A performance evaluation method of photoelectric monitoring equipment for offshore ship-bridge butt joint

Abstract

The application provides a performance evaluation method of an optical-electric monitoring device for offshore ship bridge butt joint, which comprises the following steps: first, a standard position area is demarcated around a fixed ship bridge platform, and a mobile ship bridge platform is moved into the area; then, the distance, azimuth angle and pitch angle of the mobile ship bridge platform relative to the reference position of the fixed ship bridge platform are measured by an optical-electric comprehensive monitoring device, and the actual distance vector of the two in a geographical coordinate system is calculated; then, the calculated position of the mobile ship bridge platform is reversely calculated from the reference position of the fixed ship bridge platform according to the actual distance vector; finally, it is judged whether the calculated position meets the preset qualified condition, if yes, the device performance is determined to be qualified, otherwise, the device performance is determined to be unqualified. The application breaks away from the dependence of the traditional evaluation method on the high-precision reference point of the fixed test site, expands the performance evaluation scene to the real work environment of the actual ship at sea, and can directly complete the performance check under the actual berthing or sailing conditions of the ship, thereby significantly improving the evaluation convenience and efficiency.

Description

Technical Field

[0001] This invention relates to the field of performance evaluation technology for photoelectric monitoring equipment, and in particular to a method for evaluating the performance of photoelectric monitoring equipment used in offshore ship-bridge docking. Background Technology

[0002] Optoelectronic integrated monitoring equipment is an integrated optoelectronic measurement system that combines distance measurement, angle measurement, and attitude measurement functions. It is widely used in docking scenarios between ship-bridge platforms. In bridging tasks between a mobile and a fixed ship-bridge platform, the mobile platform needs to determine whether it has reached the target position for docking with the fixed platform based on real-time measurement information (including distance, azimuth angle, pitch angle, and attitude information) output by the optoelectronic integrated monitoring equipment. Therefore, whether the positioning and monitoring performance of the optoelectronic integrated monitoring equipment meets the design accuracy requirements directly affects the safety and reliability of the docking task, making accurate performance evaluation crucial. Currently, the performance evaluation methods for optoelectronic integrated monitoring equipment mainly include the precision reference position method and the laser reference position method.

[0003] The precision reference position method involves establishing two high-precision reference points with an accuracy better than 1 cm at a fixed test site. The photoelectric integrated monitoring equipment to be evaluated is placed at one of the reference points, and the target at the other reference point is measured to obtain the estimated position value of the target. By comparing the deviation between the estimated position value and the pre-known reference point coordinates, the performance of the photoelectric integrated monitoring equipment can be judged.

[0004] The laser reference position method involves constructing a high-precision laser measurement turntable at a fixed test site, sharing a turntable base with the optoelectronic integrated monitoring equipment. Ideally, when both devices observe the same target, their turntable angle measurements and distance measurements should be equal. By judging the deviation between the angle and distance measurements of the two devices, the performance of the optoelectronic integrated monitoring equipment can be determined.

[0005] However, both the precision reference position method and the laser reference position method share the following drawbacks: First, specialized infrastructure (high-precision positioning reference points or high-precision laser measurement turntables) must be built at a fixed test site. Equipment performance evaluation cannot be carried out in the actual operating environment of the ship when it is actually moored or sailing, making it difficult to reflect the actual working performance of the equipment in the dynamic marine environment. Secondly, because the evaluation relies on the infrastructure of a fixed site, the equipment must be transported back to the test site for each performance check, making it impossible to conduct convenient evaluations anytime and anywhere in actual use scenarios, resulting in serious deficiencies in evaluation efficiency and convenience.

[0006] Therefore, there is an urgent need for a method to evaluate the performance of integrated photoelectric monitoring equipment that can be easily completed in a dynamic marine environment without relying on fixed site infrastructure. Summary of the Invention

[0007] This invention proposes a performance evaluation method for photoelectric monitoring equipment used in offshore ship-bridge docking, which solves the problem that existing performance evaluation methods for integrated photoelectric monitoring equipment require the construction of benchmark locations at fixed test sites, making them unsuitable for convenient evaluation in the dynamic environment of actual ships at sea.

