Data distribution method, apparatus and distributor

Abstract

The application relates to the field of marine navigation technology and discloses a data distribution method and device and a distributor. The method comprises the following steps: obtaining sailing data of a target ship; performing error detection on original longitude and latitude and original sailing speed, and dividing a sailing state into multiple grades according to real-time ship speed; correcting fused longitude and latitude based on fused sailing speed; mapping corrected common reference point longitude and latitude to each target position according to preset virtual position parameters corresponding to each output port, generating and outputting virtual longitude and latitude and a reliability index corresponding to the virtual longitude and latitude. The method can fuse data of multiple satellite navigation devices and ship-borne sensors to obtain common reference point longitude and latitude, and can simultaneously output virtual longitude and latitude of multiple different target positions on the ship by combining virtual position parameters pre-configured for each output port, thereby solving the problem that the existing distributor can only output a single position and improving the precision and reliability of output data.

Description

Technical Field

[0001] This invention relates to the field of maritime navigation technology, and more specifically to data distribution methods, devices, and distributors. Background Technology

[0002] During ship navigation, the ship's position information acquired by satellite navigation equipment is usually distributed to multiple application systems on board, such as navigation radar, electronic chart display and information system (ECDIS), automatic identification system (AIS), and automatic berthing system.

[0003] In related technologies, marine data distributors typically receive only the raw latitude and longitude coordinates from one satellite navigation device and broadcast the data to various downstream systems. However, different downstream systems require different location points. For example, the bridge needs to know the bow position, the berthing system needs the position of the ship's side or stern, and the collision avoidance system may need the position of the ship's outermost point. Since existing distributors can only output the latitude and longitude coordinates of the physical installation point of the satellite antenna, downstream systems can only perform simple calculations based on the fixed geometric distance between the antenna and the target point to obtain the position of other points. However, during ship navigation, the ship may tilt, thus changing the projected position of the antenna on the horizontal plane. Furthermore, the satellite positioning accuracy varies at different speeds. Therefore, the latitude and longitude coordinates of the target points obtained by downstream systems have significant errors, making it difficult to meet navigation requirements. Summary of the Invention

[0004] In view of this, the present invention provides a data distribution method, apparatus and distributor to solve the problem that existing marine data distributors can only output data from a single physical installation point of a satellite navigation device.

[0005] In a first aspect, the present invention provides a data distribution method applied to a distributor, the method comprising: The navigation data of the target vessel is acquired, including the original latitude and longitude and original speed collected by at least two satellite navigation devices, the hull attitude data collected by the ship's attitude sensor, and the speed data collected by the Doppler log. Error detection is performed on the original latitude and longitude and original speed, and the navigation status is divided into multiple levels according to the real-time ship speed; The original latitude and longitude, ship attitude data and signal quality parameters are fused to obtain the fused latitude and longitude of the common reference point. The original speed, velocity data and navigation status are fused to obtain the fused speed. The fused latitude and longitude are then corrected based on the fused speed to obtain the corrected latitude and longitude of the common reference point. Obtain preset virtual position parameters corresponding to multiple output ports, and map the corrected latitude and longitude of the common reference point to each target position according to the preset virtual position parameters corresponding to each output port. Generate and output virtual latitude and longitude and the corresponding reliability index. Each preset virtual position parameter includes the arm of the target position relative to the common reference point.

[0006] In one optional implementation, the error detection of the original latitude and longitude and the original speed includes: Obtain the raw latitude and longitude of each satellite navigation device at at least one historical moment; Based on the preset speed threshold and the time interval between the current time and each historical time, calculate the maximum allowable displacement distance corresponding to each time interval; The difference between the original latitude and longitude of the current time and each historical time is converted into actual displacement distance. If any actual displacement distance is greater than the corresponding maximum allowable displacement distance, the original latitude and longitude of the current time is determined to be abnormal. The original speed is compared with the preset speed threshold to determine whether the original speed is abnormal.

[0007] In one optional implementation, the step of dividing the navigation status into multiple levels based on real-time ship speed includes: Calculate the real-time ship speed based on the original speed of each satellite navigation device; Within a preset time period, the absolute value of the displacement of the speed vector at each moment is accumulated second by second, and the absolute value of displacement per second at each moment is accumulated. The ratio of the sum of the absolute values ​​of displacement to the sum of the absolute values ​​of displacement per second is calculated. If the ratio is less than the stationary threshold, the navigation state is determined to be stationary. If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is less than the low speed threshold, then the navigation state is determined to be a low speed state. If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is greater than or equal to the low speed threshold, then the navigation state is determined to be a normal speed state.

[0008] In one optional implementation, the fused latitude and longitude of the common reference point obtained by fusing the original latitude and longitude, ship attitude data, and signal quality parameters includes: The satellite heading is calculated based on the original latitude and longitude, and then fused with the original heading in the hull attitude data to obtain the fused heading. The calibration positions of each satellite navigation device in the ship's coordinate system are corrected based on the heel and pitch angles in the ship's attitude data, and the corrected calibration positions are mapped to a common reference point based on the fused bow heading, thus obtaining the offset vector of each satellite navigation device relative to the common reference point. The original latitude and longitude of each satellite navigation device are projected onto a common reference point based on the offset vector to obtain the projected latitude and longitude. The fusion weights are determined based on the signal quality parameters of each satellite navigation device, and the projected latitude and longitude are fused to obtain the fused latitude and longitude of the common reference point.

