362 results about "Dynamic positioning" patented technology

The invention relates to an electric power working environment intelligent positioning and risk management and control method based on a three-dimensional model, and the method comprises the following steps: S1, constructing a three-dimensional model of an electric power working environment, and carrying out the spatial layering and equipment marking of the three-dimensional model, and forming a three-dimensional panoramic working image with attributes; s2, marking positions of operating personnel and equipment in real time, and generating dynamic positioning in a power operation scene; s3, recording and predicting the track of the operator, and pre-warning whether the operator enters a safe area or a dangerous area; a camera is used for collecting images of the operating personnel, non-standard behaviors of the operating personnel are recognized in real time through an AI algorithm, and behavior risk indexes of the operating personnel are generated based on detection results; s4, training a risk prediction model based on sensor data, detecting possible risk events, and obtaining an operation risk index of the equipment; and S5, calculating a comprehensive risk index in real time. According to the invention, the comprehensive safety of personnel, equipment and environment is guaranteed while the safety management efficiency is effectively improved.

The invention relates to the field of transportation visualization, in particular to a cold chain cargo transportation management visualization method and system. The method comprises the following steps of collecting cold chain cargo state parameters, performing cargo quality trend evaluation, and generating state data streams of a plurality of cargoes; performing dynamic positioning and tracking on the cold-chain transport vehicle, performing space-time mapping processing according to the state data flow, and constructing a real-time tracking trajectory flow; performing future aging deviation prediction on the real-time tracking trajectory flow to generate an aging deviation prediction result; carrying out transportation risk comprehensive assessment according to the aging deviation prediction result, and generating a transportation risk assessment report; and carrying out path planning calculation and client notification pushing according to the transportation risk assessment report so as to execute intelligent transportation management. According to the invention, the transportation energy consumption and time cost are reduced, the resource allocation efficiency is improved, and the cargo real-time tracking visualization effect is improved.

A joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control comprises the steps that an operation and maintenance ship frequency domain seakeeping model is built, and a hydrodynamic coefficient library is calculated; wave exciting force is reconstructed based on a Cummins time domain motion equation, and ship motion response prediction is realized by adopting implicit generalized alpha time domain composite integral; the dynamic positioning system extracts low-frequency motion through a Kalman filter and optimizes thruster thrust distribution to stabilize the position of the ship. A gangway ladder dynamic model is established based on a Lagrange equation, real-time control over displacement, speed and acceleration of the top end of the gangway ladder is achieved through a feedforward-feedback composite control strategy, and nonlinear output of a hydraulic actuator is optimized. And realizing joint simulation of the coupling system through time domain synchronization and self-adaptive PID (Proportion Integration Differentiation) control. And checking gangway ladder movement based on a preset threshold value and a space boundary condition, and evaluating the operability of the climbing operation. According to the method, the limitation of traditional single-disciplinary analysis is broken through, and the forecasting precision of wind power operation and maintenance operation operability is effectively improved.

The embodiment of the invention discloses a Beidou precise dynamic positioning method considering a satellite geometric configuration, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: obtaining a satellite geometric configuration composed of satellites corresponding to each observation value of a current epoch, and calculating the weight of each satellite in the satellite geometric configuration; rTK floating point solution calculation is carried out, the weight proportion in the filtering process is adjusted through an IGG-III robust optimization method considering the geometric configuration of the satellite, and an adjusted floating point solution is output; fixing the ambiguity, fixing the partial ambiguity which does not pass the ratio test based on a preset elimination sequence, and outputting an ambiguity fixed solution or an ambiguity floating point solution; and outputting a positioning result of the current epoch. According to the method, the satellite configuration and the error of each satellite are considered during floating point solution calculation, so that the precision of the floating point solution is effectively improved; by introducing an ambiguity subset optimization strategy considering the geometric configuration of the satellite, the ambiguity fixed rate and the precision of a fixed solution are improved.

