A multi-source fusion positioning and navigation method and system

Abstract

This application discloses a multi-source fusion positioning and navigation method and system, belonging to the technical field of intelligent operation and maintenance of new energy power plants and industrial mobile geographic information systems. In response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. In response to a user selecting a target marker icon from the multiple device marker icons, the location information of the target device corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened, enabling maintenance personnel to quickly obtain their own location and navigate to the target device even in extreme environments where tall crops completely block their view, there is no network connection, and the GPS signal is attenuated.

Description

Technical Field

[0001] This application belongs to the technical field of intelligent operation and maintenance of new energy power plants and industrial mobile geographic information systems, specifically involving a multi-source fusion positioning and navigation method, system, electronic device and storage medium. Background Technology

[0002] Photovoltaic-agricultural hybrid power generation is a composite land use model that combines photovoltaic power generation with agricultural planting, and it is particularly common in mountainous and hilly areas. Photovoltaic modules are installed above the agricultural planting area, and the space below is used to grow tall crops such as corn, sorghum, and sunflowers, achieving "dual use of land and complementary agriculture and photovoltaics".

[0003] In the summer operation and maintenance scenario of photovoltaic power stations in mountainous areas, tall crops such as corn can reach a height of 2.5 to 3.5 meters, completely blocking the line of sight of maintenance personnel. At the same time, the mountainous terrain, electromagnetic interference from the photovoltaic metal frame, and scattering from crop leaves together cause severe attenuation of the GPS signal. General map navigation applications are difficult to apply due to the lack of location data of equipment inside the station and the inability to use them offline. Existing dedicated geographic information systems require the deployment of servers and network infrastructure, which are costly to deploy in mountainous areas without network access and cannot be used on a mobile basis.

[0004] Therefore, how to enable maintenance terminals to quickly locate their own position and accurately navigate to the target device in extreme environments with no network, weak GPS signal, and completely obstructed line of sight has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this application is to provide a multi-source fusion positioning and navigation method and system that can solve the problem of how to enable operation and maintenance terminals to quickly locate their own position and accurately navigate to the target device in extreme environments such as no network, weak GPS signal, and completely blocked line of sight.

[0006] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a multi-source fusion positioning and navigation method applied to an intelligent operation and maintenance terminal. The intelligent operation and maintenance terminal has a pre-installed device tag dataset, which includes multiple device location information. The method includes: In response to the map open command, the target map is loaded, and multiple device marker icons are rendered on the target map based on the multiple device location information; The current location information is obtained by using a preset multi-level positioning strategy; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to the positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal. In response to a user selecting a target marker icon from the plurality of device marker icons, the location information of the target device corresponding to the target marker icon is obtained; Based on the current location information and the target device location information, navigation information is determined, and navigation is performed based on the navigation information.

[0007] Optionally, the target map includes online and offline maps, and loading the target map in response to the map open command includes: Detect the current network connection status; If a current network connection is available, load an online map service as the target map; If the current network connection is unavailable, switch to a locally preset offline map as the target map.

[0008] Optionally, a preset multi-level positioning strategy is used to obtain the current location information, including: Get the first cache location information, the cache timestamp of the first cache location information, and the current time; Based on the current time and the cache timestamp, determine whether the first cache location information is within the validity period, and if the first cache location information is within the validity period, use the first cache location information as the current location information.

[0009] Optionally, it also includes: If the first cache location information does not exist or is not within its validity period, the current network connection status is detected. If the current network connection is available, a first-level location request is initiated through the network location mode with a first timeout threshold. If a first request result is obtained within the first timeout threshold, the first request result is used as the current location information. If no result of the first request is obtained within the first timeout threshold, a second-level location request is initiated through the network location mode with a second timeout threshold. If a result of the second request is obtained within the second timeout threshold, the second request result is used as the current location information.

[0010] Optionally, it also includes: If no result of the second request is obtained within the second timeout threshold, a third-level positioning request is initiated in the global positioning system mode with a third timeout threshold. If a result of the third request is obtained within the third timeout threshold, the third request result is used as the current location information. If no third request result is obtained within the third timeout threshold, the global positioning system mode is turned off, and a low-precision fast positioning request is initiated with a fourth timeout threshold lower than the third timeout threshold. If a fourth request result is obtained within the fourth timeout threshold, the fourth request result is used as the current location information. If the fourth request result is not obtained within the fourth timeout threshold, the system checks whether there is second cache location information locally. If the second cache location information exists, the second cache location information is used as the current location information.

[0011] Optionally, determining navigation information based on the current location information and the target device location information includes: Determine the first surface arc distance between the current location information and the target device location information; Determine the absolute azimuth angle from the current location information to the target device location information; Acquire gyroscope sensor data to determine the device's current orientation angle; The relative azimuth angle is obtained by combining the absolute azimuth angle with the current orientation angle of the device. Navigation information is determined based on the first surface arc distance and the relative azimuth angle.

[0012] Optionally, after obtaining the current location information using a preset multi-level positioning strategy, the method further includes: A location refresh request is initiated asynchronously using the Global Positioning System (GPS) mode to obtain refreshed location information; The precision value of the refreshed location information is determined and compared with the precision value of the current location information. If the precision value of the refreshed location information is less than the precision value of the current location information, the current location information is updated to the refreshed location information, and the navigation information is redefined.

[0013] Optionally, it also includes: If the location refresh request fails or times out, it will be retried at a preset time interval, and if the number of retries reaches the preset maximum number of retries, the location refresh request will be stopped.

[0014] Optionally, after obtaining the current location information using a preset multi-level positioning strategy, the method further includes: Obtain the current updated location information and determine the second surface arc distance between the current updated location information and the current location information; If the distance to the second surface arc is greater than the preset jitter filtering threshold, the current updated location information is used as the current location information, and the navigation information is redefined. If the distance of the surface arc does not exceed the jitter filtering threshold, the currently updated location information is discarded.

[0015] Optionally, the device location information includes device identification information, and the method further includes: In response to the data export command, the device tag dataset is exported as a first data file that can be transmitted and sent to other intelligent operation and maintenance terminals; In response to the data import command, the system receives and parses the second data file transmitted by other intelligent operation and maintenance terminals, and performs deduplication and merging with the device tag dataset based on the identification information of each device location information in the second data file.

[0016] Secondly, embodiments of this application provide a multi-source fusion positioning and navigation system applied to an intelligent operation and maintenance terminal. The intelligent operation and maintenance terminal has a pre-installed device tagging dataset, which includes multiple device location information. The system includes: The map loading module is used to load the target map in response to the map opening command, and render multiple device marker icons on the target map based on the multiple device location information; A multi-source fusion positioning module is used to perform positioning using a preset multi-level positioning strategy to obtain current location information; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal. The target device determination module is used to obtain the target device location information corresponding to the target marker icon in response to the user selecting a target marker icon from the plurality of device marker icons; The navigation module is used to determine navigation information based on the current location information and the target device location information, and to perform navigation based on the navigation information.

[0017] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0018] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0019] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0020] In this embodiment, in response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of the multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. The multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest based on positioning response speed. The multiple positioning strategies include positioning strategies for environments with no network or weak signal. In response to the user selecting a target marker icon from the multiple device marker icons, the target device location information corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened. It enables maintenance personnel to quickly obtain their own location and navigate to the target device in extreme environments such as when tall crops completely block the line of sight, when there is no network connection, and when the GPS signal is attenuated. This significantly shortens the time for finding faulty devices, eliminates the safety risk of getting lost due to obstructed vision, and requires no deployment of any server or network infrastructure. Ordinary intelligent maintenance terminals can independently complete all positioning and navigation functions. Attached Figure Description

[0021] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of the steps of a multi-source fusion positioning and navigation method provided in some embodiments of this application; Figure 2 This is an overall technical architecture diagram of a multi-source fusion positioning and navigation method provided in some embodiments of this application; Figure 3 This is a schematic diagram of a crop shading scenario at a solar-agricultural hybrid power station in a mountainous area, provided by some embodiments of this application; Figure 4 This is a flowchart of a multi-source fusion localization method provided in some embodiments of this application; Figure 5 This is a schematic diagram of the geometric relationship of a gyroscope-assisted directional navigation provided in some embodiments of this application; Figure 6This is a schematic diagram of orientation mode map view control provided in some embodiments of this application; Figure 7 This is a schematic diagram of a CAD plan view overlay method provided in some embodiments of this application; Figure 8 This is a flowchart of a cross-device incremental deduplication and merging data synchronization method provided in some embodiments of this application; Figure 9 This is a schematic diagram of a user interface provided in some embodiments of this application; Figure 10 This is a structural block diagram of a multi-source fusion positioning and navigation system provided in some embodiments of this application; Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in some embodiments of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] Photovoltaic-agricultural hybrid power generation is a composite land use model that combines photovoltaic power generation with agricultural planting, and it is particularly common in mountainous and hilly areas. Photovoltaic modules are installed above the agricultural planting area, and the space below is used to grow tall crops such as corn, sorghum, and sunflowers, achieving "dual use of land and complementary agriculture and photovoltaics".