[0009] In one optional implementation, the process of fusing the original speed, speed data, and navigation status level to obtain the fused speed includes: Based on the signal quality parameters and horizontal distance of each satellite navigation device, the fusion weight of each satellite navigation device is determined, and the original speeds of all satellite navigation devices are weighted and fused based on the fusion weight to obtain the satellite speed; If the water depth where the ship is located is less than a preset water depth threshold, the ground speed in the speed data will be taken as the local speed. If the water depth where the ship is located is greater than or equal to a preset water depth threshold, the ocean current vector is obtained, and the speed against the current in the navigation data is superimposed with the ocean current vector to obtain the local speed; Based on the navigation status level, the satellite speed and the local speed are weighted and fused to obtain the fused speed.

[0010] In one optional implementation, the step of correcting the fused latitude and longitude based on the fused speed to obtain the corrected common reference point latitude and longitude includes: Calculate the first average of the merged speed at the previous moment and the merged speed at the current moment, and calculate the latitude and longitude at the current moment based on the latitude and longitude of the common reference point at the previous moment and the first average. The current latitude and longitude are weighted and fused with the fused latitude and longitude to obtain the corrected common reference point latitude and longitude, wherein the weight of the current latitude and longitude is greater than the weight of the fused latitude and longitude.

[0011] In one optional implementation, the preset virtual position parameters include at least the lever arm corresponding to the output port. The step of mapping the corrected common reference point latitude and longitude to each target location based on the preset virtual position parameters corresponding to each output port, and generating and outputting virtual latitude and longitude and the corresponding reliability index, includes: The first distance of the pole arm is converted into a latitude increment based on the corrected latitude and longitude of the common reference point, and the second distance of the pole arm is converted into a longitude increment. Add the latitude of the corrected common reference point to the latitude increment, and add the longitude of the corrected common reference point to the longitude increment to obtain the virtual latitude and longitude of the target location corresponding to the output port. The reliability index of the virtual latitude and longitude is calculated based on the signal quality parameters of each satellite navigation device.

[0012] In one optional implementation, the signal quality parameters include at least a horizontal accuracy factor and the number of satellites, and the calculation of the reliability index of the virtual latitude and longitude based on the signal quality parameters of each satellite navigation device includes: Based on the horizontal accuracy factor and the number of satellites, the reliability score corresponding to each satellite navigation device is determined; The credibility scores are fused according to the fusion weight of each satellite navigation device in latitude and longitude fusion to obtain the credibility index of the virtual latitude and longitude.

[0013] The data distribution method provided in this embodiment is applied to a distributor. By fusing data from multiple satellite navigation devices and shipborne sensors, a common reference point latitude and longitude is obtained. Combined with virtual position parameters pre-configured for each output port, the virtual latitude and longitude of multiple different target locations on the ship can be output simultaneously. This solves the problem that existing distributors can only output a single location. In addition, abnormal data can be eliminated through error detection, and the fusion weight can be adjusted. The latitude and longitude can be corrected by combining the ship's speed, thereby improving the accuracy and reliability of the output data.

[0014] In a second aspect, the present invention provides a data distribution apparatus, the apparatus comprising: The data acquisition module is used to acquire navigation data of the target vessel. The navigation data includes raw latitude and longitude and raw speed collected by at least two satellite navigation devices, hull attitude data collected by shipborne attitude sensors, and speed data collected by a Doppler log. The error detection module is used to detect errors in the original latitude and longitude and the original speed, and to classify the navigation status into multiple levels according to the real-time ship speed. The reference point latitude and longitude correction module is used to fuse the original latitude and longitude, ship attitude data and signal quality parameters to obtain the fused latitude and longitude of the common reference point, fuse the original speed, speed data and navigation status level to obtain the fused speed, and correct the fused latitude and longitude based on the fused speed to obtain the corrected common reference point latitude and longitude. The result output module is used to obtain preset virtual position parameters corresponding to multiple output ports, and to map the corrected latitude and longitude of the common reference point to each target position according to the preset virtual position parameters corresponding to each output port, generate and output virtual latitude and longitude and the corresponding credibility index, wherein each preset virtual position parameter includes the arm of the target position relative to the common reference point.

[0015] Thirdly, the present invention provides a data distributor, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the data distribution method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

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

[0017] Figure 1 This is a flowchart illustrating a data distribution method according to an embodiment of the present invention; Figure 2 This is a structural block diagram of a data distribution apparatus according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of the distributor according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] According to an embodiment of the present invention, a data distribution method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0020] This embodiment provides a data distribution method that can be used in a distributor. Figure 1 This is a flowchart of a data distribution method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: Obtain the navigation data of the target vessel.

[0021] The navigation data includes raw latitude and longitude and raw speed collected by at least two satellite navigation devices, ship attitude data collected by shipborne attitude sensors, and speed data collected by a Doppler log.

[0022] The satellite navigation equipment can be a GPS receiver or a BeiDou receiver. The output raw latitude and longitude coordinates are the geographical coordinates of the antenna installation point, and the raw speed is the velocity vector of the antenna point relative to the ground. The shipborne attitude sensors include an gyrocompass and a pitch meter. The gyrocompass outputs the raw bow heading, and the pitch meter outputs the heel and pitch angles. The Doppler log outputs speed data including speed relative to water and speed relative to land. It should be noted that all speeds in this application are velocity vectors, including both magnitude and direction components.

[0023] Step S102: Perform error detection on the original latitude and longitude and the original speed, and classify the navigation status into multiple levels according to the real-time ship speed.

[0024] Error detection is used to identify potential anomalous data from satellite navigation equipment, such as signal jumps or interference. Specific methods can utilize physical constraints; for example, a ship's displacement per unit time cannot exceed a maximum value limited by its maximum speed. By comparing the actual displacement corresponding to the latitude and longitude difference between the current moment and historical moments, if it exceeds the allowable range, the data is considered anomalous and its weight in subsequent fusion is reduced. Simultaneously, real-time ship speed is calculated based on the raw speeds provided by each satellite navigation device, and the navigation state is categorized into different levels such as stationary, low speed, and normal speed based on the speed values. The accuracy of the satellite data and its reliability in subsequent fusion vary across different speed levels.