The invention discloses a dynamic positioning active-disturbance-rejection control method based on an adaptive extended Kalman filtering algorithm, and relates to the field of ship dynamic positioning control. The invention aims to solve the problems that an existing ship dynamic positioning active-disturbance-rejection control method cannot meet the control stability requirement while ensuring the response speed, the positioning speed is low, and the service life of an executing mechanism is short. The method comprises the following steps: obtaining a ship motion model by using a dynamic positioning ship low-frequency motion model and a dynamic positioning ship high-frequency motion model in a state space form; designing a non-linear state error feedback control law, and obtaining a thrust value applied by the propeller by using the non-linear state error feedback control law; discretizing the ship motion model to obtain a discretized ship motion model; and based on an adaptive extended Kalman filtering method, designing a dynamic positioning active-disturbance-rejection controller by using the discretized ship motion model and a thrust value applied by a propeller. The method is used for ship dynamic positioning active-disturbance-rejection control.

The invention relates to a track planning method and system for a bridge crane, and the method comprises the steps: collecting motion signals of a main beam and a trolley through an electromagnetic field intensity detection sensor array, carrying out the denoising of the motion signals, extracting features, decomposing the features into component signal groups, building the incidence relation between the component signal groups and the motion state of a joint, and achieving the high-precision dynamic positioning. A time sequence model is constructed based on position data to analyze displacement and speed characteristics, a multi-dimensional constraint condition set including speed limitation and position boundaries is generated, a final trajectory scheme is output through iterative adjustment of an optimization calculation framework, a dynamic feedback mechanism is adopted, electromagnetic field intensity signals and planning data are compared in real time, and the optimal position is obtained. And when the deviation threshold is exceeded, readjusting the parameters, and generating a coordinated motion instruction to drive the crane to operate. Accurate positioning is achieved based on electromagnetic field intensity detection, the problems of accumulative errors and environmental interference of a traditional method are effectively solved, and the stability, accuracy and self-adaptive capacity of crane movement are remarkably improved.

According to an embodiment, there is provided a control method for autonomously berthing a ship including obtaining ship state information and berth information, setting a DP point; an approaching operation of controlling the ship to approach the DP point; and a dynamic positioning operation of adjusting a location and posture of the ship based on an error rate between the DP point and a current location of the ship.

The embodiment of the invention discloses a heading determination method, device and equipment for a dynamic positioning ship and a medium. The method comprises the following steps: obtaining dimensionless environmental load coefficients of a ship under various environmental parameters and actual environmental parameters of the ship under actual sea conditions when heading is given; according to the dimensionless environmental load coefficient and the actual environmental parameters, the environmental load of the ship when the heading is given is obtained; calculating a control instruction of each propeller on the ship when the environmental load is met, and determining the total power of the propeller under the given heading direction according to each control instruction; and according to the total power of the propellers under the multiple given heading directions, the target heading direction is determined in the multiple given heading directions. The most energy-saving target heading is obtained by carrying out thrust distribution on the ship under different given heading directions, the heading direction determination speed and accuracy can be improved, and energy consumption and labor cost during heading direction determination are reduced.

The invention relates to the technical field of ship motion control, and particularly discloses a ship dynamic positioning control method and system for a full-water-depth sea area, and the method comprises the steps: S1, measuring the water depth in real time, and calculating the water depth-to-draft ratio through combining with the ship draft; s2, according to the water depth-to-draft ratio, a water depth self-adaptive ship body dynamic model is updated; s3, calculating real-time optimal control force by utilizing an optimal quadratic index according to the updated water depth self-adaptive ship body dynamic model; and S4, performing dynamic positioning control according to the real-time optimal control force. The dynamic positioning system can be compatible with control requirements of deep water and shallow water operation areas, and the problems of control drift, instability divergence and the like caused by inertia increase, damping increase and thrust loss of a ship body in a shallow water area are solved.

