Satellite positioning identity-based global twin system and method based on perception puzzle

Abstract

The present application relates to satellite positioning and digital twin technology, and provides a global twin system and method based on satellite positioning identity index and perception puzzle. The system establishes a physical reference anchor through satellite positioning, matches a carrier three-dimensional model through an identity index unit, completes three-dimensional fitting of a target without identity through a perception puzzle unit, forms a global twin scene in a unified coordinate system, and realizes model stability correction through dynamic correction, supporting adaptive operation with / without network. The present application can realize integrated global coverage of space, sky, earth and water, can perform vertical space layering identification based on height and Z-axis coordinates, distinguish elevated and ground space, upstairs and downstairs space, and realize data interconnection, safety warning and collaborative early warning among multiple terminals. The present application is suitable for vehicle, pedestrian, robot, roadside supervision, ship and aircraft scenes, and can improve global twin integrity, positioning accuracy and operation stability.

Description

Technical Field

[0001] This invention belongs to the fields of satellite positioning, vehicle-road-cloud collaboration, and three-dimensional digital twin technology, specifically involving a satellite positioning identity index and perception puzzle full-domain twin system and method. Background Technology

[0002] Digital twin technology is gradually being applied in fields such as road traffic, low-altitude economy, autonomous driving, robotic operations, and smart cities. Most existing solutions rely on entities equipped with intelligent communication and positioning terminals to achieve digital modeling. This allows for 3D model matching and scene presentation only for legally identified vehicles, ships, and aircraft with intelligent terminals. It cannot effectively digitally model unidentified or un-intelligent targets within the scene, such as pedestrians, non-motorized vehicles, obstacles, and debris. This results in significant incompleteness, inadequate coverage, and insufficient realism in the overall digital twin scene.

[0003] Meanwhile, existing digital twin solutions generally suffer from defects such as model drift, posture misalignment, image jitter, and positioning distortion. The mapping accuracy between the model and the physical space is insufficient, and the scene stability is poor. In extreme environments such as no network, weak network, remote areas, and tunnel obstruction, existing systems are difficult to operate stably and cannot achieve full-domain twin services in offline mode, resulting in serious lack of applicability to extreme scenarios.

[0004] Existing technologies lack an organic integration mechanism for identity index modeling and multi-source perception mosaic, have not formed a benchmark anchoring system centered on satellite positioning, lack a dynamic correction mechanism for model distortion, and do not fully utilize satellite positioning resources, thus failing to achieve multi-type carriers, multi-scenario, air-space-ground integrated full-domain twin coverage and stable presentation.

[0005] In addition, existing navigation and twin systems can only achieve planar positioning and cannot identify vertically layered spaces such as elevated and ground, or upper and lower floors. This can easily lead to misjudgment of floor level and navigation misalignment, making it difficult to meet the requirements of true three-dimensional navigation.

[0006] The applicant has previously applied for two related invention patents, namely:

[0007] Parent application: filed on March 5, 2026, application number 2026102639012, "A vehicle-to-vehicle direct connection intelligent terminal based on Beidou satellite direct connection to support vehicle-road-cloud collaboration";

[0008] Divisional application: filed on April 19, 2026, application number 2026105161178, "Drift-free rendering system and method of 3D model based on identity identification and satellite positioning".

[0009] To address the numerous shortcomings of existing technologies, this invention upgrades the overall architecture and expands the functionality based on prior applications, proposing a satellite positioning identity index and perception puzzle full-domain twin system and method, effectively compensating for the aforementioned industry technical deficiencies. Summary of the Invention

[0010] 1. Technical problems to be solved

[0011] To address the numerous shortcomings of existing technologies, this invention aims to provide a satellite positioning identity indexing and perception puzzle-based full-domain twin system and method, solving the following technical problems in existing technologies:

[0012] (1) Targets without identity or smart terminal in the scene cannot be digitally modeled in 3D, resulting in incomplete and incomplete full-domain twin scene and failure to achieve full-domain target modeling.

[0013] (2) Digital twin models are prone to position drift, posture misalignment, and image jitter. They are also susceptible to positioning distortion due to signal blockage, resulting in poor scene presentation accuracy and operational stability.

[0014] (3) The system cannot operate stably in extreme environments such as no network, weak network, signal blockage, and remote areas. Offline twin services are lacking, and the applicability of the technology and the reliability of the scenario are insufficient.

[0015] (4) Without establishing a unified coordinate system for the fusion modeling mechanism of identity carriers and targetless terminals, it is difficult to achieve complete full-domain twin coverage of air-space-ground integration;

[0016] (5) The satellite positioning reference resources are not fully utilized, the digital model and physical space mapping lack accurate reference anchoring, and the overall positioning and modeling accuracy of the whole domain twin is low.

[0017] (6) Traditional positioning and twin systems cannot distinguish between elevated and ground, upper floors and lower floors, etc., vertically layered spaces, which are prone to misjudgment of layer and scene misalignment, making it difficult to achieve true three-dimensional layered twins.