[0008] The technical solution of this invention is implemented as follows: This invention provides a performance evaluation method for photoelectric monitoring equipment used in offshore ship-bridge docking, comprising the following steps: S1. Obtain the preset reference position information on the fixed bridge platform, and delineate a standard position area around the fixed bridge platform based on the reference position information to characterize the successful docking status. S2, move the mobile bridge platform to the standard position area, measure the distance, azimuth and pitch angle of the mobile bridge platform relative to the reference position of the fixed bridge platform using photoelectric integrated monitoring equipment, and calculate the actual distance vector of the mobile bridge platform relative to the fixed bridge platform in the geographic coordinate system. S3, based on the actual distance vector between the mobile bridge platform and the fixed bridge platform in the geographic coordinate system, the estimated position of the mobile bridge platform is calculated from the reference position of the fixed bridge platform. S4. Determine whether the calculated position meets the preset qualification conditions. If yes, determine that the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements; otherwise, determine that it does not meet the requirements. The preset qualification conditions include judgment conditions based on standard location areas or cross-validation conditions based on high-precision satellite navigation and positioning information.

[0009] Specifically, in step S1, the standard position area is a sector-shaped area, and its delineation method is as follows: Define the reference position point on the fixed bridge platform A as: Define the measurement points of the photoelectric integrated monitoring equipment on the mobile bridge platform B as follows: ;by Using the reference point as a reference, a sector-shaped region is delineated on the horizontal plane, with the included angle of the sector being θ. ; Define the reference distance vector between the mobile bridge platform B and the fixed bridge platform A as follows: The minimum effective distance vector of the standard location area. and maximum effective distance vector They are respectively: , ; in, The allowable distance deviation vector for the docking mission. Indicates the geographic coordinate system; Obtain the bow angle of fixed bridge platform A. Then the minimum effective heading angle of the mobile bridge platform B is... and maximum effective heading angle They are respectively: , ; ; in, The allowable bow angle deviation of the mobile bridge platform B relative to the fixed bridge platform A during the docking mission; The sector-shaped region is defined by the following mathematical expression: , ; in, This represents the actual distance vector between the mobile bridge platform B and the fixed bridge platform A in the local geographic coordinate system. This indicates the actual heading angle of the mobile bridge platform B.

[0010] Specifically, in step S2, the actual distance vector between the moving bridge platform B and the fixed bridge platform A in the geographic coordinate system. The calculation formula is: ; ; in, Let B be the distance vector between the mobile bridge platform B and the fixed bridge platform A in the coordinate system of the mobile bridge platform B. Indicates the carrier coordinate system. This represents the rotation matrix from the coordinate system of the mobile bridge platform B to the local geographic coordinate system; , and The distance, azimuth, and pitch angle of the mobile bridge platform B relative to the reference position of the fixed bridge platform A are measured using photoelectric integrated monitoring equipment. The coordinate system of the mobile bridge platform B is defined as follows: With the origin as the reference, the X-axis points to the right of the mobile bridge platform B, the Y-axis points to the front of the mobile bridge platform B, and the Z-axis points above the mobile bridge platform B, forming a right-handed rectangular coordinate system with the X-axis and Y-axis. The local geographic coordinate system is defined as: [the system is defined as follows]. With the origin as the reference point, the X-axis points to the geographical east, the Y-axis points to the geographical north, and the Z-axis points to the geographical sky, forming a right-handed rectangular coordinate system with the X-axis and Y-axis.

[0011] Specifically, in step S3, the method for calculating the estimated position of the moving bridge platform from the reference position of the fixed bridge platform includes the following steps: Obtain the reference position point on the fixed bridge platform A precise coordinates ,in Latitude Longitude Altitude; Based on the actual distance vector Eastward relative distance component relative distance components to the north Using the Earth's radius R, calculate the measurement points on the mobile bridge platform B. and reference position point The difference in latitude and longitude between them: ; ; in, and Measurement points and reference position point The difference in longitude and latitude between them; Assuming the actual distance vector If the relative distance component in the sky is 0, then the measurement point on the moving bridge platform B... The calculated position coordinates are: ; ; ; in, Measurement points on the mobile bridge platform B The calculated position coordinates.