[0025] Step S103: The original latitude and longitude, ship attitude data and signal quality parameters are fused to obtain the fused latitude and longitude of the common reference point. The original speed, speed data and navigation status are fused to obtain the fused speed. The fused latitude and longitude are then corrected based on the fused speed to obtain the corrected latitude and longitude of the common reference point.

[0026] A common reference point (CRP) is a pre-defined virtual reference point used to unify data from different satellite navigation devices. The CRP can be the ship's center of gravity or the bridge center. By combining the raw latitude and longitude coordinates of multiple satellite navigation devices with ship attitude data, the influence of ship tilt on the horizontal projection of antennas can be eliminated, and the positions of each antenna can be mapped to the CRP. Based on the signal quality parameters of each satellite navigation device, its respective fusion weight is determined. The latitude and longitude coordinates of the CRP calculated from each antenna are then fused to obtain the fused latitude and longitude coordinates of the CRP.

[0027] The raw speeds from multiple satellite navigation devices are fused. Specifically, since longer lever arms result in greater speed differences during turns and smaller weights, the horizontal distance of each satellite navigation device relative to a common reference point is considered, and the fusion weight of each device is determined by combining signal quality parameters. The weighted fusion yields the satellite speed. Local speed is obtained from a Doppler log based on water depth conditions. Specifically, in shallow water, the ground speed can be used directly, while in deep water, the water speed plus the ocean current vector from the previous moment can be used. Finally, the weights of the satellite speed and local speed are adjusted according to the navigation status, and the weighted fusion yields the fused speed.

[0028] After obtaining the fused speed, the latitude and longitude of the common reference point at the previous moment are taken. Combined with the average of the fused speeds from the previous and current moments, the latitude and longitude of the current moment based on the motion model are calculated. The calculated result is then weighted and fused with the fused latitude and longitude to obtain the corrected latitude and longitude of the common reference point.

[0029] Step S104: Obtain the preset virtual position parameters corresponding to multiple output ports, and map the corrected common reference point latitude and longitude to each target location according to the preset virtual position parameters corresponding to each output port, and generate and output the virtual latitude and longitude and the corresponding credibility index.

[0030] Each preset virtual position parameter includes a lever arm representing the target position relative to a common reference point. Output ports represent the physical or logical interfaces on the distributor used to output data; each output port has a unique identifier and can be configured independently. The virtual position parameters for each output port of the distributor can be preset according to the actual needs of the ship's navigation. The target position refers to a specific point on the ship, such as the center of the bridge, the bow end, the stern end, or the berthing contact point on the port or starboard side, where the latitude and longitude data of that point is desired. The lever arm represents the preset geometric offset of the target position relative to the common reference point, which may include northward and eastward distances, used to convert the latitude and longitude of the common reference point to the specified virtual position.

[0031] Using the corrected latitude and longitude of the common reference point and the lever arm corresponding to each output port, the target location latitude and longitude of each output port are calculated. Specifically, based on the latitude of the corrected common reference point, the distances in different directions of the lever arm are converted into latitude and longitude increments. Then, the latitude of the common reference point is added to the latitude increment, and the longitude is added to the longitude increment to obtain the virtual latitude and longitude of the target location corresponding to the output port. The above calculation is repeated for each output port to obtain multiple virtual latitude and longitude coordinates.

[0032] The signal quality parameters of satellite navigation equipment indicate the quality of the current satellite signal and the reliability of positioning, such as the horizontal accuracy factor and the number of satellites. Based on the signal quality parameters of the satellite navigation equipment, a reliability index for virtual latitude and longitude is calculated. The reliability index represents the reliability of the current output data; a higher value indicates more reliable data. The distributor outputs the virtual latitude and longitude of the target position corresponding to each output port, along with the corresponding reliability index, for use by downstream equipment on board, such as navigation radar, electronic chart systems, and automatic berthing systems.

[0033] The data distribution method provided in this embodiment is applied to a distributor. It includes acquiring navigation data of the target vessel, wherein the navigation data includes raw latitude and longitude and raw speed collected by at least two satellite navigation devices, ship attitude data collected by a shipborne attitude sensor, and speed data collected by a Doppler log. Error detection is performed on the raw latitude and longitude and raw speed, and the navigation state is divided into multiple levels based on the real-time ship speed. The raw latitude and longitude, ship attitude data, and signal quality parameters are fused to obtain the fused latitude and longitude of a common reference point. The raw speed, speed data, and navigation state levels are fused to obtain the fused speed. The fused latitude and longitude are then corrected based on the fused speed to obtain the corrected common reference point latitude and longitude. Preset virtual position parameters corresponding to multiple output ports are acquired, and the corrected common reference point latitude and longitude are mapped to each target position according to the preset virtual position parameters corresponding to each output port. Virtual latitude and longitude and the corresponding reliability index are generated and output. This method fuses data from multiple satellite navigation devices and shipborne sensors to obtain the latitude and longitude of a common reference point. Then, by combining the virtual position parameters pre-configured for each output port, it can simultaneously output the virtual latitude and longitude of multiple different target locations on the ship, solving the problem that existing distributors can only output a single location. In addition, abnormal data can be eliminated through error detection, and the fusion weight can be adjusted. The latitude and longitude can be corrected by combining the ship's speed, which improves the accuracy and reliability of the output data.

[0034] This embodiment provides a data distribution method, which includes the following steps: Step S201: Obtain the navigation data of the target vessel.

[0035] Please see details Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0036] Step S202: Perform error detection on the original latitude and longitude and the original speed, and classify the navigation status into multiple levels according to the real-time ship speed.

