Method, apparatus, system and adapter for positioning of a ship space grid

Abstract

The application relates to a positioning method, device and system of a ship space grid and an adapter, the ship comprises a wireless positioning system composed of signal transmitting units and signal receiving units arranged at various objects to be positioned in the ship, and a radio frequency identification system composed of radio frequency identification tags and radio frequency identification read-write devices arranged at target points in the ship, the method comprises the following steps: acquiring first coordinate information of the objects to be positioned obtained according to interaction signals between the signal receiving units and the signal transmitting units; acquiring second coordinate information of the target points obtained after the radio frequency identification read-write devices read the radio frequency identification tags; determining the second coordinate information corresponding to the first coordinate information according to the corresponding relationship between the objects to be positioned and the target points, and correcting the corresponding first coordinate information according to the second coordinate information of the target points to obtain third coordinate information of the objects to be positioned. The method can improve the positioning accuracy of the ship.

Description

Technical Field

[0001] This application relates to the field of ship positioning, and in particular to methods, apparatus, systems and adapters for positioning ship spatial grids. Background Technology

[0002] Ships have complex spatial structures, consisting of multiple layers of enclosed compartments such as engine room, cargo hold, and double bottom, as well as narrow passageways and open decks. During ship operation and maintenance, the ship often faces the pain points of inaccurate positioning and coordinate drift.

[0003] In related technologies, GNSS (Global Navigation Satellite System) is used to locate personnel and equipment inside ships. However, in the densely packed or enclosed environments of metal structures such as enclosed compartments, engine rooms, cargo holds, and double bottom decks inside ships, GNSS signals are easily severely blocked or even completely interrupted, resulting in the satellite navigation system being unable to work effectively and inaccurate ship positioning.

[0004] There is currently no effective solution to the problem of low ship positioning accuracy in related technologies. Summary of the Invention

[0005] Therefore, it is necessary to provide a positioning method, device, system, and adapter for a ship spatial grid that can improve the accuracy of ship positioning, addressing the aforementioned technical problems.

[0006] Firstly, this embodiment provides a method for locating a ship using a spatial grid. The ship is equipped with a wireless positioning system and a radio frequency identification (RFID) system. The wireless positioning system includes multiple signal transmitting units and signal receiving units deployed on various objects to be located within the ship. The RFID system includes RFID tags deployed at target locations within the ship and RFID reading / writing devices. The method includes:

[0007] Obtain the first coordinate information of the object to be located; the first coordinate information is the coordinates calculated based on the interaction signal between the signal receiving unit and the signal transmitting unit.

[0008] The second coordinate information is obtained from the RFID tag of the target location; the second coordinate information is the coordinate obtained by the RFID reader after reading the RFID tag;

[0009] Based on the correspondence between the object to be located and the target point, the second coordinate information corresponding to the first coordinate information is determined, and the corresponding first coordinate information is corrected based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located.

[0010] Secondly, this embodiment provides a positioning device for a ship's spatial grid, the device comprising:

[0011] The first positioning module is used to obtain the first coordinate information of the object to be positioned; a wireless positioning system is deployed inside the ship, the wireless positioning system includes multiple signal transmitting units and signal receiving units deployed inside the ship for each of the objects to be positioned, and the first coordinate information is the coordinates calculated based on the interaction signals between the signal receiving unit and the signal transmitting unit;

[0012] The second positioning module is used to obtain the second coordinate information from the RFID tag of the target point; the ship is equipped with an RFID system, which includes an RFID tag of the target point deployed in the ship and an RFID reader / writer device, and the second coordinate information is the coordinate obtained by the RFID reader / writer device after reading the RFID tag;

[0013] The correction module is used to determine the second coordinate information corresponding to the first coordinate information based on the correspondence between the object to be located and the target point, and to correct the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located.

[0014] Thirdly, this embodiment provides an adapter, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the ship space grid positioning method described in the first aspect above.

[0015] Fourthly, this embodiment provides a positioning system for a ship's spatial grid, including: the adapter, wireless positioning system, and radio frequency identification (RFID) system described in the third aspect; wherein, the wireless positioning system includes multiple signal transmitting units and signal receiving units deployed inside the ship for each object to be located; the RFID system includes RFID tags deployed at target locations inside the ship and RFID reading / writing devices.

[0016] The aforementioned ship spatial grid positioning method, device, system, and adapter acquire the first coordinate information of each object to be positioned inside the ship through a wireless positioning system, enabling preliminary positioning of a large area inside the ship. It acquires the second coordinate information of target points inside the ship through a radio frequency identification (RFID) system, achieving precise positioning of these target points. Based on the correspondence between the object to be positioned and the target point, it determines the second coordinate information corresponding to the first coordinate information and corrects the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be positioned. Thus, the positioning results from the RFID system correct drift and signal offset errors caused by metal obstruction and multipath interference during the wireless positioning process, further improving ship positioning accuracy while achieving comprehensive coverage of the position information of the objects to be positioned inside the ship. Attached Figure Description

[0017] Figure 1 This is a structural block diagram of the positioning system for the ship spatial grid in this application;

[0018] Figure 2 This is a flowchart illustrating an embodiment of the ship spatial grid positioning method in this application;

[0019] Figure 3 This is a schematic diagram of trilateral positioning in an exemplary embodiment of this application;

[0020] Figure 4 This is a flowchart illustrating Embodiment 2 of the ship spatial grid positioning method in this application;

[0021] Figure 5 This is a structural block diagram of a positioning device for a ship space grid in one embodiment;

[0022] Figure 6 This is a diagram of the internal structure of the adapter in one embodiment. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0024] The ship spatial grid positioning method provided in this application embodiment can be applied to, for example... Figure 1The illustrated ship spatial grid positioning system includes an adapter 102, a wireless positioning system 104, and a radio frequency identification (RFID) system 106. Specifically, the wireless positioning system 104 within the ship includes multiple signal transmitting units and signal receiving units deployed at various targets within the ship; the RFID system 106 includes RFID tags deployed at target locations within the ship and RFID reading / writing devices. The adapter 102 communicates with the wireless positioning system 104 and the RFID system 106 via a network. The adapter 102 receives first coordinate information acquired by the wireless positioning system 104 and second coordinate information acquired by the RFID system 106, and performs ship positioning based on the first and second coordinate information.

[0025] To improve the communication quality between the wireless positioning system 104 and the adapter 102, a wireless positioning system that supports dual-band 2.4GHz and 5.8GHz and is compatible with WiFi 6 (wireless) protocol and MESH (Mesh Networking Protocol) can be used.