[0018] 2. Technical Solution

[0019] To achieve the above objectives, the present invention adopts the following technical solution:

[0020] (I) Overall System Structure

[0021] like Figure 1As shown, a global twin system based on satellite positioning identity index and perception puzzle includes: a central control unit (100), a satellite positioning module (200), a parameter storage unit (300), an identity index unit (400), a perception puzzle unit (500), a global twin unit (600), a dynamic correction unit (700), a communication unit (800), and a display and interaction unit (900).

[0022] All the above units work together, communicate data, and synchronize their timing under the unified scheduling of the central control unit (100), forming an integrated closed-loop operation system.

[0023] (II) Specific structure and linkage of each unit

[0024] The satellite positioning module (200) is used to receive signals from satellite navigation systems such as Beidou, GPS, GLONASS, and Galileo, and to obtain complete positioning data such as longitude, latitude, altitude, heading, speed, and attitude of the carrier in real time. It sets a physical reference anchor based on the hardware installation position of the module body or external antenna, providing a unique, real, and non-drifting spatial positioning reference for the entire system, and uploading the positioning data and reference anchor information to the central control unit (100) in real time.

[0025] The parameter storage unit (300) interacts bidirectionally with the central control unit (100) to store identity, model, and configuration data required for system operation, including but not limited to:

[0026] (1) Legal identification marks of vehicles such as motor vehicles, ships, aircraft, and robots;

[0027] (2) Standard three-dimensional model data corresponding one-to-one with various identity identifiers;

[0028] (3) The offset of the reference anchor between the satellite positioning antenna installation point and the reference point of the three-dimensional model;

[0029] (4) Offline model data packages and offline configuration packages invoked in a network-free environment;

[0030] (5) System operating parameters, correction coefficients, encryption keys, configuration information, etc. The parameter storage unit can use local storage media such as Flash, EEPROM, DDR, eMMC, UFS or local hard disk, or can further use cloud storage or remote database to realize data extended storage, realize local persistent storage and high-speed reading of data, and provide data support for identity indexing, model rendering, coordinate mapping and offline operation.

[0031] The identity index unit (400) is bidirectionally connected to the parameter storage unit (300) and the central control unit (100). It receives the legal identity identifier issued by the central control unit, retrieves and matches the pre-stored standard 3D model from the parameter storage unit or the cloud, completes rapid 3D modeling with an identity carrier, and sends the model data back to the central control unit (100) and the global twin unit (600). The legal identity identifier includes one or more of the following: VIN code, MMSI code, aircraft identification code, robot serial number, device unique ID, platform authentication code, and personal identification identifier, adapting to identity authentication and model matching for multiple types of carriers.

[0032] The perception puzzle unit (500) is connected to the central control unit (100) and the global twin unit (600). Through various perception hardware such as lidar, millimeter-wave radar, visual camera, infrared sensor, ultrasonic sensor, roadside perception device, and vehicle-mounted perception device, it performs real-time environmental data collection, target detection, feature extraction, spatial positioning, and three-dimensional contour fitting for targets such as pedestrians, animals, non-motorized vehicles, obstacles, spilled objects, walls, slopes, and vehicles without equipment in the scene without identity or intelligent terminals. It generates a three-dimensional puzzle model that accurately matches the physical entity and sends the three-dimensional puzzle model to the global twin unit (600) in real time to realize the complete digital presentation of the terminal-less target.

[0033] The global twin unit (600) is linked with the identity index unit (400), the perception puzzle unit (500), the dynamic correction unit (700), and the central control unit (100) to integrate the standard 3D model generated by the identity index unit and the 3D fitting model generated by the perception puzzle unit into the same geocentric coordinate system, local coordinate system, or UTM coordinate system. This completes position alignment, attitude calibration, scale normalization, occlusion judgment, logical association, and spatiotemporal synchronization, fusing and generating a fully covered, seamless, complete, and stable global twin scene. This achieves integrated digital presentation and collaborative scheduling of both identity carriers and terminal targets. The system can load and integrate standard electronic map data to accurately match the global twin scene with the electronic map coordinate system, improving scene integrity and positioning and navigation accuracy.

[0034] The dynamic correction unit (700) works in real time with the central control unit (100) and the global twin unit (600) to monitor positioning data, model attitude, signal status, and environmental changes in real time, and to perform stability correction on the model, specifically including:

[0035] (1) Model position drift correction;

[0036] (2) Correction of model posture misalignment;

[0037] (3) Image jitter suppression;

[0038] (4) Handling satellite signal obstruction anomalies;

[0039] (5) Smooth continuation of running in blind spots;

[0040] (6) The system is automatically recalibrated and automatically recalibrated.

[0041] The dynamic correction unit (700) uses the physical reference anchor output by the satellite positioning module as a fixed reference. It applies filtering, smoothing, interpolation, and amplitude limiting anti-shake processing to the positioning data and model coordinates to suppress short-term fluctuations and noise jumps, ensuring smooth and gradual changes in model position and attitude, and avoiding image jitter and abrupt changes. Through dynamic correction, it ensures long-term stability, distortion-free, misalignment-free, and drift-free operation of the entire twin scene.

