A deep sea mining staging joint positioning system and method

Abstract

The application discloses a deep-sea mining grading combined positioning system and method, and relates to the technical field of deep-sea resource development.The system comprises the following components: a distributed positioning node network, a mining equipment positioning terminal, a grading positioning control module, a boundary early warning module, a data transmission module and a positioning node health management module.The application integrates the boundary early warning module, which sends out early warning signals of different levels according to the distance between the equipment and the virtual boundary and the current positioning accuracy level, including sound and light early warning, data early warning and remote terminal early warning.The early warning levels are divided into three levels, from low to high, corresponding to different trigger conditions and response mechanisms, such as low-frequency intermittent sound and light alarm, high-frequency continuous sound and light alarm and emergency braking, etc.This all-round and multi-level early warning mechanism ensures that the operator and the remote monitoring center can learn about the position state of the equipment in time and take measures quickly when necessary.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea resource development, in particular to a deep-sea mining hierarchical joint positioning system and method. BACKGROUND

[0002] With the continuous growth of global resource demand and the rapid development of marine technology, deep-sea mining, as an important means of obtaining seabed mineral resources, is attracting more and more attention. The deep-sea mining operation environment is complex and variable, and natural conditions such as ocean current, water pressure and visibility bring great challenges to mining operations.

[0003] The traditional deep-sea mining positioning technology mainly has the following shortcomings: first, a single positioning method is easily disturbed in a complex deep-sea environment, resulting in a decrease in positioning accuracy. For example, acoustic positioning may be affected by water temperature, salinity changes and multipath effects, while inertial navigation may produce cumulative errors due to long-term operation. Second, the traditional technology lacks dynamic adaptability and cannot adjust the positioning accuracy in real time according to the distance between the device and the boundary. When the device approaches the operation boundary, it is difficult to provide sufficient positioning accuracy to ensure safety. In addition, the traditional early warning mechanism is often single and can only provide limited early warning information, which cannot meet the needs of deep-sea mining operations for all-around and multi-level early warning. Once the device exceeds the boundary, it may cause serious safety accidents.

[0004] In view of the problems of insufficient positioning accuracy, poor dynamic adaptability and imperfect early warning mechanism of the traditional deep-sea mining positioning technology, it is particularly important to develop a deep-sea mining hierarchical joint positioning system and method. SUMMARY

[0005] The purpose of the present application is to make up for the shortcomings of the prior art and provide a deep-sea mining hierarchical joint positioning system and method. It can realize high-precision real-time positioning of mining equipment and all-around boundary early warning by integrating a distributed positioning node network, a mining equipment positioning terminal, a hierarchical positioning control module and a boundary early warning module. The system can dynamically adjust the positioning accuracy according to the distance between the device and the virtual boundary, and use a forward-looking positioning accuracy adjustment unit to predict the future position of the device, adjust the positioning accuracy in advance, effectively avoid the loss of accuracy caused by mode switching delay, and at the same time, the multi-level early warning mechanism provided by the system ensures that the operator and the remote monitoring center can timely understand the position state of the device and take measures as necessary, thereby significantly improving the safety and efficiency of deep-sea mining operations.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: On the one hand, a deep-sea mining graded joint positioning system, the system comprising the following components: a distributed positioning node network, a mining equipment positioning terminal, a graded positioning control module, a boundary early warning module, a data transmission module, and a positioning node health management module;

[0007] The distributed positioning node network consists of multiple radio positioning nodes deployed around and at key locations in the deep-sea mining operation area. Each positioning node, based on radio positioning technology, collaboratively constructs a virtual boundary covering the preset mining operation area, and each positioning node has the functions of location information collection, signal transmission and reception.

[0008] The mining equipment positioning terminal is installed on each mining equipment and is used to collect the equipment's real-time location data and interact with the distributed positioning node network to obtain the position calibration information fed back by the positioning nodes.

[0009] The hierarchical positioning control module is communicatively connected to the distributed positioning node network and the mining equipment positioning terminal, respectively. It is used to trigger different levels of positioning accuracy adjustment strategies based on the distance between the mining equipment and the virtual boundary. The hierarchical positioning control module also includes a forward-looking positioning accuracy adjustment unit based on the prediction of the equipment's motion trajectory: when the distance between the equipment and the boundary is ≥ a preset safety threshold, the basic positioning accuracy mode is adopted; when the distance between the equipment and the boundary is < the preset safety threshold but ≥ the warning trigger threshold, the intermediate positioning accuracy mode is activated; when the distance between the equipment and the boundary is < the warning trigger threshold, the high positioning accuracy mode is switched to ensure that the boundary control error is ≤ 0.3 meters.

[0010] The boundary early warning module is communicatively connected to the hierarchical positioning control module and is used to issue corresponding early warning signals based on the distance between the mining equipment and the virtual boundary and the positioning accuracy level. The early warning signals include audible and visual early warnings, data early warnings, and remote terminal early warnings.

[0011] The data transmission module is used to realize data interaction between the distributed positioning node network, the mining equipment positioning terminal, the hierarchical positioning control module and the boundary early warning module. It adopts a deep-sea anti-interference wireless transmission protocol to ensure the real-time performance and stability of data transmission.

[0012] The positioning node health management module is connected to the distributed positioning node network and the hierarchical positioning control module, and is used to monitor the working status of each positioning node in real time and perform fault diagnosis and self-healing regulation.

[0013] Furthermore, the positioning nodes in the distributed positioning node network include fixed positioning nodes and mobile positioning nodes. Fixed positioning nodes are deployed on seabed fixed bases in deep-sea operating areas, encapsulated with a titanium alloy pressure-resistant shell, and equipped with a high-precision atomic clock and pressure sensor. The coverage radius of a single node is 50-80 meters, and the positioning signal attenuation rate through seawater is ≤0.02dB / m. Mobile positioning nodes are mounted on autonomous underwater vehicles and can dynamically adjust their deployment position according to mining operations. Their shells are made of lightweight, high-strength ceramic materials, with a maximum diving depth ≥6000 meters and a moving speed of 2-3 knots. The positioning signal transmission power can be dynamically adjusted according to the distance from the fixed nodes. Fixed nodes and mobile nodes interact with each other via time-division multiple access, completing a synchronization calibration between nodes every 50ms with a synchronization error ≤1μs. Through the collaborative method of fixed nodes providing basic positioning references and mobile nodes supplementing positioning blind spots, the three-dimensional spatial coverage of the virtual boundary reaches over 99.8%, and the positioning signal redundancy in the edge area is ≥3 channels, effectively solving the signal obstruction problem caused by complex deep-sea terrain.