[0026] Optionally, the wireless positioning system can be deployed using a combination array of omnidirectional and directional high-gain antennas: omnidirectional antenna signal receiving units are deployed on the top deck, around the deck, and at the corners of cabin passageways, while directional high-gain antenna signal receiving units are added at key locations on the sides and hatches. The antennas in the wireless positioning system can be IP67 (Ingress Protection Rating 67) encapsulated, thus providing them with resistance to salt spray, vibration, and metal reflection interference, thereby improving their positioning capability. Furthermore, the antennas in the wireless positioning system can also integrate a three-axis servo mechanism and an IMU (Inertial Measurement Unit) attitude sensor, enabling real-time adjustment of the antenna direction based on the ship's rolling motion to maintain signal stability. For example, the signal transmitting unit is configured as a WiFi tag collector deployed on the object to be located, and the signal receiving unit is configured as multiple distributed APs (Access Points).

[0027] To improve the communication quality between the RFID system 106 and the adapter 102, the RFID reader / writer can be connected to the adapter via wired Ethernet or WiFi wireless connection, thereby improving the system reliability under complex shipboard conditions.

[0028] Optionally, the RFID reader / writer devices in the RFID system are distributed and deployed at locations such as cabin entrances / exits, fire compartment entrances / exits, watertight door passages, staircases, deck boundaries, and critical equipment areas. The RFID tags in the system include passive RFID (Radio Frequency Identification) tags and active RFID tags: passive RFID tags are attached to personnel uniforms, mobile devices, cabin turning points, and navigation markers within the ship; active RFID tags are deployed at designated high-risk cabins, important navigation nodes, and other critical locations within the ship. Because active RFID tags have built-in signal transmission capabilities, deploying active RFID tags at critical locations can improve the reliability of location identification in these areas.

[0029] Furthermore, when the adapter 102 communicates with the wireless positioning system 104 and the radio frequency identification system 106 via the network, a shipboard unified clock synchronization protocol, such as PTP (Precision Time Protocol), can be used to stamp the communication signals with high precision, thereby achieving strict alignment of multi-source signals in the time dimension, ensuring the spatiotemporal consistency between wireless positioning data and radio frequency identification data, and providing a reliable time reference for the positioning method of ship space grid.

[0030] In one embodiment, such as Figure 2 The diagram illustrates a flowchart of an embodiment of a method for locating a ship's spatial grid, which is applied to... Figure 1 Taking the adapter in the example, the explanation includes the following steps:

[0031] Step 202: Obtain the first coordinate information of the object to be located; the first coordinate information is the coordinates calculated based on the interaction signal between the signal receiving unit and the signal transmitting unit.

[0032] The object to be identified can be a designated area inside the ship, such as the area where the top deck of the hull is located or the area where the ship's deck is located; the object to be identified can also be a designated piece of equipment inside the ship, such as a hatch or a side hull.

[0033] Specifically, the first coordinate signal calculated based on the interaction signal between the signal receiving unit and the signal transmitting unit includes:

[0034] The signal transmitting unit is configured to periodically scan the surrounding environment for signal receiving units and send signals to each receiving unit. Each receiving unit has known spatial coordinates and is configured to receive uplink signals from the transmitting unit, extract RSSI (Received Signal Strength Indicator) from the uplink signals, and upload the RSSI to the adapter. A WiFi positioning calculation model is constructed based on the collected uplink RSSI.

[0035]

[0036] Where d is the actual distance between the signal transmitting unit and the signal receiving unit. For reference distance, This is the pre-configured path loss index. Mean Gaussian noise is used to characterize environmental noise; The received uplink signal strength at a distance d; The uplink signal strength at the reference distance.

[0037] Based on the above WiFi positioning calculation model, the actual distance between the signal transmitting unit and the signal receiving unit can be calculated. Subsequently, the first coordinate position of the signal transmitting unit can be calculated using the trilateration method.

[0038]

[0039] Where (x, y) represents the first coordinate information of the object to be located, (x... i ,y i ( ) represents the coordinates of the signal receiving unit. This represents the distance between the i-th signal receiving unit and the signal transmitting unit, calculated using the WiFi positioning calculation model. For ease of understanding, Figure 3 A schematic diagram of triaxial positioning is provided, with the coordinates of the three signal receiving units denoted as A, B, and C, respectively.

[0040] Optionally, the wireless positioning system can also calculate the first coordinate information based on the TDOA (Time Difference of Arrival) algorithm: for example, multiple signal receiving units can synchronously receive uplink signals from the same signal transmitting unit and measure the time difference between the arrival of the uplink signals at each signal receiving unit, and calculate the coordinates based on the time difference; or, the signal transmitting unit can receive downlink signals sent by multiple signal receiving units, measure the time difference between the received downlink signals, and calculate the coordinates based on the time difference. The specific implementation principles and methods of the TDOA algorithm can be found in relevant technical documents and will not be elaborated here.

[0041] Step 204: Obtain the second coordinate information from the RFID tag at the target location; the second coordinate information is the coordinate obtained by the RFID reader after reading the RFID tag.

[0042] The target location can be a fixed location, such as a cabin entrance / exit, a staircase, or a ship berth; or it can be a mobile location, such as personnel uniforms or mobile equipment.

[0043] Optionally, when the target location is a fixed location, the fixed coordinate information of that location is pre-written into the RFID tag at that location; when the RFID reader identifies the tag to be identified, it reads the pre-written fixed coordinate information from the RFID tag and outputs it as the second coordinate information. When the target location is a mobile location, when the RFID tag enters the reading and writing area covered by the RFID reader, the pre-calibrated installation coordinate information of the RFID reader is determined, and the installation coordinate information is output as the second coordinate information.

[0044] For example, active RFID tags can be configured for mobile locations. These tags actively transmit radio frequency signals to RFID readers, such as the tag actively transmitting the identification information and RSSI of the target location. The RFID readers, with a coverage area of ​​10m to 50m, receive these radio frequency signals. This allows one or more RFID readers to continuously read the active tag while the target location is moving, effectively improving identification stability and coverage. Passive RFID tags can be configured for fixed locations. The RFID readers actively transmit radio frequency electromagnetic fields. If the fixed location is within the electromagnetic field range of the RFID readers (e.g., within 1m to 3m of the RFID readers), the passive RFID tag is activated by the electromagnetic field and transmits the pre-written information back to the RFID readers. Passive RFID tags are low-cost and small in size, making them suitable for identifying a large number of static locations.

[0045] Step 206: Based on the correspondence between the object to be located and the target point, determine the second coordinate information corresponding to the first coordinate information, and correct the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located.