[0026] These types of facilities have the following significant characteristics, which pose great challenges to equipment operation and maintenance: a. Complex terrain: Mountain stations are usually arranged along the mountain slope, with obvious terrain undulations, winding roads inside the station, and irregular equipment spacing. Traditional row and column numbering and positioning methods are difficult to accurately describe the spatial relationship of equipment.

[0027] b. Large equipment size: The installed capacity of a single agricultural-solar complementary power station in a mountainous area is usually between 50 MW and 500 MW, with the number of supporting combiner boxes ranging from hundreds to thousands. The number of key equipment such as inverters and transformer substations is also huge, and the equipment is distributed over a wide area of ​​several square kilometers.

[0028] c. Seasonal difficulties of summer maintenance: The growing season of tall crops such as corn (June to September) highly overlaps with the peak period for photovoltaic equipment failures (summer high temperatures and thunderstorms). Mature corn plants typically reach a height of 2.5 to 3.5 meters, far exceeding the height of maintenance personnel. Under the double shading of the photovoltaic panel array and tall crops, the line of sight of maintenance personnel inside the site is extremely limited. They can often only see crops within a range of 1 to 3 meters in front of them, making it completely impossible to visually confirm the location of the equipment and the direction of travel.

[0029] d. GPS signal attenuation: Mountainous terrain obstruction, electromagnetic interference from the metal frame of photovoltaic modules, and scattering and absorption of satellite signals by dense crop leaves all contribute to a significant decrease in the positioning accuracy of GPS (Global Positioning System) inside the site. In dense photovoltaic array areas, the accuracy error can reach 10 to 50 meters, which seriously affects the accurate positioning of the equipment.

[0030] In existing technologies, maintenance personnel rely on personal experience, memory, and paper-based equipment layout diagrams to locate equipment. Under the shade of tall crops, maintenance personnel are highly susceptible to getting lost, and the search time for the same faulty device can be as long as 30 to 90 minutes, severely impacting fault response efficiency. Furthermore, in the high temperatures of summer, there are safety risks such as heatstroke.

[0031] II. Using general map navigation applications for device positioning. These applications have the following fundamental drawbacks: First, general maps do not contain precise location information for equipment within the facility, making it impossible to navigate to specific junction boxes; second, the facility may lack internet access or have extremely weak network signals, preventing online map loading; third, the maximum zoom level of general maps (usually level 20) is insufficient to distinguish adjacent junction boxes (the distance between them is typically only 5-15 meters) within mountainous areas; and fourth, they lack directional assistance functions for environments with crop shading.

[0032] Third, some large photovoltaic operators have deployed dedicated GIS (Geographic Information System) platforms, but such systems have the following drawbacks: First, they require dedicated servers and network infrastructure, making deployment costs extremely high in mountainous areas; second, the client is PC-based software, which is not suitable for mobile field operations; third, system updates and maintenance rely on professional IT personnel, and maintenance personnel cannot independently manage equipment tagging data; fourth, they lack real-time directional navigation and sensor linkage functions.

[0033] Fourth, some sites have tried to equip maintenance personnel with RTK (Real-Time Kinematic) equipment. Although the positioning accuracy can reach the centimeter level, there are problems such as high equipment cost (tens of thousands of yuan per unit), complicated operation, and the need to build a reference station. In addition, it does not have equipment marking management and directional navigation functions, and cannot fundamentally solve the problem of disorientation under the cover of tall crops.

[0034] like Figure 2 The diagram shown is an overall technical architecture diagram of a multi-source fusion positioning and navigation method in this application. The overall technical architecture can be divided into four layers: input perception layer, core algorithm layer, application function layer, and user interaction layer. The input perception layer responds to map opening commands and positioning start commands and collects gyroscope sensor data. The core algorithm layer performs six-level downgrade positioning, gyroscope-assisted navigation, and offline map adaptation. The application function layer completes device tag management and navigation guidance calculation. The user interaction layer realizes map rendering and navigation panel display.

[0035] In this application, in response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. The multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest based on positioning response speed. The multiple positioning strategies include positioning strategies for environments with no network or weak signal. In response to the user selecting a target marker icon from the multiple device marker icons, the target device location information corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened. It enables maintenance personnel to quickly obtain their own location and navigate to the target device in extreme environments such as when tall crops completely block the line of sight, when there is no network connection, and when the GPS signal is attenuated. This significantly shortens the time for finding faulty devices, eliminates the safety risk of getting lost due to obstructed vision, and requires no deployment of any servers or network infrastructure. Ordinary intelligent maintenance terminals can independently complete all positioning and navigation functions.

[0036] The following description, in conjunction with the accompanying drawings, details a multi-source fusion positioning and navigation method provided in this application through specific embodiments and application scenarios.

[0037] Reference Figure 1 This document illustrates a flowchart of a multi-source fusion positioning and navigation method provided in some embodiments of this application. This method is applied to an intelligent operation and maintenance terminal, which has a pre-installed device tag dataset. The device tag dataset includes multiple device location information, and specifically may include the following steps: Step 101: In response to the map open command, load the target map and render multiple device marker icons on the target map based on the multiple device location information.

[0038] As attached Figure 3 The diagram illustrates a scenario where a photovoltaic (PV) power station in a mountainous area is obstructed by crops. The PV array is mounted above tall corn stalks. When maintenance personnel walk among the mature corn (2.5 to 3.5 meters tall), their view is completely blocked. The target combiner box is located in the area obstructed by the crops, making it impossible for maintenance personnel to visually confirm the equipment's location and direction of travel. Figure 3 The clearly marked visual obstruction range reflects the operational challenges of this extreme environment.

[0039] The intelligent operation and maintenance terminal can be a mobile device carried by operation and maintenance personnel, including but not limited to smartphones running Android or iOS systems. The intelligent operation and maintenance terminal has a pre-installed device tagging dataset, which is locally persistent data obtained through prior field collection or cross-terminal synchronization. Multiple device location information in the device tagging dataset corresponds to various key devices within a mountainous agricultural-solar hybrid photovoltaic power station, specifically including: combiner boxes, inverters, box-type transformers, and partition markers for photovoltaic module arrays. Each device location information includes at least longitude and latitude coordinates expressed in the WGS84 (World Geodetic System 1984) coordinate system, as well as a unique device identifier, ensuring that operation and maintenance personnel can accurately locate the position of each device on the target map.

[0040] In step 101, when maintenance personnel need to inspect the equipment, they open the map on the intelligent maintenance terminal. In response to the map opening command, the intelligent maintenance terminal first loads the target map. After the target map is loaded, the terminal reads the pre-set device marker dataset in the local persistent storage and renders and generates multiple device marker icons at the corresponding coordinate positions on the target map according to the location information of each device, forming a device marker layer. This eliminates the need to rely on the network to download device location data in real time, allowing maintenance personnel to intuitively view the spatial distribution of all devices in the site when opening the map.

[0041] In some embodiments of this application, the target map includes online and offline maps, and loading the target map in response to a map open command includes: Sub-step 11: Detect the current network connection status.

[0042] In sub-step 11, the intelligent operation and maintenance terminal detects the current network connection status through the system network monitoring interface, including determining whether it is connected to a cellular network or a wireless LAN.

[0043] Sub-step 12: If the current network connection is available, load the online map service as the target map.

[0044] In sub-step 12, provided the current network connection is available, the intelligent operation and maintenance terminal loads the online map service as the target map. Specifically, the terminal loads four layers from the Tianditu WMTS (WebMapTileService) standard protocol: satellite imagery service (img_w), image annotation service (cia_w), vector base map service (vec_w), and vector annotation service (cva_w). These layers are overlaid and rendered in the order of vector base map, vector annotation, satellite imagery, and image annotation, with the vector base map serving as a fallback layer for full-level coverage across the country. The Tianditu WMTS service uses eight subdomains (t0 to t7) for load balancing. Tile requests are distributed across different subdomains using the map engine's subdomains parameter to avoid overloading a single server. The maximum native zoom level (maxNativeZoom) is set to 18 levels. When the user's zoom operation exceeds this level, the system automatically stretches and displays the highest existing level tile instead of requesting a non-existent level from the server. When tiles in all layers fail to load, a 1×1 pixel transparent PNG (Portable Network Graphics) placeholder is configured via errorTileUrl (the address of the error image displayed when a tile fails to load) to replace the default error marker, keeping the map interface clean.