[0014] Furthermore, the mining equipment positioning terminal includes a positioning signal transceiver unit, an inertial navigation unit, a depth sensor, and a data processing unit. The positioning signal transceiver unit adopts a dual-mode design with ultra-wideband (UWB) and underwater acoustic communication. UWB signals are used for short-range high-precision positioning with a ranging error ≤0.05 meters, while underwater acoustic communication is used for medium- to long-range data transmission with a transmission rate ≥10 kbps. The inertial navigation unit uses a combination of fiber optic gyroscopes and MEMS accelerometers, with a static drift rate ≤0.01° / h and a dynamic measurement range of ±500° / s. It can operate independently for ≥30 minutes when the positioning signal is interrupted, with a cumulative position error. The depth sensor operates at a speed of ≤0.5 m / h. It employs a piezoresistive principle, with a measurement range of 0-11000 meters, an accuracy of ±0.1%FS, and a sampling frequency of 10Hz, used for real-time acquisition of deep-sea depth data from the device. The data processing unit utilizes a heterogeneous computing architecture of FPGA+ARM. The FPGA handles rapid signal processing, while the ARM handles data fusion and decision output. Kalman filtering and wavelet denoising algorithms are used to preprocess multi-source data, ultimately generating three-dimensional position information with a sampling frequency of 20Hz. The timestamp synchronization accuracy of the position data is ≤5ms, ensuring consistency with the time reference of the distributed positioning node network.

[0015] Furthermore, the positioning accuracy adjustment strategy of the hierarchical positioning control module includes a dynamic weighted positioning algorithm based on the distance between the device and the boundary. This algorithm achieves hierarchical control of positioning accuracy through the following formula: ,in The final positioning coordinates of the mining equipment. For the first The weighting coefficient of each positioning node, ranging from 0 to 1, is determined by the node signal strength (RSSI), the average historical positioning error, and the node's operating status (normal / degraded). When the node signal strength is ≥ -60dBm, The initial value is 0.9; when the signal strength is between -60 and -80 dBm, The initial value is 0.6; when the signal strength is ≤-80dBm, The initial value is 0.3; if the node's positioning error is greater than 0.5 meters for three consecutive times, Automatically reduce power consumption by 20%; if the node is in a degraded operating state (e.g., battery level < 20%). Forced to be set to 0.2, For the first The device distance value measured by each positioning node This is an environmental correction factor, with a value ranging from 0.02 to 0.05. The distance influence factor is fixed at 2.5 and calibrated through numerous deep-sea environment simulation experiments. The real-time distance between the device and the virtual boundary. To determine the number of nodes involved in the positioning calculation, when the device is in the basic positioning accuracy mode, the number of nodes n is 3-4, and the algorithm iterations are 5 times; in the intermediate positioning accuracy mode, the number of nodes n is 5-6, and the algorithm iterations are 8 times; in the advanced positioning accuracy mode, the number of nodes n ≥ 7, and the algorithm iterations are 12 times. By increasing the number of nodes and the number of iterations, the calculation accuracy is improved, ensuring that the boundary control error is ≤ 0.3 meters.

[0016] Furthermore, the boundary warning module has three warning levels, with the triggering conditions, response mechanisms, and signal parameters for each level as follows: Level 1 warning: When the distance between the device and the boundary is less than the warning trigger threshold and greater than or equal to the safety critical threshold, the triggering condition is that the distance condition is met for three consecutive sampling cycles. The warning signal uses a low-frequency intermittent audible and visual alarm, the local terminal displays a yellow warning icon and the distance value, and simultaneously sends a data frame containing the current position, direction of movement, and suggested turning angle to the device control system; Level 2 warning: When the distance between the device and the boundary is less than the safety critical threshold and greater than or equal to the emergency braking threshold, the triggering condition is that the distance condition is met for two consecutive sampling cycles. The warning signal... Switching to a high-frequency continuous audible and visual alarm, the remote monitoring terminal receives a red flashing warning signal accompanied by a vibration alert. Simultaneously, it automatically sends a deceleration command to the equipment control system, which includes a speed adjustment curve. A three-level warning system is activated when the distance between the equipment and the boundary is less than the emergency braking threshold. The trigger condition is that the distance condition is met within one sampling cycle. The warning signal uses a 1500Hz continuous audible and visual alarm plus a high-frequency pulse signal. The remote monitoring center receives the highest priority alarm, and the system automatically cuts off the power to the equipment's propulsion system, triggering the hydraulic braking device to ensure the equipment stops moving within 0.5 seconds, with a braking distance ≤ 0.2 meters. The alarm information is also simultaneously stored in an anti-tampering database.

[0017] Furthermore, the data transmission module adopts a hybrid transmission protocol based on chaotic encryption, integrating radio and underwater acoustic communication technologies. Its communication link establishment and data transmission process is as follows: First, when the mining equipment positioning terminal establishes initial communication with the distributed positioning nodes, frequency hopping spread spectrum technology is used. The frequency hopping sequence is generated based on the device's unique identifier and the current timestamp through Logistic chaotic mapping, with a frequency hopping bandwidth of 50-100MHz and a frequency hopping rate of 500 hops / second, ensuring the initial connection's anti-interception capability. During the data transmission phase, the transmission mode is dynamically selected according to the data type: positioning data uses radio communication with orthogonal amplitude modulation at a transmission rate of 2Mbps. The data packet size is 128 bytes, including frame header, location information, timestamp, and node status. Warning commands and control data are transmitted using dual-link redundant transmission of underwater acoustic and radio communication. Underwater acoustic communication employs orthogonal frequency division multiplexing (OFDM) technology with 64 subcarriers, BPSK modulation, and a transmission rate of 500 kbps. Data packets include forward error correction codes with an error correction capability ≥32 bits / packet. All data is encrypted using AES-256 before transmission, and the encryption key is updated hourly via a key negotiation protocol to ensure the confidentiality and integrity of data transmission. In the context of strong interference in the deep sea, the signal-to-noise ratio is ≥-5 dB, the data transmission packet loss rate is ≤0.1%, and the bit error rate is ≤10⁻⁻⁻⁶. 6 .

[0018] Furthermore, the positioning node health management module collects node status data every 10 seconds, including battery level, CPU load, signal transmission power, temperature, and historical positioning error; and classifies the node status using the following formula: ,in The node's health score, with a value ranging from 0 to 1. For a healthy state, It is in a downgraded state. This is a fault condition. This is the normalized value of the electricity. This is the normalized value of CPU load. For signal transmission power stability, This is a temperature influence factor, which is 1 when the temperature is between 0 and 40℃, and linearly decreases to 0.5 when the temperature exceeds this range. The positioning error is normalized. When a node is detected to be in a degraded state, the health management module automatically reduces its positioning weight and increases the transmission power of neighboring nodes. When a node is in a faulty state, it is immediately removed from the positioning network and the replacement mechanism of the mobile positioning node is triggered. At the same time, a node maintenance reminder is sent to the remote terminal to ensure the continuous availability of the distributed positioning node network. The impact of a single node failure on the overall positioning accuracy is ≤0.05 meters.