[0012] Specifically, in step S4, the method for determining whether the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the requirements of the docking task, based on the standard location area, is as follows: Based on the minimum effective distance vector of the standard location area and maximum effective distance vector Calculate the latitude and longitude boundaries corresponding to the standard location area: ; ; ; ; in, and These are the minimum and maximum values ​​of the longitude boundary of the standard location area, respectively. and These are the minimum and maximum values ​​of the latitudinal boundary of the standard location area, respectively; and These are the minimum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; and These are the maximum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that it does not meet the requirements; otherwise, it is determined that it does not meet the requirements.

[0013] Specifically, in step S4, the method for determining whether the positioning and monitoring performance of the optoelectronic integrated monitoring equipment meets the docking mission requirements using cross-validation conditions with high-precision satellite navigation and positioning information as the truth value is as follows: Obtain the high-precision satellite navigation output position of fixed bridge platform A. High-precision satellite navigation output position of mobile bridge platform B Based on preset conditions, determine whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions; Based on meeting the docking mission requirements, a longitude error threshold is set. and latitude error threshold The following cross-validation was performed on the photoelectric integrated monitoring equipment: like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that the performance does not meet the requirements; otherwise, it is determined that the performance does not meet the requirements. Measurement points on the mobile bridge platform B obtained through reverse calculation The longitude and latitude.

[0014] Furthermore, the method for determining whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions based on preset conditions is as follows: Based on the acquired high-precision satellite navigation output position information, the longitude difference between the fixed bridge platform A and the mobile bridge platform B is calculated. and latitude difference : , ; Calculate the satellite navigation measured distance vector in the local geographic coordinate system based on the latitude and longitude difference. : ; Where R is the Earth's radius; Indicates the geographic coordinate system; like , and If the conditions are met, the mobile bridge platform B and the fixed bridge platform A are deemed to satisfy the docking task requirements; otherwise, they are deemed not to satisfy the requirements. in, and These are the preset reference distance vectors. The eastward and northward components; and These are the measured distance vectors from satellite navigation. The eastward and northward components; and These are the preset allowable deviation thresholds for the east and north directions, respectively.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention pre-defines a standard position area around a fixed bridge platform, moves a mobile bridge platform to this area, uses photoelectric integrated monitoring equipment to measure the distance, azimuth, and pitch angle of the mobile bridge platform relative to the reference position of the fixed bridge platform, and combines the attitude information of the mobile bridge platform itself to calculate the calculated position of the mobile bridge platform from the reference position of the fixed bridge platform. Finally, the equipment performance is evaluated by judging whether the calculated position meets the preset qualification conditions. This method completely gets rid of the dependence of traditional evaluation methods on infrastructure such as high-precision reference points or high-precision laser measurement turntables in fixed test sites. It expands the performance evaluation scenario from fixed land test sites to the actual sea operation environment of ships. It can directly complete the equipment performance verification under the dynamic conditions of actual ship berthing or navigation, which significantly improves the convenience and efficiency of evaluation and effectively solves the technical problem that the existing technology cannot adapt to the convenient evaluation in the dynamic environment of actual ships at sea. (2) The position extrapolation evaluation method of the present invention does not rely on any satellite navigation positioning information. It can complete the calculation of the extrapolated position and the performance judgment by using only the measurement data of the photoelectric integrated monitoring equipment itself, which fundamentally avoids the problem that the evaluation work cannot be carried out when the satellite navigation signal is subjected to intentional or unintentional electromagnetic interference. (3) When both the fixed bridge platform and the mobile bridge platform can obtain high-precision satellite navigation and positioning information, the present invention can switch to the cross-validation mode with high-precision satellite navigation and positioning information as the true value. By comparing the position of the mobile bridge platform calculated by the photoelectric integrated monitoring equipment with the actual position measured by satellite navigation, the performance of the photoelectric integrated monitoring equipment can be accurately evaluated. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the performance evaluation method of the photoelectric monitoring equipment for offshore bridge docking according to the present invention.

[0018] Figure 2 This is a schematic diagram illustrating the delineation of the standard location area in an embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Reference Figure 1 This invention provides a performance evaluation method for photoelectric monitoring equipment used in offshore bridge docking, comprising the following steps: Step S1: Obtain the preset reference position information on the fixed bridge platform, and delineate a standard position area around the fixed bridge platform based on the reference position information to characterize the successful docking status.

