53 results about "3d positioning" patented technology

The invention discloses a global scanning image splicing and defect positioning system for an ultra-large-diameter quartz crucible, and relates to the technical field of quartz crucibles, and the system comprises a scanning control module which constructs a fusion model through multiple sensors, evaluates a risk coefficient, obtains the fusion model, dynamically plans a multi-arm path of a robot based on reinforcement learning, and sends the multi-arm path of the robot; adaptively adjusting the acquisition frequency of the corresponding area based on the risk coefficient, and outputting multi-modal data through a multi-round feedback iteration optimization acquisition process; the image splicing module is used for acquiring multi-modal data for local splicing, and generating a panoramic image in combination with a multi-arm path of the robot; the defect positioning module is used for constructing a quartz crucible model through the panoramic image, detecting defects in a layered manner by utilizing a YOLOv5 model, tracking the defects through extended state Kalman filtering, quantifying the defect volume and the hazard level by combining point cloud semantic segmentation, and performing 3D positioning and evaluation on the defects; the output data is ensured to always meet the subsequent image splicing and defect positioning requirements, and the system stability is guaranteed.

The application discloses a kind of automobile paint surface defect detection and polishing method and system, the method includes: offline processing: detection station offline collection point planning is carried out, and the trajectory of multiple detection mechanical arms is planned;Detection station offline collection point calibration is carried out, and the paint surface imaging acquisition component and the 3D positioning camera external parameter of detection station are offline calibrated;Polishing station polishing mechanical arm and polishing station 3D positioning camera hand-eye calibration are carried out;Online processing: paint surface defect detection is carried out, and defect attribute and defect position positioning are obtained;Defect three-dimensional coordinates and normal are transmitted to automatic polishing component by visual positioning mode, and the paint surface defect is polished by automatic polishing component.Processing is carried out.The system is used to execute the above method.The application has the advantages of simple structure, wide application range, high degree of intelligence, high detection and polishing efficiency, etc.

The invention discloses a multi-scene high-precision positioning method based on near ultrasound, and relates to the technical field of positioning, and the method comprises the steps: obtaining deployment parameters and environment reference parameters, and constructing a standardized reference database; deploying a near ultrasonic base station and a positioning terminal, and cooperatively collecting a near ultrasonic signal and a Beidou signal; performing targeted cleaning and standardization processing on the near ultrasonic signal and the Beidou signal; extracting features of the cleaned near ultrasonic signal and the Beidou signal, and performing fusion positioning calculation to obtain a positioning result; a positioning result is corrected through a self-calibration algorithm and an AI deep optimization model, and multi-dimensional positioning feedback is realized; and outputting a multi-dimensional positioning result. In actual use, an AI-driven scene algorithm is adopted for positioning optimization, indoor and outdoor centimeter-level seamless positioning is achieved, the method is adaptive to complex scenes such as strong electromagnetism, strong noise and multi-reflection, the deployment cost is remarkably reduced, and 1D, 2D and 3D positioning results are accurately output according to service requirements.

This invention relates to the field of orchard navigation technology, specifically a 3D method for orchard operations based on a grid map. The method includes: constructing an orchard point cloud map using a mapping algorithm; filtering the acquired 3D point cloud map and constructing a triangular grid map of the orchard, embedding the orchard's GPS information into the triangular grid map; based on the triangular grid map with GPS information, performing ICP registration between the point cloud data scanned by the LiDAR and the points on the triangular grid map using the RMCL 3D positioning algorithm, outputting the 3D pose of the operation robot in the orchard; updating the 3D pose of the operation robot in the orchard using GNSS information; planning the navigation path of the operation robot using grid navigation based on the GPS information of the target point; and controlling the operation robot to dynamically avoid obstacles and navigate to the target point. This invention enables precise positioning and autonomous navigation of the operation robot in hilly orchards, allowing it to complete tasks such as orchard inspection, plant protection, harvesting, and transportation.

The present application provides a kind of complex stratum structure and topographic effect considering slope microseismic event 3D positioning method, the technical scheme includes S1: the theoretical travel time model suitable for complex slope environment is built;S2: the actual travel time difference is extracted from slope monitoring data;S3: based on the 3D positioning of theoretical and observed travel time difference matching, the ambient noise surface wave tomography technology is applied to slope velocity modeling, without artificial seismic source, high resolution velocity structure can be obtained;Realize 3D ray tracing under the constraint of digital elevation model, ensure that wave propagation path meets physical law, positioning accuracy reaches 3 m, can reach 1.5 m in dense array coverage area, compared with traditional method, it is improved by one order of magnitude;Successfully applied to complex environment with more than 700m topographic relief and extreme velocity variation, can be applied to microseismic monitoring in various complex geological environments.