[0046] The correspondence here refers to a pre-defined spatial relationship between the object to be located and the target point. For example, if the object to be located is a certain area within a ship (such as the engine room, cargo hold, or bridge), and the target point is located within that area, then the two constitute a correspondence; or, if the object to be located and the target point point point to the same physical location within the ship, then they also constitute a correspondence. It is understandable that if there is no such spatial association between the target point and the object to be located, i.e., no correspondence exists, then obtaining the second coordinate information of the target point is independent and valid, and does not require correction of the first coordinate information of the object to be located. Similarly, if the object to be located does not have corresponding second coordinate information, then the first coordinate information of the object to be located can be directly output, without performing the step of correcting the first coordinate information based on the second coordinate information.

[0047] Optionally, the third coordinate information of the object to be located can be obtained by fusing the second and first coordinate information using the Extended Kalman Filter (EKF) algorithm. For example, the first and third coordinate information can be used as observation inputs to the EKF algorithm. A corresponding noise matrix can be pre-configured based on the error characteristics of the wireless positioning system and the radio frequency identification system. After weighting the reliability of the corresponding coordinate information according to the noise matrix, the third coordinate information of the object to be located can be output. For the specific implementation principles and methods of the EKF algorithm, please refer to the relevant technical documentation.

[0048] Alternatively, a weighted average of the first and second coordinate information can be taken to obtain the third coordinate information of the object to be located; where the weights are pre-configured based on the positioning accuracy of the wireless positioning system and the radio frequency identification system. Alternatively, the second coordinate information can directly replace the corresponding first coordinate information as the final output third coordinate information of the object to be located. Or, after the first coordinate information is used to calculate the two-dimensional coordinates of the horizontal plane using the trilateration method described above, the corresponding second coordinate information provides the height value, and the two-dimensional position coordinates and the height value are combined to form a complete three-dimensional spatial coordinate system.

[0049] In the aforementioned ship spatial grid positioning method, the first coordinate information of each object to be located inside the ship is obtained through a wireless positioning system, which can achieve preliminary positioning of a large area inside the ship; the second coordinate information of the target point inside the ship is obtained through a radio frequency identification system, which can achieve precise positioning of some key points inside the ship; based on the correspondence between the object to be located and the target point, the second coordinate information corresponding to the first coordinate information is determined, and the corresponding first coordinate information is corrected based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located. Thus, the positioning result of the radio frequency identification system can correct the signal drift error caused by factors such as metal obstruction and electromagnetic interference during the positioning process of the wireless positioning system, thereby further improving the ship positioning accuracy on the basis of achieving comprehensive coverage of the position information of the objects to be located inside the ship.

[0050] In some embodiments, the first coordinate information is corrected based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located, including:

[0051] (1) Merge the corresponding first coordinate information and second coordinate information to obtain intermediate coordinate information.

[0052] In this process, the extended Kalman filter algorithm or the weighted average algorithm described in step 206 can be used to fuse the corresponding first coordinate information and second coordinate information to obtain intermediate coordinate information, which will not be elaborated here.

[0053] (2) Determine the mapping relationship between the ship's attitude data and the degree of coordinate offset. Based on the mapping relationship, map the current ship's attitude data to obtain the coordinate offset.

[0054] Ship attitude data includes, but is not limited to, one or more of the following: hull roll data, hull pitch data, and bow roll data. Hull attitude data can be acquired through an IMU (Integrated Device Unit). Coordinate offset refers to the spatial displacement of the object to be located relative to the ship's reference coordinate system caused by changes in hull attitude.

[0055] Optionally, a three-dimensional coordinate system is constructed using the location of the main antenna in the wireless positioning system as the origin, resulting in a ship hull reference coordinate system. Using the origin of the ship hull reference coordinate system as a reference, the positional offset of the device to be positioned under different ship attitude data is obtained through simulation or experimentation. Based on the ship attitude data and its corresponding positional offset, a mapping relationship between the ship attitude data and the degree of coordinate offset is constructed. This mapping relationship can be constructed through linear interpolation, table lookup, training a regression model, etc.

[0056] (3) Correct the intermediate coordinate information according to the coordinate offset to obtain the third coordinate information.

[0057] Specifically, the coordinate offset includes offset components in the X, Y, and Z axes; the corresponding offset components are superimposed on the X, Y, and Z axes of the intermediate coordinate information to obtain the third coordinate information.

[0058] In one possible implementation, if there is no spatial association between the target point and the object to be located, the step of correcting the first coordinate information based on the second coordinate information is not performed. Furthermore, to improve the accuracy of the first coordinate information, after obtaining the first coordinate information of the object to be located, the ship spatial grid positioning method further includes: determining the mapping relationship between the ship's attitude data and the degree of first coordinate offset; mapping the current ship's attitude data according to the mapping relationship between the ship's attitude data and the degree of first coordinate offset to obtain the offset of the first coordinate; and correcting the first coordinate information based on the offset of the first coordinate.

[0059] In this embodiment, the intermediate coordinate information is corrected based on the ship's attitude data, reducing the positioning deviation caused by the ship's six degrees of freedom motion to the coordinate recognition of the wireless positioning system and the radio frequency identification system, ensuring the stability of navigation during navigation, and further improving the positioning accuracy of the ship.

[0060] After obtaining the coordinates of the object to be located and / or the target point, ship positioning management can also be achieved based on the coordinate information. In some embodiments, such as Figure 4 The diagram shows a flowchart of a second embodiment of a method for locating a ship using a spatial grid, including the following steps:

[0061] Step 402: Divide the internal space of the ship into several three-dimensional grid units, and configure static information for each three-dimensional grid unit according to the fixed attribute information of the ship's hull space corresponding to each three-dimensional grid unit.

[0062] The internal space of the ship is divided into several three-dimensional grid units, including: constructing a three-dimensional coordinate axis based on a specified coordinate origin; and dividing the area where the ship is located into several three-dimensional grid units according to the ship's structural parameters within the three-dimensional coordinate axis. Optionally, the wireless positioning system is deployed using an antenna array: the main WiFi signal antenna is selected, and its installation location is marked as the coordinate origin, thereby constructing a three-dimensional coordinate system based on this origin.

[0063] Optionally, a standard three-dimensional uniform cube base mesh is first generated within the three-dimensional coordinate axes; then, the standard three-dimensional uniform cube base mesh is divided according to the ship's structural parameters to obtain three-dimensional mesh units that conform to the internal space of the ship.

