Floating navigation mark anchorage positioning method and system

Abstract

The invention provides a floating navigation mark anchorage positioning method and system, and relates to the technical field of floating navigation mark anchorage detection, and the method comprises the steps: transmitting a first wave beam to an underwater object through a sonar device, screening out a first echo of the underwater object which is an anchorage, and obtaining a target echo; acquiring a ship position; the sonar equipment transmits a second wave beam to the ship; a second distance and a second angle between the sonar equipment and the ship are determined firstly, and then the real-time position of the sonar equipment is determined; then determining a first distance and a first angle between the mooring ingot and the sonar equipment; based on the real-time position of the sonar equipment, the first distance and the first angle, determining the current position of the mooring ingot; and finally, generating an adjustment path based on the current position and the design position of the tied ingot. And the echo corresponding to the concrete anchor is screened out as the target echo, so that the interference of irrelevant objects is eliminated. A sonar detection principle and an algorithm are used to calculate the specific position of the mooring anchor underwater. And by comparing the current position and the design position of the tied ingot, the deviation condition is known, and correction is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of floating navigation mark system anchor detection, and particularly relates to a floating navigation mark system anchor positioning method and system. BACKGROUND

[0002] The floating navigation mark provides functions of positioning, danger warning, indicating route and marking sea operation area for ship navigation, and is fixed to the anchor (as shown in the figure) sunk in the seabed through the anchor chain. Figure 3 The position of the anchor is the design position, and the stability of the anchor position determines the accurate performance of the floating navigation mark.

[0003] However, under the action of wind, flow and other external forces, the floating navigation mark moves near the anchor, has a certain radius of gyration, and the position of the floating navigation mark observed by the ship driver on the water surface is generally a certain distance from the position marked on the chart.

[0004] The navigation environment of the water area where the floating navigation mark is located is complex, if the anchor is displaced by a certain amount, the gyration radius of the floating navigation mark exceeds the allowable position error, which will lead to misjudgment of the navigation risk by the driver, and may cause ship accidents, and even serious accidents such as ship grounding and sinking.

[0005] At present, the anchor is not accurately placed, the anchor resetting accuracy is insufficient during maintenance, the navigation mark ship has a high frequency of sailing, which leads to high navigation mark maintenance cost, the quality of the floating navigation mark guiding and assisting navigation service needs to be improved, the actual position of the anchor deviates from the design position, and the anchor position deviation will affect the position of the floating navigation mark, and further affect the judgment of the navigation mark position by the ship driver. SUMMARY

[0006] The present application aims to provide a floating navigation mark anchor positioning method and system, and the technical problem to be solved is the underwater positioning difficulty in the prior art, the anchor position is accurately positioned, the deviation between the real-time position of the anchor and the design position is determined, the navigation mark ship operation is assisted, and the anchor is detected by using the sonar detection technology.

[0007] The present application is realized by the following technical scheme:

[0008] The first aspect provides a floating navigation mark anchor positioning method, comprising the following steps:

[0009] A plurality of sonar devices are carried in the water area of the floating navigation mark, and a sonar detection network is formed by the plurality of sonar devices;

[0010] The first beam is emitted to the underwater object by the sonar detection network, and after receiving the first echo corresponding to the first beam, the first time delay of the first echo is determined;

[0011] The first echo of the mooring is screened out as the underwater object, and a target echo is obtained;

[0012] The target echo is analyzed to determine the current position of the mooring;

[0013] Based on the current position and the design position of the mooring, an adjustment path is generated.

[0014] Further, the first echo of the underwater object is screened out as the mooring, including the following steps:

[0015] Based on the first echo, the effective signal-to-noise ratio, echo intensity and first detection angle of the first echo are determined;

[0016] The effective signal-to-noise ratio, echo intensity and first detection angle of the first echo are weighted and fused to obtain the confidence of the underwater object being a mooring;

[0017] The underwater object with a confidence higher than a preset value is determined as a mooring, and the first echo corresponding to the mooring is taken as a target echo.