[0021] Specifically, the standard location area is a sector-shaped area, and its delineation method is as follows: like Figure 2 As shown, the reference position point on the fixed bridge platform A is defined as... Define the measurement points of the photoelectric integrated monitoring equipment on the mobile bridge platform B as follows: ;by Using the reference point as a reference, a sector-shaped region is delineated on the horizontal plane, with the included angle of the sector being θ. ; The design is based on location points. , , , and position lines , The fan-shaped area formed , These are the heading lines of bridge platform A and bridge platform B, respectively. When the heading angle of bridge platform B is within the midpoint between the two heading lines... Within, and the endpoints of the relative position vectors of the geographic system are in the sector area. If the time frame is within the specified range, it is assumed that bridge platform B can complete the task docking with bridge platform A, i.e., the standard position area is considered as the basis for this. , , , The fan-shaped area formed .

[0022] Define the reference distance vector between the mobile bridge platform B and the fixed bridge platform A as follows: The minimum effective distance vector of the standard location area. and maximum effective distance vector They are respectively: , ; in, The allowable distance deviation vector for the docking mission. Indicates the geographic coordinate system; Obtain the bow angle of fixed bridge platform A. Then the minimum effective heading angle of the mobile bridge platform B is... and maximum effective heading angle They are respectively: , ; ; in, The allowable bow angle deviation of the mobile bridge platform B relative to the fixed bridge platform A during the docking mission; The sector-shaped region is defined by the following mathematical expression: , ; in, This represents the actual distance vector between the mobile bridge platform B and the fixed bridge platform A in the local geographic coordinate system. This indicates the actual heading angle of the mobile bridge platform B.

[0023] Step S2: Move the mobile bridge platform to the standard position area, measure the distance, azimuth, and pitch angle of the mobile bridge platform relative to the reference position of the fixed bridge platform using photoelectric integrated monitoring equipment, and calculate the actual distance vector of the mobile bridge platform relative to the fixed bridge platform in the geographic coordinate system.

[0024] Specifically, the actual distance vector between the mobile bridge platform B and the fixed bridge platform A in the geographic coordinate system. The calculation formula is: ; ; in, Let B be the distance vector between the mobile bridge platform B and the fixed bridge platform A in the coordinate system of the mobile bridge platform B. Indicates the carrier coordinate system. This represents the rotation matrix from the coordinate system of the mobile bridge platform B to the local geographic coordinate system; , and The distance, azimuth, and pitch angle of the mobile bridge platform B relative to the reference position of the fixed bridge platform A are measured using photoelectric integrated monitoring equipment. The coordinate system of the mobile bridge platform B is defined as follows: With the origin as the reference, the X-axis points to the right of the mobile bridge platform B, the Y-axis points to the front of the mobile bridge platform B, and the Z-axis points above the mobile bridge platform B, forming a right-handed rectangular coordinate system with the X-axis and Y-axis. The local geographic coordinate system is defined as: [the system is defined as follows]. With the origin as the reference point, the X-axis points to the geographical east, the Y-axis points to the geographical north, and the Z-axis points to the geographical sky, forming a right-handed rectangular coordinate system with the X-axis and Y-axis.

[0025] In step S2, the variables for determining whether the docking of the two bridge platforms was successful include the heading angle deviation and distance information. The heading angle deviation can be obtained by directly calculating the difference in heading angles between the attitude measurement devices of the two bridge platforms. Therefore, the key to determining successful docking is the determination of distance information. Fixed bridge platform A is a fixed platform with known precise position information before operation; mobile bridge platform B is a mobile platform and lacks position information with centimeter-level positioning accuracy. Therefore, the success of the docking cannot be determined by directly calculating the distance based on the two position information; instead, it needs to be determined indirectly through position extrapolation.

[0026] Step S3: Based on the actual distance vector between the mobile bridge platform and the fixed bridge platform in the geographic coordinate system, calculate the estimated position of the mobile bridge platform from the reference position of the fixed bridge platform.