The invention discloses a control method and device for cleaning equipment, and the method comprises the steps: controlling the cleaning equipment to clean a pool wall according to a preset path which at least comprises a plurality of preset cleaning cycle paths; acquiring obstacle information in the preset path; and adjusting a cleaning cycle path where the obstacle is located based on the obstacle information so as to avoid the obstacle. While the cleaning equipment is controlled to clean the pool wall according to the preset path, the obstacle information in the path is obtained in real time in the running process, so that the cleaning cycle path where the obstacle is located can be adjusted in advance based on the obstacle information, the cleaning equipment can avoid the obstacle when running to the cleaning cycle, and the cleaning efficiency is improved. Obstacle avoidance does not need to be carried out through 3D positioning information, obstacle sensing and obstacle avoidance are achieved through machine motion planning and obstacle information, and the method can be suitable for sensing and processing obstacles on most swimming pool walls.

This application discloses a multimodal data collaborative intelligent detection and 3D localization method for maritime vessels, comprising: fine preprocessing of collected multi-source heterogeneous data and preliminary target detection; dynamic weighted fusion of the preprocessed multi-source heterogeneous data, combined with depth data from lidar, to achieve accurate coordinate recovery of the vessel target in 3D space; and prediction and updating of the motion state of the identified target based on a multi-tracking mechanism collaborative strategy. By fully utilizing the rich texture information of visible light images, the anti-interference capability of thermal imaging, and the precise spatial depth data of lidar through multimodal data perception and preliminary processing, heterogeneous data deep fusion and 3D localization, and advanced multi-target continuous tracking and state estimation, this method integrates a multi-tracking mechanism collaborative strategy to predict and update the motion state of the identified target, effectively addressing the problem of tracking interruption caused by nonlinear motion or temporary occlusion of maritime targets.

This invention provides a 3D laser SLAM fusion magnetic stripe inspection robot navigation and positioning method, belonging to the field of navigation and positioning technology. The method includes: initializing the robot by acquiring an initial pose and presetting a rectangular boundary for a dynamically changing region; determining in real time whether the current pose is within the dynamically changing region; if the current pose is outside the dynamically changing region, registering the current frame of laser data with a pre-constructed point cloud map to obtain a first positioning pose; if the current pose is within the dynamically changing region, performing laser fusion magnetic stripe positioning: acquiring the initial 3D positioning pose and initial magnetic stripe data; determining the initial vertical deviation distance; acquiring the real-time 3D positioning pose and real-time magnetic stripe data; determining the real-time vertical deviation distance; and correcting the pose output by the laser odometry through forced constraints to determine the final fused pose. According to this invention, interference in dynamically changing regions can be better addressed, achieving stable and reliable navigation and positioning.

This invention provides a method, system, and medium for three-dimensional positioning and displacement measurement that integrates microwave and vision technologies. The method includes: rigidly connecting at least one microwave sensor and at least one vision sensor as a joint sensing unit; establishing a spatial transformation relationship between the coordinate systems of the two sensors through calibration; fusing the target's radial distance and angle information provided by the microwave sensor with the target's two-dimensional imaging information provided by the vision sensor; and directly solving for the target's three-dimensional coordinates in the selected coordinate system using an optimization algorithm; further combining the high-precision one-dimensional displacement information from the microwave sensor with the two-dimensional displacement information from the vision sensor to reconstruct the target's complete displacement vector in three-dimensional space. This invention, through a compact heterogeneous sensor fusion architecture, effectively solves the problems of limited dimensionality of single-sensor modes, high cost of multi-sensor networking, system complexity, and poor engineering applicability, achieving high-precision, low-cost, and full-dimensional non-contact three-dimensional positioning and displacement measurement.

