Real-time detection method and system for positioning precision and reliability of open sea GNSS (Global Navigation Satellite System)

Abstract

The invention provides a real-time detection method and system for the positioning precision and reliability of an open-sea GNSS, and the method comprises the steps: setting N GNSS receivers on open-sea equipment, N > = 3, enabling the phase centers to be distributed at N vertexes of a TIN triangulation network, and calibrating the relative position parameters between the phase centers of the N GNSS receivers; synchronous observation and data acquisition: N GNSS receivers synchronously receive and acquire satellite observation signals and / or high sea base station differential correction signals to form observation data; real-time resolving: on the basis of a GNSS RTK carrier phase difference resolving engine and an LAMBDA integer ambiguity fast fixing algorithm, according to observation data of the N GNSS receivers, real-time resolving is carried out to obtain actual relative position parameters among phase centers of the N receivers; precision verification and comparison: setting a positioning error threshold value; and resolving a deviation value between the actual relative position parameter and the calibrated relative position parameter among the phase centers of the N receivers in real time, and comparing the deviation value with a positioning error threshold value to determine whether the positioning accuracy is qualified or not.

Description

Technical Field

[0001] This invention relates to the field of satellite positioning and measurement technology, and in particular to a real-time verification method and system for the accuracy and reliability of GNSS positioning in the open sea. Background Technology

[0002] Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) positioning technology, with its centimeter-level positioning accuracy, has been widely used in surveying and setting-out work in fields such as land mapping and engineering construction. In land surveying scenarios, GNSS-RTK positioning results can usually be checked and compared in real time using preset land control points to promptly detect and correct positioning errors, ensuring the accuracy of surveying and setting-out.

[0003] However, in offshore surveying and setting out operations, due to the distance from land and the lack of land control points for verification and comparison, existing GNSS-RTK surveying and setting out technology has significant drawbacks: on the one hand, it is impossible to verify the accuracy and reliability of the positioning results in real time. If positioning deviations are caused by factors such as satellite signal interference, ionospheric delay, tropospheric refraction, or receiver equipment failure, it will directly cause surveying and setting out errors, leading to quality problems in offshore engineering construction and even safety hazards. On the other hand, traditional post-construction data verification methods cannot meet the real-time requirements of offshore construction. Once a positioning anomaly occurs, construction cannot be stopped in time, which can easily lead to a waste of a large amount of human and material resources.

[0004] In existing technologies, GNSS positioning accuracy verification schemes generally rely on external reference benchmarks, making them difficult to adapt to scenarios in the open ocean without control points. For example, Chinese invention patent CN114280645A discloses a GNSS navigation message verification method, device, and storage medium. Its core is to verify navigation message errors through multi-receiver clock bias analysis, which only verifies the correctness of the message in the signal transmission stage and does not address the actual accuracy verification of the positioning results. Therefore, it cannot solve the accuracy control problem in open-ocean RTK surveying and setting out. Thus, there is an urgent need for a real-time GNSS positioning accuracy verification technology in the open ocean that does not rely on land control points, has a simple structure, and responds quickly, to fill the gap in existing technologies. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a real-time verification method and system for the accuracy and reliability of GNSS positioning in the open sea, which does not rely on land control points, has a simple structure, and responds quickly.

[0006] To achieve the above objectives, this invention provides a real-time verification method for the accuracy and reliability of GNSS positioning in the open ocean, comprising the following steps:

[0007] S1. Set up N GNSS receivers on offshore equipment, N≥3, and construct a TIN triangulation network with N vertices in the horizontal direction. Any triangle in the TIN triangulation network is an isosceles or equilateral triangle. The phase centers of the N GNSS receivers are distributed on the N vertices of the TIN triangulation network. The relative position parameters between the phase centers of the N GNSS receivers are calibrated to obtain the calibrated relative position parameters.

[0008] S2. Synchronous observation and data acquisition: N GNSS receivers synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations to form observation data;

[0009] S3. Real-time calculation: Based on the GNSS RTK carrier phase difference calculation engine and LAMBDA integer ambiguity fast fixing algorithm, the actual relative position parameters between the phase centers of N receivers are calculated in real time according to the observation data of N GNSS receivers.