[0045] Sub-step 13: If the current network connection is unavailable, switch to a locally preset offline map as the target map.

[0046] In sub-step 13, if the current network connection is unavailable, the intelligent operation and maintenance terminal automatically switches to a locally preset offline map as the target map. Specifically, the locally preset offline map includes two forms: The first approach is a localized, pre-installed satellite tile solution. Satellite image tiles covering the site area are pre-downloaded and packaged into the application installation package, stored in a specified directory on the terminal according to the OSM (OpenStreetMap) standard Z / X / Y.jpg directory structure. The tiles use a standard image format, significantly reducing file size while maintaining the visual quality of the satellite imagery.

[0047] Different tile levels are selected based on the area of ​​the site: small sites (area not exceeding 500 square meters) download level 17 to 18 tiles, medium-sized sites (area not exceeding 2 square kilometers) download level 15 to 18 tiles, and large mountain sites (area not exceeding 10 square kilometers) download level 14 to 18 tiles.

[0048] The tiles required for a single 100 MW (approximately 2 square kilometers) solar-agricultural power station in a mountainous area can be packaged entirely into the installation package. During offline layer initialization, the map zoom level is constrained to the range of downloaded tiles using the `minZoom` and `maxZoom` parameters. Simultaneously, `maxNativeZoom` is configured to equal the maximum downloaded level to prevent users from zooming to non-existent levels and generating blank tiles. When tile loading fails, a transparent placeholder image is displayed via `errorTileUrl`; areas outside the offline coverage area only display a blank background instead of an error marker.

[0049] The second method is the CAD (Computer-Aided Design) plan overlay scheme. The site's CAD as-built drawings or aerial plans are exported as high-resolution images. These images are then precisely overlaid onto the map coordinate system using the map engine's image overlay API (Application Programming Interface) with the actual WGS84 latitude and longitude boundary coordinates (a boundary object composed of the southwest and northeast corner coordinates). This scheme provides image accuracy far exceeding that of general satellite tiles, clearly displaying the precise location of each combiner box, inverter, and transformer, making it particularly suitable for densely populated photovoltaic array areas. The latitude and longitude boundary coordinates of the overlaid image must use the same WGS84 coordinate system as the site's equipment marker coordinates to ensure spatial alignment accuracy between the equipment markers and the base map.

[0050] As attached Figure 7 The diagram illustrates a method for overlaying a CAD plan as a base map. It demonstrates how the CAD plan as-built drawing is overlaid. After the CAD as-built drawing of the site is exported as a high-definition image, it is precisely registered and overlaid into the map coordinate system using WGS84 latitude and longitude boundary coordinates (the boundary object formed by the southwest corner coordinates and the northeast corner coordinates). This includes the spatial alignment accuracy between the overlaid junction box, inverter, and other equipment markers and the base map.

[0051] Furthermore, an automatic switching mechanism driven by network status events is employed. This allows for real-time monitoring of network connection status changes by registering network status change event listeners. When the network is disconnected, online layers are automatically destroyed and offline layers are loaded. Simultaneously, the scaling layer constraint range is dynamically adjusted to the layer range covered by offline tiles, and a "Switched to offline map" message is displayed to the user. When the network is restored, the user is prompted to manually switch back to online Tianditu satellite imagery to obtain a higher-precision base map. The switching operation only replaces the base map tile layer; the device marker point (points marking device location information on the map) layer and the navigation line layer remain unchanged during the switching process, ensuring the continuity of upper-layer business layers. Users are largely unaware of the base map switching process.

[0052] Additionally, it incorporates a multi-platform path adaptive resolution mechanism. At runtime, it dynamically constructs tile resource access paths through a platform detection interface to resolve inconsistencies in local resource path formats across Android WebView, iOS WKWebView, and web browser environments. The path corresponding to AndroidWebView is https: / / localhost / tiles / {z} / {x} / {y}.jpg The path corresponding to iOSWKWebView is capacitor: / / localhost / tiles / {z} / {x} / {y}.jpg The corresponding path in the web browser is / tiles / {z} / {x} / {y}.jpg Specifically, the Android platform enforces HTTPS (Hypertext Transfer Secure) as the local resource access protocol for WebView (view component) through configuration files. This ensures compliance with the security context requirements of the Web Encryption API and makes local tile resources accessible via the standard HTTPS protocol. The framework maps the resource directory of the Android application installation package to accessible resources under the https: / / localhost / domain. The WebView requests local tiles via the standard Hypertext Transfer Protocol (HTTP) without requiring additional file system read operations.

[0053] Step 102: Use a preset multi-level positioning strategy to perform positioning and obtain the current location information; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to the positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal.

[0054] In step 102, the intelligent operation and maintenance terminal can use a pre-set multi-level positioning strategy to obtain the current location information. The multi-level positioning strategy is designed for the special environment inside the solar-powered agricultural complementary photovoltaic power station in mountainous areas, where the GPS signal is attenuated by the superposition of three factors: mountain obstruction, electromagnetic interference from the photovoltaic metal frame, and scattering from the leaves of tall crops. It includes multiple positioning levels (level 0 to level 5) sorted from fastest to slowest according to the positioning response speed, and multiple positioning levels include positioning strategies for environments with no network or weak signal.

[0055] In some embodiments of this application, a preset multi-level positioning strategy is used to obtain the current location information, including: Sub-step 21: Obtain the first cache location information, the cache timestamp of the first cache location information, and the current time.

[0056] In sub-step 21, the intelligent operation and maintenance terminal obtains the first cache location information (PositionCache), the cache timestamp of the first cache location information, and the current time. The first cache location information refers to the location coordinates of the last successful location stored in the terminal's local persistent storage, and the cache timestamp is the system time when those location coordinates were written to storage.

[0057] Sub-step 22: Based on the current time and the cache timestamp, determine whether the first cache location information is within the validity period, and if the first cache location information is within the validity period, use the first cache location information as the current location information.

[0058] In sub-step 22, the intelligent operation and maintenance terminal determines whether the first cached location information is within the validity period based on the difference between the current time and the cached timestamp. The validity period is preset to 10 minutes (600,000 milliseconds). This validity period is calculated based on the movement speed of the agricultural-solar complementary site operation and maintenance personnel of about 5 kilometers per hour. The maximum displacement within 10 minutes is about 833 meters. In scenarios where the distance between site equipment is usually greater than 5 meters, the cached location accuracy meets the navigation initialization requirements.

[0059] If the first cache location information is within its validity period, the intelligent operation and maintenance terminal immediately uses the first cache location information as the current location information (response delay less than 1 millisecond), sets the cache source flag (isFromCache=true), and displays the message "Cache location, updating" on the interface.

[0060] The positioning strategy used to obtain current location information is Level 0 positioning.

[0061] In some embodiments of this application, it also includes: Sub-step 31: If the first cache location information does not exist or the first cache location information is not within its validity period, the current network connection status is detected.

[0062] In sub-step 31, if the first cached location information does not exist, i.e. the terminal has never successfully located the location, or if the first cached location information is not within its validity period, i.e. the cache has expired, the terminal checks the current network connection status and determines whether the network is available through the online attribute (navigator.onLine).

[0063] Sub-step 32: If the current network connection is available, initiate a first-level location request through the network positioning mode with a first timeout threshold. If a first request result is obtained within the first timeout threshold, use the first request result as the current location information.

[0064] In sub-step 32, if the current network connection is available, the intelligent operation and maintenance terminal can initiate a first-level positioning request through the network positioning mode with a first timeout threshold of timeout1:3000 milliseconds, while disabling the high-precision global positioning system mode enableHighAccuracy:false, allowing the use of the system cached location within 60 seconds (maximumAge:60000 milliseconds).

[0065] When there is base station coverage near the site or wireless network signal in the management area, the location request will usually return the location result within 500 milliseconds. If the first request result is successfully obtained within the first timeout threshold, the intelligent operation and maintenance terminal will use the first request result as the current location information. At this time, the positioning accuracy is about 50 to 500 meters, which is enough for operation and maintenance personnel to confirm the approximate area within the site and meet the requirements for quick navigation startup.

[0066] The positioning strategy used to obtain the current location information is a first-level positioning strategy.

[0067] Sub-step 33: If the first request result is not obtained within the first timeout threshold, a second-level location request is initiated through the network positioning mode with a second timeout threshold. If the second request result is obtained within the second timeout threshold, the second request result is used as the current location information.

[0068] In sub-step 33, if the first request result is not obtained within the first timeout threshold, i.e., the first-level positioning strategy request times out or fails, the intelligent operation and maintenance terminal can initiate a second-level positioning request through network positioning mode with a second timeout threshold of timeout2:10000 milliseconds. The high-precision global positioning system mode remains disabled, and the allowed cache time is extended to 300 seconds (maximumAge:300000 milliseconds). This setting is suitable for weak network scenarios where base station signals are intermittent or the cache has just expired. Therefore, even in mountainous areas with weak signals, older network positioning caches can still be reused with a high probability. Furthermore, if the second request result is successfully obtained within the second timeout threshold, the terminal uses this second request result as its current location information.