[0018] Further, the effective signal-to-noise ratio of the first echo is determined, including the following steps:

[0019] The first echo is preprocessed to obtain an effective signal segment and a noise signal segment;

[0020] The average power of the effective signal segment and the noise signal segment is calculated respectively, and based on the average power of the effective signal segment and the noise signal segment, the effective signal-to-noise ratio of the first echo is determined.

[0021] Further, before determining the current position of the mooring, the real-time position of the sonar device receiving the target echo is obtained, including the following steps:

[0022] A reference direction is defined, and the position of the ship is obtained;

[0023] The sonar device emits a second beam to the ship, and after receiving a second echo corresponding to the second beam, a second time delay of the second echo is obtained; based on the second time delay and the propagation speed of the second beam in the air, a second distance between the sonar device and the ship is determined;

[0024] The second detection angle of the sonar device emitting the second beam to the ship is obtained, and based on the second detection angle and the reference direction, a second angle of the sonar device relative to the reference direction is determined;

[0025] Based on the aforementioned ship position, second distance, and second angle, the real-time position of the sonar equipment is determined.

[0026] Further, determining the current location of the aforementioned anchorage includes the following steps:

[0027] The real-time location of the sonar device that receives the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained.

[0028] Based on the aforementioned propagation speed and first time delay, the first distance between the mooring vessel and the sonar device is determined;

[0029] The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction.

[0030] Based on the real-time position, first distance, and first angle of the aforementioned sonar equipment, the current position of the mooring vessel is determined.

[0031] Furthermore, after obtaining the current position of the aforementioned mooring, the design position of the mooring is obtained; based on the current position and design position of the aforementioned mooring, an adjustment path is generated;

[0032] The aforementioned mooring is attached to the vessel, which then moves the mooring to the designed position according to the adjustment path.

[0033] The second aspect provides a floating beacon mooring positioning system, which employs the aforementioned floating beacon mooring positioning method; the system includes processing equipment.

[0034] A plurality of sonar devices, wherein the sonar devices are communicatively connected to a processing device; the sonar devices are used to transmit a first beam and a second beam, and to receive a first echo and a second echo.

[0035] GPS antenna, which is communicatively connected to the processing device, is installed on the ship; the GPS antenna is used to locate the ship's position.

[0036] The above-mentioned processing equipment is used to perform the following operations:

[0037] After receiving the first echo corresponding to the first beam, determine the first time delay of the first echo;

[0038] The underwater objects mentioned above were selected as the first echo of the moored vessel, and the target echo was obtained.

[0039] Analyze the target echoes to determine the current position of the mooring vessel;

[0040] Based on the current and designed positions of the anchorage, an adjustment path is generated.

[0041] Furthermore, the aforementioned processing equipment is used to filter underwater objects as the first echo of the mooring vessel, including the following steps:

[0042] Based on the first echo, the effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are determined.

[0043] The effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are weighted and fused to obtain the confidence level that the underwater object is the mooring vessel.

[0044] Underwater objects with a confidence level higher than the preset value are identified as moorings, and the first echo corresponding to the mooring is taken as the target echo.

[0045] Furthermore, the aforementioned processing equipment is used to acquire the real-time position of the sonar device receiving the target echo before determining the current position of the aforementioned anchorage, including the following steps:

[0046] Define the reference direction and obtain the ship's position;

[0047] The sonar device transmits a second beam to the ship. After receiving the second echo corresponding to the second beam, it obtains the second time delay of the second echo. Based on the second time delay and the propagation speed of the second beam in the air, it determines the second distance between the sonar device and the ship.

[0048] The second detection angle when the sonar device emits the second beam toward the ship is obtained, and the second angle of the sonar device relative to the reference direction is determined based on the second detection angle and the reference direction.

[0049] Based on the aforementioned ship position, second distance, and second angle, the real-time position of the sonar equipment is determined.

[0050] Furthermore, the aforementioned processing equipment is used to determine the current position of the aforementioned anchorage, including the following steps:

[0051] The real-time location of the sonar device that receives the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained.

[0052] Based on the aforementioned propagation speed and first time delay, the first distance between the mooring vessel and the sonar device is determined;

[0053] The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction.