[0019] Furthermore, the look-ahead positioning accuracy adjustment unit of the hierarchical positioning control module predicts the change in distance between the device and the virtual boundary within the next 3 seconds using the following formula: ,in For the predicted future The distance between the device and the boundary at any given time. The distance between the device and the boundary at the current moment. The current speed of the device. Let be the angle between the direction of equipment movement and the direction of the boundary normal. To accelerate the equipment, This is the environmental disturbance compensation coefficient, ranging from 0.05 to 0.2, dynamically adjusted based on ocean current velocity and equipment draft. The velocity influence coefficient is fixed at 0.8. It is calibrated through deep-sea equipment motion characteristic experiments. When it is predicted that the equipment will enter a distance range with higher accuracy requirements within 3 seconds, the look-ahead adjustment unit triggers the positioning accuracy upgrade process 1 second in advance to avoid accuracy loss caused by mode switching delay. If it is predicted that the equipment will move away from the boundary, the positioning accuracy downgrade is triggered 2 seconds later to ensure that a high positioning accuracy is maintained when the equipment may turn back. Through this look-ahead adjustment mechanism, the positioning error fluctuation during the mode switching process is ≤0.03 meters, which reduces the transition stage error by more than 60% compared with the traditional lag adjustment.

[0020] Furthermore, the virtual boundary is constructed using a dynamic 3D mesh model, rather than a traditional simple geometric boundary. This model divides the work area into cubic mesh cells with a side length of 0.5 meters. Each mesh cell contains boundary attributes, positioning accuracy requirements, and early warning level parameters. The boundary influence weight of the mesh cell is calculated using the following formula: ,in coordinates The boundary of the grid cell affects the weight. For this grid cell to the th Euclidean distance between boundary feature points For the first The weights of each boundary feature point are set according to the importance of its location. The total number of boundary feature points, when When the area is identified as a boundary-sensitive region, advanced positioning accuracy is automatically enabled. During this transitional period, medium positioning accuracy will be used. When the area is internal, basic positioning accuracy is enabled. This 3D mesh model supports dynamic updates. When the working range needs to be adjusted, the coordinates of the boundary feature points can be modified through a remote terminal. The system automatically recalculates the attributes of all mesh cells and synchronizes them to the distributed positioning node network, enabling the virtual boundary to accurately adapt to complex seabed terrain and solving the problem of positioning distortion of traditional geometric boundaries in irregular terrain.

[0021] On the other hand, a deep-sea mining graded joint positioning method is characterized by the following specific steps:

[0022] Constructing a distributed positioning node network: Deploying multiple radio positioning nodes, including fixed positioning nodes and mobile positioning nodes, around the deep-sea mining operation area and at key locations. Each node works collaboratively based on radio positioning technology. The initial absolute coordinates of each node are obtained through the high-precision positioning equipment of the mother ship, and the relative coordinates are calibrated through mutual signal interaction between nodes. A virtual boundary covering the preset mining operation area is constructed. The virtual boundary adopts a dynamic three-dimensional mesh model, dividing the operation area into cubic mesh units with a side length of 0.5 meters.

[0023] Mining equipment positioning terminal initialization: A positioning terminal is installed on the mining equipment. This terminal includes a positioning signal transceiver unit, an inertial navigation unit, a depth sensor, and a data processing unit. After the equipment is started, the positioning terminal establishes a communication connection with the distributed positioning node network, completes the initial position calibration through signal interaction, integrates the data collected by each unit to generate the initial three-dimensional position information of the equipment, and uploads it to the hierarchical positioning control module.

[0024] Real-time positioning monitoring: During the operation of mining equipment, the positioning terminal continuously collects equipment position data and interacts with the distributed positioning node network in real time; the hierarchical positioning control module receives equipment position data and calibration information fed back by positioning nodes, uses a dynamic weighted positioning algorithm based on the distance between the equipment and the boundary to dynamically calculate the real-time accurate position of the equipment, and calculates the real-time distance between the equipment and the virtual boundary;

[0025] Location node health management: The location node health management module collects the status data of each location node every 10 seconds, including battery level, CPU load, signal transmission power, temperature and historical positioning error. The module classifies the nodes according to the health assessment formula, and performs fault diagnosis and self-healing regulation based on the classification results to ensure the continuous availability of the distributed location node network.

[0026] Tiered accuracy adjustment: The tiered positioning control module triggers different levels of positioning accuracy adjustment strategies based on the distance between the device and the virtual boundary, combined with the prediction results of the look-ahead positioning accuracy adjustment unit based on device motion trajectory prediction: when the distance between the device and the boundary is ≥ the preset safety threshold, the basic positioning accuracy mode is adopted; when the distance between the device and the boundary is < the preset safety threshold and ≥ the warning trigger threshold, the intermediate positioning accuracy mode is activated; when the distance between the device and the boundary is < the warning trigger threshold, the system switches to the advanced positioning accuracy mode to ensure that the boundary control error is ≤ 0.3 meters.

[0027] Boundary warning and response: The boundary warning module issues warning signals of corresponding levels based on the distance between the device and the virtual boundary and the current positioning accuracy level: When the warning is at level 1, the device operator receives a local reminder signal and manually adjusts the operating parameters; when the warning is at level 2, the remote monitoring terminal receives a warning signal, and the device automatically performs deceleration operation; when the warning is at level 3, the device is forced to brake suddenly, and an emergency alarm message is sent to the remote monitoring center.

[0028] Data transmission and encryption: The data transmission module adopts a hybrid transmission protocol based on chaotic encryption to realize data interaction between the distributed positioning node network, mining equipment positioning terminal, hierarchical positioning control module and boundary early warning module. All data is encrypted before transmission to ensure the real-time performance, stability, confidentiality and integrity of data transmission.

[0029] Dynamic boundary update: If the mining operation area needs to be adjusted, a boundary update command is sent to the hierarchical positioning control module through the remote control terminal. The hierarchical positioning control module synchronously updates the three-dimensional mesh model parameters of the virtual boundary and instructs the distributed positioning node network to adjust the working parameters, so as to realize the dynamic adaptation of the operation boundary.

[0030] Compared with existing technologies, this deep-sea mining graded joint positioning system and method has the following advantages:

[0031] I. This system integrates a boundary warning module. This module issues different levels of warning signals based on the distance between the equipment and the virtual boundary and the current positioning accuracy level, including audible and visual warnings, data warnings, and remote terminal warnings. The warning levels are divided into three levels, from low to high, corresponding to different triggering conditions and response mechanisms, such as low-frequency intermittent audible and visual alarms, high-frequency continuous audible and visual alarms, and emergency braking. This comprehensive and multi-level warning mechanism ensures that operators and remote monitoring centers can understand the equipment's location status in a timely manner and take rapid measures when necessary, such as manually adjusting operating parameters, automatically decelerating, or emergency braking, thereby effectively preventing the equipment from crossing the boundary and ensuring the safe operation of deep-sea mining operations.

[0032] II. This system achieves high-precision real-time positioning of mining equipment through the collaborative work of a distributed positioning node network and the positioning terminal of mining equipment, combined with a dynamic weighted positioning algorithm based on the distance between the equipment and the virtual boundary. The system can dynamically adjust the positioning accuracy according to the distance between the equipment and the virtual boundary, and automatically improve the positioning accuracy when the equipment approaches the boundary, ensuring that the boundary control error does not exceed 0.3 meters. In addition, the forward-looking positioning accuracy adjustment unit adopted by the system can predict the future position of the equipment and adjust the positioning accuracy in advance, avoiding the accuracy loss caused by mode switching delay, and significantly improving the dynamic adaptability and accuracy of positioning.