[0069] The positioning strategy used to obtain current location information is a second-level positioning strategy.

[0070] In some embodiments of this application, it also includes: Sub-step 41: If the second request result is not obtained within the second timeout threshold, a third-level positioning request is initiated through the Global Positioning System mode with a third timeout threshold. If the third request result is obtained within the third timeout threshold, the third request result is used as the current location information.

[0071] In sub-step 41, if the second request result is not obtained within the second timeout threshold, i.e., the second-level positioning strategy request times out or fails, the intelligent operation and maintenance terminal can initiate a third-level positioning request through the Global Positioning System (GPS) mode with a third timeout threshold of timeout3:90000 milliseconds. At this time, if the network is detected as unavailable (navigator.onLine===false), or if the first two levels fail, the intelligent operation and maintenance terminal enables the high-precision Global Positioning System mode (enableHighAccuracy:true), allowing the use of system cache within 180 seconds (maximumAge:180000 milliseconds).

[0072] The agricultural-solar hybrid power station is located in a mountainous area. The multiple obstructions from the mountains and photovoltaic brackets cause the GPS cold start TTFF (Time To First Fix) to be as long as 60 to 90 seconds. The 90-second timeout setting covers most cold start scenarios in mountainous areas. If the third request result is successfully obtained within the third timeout threshold, the intelligent operation and maintenance terminal can use the third request result as the current location information. In open areas of the power station, such as roads and inspection passages, an accuracy of 3 to 10 meters can be obtained.

[0073] The positioning strategy used to obtain the current location information is a level 3 positioning strategy.

[0074] Sub-step 42: If no third request result is obtained within the third timeout threshold, the global positioning system mode is turned off, and a low-precision fast positioning request is initiated with a fourth timeout threshold lower than the third timeout threshold. If a fourth request result is obtained within the fourth timeout threshold, the fourth request result is used as the current location information.

[0075] In sub-step 42, if no result is received within the third timeout threshold (i.e., the third-level high-precision GPS positioning fails to return a result within 90 seconds), the intelligent operation and maintenance terminal determines that the cold start failure is due to the expiration of the Auxiliary GPS ephemeris cache. When the agricultural-solar complementary power station is offline for an extended period, the Auxiliary GPS ephemeris data (A-GPS ephemeris) is valid for approximately 4 hours. After this period, the GPS chip needs to autonomously search for satellites, significantly increasing the time required. At this time, the intelligent operation and maintenance terminal disables the high-precision flag of the GPS mode (enableHighAccuracy: false) and initiates a low-precision fast positioning request with a fourth timeout threshold (timeout4: 20000 milliseconds), lower than the third timeout threshold, allowing the use of any cache within 300 seconds (maximumAge: 300000 milliseconds). This setting bypasses the precise GPS calculation path that requires ephemeris data, quickly returning a rough location through low-precision mode, ensuring that maintenance personnel can still obtain a usable location even in a complete network outage cold start scenario.

[0076] The positioning strategy used to obtain the current location information is a level four positioning strategy.

[0077] Sub-step 43: If the fourth request result is not obtained within the fourth timeout threshold, detect whether there is second cache location information locally, and if the second cache location information exists, use the second cache location information as the current location information.

[0078] In sub-step 43, if no result is obtained within the fourth timeout threshold, meaning the fourth-level degradation positioning strategy request still fails, the intelligent operation and maintenance terminal can detect whether second cached location information exists locally. This second cached location information can be any valid persistent location cache, without time limit. If the second cached location information exists, the intelligent operation and maintenance terminal can use this second cached location information as the current location information and send a prompt message "Real-time positioning failed, currently displaying cached location" to the interface layer.

[0079] The positioning strategy for obtaining current location information is a Level 5 positioning strategy. This level of positioning strategy can ensure that in extreme scenarios where the global positioning system is completely unavailable, the system's business processes will not be completely interrupted due to positioning failure. Maintenance personnel can still view the device markers based on the device's location information and refer to historical locations to perform operations.

[0080] like Figure 4 The diagram shows a flowchart of a multi-source fusion positioning method, which fully demonstrates the execution logic of the six-level degradation multi-source fusion positioning method. Starting from the zero-level persistent cache immediate response, it sequentially goes through the first level network fast positioning, the second level loose cache positioning, the third level high-precision GPS positioning, the fourth level A-GPS cold start offline fault-tolerant degradation, and finally the fifth level persistent cache fallback parsing. After each level of positioning is successful, a background accuracy continuous upgrade mechanism is executed in parallel.

[0081] Step 103: In response to the user selecting a target marker icon from the plurality of device marker icons, obtain the target device location information corresponding to the target marker icon.

[0082] In step 103, the intelligent operation and maintenance terminal responds to the target marker icon selected by the user from the plurality of device marker icons and obtains the target device location information corresponding to the target marker icon.

[0083] Specifically, maintenance personnel can select the target device, such as the HLX-0358 combiner box, from multiple device marker icons displayed on the target map by clicking or searching. Each device marker icon corresponds to device location information in the device marker dataset. Each device location information includes at least a unique device identifier (UUIDv4 format), device name, device type, and a preset location represented in the WGS84 coordinate system, including longitude and latitude coordinates with a precision of 6 decimal places. The intelligent maintenance terminal can respond to the user's selection by retrieving the device location information corresponding to the target marker icon from the locally persistently stored device marker dataset, using this information as the target device location.

[0084] The target device location information and the acquired current location information use the same WGS84 coordinate system to ensure that the distance and orientation are calculated under the same spatial reference frame.

[0085] Step 104: Determine navigation information based on the current location information and the target device location information, and perform navigation based on the navigation information.

[0086] In step 104, the intelligent operation and maintenance terminal can determine navigation information based on the current location information and the target device location information, and perform navigation based on the navigation information.

[0087] In some embodiments of this application, determining navigation information based on the current location information and the target device location information includes: Sub-step 51: Determine the first ground arc distance between the current location information and the target device location information.

[0088] In sub-step 51, the intelligent operation and maintenance terminal determines the first surface arc distance between the current location information and the target device location information. Specifically, the terminal can use the Haversine formula to calculate the great-circle distance between the two points. This algorithm is based on the principle of spherical trigonometry and calculates the shortest arc distance between two points on the Earth's surface in the WGS84 coordinate system, with an accuracy error of less than 0.3%.

[0089] Sub-step 52: Determine the absolute azimuth angle from the current location information to the target device location information.

[0090] In sub-step 52, the intelligent operation and maintenance terminal determines the absolute azimuth from the current location information to the target device location information. Specifically, the intelligent operation and maintenance terminal can use a standard geodetic azimuth algorithm based on the arctangent function (atan2 function) to calculate the angle between the direction line from the current location to the target device and the due north direction, with a range of 0 to 360 degrees, clockwise with due north as 0 degrees. The calculation formula is as follows:

[0091] in, .

[0092] The atan2 function returns the angle value obtained by rotating clockwise from due north to the target direction. The modulo operation ensures that the angle falls within the range of 0 to 360 degrees.

[0093] Parameter description: 1, 2 represents the angle values ​​(in degrees) of the current location and the latitude of the target device, respectively, and Δλ represents the difference in longitude (in degrees). When calculating, it is necessary to first multiply by 180 / π to convert it to radians and then enter it into the trigonometric function.

[0094] Sub-step 53: Obtain gyroscope sensor data and determine the current orientation angle of the device.

[0095] In sub-step 53, the intelligent maintenance terminal can acquire gyroscope sensor data to determine the current orientation angle of the device. Specifically, the terminal continuously collects gyroscope sensor data from the mobile phone through the DeviceOrientationEventAPI. Due to differences in data formats among different mobile operating systems, the intelligent maintenance terminal can execute the following adaptation logic: On iOS devices, it directly reads the webkitCompassHeading attribute, which has been automatically corrected to magnetic north and has a value range of 0 to 360 degrees; on Android devices, it reads the alpha angle attribute, which represents the angle of rotation of the device around the Z-axis, with 0 degrees representing true north. The terminal converts this to an equivalent compass direction: compassHeading = (360 - alpha angle) % 360.

[0096] Furthermore, the intelligent operation and maintenance terminal can smooth the raw sensor data using an exponentially weighted low-pass filter algorithm, eliminating high-frequency noise coupled to the mobile phone sensor from vibrations generated by equipment such as photovoltaic power plant inverters. The weighted low-pass filter algorithm uses the following formula:

[0097] The smoothing factor α ranges from 0.05 to 0.30, preferably 0.15. This is the angle difference after correction across 0° / 360°. This filter parameter has been specifically tuned for the vibration environment of photovoltaic power plant inverters, eliminating high-frequency noise while maintaining real-time directional response.