[0042] The central control unit (100) serves as the core scheduling module of the system, connecting and coordinating the collaborative operation of each unit. It receives the physical reference anchor output by the satellite positioning module (200), reads the reference anchor offset pre-stored in the parameter storage unit (300), completes the precise coordinate mapping between the physical world and the digital model, and performs unified scheduling and timing control of identity indexing, perception puzzle, scene fusion, dynamic correction, communication switching, and display output, driving the stable, real-time, and high-precision presentation of the full-domain twin scene.

[0043] The communication unit (800) is controlled by the central control unit (100) and supports automatic switching and seamless connection of terrestrial mobile communication network, wired network, local area network and satellite communication link. It works with the system to achieve adaptive operation with / without network and complete data uploading, downloading, synchronization and interaction.

[0044] The display interaction unit (900) is connected to the central control unit (100) and the global twin unit (600) for functions such as global twin scene visualization output, target query, status display, early warning prompts, parameter configuration, and human-computer interaction. It can be implemented in the form of screen, AR device, VR device, projection, vehicle screen, mobile terminal, etc.

[0045] (III) System Expansion Functions

[0046] Furthermore, the system supports adaptive operation in both online and offline modes:

[0047] (1) When the network is normal, the latest model data and configuration data are loaded from the cloud and low-latency, high-bandwidth communication is achieved by relying on the ground network;

[0048] (2) When the network is disconnected, the signal is blocked, or the environment is without network, the system will automatically switch to offline mode and call offline model data and offline configuration package from the local parameter storage unit to ensure that the system functions are not degraded, the service is not interrupted, and the scene is not missing.

[0049] Furthermore, the system is applicable to a wide range of carriers and targets, including motor vehicles, commercial vehicles, special vehicles, ships, aircraft, low-altitude aircraft, robots, pedestrians, animals, non-motorized vehicles, obstacles, spilled objects, fixed facilities, and mobile facilities, achieving integrated air, land, sea, and water twin coverage, and is suitable for surface, underwater, and marine scenarios.

[0050] Furthermore, this invention adopts a distributed collaborative mapping and distributed computing power support mode, in which multiple terminal nodes work together to complete environmental perception and local mapping, which can reduce the dependence on centralized supercomputing resources and improve the system deployment flexibility and scalability.

[0051] Furthermore, this system and method can be implemented independently or in combination on various electronic devices with computing and communication capabilities in the form of applications, software, firmware or embedded programs; different devices that have deployed the technical solution of this invention can automatically achieve data interoperability, scene synchronization and collaborative interaction based on a unified identity index, a unified physical reference anchor and a unified coordinate system, forming an integrated multi-terminal collaborative network of air, land, sea and water.

[0052] Furthermore, this system utilizes the altitude data and Z-axis coordinates obtained by the satellite positioning module, combined with physical reference anchors and dynamic correction units to achieve altitude information stabilization processing, enabling vertical layer recognition of physical space; the system automatically distinguishes between elevated roads and ground roads, upper-floor spaces and lower-floor spaces, and ground floors and underground floors according to altitude ranges, constructing multi-level, true three-dimensional full-domain twin scenes, avoiding layer confusion, positioning errors and scene misalignment caused by altitude drift.

[0053] (iv) Methods and Procedures

[0054] like Figure 2 As shown, the present invention also provides a global twinning method based on satellite positioning identity index and perception puzzle, including the following steps:

[0055] S100 Identity Index Modeling: Obtain the legal identity identifier of the carrier, encrypt and verify the identity information, and retrieve it locally or in the cloud after successful verification to match the corresponding standard 3D model;

[0056] S200 Perception Mosaic Fitting: Collects scene environment data through multi-source perception devices, performs target detection, feature extraction, and spatial localization on unidentified and terminal-free targets, and completes three-dimensional contour fitting;

[0057] S300 Global Scene Fusion: Unifies the standard 3D model generated by the identity index and the 3D fitting model generated by the perception puzzle into the same spatial coordinate system, completes alignment, calibration, association and fusion, and generates a complete global 3D scene;

[0058] S400 reference anchor coordinate mapping: Using the satellite positioning hardware installation point as the physical reference anchor, combined with the preset reference anchor offset, a precise spatial mapping between the physical space and the digital model is completed.

[0059] S500 Dynamic Correction and Smoothing: Real-time detection of abnormalities such as model drift, misalignment, jitter, signal occlusion, and blind spots; execution of stability correction, blind spot smoothing for continued operation, and attitude maintenance to ensure scene stability, accuracy, and distortion-free performance.

[0060] S600 Full-Domain Twin Presentation: Real-time detection of network status, adaptive selection of online or offline mode, and completion of full-domain twin scene rendering, refresh and display;

[0061] S700 Collaborative Data Upload: When there is a network, scene data, status data, and sensing data are uploaded through the terrestrial communication link; when there is no network, key data transmission is completed through the satellite communication link, realizing multi-terminal collaboration and data interoperability.

[0062] (v) Three-dimensional layered navigation

[0063] This invention enables precise vertical spatial positioning, distinguishing whether a target object is located on an elevated road, a ground road, or on a different floor, achieving three-dimensional positioning and navigation. It sets up two independent and mutually verifiable positioning mechanisms, which can be used alone to determine the floor level, or used in combination to significantly improve the accuracy of identification and ensure stable and reliable floor level determination results.