[0037] Specifically, step S202 includes: Step S2021: Obtain the raw latitude and longitude of each satellite navigation device at at least one historical moment.

[0038] Historical moments can be selected from multiple time points before the current moment, such as 1 second ago, 4 seconds ago, 8 seconds ago, etc. Historical data is stored in the dispatcher's local cache and used for comparison with the data at the current moment.

[0039] Step S2022: Calculate the maximum allowable displacement distance corresponding to each time interval based on the preset speed threshold and the time interval between the current time and each historical time.

[0040] The preset speed threshold is the maximum possible speed set based on the ship's physical motion capabilities, such as 80 km / h or higher, and will not be exceeded during actual navigation.

[0041] Calculate the time difference between each historical moment and the current moment, and multiply the time difference by a preset speed threshold to obtain the maximum distance the ship may move within the time interval between the current moment and the historical moment, i.e., the maximum allowable displacement distance.

[0042] Step S2023: Convert the difference between the original latitude and longitude of the current time and each historical time into actual displacement distances. If any actual displacement distance is greater than the corresponding maximum allowable displacement distance, the original latitude and longitude of the current time is determined to be abnormal.

[0043] The difference between two latitude and longitude points can be converted into the actual distance on the Earth's surface based on the spherical distance formula. If the actual displacement distance between the current moment and a certain historical moment exceeds the maximum allowable displacement distance corresponding to that time interval, it indicates that there is an anomaly in the latitude and longitude data at the current moment.

[0044] If the data is determined to be abnormal, the weight of the satellite navigation device that collected the original latitude and longitude will be reduced, or the original latitude and longitude that is abnormal will be deleted directly.

[0045] Step S2024: Compare the original speed with the preset speed threshold to determine whether the original speed is abnormal.

[0046] The preset speed threshold is the maximum speed a ship can achieve during actual navigation; the specific value can be determined based on the ship type and power performance. If the original speed is greater than the preset speed threshold, the original speed is considered abnormal data, and the weight of the device in subsequent fusion is reduced, or the abnormal original speed is directly deleted. If the original speed is less than or equal to the preset speed threshold, the original speed is considered normal data.

[0047] Step S2025: Calculate the real-time ship speed based on the original speed of each satellite navigation device.

[0048] The speed can be extracted from the raw speed output by the satellite navigation equipment, or the real-time ship speed can be obtained by taking the modulus of the velocity vector relative to the ground. If multiple satellite navigation equipment are available, the average value or the data from the equipment with the best signal quality can be used as the real-time ship speed.

[0049] Step S2026: Within a preset time period, the absolute value of the displacement of the speed vector at each moment is accumulated second by second, and the absolute value of displacement per second at each moment is accumulated, and the ratio of the sum of the absolute values ​​of displacement to the sum of the absolute values ​​of displacement per second is calculated.

[0050] The preset duration can be a 60-second sliding window. At each moment, the displacement generated by the speed vector per unit time is represented as a vector. The absolute value of the vector, i.e., the magnitude of the displacement, reflects the actual distance traveled. Since changes in heading may cause positive and negative displacements to cancel each other out, directly accumulating the displacement vectors may yield a very small resultant displacement. However, accumulating the absolute values ​​of the displacements per second (i.e., accumulating the speed magnitudes per second) serves as a reference value. The smaller the ratio between the two, the more frequently the ship's direction of motion changes.

[0051] Step S2027: If the ratio is less than the stationary threshold, the navigation state is determined to be stationary.

[0052] When the ratio is below the stationary threshold, it indicates that although there is some speed fluctuation within a time period, the net displacement is very small, and the ship is actually stationary or anchored.

[0053] In step S2028, if the ratio is greater than or equal to the stationary threshold and the real-time ship speed is less than the low speed threshold, then the navigation state is determined to be a low speed state.

[0054] When the ratio is greater than or equal to the stationary threshold, it indicates that the ship is not stationary. Further judgment is made based on the real-time ship speed. If the real-time ship speed is less than the low-speed threshold, the ship's navigation state is determined to be low-speed.

[0055] Step S2029: If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is greater than or equal to the low speed threshold, then the navigation state is determined to be the normal speed state.

[0056] If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is greater than or equal to the low-speed threshold, it indicates that the ship's navigation state is at a normal speed. At this time, the speed accuracy output by the satellite navigation equipment is relatively high, and it can be given a higher weight during fusion.

[0057] Step S203: The original latitude and longitude, ship attitude data and signal quality parameters are fused to obtain the fused latitude and longitude of the common reference point. The original speed, speed data and navigation status are fused to obtain the fused speed. The fused latitude and longitude are then corrected based on the fused speed to obtain the corrected latitude and longitude of the common reference point.

[0058] Specifically, step S203 includes: Step S2031: Calculate the satellite bow heading based on the original latitude and longitude, and fuse the satellite bow heading with the original bow heading in the hull attitude data to obtain the fused bow heading.

[0059] Based on the original latitude and longitude of at least two satellite navigation devices, the ship's heading derived from the satellite data is calculated through geometric relationships, i.e., the satellite heading.

[0060] As an example, one satellite navigation device can be fixed as a reference point (referred to as the target satellite navigation device). Using the previously determined heading (which could be the merged heading or the satellite heading) as the base angle, multiple candidate angles are generated within a preset range (e.g., ±10 degrees) of the base angle, at certain step sizes (e.g., 0.1 degrees). For each candidate angle, based on the target satellite navigation device's original latitude and longitude and the candidate angle, the theoretical latitude and longitude of other satellite navigation devices at the current moment are calculated using rigid body rotation formulas. The original latitude and longitude of the target satellite navigation device, the original latitude and longitude of the other satellite navigation devices, and the corresponding theoretical latitude and longitude of the satellite navigation devices are combined to form a closed polygon. The area of ​​this polygon is calculated; the closer the candidate angle is to the actual heading, the closer the theoretical position is to the actual position, and the smaller the polygon area. Therefore, all candidate angles are iterated, and the candidate angle that minimizes the polygon area is selected as the satellite heading at the current moment.