The invention provides an underwater robot dynamic positioning method for coping with complex disturbance, and the method comprises the steps: collecting the attitude angle, angular velocity, linear velocity and linear acceleration information of an underwater robot, and generating fused high-frequency and high-precision pose information; designing an extended state disturbance observer, and estimating a disturbance value in real time through a feedback function and an auxiliary variable equation; adding the disturbance estimation value and the output force of the dynamic model, constructing a constraint condition of model prediction control, and solving the optimal control input of N prediction time domains in the future through rolling time domain optimization; and based on the optimal control input, constructing a quadratic programming problem of thrust distribution in combination with the space pose distribution matrix of the thrusters, solving the minimum energy solution of the thrusters, and outputting the minimum energy solution to a thruster execution mechanism. According to the technical scheme of the invention, the robust control of the underwater robot in a strong disturbance environment can be realized. The method mainly solves the problem of fixed point and attitude determination when the underwater unmanned robot faces underwater turbulence or other complex disturbances.

The invention relates to the technical field, in particular to an unmanned inspection method and system for a switch cabinet, and the method comprises the following steps: building an incidence relation between signal nodes through a graph neural network, improving the time sequence consistency of multi-source signals, enabling instrument reading and temperature and humidity signals to form a hierarchical structure under a unified time frame, and improving the accuracy of inspection. The logic association of state layering is enhanced, continuous sampling sequence features are extracted through a long-short-term memory network, the response sensitivity and time prediction capability to abnormal signal abrupt change are improved, amplitude matching of temperature difference and current signals is achieved under the same time index, early abnormal nodes are accurately recognized, and a dynamic positioning sequence is established. Through joint tradeoff of distance and energy consumption, path lengthens and energy peak values are reduced, task throughput and equipment availability are improved, timing sequence capture and trend judgment capabilities are enhanced in an anomaly recognition layer, and accuracy and continuity of inspection decision and reliability of safety assessment are integrally improved.

The invention provides an elastic non-difference and non-combination-based PPP-RTK high-precision positioning method and device, and belongs to the field of satellite navigation high-precision positioning, and the method comprises the steps: obtaining reference station data, and judging the validity of the reference station data; if the reference station data is valid, outputting satellite navigation positioning information based on a real-time dynamic positioning technology RTK; and if the reference station data is invalid, acquiring enhanced data of a non-difference and non-combination positioning technology PPP-RTK, and outputting satellite navigation positioning information based on a precision single point positioning technology PPP, a precision single point positioning ambiguity estimation technology PPP-AR or a PPP-RTK technology according to the PPP-RTK enhanced data, a preset positioning precision requirement and a resource occupation condition of the terminal equipment. According to the invention, by judging the validity of the reference station data and dynamically adjusting the positioning mode, the influence of the change of the environment where the terminal equipment is located on the reference station data is avoided, the precision of the positioning result can be always kept at a relatively high level, and a better high-precision positioning service result is obtained.

The invention relates to the technical field of self-adaptive control, in particular to a self-adaptive dynamic positioning control method for a semi-submersible platform, which establishes a control model for the motion characteristics of the semi-submersible platform, pays attention to the nearest error data through a sliding window, avoids the influence of long-term accumulated errors on a controller, and improves the positioning accuracy of the semi-submersible platform. The response speed and the stability of the control system are improved; the PSO algorithm combined with the real-time wave parameters can effectively restrain the search space, blind optimization is avoided, the control precision and adaptability of the control strategy under different sea conditions are improved, and the response speed and safety are greatly improved especially for extreme sea conditions.