[0010] S4. Accuracy Verification and Comparison: Set the positioning error threshold; calculate in real time the deviation between the actual relative position parameters and the calibrated relative position parameters between the phase centers of N receivers, and compare the deviation with the positioning error threshold to determine whether the positioning accuracy is qualified.

[0011] Furthermore, in step S1, N=3, and the phase centers of the three GNSS receivers are distributed at three points of an isosceles or equilateral triangle.

[0012] Furthermore, in step S1, the horizontal distance between the phase centers of adjacent GNSS receivers is 3-8m.

[0013] Furthermore, in step S1, a total station with an accuracy of 0.1mm is used to precisely calibrate the relative position parameters between the phase centers of the N GNSS receivers.

[0014] Furthermore, in step S4, the positioning error threshold is determined according to the standard threshold parameter library of Class D, Class E and engineering measurement-specific accuracy levels in GB / T 18314-2024 "Measurement Specification for Global Navigation Satellite Systems".

[0015] Furthermore, in step S1, the calibrated relative position parameters include horizontal distance and height difference; in step S3, the actual relative position parameters also include horizontal distance and height difference; in step S4, the point-by-point difference between the calibrated relative position parameters and the actual relative position parameters is calculated to obtain deviation values ​​including horizontal distance deviation value, height difference deviation value and comprehensive distance deviation value.

[0016] This invention also provides a real-time verification system for the positioning accuracy and reliability of GNSS in the open ocean, used to implement the above-mentioned real-time verification method, including a GNSS receiver array module, a system database module, a data transmission module, a real-time calculation module, a threshold setting module, and a verification and comparison module, wherein:

[0017] GNSS receiver array module: includes N GNSS receivers for installation on offshore equipment, N≥3, constructing a TIN triangulation network with N vertices in the horizontal direction, where any triangle in the TIN triangulation network is an isosceles or equilateral triangle, and the phase centers of the N GNSS receivers are distributed on the N vertices of the TIN triangulation network; the N GNSS receivers are used to synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations to form observation data;

[0018] System database module: Used to store data, including calibration relative position parameters between the phase centers of N GNSS receivers in the GNSS receiver array module;

[0019] Data transmission module: Establishes communication between N GNSS receivers and the real-time calculation module to transmit the observation data of the N GNSS receivers to the real-time calculation module; and establishes communication between the real-time calculation module and the verification and comparison module to transmit the calculation results of the real-time calculation module to the verification and comparison module in real time.

[0020] Real-time calculation module: It has a built-in GNSS RTK carrier phase difference calculation engine and LAMBDA integer ambiguity fast fixing algorithm, which can calculate the actual relative position parameters between the phase centers of N GNSS receivers in real time based on the observation data received from N GNSS receivers;

[0021] Threshold setting module: used to set the positioning error threshold and establish data communication with the verification and comparison module;

[0022] The verification and comparison module establishes data communication with both the system database module and the threshold setting module. It can retrieve the positioning error threshold from the threshold setting module and the calibration relative position parameters between the phase centers of N GNSS receivers from the system database module. It can compare the actual relative position parameters between the phase centers of the N GNSS receivers with the retrieved calibration relative position parameters between the phase centers of the N GNSS receivers to obtain the deviation value. The deviation value is then compared with the positioning error threshold to determine whether the positioning accuracy is qualified, and the judgment result is output.

[0023] Furthermore, it also includes an alarm module, which establishes data communication with the verification and comparison module, can receive the judgment results from the verification and comparison module, and execute an alarm based on the judgment results.

[0024] Furthermore, it also includes a construction control module, which establishes data communication with the inspection and comparison module. The construction control module is used to connect with the construction device on the offshore equipment, can receive the judgment results of the inspection and comparison module, and send stop or resume operation instructions to the construction device of the offshore equipment according to the judgment results.

[0025] Furthermore, the data transmission module adopts a dual-link communication architecture with both wired and wireless connections.

[0026] As described above, the real-time inspection method and system of the present invention have the following beneficial effects:

[0027] 1. Enables autonomous verification without control points in the open sea: It does not rely on land control points, but uses GNSS receivers fixedly deployed on offshore equipment to build autonomous verification benchmarks, solving the technical problem that GNSS RTK measurement and stakeout in the open sea cannot be verified in real time.