[0061] Because satellite heading is susceptible to signal quality issues, the original heading provided by relevant equipment may contain systematic deviations. Therefore, a weighted fusion of the satellite heading and the original heading from the ship's attitude data is performed to obtain a more accurate fused heading. The fusion weights can be dynamically adjusted according to the current navigation status. For example, at normal speed and with good satellite signal, the satellite heading weight is 0.6, and the original heading weight is 0.4; at low speed or with poor satellite signal, the satellite heading weight is reduced to 0.2, and the original heading weight is increased to 0.8; in a stationary state, the original heading can be used entirely. For the direction in the speed data, each heading angle is converted into a unit vector, and the weighted average of all unit vectors is calculated. Then, the heading angle is restored using the arctangent function to ensure that the fused heading angle does not jump at the 0° and 360° boundaries.

[0062] Step S2032: Correct the calibration position of each satellite navigation device in the ship's coordinate system based on the heel and pitch angles in the ship's attitude data, and map the corrected calibration position to a common reference point based on the fused bow heading to obtain the offset vector of each satellite navigation device relative to the common reference point.

[0063] The calibration position of satellite navigation equipment in the ship's coordinate system refers to the coordinates of each satellite navigation equipment antenna relative to a fixed reference point on the ship (e.g., the midpoint of the stern), obtained through measurements during the ship's construction or equipment installation phase. These coordinates include a first distance and a second distance; as an example, the first distance is the northward distance, and the second distance is the eastward distance, with the first distance along the bow direction and the second distance along the starboard direction. The calibration position reflects the fixed geometric relationship of the satellite navigation equipment on the ship's hull.

[0064] When a ship heels or lists, the projected distance of the antenna on the horizontal plane will shorten due to the ship's tilt. To eliminate this deviation, the calibration position is corrected using the heel and pitch angles collected in real time by a yaw meter. Specifically, the horizontal distance at the calibration position (i.e., the radial length from the origin to the antenna) is multiplied by the cosine of the heel and pitch angles, respectively, to obtain the corrected horizontal distance. The antenna's azimuth angle (the angle relative to the bow) remains unchanged during the tilting process. Therefore, the corrected horizontal distance is recombined with the original azimuth angle to obtain the corrected calibration position, which represents the equivalent projected position of the antenna on the horizontal plane when the ship is tilted.

[0065] To unify the data from all satellite navigation devices to a single reference point, a common reference point needs to be introduced. This common reference point is a pre-defined virtual point, such as the ship's center of gravity, bridge center, or any point specified by the user. The origin of the ship's coordinate system is translated from the pre-defined reference point to the common reference point. For this, the coordinates of the common reference point in the ship's coordinate system need to be measured beforehand. After translation, the coordinates of each satellite navigation device relative to the common reference point become the initial offset vector. Then, the initial offset vector is rotated using the fused bow heading. The fused bow heading is the current bow heading obtained by weighted fusion of the satellite bow heading and the original bow heading from the gyrocompass. The purpose of the rotation transformation is to rotate the offset vector in the ship's coordinate system to the geographic coordinate system, ensuring it accurately reflects the actual geographic direction from the common reference point to the antenna. The rule for the rotation transformation is to rotate the initial north and east offsets according to the angle of the fused bow heading. Specifically, the rotated northward offset equals the initial northward offset multiplied by the cosine of the merged bow heading, minus the initial eastward offset multiplied by the sine of the merged bow heading; the rotated eastward offset equals the initial northward offset multiplied by the sine of the merged bow heading, plus the initial eastward offset multiplied by the cosine of the merged bow heading. After rotation, the offset vectors of each satellite navigation device relative to the common reference point are obtained. These offset vectors contain components in two different directions (e.g., north and east), which can be used to reflect the geographical offset relationship under the current bow heading and hull tilt conditions.

[0066] Step S2033: Project the original latitude and longitude of each satellite navigation device onto a common reference point based on the offset vector to obtain the projected latitude and longitude.

[0067] Taking an offset vector comprising a first distance and a second distance as an example, where the first distance is the northward distance and the second distance is the eastward distance, the northward distance is converted to a latitude difference by dividing by the Earth's radius, resulting in a latitude difference in radians. The eastward distance is converted to a longitude difference by dividing by the product of the Earth's radius and the cosine of the original latitude. Subtracting the latitude difference from the original latitude and the longitude difference from the original longitude yields the calculated latitude and longitude of the common reference point, i.e., the projected latitude and longitude. Each satellite navigation device calculates independently, resulting in its own projected latitude and longitude.

[0068] Step S2034: Determine the fusion weights based on the signal quality parameters of each satellite navigation device, and fuse the projected latitude and longitude to obtain the fused latitude and longitude of the common reference point.

[0069] Each satellite navigation device, while outputting raw data, provides parameters reflecting the current signal quality, such as the horizontal accuracy factor and the number of satellites. A smaller horizontal accuracy factor indicates higher positioning accuracy; a larger number of satellites indicates better satellite geometry and more reliable data. Weight components are determined based on the horizontal accuracy factor, with the weight approaching one when the factor is small and approaching zero when it is large. Weight components are also determined based on the number of satellites, with larger weights for more satellites. These two weight components are added together according to a preset ratio to obtain the fusion weight for each satellite navigation device. After calculating the fusion weight for all satellite navigation devices, all projected latitude values ​​are multiplied by their corresponding fusion weights, summed, and then divided by the sum of all fusion weights to obtain the fusion latitude of the common reference point. Similarly, the same calculation is performed on the projected longitude to obtain the fusion longitude. The fusion latitude and fusion longitude combined constitute the fusion latitude and longitude.