[0033] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0035] Figure 1 This is a schematic diagram of a graded joint positioning system architecture for deep-sea mining.

[0036] Figure 2 This is a flowchart of a graded joint positioning method for deep-sea mining. Detailed Implementation

[0037] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below. Example 1

[0038] In a deep-sea polymetallic nodule mining area, a distributed positioning node network is deployed around the pre-set operating area and key mineral-rich locations. Fixed positioning nodes are installed on pre-built titanium alloy bases on the seabed. Their stable installation method ensures that the nodes remain in a fixed working position for a long time, avoiding positional displacement due to seabed environmental disturbances, and providing stable basic positioning support for the entire positioning network. Mobile positioning nodes are mounted on autonomous underwater vehicles, which can dynamically adjust their deployment positions according to the movement trajectory of mining equipment and operational needs, filling the blind spots covered by fixed nodes, thereby achieving comprehensive coverage of the operating area and avoiding positioning dead zones.

[0039] After all nodes are deployed, the initial absolute coordinates of each node are obtained through the high-precision positioning equipment on the mother ship. Relative coordinate calibration is then completed through signal interaction between nodes. This step eliminates positioning errors of individual nodes, improves the coordinate accuracy of the entire positioning network, and ultimately constructs a virtual boundary covering the entire pre-defined mining operation area. This virtual boundary uses a dynamic 3D mesh model, dividing the operation area into uniformly sized cubic mesh units, as shown in the formula: ,in coordinates The boundary of the grid cell affects the weight. For this grid cell to the th Euclidean distance between boundary feature points For the first The weights of each boundary feature point The total number of boundary feature points, when When the area is identified as a boundary-sensitive region, advanced positioning accuracy is automatically enabled. During this transitional period, medium positioning accuracy will be used. When the area is internal, basic positioning accuracy is enabled. This 3D mesh model supports dynamic updates. When the work area needs to be adjusted, the coordinates of the boundary feature points can be modified through a remote terminal. The system automatically recalculates the attributes of all mesh units and synchronizes them to the distributed positioning node network. This mesh division method makes subsequent positioning accuracy grading and boundary warning more targeted. Differentiated positioning and warning strategies can be formulated according to the location characteristics of different mesh units, providing a precise basis for area division in subsequent stages.

[0040] Mining equipment positioning terminals are installed on various mining equipment, such as mining vehicles and ore collectors, involved in the operation. These terminals include positioning signal transceiver units, inertial navigation units, depth sensors, and data processing units. They enable the acquisition and integration of multi-source data. Multi-dimensional data acquisition effectively avoids the limitations of single data sources, improving the comprehensiveness and reliability of equipment location information. When the mining equipment starts, the positioning terminal first establishes a stable communication connection with the surrounding distributed positioning node network. Through signal interaction with multiple positioning nodes, it completes the initial position calibration of the equipment. Multi-node interactive calibration significantly reduces initial positioning errors, ensuring that the equipment obtains an accurate initial position upon startup. Each unit of the positioning terminal begins operation: the depth sensor collects the current water depth data of the device, providing crucial vertical data support for 3D positioning; the inertial navigation unit records the initial motion state of the device, which can serve as a backup positioning method in case of subsequent positioning signal interruption, ensuring positioning continuity; the positioning signal transceiver unit receives position reference information fed back by nodes, providing external reference for position calculation; the data processing unit integrates and processes this multi-source data to generate the device's initial 3D position information, and uploads this information to the hierarchical positioning control module in real time, laying the initial data foundation for subsequent real-time positioning monitoring and ensuring high accuracy throughout the entire positioning process from the device startup stage.

[0041] During mining operations, mining equipment continuously moves and mines within the work area. During this period, the positioning terminal of the mining equipment maintains high-frequency data acquisition to obtain real-time data on changes in the equipment's position. High-frequency acquisition can capture subtle positional changes of the equipment and avoid lag in position information due to excessively long data acquisition intervals. At the same time, it maintains real-time signal interaction with the surrounding distributed positioning node network, receives position calibration information fed back by the nodes, and real-time calibration can promptly correct positioning deviations caused during equipment movement.

[0042] The hierarchical positioning control module continuously receives device location data uploaded by the positioning terminal and calibration information sent by the positioning node. It then uses a dynamic weighted positioning algorithm based on the distance between the device and the boundary to dynamically calculate the values ​​from this data. The formula is as follows: ,in The final positioning coordinates of the mining equipment. For the first The weight coefficients of each positioning node. For the first The device distance value measured by each positioning node This is the environmental correction factor. Distance is the influencing factor. The real-time distance between the device and the virtual boundary. To determine the number of nodes involved in the positioning calculation, the algorithm can flexibly adjust the weight of each positioning node's data based on the distance between the device and the boundary, ensuring higher positioning accuracy the closer the device is to the boundary. This allows the algorithm to determine the device's real-time precise location. Simultaneously, based on the device's real-time location and the parameters of the virtual boundary's 3D mesh model, the algorithm calculates the real-time distance between the device and the virtual boundary. This distance data is the core basis for subsequent positioning accuracy adjustments and boundary warnings, enabling the system to promptly grasp the positional relationship between the device and the boundary, providing data support for subsequent decision-making.

[0043] The positioning node health management module continuously collects status data from each positioning node at fixed intervals. This data includes key indicators such as battery level, CPU load, signal transmission power, operating temperature, and historical positioning errors. Comprehensive data collection enables timely detection of potential node failure risks. The module classifies the status of each node using a node health assessment formula, which is as follows: ,in For node health, This is the normalized value of the electricity. This is the normalized value of CPU load. For signal transmission power stability, Temperature is a factor that affects the environment. As a normalized value for positioning error, when a node is detected to be in a degraded state, the health management module automatically reduces its positioning weight and increases the transmission power of neighboring nodes. When a node is in a faulty state, it is immediately removed from the positioning network, and the replacement mechanism of mobile positioning nodes is triggered. At the same time, a node maintenance reminder is sent to the remote terminal to determine whether the node is currently in normal operation, degraded operation, or faulty state. The scientific classification method can provide a clear basis for subsequent control. If it is found that the power of a fixed positioning node is too low, causing the working state to be degraded, the module will automatically reduce the weight of that node in the positioning calculation to avoid its low-precision data affecting the overall positioning result.

[0044] Simultaneously, the signal transmission power of nearby fixed nodes is increased to compensate for the impact of node performance degradation on positioning accuracy, ensuring that the overall performance of the positioning network is not significantly affected by the degradation of a single node. If a mobile positioning node is detected to be faulty and unable to work properly, the module will immediately remove it from the positioning network to prevent erroneous data from the faulty node from interfering with positioning calculations. It will also trigger the replacement mechanism of other backup mobile positioning nodes, controlling the backup mobile nodes to move to the original working area of ​​the faulty node to quickly fill the positioning blind spot. At the same time, a node maintenance reminder will be sent to the remote terminal of the mother ship so that the staff can subsequently repair the faulty node and ensure the long-term stable operation of the positioning network.