[0064] Generating a standard 3D uniform cubic base mesh involves: using a preset fixed length, width, and height as the standard mesh step size, starting from the origin, and dividing the mesh into equally spaced arrays along the positive and negative X, Y, and Z axes to obtain a base mesh that is uniform in size, seamlessly stitched, non-overlapping, and without blind spots. Specifically, the origin coordinates, three-axis directions, and mesh size parameters are used as inputs, and a 3D mesh modeling algorithm is used to automatically stretch and array along the three axes to generate batches of fully covered uniform cubic meshes.

[0065] The basic mesh generation based on hull structural parameters includes: combining structural parameters of the hull boundaries such as inherent fireproof compartments, watertight bulkheads, and explosion-proof zones, and cutting and dividing the mesh to obtain three-dimensional mesh units that conform to the ship's internal space. Furthermore, after obtaining the three-dimensional mesh units that conform to the ship's internal space, the size and shape of the three-dimensional mesh units can be adjusted for different areas of the ship. For example, a standard 1m×1m×1m mesh can be used for general areas, while a 0.5m×0.5m×0.5m finer mesh can be used for pre-determined critical areas. As another example, narrow mezzanines, small equipment rooms, and irregular compartments can be filled with pre-configured irregularly shaped meshes. In this way, a three-dimensional mesh unit is formed with a standard uniform mesh as the main body and local adaptive meshes as a supplement.

[0066] The ship's structural parameters can be obtained from a hull model or through spatial measurement and calibration tools, such as laser rangefinders, 3D spatial rulers, and BIM (Building Information Modeling) tools for ship cabins. For example, a 3D spatial ruler is used to pinpoint the center point of the main WiFi core antenna and precisely calibrate the origin of the coordinate axes; a laser rangefinder is used to measure structural parameters such as hull length and width, cabin spacing, and deck height, precisely defining the orthogonal directions of the three axes in the 3D coordinate system; the ship's factory-prepared BIM cabin model is imported, and the deviation between the measured dimensions and the model data is calibrated to complete the digital replication of the entire ship's spatial dimensions, providing a precise measurement benchmark for the construction of 3D mesh units.

[0067] The fixed attribute information corresponding to the hull space of a three-dimensional mesh cell includes: the compartment to which the hull belongs; the safety attributes of the hull space, such as fire resistance, watertightness, and hazard level. Based on this, in one possible implementation, the static information includes one or more of the following: the fire resistance attributes, watertightness attributes, hazard level, control authority, and the compartment identifier of the compartment to which the hull space belongs. Furthermore, the static information may also include the ship number, deck number, and three-dimensional coordinate range of the three-dimensional mesh cell in the three-dimensional coordinate system, etc., without limitation.

[0068] Step 404: Obtain positioning information and search for the target mesh cell corresponding to the positioning information in a number of three-dimensional mesh cells; the positioning information includes one of the first coordinate information, the second coordinate information, and the third coordinate information.

[0069] Optionally, the position of the three-dimensional mesh cell at the origin of the coordinate system and the size of each three-dimensional mesh cell in the length, width and height directions are obtained; the offset of the coordinates in the positioning information relative to the origin is determined; the offset is divided by the cell size in the corresponding direction to obtain the row, column and layer index of the mesh cell to which the coordinates belong, thereby determining the target mesh cell to which the coordinates of the positioning information fall.

[0070] Step 406: Configure dynamic information for the target grid cell based on the multi-source sensing data of the object to be located and / or the target point corresponding to the positioning information.

[0071] Specifically, when the positioning information is the first coordinate information, the dynamic information is configured based on the multi-source sensing data of the object to be located; when the positioning information is the second coordinate information, the dynamic information is configured based on the multi-source sensing data of the target point; and when the positioning information is the third coordinate information, the dynamic information is configured based on the multi-source sensing data of the target point and / or the object to be located.

[0072] In one possible implementation, the dynamic information includes one or more of the following: a signal fingerprint generated by the interaction signal between the signal receiving unit and the signal transmitting unit during the process of acquiring the first coordinate information of the object to be located; information stored in the RFID tag bound to the target point; environmental monitoring data corresponding to the object to be located and / or the target point; and operating parameters corresponding to the object to be located and / or the target point.

[0073] Specifically, the multi-source sensing data of the object to be located includes: a signal fingerprint generated by the interaction signal between the signal receiving unit and the signal transmitting unit during the process of locating the object and obtaining the first coordinate information; and if an environmental sensor is deployed on the object to be located, the multi-source sensing data of the object to be located also includes real-time operating parameters collected by the environmental sensor; and if the object to be located is equipment inside the cabin, the multi-source sensing data of the object to be located also includes the operating parameters of the object to be located.

[0074] The multi-source sensing data for the target location includes: information stored in the RFID tag attached to the target location; environmental parameters collected by environmental sensors deployed at the target location; and, when the target location corresponds to equipment within the ship's cabin, the operating parameters of the equipment corresponding to the target location. The information stored in the RFID tag includes: the attributes of the 3D mesh cell to which the target location belongs, and the attributes of the target location itself. The attributes of the 3D mesh cell include parameters such as mesh code and origin offset coordinates; the attributes of the target location itself include parameters such as the spatial jurisdiction, name, and operating parameters corresponding to the target location.

[0075] Environmental sensors include, but are not limited to, temperature sensors, humidity sensors, and gas detection sensors. Environmental sensors can collect data on temperature, humidity, and concentration of combustible or toxic gases in the environment. Based on environmental sensors, the current operating conditions of the object to be located or the target location, or the current operating conditions of the area where the object to be located or the target location is located, can be reflected.

[0076] In one possible implementation, after dividing the ship's internal space into several three-dimensional grid cells, the attributes of each three-dimensional grid cell can be configured as the corresponding RFID tags for the target points based on the spatial correspondence between each grid cell and the target point. This ensures that each RFID tag for the target point is associated with one or more corresponding three-dimensional grid cells. Optionally, the three-dimensional grid cell to which the target point's deployment location belongs, or the three-dimensional grid cells that spatially intersect with the target point's movement trajectory, can be determined. The displacement grid code and origin offset coordinates of one or more three-dimensional grid cells can be retrieved. Using an RFID tag reader / writer, the grid code, origin offset coordinates, and the spatial jurisdiction corresponding to the target point are written into the RFID tag deployed at the target point. The origin offset coordinates refer to the offset of the space occupied by the grid cell relative to the origin on the X, Y, and Z axes in the three-dimensional coordinate system. The spatial jurisdiction is used to characterize the spatial range corresponding to the target point and is a pre-configured parameter.