This invention discloses a natural language interactive navigation, obstacle avoidance, and grasping method for a robotic dog based on a nine-grid large model. The method includes the following steps: Step S1: Parsing user commands to extract key information and publishing standardized ROS2 topics; Step S2: Processing radar point clouds and fusing multi-sensor data to establish a coordinate transformation chain; Step S3: Navigating and avoiding obstacles to the target location based on the SLAM and Nav2 framework; Step S4: Completing target recognition and precise 3D positioning using a wrist camera and YOLOv8; Step S5: Generating a grasping action sequence and achieving closed-loop control of the robotic arm through smooth trajectory planning. This invention integrates nine-grid large model semantic parsing and a hierarchical modular architecture with multiple core technologies to achieve natural language interactive driving for the robotic dog, as well as the coordinated completion of navigation, obstacle avoidance, and object grasping, significantly reducing the operational threshold and improving grasping accuracy and motion safety.

A medical image processing device according to an embodiment comprises: a first image acquisition unit that acquires a first image captured in a first stage; a second image acquisition unit that acquires a second image captured in a second stage; a 3D-3D positioning execution unit that aligns the position of the second image with the position of the first image; a region information acquisition unit that acquires region information corresponding to a region of the first image; a region estimation unit that estimates a region corresponding to the region information in the second image; a tracking model acquisition unit that acquires a tracking model; a tracking unit that tracks an object in the second image using the tracking model; and an error calculation unit that calculates an error between a tracking position, which is the position of the object in the second image tracked by the tracking unit, and the position of the object in the second image.

The invention belongs to the field of intelligent robots, and discloses an automatic configuration method for an outdoor inspection robot, which comprises the following steps of: acquiring point cloud data and an environment texture image, judging an environment grade after preprocessing, constructing a three-dimensional electronic map and establishing a dynamic coordination rule; a robot walks along a planned route to trigger a dynamic coordination rule, after double cameras shoot inspection equipment, a suspected inspection target is primarily screened and framed, a type is labeled, a primary screening result table is generated, a corrected labeled target set is generated through manual recheck and correction, an environment weighting factor is introduced, shooting angle deviation is compensated, and a full-amount unified labeled photo set is generated; constructing an inspection recognition model, outputting frame selection coordinates, target categories and target confidence coefficients, and judging target frame selection consistency; constructing a three-dimensional constraint condition, removing the same target picture, marking an effective inspection target, and calculating and adjusting the attitude compensation amount of 3D positioning; a correlation mapping table is generated based on large auxiliary target positioning and small target candidate area amplification identification, and the inspection target identification precision and configuration efficiency are improved.

The invention relates to the technical field of building detection, and provides a house indoor defect intelligent detection and graphic file output method and system. The method comprises the following steps: acquiring millimeter-level three-dimensional point cloud data through handheld SLAM laser scanning, generating an orthoimage after preprocessing, carrying out defect identification and classification by adopting an unsupervised-weak supervised neural network in which a MobileNetV3-SOM and a stacked auto-encoder are connected in series, calculating three-dimensional coordinates and quantization parameters of a defect center through pixel-point cloud back projection, and carrying out defect identification and classification on the defect center. And finally generating a CAD vector file containing defect types, three-dimensional coordinates and quantization parameters. According to the method, only normal wall surface sample training is needed, the problem of insufficient model generalization caused by defect sample scarcity is solved, meanwhile, accurate three-dimensional positioning and complete parameter description of defects are achieved, the output standardized CAD file can be directly used for repairing design, the detection efficiency is improved, and the application range is widened.

This invention discloses an integrated method for low-altitude UAV radio frequency positioning and intelligent trajectory control, relating to the cross-technical field of low-altitude UAV radio frequency positioning and trajectory control. The specific steps of this method are as follows: performing radio frequency synchronous calibration, with multiple ground base stations and an airborne radio frequency unit interacting to adjust parameters and output calibration datasets; positioning calculation and evaluation, outputting positioning results, evaluation data, and feedback interference characteristics; conducting trajectory feedforward control, generating and adjusting commands; optimizing flight control feedback, generating predicted values ​​to adjust algorithm parameters; and closed-loop iterative optimization, integrating parameters to adapt to low-altitude flight scenarios. This invention achieves dynamic adaptation of radio frequency signal parameters and acquisition strategies through collaborative calibration between multiple ground base stations and an airborne radio frequency unit, improving the accuracy and stability of UAV 3D positioning. Through integrated design of positioning calculation and trajectory control, a closed-loop iterative process is achieved, reducing system latency and errors, enhancing scenario adaptability, and ensuring operational safety and management efficiency.