[0064] First, an independent hierarchical mechanism based on a physical reference anchor and the absolute height of the Z-axis. The absolute height information of the carrier is obtained through satellite positioning, and a stable three-dimensional coordinate system is constructed with the physical reference anchor. This allows for independent determination of the location of vehicles or personnel, whether on elevated roads, on the ground, on bridges, under bridges, or on different floors, without relying on other terminals.

[0065] Second, a collaborative verification mechanism based on the relative height of multiple terminals in a global digital twin. Within a unified digital twin space, cross-comparison is performed using the relative height differences and relative positional relationships between different terminals within the system. Layer verification and confirmation can be completed solely by relying on mutual reference between terminals.

[0066] The two mechanisms mentioned above are independent of each other and can be used alone to achieve accurate vertical layer identification. When the two mechanisms are used together, they can verify and correct each other, further improving the accuracy and stability of layer identification.

[0067] 3. Beneficial effects

[0068] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0069] (1) By using the dual mechanisms of identity indexing and perception puzzle in parallel, the full-domain digital integration of identity carriers and target without terminals is realized, solving the problem of incomplete and incomplete coverage of traditional twin scenarios, and achieving full target, full element and full scenario coverage.

[0070] (2) A triple guarantee mechanism of physical reference anchor + reference anchor offset + dynamic correction is adopted to reduce model drift, misalignment, jitter and occlusion distortion, improve the mapping accuracy between the model and the physical space, and enhance scene stability.

[0071] (3) The data indexing method of querying instead of calculating replaces a large amount of real-time calculation, reducing the system's computing power consumption. The freed-up computing power is used for the real-time construction, perception puzzle and dynamic update of the whole-domain twin scene, improving the system's operating efficiency.

[0072] (4) It supports adaptive operation with / without network, can work based on local offline data, and is suitable for various scenarios such as obscured environment and remote area, with strong environmental adaptability.

[0073] (5) It achieves integrated air-space-ground twin coverage, which can be applied to road traffic, robot autonomous navigation, autonomous driving, vehicle-road cooperation, smart cities, security monitoring, emergency rescue and other fields. The system adopts a modular design, has good compatibility, and can be deployed on multiple platforms such as vehicle, mobile phone, roadside, cloud, and robot.

[0074] (6) Based on satellite positioning height data and coordinate system Z-axis, vertical spatial layering is realized, which can accurately distinguish different layers such as elevated and ground, upper floor and lower floor, underground and ground, solve the problem of easy confusion of layers in traditional positioning, and realize true three-dimensional full-domain twin.

[0075] (7) The distributed collaborative mapping and distributed computing power support mode is adopted. The environmental perception, data collection, local mapping and real-time rendering tasks of the whole domain digital twin space are completed by the vehicle terminal, robot terminal, smart wearable device, merchant camera terminal and roadside equipment as distributed nodes. The system only needs to complete the unified spatial coordinates, data fusion and rule scheduling. The computing power requirement is low, the data transmission volume is small and the storage pressure is light. Attached Figure Description

[0076] Figure 1 is a system structure block diagram of the present invention;

[0077] Figure 2 is a flowchart of the method of the present invention.

[0078] Explanation of reference numerals in the attached figures

[0079] Figure 1:

[0080] 100 Central Control Unit

[0081] 200 satellite positioning modules

[0082] 300 parameter storage units

[0083] 400 Identity Index Units

[0084] 500 sensory puzzle units

[0085] 600 global twin units

[0086] 700 Dynamic Correction Unit

[0087] 800 communication units

[0088] 900 Display Interaction Unit

[0089] Figure 2:

[0090] S100 Identity Index Modeling

[0091] S200 Perceptual Puzzle Fitting

[0092] S300 Omni-channel Scene Integration

[0093] S400 reference anchor coordinate mapping

[0094] S500 Dynamic Correction Smoothing

[0095] S600 Full-Domain Twin Presentation

[0096] S700 Collaborative Data Upload Detailed Implementation

[0097] The technical solution described in this invention can be implemented in various software forms, including but not limited to mobile applications (APPs). These applications can be installed on vehicle terminals, mobile terminals, robots, roadside equipment, ships, aircraft, and various smart terminals, and can be run, deployed, and implemented independently or in combination on various electronic devices with computing and communication capabilities. They are used to achieve identity authentication, 3D model loading, full-domain twin presentation, data interaction, security warning, and collaborative communication.

[0098] The technical solution described in this invention can be implemented in various forms, including but not limited to mobile terminal APP, vehicle program, shipborne system, aircraft control software, robot firmware, roadside equipment program and cloud platform system; all kinds of electronic devices that adopt the technical solution of this invention can automatically achieve interconnection, data sharing and global collaboration based on a unified identity index, a unified physical reference anchor and a unified coordinate system.

[0099] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The present invention is not limited to the following embodiments; the following content is merely an exemplary description of preferred embodiments and does not constitute any limitation on the scope of protection of the present invention.

[0100] Example 1: Vehicle Terminal Full-Domain Twin Driving Application

[0101] This embodiment applies the system to an in-vehicle terminal, providing real-time full-domain twin presentation and driving assistance services for daily driving scenarios.