[0098] Sub-step 54: Obtain the relative azimuth angle based on the absolute azimuth angle and the current orientation angle of the device.

[0099] In sub-step 54, the intelligent operation and maintenance terminal can obtain the relative azimuth angle (Relative Bearing) based on the absolute azimuth angle and the current orientation angle of the device. Specifically, the intelligent operation and maintenance terminal can subtract the current orientation angle of the device obtained in sub-step 53 from the absolute azimuth angle calculated in sub-step 52. If the calculated result is less than 0 degrees, 360 degrees is added to ensure that the relative azimuth angle is within the range of 0 to 360 degrees. The calculation formula is as follows:

[0100] Among them, B rel This is the relative azimuth angle, representing the angle of deflection of the target device relative to the direction the maintenance personnel are currently facing. This relative azimuth angle directly drives the CSS transformation of the navigation arrow using `transform:rotate()`, ensuring the arrow always points towards the target device during navigation.

[0101] Based on the angular range of the relative azimuth angle, when B rel At that time, the target was directly in front; when B rel At that time, the target is to the right front; and so on, forming an 8-directional intuitive directional description.

[0102] like Figure 5 The diagram illustrates a geometric relationship diagram for gyroscope-assisted directional navigation, showing the core calculation relationship of directional navigation from a geometric perspective, including the absolute azimuth angle B from the current position to the target device. abs Current orientation angle H of the equipment device And the relative azimuth angle B obtained by subtracting the two. rel The spatial relationship between the three elements, with the navigation arrow pointing in a direction driven by the relative azimuth angle, achieves a relative navigation effect where "the arrow always points to the target device".

[0103] Sub-step 55: Determine navigation information based on the first surface arc distance and the relative azimuth angle.

[0104] In sub-step 55, the intelligent operation and maintenance terminal can determine navigation information based on the first surface arc distance and the relative azimuth angle. Specifically, the terminal uses the first surface arc distance calculated in sub-step 51 and the relative azimuth angle calculated in sub-step 54 as the core navigation information.

[0105] In some embodiments of this application, multimodal navigation guidance can be provided to operations and maintenance personnel in the following ways: Firstly, map navigation connection: The intelligent operation and maintenance terminal can call the map engine's polyline drawing interface L.polyline(), and draw a yellow directional indicator line with arrows on the map with the coordinates corresponding to the current location information and the coordinates corresponding to the target device location information as the endpoints, so as to intuitively show the travel path.

[0106] Secondly, the navigation panel displays: the intelligent operation and maintenance terminal displays the compass pointer, relative azimuth angle value and Chinese direction description such as "right front", distance reading and absolute azimuth angle value in real time on the bottom navigation panel.

[0107] Third, visual deviation feedback: The intelligent operation and maintenance terminal provides intuitive feedback using color coding based on the deviation angle of the relative azimuth. When the deviation is less than 15 degrees, a green "facing the target" prompt is displayed; when the deviation is between 15 and 45 degrees, a yellow deflection prompt is displayed; and when the deviation exceeds 45 degrees, a red large deflection warning is displayed. In environments where tall crops completely block the line of sight, operation and maintenance personnel can rely entirely on the arrow pointing, distance readings, and color feedback on the screen to adjust their direction of travel without having to look up to find visual references.

[0108] As attached Figure 9 The diagram shows a user interface, which is the actual display effect of the user interface. The main map area displays the device marker icon, the current location dot, and the yellow directional indicator line with arrows. The bottom navigation panel displays the compass pointer, absolute azimuth value, relative azimuth value, and distance reading in real time, and can provide color-coded feedback according to the degree of deviation of the relative azimuth.

[0109] Fourth, three-mode map perspective adaptive control: The intelligent operation and maintenance terminal supports dynamic switching between three map display modes: facing upwards, north-facing upwards, and free browsing. In facing upwards mode, the map perspective rotates in real time with the direction the operation and maintenance personnel are moving, always keeping "forwards upwards" to ensure the map direction is consistent with the personnel's perceived direction. The current position is displayed in the lower third of the screen, achieved through pixel offset calculation, leaving more display space for the path ahead. In north-facing upwards mode, the map is fixed with north facing upwards, and the direction lines and navigation arrows are updated in real time, suitable for scenarios where equipment confirmation is done by referring to paper drawings. In free browsing mode, the map does not perform any automatic operations, and the operation and maintenance personnel can freely drag and view the global equipment distribution of the site. The rotation angle is smoothly transitioned when switching between the three modes to avoid directional confusion caused by sudden changes in perspective.

[0110] As attached Figure 6As shown, a schematic diagram of a map view control mode is presented, comparing the display effects of three map view modes. In the direction-up mode, the map rotates in real time with the direction of movement of the maintenance personnel and the current position is located at the bottom third of the screen. In the north-up mode, the map is fixed to north while the navigation arrow rotates dynamically. In the free browsing mode, the maintenance personnel can drag the map at will to view the global distribution of devices.

[0111] In this embodiment, in response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of the multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. The multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest based on positioning response speed. The multiple positioning strategies include positioning strategies for environments with no network or weak signal. In response to the user selecting a target marker icon from the multiple device marker icons, the target device location information corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened. It enables maintenance personnel to quickly obtain their own location and navigate to the target device in extreme environments such as when tall crops completely block the line of sight, when there is no network connection, and when the GPS signal is attenuated. This significantly shortens the time for finding faulty devices, eliminates the safety risk of getting lost due to obstructed vision, and requires no deployment of any server or network infrastructure. Ordinary intelligent maintenance terminals can independently complete all positioning and navigation functions.

[0112] In some embodiments of this application, after obtaining the current location information using a preset multi-level positioning strategy, the method further includes: Step 105: Initiate a location refresh request asynchronously through the Global Positioning System mode to obtain refreshed location information.

[0113] In step 105, after obtaining the current location information using a preset multi-level positioning strategy, the terminal asynchronously initiates a location refresh request through the Global Positioning System (GPS) mode to obtain refreshed location information. Specifically, after any level of positioning successfully returns the current location information, a high-precision GPS upgrade request, `silentUpgradeGPS`, can be silently initiated in the background. This request is configured with high-precision mode `enableHighAccuracy:true`, a timeout of 90 seconds `timeout5:90000 milliseconds`, and `maximumAge:0` to disable caching. This upgrade request is independent of the aforementioned multi-level positioning main process, executes asynchronously in the background, does not block user interface operations, and is unnoticed by maintenance personnel.

[0114] Step 106: Determine the precision value of the refreshed location information and compare it with the precision value of the current location information. If the precision value of the refreshed location information is less than the precision value of the current location information, update the current location information to the refreshed location information and re-determine the navigation information.

[0115] In step 106, the intelligent operation and maintenance terminal can determine the accuracy value (in meters, the smaller the value, the higher the accuracy) of the refreshed location information and compare it with the accuracy value of the current location information. If the accuracy value of the refreshed location information is significantly lower than the accuracy value of the current location information, the intelligent operation and maintenance terminal can update the current location information to the refreshed location information and re-determine the navigation information. This accuracy comparison mechanism ensures that an update is only performed when the new coordinates are more accurate, avoiding repeated coordinate jumps when the GPS signal is unstable.

[0116] After a successful upgrade, the terminal will refresh its location information and synchronously write it to the persistent location cache, providing the latest data for the level zero cache response on the next startup.

[0117] In some embodiments of this application, it also includes: If the location refresh request fails or times out, it will be retried at a preset time interval, and if the number of retries reaches the preset maximum number of retries, the location refresh request will be stopped.

[0118] If the location refresh request fails or times out, the intelligent operation and maintenance terminal can retry at preset time intervals.

[0119] Specifically, when a solar-agricultural hybrid power station experiences a prolonged network outage, the validity period of A-GPS ephemeris data is approximately 4 hours. After expiration, the GPS chip needs to autonomously search for satellites. For scenarios involving expired A-GPS ephemeris, the background upgrade request will be retried a maximum of 5 times, with each retry spaced 30 seconds apart, covering a 2.5-minute ephemeris download waiting window. Once the preset maximum number of retries is reached, the intelligent maintenance terminal will stop initiating location refresh requests. After the ephemeris is ready, subsequent retry requests will automatically complete the accuracy upgrade, and the entire process is transparent to the user.

[0120] In some embodiments of this application, after obtaining the current location information using a preset multi-level positioning strategy, the method further includes: Step 107: Obtain the current updated location information and determine the second surface arc distance between the current updated location information and the current location information.