The invention relates to a multi-view combined tracking method for a complex target in an industrial production scene, and the method comprises the following steps: S1, carrying out the calibration of internal parameters and external parameters of all cameras, constructing a physical space 3D model of a target production region, and forming a factory coordinate system; s2, collecting a multi-view image frame through the calibrated camera, and carrying out the preprocessing of the multi-view image frame; s3, detecting the position of each frame of target by using a deep learning detection model Detectron2, performing monocular inter-frame association on the detected target to obtain a local trajectory, and extracting a depth feature vector for each target; s4, when the same target appears at a plurality of visual angles, fusing the space coordinates to obtain accurate 3D positioning, and obtaining a physical 3D space coordinate candidate set of each actual target; and S5, according to the physical 3D space coordinate candidate set, constructing a matching candidate set, and adopting a joint matching algorithm to realize trajectory merging to obtain a complete 3D trajectory. According to the invention, multi-target efficient and multi-view collaborative accurate tracking in a complex industrial scene is realized.

This invention provides a method and apparatus for visual detection and harvesting control of guava maturity, relating to the field of visual detection technology. It acquires multi-view time-series images from a drone and extracts individual guava image blocks and depth information to determine spatial location. A feature encoder extracts feature vectors and performs clustering to determine maturity levels. Then, an optimization problem is constructed to plan the harvesting path, aiming to maximize harvesting revenue per unit time. Finally, the drone and robotic arm are controlled for flexible harvesting. This method can achieve automatic identification of guava maturity, 3D positioning, revenue-driven target selection and path planning, and precise flexible harvesting even in the absence of numerous manual maturity labels. It forms an integrated autonomous harvesting system with a closed loop of perception, understanding, decision-making, and execution, effectively solving problems such as difficult feature extraction, high manual labeling costs, low planning efficiency, and fruit damage in greenhouse guava harvesting.

The invention discloses a personnel falling-into-water positioning method and system based on multi-source data fusion, and belongs to the technical field of personnel falling-into-water positioning, and the method comprises the steps: collecting initial position data, inertial navigation data and sound wave-radio frequency distance data through a multi-source positioning module after an intelligent lifesaving device worn by a falling-into-water person is triggered, generating a real-time positioning coordinate, and carrying out the positioning of the real-time positioning coordinate; obtaining a dynamic trajectory prediction result formed by the predicted drift distance, obtaining an inertial navigation correction coefficient for correcting and updating the real-time positioning coordinates and the real-time linear distance in real time based on the real-time linear distance, the predicted drift distance, the water flow speed and the wind speed parameters, generating a 3D positioning thermodynamic diagram, and fusing the diver safety monitoring data and the 3D positioning thermodynamic diagram to obtain a diver safety monitoring result. Data are transmitted to a rescue terminal through a self-adaptive communication protocol, an optimal rescue path is calculated and pushed, and through multi-source data fusion and dynamic correction, a high-precision, low-delay and anti-interference intelligent solution is provided for water area rescue of personnel falling into water positioning.

A method for automatically selecting 3D points from a CAD model for 3D positioning of an industrial object comprises the steps of: generating a geometric model from the CAD model; pre-specifying a reference view from a priori knowledge of the current view point of a camera; acquiring a plurality of images taken from a view of interest of the object by the camera; associating each acquired image with the reference view so as to form a subset (partition) of images and identifying a reference image for each partition; and selecting n 3D surface points for each partition. In particular, the application of positioning industrial 3D objects in augmented reality devices.

This invention discloses a global optimization method and system for target location based on gradient search and TDOA-AOA collaboration. Addressing the problem of low positioning accuracy in pure Time Difference of Arrival (TDOA) positioning systems under ground-based station deployment conditions due to poor observability in the height dimension, this invention constructs a fitness function incorporating distance difference and angle residuals by fusing multi-station TDOA information with single master station angle of arrival (AOA) information. This transforms the solution of the nonlinear positioning equation into a problem of minimizing the objective function and introduces a gradient optimizer for global optimization. This application balances exploration and development capabilities through gradient search rules and effectively avoids getting trapped in local optima using a local escape operator. Simulation results show that this invention significantly reduces height estimation errors and improves the overall performance of 3D positioning while maintaining horizontal positioning accuracy.