[0102] The vehicle is equipped with a dedicated onboard terminal that continuously receives satellite navigation signals from multiple constellations, including BeiDou and GPS, via a built-in satellite positioning module. This allows for real-time acquisition of vehicle position, heading, speed, altitude, and other driving status information. The onboard satellite positioning antenna's installation location serves as a fixed physical reference anchor, providing a stable and drift-free spatial positioning benchmark for the entire digital twin scenario. Based on the vehicle's VIN code, brand, and model information, the system retrieves and matches a corresponding standard 3D model locally or in the cloud, quickly completing the vehicle's own digital modeling.

[0103] During vehicle operation, onboard LiDAR, millimeter-wave radar, and visual cameras continuously collect data on the surrounding environment. This enables real-time detection, feature extraction, and 3D contour fitting of pedestrians, non-motorized vehicles, obstacles, debris, and other road targets without intelligent terminals, transforming real-world targets into renderable 3D models within the digital scene. The system then aligns, calibrates, and fuses the vehicle's own model with the environmental target models in the same coordinate system, creating a fully covered and realistic 3D twin scene around the vehicle.

[0104] The system uses height data and Z-axis coordinates to achieve vertical layer recognition, clearly distinguishing whether a vehicle is on an elevated road or a ground-level road, avoiding layer confusion and positioning errors. Vehicles with this application installed can exchange information in real time, sharing location, layer, driving status, and hazard warning information, improving collaborative traffic safety.

[0105] The system employs a dynamic correction mechanism to correct anomalies such as model drift, posture misalignment, image jitter, and signal obstruction in real time, ensuring stable, continuous, and undistorted scene visuals. When network conditions are good, the system loads cloud-based maps, models, and configuration information via terrestrial mobile communication networks to achieve vehicle-road collaboration and data interaction. When vehicles enter environments with no or weak network access, such as tunnels, underground parking garages, or remote mountainous areas, the system automatically switches to offline working mode, directly calling locally stored offline data packages to ensure that core functions such as full-domain twin rendering, environmental perception, hazard warning, and augmented reality navigation are uninterrupted and undegraded, providing all-weather, all-scenario, and highly stable digital twin services for safe vehicle operation.

[0106] Example 2: Application of Robot Autonomous Navigation and Global Twin Operation

[0107] This embodiment applies the system to a robot platform to achieve autonomous navigation and full-domain twin operation in scenarios such as parks, factories, and the wild.

[0108] The robot itself is equipped with a complete system that uses legally recognized identifiers such as the device serial number and robot ID as indexes. Through a satellite positioning module, it receives signals from multiple satellite constellations in real time to obtain its own position, attitude, and motion status. The system then uses the satellite positioning antenna mounting point as a physical reference anchor to establish a stable and unified spatial positioning benchmark. Based on the robot's identity information, the system matches and loads its own 3D model, achieving a digital representation of the robot.

[0109] The robot is equipped with a perception unit consisting of LiDAR, vision sensors, and ultrasonic sensors. This unit performs real-time data acquisition and 3D contour fitting of non-terminal targets in the work environment, such as walls, slopes, ditches, obstacles, pedestrians, and facilities, generating a 3D environmental model. The system then merges the robot's own model with the environmental model in the same coordinate system, creating a high-precision, full-domain twin scene that fully covers the work area.

[0110] Robots with this application installed can interact with the back-end management platform, other robots, and surrounding smart terminals in real time, report their work status, location, and abnormal information, receive scheduling instructions and safety warnings, and improve their autonomous operation and collaborative work capabilities.

[0111] During operation, the system uses a physical reference anchor as a fixed basis to continuously and dynamically correct positioning errors, model drift, and attitude deviations, ensuring long-term accurate alignment between the digital scene and the physical space. In networked environments such as factories and industrial parks, the robot uploads data, performs remote scheduling, and monitors its status via the ground network. In the field, enclosed areas, or environments without network access, the system automatically switches to offline mode, relying on locally stored data and satellite positioning references to achieve autonomous navigation, obstacle avoidance, and continuous operation. It can stably complete full-domain twinning and autonomous operation tasks without relying on an external network.

[0112] Example 3: Application of Twin Intelligent Supervision of Urban Road Traffic

[0113] This embodiment applies the system to roadside equipment on urban roads, enabling full-area twin monitoring and intelligent supervision of road traffic.

[0114] Roadside system equipment is deployed on key road sections such as urban roads, intersections, overpasses, and tunnels. The equipment obtains the location of roadside reference points through satellite positioning modules and establishes a unified spatial positioning reference for the entire road section using fixed installation points as physical reference anchors. The system uses information such as VIN codes and vehicle identification numbers to complete the identity indexing and matching with the 3D model for passing motor vehicles, commercial vehicles, and special vehicles with legal identification.

[0115] Roadside lidar, high-definition cameras, millimeter-wave radar, and other sensing devices collect data across the entire intersection and road segment. They perform real-time detection, feature extraction, and 3D fitting of traffic participants and road targets, including pedestrians, non-motorized vehicles, motorcycles, obstacles, and debris, generating a complete traffic environment model. The system integrates all traffic targets into a single coordinate system for spatiotemporal synchronization, attitude alignment, and scene fusion, forming a realistic and reliable digital twin scene covering the entire road traffic area.