[0027] The position extrapolation method refers to extrapolating the reference position to the measurement position point of the photoelectric integrated monitoring equipment on the bridge platform B based on the reference position and the measurement information of the photoelectric integrated monitoring equipment. If the extrapolated measurement position point is within the standard position area, it proves that the performance of the photoelectric integrated monitoring equipment meets the requirements; otherwise, it does not meet the requirements.

[0028] The reverse calculation process specifically includes the following steps: Obtain the reference position point on the fixed bridge platform A precise coordinates ,in Latitude Longitude Altitude; Based on the actual distance vector Eastward relative distance component relative distance components to the north Using the Earth's radius R, calculate the measurement points on the mobile bridge platform B. and reference position point The difference in latitude and longitude between them: ; ; in, and Measurement points and reference position point The difference in longitude and latitude between them; It is a secant function; Assuming the actual distance vector The relative distance component in the sky is 0, that is... The measurement points on the mobile bridge platform B The calculated position coordinates are: ; ; ; in, Measurement points on the mobile bridge platform B The calculated position coordinates.

[0029] Step S4: Determine whether the calculated position meets the preset qualification conditions. If yes, determine that the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements; otherwise, determine that it does not meet the requirements. The preset qualification conditions include judgment conditions based on standard location areas or cross-validation conditions based on high-precision satellite navigation and positioning information as the truth value.

[0030] Specifically, the method for determining whether the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the requirements of the docking mission, based on the standard location area, is as follows: Based on the minimum effective distance vector of the standard location area and maximum effective distance vector Calculate the latitude and longitude boundaries corresponding to the standard location area: ; ; ; ; in, and These are the minimum and maximum values ​​of the longitude boundary of the standard location area, respectively. and These are the minimum and maximum values ​​of the latitudinal boundary of the standard location area, respectively; and These are the minimum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; and These are the maximum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that it does not meet the requirements; otherwise, it is determined that it does not meet the requirements.

[0031] In this embodiment, the distance deviation vector components required for successful task docking are typically less than 50 centimeters, meaning the distance deviations in the east, north, and sky directions are all controlled within 50 centimeters. This determination method uses a standard location area as a "benchmark." The actual physical location of the mobile bridge platform is within this area. If the location calculated by the photoelectric equipment is also within this area, it proves that the photoelectric equipment's measurement is accurate and its performance is qualified; if the calculated location falls outside the area, it indicates that the equipment's measurement has a deviation and its performance does not meet the requirements.

[0032] Specifically, the method for determining whether the positioning and monitoring performance of the optoelectronic integrated monitoring equipment meets the requirements of the docking mission is as follows, using cross-validation conditions with high-precision satellite navigation and positioning information as the truth value: Obtain the high-precision satellite navigation output position of fixed bridge platform A. High-precision satellite navigation output position of mobile bridge platform B Based on preset conditions, determine whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions; Based on meeting the docking mission requirements, a longitude error threshold is set. and latitude error threshold The following cross-validation was performed on the photoelectric integrated monitoring equipment: like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that the performance does not meet the requirements; otherwise, it is determined that the performance does not meet the requirements. Measurement points on the mobile bridge platform B obtained through reverse calculation The longitude and latitude.

[0033] High-precision satellite navigation can typically achieve high-precision positioning by constructing differential stations locally, with a positioning accuracy of 1 to 5 centimeters. When both the fixed bridge platform A and the mobile bridge platform B can directly utilize high-precision differential satellite navigation information, the aforementioned cross-validation method can greatly simplify the performance evaluation process of the optoelectronic integrated monitoring equipment.

[0034] The cross-validation method in this embodiment uses high-precision satellite navigation and positioning information as the truth value, directly comparing the estimated position of the optoelectronic equipment with the actual satellite position, enabling accurate evaluation of the performance of the integrated optoelectronic monitoring equipment. Furthermore, when the performance of the integrated optoelectronic monitoring equipment degrades or fails, the high-precision satellite navigation and positioning information can still serve as an independent positioning data source, providing the necessary positioning information for the docking mission of the bridge platform, assisting in the docking process, and effectively improving the system's fault tolerance and mission reliability.