[0054] Based on the real-time position, first distance, and first angle of the aforementioned sonar equipment, the current position of the mooring vessel is determined.

[0055] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0056] By deploying multiple sonar devices in a specific water area to form a detection network, the detection range of the underwater region is expanded. The first time delay is determined by transmitting a beam and receiving the echo; this time delay reflects the time elapsed from transmission to reception and is directly related to the beam's propagation distance. Measuring this first time delay provides a basis for subsequent calculations of the distance between underwater objects and the sonar devices. In the underwater environment, various objects may exist, generating numerous echoes. By selecting the echo corresponding to the mooring mooring as the target echo, interference from other irrelevant objects is eliminated, improving the accuracy and specificity of positioning and avoiding positioning errors caused by echoes from other objects. In-depth analysis of the target echo, combined with previously determined time delay information, utilizes the principles and algorithms of sonar detection to calculate the mooring mooring's specific underwater position, providing a basis for comparison with the designed position. By comparing the current position of the mooring mooring with the designed position, the deviation can be identified, providing direction for subsequent adjustment measures, reducing the deviation between the mooring mooring deployment position and the designed position, and ensuring the accuracy of floating buoy mooring deployment. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0058] Figure 1 This is the main flowchart of the present invention;

[0059] Figure 2 A simplified diagram showing the positional relationships between ships, sonar equipment, and underwater objects;

[0060] Figure 3 This is a schematic diagram showing the connection between a floating buoy and a mooring at sea. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0062] First embodiment:

[0063] Combination Figure 1 A method for positioning a floating beacon mooring includes the following steps:

[0064] Several sonar devices are installed in the waters where the floating navigation beacon is located, and a sonar detection network is formed by these sonar devices.

[0065] The sonar detection network transmits a first beam to the underwater object, and after receiving the first echo corresponding to the first beam, the first time delay of the first echo is determined.

[0066] The underwater objects mentioned above were selected as the first echo of the moored vessel, and the target echo was obtained.

[0067] Analyze the target echoes to determine the current position of the mooring vessel;

[0068] Based on the current and designed positions of the anchorage, an adjustment path is generated.

[0069] The actual underwater position of the mooring beacon is obtained using sonar detection. After determining the current position, it is compared with the designed position. If a deviation is found, appropriate adjustment measures are taken according to the specific situation, such as redeploying the mooring beacon or correcting the position of the already deployed mooring beacon (i.e., generating an adjustment path). This reduces the deviation between the deployed position and the designed position, improves the accuracy of floating navigation beacon deployment, ensures the normal operation of the floating navigation aid function, and keeps the deviation between the floating navigation beacon position observed by the ship's navigator and the position marked on the nautical chart within the allowable range.

[0070] Second embodiment:

[0071] Based on the first embodiment, the underwater object is selected as the first echo of the mooring vessel, including the following steps:

[0072] Based on the first echo, the effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are determined; wherein the effective signal-to-noise ratio, echo intensity, and first detection angle can be obtained using existing methods, and will not be elaborated further.

[0073] The effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are weighted and fused to obtain the confidence level that the underwater object is the mooring. The effective signal-to-noise ratio, echo intensity, and first detection angle are assigned corresponding weights. The magnitude of these weights can be defined by the user based on the actual situation, and will not be elaborated here.

[0074] Underwater objects with a confidence level higher than the preset value are identified as moorings, and the first echo corresponding to the mooring is taken as the target echo. This preset value can also be adjusted according to actual conditions, which will not be elaborated here.

[0075] In a specific embodiment, determining the effective signal-to-noise ratio of the first echo includes the following steps:

[0076] The first echo is preprocessed to obtain an effective signal segment and a noise signal segment. The preprocessing includes: the first echo is sequentially bandpass filtered and background noise canceled. The passband range of the bandpass filter is set according to the center frequency and bandwidth of the first beam. Background noise cancellation is achieved by subtracting the background noise spectrum from the current echo. The background noise spectrum can be estimated based on historical echoes.