[0028] 2. High real-time performance and reliability: By adopting synchronous observation and real-time calculation technology, the positioning accuracy can be checked and compared at the millisecond level. Once a positioning abnormality occurs, an alarm can be triggered immediately and construction can be stopped, effectively avoiding construction quality problems and resource waste caused by positioning errors.

[0029] 3. Simple structure and controllable cost: Three GNSS receivers can be arranged in a triangle. Compared with the complex networking scheme of multiple receivers, the structure is simpler, the installation and maintenance are more convenient, and the equipment cost and system complexity are reduced.

[0030] 4. High adaptability: It supports adjusting the error threshold according to different operational accuracy requirements, adapting to various measurement and layout scenarios such as offshore engineering construction and marine surveying, and adopts an anti-interference data transmission method to adapt to the complex electromagnetic environment of the open sea. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the workflow of the real-time testing method and system of the present invention. Detailed Implementation

[0032] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0033] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and objectives of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0034] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0035] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0036] See Figure 1 This invention provides a real-time verification method for the accuracy and reliability of GNSS positioning in the open ocean, comprising the following steps:

[0037] S1. Set up N GNSS receivers on offshore equipment, where N≥3. Construct a TIN triangulation network with N vertices in the horizontal direction, where any triangle in the TIN triangulation network is isosceles or equilateral. The phase centers of the N GNSS receivers are distributed at the N vertices of the TIN triangulation network. Calibrate the relative position parameters between the phase centers of the N GNSS receivers to obtain the calibrated relative position parameters, which serve as the theoretical geometric reference parameters. The phase center of the GNSS receiver refers to the theoretical signal phase measurement reference point when the receiver antenna receives the satellite carrier signal. The offshore equipment can be a mobile device (e.g., a workboat) or a semi-fixed device (e.g., an anchored floating platform). The offshore equipment is positioned using GNSS.

[0038] In this step, the TIN triangulation set in the horizontal direction is a conventional mesh structure. It uses discrete 3D points to construct continuous, non-overlapping triangular faces to fit a spatial data model of the 3D surface morphology. Preferably, the number of GNSS receivers N=3, and the phase centers of the three GNSS receivers are distributed at three points of an isosceles or equilateral triangle. Three GNSS receivers ensure the verification effect and reduce the subsequent computational workload. When increasing the number of GNSS receivers beyond three, simply add a vertex outside one side of the original isosceles or equilateral triangle; that is, determine the horizontal installation positions of multiple GNSS receivers according to the TIN triangulation modeling method. Preferably, the horizontal distance between the phase centers of adjacent GNSS receivers is 3-8m, that is, the side length of the isosceles or equilateral triangle is 3-8m, which can be adjusted according to the spatial adaptation of the offshore equipment.

[0039] After the three GNSS receivers are deployed, a total station with an accuracy of 0.1mm is preferably used to calibrate the relative position parameters between the phase centers of the three receivers, obtaining calibrated relative position parameters (i.e., actual relative position parameters). These calibrated relative position parameters include horizontal distance (i.e., the side lengths of the horizontal triangle where the three GNSS receivers are located), height difference, and spatial angle. These calibrated relative position parameters are used as theoretical geometric reference parameters for subsequent comparative analysis. Preferably, calibration is performed through three independent precision measurements using a total station, and the average value is taken as the relative position parameter. The calibration measurement environment must be unobstructed and free from strong electromagnetic interference, with an interval of ≥30s between each calibration measurement, and the range of the three calibration measurement results ≤0.3mm.

[0040] S2. Synchronous observation and data acquisition: N GNSS receivers synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations to form observation data.

[0041] Preferably, in this embodiment, during actual operation, the GNSS receiver can select either satellite observation signals or differential correction signals from offshore reference stations to receive and acquire, depending on its actual location. For example, considering economic costs, it may choose to receive and acquire offshore reference station differential correction signals when available, and choose to receive and acquire satellite observation signals when unavailable. These satellite observation signals can be from multiple systems such as BeiDou, GPS, GLONASS, and Galileo. Alternatively, the GNSS receiver can simultaneously receive and acquire both satellite observation signals and offshore reference station differential correction signals. The acquired data includes carrier phase observations, pseudorange observations, satellite ephemeris, and differential correction values. The results calculated from the two signal data can be mutually verified.