[0035] Furthermore, the method for determining whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions based on preset conditions is as follows: Based on the acquired high-precision satellite navigation output position information, the longitude difference between the fixed bridge platform A and the mobile bridge platform B is calculated. and latitude difference : , ; Calculate the satellite navigation measured distance vector in the local geographic coordinate system based on the latitude and longitude difference. : ; Where R is the Earth's radius; Indicates the geographic coordinate system; like , and If the conditions are met, the mobile bridge platform B and the fixed bridge platform A are deemed to satisfy the docking task requirements; otherwise, they are deemed not to satisfy the requirements. in, and These are the preset reference distance vectors. The eastward and northward components; and These are the measured distance vectors from satellite navigation. The eastward and northward components; and These are the preset allowable deviation thresholds for the east and north directions, respectively.

[0036] This invention completely eliminates the reliance of traditional evaluation methods on fixed test sites, high-precision benchmark locations, or high-precision laser measurement turntables and other infrastructure. By pre-marking standard location areas in the operating waters, crew members can drive or tow the mobile bridge platform to these areas to conduct evaluations, eliminating the need to transport the equipment back to a land-based test site. This expands the performance evaluation scenario from fixed test sites to the actual offshore operating environment of a real ship, allowing for direct verification of equipment performance under dynamic conditions of actual ship berthing or navigation, significantly improving the convenience and efficiency of the evaluation.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A performance evaluation method of an optical-electric monitoring device for a marine ship-bridge butt joint, characterized by, Includes the following steps: S1. Obtain the preset reference position information on the fixed bridge platform, and delineate a standard position area around the fixed bridge platform based on the reference position information to characterize the successful docking status. S2, move the mobile bridge platform to the standard position area, measure the distance, azimuth and pitch angle of the mobile bridge platform relative to the reference position of the fixed bridge platform using photoelectric integrated monitoring equipment, and calculate the actual distance vector of the mobile bridge platform relative to the fixed bridge platform in the geographic coordinate system. S3, based on the actual distance vector between the mobile bridge platform and the fixed bridge platform in the geographic coordinate system, the estimated position of the mobile bridge platform is calculated from the reference position of the fixed bridge platform. S4. Determine whether the calculated position meets the preset qualification conditions. If yes, determine that the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements; otherwise, determine that it does not meet the requirements. The preset qualification conditions include judgment conditions based on standard location areas or cross-validation conditions based on high-precision satellite navigation and positioning information.

2. The performance evaluation method of the photoelectric monitoring equipment for offshore ship-bridge butt joint according to claim 1, characterized in that, In step S1, the standard location area is a sector-shaped area, and its delineation method is as follows: The reference position point on the fixed ship bridge platform A is defined as , and the photoelectric comprehensive monitoring device measurement point on the mobile ship bridge platform B is defined as ; the fan-shaped area is demarcated on the horizontal plane with as the reference point, and the included angle of the fan-shaped area is ; The reference distance vector of the mobile vessel bridge platform B relative to the fixed vessel bridge platform A is defined as The minimum effective distance vector of the standard position area is and the maximum effective distance vector is respectively. ， ； wherein, a distance deviation vector allowed for the docking task, denotes a geographical coordinate system; The minimum effective heading angle of the mobile vessel bridge platform B is then given by and the maximum effective heading angle is given by ， ； ； wherein, is the allowed deviation of the bow heading of the mobile ship bridge platform B relative to the fixed ship bridge platform A for the docking task; The sector-shaped region is defined by the following mathematical expression: ， ； wherein, represents the actual distance vector of the moving ship bridge platform B relative to the fixed ship bridge platform A in the local geographic coordinate system, represents the actual heading angle of the moving ship bridge platform B.