[0077] Calculate the average power of the effective signal segment and the noise signal segment respectively. Based on the average power of the effective signal segment and the noise signal segment, determine the effective signal-to-noise ratio of the first echo, as shown in the following formula:

[0078] ,

[0079] in, Indicates the effective signal-to-noise ratio; This represents the average power of the effective signal segment; This represents the average power of the noise signal segment.

[0080] When calculating the confidence scores, the effective signal-to-noise ratio, echo intensity, and first detection angle need to be normalized and mapped to [0, 1] to obtain the signal-to-noise ratio confidence score, intensity confidence score, and angle confidence score, as follows:

[0081] The effective signal-to-noise ratio mentioned above is normalized.

[0082] ,in, Indicates the confidence level of the signal-to-noise ratio. and These represent the preset lower and upper threshold values ​​for the signal-to-noise ratio, respectively.

[0083] The above echo intensity was normalized.

[0084] ,in, Indicates the confidence level of intensity. Indicates echo intensity. and These represent the preset lower and upper threshold values ​​for intensity, respectively.

[0085] The first detection angle mentioned above is normalized.

[0086] ,in, Indicates the confidence level of the angle. This indicates the first detection angle, which is the angle between the first beam and the seawater normal. and These represent the preset lower and upper threshold angles, respectively.

[0087] The above thresholds can be adjusted according to the actual situation, and no restrictions are imposed here.

[0088] The confidence score is calculated by combining the signal-to-noise ratio confidence score, intensity confidence score, and angle confidence score. ,in, , , These represent the corresponding weights assigned to the effective signal-to-noise ratio, echo intensity, and first detection angle, respectively.

[0089] Third embodiment:

[0090] Based on the first embodiment, before determining the current position of the aforementioned anchorage, the real-time position of the sonar device receiving the target echo is first obtained, including the following steps:

[0091] Define a reference direction, which can be true north, and obtain the ship's position;

[0092] The sonar device transmits a second beam to the ship. After receiving the second echo corresponding to the second beam, it obtains the second time delay of the second echo. Based on the second time delay and the propagation speed of the second beam in the air, it determines the second distance between the sonar device and the ship.

[0093] The second detection angle when the sonar device emits the second beam toward the ship is obtained, and the second angle of the sonar device relative to the reference direction is determined based on the second detection angle and the reference direction.

[0094] Based on the aforementioned ship position, second distance, and second angle, the real-time position of the sonar equipment is determined.

[0095] One possible use case for reference, such as Figure 2 As shown, the ship's position is The distance to the sonar device is The angle between the ship's heading and true north is The angle between the sonar equipment and the ship is The real-time position of the sonar device can be calculated using the following formula.

[0096] ,in, This indicates the real-time location of the sonar device.

[0097] Fourth embodiment:

[0098] Based on the third embodiment, determining the current position of the mooring vessel includes the following steps:

[0099] The real-time location of the sonar device that receives the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained.

[0100] Based on the aforementioned propagation speed and first time delay, the first distance between the mooring vessel and the sonar device is determined;

[0101] The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction.

[0102] Based on the real-time position, first distance, and first angle of the aforementioned sonar equipment, the current position of the mooring vessel is determined.

[0103] One possible use case for reference, such as Figure 2 As shown, the real-time position of the sonar device is known to be... The horizontal mapping distance between the mooring and the sonar equipment is The angle between the first beam and true north is The current position of the anchorage can be calculated using the following formula.

[0104] ,in, This indicates the current position of the anchor.

[0105] Fifth embodiment:

[0106] Based on any of the above embodiments, after obtaining the current position of the mooring, the design position of the mooring is obtained; based on the current position and the design position of the mooring, an adjustment path is generated;

[0107] The aforementioned mooring is attached to the vessel, which then moves the mooring to the designed position according to the adjustment path.

[0108] The aforementioned vessel can be a buoy vessel; the current position of the mooring beacon is compared with its designed position to determine the offset distance and direction; a pressure sensor can be installed at the buoy vessel's operating point, and the floating buoy is connected to the operating point (i.e., when towing the floating buoy, the force on the mooring beacon before and after movement is different; the force on the mooring beacon after it begins to move is much greater than the force before it moves, this point is called the force critical point). The pressure sensor's pressure determines whether the mooring beacon is being towed. The floating buoy is towed in the offset direction; when the force critical point is reached, the mooring beacon is towed further in the offset direction to restore it to its designed position.