The invention relates to the field of augmented reality, in particular to a three-dimensional positioning and visualization method for indoor BLE equipment. The invention discloses a three-dimensional positioning and visualization method for indoor BLE (Bluetooth Low Energy) equipment. The method comprises the following steps: step S10, determining Bluetooth equipment global coordinates of Bluetooth equipment in a base station space coordinate system based on position information of a signal base station; s20, based on the position information, obtaining a visual equipment global coordinate of the visual equipment in a base station space coordinate system; and S30, according to the visual global coordinate and the Bluetooth global coordinate, obtaining a view field space coordinate of the Bluetooth device in a view field of the visual device. According to the invention, the global coordinate of the Bluetooth device in the base station space coordinate system and the global coordinate of the visual device in the base station space coordinate system are obtained; the global coordinate of the Bluetooth is converted into the space coordinate of the view field by utilizing the global coordinate of the visual equipment and the global coordinate of the Bluetooth equipment, so that the decoupling of the positioning end and the visual end is realized, and the deployment and the use of the equipment are more flexible.

This application relates to a navigation method and system for underground parking lots based on multi-source fusion. The method includes acquiring a 3D building information model of the underground parking lot and constructing a 3D navigation topology map based on the 3D building information model; collecting multi-source data, performing preprocessing operations on the multi-source data to obtain preliminary multi-source positioning results; evaluating the quality indicators of the preliminary multi-source positioning results to obtain multi-source positioning quality evaluation results, and performing dynamic weighted fusion calculations based on the quality evaluation results to obtain 3D positioning results representing the user's real-time location; and performing path planning based on the 3D positioning results and the user's target location, combined with the 3D navigation topology map, to obtain the target navigation path. This application improves the accuracy of navigation in underground parking lots.

A method of forming a finished metal part includes: forming a printed part via a three-dimensional (3D) printer having an extruder that extrudes a metal paste in a liquid state onto a print bed of the 3D printer to form the printed part, the metal paste including a metal powder and a binder, and the extruder including a nozzle configured to facilitate a flow of a metal paste in the liquid state to positions on a print bed of the 3D printer under control of a 3D positioning system of the 3D printer; converting the printed part to solid form; and forming the finished metal part from the printed part in solid form by a debinding and a sintering via a non-vacuum furnace.

A system and method are provided for providing continuous automatic alignment of bone(-pieces), instruments, and implants based on only one additional X-ray image without the need to change the position of the X-ray source. According to the invention, a 2D X-ray image is received, which shows the target surgical site. Artificial intelligence-assisted automatic detection and localization of objects such as bone(-pieces), tools (such as drills), and / or implants, combined with prior information about the surgical procedure, is used to calculate their relative 3D positions and orientations at any desired time. This alignment of objects can be repeated multiple times, thus providing guidance in quasi-real time.

A medical image processing device according to an embodiment comprises: a first image acquisition unit that acquires a first image captured in a first stage; a second image acquisition unit that acquires a second image captured in a second stage and having a narrower imaging range than the first image; a 3D-3D positioning execution unit that aligns the position of the second image with the position of the first image; an image synthesis unit that generates a synthesized image by using, as the pixel values of the pixels of the second image, the pixel values of the pixels of the first image in a region that does not overlap the position-adjusted second image; a DRR generation unit that generates a two-dimensional DRR image from the synthesized image; a third image acquisition unit that acquires a third image captured in the second stage; and a display device that displays the DRR image and the third image.

The present invention provides a medical image processing device, a treatment system, a medical image processing method, a program, and a recording medium that facilitate positioning confirmation. [Solution] The medical image processing device includes: a first image acquisition unit that acquires a first image, which is a three-dimensional fluoroscopic image of the patient taken in a first stage; a second image acquisition unit that acquires a second image, which is a three-dimensional fluoroscopic image of the patient taken in a second stage after the first stage; a 3D-3D positioning execution unit that performs 3D-3D positioning to calculate a first displacement amount between the first image and the second image; a DRR image generation unit that generates a two-dimensional first DRR image from the first image and generates a two-dimensional second DRR image from the second image corrected based on the first displacement amount; and a display control unit that displays the first DRR image and the second DRR image on a display device.