[0077] In one possible implementation, the attributes of each target location are configured as RFID tags. For example, targeting hazardous sources such as shipboard hazardous chemicals, high-pressure gas cylinders, and fuel pipelines, passive anti-metal RFID tags are affixed to each location, and information such as the name, specifications, maintenance cycle, number, and emergency measures of the hazardous source are recorded. Another example is targeting personnel uniforms; RFID identification cards are affixed to each location, and the qualifications, work permissions, and identity information of the personnel corresponding to the uniforms are recorded.

[0078] For example, the RFID reader / writer collects radio frequency signals generated by RFID tags attached to hazardous sources and RFID tags attached to personnel identification cards in real time; at the same time, it identifies the environmental sensor corresponding to the target location of the RFID tag; since both the RFID reader / writer and the environmental sensor are connected to the communication network, the adapter can receive the data collected by the RFID reader / writer and the data collected by the environmental sensor; and use the information stored in the RFID tag and the environmental parameters collected by the environmental sensor as multi-source sensing data of the target location, and configure the multi-source sensing data as dynamic information of the target grid cell.

[0079] It is understandable that as the spatial location of the object to be identified and / or the target point changes, the target grid cell to which its corresponding positioning information belongs may also change. In this process, the corresponding dynamic information is dynamically configured for the target grid cell to which the object to be identified and / or the target point currently belongs based on the multi-source sensing data, thereby causing the dynamic information associated with each 3D grid cell to be updated with changes in time or space.

[0080] Step 408: Obtain the grid constraint conditions configured based on the static information of the target grid cell. If the dynamic information does not meet the grid constraint conditions, generate early warning information for the target grid cell.

[0081] The grid constraints can include one or more of the following: signal fingerprint constraints, target location whitelists, environmental monitoring threshold ranges, and operational parameter threshold ranges. Specifically, signal fingerprint constraints refer to pre-setting the set of signal fingerprints that should appear in the target grid cell corresponding to a compartment under normal conditions, based on the compartment identifier in static information. The target location whitelist refers to pre-setting a list of target locations and their corresponding RFID tags that are allowed to exist within the target grid cell, based on the compartment identifier and control permissions. The environmental monitoring threshold range refers to the numerical range set for environmental monitoring data such as temperature, humidity, and combustible gas concentration, based on the fire resistance, watertightness, and hazard level of the hull space. The operational parameter threshold range refers to the numerical range set for the operational parameters of the object to be located and / or the target location, based on the fire resistance, watertightness, and hazard level of the hull space.

[0082] After obtaining the grid constraints for the target grid cell, the grid constraints and dynamic information are compared to determine whether the dynamic information satisfies the grid constraints. Specifically, if the signal fingerprint recorded in the dynamic information does not match the signal fingerprint constraints configured for the target grid cell, it is determined that an object to be located that should not exist exists within the target grid cell. If the dynamic information records target points listed in the whitelist and RFID tags outside the RFID tag set, it is determined that a target point that should not exist exists within the grid cell. If the environmental monitoring data recorded in the dynamic information exceeds the environmental monitoring threshold range set by the grid constraints, it indicates that there is a safety hazard or abnormal state in the environment where the grid cell is located. If the operating parameters of the object to be located and / or the target point recorded in the dynamic information exceed the operating parameter threshold range set by the grid constraints, it indicates that the equipment corresponding to the object to be located and / or the target point may have an operational malfunction or abnormal behavior.

[0083] When any dynamic information fails to meet the corresponding grid constraints, an abnormal event is identified, and an alert of the appropriate level is triggered. Optionally, the time, location, type, and associated data of the abnormal event can also be recorded to support the query of abnormal events and meet compliance traceability requirements. For example, when personnel without open flame operation qualifications bring illegal hazardous materials into an open flame operation restricted area, the adapter can quickly identify the personnel and illegal hazardous materials through the RFID tags carried by the personnel and the RFID tags attached to the illegal hazardous materials, and obtain the target grid cell where the personnel and hazardous materials are located based on the second coordinate information corresponding to the tags. Based on the grid constraints of the target grid cell, after verifying that the personnel and hazardous materials do not belong to the whitelist of the target grid cell, an alarm is immediately triggered, and alarm information is pushed to the ship's monitoring room and field terminals. At the same time, the location of the violation is locked, realizing real-time intervention.

[0084] In this embodiment, after digitally meshing the ship, the target grid cell is accurately determined based on any one of the first, second, or third coordinate information. Static information is obtained based on the fixed attribute information of the ship's space corresponding to the target grid cell, and dynamic information is obtained based on the multi-source sensing data of the object to be located and / or the multi-source sensing data of the target point. Thus, at the grid cell level, the static information of the space is bound to the real-time sensed dynamic information. Based on this, combined with the grid constraint conditions configured according to the static information of the target grid cell, it is determined whether the dynamic information triggers a grid warning, thereby achieving compliant control over the status of people, objects, and the environment in the ship's environment.

[0085] Furthermore, in one embodiment, the positioning information is third coordinate information. Finding the target mesh cell corresponding to the positioning information in a plurality of three-dimensional mesh cells includes: determining the coordinate interval occupied by each three-dimensional mesh cell in a preset three-dimensional coordinate system; determining the target coordinate interval where the third coordinate information is located based on the coordinate value of the third coordinate information in the three-dimensional coordinate system, and taking the three-dimensional mesh cell corresponding to the target coordinate interval as the target mesh cell.

[0086] Optionally, in a preset three-dimensional coordinate system, the three-dimensional region occupied by each three-dimensional mesh unit in space is determined according to the position of each three-dimensional mesh unit relative to the origin and its mesh size; the range of coordinate values ​​corresponding to this three-dimensional region is taken as the coordinate interval occupied by the three-dimensional mesh unit.

[0087] Optionally, if the third coordinate information does not belong to the same coordinate system as the three-dimensional coordinate system, then the third coordinate information is transformed to obtain the coordinate value of the third coordinate information in the three-dimensional coordinate system.

[0088] In this embodiment, the target coordinate range to which the coordinate point belongs is determined by directly comparing the coordinate value of the third coordinate information in the preset three-dimensional coordinate system with the coordinate range of each three-dimensional grid cell. This can improve spatial positioning efficiency and support efficient ship management and positioning based on three-dimensional grids.

[0089] In one embodiment, the positioning information is first coordinate information. Searching for a target mesh cell corresponding to the positioning information among several three-dimensional mesh cells includes: acquiring a real-time signal fingerprint calculated based on the interaction signal when calculating the first coordinate information; acquiring a pre-constructed fingerprint database; wherein the fingerprint database includes preset signal fingerprints corresponding to each three-dimensional mesh cell; searching for a preset signal fingerprint matching the real-time signal fingerprint in the fingerprint database, and using the three-dimensional mesh cell corresponding to the matching preset signal fingerprint as the target mesh cell.