[0109] Sixth embodiment:

[0110] A floating beacon mooring positioning system, which employs the aforementioned floating beacon mooring positioning method; the system includes processing equipment.

[0111] Several sonar devices, including multi-beam sonar devices, are communicatively connected to a processing device; the sonar devices are used to transmit a first beam and a second beam, and to receive a first echo and a second echo.

[0112] GPS antenna, which is communicatively connected to the processing device, is installed on the ship; the GPS antenna is used to locate the ship's position.

[0113] The above-mentioned processing equipment is used to perform the following operations:

[0114] After receiving the first echo corresponding to the first beam, determine the first time delay of the first echo;

[0115] The underwater objects mentioned above were selected as the first echo of the moored vessel, and the target echo was obtained.

[0116] Analyze the target echoes to determine the current position of the mooring vessel;

[0117] Based on the current and designed positions of the anchorage, an adjustment path is generated.

[0118] In a specific embodiment, the above-mentioned processing equipment is used to filter out underwater objects as the first echo of the mooring vessel, including the following steps:

[0119] Based on the first echo, the effective signal-to-noise ratio, echo intensity, and detection angle of the first echo are determined.

[0120] The effective signal-to-noise ratio, echo intensity, and detection angle of the first echo are weighted and fused to obtain the confidence level that the underwater object is the mooring.

[0121] Underwater objects with a confidence level higher than the preset value are identified as moorings, and the first echo corresponding to the mooring is taken as the target echo.

[0122] In a specific embodiment, the processing device described above is used to obtain the real-time position of the sonar device receiving the target echo before determining the current position of the anchorage, including the following steps:

[0123] Define the reference direction and obtain the ship's position;

[0124] The sonar device transmits a second beam to the ship. After receiving the second echo corresponding to the second beam, it obtains the second time delay of the second echo. Based on the second time delay and the propagation speed of the second beam in the air, it determines the second distance between the sonar device and the ship.

[0125] The second detection angle when the sonar device emits the second beam toward the ship is obtained, and the second angle of the sonar device relative to the reference direction is determined based on the second detection angle and the reference direction.

[0126] Based on the aforementioned ship position, second distance, and second angle, the real-time position of the sonar equipment is determined.

[0127] In a specific embodiment, the processing device described above is used to determine the current position of the mooring vessel, including the following steps:

[0128] The real-time location of the sonar device that receives the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained.

[0129] Based on the aforementioned propagation speed and first time delay, the first distance between the mooring vessel and the sonar device is determined;

[0130] The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction.

[0131] Based on the real-time position, first distance, and first angle of the aforementioned sonar equipment, the current position of the mooring vessel is determined.

[0132] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for positioning a floating beacon mooring, characterized in that, Includes the following steps: Several sonar devices are installed in the waters where the floating navigation beacon is located, and the sonar devices form a sonar detection network. The sonar detection network transmits a first beam to the underwater object, and after receiving the first echo corresponding to the first beam, the first time delay of the first echo is determined. The underwater object is selected as the first echo of the moored vessel to obtain the target echo; Analyze the target echo to determine the current position of the anchorage; An adjustment path is generated based on the current and designed positions of the anchorage.

2. The floating beacon mooring positioning method according to claim 1, characterized in that, The process of identifying underwater objects as the first echo from the moored vessel includes the following steps: Based on the first echo, determine the effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo; The effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are weighted and fused to obtain the confidence level that the underwater object is the mooring vessel. Underwater objects with a confidence level higher than a preset value are identified as moorings, and the first echo corresponding to the mooring is taken as the target echo.

3. The floating beacon mooring positioning method according to claim 2, characterized in that, Determining the effective signal-to-noise ratio of the first echo includes the following steps: The first echo is preprocessed to obtain an effective signal segment and a noise signal segment; The average power of the effective signal segment and the noise signal segment are calculated respectively, and the effective signal-to-noise ratio of the first echo is determined based on the average power of the effective signal segment and the noise signal segment.