[0116] The system can distinguish between elevated vehicles and ground-level vehicles through vertical layering, achieving true three-dimensional traffic situation awareness. The roadside system interacts with vehicles equipped with this application in real time, pushing road conditions, warning information, and traffic control prompts to vehicles, thereby improving the overall traffic supervision and safety management capabilities.

[0117] The system continuously eliminates model drift, misalignment, occlusion distortion, and image jitter through dynamic correction processing, ensuring the long-term stability, accuracy, and reliability of the twin scene. The device adaptively switches between online and offline working modes based on network conditions, uploading full-domain twin data to the traffic management platform in real time. This enables real-time monitoring, anomaly warning, intelligent scheduling, and refined management of all traffic elements, with a focus on ensuring the safety of vulnerable road users and improving road traffic efficiency and overall traffic safety.

[0118] Example 4: Pedestrian Terminal App Full-Domain Twin Security Participation Application

[0119] This embodiment addresses pedestrian safety by incorporating pedestrians into a global twin system through a mobile app they carry, enabling proactive safety protection between vehicles and pedestrians.

[0120] Pedestrians can voluntarily open and run the app as needed, and manually close or exit it at any time without being forced to run in the background, fully protecting user privacy and autonomy. The app operates in low-power mode by default, only obtaining the user's location and identity information via the terminal's satellite positioning module with the user's permission, and synchronizing the data to nearby vehicle terminals, roadside systems, and the global twin platform. Based on the pedestrian's location information, the system generates a cylindrical virtual enclosure with safety redundancy: the overall height is set at 2 meters, and the horizontal diameter is set at 2 meters, completely enclosing the pedestrian's safety area.

[0121] Meanwhile, vehicle-mounted and roadside perception systems can use devices such as LiDAR, millimeter-wave radar, and visual cameras to detect and accurately identify targets such as pedestrians, non-motorized vehicles, and roadside animals in real time. This allows them to acquire realistic shape data such as the target's actual height, body contour, and movement posture, and to construct a precise 3D model consistent with the physical entity within a comprehensive virtual reality environment. For pedestrians or animals without an app or smart terminal, the system can complete target identification, model reconstruction, and hazard warning solely through vehicle-mounted and roadside active perception, without relying on any terminal assistance.

[0122] This application enables real-time two-way information interaction between pedestrians and vehicles. Pedestrians can receive avoidance reminders and safety warnings from surrounding vehicles, while vehicles can obtain pedestrians' locations, intentions, and dangerous situations, forming a comprehensive safety protection system.

[0123] The system integrates the pedestrian safety envelope reported by the APP and the real 3D model obtained by precise vehicle / roadside perception into the global twin coordinate system. It displays the target location, direction of travel and outline in real time in the digital scene, enabling surrounding vehicles to perceive in advance and take the initiative to avoid collisions, thereby reducing the risk of collisions from the source and ensuring the travel safety of pedestrians and road creatures.

[0124] For users who are willing to help improve environmental perception, they can voluntarily turn on their terminal cameras to collect surrounding image information in areas with weak satellite signals or blind spots, such as underground parking garages, shopping malls, tunnels, and elevated roads. The information can be uploaded anonymously with location data as supplementary data for the global twin system, improving the completeness of perception and the reliability of positioning in blind spot scenarios. Users can also choose not to enable this function and only retain basic location security services.

[0125] The system uses satellite positioning as a physical reference anchor as a spatial reference, dynamically correcting and smoothing the position information of pedestrians and other targets to ensure stable and accurate display in the twin scene. Regardless of network conditions, the system can adapt to operate, providing continuous and reliable safety for pedestrians and road users, truly achieving a safe travel effect of "visible to vehicles, actively avoiding collisions, and less prone to collisions".

[0126] Example 5: Multi-Subject Spatial Collaborative Interaction

[0127] This system can be widely adapted to the intelligent interaction needs of multiple scenarios in the entire urban space. Based on a unified three-dimensional coordinate system and dual-mechanism vertical hierarchical positioning technology, it constructs an intelligent interaction system for the entire space that integrates real-scene sharing, remote companionship, privacy control, multi-party linkage, traffic safety, and real-scene display of stores. The specific implementation method is as follows:

[0128] Building upon the established global digital twin space, the system supports access from multiple terminal types, including in-vehicle terminals, mobile terminals, merchant terminals, wearable smart glasses, smart cameras, shop monitoring equipment, and various roadside traffic devices. All terminals are synchronously connected to a unified spatial coordinate system, enabling seamless communication of location, status, and information across the entire system. Regarding the association between vehicles and user terminals, vehicle owners can pair their mobile terminals with in-vehicle terminals. After local authorization and verification by the owner on the vehicle's infotainment system, the mobile terminal can be used as a digital key, achieving vehicle authorization management and trusted identity binding. Vehicle owners can also grant temporary access authorization to family members or friends who have also installed the application, facilitating convenient multi-user management.

[0129] This invention adopts a distributed collaborative mapping mode, in which vehicle terminals, robot terminals, smart wearable devices, roadside equipment, and merchant camera terminals serve as distributed sensing and computing nodes. They collect environmental information in real time and collaboratively construct a full-domain twin digital space without relying on a centralized platform for independent mapping, thereby reducing the deployment cost of full-domain twins, improving the real-time performance and accuracy of the space, and realizing a full-domain twin ecosystem with multi-party participation and co-construction and sharing.