[0121] In step 107, after obtaining the current location information by using a preset multi-level positioning strategy, the terminal starts continuous location monitoring (watchPosition) and obtains the current updated location information during the monitoring process, and determines the second ground arc distance between the current updated location information and the received current location information.

[0122] Specifically, the intelligent operation and maintenance terminal can call the continuous location monitoring interface navigator.geolocation.watchPosition to start background continuous positioning. The monitoring parameters are specifically optimized for the mountainous agricultural-solar hybrid site environment: the timeout is set to 30 seconds, allowing for a 15-second buffer. Extending the timeout setting can reduce false alarms caused by intermittent signal in mountainous areas, and extending the buffer time can tolerate the reuse of the previous valid location during brief periods of GPS signal loss, avoiding gaps in the trajectory record.

[0123] Step 108: If the distance of the second surface arc is greater than the preset jitter filtering threshold, the current updated location information is used as the current location information, and the navigation information is redefined.

[0124] In step 108, if the distance of the second surface arc is greater than the preset jitter filtering threshold, the intelligent operation and maintenance terminal can use the currently updated location information as the current location information and re-determine the navigation information.

[0125] The preset jitter filtering threshold can be 1.5 meters, which is determined based on the minimum spacing constraint between photovoltaic power station equipment. This eliminates the position jitter of the GPS signal caused by leaf scattering in dense areas of tall crops, and prevents the position marker on the map from jumping frequently when the equipment is stationary. When the displacement exceeds the threshold, the terminal triggers map marker updates, navigation direction recalculation, and persistent cache writing.

[0126] Step 109: If the distance of the ground arc does not exceed the jitter filtering threshold, discard the current updated location information.

[0127] In step 109, if the distance to the surface arc does not exceed the jitter filtering threshold, the intelligent operation and maintenance terminal will discard the currently updated location information and will not trigger the update of the current location information, the re-determination of navigation information, or the writing of persistent cache. This mechanism effectively eliminates the problem of frequent location marker jumps caused by GPS signal jitter in densely populated areas of tall crops, while avoiding frequent refreshes of navigation information and frequent writing of persistent cache due to signal jitter.

[0128] Furthermore, once the cache is hit, i.e. when the zero-level positioning uses the cached location as the current location information, the first to third levels of real-time positioning can continue to be executed in the background. Once the high-precision location is ready, the current location information and navigation information are updated without being noticed, thus achieving a balance between "instant response" and "continuous optimization of accuracy".

[0129] In some embodiments of this application, the device location information includes device identification information, and the method further includes: Step 110: In response to the data export command, the device tag dataset is exported as a first data file that can be transmitted and sent to other intelligent operation and maintenance terminals.

[0130] In step 110, in response to the data export instruction, the intelligent operation and maintenance terminal exports the device tag dataset as a first data file that can be transmitted and sends it to other intelligent operation and maintenance terminals.

[0131] Specifically, when operations and maintenance personnel click the "Export JSON (a lightweight data exchange format)" button, the system serializes all device location information data in localStorage into the following standard JSON structure: { "version":"1.0", "exportedAt": 1741651200000, "count":156, "markers": [ { "id":"550e8400-e29b-41d4-a716-446655440000", "name":"Combiner Box-Area-001", "type":"electrical", "lat":34.896123, "lng":108.945456, "accuracy": 8.5, "remark":"The third fuse string failed", "createdAt": 1741651200000, "updatedAt": 1741651200000 } ] } This includes the version number (version), export timestamp (exportedAt), number of devices (count), and device array (markers). Each device location information includes at least: a unique identifier (id, using a universally unique identification code format, such as 550e8400-e29b-41d4-a716-446655440000), device name (name), device type (type), WGS84 coordinate system longitude coordinates (lng), WGS84 coordinate system latitude coordinates (lat), positioning accuracy (accuracy), remark information (remark), creation timestamp (createdAt), and update timestamp (updatedAt).

[0132] The intelligent operation and maintenance terminal writes the serialized JSON data (i.e., the first data file) to the device storage through the file system interface (@capacitor / filesystem), and then calls the native sharing interface to pop up the system sharing menu. Users can transfer files to other devices through applications and channels such as AirDrop.

[0133] Step 111: In response to the data import instruction, receive and parse the second data file transmitted by other intelligent operation and maintenance terminals, and merge it with the device tag dataset according to the identification information of each device location information in the second data file.

[0134] In step 111, in response to the data import instruction, the intelligent operation and maintenance terminal receives and parses the second data file transmitted by other intelligent operation and maintenance terminals, and performs deduplication and merging with the device tag dataset according to the identification information of each device location information in the second data file.

[0135] Specifically, the receiving operations and maintenance personnel click the "Import JSON" button, which then calls @capawesome / capacitor-file-picker to open the system file picker. After the user selects a JSON file, the file content can be read and the following processing flow can be executed: First, format validation: Each device location information entry must include four mandatory fields: a unique identifier (id), device name (name), latitude coordinates (lat), and longitude coordinates (lng). Latitude values ​​are limited to 3.86 to 53.55, longitude values ​​are limited to 73.66 to 135.05, and the device name field must be no longer than 50 characters. Records that fail validation are skipped and counted in the failure count, without affecting the normal import of other records.

[0136] Secondly, the primary key idempotent merging strategy based on unique identifiers: the intelligent operation and maintenance terminal can perform overwrite merging with the unique identifier (id field, universal unique identification code format) of each device location information as the primary key.

[0137] Specifically, the imported data set (i.e., the second data file) is traversed, and for each record, an element with the same unique identifier is searched in the local device tag dataset. If it exists, the imported record overwrites and updates the device tag (supporting bidirectional synchronous updates of device name, fault description, and other information). If it does not exist, the device location information is appended to the device tag dataset. This strategy differs from "only appending non-existent records" in that when an operations and maintenance personnel modifies existing device location information locally and then exports it, other members can synchronously obtain the modification during import, rather than skipping it due to the existence of a unique identifier. This enables bidirectional data updates in multi-user collaborative scenarios. The import operation satisfies idempotency: performing multiple import operations on the same dataset yields the same result as performing a single import operation, without generating duplicate records.

[0138] Third, after the data merging is complete, the intelligent operation and maintenance terminal can clear and rebuild the map aggregation layer, and execute the synchronize markers to map operation `syncMarkersToMap`. First, it clears the current aggregation layer `markerClusterGroup.clearLayers()`, and then batch-renders the merged full set of device location information to the map. A batch asynchronous rendering strategy (200 items per batch, 100 milliseconds interval between batches) ensures the continuous smoothness of map interaction in scenarios involving large data imports. After the import is complete, the terminal displays a summary prompt to the user, such as "Successfully imported X items, updated Y items, skipped Z items (format error)".

[0139] In addition, cross-application data import is supported via Android Intent. When an operations and maintenance personnel open a JSON file in an application, file manager, or other application and select "Open with another application," the Android operating system triggers the Intent filter registered by this application (action: android.intent.action.VIEW, MIME Type: application / json). The file URI (UniformResourceIdentifier) ​​is received through the appUrlOpen event callback of the @capacitor / app plugin. After reading the file content, the same format validation, primary key idempotent merging based on the unique identifier, and map re-rendering process are performed, just like in the file selector method.

[0140] To address the timing issue where intent callbacks may arrive before map instantiation is complete (in application cold start scenarios), a polling detection mechanism can be used: if the map instance is not ready when the import callback is triggered, the system starts a polling timer to poll the map instance status at 100-millisecond intervals. After detecting that the map instance is not empty, the polling is cleared and the import process is executed. The maximum waiting time is set to 5000 milliseconds. After the timeout, an error log is recorded and a prompt is displayed to the user.

[0141] like Figure 8 The diagram illustrates a flowchart of a cross-device incremental deduplication and merging data synchronization method. It shows the complete process of synchronizing device tag datasets among multiple operations and maintenance personnel via JSON files. The process begins with operations and maintenance personnel A, B, and C each entering device tag data locally, then exporting JSON files and transmitting them via WeChat, Bluetooth, or AirDrop. Finally, operations and maintenance personnel D imports multiple files sequentially and executes an overwrite merging strategy based on the device's unique identifier, ultimately obtaining the complete deduplicated and merged device tag dataset.

[0142] In this embodiment, in response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of the multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. The multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest based on positioning response speed. The multiple positioning strategies include positioning strategies for environments with no network or weak signal. In response to the user selecting a target marker icon from the multiple device marker icons, the target device location information corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened. It enables maintenance personnel to quickly obtain their own location and navigate to the target device in extreme environments such as when tall crops completely block the line of sight, when there is no network connection, and when the GPS signal is attenuated. This significantly shortens the time for finding faulty devices, eliminates the safety risk of getting lost due to obstructed vision, and requires no deployment of any server or network infrastructure. Ordinary intelligent maintenance terminals can independently complete all positioning and navigation functions.