[0070] Step S2035: Determine the fusion weight of each satellite navigation device based on the signal quality parameters and horizontal distance of each satellite navigation device, and then weight and fuse the original speeds of all satellite navigation devices based on the fusion weights to obtain the satellite speed.

[0071] Horizontal distance refers to the horizontal distance from each satellite navigation device to the common reference point. When a ship turns, due to the rigid body rotation effect, devices at different horizontal distances will measure different linear velocities. The longer the lever arm of a device, the greater the difference between its velocity and the velocity at the common reference point. Therefore, the weight of the velocity of a satellite navigation device in the fusion should be smaller; that is, the lever arm weight is inversely proportional to the horizontal distance. Specifically, the reciprocal of the horizontal distance of each satellite navigation device can be taken, and the reciprocals of all satellite navigation devices can be normalized to obtain the lever arm weight of each satellite navigation device. The signal quality weight of each device is calculated based on the signal quality parameters. The signal quality weight and the lever arm weight are combined in a certain proportion (e.g., each accounting for half, or adjusted according to actual needs) to obtain the fusion weight of each satellite navigation device in speed fusion.

[0072] The original speeds and original headings of all satellite navigation devices are fused according to the fusion weights. That is, the weighted average of the speeds is obtained by directly summing the speed values ​​by weights and then dividing by the total weights.

[0073] Step S2036: If the water depth where the ship is located is less than the preset water depth threshold, then the ground speed in the speed data is taken as the local speed.

[0074] The preset water depth threshold can be set according to the working depth of the Doppler log, for example, 300 meters. When the water depth of the water where the ship is currently located is less than the preset water depth threshold, the log can detect the seabed by emitting sound waves, and thus directly output the ship's ground speed relative to the seabed. This speed vector already includes the influence of ocean currents, so the ground speed in the speed data can be used as the local speed.

[0075] Step S2037: If the water depth where the ship is located is greater than or equal to a preset water depth threshold, obtain the ocean current vector, and superimpose the current vector on the water speed in the navigation data to obtain the local speed.

[0076] If the water depth of the vessel is greater than or equal to a preset water depth threshold, it indicates that the vessel is in a deep-water environment. The data acquisition equipment cannot detect the seabed and can only collect the relative velocity to the water body. This relative velocity is easily affected by ocean currents. By acquiring the ocean current vector and vector-superimposing the relative velocity with the ocean current vector, an equivalent ground motion parameter is obtained. This parameter serves as the local speed adapted to deep-water conditions, eliminating the influence of ocean currents on the accuracy of local navigation data.

[0077] Step S2038: According to the navigation status level, the satellite speed and the local speed are weighted and fused to obtain the fused speed.

[0078] Under normal speed conditions, satellite navigation equipment outputs high-accuracy airspeed readings, assigning a high weight to satellite airspeed (e.g., 0.7) and a low weight to local airspeed (e.g., 0.3). At low speeds, satellite velocity accuracy decreases, reducing the weight of satellite airspeed and increasing the weight of local airspeed (e.g., satellite weight 0.4, local weight 0.6). At stationary speeds, satellite speed is almost unusable, and local airspeed becomes the sole determining factor (e.g., satellite weight 0, local weight 1).

[0079] Based on the weights determined by the navigation status level, the satellite speed and local speed are weighted and fused. This is done by multiplying the satellite speed by its weight, adding the local speed by its weight, and then dividing by the sum of the weights to obtain the fused speed. For the direction in the speed calculation, each heading angle is converted into a unit vector, and the weighted average of all unit vectors is calculated. Then, the arctangent function is used to restore the heading angle, ensuring that the fused heading angle does not jump at the 0° and 360° boundaries.

[0080] Step S2039: Calculate the first average of the fused speed at the previous moment and the fused speed at the current moment, and calculate the latitude and longitude at the current moment based on the latitude and longitude of the common reference point at the previous moment and the first average.

[0081] Calculate the average of the speed at the previous moment and the speed at the current moment to obtain the representative speed; calculate the average of the heading at the previous moment and the heading at the current moment to obtain the representative heading. The representative speed and the representative heading constitute the first average of the speeds.

[0082] Based on the representative speed and representative heading, the northward displacement component (representative speed multiplied by the cosine of the representative heading, then multiplied by the time step) and the eastward displacement component (representative speed multiplied by the sine of the representative heading, then multiplied by the time step) are calculated. The northward displacement is converted to a latitude increment by dividing by the Earth's radius; the eastward displacement is converted to a longitude increment by dividing by the product of the Earth's radius and the cosine of the latitude at the previous moment. Finally, the latitude at the previous moment is added to the latitude increment to obtain the calculated latitude at the current moment; the longitude at the previous moment is added to the longitude increment to obtain the calculated longitude at the current moment. Thus, the latitude and longitude of the current moment are calculated based on the speed.

[0083] Step S2040: The current latitude and longitude are weighted and fused with the merged latitude and longitude to obtain the corrected common reference point latitude and longitude.

[0084] In this calculation, the weight of the current latitude and longitude is greater than the weight of the merged latitude and longitude. The calculated current latitude and longitude are assigned corresponding weights, and the product of the current latitude and its weight, plus the product of the merged latitude and its weight, is summed to obtain the corrected latitude. Similarly, the product of the current longitude and its weight, plus the product of the merged longitude and its weight, is summed to obtain the corrected longitude. The latitude and longitude calculated in this way are the corrected common reference point latitude and longitude.