The invention relates to the technical field of ship underwater positioning, in particular to a dynamic space positioning method and system for a sensor chain body of a ship drag chain, and the method comprises the steps: dispersing the drag chain into a plurality of hinged rigid sections in a two-dimensional inertial reference system, connecting the sensor chain body to the tail end, and taking the motion of a ship as a traction point boundary; according to the given traction speed, the initial pitch angle, depth and tension distribution are obtained through static balance; calculating local speeds in the sections according to translation and rotation states of upstream nodes of all the sections, obtaining distributed hydrodynamic loads in combination with fluid parameters, establishing moment balance equations at all the upstream nodes, and forming a second-order ordinary differential equation set with a pitch angle as an unknown quantity; and numerical solution is carried out under a unified time step length, and the mass center positions of each node and a sensor chain body are obtained according to geometric recursion, so that dynamic positioning in an inertial reference system is realized. According to the invention, the precision and reliability of underwater target motion analysis and target tracking can be improved.

The invention discloses an unmanned aerial vehicle-mechanical dog cooperative multi-frequency sound wave mine pile cavity monitoring system and method. The system is characterized in that a plurality of receiving sensors are uniformly arranged on the surface of a mine pile in a stoping space; the unmanned aerial vehicle platform and the mechanical dog are arranged in the stoping space; the multi-sensor integration unit comprises a sound wave emission module, an RTK real-time dynamic positioning module, a laser radar module and a visual SLAM module, and the calculation analysis terminal is connected with the mechanical dog, the multi-sensor integration unit and the multiple receiving sensors. The method comprises the following steps: after finishing each ore drawing operation, arranging a plurality of receiving sensors on the surface of an ore heap at the bottom of a stoping space in a rhombic grid manner by adopting a mechanical dog; and the unmanned aerial vehicle platform is controlled to sequentially traverse the arrangement point positions of the receiving sensors, sound wave signals are transmitted, the head wave arrival time, the amplitude attenuation rate and the frequency spectrum gravity center offset are obtained through the receiving sensors, and third-level early warning is carried out. According to the system and the method, the cavity condition in the ore heap can be efficiently and accurately monitored.

The invention relates to a dynamic positioning control method for an underactuated water surface unmanned ship, and the method comprises the steps: outputting the real-time motion state information of the unmanned ship through Beidou second generation, integrated navigation and AIS equipment carried by the unmanned ship at the current moment, and carrying out the filtering through a nonlinear estimation filter. Meanwhile, a nonlinear PID environment compensator is designed to compensate marine environment interference received by the underactuated unmanned surface vehicle; constructing a dynamic positioning controller based on a model predictive control algorithm (MPC) to receive the filtered real-time motion state information of the unmanned ship and predict the motion state of the unmanned ship at the future moment to obtain an optimal command rudder angle, and outputting the optimal command rudder angle to an unmanned ship motion system; and the unmanned ship motion system continuously feeds back the actual value to the controller to perform rolling optimization. According to the invention, dynamic positioning of the underactuated marine survey unmanned ship under complex sea conditions can be realized, and accurate marine environment survey can be carried out on a sea area with a specified coordinate.

The invention discloses a Galileo HAS service receiving and positioning performance evaluation method and device, and belongs to the technical field of satellite positioning and navigation. The method comprises the steps that Galileo E6B frequency band signals are captured through USRP equipment, after radio frequency and direct current signals are separated through a bias device, self-adaptive layering processing is carried out through GNSS-SDR software, and the self-adaptive layering processing comprises dynamic sampling and interference suppression of a radio frequency adaptation layer, double-domain cooperative synchronization and self-adaptive decoding of a baseband intelligent processing layer and self-adaptive decoding of a baseband intelligent processing layer. And carrying out multi-dimensional feature mapping and robust verification on the HAS correction number extraction layer, and finally outputting a standardized HAS correction number. And in combination with a real-time precise single-point positioning technology, centimeter-level dynamic positioning is realized, and the positioning performance is evaluated through comparison with reference station data. According to the method, the robustness and precision of signal receiving and processing are improved, and the method is suitable for high-precision positioning requirements in a complex environment.