[0045] The hierarchical positioning control module, based on the real-time position of the device and its real-time distance from the virtual boundary, and combined with the prediction results of the look-ahead positioning accuracy adjustment unit based on device motion trajectory prediction, dynamically triggers different levels of positioning accuracy adjustment strategies. The look-ahead prediction can anticipate changes in the device's position in advance, avoiding positioning errors caused by untimely accuracy adjustments. The formula is: ,in For the predicted future The distance between the device and the boundary at any given time. The distance between the device and the boundary at the current moment. The current speed of the device. Let be the angle between the direction of equipment movement and the direction of the boundary normal. To accelerate the equipment, This is the environmental disturbance compensation coefficient. As a speed-affected factor, when the mining equipment moves within the work area and the distance to the virtual boundary is ≥ a preset safety threshold, the module determines that the equipment is in a low-precision requirement area and adopts the basic positioning accuracy mode, which only needs to meet the positioning requirements of the equipment in normal mining. This mode can reduce the system's computational load and energy consumption while ensuring positioning accuracy. When the equipment approaches the virtual boundary and the distance to the boundary is < a preset safety threshold but ≥ a warning trigger threshold, the module activates the intermediate positioning accuracy mode to improve the accuracy of the positioning data and provide a more accurate position reference for the equipment's operation near the boundary, preventing the equipment from gradually approaching the boundary without being detected in time due to insufficient positioning accuracy. When the equipment continues to approach the boundary and the distance to the boundary is < a warning trigger threshold, the module immediately switches to the advanced positioning accuracy mode to maximize positioning accuracy and ensure that the position control error of the equipment when operating near the boundary is controlled within the required range, preventing the equipment from exceeding the work area and providing key protection for operational safety.

[0046] The boundary early warning module receives real-time data on the distance between the device and the virtual boundary, as well as the current positioning accuracy level, sent by the hierarchical positioning control module. Based on the preset early warning rules, it issues early warning signals of the corresponding level. Hierarchical early warning allows staff and the system to take differentiated response measures according to the degree of risk. When the distance between the device and the boundary is less than the early warning trigger threshold and greater than or equal to the safety critical threshold, and the distance condition is met for multiple consecutive sampling cycles, a level one early warning is triggered.

[0047] At this time, the local terminal on the mining equipment will display a yellow warning icon and the real-time distance between the equipment and the boundary, while issuing a low-frequency intermittent audible and visual alarm. The intuitive visual and auditory reminders can help the equipment operators quickly detect risks. The module will also send data frames containing the current position, direction of movement, and suggested turning angle to the equipment control system. Based on this information, the operator can manually adjust the equipment's operating parameters to keep the equipment away from the boundary and avoid low-level risks in a timely manner through manual intervention. When the distance between the equipment and the boundary is further reduced to <the safety critical threshold and ≥the emergency braking threshold, and this condition is met for multiple consecutive sampling cycles, a level two warning is triggered.

[0048] At this time, the mother ship's remote monitoring terminal will receive a flashing red warning signal accompanied by vibration alerts. This multi-level alert ensures that remote monitoring personnel do not miss any warning information. Simultaneously, the system automatically sends a deceleration command to the equipment control system. The equipment reduces its speed according to the speed adjustment curve in the command, minimizing the risk of exceeding the boundary. By combining automatic control with manual monitoring, moderate risks can be addressed. When the distance between the equipment and the boundary is less than the emergency braking threshold, and this situation is detected within a sampling cycle, a level three warning is immediately triggered. The warning module emits a high-frequency continuous audible and visual alarm and a high-frequency pulse signal. The strong warning signal can quickly attract the attention of all relevant personnel. The mother ship's remote monitoring center receives the highest priority alarm information. At the same time, the system automatically cuts off the power to the equipment's propulsion system and triggers the hydraulic braking device to force the equipment to stop moving. By using forced braking, the equipment is prevented from exceeding the work boundary and causing an accident, thus maximizing operational safety.

[0049] Throughout the mining operation, the data transmission module is responsible for data interaction between various system components. It adopts a hybrid transmission protocol based on chaotic encryption, combining radio and underwater acoustic communication technologies. This hybrid transmission method can give full play to the advantages of the two communication technologies. Radio communication ensures high-speed data transmission, while underwater acoustic communication adapts to the complex environment of the deep sea, thereby ensuring the real-time performance, stability, and security of data transmission. When the mining equipment positioning terminal establishes initial communication with the distributed positioning node, frequency hopping spread spectrum technology is used to generate a frequency hopping sequence in a specific way. Frequency hopping spread spectrum technology can effectively avoid electromagnetic interference and signal conflicts in the deep sea, ensuring the stable establishment of the initial communication link.

[0050] During the data transmission phase, the transmission method is dynamically selected based on the data type: Location data, which has high real-time requirements, uses radio communication to ensure rapid transmission of device location information, providing timely support for real-time positioning and decision-making; critical data such as early warning commands and control data uses dual-link redundant transmission of underwater acoustic communication and radio communication. Dual-link transmission enables data backup; even if one link fails, the other link can still ensure normal data transmission, avoiding serious consequences from the loss of critical commands. All data undergoes AES-256 encryption before transmission; this high-strength encryption prevents unauthorized theft and tampering. Furthermore, the encryption key is updated periodically through a key negotiation protocol. Regular key updates further enhance encryption security, preventing security risks caused by long-term use of the same key, and comprehensively ensuring the data security of the entire positioning system.

[0051] During mining operations, if the work area needs to be expanded or reduced based on mineral exploration results, the staff sends a boundary update command to the hierarchical positioning control module through the remote control terminal of the mother ship. The remote control method eliminates the need for staff to dive down, greatly improving operational convenience and safety. After receiving the command, the hierarchical positioning control module immediately updates the parameters of the three-dimensional mesh model of the virtual boundary, recalculates the boundary attributes, positioning accuracy requirements, and early warning level parameters of all mesh units, and ensures that the new mesh unit parameters are completely matched with the updated work area, providing an accurate basis for subsequent positioning and early warning.

[0052] Subsequently, the module sends the updated parameter instructions to the distributed positioning node network. Each positioning node adjusts its own operating parameters according to the instructions, such as signal coverage and interaction frequency with other nodes. The synchronous adjustment of node parameters ensures that the coverage and positioning accuracy of the entire positioning network are adapted to the new operation boundary, avoiding positioning blind spots or areas with insufficient accuracy. The entire process does not require interruption of mining operations, achieving seamless adjustment of the operation range, significantly reducing the downtime caused by boundary adjustments, improving mining efficiency, and ensuring the accuracy of equipment positioning and the safety of operations during the adjustment process. Example 2

[0053] In a deep-sea hydrothermal sulfide mining area, considering the complex geological structure and the presence of special areas such as hydrothermal vents, a distributed positioning node network was deployed around the mining area, key passages, and dangerous areas around the hydrothermal vents. Fixed positioning nodes were installed on seabed rock bases using corrosion-resistant shell materials to adapt to the complex chemical environment of the deep sea. Mobile positioning nodes were mounted on autonomous underwater vehicles (AUVs) with high-temperature resistance capabilities and were deployed primarily on critical paths connecting the mining area to external rescue channels. Their positions could be flexibly adjusted according to rescue needs. After deployment, the initial absolute coordinates of each node were obtained through high-precision positioning equipment on the mother ship. Relative coordinate calibration was then completed through multiple rounds of signal interaction between the nodes, constructing a virtual boundary covering the mining area and surrounding rescue channels. The virtual boundary also used a dynamic three-dimensional mesh model, dividing the mining area and rescue channels into cubic mesh units to support equipment positioning and path planning during subsequent rescue operations.