[0085] Step S204: Obtain the preset virtual position parameters corresponding to multiple output ports, and map the corrected common reference point latitude and longitude to each target location according to the preset virtual position parameters corresponding to each output port, and generate and output the virtual latitude and longitude and the corresponding credibility index.

[0086] The preset virtual position parameters include at least the lever arm corresponding to the output port. Specifically, step S204 includes: Step S2041: Convert the first distance of the pole arm into a latitude increment based on the corrected latitude and longitude of the common reference point, and convert the second distance of the pole arm into a longitude increment.

[0087] Because the Earth's surface is curved, the same distance corresponds to different latitude and longitude increments at different latitudes. First, obtain the corrected latitude value of the common reference point. Divide the first distance (northward distance) in the arm of the pole by the Earth's radius to obtain the corresponding latitude increment (in radians). Divide the second distance (eastward distance) in the arm of the pole by the product of the Earth's radius and the cosine of the latitude of the common reference point to obtain the corresponding longitude increment.

[0088] Step S2042: Add the latitude of the corrected common reference point to the latitude increment, and add the longitude of the corrected common reference point to the longitude increment to obtain the virtual latitude and longitude of the target location corresponding to the output port.

[0089] Add the corrected latitude of the common reference point to the latitude increment to obtain the latitude of the target location; add the corrected longitude of the common reference point to the longitude increment to obtain the longitude of the target location. This yields the virtual latitude and longitude of the target location corresponding to that output port. Repeat the above calculation for each output port to obtain multiple virtual latitude and longitude coordinates.

[0090] Step S2043: Calculate the reliability index of the virtual latitude and longitude based on the signal quality parameters of each satellite navigation device.

[0091] Further, step S2043 includes: determining the credibility score corresponding to each satellite navigation device based on the horizontal accuracy factor and the number of satellites; and fusing each credibility score according to the fusion weight of each satellite navigation device in latitude and longitude fusion to obtain the credibility index of virtual latitude and longitude.

[0092] The reliability index characterizes the reliability of the output data. It obtains the signal quality parameters for each satellite navigation device, including the horizontal accuracy factor and the number of satellites. A smaller horizontal accuracy factor and a larger number of satellites indicate a more reliable satellite positioning result. The score for the horizontal accuracy factor is inversely proportional to its value (the smaller the value, the higher the score), while the score for the number of satellites is directly proportional to its quantity (the more satellites, the higher the score). These two scores are weighted and summed according to a preset ratio to obtain the reliability score for each device.

[0093] The credibility scores of each satellite navigation device are fused according to the fusion weights they used in latitude and longitude fusion. This involves multiplying the credibility scores of all satellite navigation devices by their respective fusion weights, summing the results, and then dividing by the sum of all fusion weights to obtain the final value. This value is the credibility index of the virtual latitude and longitude, and its range can be from 0 to 100%. A higher value indicates a more reliable virtual latitude and longitude output.

[0094] The distributor outputs the virtual latitude and longitude coordinates and their reliability index for each output port in parallel through each output port.

[0095] This embodiment also provides a data distribution device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0096] This embodiment provides a data distribution device, such as... Figure 2 As shown, it includes: The data acquisition module is used to acquire navigation data of the target vessel. The navigation data includes raw latitude and longitude and raw speed collected by at least two satellite navigation devices, hull attitude data collected by shipborne attitude sensors, and speed data collected by a Doppler log. The error detection module is used to detect errors in the original latitude and longitude and the original speed, and to classify the navigation status into multiple levels according to the real-time ship speed. The reference point latitude and longitude correction module is used to fuse the original latitude and longitude, ship attitude data and signal quality parameters to obtain the fused latitude and longitude of the common reference point, fuse the original speed, speed data and navigation status level to obtain the fused speed, and correct the fused latitude and longitude based on the fused speed to obtain the corrected common reference point latitude and longitude. The result output module is used to obtain preset virtual position parameters corresponding to multiple output ports, and to map the corrected latitude and longitude of the common reference point to each target position according to the preset virtual position parameters corresponding to each output port, generate and output virtual latitude and longitude and the corresponding credibility index, wherein each preset virtual position parameter includes the arm of the target position relative to the common reference point.

[0097] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0098] In this embodiment, the data distribution device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0099] This invention also provides a distributor having the above-described apparatus.

[0100] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a distributor provided in an optional embodiment of the present invention, such as... Figure 3 As shown, the distributor includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the distributor, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple distributors can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 3 Take a processor 10 as an example.

[0101] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0102] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0103] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the distributor. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the distributor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0104] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0105] The distributor also includes a communication interface 30 for communicating with other devices or communication networks.

[0106] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0107] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0108] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A data distribution method, characterized in that, Applied to a distributor, the method includes: The navigation data of the target vessel is acquired, including the original latitude and longitude and original speed collected by at least two satellite navigation devices, the hull attitude data collected by the ship's attitude sensor, and the speed data collected by the Doppler log. Error detection is performed on the original latitude and longitude and original speed, and the navigation status is divided into multiple levels according to the real-time ship speed; The original latitude and longitude, ship attitude data and signal quality parameters are fused to obtain the fused latitude and longitude of the common reference point. The original speed, velocity data and sailing status are fused to obtain the fused speed. The fused latitude and longitude are then corrected based on the fused speed to obtain the corrected latitude and longitude of the common reference point. Obtain preset virtual position parameters corresponding to multiple output ports, and map the corrected latitude and longitude of the common reference point to each target position according to the preset virtual position parameters corresponding to each output port. Generate and output virtual latitude and longitude and the corresponding reliability index. Each preset virtual position parameter includes the arm of the target position relative to the common reference point.