[0130] For remote companionship and interaction scenarios, users can use portable devices such as the rear camera of their mobile phones and wearable smart glasses to capture real-time first-person perspective images of their surroundings. These images are then simultaneously uploaded to the global twin space for encrypted transmission. Authorized remote users can receive these images in real time via their mobile devices, enabling synchronized shopping, walking, and remote companionship across spaces. This breaks geographical limitations and achieves virtual companionship and immersive remote companionship, while ensuring the stability and security of the real-time transmission throughout the process.

[0131] To meet the needs of merchants for real-time display and online viewing, merchants can connect their in-store surveillance cameras or independent real-time acquisition devices to this system. This will synchronize real-time images of the store's internal environment, product display, and operating status to the entire virtual space, providing real-time viewing access points for corresponding merchant locations. Nearby or remote users can access the corresponding merchant's real-time view via mobile devices to view the store's situation, product display, and service environment in real time. This enables users to browse stores online, view real-time images, and remotely learn about merchant information without leaving home, expanding the digital display channels for offline physical merchants.

[0132] To address the need for collaboration between user privacy protection and traffic safety, the system is equipped with a tiered privacy controllable display mechanism. Users have full control over their identity information, location information, status information, and real-time sharing permissions. All privacy-related interactions are decided, enabled, and disabled by the user. When users are on public transportation or in unfamiliar public environments, they can activate a privacy silent mode. The terminal only sends anonymous spatial location, movement trajectory, and basic shape outline information to surrounding vehicle terminals and roadside traffic equipment. This information is only used for traffic entity identification and safety avoidance, and does not expose any personal identity information, social information, or identifiable features of the user. The user terminal is presented in an anonymous gray silent form within the global twin space, and does not support other users clicking to view or initiating interactions, thus maximizing user privacy. When users enter non-public access areas such as residential communities or homes, they can further activate a complete stealth mode within their living area. The terminal stops uploading any location, shape, or status information to the global twin space, does not participate in traffic safety avoidance, and is not retrieved or discovered by any terminal, achieving complete stealth and privacy protection in private scenarios. Only when the user returns to urban public roads or public access areas will the traffic safety-related perception capabilities be automatically restored, achieving adaptive switching between public safety and private privacy scenarios. When users have social interaction and information exchange needs, they can manually activate the social activation mode, and the terminal will switch to a discoverable and clickable state, allowing nearby users and merchants to initiate social interactions such as viewing, greeting, and exchanging information, and to independently control social permissions; if users do not need social interaction but need to improve the awareness of surrounding traffic entities, they can activate a semi-silent state, only opening basic location information, which satisfies the need for safety avoidance and prevents unnecessary information interaction.

[0133] When a user enters the vehicle terminal with a mobile device, the system automatically recognizes the user's entry behavior by the degree of position overlap and the consistency of movement status, binds and integrates the mobile device's identity with the vehicle terminal, and automatically switches the user's human-shaped entity in the full-domain twin space to the vehicle's interior display, realizing the automatic association of human and vehicle identities and the unified display of status.

[0134] Simultaneously, the system enables multi-entity, multi-domain interactive linkage: vehicle terminals can publish their location, driving route, and availability status in real time within the twin space, opening travel matching ports to surrounding mobile terminals; mobile terminals can publish their travel needs and location information, simultaneously viewing surrounding vehicles, merchants, and real-world information; merchant terminals can publish offline product, service content, store location, and real-world images in real time, broadcasting and pushing these information to surrounding mobile terminals; various smart devices simultaneously upload their operating status and spatial location, achieving collaborative management of all devices across the domain. Relying on precise vertical hierarchical positioning and a unified spatial benchmark, the system distinguishes between different levels—ground, high-altitude, and building—avoiding cross-level information interference. This enables precise, nearby discovery, information exchange, real-world viewing, and collaborative linkage among people, vehicles, merchants, remote companions, and smart devices. Based on the above interactions and matching results, it provides foundational support for service intentions between users and between users and merchants, resource matching, and subsequent interactions, constructing a fully integrated, intelligent interactive ecosystem that balances the physical and digital worlds, privacy and security with autonomous interaction, and covers all scenarios.

[0135] The pairing, authorization, identity binding, and status fusion display logic of the aforementioned vehicle-mounted terminal can also be applied to terminal equipment of various drivable vehicles such as ships and aircraft, to achieve seamless interaction and unified status display between mobile terminals and terminals of various vehicles.

[0136] The various technical features disclosed in this invention, such as satellite positioning benchmark anchoring, identity index modeling, perception mosaic fitting, global twin fusion, dynamic correction and smoothing, online and offline adaptation, automatic network switching, multi-terminal deployment, and integrated air-space-ground-water coverage, can all be independently extracted to form separate technical solutions, or implemented independently or in selective combinations without relying on other technical means. The individual protection, split application, combination and expansion, platform migration, and scenario extension of the above-mentioned technical means are all part of the original disclosure of this invention and do not exceed the scope of this invention.