4. The floating beacon mooring positioning method according to claim 1, characterized in that, Before determining the current position of the anchorage, the real-time position of the sonar device receiving the target echo is obtained, including the following steps: Define the reference direction and obtain the ship's position; The sonar device transmits a second beam to the ship, and after receiving the second echo corresponding to the second beam, obtains the second time delay of the second echo; based on the second time delay and the propagation speed of the second beam in the air, the second distance between the sonar device and the ship is determined. The second detection angle when the sonar device emits a second beam toward the ship is obtained, and the second angle of the sonar device relative to the reference direction is determined based on the second detection angle and the reference direction. The real-time position of the sonar equipment is determined based on the ship's position, the second distance, and the second angle.

5. The floating beacon mooring positioning method according to claim 4, characterized in that, Determining the current position of the mooring vessel includes the following steps: The real-time location of the sonar device receiving the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained. Based on the propagation speed and the first time delay, a first distance is determined between the anchorage and the sonar device; The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction. The current position of the mooring vessel is determined based on the real-time position, first distance, and first angle of the sonar device.

6. The floating beacon mooring positioning method according to claim 1, characterized in that, After obtaining the current position of the mooring, the design position of the mooring is obtained; based on the current position and the design position of the mooring, an adjustment path is generated; The mooring is attached to the vessel, and the vessel moves the mooring to the designed position according to the adjustment path.

7. A floating beacon mooring positioning system, characterized in that, The system employs the floating beacon mooring positioning method as described in any one of claims 1 to 6; the system includes processing equipment. A plurality of sonar devices, wherein the sonar devices are communicatively connected to a processing device; the sonar devices are used to transmit a first beam and a second beam, and to receive a first echo and a second echo. A GPS antenna, which is communicatively connected to a processing device, is installed on a ship; the GPS antenna is used to locate the ship's position. The processing device is used to perform the following operations: After receiving the first echo corresponding to the first beam, determine the first time delay of the first echo; The underwater object is selected as the first echo of the moored vessel to obtain the target echo; Analyze the target echo to determine the current position of the anchorage; An adjustment path is generated based on the current and designed positions of the anchorage.

8. The floating beacon mooring positioning system according to claim 7, characterized in that, The processing equipment is used to filter out underwater objects as the first echo of the mooring vessel, and includes the following steps: Based on the first echo, determine the effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo; The effective signal-to-noise ratio, echo intensity, and first detection angle of the first echo are weighted and fused to obtain the confidence level that the underwater object is the mooring vessel. Underwater objects with a confidence level higher than a preset value are identified as moorings, and the first echo corresponding to the mooring is taken as the target echo.

9. The floating beacon mooring positioning system according to claim 7, characterized in that, The processing device is used to obtain the real-time position of the sonar device receiving the target echo before determining the current position of the anchorage, including the following steps: Define the reference direction and obtain the ship's position; The sonar device transmits a second beam to the ship, and after receiving the second echo corresponding to the second beam, obtains the second time delay of the second echo; based on the second time delay and the propagation speed of the second beam in the air, the second distance between the sonar device and the ship is determined. The second detection angle when the sonar device emits a second beam toward the ship is obtained, and the second angle of the sonar device relative to the reference direction is determined based on the second detection angle and the reference direction. The real-time position of the sonar equipment is determined based on the ship's position, the second distance, and the second angle.

10. The floating beacon mooring positioning system according to claim 9, characterized in that, The processing device is used to determine the current position of the mooring vessel, including the following steps: The real-time location of the sonar device receiving the target echo, the propagation speed of the first beam emitted by the sonar device in the seawater, and the first time delay are obtained. Based on the propagation speed and the first time delay, a first distance is determined between the anchorage and the sonar device; The first detection angle when the sonar device emits the first beam toward the anchor is obtained, and the first angle of the sonar device relative to the reference direction is determined based on the first detection angle and the reference direction. The current position of the mooring vessel is determined based on the real-time position, first distance, and first angle of the sonar device.

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