The embodiment of the invention discloses a method for an intelligent excavator, and the method comprises the steps: carrying out the space division of an operation region according to the space information of a geological database; real-time position information and posture information of the bucket are obtained through the Beidou high-precision real-time dynamic positioning technology; combining data information of the GIS system to generate operation tasks, and matching operation areas and the operation tasks; position information and posture information of the bucket are displayed in real time, and the operation progress of the excavator is displayed on the three-dimensional topographic map in real time; technicians for excavator operation are intelligently guided, and the excavator is controlled to execute operation tasks. By implementing the embodiment of the invention, the working efficiency and quality of the excavator are improved, and more comprehensive guidance is provided for excavator technicians.

The invention belongs to the technical field of deformation monitoring based on GNSS dynamic positioning, and discloses a GNSS dynamic positioning model displacement detection method based on an automatic encoder. Firstly, de-noising processing and time domain difference are carried out on a coordinate time sequence; secondly, normalizing and serializing the differentiated coordinate time sequence; then, constructing an automatic encoder abnormal value detection model and training the automatic encoder abnormal value detection model; thirdly, a reconstruction value is obtained through the trained model, the mean absolute error (MAE) is calculated, and the maximum MAE value serves as a reconstruction loss threshold value delta MAX to be used for detecting whether displacement occurs or not; and finally, an MAE loss value delta is obtained by using the trained model, and if the delta exceeds the calculated threshold value delta MAX, the delta is marked as an abnormal value, that is, the current epoch is displaced. According to the method, the problem that GNSS displacement detection with the characteristics of large noise and small displacement is difficult is solved, displacement can be effectively detected from a dynamic positioning result, and the detection displacement threshold value is dynamically calculated through data without manual intervention.

The invention relates to the technical field of stamping dies, in particular to an intelligent bearing part dynamic positioning stamping control system which comprises a sensor module, a control module and a control module. The sensor module comprises a position sensor used for monitoring the position and the motion state of a bearing part in real time and a pressure sensor used for detecting pressure changes in the stamping process; the position sensor is a laser displacement sensor or a visual sensor; according to the scheme, the sensor module collects data such as the position of a bearing part and stamping pressure in real time, analysis and processing are conducted in combination with an intelligent algorithm of the control module, and the execution module is precisely driven to achieve dynamic positioning and stamping control; and meanwhile, the man-machine interaction module is utilized, so that an operator can conveniently and flexibly set parameters and monitor production. According to the system and method, high-precision and automatic dynamic positioning and stamping of the bearing part are achieved, the production efficiency and the product quality are remarkably improved, the adaptability of the system to diversified production requirements is enhanced, and the equipment failure risk is reduced.

The invention discloses a rapid and accurate riprap damming method under a large water depth, relates to the technical field of water conservancy projects and underwater construction, and solves the problems that the construction efficiency can be improved due to the fact that water riprap is often adopted under the large water depth (more than 40 meters) and a complex flow state, but stones are prone to drifting in the sinking process, and the construction efficiency is affected. Therefore, the device cannot be accurately placed at a preset position. On one hand, the stability and construction quality of a dam body structure are affected, and on the other hand, a large amount of stone is wasted. Combined positioning (dynamic positioning system + anchoring), sonar equipment and a holder control sub-module are introduced, the drifting distance is calculated through an intelligent algorithm, the arm length and angle of the floating crane are adjusted in time, and it is ensured that stones are accurately immersed to the preset position. According to the method, the positioning precision and the construction efficiency in the riprap process can be remarkably improved, materials can be saved, and the method is suitable for the fields of water conservancy projects, ocean engineering, channel improvement and the like and has wide application prospects and remarkable economic benefits.

The invention provides a thrust distribution method under a ship propeller fault mode based on an improved parrot algorithm, and belongs to the technical field of dynamic positioning ship thrust distribution. According to the technical scheme, the method comprises the following steps that 1, various parameters of a ship are initialized; step 2, constructing a thruster equality constraint term; 3, initializing parameters of the improved parrot optimization algorithm; 4, performing individual variable updating by applying an improved parrot optimization algorithm; 5, judging whether the maximum number of iterations is reached or not, if so, executing the step 6, otherwise, executing the step 4; and 6, outputting a thrust distribution result, updating ship state parameters, and skipping to the step 2 to carry out thrust distribution calculation of the next cycle. The method has the beneficial effects that the method has good algorithm optimization ability in both the failure mode and the non-failure mode of the ship propeller, the thrust optimal solution can be quickly and reliably obtained, and the ship thrust distribution performance is improved.