A marine vessel (14) measuring system (10) may include a combination of one or more vessel based electronic systems (12), an offboard electronic base station (18), a beacon (22) and a computer system (24). The vessel based electronic systems (12) are located on the vessel and capable of providing data at a plurality of times relating to the vertical height of each system (12) with reference to a datum. Each vessel based electronic systems (12) includes a global navigation satellite system (GNSS) receiver for receiving 3D positioning data from a global navigation satellite system. The beacon (22) collates the information into a data stream and wirelessly transmits this to the computing system (24). The offboard electronic base station (18) measures the vertical level or height of the datum and transmits corresponding datum data to the computing system (24). The datum may be the level of the water in which the marine vessel is floating. The computing system uses the data stream and datum data to calculate a change in draft or displacement of the vessel between a first time and a second time with reference to the datum.

The invention relates to an industrial material package automatic feeding system and method based on depth map key point 3D positioning, and aims to realize key point positioning and three-dimensional coordinate reconstruction by combining a color image and a depth map under the condition of not adding an additional sensor, realize accurate identification of a material state, and remarkably improve identification precision and blanking alignment accuracy. The detected key points and the three-dimensional attitude information are used for carrying out center calculation on the material packages, dynamic grabbing path adjustment is achieved in cooperation with mechanical arm path planning, the method can automatically adapt to the material packages with different stacking attitudes, and higher flexibility and environment adaptability are achieved. A robot trajectory planning algorithm based on a mixed inverse kinematics algorithm strategy is adopted, traditional manual operation is effectively replaced through full-process automatic recognition, positioning, grabbing, feeding and bag cleaning and recycling, meanwhile, the problems of personal errors and fatigue caused by repeated labor are solved, the labor cost is remarkably reduced, and the operation safety is improved.

The application discloses a positioning method and system based on multiple magnetic sensors, electronic equipment and a storage medium, and relates to the technical field of target positioning and orientation. The method comprises the following steps: acquiring magnetic beacon information of L*M magnetic beacons at a position of a magnetic sensor; determining initial position coordinates of the corresponding magnetic sensor according to the magnetic beacon information of L magnetic beacons corresponding to each magnetic sensor by using a 3D positioning algorithm; determining a covariance matrix of the corresponding magnetic sensor according to the initial position coordinates of each magnetic sensor; determining final fused position coordinates according to the initial position coordinates and the covariance matrix of the M magnetic sensors by using a covariance intersection fusion algorithm; and the final fused position coordinates are coordinates of a position of a target object. The application improves the accuracy and reliability of positioning.

The invention discloses a municipal pipeline internal blockage three-dimensional positioning and quantitative evaluation method based on cooperation of pulse pressure waves and ultrasonic guided waves. Comprising the following steps: S1, acquiring basic parameters of a target pipeline and initializing a propagation model; s2, performing pressure wave excitation and multi-point signal acquisition; s3, establishing an in-pipe pressure wave propagation model and introducing blockage equivalent impedance; s4, performing pulse pressure wave-based blockage axial position inversion and blockage degree preliminary quantification; s5, performing ultrasonic guided wave excitation and annular signal acquisition; s6, enabling the blockages attached to the inner wall of the pipe to be equivalent to a local contact stiffness-additional mass-damping system, constructing a circumferential abnormal index, and calculating the circumferential position angle of the blockage, so as to achieve the circumferential accurate positioning of the blockage based on the torsional wave characteristics without reflecting echoes; s7, fusing the pressure wave information and the guided wave information, and performing blockage position three-dimensional schematic reconstruction; and S8, carrying out joint inversion and correction on the blockage degree.

The invention discloses a large-scale multi-source panoramic situation awareness system and method based on dynamic digital twinning, and belongs to the technical field of safety monitoring of large carrier platforms. The system takes a digital twinning scene as a unified space-time reference, realizes system-level integration of multi-source sensing, data processing and upper computer application, and comprises a multi-source sensing terminal layer, a digital twinning and data processing layer and an upper computer application and visualization layer; the method comprises the steps of sensing data acquisition and edge processing, equipment installation calibration parameter loading and maintenance, carrier attitude and scene coordinate reference updating, multi-source sensing data mapping and dynamic digital twinborn fusion, target position mapping and multi-view visual output, abnormal situation identification, alarm and data recording. According to the method, unified situation space construction, accurate three-dimensional positioning and visual multi-view display can be realized in the navigation, berthing and on-duty scenes of the large ship, and the method has good method expansibility and platform universality.