[0042] Preferably, all GNSS receivers are equipped with a high-precision clock synchronization module to ensure that the signal reception and acquisition of all GNSS receivers are completely synchronized. The sampling time difference of the three GNSS receivers is ≤1ms, and the sampling frequency can be adjusted according to the operational accuracy requirements, ranging from 10-50Hz.

[0043] S3. Real-time Calculation: Based on the GNSS RTK carrier phase differential calculation engine and the LAMBDA integer ambiguity fast fixing algorithm, the actual relative position parameters between the phase centers of N GNSS receivers are calculated in real time, including horizontal distance, altitude difference, and spatial angle, based on observation data from N GNSS receivers (satellite observation signals and / or differential correction signals from offshore reference stations). The GNSS RTK carrier phase differential calculation engine and the LAMBDA integer ambiguity fast fixing algorithm are existing mature methods and will not be detailed further. The frequency of real-time calculation is consistent with the sampling frequency of the GNSS receivers, and the success rate of integer ambiguity fixing is ≥99.5%.

[0044] S4. Accuracy Verification and Comparison: Set the positioning error threshold; calculate in real time the deviation between the actual relative position parameters and the calibrated relative position parameters between the phase centers of N receivers, and compare the deviation with the positioning error threshold to determine whether the positioning accuracy is qualified.

[0045] In this step, the positioning error threshold can be determined according to the standard threshold parameter library of Class D, Class E, and engineering survey-specific accuracy levels in GB / T 18314-2024 "Measurement Specification for Global Navigation Satellite Systems". The corresponding threshold for the required parameter can be selected. Alternatively, the positioning error threshold can be customized by the operator based on actual operational needs. Positioning error thresholds include horizontal distance error threshold, height difference error threshold, and comprehensive error threshold. For example, in offshore wind power foundation layout operations, a horizontal distance error threshold ≤ 15mm and a height difference error threshold ≤ 30mm can be set, and the threshold parameters can be locked.

[0046] In this step, specifically, point-by-point difference calculations are performed on the calibrated relative position parameters and the actual relative position parameters to obtain deviation values, including horizontal distance deviation, height difference deviation, and comprehensive distance deviation. The comprehensive distance deviation refers to the deviation of the straight-line distance from the receiver phase center, which can be calculated from the horizontal distance deviation and height difference deviation. Then, the horizontal distance deviation is compared with a horizontal distance error threshold, the height difference deviation is compared with a height difference error threshold, and the comprehensive error threshold is compared with a comprehensive error threshold. If all deviation values ​​are within the threshold range, the current GNSS positioning accuracy is determined to be reliable, and "Accuracy Qualified" is output. If any deviation value exceeds the threshold range, the positioning accuracy is determined to be abnormal, and "Accuracy Abnormal" is output. Thus, by comparing the deviation values ​​with preset positioning error thresholds, two judgment results, "Accuracy Qualified" and "Accuracy Abnormal," are generated and output.

[0047] S4. Based on the judgment result, an alarm can be triggered or the construction status of the offshore equipment can be controlled. Specifically, if the output judgment result is "accuracy qualified", the operation will continue normally; if the output judgment result is "accuracy abnormal", an audible and visual alarm can be triggered and the operation can be stopped.

[0048] Then, troubleshoot and resolve the positioning anomaly, and re-execute steps S2 to S4. When the "accuracy qualified" judgment result is output three times consecutively (interval time ≥ 1s), the alarm is cleared, and the construction control module sends a recovery command to resume the operation.