2. The method according to claim 1, characterized in that, The error detection of the original latitude, longitude, and original speed includes: Obtain the raw latitude and longitude of each satellite navigation device at at least one historical moment; Based on the preset speed threshold and the time interval between the current time and each historical time, calculate the maximum allowable displacement distance corresponding to each time interval; The difference between the original latitude and longitude of the current time and each historical time is converted into actual displacement distance. If any actual displacement distance is greater than the corresponding maximum allowable displacement distance, the original latitude and longitude of the current time is determined to be abnormal. The original speed is compared with the preset speed threshold to determine whether the original speed is abnormal.

3. The method according to claim 1, characterized in that, The navigation status is divided into multiple levels based on real-time ship speed, including: Calculate the real-time ship speed based on the original speed of each satellite navigation device; Within a preset time period, the absolute value of the displacement of the speed vector at each moment is accumulated second by second, and the absolute value of displacement per second at each moment is accumulated. The ratio of the sum of the absolute values ​​of displacement to the sum of the absolute values ​​of displacement per second is calculated. If the ratio is less than the stationary threshold, the navigation state is determined to be stationary. If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is less than the low speed threshold, then the navigation state is determined to be a low speed state. If the ratio is greater than or equal to the stationary threshold and the real-time ship speed is greater than or equal to the low speed threshold, then the navigation state is determined to be a normal speed state.

4. The method according to claim 1, characterized in that, The fused latitude and longitude of the common reference point obtained by fusing the original latitude and longitude, ship attitude data, and signal quality parameters includes: The satellite heading is calculated based on the original latitude and longitude, and then fused with the original heading in the hull attitude data to obtain the fused heading. The calibration positions of each satellite navigation device in the ship's coordinate system are corrected based on the heel and pitch angles in the ship's attitude data, and the corrected calibration positions are mapped to a common reference point based on the fused bow heading, thus obtaining the offset vector of each satellite navigation device relative to the common reference point. The original latitude and longitude of each satellite navigation device are projected onto a common reference point based on the offset vector to obtain the projected latitude and longitude. The fusion weights are determined based on the signal quality parameters of each satellite navigation device, and the projected latitude and longitude are fused to obtain the fused latitude and longitude of the common reference point.

5. The method according to claim 1, characterized in that, The fused speed obtained by fusing the original speed, speed data, and navigation status level includes: Based on the signal quality parameters and horizontal distance of each satellite navigation device, the fusion weight of each satellite navigation device is determined, and the original speeds of all satellite navigation devices are weighted and fused based on the fusion weight to obtain the satellite speed; If the water depth where the vessel is located is less than a preset water depth threshold, the ground speed in the speed data will be taken as the local speed. If the water depth where the ship is located is greater than or equal to a preset water depth threshold, the ocean current vector is obtained, and the speed of the ship in the navigation data is superimposed with the ocean current vector to obtain the local speed. Based on the navigation status level, the satellite speed and the local speed are weighted and fused to obtain the fused speed.

6. The method according to claim 1, characterized in that, The process of correcting the fused latitude and longitude based on the fused speed to obtain the corrected common reference point latitude and longitude includes: Calculate the first average of the merged speed at the previous moment and the merged speed at the current moment, and calculate the latitude and longitude at the current moment based on the latitude and longitude of the common reference point at the previous moment and the first average. The current latitude and longitude are weighted and fused with the fused latitude and longitude to obtain the corrected common reference point latitude and longitude, wherein the weight of the current latitude and longitude is greater than the weight of the fused latitude and longitude.

7. The method according to claim 1, characterized in that, The preset virtual position parameters include at least the lever arm corresponding to the output port. The step of mapping the corrected common reference point latitude and longitude to each target location based on the preset virtual position parameters corresponding to each output port, and generating and outputting virtual latitude and longitude and the corresponding reliability index, includes: The first distance of the pole arm is converted into a latitude increment based on the corrected latitude and longitude of the common reference point, and the second distance of the pole arm is converted into a longitude increment. Add the latitude of the corrected common reference point to the latitude increment, and add the longitude of the corrected common reference point to the longitude increment to obtain the virtual latitude and longitude of the target location corresponding to the output port. The reliability index of the virtual latitude and longitude is calculated based on the signal quality parameters of each satellite navigation device.

8. The method according to claim 7, characterized in that, The signal quality parameters include at least a horizontal accuracy factor and the number of satellites. The calculation of the reliability index for the virtual latitude and longitude based on the signal quality parameters of each satellite navigation device includes: Based on the horizontal accuracy factor and the number of satellites, the reliability score corresponding to each satellite navigation device is determined; The credibility scores are fused according to the fusion weight of each satellite navigation device in latitude and longitude fusion to obtain the credibility index of the virtual latitude and longitude.

9. A data distribution device, characterized in that, The device includes: The data acquisition module is used to acquire navigation data of the target vessel. The navigation data includes raw latitude and longitude and raw speed collected by at least two satellite navigation devices, hull attitude data collected by shipborne attitude sensors, and speed data collected by a Doppler log. The error detection module is used to detect errors in the original latitude and longitude and the original speed, and to classify the navigation status into multiple levels according to the real-time ship speed. The reference point latitude and longitude correction module is used to fuse the original latitude and longitude, ship attitude data and signal quality parameters to obtain the fused latitude and longitude of the common reference point, fuse the original speed, speed data and navigation status level to obtain the fused speed, and correct the fused latitude and longitude based on the fused speed to obtain the corrected common reference point latitude and longitude. The result output module is used to obtain preset virtual position parameters corresponding to multiple output ports, and to map the corrected latitude and longitude of the common reference point to each target position according to the preset virtual position parameters corresponding to each output port, generate and output virtual latitude and longitude and the corresponding credibility index, wherein each preset virtual position parameter includes the arm of the target position relative to the common reference point.

10. A distributor, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the data distribution method of any one of claims 1 to 8.

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