3. The performance evaluation method for a photoelectric monitoring device for offshore ship-bridge docking as described in claim 2, characterized in that, In step S2, the actual distance vector of the mobile bridge platform B relative to the fixed bridge platform A in the geographic coordinate system is calculated The formula is: ； ； wherein, is the distance vector of the mobile bridge platform B relative to the fixed bridge platform A in the mobile bridge platform B carrier coordinate system, denotes the carrier coordinate system, denotes the rotation matrix from the mobile bridge platform B carrier coordinate system to the local geographic coordinate system; , and are the distance, azimuth and elevation angle, respectively, of the mobile bridge platform B relative to the fixed bridge platform A reference position measured by the optoelectronic integrated monitoring device. The coordinate system of the mobile bridge platform B is defined as follows: With the origin as the reference, the X-axis points to the right of the mobile bridge platform B, the Y-axis points to the front of the mobile bridge platform B, and the Z-axis points above the mobile bridge platform B, forming a right-handed rectangular coordinate system with the X-axis and Y-axis. The local geographic coordinate system is defined as: [the system is defined as follows]. With the origin as the reference point, the X-axis points to the geographical east, the Y-axis points to the geographical north, and the Z-axis points to the geographical sky, forming a right-handed rectangular coordinate system with the X-axis and Y-axis.

4. The performance evaluation method for a photoelectric monitoring device for offshore bridge docking as described in claim 3, characterized in that, Step S3, the method for calculating the estimated position of the moving bridge platform from the reference position of the fixed bridge platform includes the following steps: Obtain the reference position point on the fixed bridge platform A precise coordinates ,in Latitude Longitude Altitude; Based on the actual distance vector Eastward relative distance component relative distance components to the north Using the Earth's radius R, calculate the measurement points on the mobile bridge platform B. and reference position point The difference in latitude and longitude between them: ； ； in, and Measurement points and reference position point The difference in longitude and latitude between them; Assuming the actual distance vector If the relative distance component in the sky is 0, then the measurement point on the moving bridge platform B... The calculated position coordinates are: ； ； ； in, Measurement points on the mobile bridge platform B The calculated position coordinates.

5. The performance evaluation method for a photoelectric monitoring device for offshore bridge docking as described in claim 4, characterized in that, In step S4, the method for determining whether the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, based on the standard location area, is as follows: Based on the minimum effective distance vector of the standard location area and maximum effective distance vector Calculate the latitude and longitude boundaries corresponding to the standard location area: ； ； ； ； in, and These are the minimum and maximum values ​​of the longitude boundary of the standard location area, respectively. and These are the minimum and maximum values ​​of the latitudinal boundary of the standard location area, respectively; and These are the minimum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; and These are the maximum effective distance vectors of the standard location area. The northward relative distance component and the eastward relative distance component; like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that it does not meet the requirements; otherwise, it is determined that it does not meet the requirements.

6. The performance evaluation method for a photoelectric monitoring device for offshore ship-bridge docking as described in claim 2, characterized in that, In step S4, the method for determining whether the positioning and monitoring performance of the optoelectronic integrated monitoring equipment meets the docking mission requirements using cross-validation conditions with high-precision satellite navigation and positioning information as the truth value is as follows: Obtain the high-precision satellite navigation output position of fixed bridge platform A. High-precision satellite navigation output position of mobile bridge platform B Based on preset conditions, determine whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions; Based on meeting the docking mission requirements, a longitude error threshold is set. and latitude error threshold The following cross-validation was performed on the photoelectric integrated monitoring equipment: like and If the positioning and monitoring performance of the photoelectric integrated monitoring equipment meets the docking task requirements, it is determined that the performance does not meet the requirements; otherwise, it is determined that the performance does not meet the requirements. Measurement points on the mobile bridge platform B obtained through reverse calculation The longitude and latitude.

7. The performance evaluation method for a photoelectric monitoring device for offshore bridge docking as described in claim 6, characterized in that, The method for determining whether the mobile bridge platform B and the fixed bridge platform A meet the docking task conditions based on preset conditions is as follows: Based on the acquired high-precision satellite navigation output position information, the longitude difference between the fixed bridge platform A and the mobile bridge platform B is calculated. and latitude difference : ， ； Calculate the satellite navigation measured distance vector in the local geographic coordinate system based on the latitude and longitude difference. : ； Where R is the Earth's radius; Indicates the geographic coordinate system; like , and If the conditions are met, the mobile bridge platform B and the fixed bridge platform A are deemed to satisfy the docking task requirements; otherwise, they are deemed not to satisfy the requirements. in, and These are the preset reference distance vectors. The eastward and northward components; and These are the measured distance vectors from satellite navigation. The eastward and northward components; and These are the preset allowable deviation thresholds for the east and north directions, respectively.

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