[0137] All equivalent substitutions, conventional improvements, and reasonable modifications made based on the technical solutions and inventive concepts of this invention, within the scope of the technology disclosed in this invention, shall fall within the protection scope of this invention.

Claims

1. A global twin system based on satellite positioning identity indexing and perception puzzle, characterized in that, It includes a central control unit (100), a satellite positioning module (200), a parameter storage unit (300), an identity index unit (400), a perception puzzle unit (500), a global twin unit (600), a dynamic correction unit (700), a communication unit (800), and a display and interaction unit (900); The satellite positioning module (200) is used to acquire positioning data and set a physical reference anchor; The parameter storage unit (300) is used to store the identity, model, and configuration data required for system operation; The identity indexing unit (400) matches the corresponding 3D model based on the identity identifier; The perception puzzle unit (500) performs perception acquisition and three-dimensional fitting on unidentified and terminal-free targets; The global twin unit (600) unifies the coordinate system of the two types of models and merges them into a global twin scene; The dynamic correction unit (700) is used to correct the stability of the model; The central control unit (100) completes coordinate mapping using a physical reference anchor, driving the scene to be presented stably; The system supports adaptive operation with and without network access, and can automatically switch between terrestrial network, satellite communication and offline mode.

2. The system according to claim 1, characterized in that, The satellite positioning module (200) supports at least one of the following satellite navigation systems: BeiDou, GPS, GLONASS, and Galileo.

3. The system according to claim 1, characterized in that, The system is applicable to motor vehicles, ships, aircraft, robots, pedestrians, non-motorized vehicles and obstacles, achieving integrated full-domain twin coverage of air, land, and water.

4. The system according to claim 1, characterized in that, The identification identifier includes one or more of the following: VIN code, MMSI code, aircraft identification code, robot serial number, device unique ID, and platform authentication code.

5. The system according to claim 1, characterized in that, The perception puzzle unit (500) collects data through radar, cameras or roadside perception devices, and fits three-dimensional targets for pedestrians and vehicles without terminals in real time and integrates them into the whole-domain twin scene.

6. The system according to claim 1, characterized in that, The system supports online and offline dual-mode operation. When there is an internet connection, the model is loaded from the cloud, and when there is no internet connection, the offline model is called from the local machine without any degradation in system functionality.

7. The system according to claim 1, characterized in that, The dynamic correction unit (700) is used to correct model drift, misalignment, jitter, signal occlusion and positioning blind zone anomalies, and realize smooth continuation of running in blind zone and automatic recalibration.

8. The system according to claim 1, characterized in that, Pedestrians carrying the app generate 3D models through identity indexing, while pedestrians without the app generate 3D models through perception puzzle fitting. Both types of targets are incorporated into the global twin scene.

9. The system according to claim 1, characterized in that, The system can achieve vertical spatial layer recognition based on satellite positioning altitude data and Z-axis coordinates, accurately distinguish between elevated roads and ground roads, and between upper-floor spaces and lower-floor spaces. It also adopts an independent layering mechanism based on physical reference anchors and a collaborative verification mechanism based on the relative height of multi-terminal twins across the entire domain.

10. A global twinning method based on satellite positioning identity indexing and perception puzzle, characterized in that, Includes the following steps: S100 Identity Index Modeling: Obtain the legal identity identifier of the carrier, and retrieve the matching standard 3D model after encryption and verification; S200 Perception Mosaic Fitting: Perception and data acquisition are performed on unidentified and terminal-free targets to complete feature extraction and 3D contour fitting; S300 Global Scene Fusion: Unifies the coordinate system of the index model and the jigsaw puzzle model, and merges them to generate a complete global 3D scene.

11. The method according to claim 10, characterized in that, Also includes: S400 reference anchor coordinate mapping: Using the satellite positioning hardware installation point as the physical reference anchor, combined with the preset reference anchor offset, a precise spatial mapping between the physical space and the digital model is completed. S500 Dynamic Correction and Smoothing: Real-time detection of anomalies and execution of stability correction, blind spot continuation and attitude maintenance; S600 Global Twin Rendering: Adaptively selects online or offline mode for rendering and display based on network conditions; S700 collaborative data upload: Transmission is via terrestrial link when there is a network, and via BeiDou satellite link when there is no network.

12. The method according to claim 11, characterized in that, The method also includes a vertical layered positioning step, which distinguishes between elevated, ground and different floor spaces based on satellite positioning height and Z-axis coordinates.

13. The method according to claim 11, characterized in that, The method adopts a distributed collaborative mapping mode, supported by distributed perception and distributed computing power of multiple terminal nodes, and can complete the construction of a full-domain twin scenario without the need for a centralized supercomputing system.

14. The method according to claim 11, characterized in that, The method can be implemented independently or in combination on various electronic devices with computing and communication capabilities in the form of applications, software, or firmware. When a mobile terminal enters the vehicle's range, the system automatically identifies the vehicle's status, binds the mobile terminal to the vehicle terminal, and displays the status in a fusion manner. Furthermore, the method supports real-scene sharing, remote companionship, merchant real-scene display, and multi-subject spatial linkage, realizing full-domain intelligent interaction between people, vehicles, and devices.

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