The utility model relates to a GNSS (Global Navigation Satellite System) dynamic positioning precision testing device, which comprises a base, a transmission assembly arranged above the base, and a rotating platform arranged above the transmission assembly and capable of rotating along with the transmission assembly, the rotating platform comprises a rotating disc, a speed adjusting rod installed on the rotating disc and an antenna pedestal installed on the speed adjusting rod, one end of the speed adjusting rod extends out of the rotating disc, the distance of the speed adjusting rod extending out of the rotating disc is adjustable, and the antenna pedestal is installed at the end of the speed adjusting rod extending out of the rotating disc. According to the utility model, a specific track can be arranged, circular moving tracks with different radiuses can be tested, the rotating speed can be effectively controlled, the function of testing the dynamic positioning precision of the GNSS can be realized, and the device has the advantages of cost saving, simplicity, convenience, feasibility, reusability, wide application range and the like.

The invention relates to the field of radar external parameter calibration, and discloses a millimeter wave radar external parameter rapid dynamic automatic calibration method, which comprises the following steps that S1, a to-be-tested vehicle runs in a test range of a millimeter wave radar, the millimeter wave radar collects original target data of each target in a surrounding environment, and real-time dynamic positioning equipment synchronously collects vehicle track data; s2, performing target identification and track splicing on the original target data to obtain corrected radar sensing track data; s3, based on the dynamic time error, performing time synchronization on the radar sensing trajectory data and the vehicle trajectory data, and matching the radar sensing trajectory data with the vehicle trajectory data through a timestamp; s4, generating a homography matrix by using the matching point pairs, and optimizing the homography matrix by using a deep reinforcement learning algorithm to reduce calibration errors; and S5, performing external parameter calibration on the millimeter wave radar by using the optimized homography matrix. According to the invention, the error tolerance can be automatically adjusted, and the calibration precision is improved.

The utility model discloses a composite cabin ventilation system meeting dynamic positioning redundancy requirements, which comprises an exhaust shutter, an air inlet shutter and a fan which are positioned in an upper cabin, a structural air duct positioned in a middle cabin and a diesel generator set positioned in a lower cabin, and the air inlet shutter, the fan, the structural air duct and a cavity of the lower cabin are sequentially communicated. The cavity of the lower-layer cabin is communicated to an exhaust shutter through a chimney; and an air brake for controlling the ventilation quantity is arranged between the fan and the structural air duct. According to the utility model, a water cooling mode is utilized to completely replace the heat dissipation air volume of a main part during the design of a conventional cabin ventilation system, and the discharge capacity of a ventilation fan and the size of an air duct are reduced. The internal circulation cooling jet fan does not need to be started, normal operation of the ship can be guaranteed through the frequency conversion fans with the small number and power, and energy conservation and emission reduction are achieved. All the frequency conversion fans and the internal circulation cooling jet fans can work at the same time, the use requirements of tropical areas under extremely hot working conditions are met, and the working condition adaptability of ships is improved.

The invention belongs to the technical field of dynamic Beidou differential positioning, and discloses a rapid Beidou differential positioning method and system under a dynamic condition, and the method comprises the steps: constructing an inter-epoch single-difference error equation; observation value selection and reference epoch selection; high-sampling-rate data processing is realized by using a double-difference-single-difference model alternation strategy; and analyzing data. According to the rapid Beidou differential positioning method under the dynamic condition, the centimeter-level dynamic positioning result of the Beidou system is realized by using the inter-epoch single-difference model and the constructed combined observation value with the minimum noise when the double-difference model fails. According to the method for selecting the reference epoch, the influence of accumulation of coordinate errors on the coordinate precision of the moving carrier is avoided, and the method is more suitable for real-time dynamic data processing. A carrier phase combination observation value with the minimum noise is adopted, and the influence of observation value noise on the positioning precision is further reduced.