[0054] Mining robots responsible for mining operations and rescue submersibles used for emergency rescue are both equipped with mining equipment positioning terminals. After the mining robot is started, its positioning terminal establishes a communication connection with the distributed positioning node network. It completes the initial position calibration through signal interaction with surrounding nodes, integrates water depth data collected by depth sensors, motion state data recorded by inertial navigation units, and node reference data obtained by positioning signal transceiver units, generates initial three-dimensional position information, and uploads it to the hierarchical positioning control module. Before the rescue submersible is deployed by the mother ship, the staff completes the initialization settings of the positioning terminal in advance. After deployment, the terminal quickly establishes a connection with the distributed positioning node network, completes the initial position calibration, uploads its own initial position information to the hierarchical positioning control module, and receives virtual boundary and grid model data of the mining operation area to prepare for subsequent rescue positioning.

[0055] During operation, the mining robot's positioning terminal continuously collects its own position data and maintains real-time signal interaction with distributed positioning nodes, uploading position information to the hierarchical positioning control module in real time. The hierarchical positioning control module uses a dynamic weighted positioning algorithm based on the distance between the device and the boundary to calculate the mining robot's real-time accurate position and its real-time distance to the virtual boundary. When the mining robot suddenly malfunctions and stops working, its positioning terminal remains operational, continuously sending its own position data to the hierarchical positioning control module to ensure that the control module can grasp the accurate position of the malfunctioning device in real time. After the rescue submersible is deployed from the mother ship, its positioning terminal also collects position data in real time, interacts with positioning nodes to obtain calibration information, and the hierarchical positioning control module calculates the real-time position of the rescue submersible and, combined with the position data of the malfunctioning mining robot, plans the optimal rescue path for the rescue submersible.

[0056] The positioning node health management module collects status data of each positioning node at fixed intervals, including battery level, CPU load, signal transmission power, operating temperature, and historical positioning errors. During rescue operations, if a fixed positioning node located at a critical position in the rescue channel experiences excessive CPU load, the health management module determines that the node is in a degraded state using the node health assessment formula. It immediately reduces the node's weight in the positioning calculation and increases the signal transmission power of neighboring fixed nodes and nearby mobile positioning nodes to ensure that the positioning signal coverage in the rescue channel area is not affected. If a mobile positioning node is detected to be unable to move due to a power system failure, the module quickly removes it from the positioning network and triggers the backup mobile positioning node replacement mechanism. It controls the backup node to move to the critical rescue position where the faulty node is located and sends node fault alarms and maintenance reminders to the mother ship's remote terminal to ensure the integrity and positioning accuracy of the positioning network during the rescue operation.

[0057] The hierarchical positioning control module adjusts the positioning accuracy mode based on the distance between the faulty mining robot and the rescue submersible and the virtual boundary, combined with the prediction results of the look-ahead positioning accuracy adjustment unit based on equipment motion trajectory prediction. Since the faulty mining robot has stopped moving and is within the work area with a distance ≥ a preset safety threshold from the boundary, the basic positioning accuracy mode is sufficient for position monitoring. If the faulty equipment is close to the boundary of the danger zone and the distance is < a preset safety threshold, the intermediate positioning accuracy mode is activated to ensure accurate determination of the distance between the equipment and the danger zone. When the rescue submersible moves towards the faulty equipment, it uses the basic positioning accuracy mode when the distance to the work area boundary is ≥ a preset safety threshold. When it approaches the area where the faulty equipment is located, and the distance to the virtual boundary of that area is < a preset safety threshold but ≥ a warning trigger threshold, the intermediate positioning accuracy mode is activated. When it approaches the faulty equipment, and the distance to the temporary virtual boundary surrounding the faulty equipment is < a warning trigger threshold, it switches to the advanced positioning accuracy mode to ensure the rescue submersible can accurately locate the faulty equipment and avoid collisions with the faulty equipment or surrounding obstacles.

[0058] The boundary warning module issues corresponding warning signals based on the distance and positioning accuracy level between the faulty equipment and the rescue submersible and the virtual boundary. If the faulty mining robot moves slightly due to the malfunction and gradually approaches the boundary of the danger zone, a Level 1 warning is triggered when the distance to the boundary is less than the warning trigger threshold and greater than or equal to the safety critical threshold, and this condition is met for multiple consecutive sampling periods. The mother ship's remote monitoring terminal displays a yellow warning icon and the distance between the faulty equipment and the boundary of the danger zone, and simultaneously sends a warning message to the rescue command system to remind rescue personnel to pay attention to changes in the location of the faulty equipment. If the rescue submersible deviates from the planned path due to water flow during its movement and approaches the boundary of the danger zone outside the work area, a Level 1 warning is triggered when the distance to the boundary is less than the safety critical threshold and greater than or equal to the emergency braking threshold, and this condition is met for multiple consecutive sampling periods. In the event of an incident, a Level 2 warning is triggered. The local terminal on the rescue submersible emits a high-frequency audible and visual alarm, and the remote monitoring terminal receives a flashing red warning signal and vibrates. The system automatically sends a deceleration command to the rescue submersible, which reduces its speed. Simultaneously, rescue personnel manually adjust the submersible's direction of movement based on the warning information to guide it back to the correct path. If the rescue submersible tends to collide with the boundary of the danger zone due to a sudden malfunction, a Level 3 warning is immediately triggered when the distance to the boundary is less than the emergency braking threshold. The warning module emits a high-frequency continuous audible and visual alarm and a pulse signal. The remote monitoring center receives the highest priority alarm, and the system automatically cuts off the submersible's propulsion system power, triggers the braking device, and forces the submersible to stop moving. At the same time, an emergency rescue signal is sent to the mother ship to prevent the submersible from entering the danger zone.

[0059] During emergency rescue operations, the data transmission module ensures the secure transmission of critical data such as the location data of faulty equipment, the location data of rescue submersibles, and early warning and control commands. It employs a hybrid transmission protocol based on chaotic encryption. In the initial communication phase, frequency hopping spread spectrum technology is used to generate a specific frequency hopping sequence to prevent signal interference. During data transmission, real-time location data of the faulty equipment and the rescue submersible are transmitted rapidly via radio communication, ensuring that rescue personnel can monitor their positions in real time. Key data such as rescue commands and early warning information are transmitted using dual-link redundant transmission of underwater acoustic and radio communication to ensure data transmission reliability. All data is encrypted using AES-256 before transmission, and the encryption key is updated periodically to prevent data interception or tampering, ensuring data security during the rescue process and providing reliable data support for rescue decision-making.