[0049] This invention also provides a real-time verification system for the accuracy and reliability of GNSS positioning in offshore areas, used to implement the above-mentioned real-time verification method, thereby verifying the accuracy and reliability of GNSS positioning for offshore equipment. The real-time verification system includes a GNSS receiver array module, a system database module, a data transmission module, a real-time calculation module, a threshold setting module, and a verification and comparison module, etc., specifically:

[0050] GNSS receiver array module:

[0051] The system comprises N GNSS receivers (N≥3) for installation on offshore equipment. A TIN triangulation network with N vertices is constructed horizontally, where any triangle in the TIN is isosceles or equilateral. The phase centers of the N GNSS receivers are distributed across the N vertices of the TIN. A rigid connection is ensured between the GNSS receivers and the stable platform of the offshore equipment. The N GNSS receivers are used to synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations, forming observation data. Each GNSS receiver has a high-precision clock synchronization module to ensure synchronization of all GNSS receivers when receiving and acquiring signals.

[0052] System database module:

[0053] It is used to store data, including the calibration relative position parameters between the phase centers of N GNSS receivers in the GNSS receiver array module, as well as the acquired data of the GNSS receiver, and the calculation results data of the solution module and the comparison module.

[0054] Data transmission module:

[0055] Communication is established between N GNSS receivers and the real-time calculation module to transmit the observation data from the N GNSS receivers to the real-time calculation module; and communication is established between the real-time calculation module and the verification and comparison module to transmit the calculation results of the real-time calculation module to the verification and comparison module in real time.

[0056] In this embodiment, the data transmission module preferably adopts a dual-link communication architecture of "wired as primary and wireless as backup". The wired primary link uses industrial Ethernet wired communication (transmission rate ≥100Mbps), and the wireless backup link uses a microwave wireless communication module that is resistant to sea fog and electromagnetic interference. The core function of the data transmission module is to transmit the synchronous observation data from the three GNSS receivers to the real-time calculation module in real time, and at the same time feed back the relative position calculation results output by the real-time calculation module to the verification and comparison module, with the transmission delay controlled within 50ms.

[0057] Real-time solution module:

[0058] It incorporates a GNSS RTK carrier phase difference calculation engine and a LAMBDA integer ambiguity fast fixing algorithm. Based on the observation data received from N GNSS receivers, it can calculate the actual relative position parameters between the phase centers of N GNSS receivers in real time. In this embodiment, it specifically calculates the actual relative position parameters (including horizontal distance, height difference, and spatial angle) between each pair of phase centers of three GNSS receivers. The calculation frequency is consistent with the sampling frequency of the GNSS receivers. The integer ambiguity fixing success rate is ≥99.5%, and the output delay of the calculation result is ≤50ms.

[0059] Threshold setting module:

[0060] This module is used to set positioning error thresholds and establish data communication with the verification and comparison module. Preferably, the threshold setting module has adjustable multi-level accuracy thresholds and a built-in standard threshold parameter library for Class D, Class E, and engineering survey-specific accuracy levels from GB / T 18314-2024 "Global Navigation Satellite System (GNSS) Measurement Specification," which can be directly accessed. Alternatively, operators can customize the positioning error thresholds (including horizontal distance error thresholds, altitude difference error thresholds, and comprehensive error thresholds) according to specific operational needs. Simultaneously, the threshold setting module supports encrypted storage and access control of threshold parameters to prevent accidental modification.

[0061] Verification and comparison module:

[0062] Data communication is established with both the system database module and the threshold setting module. It can retrieve the positioning error threshold from the threshold setting module and the calibration relative position parameters between the phase centers of N GNSS receivers from the system database module. The verification and comparison module can compare the actual relative position parameters between the phase centers of the N GNSS receivers with the retrieved calibration relative position parameters between the phase centers of the N GNSS receivers to obtain the deviation value. The deviation value is then compared with the positioning error threshold to determine whether the positioning accuracy is qualified and outputs the judgment result.

[0063] The core of the verification and comparison module is the deviation calculation and threshold judgment unit. In this embodiment, the calibration relative position parameters stored in the system database module are first called, and the actual relative position parameters output by the real-time calculation module are used to calculate the difference point by point to obtain the deviation value, including the horizontal distance deviation value, the height difference deviation value and the comprehensive distance deviation value. The deviation value is compared with the preset positioning error threshold in real time to generate two judgment results: "accuracy qualified" or "accuracy abnormal" and output them.