[0090] Optionally, the signal receiving unit consists of an antenna array. The main antenna of the antenna array is positioned at the origin of the three-dimensional grid cell, and secondary antennas are deployed in the remaining areas. The spacing of the secondary antennas is determined based on the dimensions of the three-dimensional grid, ensuring that each three-dimensional grid cell is covered by at least one secondary antenna. Wireless signal parameters output by the signal transmitting unit are collected through the secondary antennas within each grid, including but not limited to RSSI, transmission delay, and channel attenuation. Based on these wireless signal parameters, a unique WiFi signal fingerprint is generated for each grid cell. This WiFi signal fingerprint is used as a preset signal fingerprint, forming a pre-built fingerprint database. The real-time signal fingerprint corresponds to the preset signal fingerprint and also includes, but is not limited to, the following parameters: RSSI, transmission delay, and channel attenuation.

[0091] The real-time signal fingerprint is compared with a preset signal fingerprint stored in the fingerprint database. This includes determining that the real-time signal fingerprint matches the preset signal fingerprint when the similarity between the real-time signal fingerprint and a certain preset signal fingerprint meets a preset matching condition. Similarity includes, but is not limited to, cosine similarity, Euclidean distance, etc. The preset matching condition can be set adaptively according to the similarity, for example, it can be set as follows: cosine similarity is greater than or equal to a first threshold, or Euclidean distance is less than or equal to a second threshold.

[0092] Taking dynamic personnel and inspection robots as examples, the signal receiving unit acquires the wireless signal parameters output by the signal transmitting unit of the target object to obtain a real-time signal fingerprint. This real-time signal fingerprint is then compared with preset signal fingerprints in the fingerprint database. When the real-time signal fingerprint matches a preset signal fingerprint, the corresponding 3D grid cell is determined as the current target grid cell for the target object. As the dynamic personnel or inspection robot moves, if the real-time signal fingerprint changes and matches another preset signal fingerprint, the 3D grid cell corresponding to that other preset signal fingerprint is designated as the current target grid cell for the target object.

[0093] In this embodiment, the real-time signal fingerprint obtained by solving the interaction signal is compared with the preset signal fingerprint in the pre-built fingerprint database. Based on the comparison result, the target grid cell to which the first coordinate information belongs is matched in real time. The method is simple and has high calculation accuracy.

[0094] In one embodiment, the positioning information is second coordinate information. Finding the target grid cell corresponding to the positioning information in a plurality of three-dimensional grid cells includes: reading the three-dimensional grid cell corresponding to the second coordinate information in the radio frequency identification tag, and using the read three-dimensional grid cell as the target grid cell.

[0095] The RFID tag for the target location can simultaneously store the second coordinate information of the target location and a pre-configured three-dimensional grid cell based on the deployment location of the target location. In this way, the RFID tag enables the binding of the target location to the three-dimensional grid cell and allows for rapid identification of the target grid cell corresponding to the second coordinate information.

[0096] In one possible implementation, the method for locating a ship's spatial grid also includes: obtaining a digital model of the ship based on three-dimensional grid cells; and marking the target grid cells in the digital model based on their location information, static information, and dynamic information.

[0097] The data model represents the ship's internal spatial structure in the form of a three-dimensional mesh. Optionally, an AI-powered automatic configuration tool can be used to generate the digital model. Taking the use of a ship's 3D digital twin platform and a gridded map editing software as an example, the data of the entire 3D mesh unit is imported into the gridded map editing software. After processing such as mesh line rendering, boundary fine-tuning, partition coloring, and layered management, the data is imported into the ship's 3D digital twin platform. In the ship's 3D digital twin platform, a multi-layered deck 3D mesh can be displayed in the form of a 3D wireframe array, with the main WiFi origin position and three-axis directions highlighted in bright colors. In the target mesh unit, the positioning information, static information, and dynamic information of the target mesh unit are marked using different symbols, text, colors, lines, etc.

[0098] Optionally, the locations of the wireless positioning system and the radio frequency identification system can also be marked in the digital model. For example, multiple signal transmitting units and signal receiving units of each object to be located in the wireless positioning system can be calibrated; and radio frequency identification tags and radio frequency identification reading and writing devices deployed at the target locations in the radio frequency identification system can be calibrated.

[0099] Furthermore, external information about the ship, such as waterways and surrounding vessels, can be collected through ECDIS (Electronic Chart Display and Information System) and AIS (Automatic Identification System). This external information is then aligned and fused with a digital model built upon the ship's internal space to achieve integrated visualization of in-cabin navigation and external navigation information, thereby breaking down the data barriers between the ship's internal and external positioning systems.

[0100] Specifically, the adapter can integrate and display: a digital model of the ship, near-shore navigation charts provided by ECDIS, attitude information of surrounding ships provided by AIS, and control commands pushed by the shipboard control platform.

[0101] In this embodiment, the digital model of the ship can acquire the real-time location of personnel inside the ship in emergency scenarios such as fire and flooding, and dynamically generate escape guidance routes. It can also locate the real-time position of personnel on deck, providing them with inspection route planning, and triggering warnings when personnel enter pre-set hazardous work areas. Furthermore, management personnel can use the digital model to achieve real-time positioning of assets within the ship's hull area to assist in management. In areas where GNSS signals are denied, the identified positioning information can also be used to assist the ship in completing berthing, unberthing, and low-speed navigation operations.

[0102] Based on the same inventive concept, this application also provides a ship space grid positioning device for implementing the ship space grid positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more ship space grid positioning device embodiments provided below can be found in the limitations of the ship space grid positioning method described above, and will not be repeated here.

[0103] In one embodiment, such as Figure 5 As shown, a positioning device for a ship's spatial grid is provided, comprising:

[0104] The first positioning module 501 is used to obtain the first coordinate information of the object to be positioned; a wireless positioning system is deployed inside the ship, which includes multiple signal transmitting units and signal receiving units deployed inside the ship for each object to be positioned; the first coordinate information is the coordinates calculated based on the interaction signals between the signal receiving unit and the signal transmitting unit.

[0105] The second positioning module 502 is used to obtain the second coordinate information from the RFID tag of the target location; the ship is equipped with an RFID system, which includes RFID tags deployed at the target location and an RFID reader / writer device. The second coordinate information is the coordinate obtained by the RFID reader / writer device after reading the RFID tag.