[0060] During the rescue operation, if undetected small hydrothermal vents are discovered around the malfunctioning mining robot, requiring a temporary expansion of the danger zone boundary, the rescue commander sends a boundary update command to the hierarchical positioning control module via a remote control terminal. The hierarchical positioning control module immediately updates the parameters of the 3D mesh model of the virtual boundary, re-divides the mesh cells of the danger zone, and adjusts the positioning accuracy requirements and warning level parameters of these cells. Subsequently, the module sends the updated parameters to the distributed positioning node network, and each positioning node adjusts its working parameters to expand the signal monitoring range of the danger zone. At the same time, the updated boundary information is synchronized to the positioning terminal of the rescue submersible and the remote monitoring terminal of the mother ship. The rescue submersible adjusts its rescue path based on the new boundary information to avoid entering the newly added danger zone and ensure the safe conduct of the rescue operation.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A deep-sea mining graded joint positioning system, characterized in that, The system comprises the following components: a distributed positioning node network, mining equipment positioning terminals, a hierarchical positioning control module, a boundary early warning module, a data transmission module, and a positioning node health management module. The distributed positioning node network consists of multiple radio positioning nodes deployed around and at key locations in the deep-sea mining operation area. Each positioning node, based on radio positioning technology, collaboratively constructs a virtual boundary covering the preset mining operation area, and each positioning node has the functions of location information collection, signal transmission and reception. The mining equipment positioning terminal is installed on each mining equipment and is used to collect the equipment's real-time location data and interact with the distributed positioning node network to obtain the position calibration information fed back by the positioning nodes. The hierarchical positioning control module is communicatively connected to the distributed positioning node network and the mining equipment positioning terminal, respectively. It is used to trigger different levels of positioning accuracy adjustment strategies based on the distance between the mining equipment and the virtual boundary. The hierarchical positioning control module also includes a look-ahead positioning accuracy adjustment unit based on the prediction of the equipment's motion trajectory: when the distance between the equipment and the boundary is ≥ a preset safety threshold, the basic positioning accuracy mode is adopted; when the distance between the equipment and the boundary is < a preset safety threshold but ≥ a warning trigger threshold, the intermediate positioning accuracy mode is activated; when the distance between the equipment and the boundary is < a warning trigger threshold, the high positioning accuracy mode is switched. The boundary early warning module is communicatively connected to the hierarchical positioning control module and is used to issue corresponding early warning signals based on the distance between the mining equipment and the virtual boundary and the positioning accuracy level. The early warning signals include audible and visual early warnings, data early warnings, and remote terminal early warnings. The data transmission module is used to realize data interaction between the distributed positioning node network, the mining equipment positioning terminal, the hierarchical positioning control module and the boundary early warning module. It adopts a deep-sea anti-interference wireless transmission protocol to ensure the real-time performance and stability of data transmission. The positioning node health management module is connected to the distributed positioning node network and the hierarchical positioning control module, and is used to monitor the working status of each positioning node in real time and perform fault diagnosis and self-healing regulation.

2. The deep-sea mining graded joint positioning system according to claim 1, characterized in that, The distributed positioning node network includes fixed positioning nodes and mobile positioning nodes. Fixed positioning nodes are deployed on seabed fixed bases in deep-sea operating areas, encapsulated in a titanium alloy pressure-resistant shell, and equipped with a high-precision atomic clock and pressure sensor. The coverage radius of a single node is 50-80 meters, and the positioning signal attenuation rate through seawater is ≤0.02dB / m. Mobile positioning nodes are mounted on autonomous underwater vehicles and can dynamically adjust their deployment position according to mining operations. Their shells are made of lightweight, high-strength ceramic materials, with a maximum diving depth ≥6000 meters and a moving speed of 2-3 knots. The positioning signal transmission power can be dynamically adjusted according to the distance to the fixed nodes. Fixed nodes and mobile nodes interact with each other via time-division multiple access, and a synchronization calibration is completed every 50ms, with a synchronization error ≤1μs.

3. The deep-sea mining graded joint positioning system according to claim 1, characterized in that, The mining equipment positioning terminal includes a positioning signal transceiver unit, an inertial navigation unit, a depth sensor, and a data processing unit. The positioning signal transceiver unit adopts a dual-mode design with ultra-wideband (UWB) and underwater acoustic communication. UWB signals are used for short-range high-precision positioning with a ranging error ≤0.05 meters, while underwater acoustic communication is used for medium- to long-range data transmission with a transmission rate ≥10 kbps. The inertial navigation unit uses a combination of fiber optic gyroscopes and MEMS accelerometers, with a static drift rate ≤0.01° / h and a dynamic measurement range of ±500° / s. It can operate independently for ≥30 minutes when the positioning signal is interrupted, with a cumulative position error ≤0.5 meters / hour. The depth sensor uses a piezoresistive principle, with a measurement range of 0-11000 meters, an accuracy of ±0.1%FS, and a sampling frequency of 10Hz. The data processing unit uses a heterogeneous computing architecture of FPGA+ARM. The FPGA is responsible for fast signal processing, while the ARM is responsible for data fusion and decision output. Kalman filtering and wavelet denoising algorithms are used to preprocess multi-source data, ultimately generating three-dimensional position information with a sampling frequency of 20Hz.

4. The deep-sea mining graded joint positioning system according to claim 1, characterized in that, The positioning accuracy adjustment strategy of the hierarchical positioning control module includes a dynamic weighted positioning algorithm based on the distance between the device and the boundary. This algorithm achieves hierarchical control of positioning accuracy through the following formula: ,in The final positioning coordinates of the mining equipment. For the first The weight coefficients of each positioning node. For the first The device distance value measured by each positioning node This is the environmental correction factor. Distance is the influencing factor. The real-time distance between the device and the virtual boundary. This represents the number of nodes participating in the positioning calculation.

5. A deep-sea mining graded joint positioning system according to claim 1, characterized in that, The boundary warning module has three warning levels. The triggering conditions, response mechanisms and signal parameters of each warning level are as follows: Level 1 warning: When the distance between the device and the boundary is less than the warning trigger threshold and greater than or equal to the safety critical threshold, the triggering condition is that the distance condition is met for three consecutive sampling cycles. The warning signal adopts a low-frequency intermittent audible and visual alarm. The local terminal displays a yellow warning icon and distance value, and at the same time sends a data frame containing the current position, direction of movement and suggested turning angle to the device control system. Level 2 warning: When the distance between the equipment and the boundary is less than the safety threshold and greater than or equal to the emergency braking threshold, the trigger condition is that the distance condition is met for two consecutive sampling cycles. The warning signal switches to a high-frequency continuous audible and visual alarm. The remote monitoring terminal receives a red flashing warning signal accompanied by a vibration prompt, and at the same time automatically sends a deceleration command to the equipment control system, which includes a speed adjustment curve. Level 3 warning: When the distance between the equipment and the boundary is less than the emergency braking threshold, the trigger condition is that the distance condition is met for one sampling cycle. The warning signal uses a 1500Hz continuous audible and visual alarm + high-frequency pulse signal. The remote monitoring center receives the highest priority alarm, and at the same time the system automatically cuts off the power of the equipment propulsion system and triggers the hydraulic braking device.