[0064] Alarm module:

[0065] The system establishes data communication with the verification and comparison module, enabling it to receive the judgment results from the module and execute alarms based on those results. Preferably, it adopts an integrated sound and light alarm design. When a "precision anomaly" judgment result is received, a bright red sound and light alarm is immediately triggered (sound level ≥ 85dB, light warning distance ≥ 50 meters). Simultaneously, it outputs abnormal alarm data (including the time of abnormality, deviation value, and relevant receiver number) through both serial and Ethernet interfaces, supporting linkage with the ship's monitoring system to display alarm information.

[0066] Construction control module:

[0067] The construction control module establishes data communication with the verification and comparison module and is connected to the construction device control on the offshore equipment. It can receive the judgment results from the verification and comparison module and, based on the judgment results, determine whether to send a stop command or a resumption command to the construction device on the offshore equipment. Specifically, the construction control module has a built-in construction equipment linkage control protocol (supporting communication protocol adaptation for mainstream surveying and setting-out construction devices). When it receives an "accuracy anomaly" alarm signal, it automatically sends a hard-line stop command (response time ≤ 1s) to the surveying and setting-out construction device on the workboat, forcibly suspending the operation. When it receives an "accuracy qualified" judgment result, it can automatically or manually send a resumption command, while recording the start and stop times and status information of the operation to form an archived operation log.

[0068] The real-time verification system continuously executes the observation-calculation-verification process. Based on the accuracy verification results, the construction control module maintains the normal progress of the surveying and setting-out operation or forcibly suspends the operation to avoid unqualified setting-out operations. The alarm module triggers an audible and visual alarm. Technical personnel investigate and locate the cause of the anomaly based on the abnormal information output by the alarm module (such as satellite signal obstruction, electromagnetic interference, receiver equipment failure, differential signal interruption, etc.) and take targeted solutions. After troubleshooting, the system's observation-calculation-verification process is restarted. When the verification and comparison module outputs an "accuracy qualified" signal three consecutive times (interval ≥ 1 second), the alarm module deactivates, the construction control module sends a resumption command, and the surveying and setting-out operation returns to normal.

[0069] As can be seen from the above, the real-time inspection method and system of the present invention have the following beneficial effects:

[0070] 1. Enables autonomous verification without control points in the open sea: It does not rely on land control points, but uses GNSS receivers fixedly deployed on offshore equipment to build autonomous verification benchmarks, solving the technical problem that GNSS RTK measurement and stakeout in the open sea cannot be verified in real time.

[0071] 2. High real-time performance and reliability: By adopting synchronous observation and real-time calculation technology, the positioning accuracy can be checked and compared at the millisecond level. Once a positioning abnormality occurs, an alarm can be triggered immediately and construction can be stopped, effectively avoiding construction quality problems and resource waste caused by positioning errors.

[0072] 3. Simple structure and controllable cost: Three GNSS receivers can be arranged in a triangle. Compared with the complex networking scheme of multiple receivers, the structure is simpler, the installation and maintenance are more convenient, and the equipment cost and system complexity are reduced.

[0073] 4. High adaptability: It supports adjusting the error threshold according to different operational accuracy requirements, adapting to various measurement and layout scenarios such as offshore engineering construction and marine surveying, and adopts an anti-interference data transmission method to adapt to the complex electromagnetic environment of the open sea.

[0074] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0075] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A real-time verification method for the accuracy and reliability of GNSS positioning in the open ocean, characterized in that: Includes the following steps: S1. Set up N GNSS receivers on offshore equipment, N≥3, and construct a TIN triangulation network with N vertices in the horizontal direction. Any triangle in the TIN triangulation network is an isosceles or equilateral triangle. The phase centers of the N GNSS receivers are distributed on the N vertices of the TIN triangulation network. The relative position parameters between the phase centers of the N GNSS receivers are calibrated to obtain the calibrated relative position parameters. S2. Synchronous observation and data acquisition: N GNSS receivers synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations to form observation data; S3. Real-time calculation: Based on the GNSS RTK carrier phase difference calculation engine and LAMBDA integer ambiguity fast fixing algorithm, the actual relative position parameters between the phase centers of N receivers are calculated in real time according to the observation data of N GNSS receivers. S4. Accuracy Verification and Comparison: Set the positioning error threshold; calculate in real time the deviation between the actual relative position parameters and the calibrated relative position parameters between the phase centers of N receivers, and compare the deviation with the positioning error threshold to determine whether the positioning accuracy is qualified.