[0106] The correction module 503 is used to determine the second coordinate information corresponding to the first coordinate information based on the correspondence between the object to be located and the target point, and to correct the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located.

[0107] In some embodiments, the correction module 503 corrects the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located, including: fusing the corresponding first coordinate information and second coordinate information to obtain intermediate coordinate information; determining the mapping relationship between the ship attitude data and the degree of coordinate offset, mapping the current ship attitude data according to the mapping relationship to obtain the coordinate offset; and correcting the intermediate coordinate information according to the coordinate offset to obtain the third coordinate information.

[0108] In some embodiments, the positioning device for the ship's spatial grid further includes a static configuration unit, a grid positioning unit, a dynamic configuration unit, and an early warning unit.

[0109] The static configuration unit is used to divide the internal space of a ship into several three-dimensional mesh units, and to configure static information for each three-dimensional mesh unit according to the fixed attribute information of the hull space corresponding to each three-dimensional mesh unit.

[0110] The grid positioning unit is used to acquire positioning information and to find the target grid unit corresponding to the positioning information in the three-dimensional grid unit; the positioning information includes one of the first coordinate information, the second coordinate information, and the third coordinate information.

[0111] The dynamic configuration unit is used to configure dynamic information for the target grid cell based on the multi-source sensing data of the object to be located and / or the target point corresponding to the positioning information.

[0112] The early warning unit is used to acquire the grid constraints configured based on the static information of the target grid cell, and to generate early warning information for the target grid cell when the dynamic information does not meet the grid constraints.

[0113] Optionally, the positioning information is third coordinate information. The grid positioning unit searches for the target grid cell corresponding to the positioning information in the three-dimensional grid cell, including: determining the coordinate interval occupied by each three-dimensional grid cell in the preset three-dimensional coordinate system; determining the target coordinate interval where the third coordinate information is located according to the coordinate value of the third coordinate information in the three-dimensional coordinate system, and taking the three-dimensional grid cell corresponding to the target coordinate interval as the target grid cell.

[0114] Optionally, the positioning information is the first coordinate information. The grid positioning unit searches for the target grid cell corresponding to the positioning information in the three-dimensional grid cell, including: obtaining the real-time signal fingerprint calculated based on the interaction signal when calculating the first coordinate information; obtaining a pre-constructed fingerprint database; wherein the fingerprint database includes preset signal fingerprints corresponding to each three-dimensional grid cell; searching for a preset signal fingerprint that matches the real-time signal fingerprint in the fingerprint database, and taking the three-dimensional grid cell corresponding to the matching preset signal fingerprint as the target grid cell.

[0115] Optionally, the positioning information is the second coordinate information. The process of finding the target grid cell corresponding to the positioning information in the three-dimensional grid cell includes: reading the three-dimensional grid cell corresponding to the second coordinate information in the radio frequency identification tag, and using the read three-dimensional grid cell as the target grid cell.

[0116] In some embodiments, the positioning device for the ship's spatial grid further includes a visualization unit, which is used to obtain a digital model of the ship based on the three-dimensional grid cells. In the digital model, the target grid cells are marked according to their positioning information, static information, and dynamic information. The static information includes one or more of the following: the fire resistance attributes, watertightness attributes, hazard level, control authority, and compartment identification of the hull space. The dynamic information includes one or more of the following: the signal fingerprint generated by the interaction signal between the signal receiving unit and the signal transmitting unit during the acquisition of the first coordinate information of the object to be positioned; the information stored in the radio frequency identification tag bound to the target point; the environmental monitoring data corresponding to the object to be positioned and / or the target point; and the operating parameters corresponding to the object to be positioned and / or the target point.

[0117] Each module in the aforementioned ship spatial grid positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0118] In one embodiment, an adapter is also provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps in the above method embodiments.

[0119] In one embodiment, Figure 6 An internal structure diagram of an adapter is provided, such as... Figure 6 As shown, the adapter includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface and display unit are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through WiFi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for positioning a ship's spatial grid. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be a liquid crystal display (LCD) or an e-ink display.

[0120] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the adapter to which the solution of this application is applied. A specific adapter may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0121] In one embodiment, a positioning system for a ship spatial grid is provided. The positioning system includes an adapter, a wireless positioning system, and a radio frequency identification (RFID) system for implementing the methods described above. The wireless positioning system includes multiple signal transmitting units and signal receiving units deployed on various objects to be located within the ship. The RFID system includes RFID tags deployed on target locations within the ship and RFID reading / writing devices.

[0122] For example, the wireless positioning system is deployed using a WiFi antenna array. For instance, a 10,000-ton cargo ship is selected as the application platform. Four omnidirectional WiFi antennas are deployed in the unobstructed area on the ship's top to cover the deck and a 5km radius near the hull; eight omnidirectional WiFi antennas are deployed around the deck and at the corners of cabin passageways; and six directional high-gain WiFi antennas are deployed at key locations on the sides and hatches. All antennas are IP67 protected and encapsulated, integrate a three-axis servo and IMU attitude sensor, support WiFi 6 and MESH networking, and operate in the 2.4GHz and 5.8GHz frequency bands.

[0123] The RFID system deploys 12 RFID readers / writers at entrances, staircases, and key equipment areas in enclosed compartments such as the engine room, cargo hold, and double bottom hold. Eight RFID readers / writers are deployed at deck boundaries and key berth locations. The RFID readers / writers support UHF signals, with a maximum identification distance of 0.5 to 5 meters. Passive tags require no power supply, while active tags have a battery life of at least 12 months. Passive RFID tags were attached to the uniforms of 20 inspection personnel, 15 pieces of key equipment, 10 compartment turning points, and 8 navigation markers. Active RFID tags were deployed in 3 high-risk compartments and 5 important navigation nodes.

[0124] Based on this, the test results of the ship's spatial grid positioning system are as follows: It achieves full signal coverage across all cabins, decks, and a 5km radius near the hull, with no navigation blind spots; positioning accuracy in open deck areas is within 1 to 3 meters, and in enclosed cabins within 0.1 to 0.5 meters, with positioning drift less than 0.3 m / min; the system operates normally under salt spray, vibration (hull vibration range within roll ±30° and pitch ±15°), and electromagnetic clutter environments, with no significant crosstalk; data transmission delay is less than 20 ms, positioning calculation delay is less than 50 ms, and navigation command response is timely; it operates continuously for 72 hours without failure, with an RFID tag identification success rate greater than or equal to 99%, and WiFi link stability greater than or equal to 98%.