[0143] The following two specific examples illustrate the solutions in this application.

[0144] Case 1: Rapid Location of Combiner Box Faults in Summer A photovoltaic power station in a mountainous area with integrated agricultural and solar power has an installed capacity of 150MW and 1200 combiner boxes. Corn is planted in the station, with the plants about 3 meters tall. On a morning in July, the monitoring system alarmed and showed that combiner box numbered HLX-0358 had a DC side overcurrent fault, requiring maintenance personnel to handle it on-site.

[0145] Step 1: Initialization and Device Tag Loading When maintenance personnel open the system, it automatically loads the locally stored tagging data for 1200 combiner boxes (loading time < 200 milliseconds) and displays the locations of all devices on the site's satellite base map using color-coded icons. When maintenance personnel search for "HLX-0358" in the tagging list, the system highlights the target combiner box's location on the map, and the map view automatically jumps to the area near the target device.

[0146] Step 2: Rapid Localization via Multi-Source Fusion The maintenance personnel clicked the location button, immediately initiating a first-level network location request. Due to the site's location in a mountainous area and weak nearby base station signals, the first-level location successfully returned within 2.8 seconds, with an accuracy of approximately 180 meters, and the maintenance personnel's current location was displayed on the map. Simultaneously, the system initiated a GPS accuracy upgrade request in the background. After the maintenance personnel walked to an open road within the site, the GPS accuracy upgrade was completed approximately 12 seconds later, improving the location accuracy to 8 meters, and the location marker was automatically updated to the precise location.

[0147] Step 3: Activate target navigation Maintenance personnel click the HLX-0358 marker icon on the map, and the absolute azimuth from the current location to the target junction box is calculated to be 127.3° (southeast), with a straight-line distance of 243 meters. A yellow directional indicator line with an arrow is drawn on the map, and the bottom navigation panel displays the compass, azimuth value, the Chinese description of "southeast," and distance information. It can automatically switch to an upward-facing navigation mode, with the map view rotating to display the direction of travel upwards.

[0148] Step 4: Navigation under the shade of tall crops Once the maintenance personnel entered the cornfield, their view was completely blocked, and they could only see crops within a radius of about 1.5 meters in front of them. At this point, the maintenance personnel relied entirely on the navigation information on their mobile phone screens to navigate. The large arrow at the bottom displays the target device's deflection relative to the current facing direction in real time. Initially, it shows "Right Front ↗" (yellow, deflection of about 32°). After the maintenance personnel adjust their direction of travel to the right, the arrow gradually changes to "Straight Front ↑" (green, deviation <8°), indicating that the target direction has been aligned.

[0149] After the gyroscope data is processed by low-pass filtering, the compass pointer rotates smoothly without obvious jitter (the vibration noise generated by the inverter is effectively suppressed by the low-pass filter with α=0.15).

[0150] As the maintenance personnel continued their journey, the GPS continuously monitored their location in real time, and the distance reading on the navigation panel gradually decreased from 243 meters. When the distance decreased to within 15 meters, the system automatically prompted "Approaching the target device."

[0151] Step 5: Mark the fault status upon arrival After the maintenance personnel arrive at the HLX-0358 combiner box, they click on the device's marker icon, change the device type to "faulty device" (marked in red), fill in a description of the fault in the remarks, and click save. The updated data will then be automatically synchronized to the local storage.

[0152] Step Six: Data Synchronization to the Maintenance Team After the maintenance personnel complete the on-site handling, they can send the data file containing the fault marker update to the team leader through the "export" function. The team leader can then use the "import" function to merge the data into the team's main equipment, which can automatically identify the status update of HLX-0358 and complete the data summary.

[0153] Case 2: Initial Marking Record Entry Scenario for Newly Built Station Equipment A newly built agricultural-solar complementary photovoltaic power station in a mountainous area has completed construction and acceptance. It is necessary to record the GPS coordinates of all 800 combiner boxes in order to establish an equipment location database.

[0154] The maintenance team consisted of four members, each responsible for a specific area. Each member carried an Android phone with the system installed and entered their assigned area. Upon reaching each combiner box, they clicked the "Mark Here" button. The system created a marker using the current GPS coordinates, and after filling in the combiner box number and type, they confirmed. The marking time for a single device was approximately 8 seconds. Working simultaneously, the four team members completed the marking of all 800 combiner boxes in approximately two hours.

[0155] After completion, the four people exported their respective marked data files via file transfer and summarized them for the team leader. The team leader then imported the four files in sequence. The system automatically integrated them through an incremental deduplication and merging mechanism, ultimately obtaining a complete database containing the precise coordinates of all 800 combiner boxes in the entire site. This database was stored locally, and all subsequent maintenance personnel could import this data file to obtain a complete site equipment map.

[0156] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0157] Reference Figure 10 This diagram illustrates a structural block diagram of a multi-source fusion positioning and navigation system provided in some embodiments of this application, applied to an intelligent operation and maintenance terminal. The intelligent operation and maintenance terminal has a pre-installed device tag dataset, which includes multiple device location information and may specifically include the following modules: The map loading module 1001 is used to load the target map in response to the map opening command, and render multiple device marker icons on the target map based on the multiple device location information; The multi-source fusion positioning module 1002 is used to perform positioning using a preset multi-level positioning strategy to obtain current location information; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal. The target device determination module 1003 is used to obtain the target device location information corresponding to the target marker icon in response to the user selecting a target marker icon from the plurality of device marker icons; The navigation module 1004 is used to determine navigation information based on the current location information and the target device location information, and to perform navigation based on the navigation information.

[0158] In one embodiment of this application, the map loading module 1001 includes: The status detection submodule is used to detect the current network connection status; The online loading submodule is used to load an online map service as the target map when the current network connection is available; The offline loading submodule is used to switch to a locally preset offline map as the target map when the current network connection is unavailable.

[0159] In one embodiment of this application, the multi-source fusion positioning module 1002 includes: The cache retrieval submodule is used to retrieve the first cache location information, the cache timestamp of the first cache location information, and the current time. The first positioning submodule is used to determine whether the first cached location information is within the validity period based on the current time and the cache timestamp, and if the first cached location information is within the validity period, use the first cached location information as the current location information.

[0160] In one embodiment of this application, it further includes: The network detection module is used to detect the current network connection status when the first cache location information is not found or the first cache location information is not within the validity period. The first positioning module is used to initiate a first-level positioning request through a network positioning mode with a first timeout threshold when the current network connection is available, and to use the first request result as the current location information if a first request result is obtained within the first timeout threshold. The second positioning module is used to initiate a second-level positioning request through network positioning mode with a second timeout threshold if the first request result is not obtained within the first timeout threshold, and to use the second request result as the current location information if the second request result is obtained within the second timeout threshold.

[0161] In one embodiment of this application, it further includes: The third positioning module is used to initiate a third-level positioning request in the global positioning system mode with a third timeout threshold if the second request result is not obtained within the second timeout threshold, and to use the third request result as the current location information if the third request result is obtained within the third timeout threshold. The fourth positioning module is used to, if no third request result is obtained within the third timeout threshold, close the global positioning system mode, initiate a low-precision fast positioning request at a fourth timeout threshold lower than the third timeout threshold, and if a fourth request result is obtained within the fourth timeout threshold, use the fourth request result as the current location information. The fifth positioning module is used to detect whether there is second cached location information locally when the fourth request result is not obtained within the fourth timeout threshold, and if the second cached location information exists, then the second cached location information is used as the current location information.

[0162] In one embodiment of this application, the navigation module 1004 includes: The distance determination submodule is used to determine the first ground surface arc distance between the current location information and the target device location information; The absolute azimuth angle determination submodule is used to determine the absolute azimuth angle from the current location information to the target device location information; The current orientation angle determination submodule is used to acquire gyroscope sensor data and determine the current orientation angle of the device; The relative azimuth angle determination submodule is used to obtain the relative azimuth angle based on the absolute azimuth angle and the current orientation angle of the device; The navigation information determination submodule is used to determine navigation information based on the first surface arc distance and the relative azimuth angle.

[0163] In one embodiment of this application, the method further includes, after obtaining the current location information by employing a preset multi-level positioning strategy, the method further includes: The first location acquisition module is used to asynchronously initiate a location refresh request through the Global Positioning System mode to obtain refreshed location information; The first location update module is used to determine the precision value of the refreshed location information and compare it with the precision value of the current location information. If the precision value of the refreshed location information is less than the precision value of the current location information, the current location information is updated to the refreshed location information, and the navigation information is redefined.

[0164] In one embodiment of this application, it further includes: The refresh stop module is used to retry the location refresh request at a preset time interval if the location refresh request fails or times out, and to stop initiating the location refresh request when the number of retries reaches a preset maximum number of retries.

