052] This invention provides a satellite positioning terminal for power grid vehicles, comprising: The communication module supports full network mobile communication and can access the communication network in 4G or 5G mode; The satellite positioning module is an independent BeiDou satellite navigation and positioning module that only receives or processes BeiDou satellite navigation signals and outputs the vehicle's positioning data. The processor, electrically connected to the communication module and the satellite positioning module, is used to perform filtering and message encapsulation of positioning data. Indicator lights are used to display the terminal's positioning status, communication status, and connection status.

[0053] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A satellite positioning method for power grid vehicles, characterized in that, The following steps are involved: Step S1: Receive BeiDou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data; Step S2: Perform data filtering processing on the vehicle positioning data, determine the data stability based on the satellite received signal strength and coordinate offset, and retain valid positioning data that meets the data stability requirements; Step S3: Identify missing valid positioning data, perform continuous trajectory extrapolation based on the vehicle positions at previous and subsequent times, and fill in the missing data segments on the time axis; Step S4: The vehicle positioning data, after data filtering and completion of missing data segments, is encapsulated into a positioning message and sent to the dispatch platform via wireless communication, and associated with the vehicle's task information.

2. The satellite positioning method for power grid vehicles according to claim 1, characterized in that, Step S1 includes: Start the satellite receiving unit of the vehicle terminal to put the receiving unit into working condition; The control receiving unit continuously captures downlink signals from BeiDou satellites and writes the captured signals into the buffer unit; Demodulation operations are performed on the satellite signals in the buffer unit to obtain navigation message data; Extract the set of positioning parameters for power grid vehicles from navigation message data; The set of positioning parameters is written to the terminal's local memory and marked as vehicle positioning data.

3. The satellite positioning method for power grid vehicles according to claim 2, characterized in that, Demodulation operations on satellite signals in the buffer unit include: A frame of satellite signal sample is read from the buffer unit and transferred to the demodulation processing unit; In the demodulation processing unit, the satellite signal is subjected to amplitude adjustment and out-of-band noise filtering. Carrier tracking is performed on the processed satellite signal, and the tracked signal is matched with the local pseudo-code to complete the code synchronization operation. The navigation bit stream is extracted from the synchronized signal, and the extracted navigation bit stream is organized into navigation message data.

4. The satellite positioning method for power grid vehicles according to claim 1, characterized in that, Step S2 includes: Read the location entries from the vehicle location data cache; Obtain the satellite signal strength value corresponding to each positioning data point and compare it with a preset signal threshold; When the satellite signal strength of the positioning data reaches a threshold, the coordinate offset of each positioning data is calculated and compared with a preset stability threshold. Positioning data with signal strength below the threshold or coordinate offset exceeding the threshold will be marked as invalid. Invalid positioning data is removed from the buffer, and valid positioning data that meets the requirements of signal strength and coordinate offset stability is retained.

5. The satellite positioning method for power grid vehicles according to claim 4, characterized in that, Obtain the satellite signal strength value corresponding to each positioning data point and compare it with a preset signal threshold, including: Read the strength of multiple signals from the same location data from the vehicle location data and normalize the strength values; Calculate the average and minimum values ​​of the normalized positioning signal strength values; The average value is compared with a preset reference threshold, and the minimum value is compared with the minimum threshold of a single satellite. If the average signal value is higher than the reference threshold and the minimum value is not lower than the single-satellite threshold, the signal of the positioning data is considered valid; otherwise, it is considered invalid.

6. The satellite positioning method for power grid vehicles according to claim 4, characterized in that, When the satellite signal strength of the positioning data reaches a threshold, the coordinate offset of each positioning data point is calculated and compared with a preset stable threshold, including: When the satellite signal strength of the positioning data reaches the threshold, the coordinate information of the current positioning data is read sequentially from the buffer and its timestamp is marked. Read the coordinate data adjacent to the current location data in sequence, and arrange them into coordinate pairs in chronological order; The spatial distance is calculated by using the difference between the current positioning data and the three-dimensional coordinates of the previous and next coordinate points, and the difference between different coordinate axes is recorded. The horizontal and vertical variation trends are analyzed to obtain the offset. The calculated spatial distance offset is compared with a preset stability threshold in the terminal. Based on the comparison results, a validity tag is generated for each location data and recorded in the data cache.

7. The satellite positioning method for power grid vehicles according to claim 1, characterized in that, Step S3 includes the following steps: The continuity of timestamps of valid location data is detected. If the time interval between adjacent location data exceeds the preset sampling period, it is determined that there is missing data. Extract the vehicle position coordinates of the previous and next moments of the missing data; Based on the extracted vehicle location coordinates, the continuous trajectory of the missing points within the missing section is deduced; By stitching together the continuous trajectory and the original positioning data, a continuous data stream is generated on the time axis.

8. The satellite positioning method for power grid vehicles according to claim 7, characterized in that, Based on the extracted vehicle location coordinates, the continuous trajectory of the missing points within the missing section is deduced, including: The vehicle position coordinates before and after the missing point are used as boundary points to establish the range of the missing section. By utilizing the range of the missing segment, the path of vehicle position change before and after the missing point can be identified. Compare the speed and angle changes in the vehicle position change path between the previous and next time moments, and analyze the trend of speed and angle changes within the missing segment. The continuous trajectory of the missing segment can be deduced based on the changing trend within the missing segment.

9. A satellite positioning system for power grid vehicles, characterized in that, For performing the satellite positioning method for power grid vehicles as described in claim 1, the satellite positioning system for power grid vehicles comprises: The vehicle positioning module is used to receive BeiDou satellite navigation signals at the vehicle terminal, parse the signals into positioning parameters, and generate vehicle positioning data. The data filtering module is used to perform data filtering processing on vehicle positioning data. It judges the stability of the data based on the strength of the satellite received signal and the coordinate offset, and retains the valid positioning data that meets the data stability requirements. The missing data completion module is used to identify missing valid positioning data, perform continuous trajectory extrapolation based on the vehicle positions at previous and subsequent times, and complete the missing data segments on the time axis. The positioning data encapsulation module is used to encapsulate the vehicle positioning data, after data filtering and missing data segments are filled, into a positioning message, and send it to the dispatch platform via wireless communication, and establish a connection with the vehicle's operation task information.

10. A satellite positioning terminal for power grid vehicles, characterized in that, include: The communication module supports full network mobile communication and can access the communication network in 4G or 5G mode; The satellite positioning module is an independent BeiDou satellite navigation and positioning module that only receives or processes BeiDou satellite navigation signals and outputs the vehicle's positioning data. The processor, electrically connected to the communication module and the satellite positioning module, is used to perform filtering and message encapsulation of positioning data. Indicator lights are used to display the terminal's positioning status, communication status, and connection status.

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