6. A deep-sea mining graded joint positioning system according to claim 1, characterized in that, The data transmission module adopts a hybrid transmission protocol based on chaotic encryption, integrating radio and underwater acoustic communication technologies. Its communication link establishment and data transmission process is as follows: First, when the mining equipment positioning terminal establishes initial communication with the distributed positioning node, frequency hopping spread spectrum technology is used. The frequency hopping sequence is generated based on the equipment's unique identifier and the current timestamp through Logistic chaotic mapping. The frequency hopping bandwidth is 50-100MHz, and the frequency hopping rate is 500 hops / second. During the data transmission phase, the transmission method is dynamically selected based on the data type: positioning data uses radio communication with orthogonal amplitude modulation at a transmission rate of 2Mbps and a data packet size of 128 bytes, including a frame header, location information, timestamp, and node status; early warning commands and control data use dual-link redundant transmission of underwater acoustic communication and radio communication. The underwater acoustic communication uses orthogonal frequency division multiplexing technology with 64 subcarriers, BPSK modulation, a transmission rate of 500kbps, and data packets with forward error correction codes, with an error correction capability of ≥32 bits / packet; all data is encrypted with AES-256 before transmission, and the encryption key is updated hourly through a key negotiation protocol.

7. A deep-sea mining graded joint positioning system according to claim 1, characterized in that, The positioning node health management module collects node status data every 10 seconds, including battery level, CPU load, signal transmission power, temperature, and historical positioning error; and classifies the node status using the following formula: ,in For node health, This is the normalized value of the electricity. This is the normalized value of CPU load. For signal transmission power stability, Temperature is a factor that affects the environment. As a normalized value for positioning error, when a node is detected to be in a degraded state, the health management module automatically reduces its positioning weight and increases the node's transmission power; when a node is in a faulty state, it is immediately removed from the positioning network and the mobile positioning node replacement mechanism is triggered, while a node maintenance reminder is sent to the remote terminal.

8. A deep-sea mining graded joint positioning system according to claim 1, characterized in that, The look-ahead positioning accuracy adjustment unit of the hierarchical positioning control module predicts the change in distance between the device and the virtual boundary within the next 3 seconds using the following formula: ,in For the predicted future The distance between the device and the boundary at any given time. The distance between the device and the boundary at the current moment. The current speed of the device. Let be the angle between the direction of equipment movement and the direction of the boundary normal. To accelerate the equipment, This is the environmental disturbance compensation coefficient. As a speed impact factor, when it is predicted that the device will enter a distance range requiring higher accuracy within 3 seconds, the forward adjustment unit triggers the positioning accuracy upgrade process 1 second in advance to avoid accuracy loss caused by mode switching delay; if it is predicted that the device will move away from the boundary, the positioning accuracy downgrade is triggered 2 seconds later.

9. A deep-sea mining graded joint positioning system according to claim 1, characterized in that, The virtual boundary is constructed using a dynamic 3D mesh model. This model divides the work area into cubic mesh cells with a side length of 0.5 meters. Each mesh cell contains boundary attributes, positioning accuracy requirements, and early warning level parameters. The boundary influence weight of each mesh cell is calculated using the following formula: ,in coordinates The boundary of the grid cell affects the weight. For this grid cell to the th Euclidean distance between boundary feature points For the first The weights of each boundary feature point The total number of boundary feature points, when When the area is identified as a boundary-sensitive region, advanced positioning accuracy is automatically enabled. During this transitional period, medium positioning accuracy will be used. When the area is internal, basic positioning accuracy is enabled. This 3D mesh model supports dynamic updates. When the work area needs to be adjusted, the coordinates of the boundary feature points can be modified through a remote terminal. The system automatically recalculates the attributes of all mesh cells and synchronizes them to the distributed positioning node network.

10. A deep-sea mining graded joint positioning method, applicable to the deep-sea mining graded joint positioning system described in any one of claims 1-9, characterized in that, The specific steps of this method are as follows: Constructing a distributed positioning node network: Deploying multiple radio positioning nodes, including fixed positioning nodes and mobile positioning nodes, around the deep-sea mining operation area and at key locations. Each node works collaboratively based on radio positioning technology. The initial absolute coordinates of each node are obtained through the high-precision positioning equipment of the mother ship, and the relative coordinates are calibrated through mutual signal interaction between nodes. A virtual boundary covering the preset mining operation area is constructed. The virtual boundary adopts a dynamic three-dimensional mesh model, dividing the operation area into cubic mesh units with a side length of 0.5 meters. Mining equipment positioning terminal initialization: A positioning terminal is installed on the mining equipment. This terminal includes a positioning signal transceiver unit, an inertial navigation unit, a depth sensor, and a data processing unit. After the equipment is started, the positioning terminal establishes a communication connection with the distributed positioning node network, completes the initial position calibration through signal interaction, integrates the data collected by each unit to generate the initial three-dimensional position information of the equipment, and uploads it to the hierarchical positioning control module. Real-time positioning monitoring: During the operation of mining equipment, the positioning terminal continuously collects equipment position data and interacts with the distributed positioning node network in real time; the hierarchical positioning control module receives equipment position data and calibration information fed back by positioning nodes, uses a dynamic weighted positioning algorithm based on the distance between the equipment and the boundary to dynamically calculate the real-time accurate position of the equipment, and calculates the real-time distance between the equipment and the virtual boundary; Location node health management: The location node health management module collects the status data of each location node every 10 seconds, including battery level, CPU load, signal transmission power, temperature and historical positioning error. The module classifies the status of the nodes using a health assessment formula and performs fault diagnosis and self-healing regulation based on the classification results. Tiered accuracy adjustment: The tiered positioning control module triggers different levels of positioning accuracy adjustment strategies based on the distance between the device and the virtual boundary, combined with the prediction results of the look-ahead positioning accuracy adjustment unit based on device motion trajectory prediction: when the distance between the device and the boundary is ≥ the preset safety threshold, the basic positioning accuracy mode is adopted; when the distance between the device and the boundary is < the preset safety threshold and ≥ the warning trigger threshold, the intermediate positioning accuracy mode is activated; when the distance between the device and the boundary is < the warning trigger threshold, the system switches to the advanced positioning accuracy mode to ensure that the boundary control error is ≤ 0.3 meters. Boundary warning and response: The boundary warning module issues warning signals of corresponding levels based on the distance between the device and the virtual boundary and the current positioning accuracy level: When the warning is at level 1, the device operator receives a local reminder signal and manually adjusts the operating parameters; when the warning is at level 2, the remote monitoring terminal receives a warning signal, and the device automatically performs deceleration operation; when the warning is at level 3, the device is forced to brake suddenly, and an emergency alarm message is sent to the remote monitoring center. Data transmission and encryption: The data transmission module adopts a hybrid transmission protocol based on chaotic encryption to realize data interaction between the distributed positioning node network, mining equipment positioning terminal, hierarchical positioning control module and boundary early warning module. All data is encrypted before transmission. Dynamic boundary update: If the mining operation area needs to be adjusted, a boundary update command is sent to the hierarchical positioning control module through the remote control terminal. The hierarchical positioning control module synchronously updates the three-dimensional mesh model parameters of the virtual boundary and instructs the distributed positioning node network to adjust the working parameters.

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