2. The real-time inspection method according to claim 1, characterized in that: In step S1, N=3, and the phase centers of the three GNSS receivers are distributed at three points on an isosceles or equilateral triangle.

3. The real-time inspection method according to claim 2, characterized in that: In step S1, the horizontal distance between the phase centers of adjacent GNSS receivers is 3-8m.

4. The real-time inspection method according to claim 1, characterized in that: In step S1, a total station with an accuracy of 0.1mm is used to precisely calibrate the relative position parameters between the phase centers of N GNSS receivers.

5. The real-time inspection method according to claim 1, characterized in that: In step S4, the positioning error threshold is determined according to the standard threshold parameter library of Class D, Class E and engineering measurement-specific accuracy levels in GB / T 18314-2024 "Measurement Specification for Global Navigation Satellite Systems".

6. The real-time inspection method according to claim 1, characterized in that: In step S1, the calibrated relative position parameters include horizontal distance and height difference; in step S3, the actual relative position parameters also include horizontal distance and height difference; in step S4, the point-by-point difference between the calibrated relative position parameters and the actual relative position parameters is calculated to obtain deviation values ​​including horizontal distance deviation value, height difference deviation value and comprehensive distance deviation value.

7. A real-time verification system for the positioning accuracy and reliability of offshore GNSS, used to implement the real-time verification method described in claims 1 to 6, comprising a GNSS receiver array module, a system database module, a data transmission module, a real-time calculation module, a threshold setting module, and a verification and comparison module, wherein: GNSS receiver array module: includes N GNSS receivers for installation on offshore equipment, N≥3, constructing a TIN triangulation network with N vertices in the horizontal direction, where any triangle in the TIN triangulation network is an isosceles or equilateral triangle, and the phase centers of the N GNSS receivers are distributed on the N vertices of the TIN triangulation network; the N GNSS receivers are used to synchronously receive and acquire satellite observation signals and / or differential correction signals from offshore reference stations to form observation data; System database module: Used to store data, including calibration relative position parameters between the phase centers of N GNSS receivers in the GNSS receiver array module; Data transmission module: Establishes communication between N GNSS receivers and the real-time calculation module, used to transmit the observation data from the N GNSS receivers to the real-time calculation module; Furthermore, a communication mechanism is established between the real-time calculation module and the verification and comparison module to transmit the calculation results of the real-time calculation module to the verification and comparison module in real time. Real-time calculation module: It has a built-in GNSS RTK carrier phase difference calculation engine and LAMBDA integer ambiguity fast fixing algorithm, which can calculate the actual relative position parameters between the phase centers of N GNSS receivers in real time based on the observation data received from N GNSS receivers; Threshold setting module: used to set the positioning error threshold and establish data communication with the verification and comparison module; The verification and comparison module establishes data communication with both the system database module and the threshold setting module. It can retrieve the positioning error threshold from the threshold setting module and the calibration relative position parameters between the phase centers of N GNSS receivers from the system database module. It can compare the actual relative position parameters between the phase centers of the N GNSS receivers with the retrieved calibration relative position parameters between the phase centers of the N GNSS receivers to obtain the deviation value. The deviation value is then compared with the positioning error threshold to determine whether the positioning accuracy is qualified, and the judgment result is output.

8. The real-time inspection system according to claim 7, characterized in that: It also includes an alarm module, which establishes data communication with the verification and comparison module, can receive the judgment results of the verification and comparison module, and execute alarms based on the judgment results.

9. The real-time inspection system according to claim 7, characterized in that: It also includes a construction control module, which establishes data communication with the inspection and comparison module. The construction control module is used to connect with the construction device on the offshore equipment, can receive the judgment results of the inspection and comparison module, and send stop or resume operation instructions to the construction device on the offshore equipment according to the judgment results.

10. The real-time inspection system according to claim 7, characterized in that: The data transmission module adopts a dual-link communication architecture with both wired and wireless connections.

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