According to the dynamic positioning method and device for the fishery ship, the electronic equipment and the storage medium provided by the invention, filtering and information fusion are carried out by collecting the current motion state and the surrounding environment parameters of the ship, and the ship pose state estimation information and the environment disturbance estimation information are output; based on the rolling time domain model and the multi-target performance index function, according to the current constraint target, the ship pose state estimation information, the environment disturbance estimation information and preset propeller use energy consumption parameters, an optimal control sequence corresponding to the current control period is output, and according to the optimal control sequence and a propeller current efficiency matrix, the propeller is controlled. And determining current thrust output information of each thruster, and controlling each thruster to output thrust according to the priority of the thruster and the current thrust output information of each thruster. The method can realize automatic fishery ship dynamic positioning, improves the dynamic positioning efficiency and accuracy of the fishery ship, and can be widely applied to the technical field of ship motion control.

The embodiment of the invention discloses a platform instrumentation sequence decision-making method, electronic equipment, a medium and a program. The method comprises the following steps: acquiring instrumentation sequence decision-making correlation parameters of a target platform; wherein the pile pitching sequence decision correlation parameters comprise configuration parameters of the target platform, current environment load parameters and pile leg lowering operation task parameters of the target platform; determining dynamic positioning capability evaluation results of the target platform in different operation states according to the pile pitching sequence decision correlation parameters of the target platform and a correlation dynamic positioning capability evaluation model; determining pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result; and the pile pitching sequence of the pile legs in the target platform is determined according to the pile leg dynamic positioning data and the pile leg operation energy consumption data of the target platform. According to the embodiment of the invention, the safety and stability of the platform dynamic positioning system during pile pitching operation can be enhanced, and meanwhile, the energy utilization efficiency of the dynamic positioning system is improved.

The embodiment of the invention discloses a GNSS (Global Navigation Satellite System) dynamic positioning method, device and equipment and a storage medium, and relates to the technical field of navigation positioning, and the method comprises the following steps: determining an estimation state vector of a signal receiving end in a previous epoch and an estimation state vector of a current epoch based on GNSS observation data; multiplying the estimated state vector of the current epoch by a preset constraint matrix to obtain a constraint parameter, comparing the constraint parameter with a preset constraint condition threshold, and if the constraint parameter of the current epoch is greater than the preset constraint condition threshold and the constraint parameters of at most n continuous epochs are greater than the preset constraint condition threshold, constructing a virtual observation equation, and calculating to obtain a prediction state vector of the signal receiving end in the current epoch, and outputting a positioning result. According to the method, a possible output abnormal result is solved by utilizing extended Kalman filtering iteration in a complex environment, and dynamic constraint condition adjustment is realized by introducing inequality constraints.

The invention discloses a multi-frequency fusion antenna suitable for deformation monitoring of an electric power tower, which comprises a system floor, a data path module, a GNSS module, a GNSS feed network module, a data path feed network module and an antenna shell, and is characterized in that the GNSS module, the GNSS feed network module, the data path module and the data path feed network module are fixed on the system floor; the GNSS module receives the navigation signal so as to carry out real-time dynamic positioning calculation and obtain monitoring data of the electric power iron tower; the GNSS feed network module provides power distribution and phase control for the GNSS module; the data path module binds the monitoring data with a timestamp to form a complete monitoring data set and transmits the complete monitoring data set to a remote server or a monitoring center; the data path feed network module provides power distribution, impedance matching and phase control for the data path module. According to the invention, signal resources of each satellite navigation system can be fully utilized to improve the deformation monitoring precision of the electric iron tower.