[0125] At the same time, the system can replace the traditional manual inspection route confirmation and manual guarding of dangerous areas, thereby reducing labor costs. Since passive RFID tags do not require power and have a service life of 10 years or more, while active tags have an annual replacement rate of less than 10%, the system can also save on the operation and maintenance costs of the ship's spatial grid positioning system. Since the system can identify 100% of personnel entering high-risk areas illegally and the risk of equipment misplacement, it can help avoid accident losses.

[0126] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0127] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0128] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for locating a ship using a spatial grid, characterized in that, The ship is equipped with a wireless positioning system and a radio frequency identification system. The wireless positioning system includes multiple signal transmitting units and signal receiving units deployed on various objects to be located inside the ship. The radio frequency identification (RFID) system includes RFID tags deployed at target locations within the vessel, and RFID reading / writing devices; the method includes: Obtain the first coordinate information of the object to be located; the first coordinate information is the coordinates calculated based on the interaction signal between the signal receiving unit and the signal transmitting unit. The second coordinate information is obtained from the RFID tag of the target location; the second coordinate information is the coordinate obtained by the RFID reader after reading the RFID tag; Based on the correspondence between the object to be located and the target point, the second coordinate information corresponding to the first coordinate information is determined, and the corresponding first coordinate information is corrected based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located. The method further includes: dividing the ship's internal space into several three-dimensional grid units, and configuring static information for the three-dimensional grid units according to the fixed attribute information of the ship's hull space corresponding to each three-dimensional grid unit; obtaining positioning information and searching for a target grid unit corresponding to the positioning information in the three-dimensional grid units; the positioning information includes one of the first coordinate information, the second coordinate information, and the third coordinate information; configuring dynamic information for the target grid unit according to the multi-source sensing data of the object to be located and / or the target point corresponding to the positioning information; obtaining the grid constraint conditions configured according to the static information of the target grid unit, and generating early warning information for the target grid unit when the dynamic information does not meet the grid constraint conditions.

2. The method according to claim 1, characterized in that, The step of correcting the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located includes: By fusing the corresponding first coordinate information and second coordinate information, intermediate coordinate information is obtained; Determine the mapping relationship between the ship's attitude data and the degree of coordinate offset, and map the current ship's attitude data according to the mapping relationship to obtain the coordinate offset; The intermediate coordinate information is corrected based on the coordinate offset to obtain the third coordinate information.

3. The method according to claim 1, characterized in that, The positioning information is the third coordinate information, and the step of searching for the target mesh cell corresponding to the positioning information in the three-dimensional mesh cell includes: In a preset three-dimensional coordinate system, the coordinate range occupied by each of the three-dimensional mesh units is determined; Based on the coordinate values ​​of the third coordinate information in the three-dimensional coordinate system, the target coordinate interval where the third coordinate information is located is determined, and the three-dimensional mesh unit corresponding to the target coordinate interval is taken as the target mesh unit.

4. The method according to claim 1, characterized in that, The positioning information is the first coordinate information, and the step of searching for the target mesh cell corresponding to the positioning information in the three-dimensional mesh cell includes: When obtaining the first coordinate information, the real-time signal fingerprint is calculated based on the interaction signal. Obtain a pre-constructed fingerprint database; wherein the fingerprint database includes preset signal fingerprints corresponding to each three-dimensional mesh unit; The system searches the fingerprint database for a preset signal fingerprint that matches the real-time signal fingerprint, and uses the three-dimensional mesh cell corresponding to the matching preset signal fingerprint as the target mesh cell.

5. The method according to claim 1, characterized in that, The positioning information is the second coordinate information, and the step of searching for the target mesh cell corresponding to the positioning information in the three-dimensional mesh cell includes: In the radio frequency identification tag, the three-dimensional grid cell corresponding to the second coordinate information is read, and the read three-dimensional grid cell is used as the target grid cell.

6. The method according to claim 1, characterized in that, The method includes: A digital model of the ship is obtained based on the three-dimensional mesh cells; In the digital model, the target grid cell is marked based on its location information, static information, and dynamic information. The static information includes one or more of the following: the fire resistance properties, watertight properties, hazard level, control authority of the hull space, and the compartment identification of the compartment to which the hull space belongs; The dynamic information includes one or more of the following: a signal fingerprint generated by the interaction signal between the signal receiving unit and the signal transmitting unit during the process of acquiring the first coordinate information of the object to be located; information stored in the radio frequency identification tag bound to the target point; environmental monitoring data corresponding to the object to be located and / or the target point; and operating parameters corresponding to the object to be located and / or the target point.

7. A positioning device for a ship's spatial grid, characterized in that, The device includes: The first positioning module is used to obtain the first coordinate information of the object to be positioned; a wireless positioning system is deployed inside the ship, the wireless positioning system includes multiple signal transmitting units and signal receiving units deployed inside the ship for each of the objects to be positioned, and the first coordinate information is the coordinates calculated based on the interaction signals between the signal receiving unit and the signal transmitting unit; The second positioning module is used to obtain the second coordinate information from the RFID tag of the target point; the ship is equipped with an RFID system, which includes an RFID tag of the target point deployed in the ship and an RFID reader / writer device, and the second coordinate information is the coordinate obtained by the RFID reader / writer device after reading the RFID tag; The correction module is used to determine the second coordinate information corresponding to the first coordinate information based on the correspondence between the object to be located and the target point, and to correct the corresponding first coordinate information based on the second coordinate information of the target point to obtain the third coordinate information of the object to be located. The static configuration unit is used to divide the internal space of the ship into several three-dimensional mesh units and configure static information for each three-dimensional mesh unit according to the fixed attribute information of the hull space corresponding to each three-dimensional mesh unit; the mesh positioning unit is used to acquire positioning information and find the target mesh unit corresponding to the positioning information in the three-dimensional mesh units; the positioning information includes one of the first coordinate information, the second coordinate information, and the third coordinate information; the dynamic configuration unit is used to configure dynamic information for the target mesh unit according to the multi-source sensing data of the object to be positioned and / or the target point corresponding to the positioning information; the early warning unit is used to acquire the mesh constraint conditions configured according to the static information of the target mesh unit, and generate early warning information for the target mesh unit when the dynamic information does not meet the mesh constraint conditions.

8. An adapter comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A positioning system for a ship's spatial grid, characterized in that, The system includes: the adapter as described in claim 8, the wireless positioning system, and the radio frequency identification (RFID) system; wherein the wireless positioning system includes multiple signal transmitting units and signal receiving units deployed inside the ship for each object to be located; the RFID system includes RFID tags deployed at target locations inside the ship and RFID reading / writing devices.

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