[0165] In one embodiment of this application, after obtaining the current location information by using a preset multi-level positioning strategy, the method further includes: The second location acquisition module is used to acquire the current updated location information and determine the second surface arc distance between the current updated location information and the current location information; The second location update module is used to take the current updated location information as the current location information and re-determine the navigation information when the distance of the second surface arc is greater than the preset jitter filtering threshold. The anti-jitter module is used to discard the currently updated location information if the distance of the ground arc does not exceed the jitter filtering threshold.

[0166] In one embodiment of this application, the device location information includes device identification information, and the method further includes: The data sending module is used to export the device tag dataset into a first data file that can be transmitted in response to the data export command, and send it to other intelligent operation and maintenance terminals. The data receiving module is used to receive and parse the second data file transmitted by other intelligent operation and maintenance terminals in response to the data import command, and to perform deduplication and merging with the device tag dataset according to the identification information of each device location information in the second data file.

[0167] The multi-source fusion positioning and navigation system in this application embodiment can be a device, or a component, software, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.

[0168] The multi-source fusion positioning and navigation system in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0169] The multi-source fusion positioning and navigation system provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method embodiment of a multi-source fusion positioning and navigation system will not be described again here to avoid repetition.

[0170] In this embodiment, in response to a map opening command, a target map is loaded, and multiple device marker icons are rendered on the target map based on the location information of the multiple devices. A preset multi-level positioning strategy is used for positioning to obtain the current location information. The multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest based on positioning response speed. The multiple positioning strategies include positioning strategies for environments with no network or weak signal. In response to the user selecting a target marker icon from the multiple device marker icons, the target device location information corresponding to the target marker icon is obtained. Navigation information is determined based on the current location information and the target device location information, and navigation is performed based on the navigation information. This achieves independent decoupling between the real-time rendering of device markers and personnel positioning when the map is opened. It enables maintenance personnel to quickly obtain their own location and navigate to the target device in extreme environments such as when tall crops completely block the line of sight, when there is no network connection, and when the GPS signal is attenuated. This significantly shortens the time for finding faulty devices, eliminates the safety risk of getting lost due to obstructed vision, and requires no deployment of any server or network infrastructure. Ordinary intelligent maintenance terminals can independently complete all positioning and navigation functions.

[0171] Optionally, this application embodiment also provides an electronic device, including a processor 1100, a memory 1109, and a program or instructions stored in the memory 1109 and executable on the processor 1110. When the program or instructions are executed by the processor 1110, they implement the various processes of the above-described multi-source fusion positioning and navigation method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0172] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0173] Figure 11 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of this application.

[0174] The electronic device 1100 includes, but is not limited to, components such as: a radio frequency unit 1101, a network module 1102, an audio output unit 1103, an input unit 1104, a sensor 1105, a display unit 1106, a user input unit 1107, an interface unit 1108, a memory 1109, and a processor 1110. The user input unit 1107 includes a touch panel 11071 and other input devices 11072; the display unit 1106 includes a display panel 11061; and the input unit includes a graphics processor 11041 and a microphone 11042.

[0175] Those skilled in the art will understand that the electronic device 1100 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1110 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 11 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0176] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described multi-source fusion positioning and navigation method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0177] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0178] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described multi-source fusion positioning and navigation method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0179] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0180] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0181] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0182] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A multi-source fusion positioning and navigation method, characterized in that, The method, applied to an intelligent operation and maintenance terminal, includes a pre-installed device tagging dataset, which contains multiple device location information. In response to the map open command, the target map is loaded, and multiple device marker icons are rendered on the target map based on the multiple device location information; The current location information is obtained by using a preset multi-level positioning strategy; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to the positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal. In response to a user selecting a target marker icon from the plurality of device marker icons, the location information of the target device corresponding to the target marker icon is obtained; Based on the current location information and the target device location information, navigation information is determined, and navigation is performed based on the navigation information.

2. The method according to claim 1, characterized in that, The target map includes online and offline maps, and loading the target map in response to the map open command includes: Detect the current network connection status; If a current network connection is available, load an online map service as the target map; If the current network connection is unavailable, switch to a locally preset offline map as the target map.

3. The method according to claim 1, characterized in that, The method of using a preset multi-level positioning strategy to obtain current location information includes: Get the first cache location information, the cache timestamp of the first cache location information, and the current time; Based on the current time and the cache timestamp, determine whether the first cache location information is within the validity period, and if the first cache location information is within the validity period, use the first cache location information as the current location information.

4. The method according to claim 3, characterized in that, Also includes: If the first cache location information does not exist or is not within its validity period, the current network connection status is detected. If the current network connection is available, a first-level location request is initiated through the network location mode with a first timeout threshold. If a first request result is obtained within the first timeout threshold, the first request result is used as the current location information. If no result of the first request is obtained within the first timeout threshold, a second-level location request is initiated through the network location mode with a second timeout threshold. If a result of the second request is obtained within the second timeout threshold, the second request result is used as the current location information.

5. The method according to claim 4, characterized in that, Also includes: If no result of the second request is obtained within the second timeout threshold, a third-level positioning request is initiated in the global positioning system mode with a third timeout threshold. If a result of the third request is obtained within the third timeout threshold, the third request result is used as the current location information. If no third request result is obtained within the third timeout threshold, the global positioning system mode is turned off, and a low-precision fast positioning request is initiated with a fourth timeout threshold lower than the third timeout threshold. If a fourth request result is obtained within the fourth timeout threshold, the fourth request result is used as the current location information. If the fourth request result is not obtained within the fourth timeout threshold, the system checks whether there is second cache location information locally. If the second cache location information exists, the second cache location information is used as the current location information.

6. The method according to claim 1, characterized in that, The step of determining navigation information based on the current location information and the target device location information includes: Determine the first surface arc distance between the current location information and the target device location information; Determine the absolute azimuth angle from the current location information to the target device location information; Acquire gyroscope sensor data to determine the device's current orientation angle; The relative azimuth angle is obtained by combining the absolute azimuth angle with the current orientation angle of the device. Navigation information is determined based on the first surface arc distance and the relative azimuth angle.

7. The method according to any one of claims 1-6, characterized in that, After obtaining the current location information using a pre-defined multi-level positioning strategy, the process also includes: A location refresh request is initiated asynchronously using the Global Positioning System (GPS) mode to obtain refreshed location information; The precision value of the refreshed location information is determined and compared with the precision value of the current location information. If the precision value of the refreshed location information is less than the precision value of the current location information, the current location information is updated to the refreshed location information, and the navigation information is redefined.

8. The method according to claim 7, characterized in that, Also includes: If the location refresh request fails or times out, it will be retried at a preset time interval, and if the number of retries reaches the preset maximum number of retries, the location refresh request will be stopped.

9. The method according to any one of claims 1-6, characterized in that, After obtaining the current location information using a pre-defined multi-level positioning strategy, the process also includes: Obtain the current updated location information and determine the second surface arc distance between the current updated location information and the current location information; If the distance to the second surface arc is greater than the preset jitter filtering threshold, the current updated location information is used as the current location information, and the navigation information is redefined. If the distance of the surface arc does not exceed the jitter filtering threshold, the currently updated location information is discarded.

10. The method according to any one of claims 1-6, characterized in that, The device location information includes the device's identification information, and the method further includes: In response to the data export command, the device tag dataset is exported as a first data file that can be transmitted and sent to other intelligent operation and maintenance terminals; In response to the data import command, the system receives and parses the second data file transmitted by other intelligent operation and maintenance terminals, and performs deduplication and merging with the device tag dataset based on the identification information of each device location information in the second data file.

11. A multi-source fusion positioning and navigation system, characterized in that, An application is made in an intelligent operation and maintenance terminal, wherein the intelligent operation and maintenance terminal has a pre-installed device tagging dataset, the device tagging dataset including multiple device location information, and the system includes: The map loading module is used to load the target map in response to the map opening command, and render multiple device marker icons on the target map based on the multiple device location information; A multi-source fusion positioning module is used to perform positioning using a preset multi-level positioning strategy to obtain current location information; wherein, the multi-level positioning strategy includes multiple positioning strategies sorted from fastest to slowest according to positioning response speed, and the multiple positioning strategies include positioning strategies for environments without network or with weak signal. The target device determination module is used to obtain the target device location information corresponding to the target marker icon in response to the user selecting a target marker icon from the plurality of device marker icons; The navigation module is used to determine navigation information based on the current location information and the target device location information, and to perform navigation based on the navigation information.

12. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method as described in any one of claims 1 to 10.

13. A readable storage medium, characterized in that, A computer program is stored on the readable storage medium, which, when executed by a processor, implements the method as described in any one of claims 1 to 10.

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