134 results about "Dynamic positioning" patented technology

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 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 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 invention discloses a safe dynamic positioning control method for a load switching unmanned ship based on spoofing attack detection, and the method comprises the steps: constructing a switching rule based on an A2C algorithm according to an unmanned ship load switching model, so as to select an optimal action corresponding to the load mode switching of the unmanned ship; on the basis of an unmanned ship load mode corresponding to the optimal action, according to a constructed first event triggering mechanism, in combination with a constructed state observer and an A2C algorithm mode estimation / detection mechanism, whether a data signal is tampered by a spoofing attack or not is determined, and then the observation state of the unmanned ship is output; acquiring a control signal of the unmanned ship according to the observation state based on the constructed safety controller; and based on the constructed second event triggering mechanism, the control signal is transmitted to the actuator through a preset communication network, so that the safe dynamic positioning control of the load switching unmanned ship based on spoofing attack detection is realized. According to the method, the problem that the existing method cannot effectively realize load switching of the unmanned ship and cannot realize safe dynamic positioning control under the condition of considering spoofing attacks is solved.

The invention relates to the technical field of wind power plant construction, and discloses a wind-solar narrow field fan hoisting construction method which comprises the following steps: arranging a real-time dynamic positioning module and an inertial measurement unit; presetting a virtual stable anchor point, and resolving a deviation vector between the real-time spatial position of the hoisting component and the virtual stable anchor point by the control system; according to the invention, the conversion from passive swing suppression to active disturbance cancellation is realized, the traditional open-loop operation is converted into a closed-loop control process, and under the conditions of high wind speed and narrow space, the control efficiency is improved. Therefore, the collision risk between the component and the photovoltaic facility is avoided, and the installation precision is ensured.

The invention provides a shipborne temperature and salt drag data space-time correction method and system based on dynamic positioning, and the method comprises the steps: collecting drag chain attitude data and ship maneuvering data in real time, and obtaining an initial three-dimensional offset estimation value; obtaining corrected drag chain attitude data based on the initial three-dimensional offset estimation value and the marine environment interference information; if the corrected drag chain attitude data shows that the position deviation parameter exceeds a preset deviation threshold value, ship maneuvering data are corrected, and real-time space positioning coordinates of the drag chain are obtained; on the basis of the real-time space positioning coordinates, correcting a ship-borne temperature and salt dragging data acquisition time sequence to obtain matched geographical attribution information; and if the matched geographical affiliation information and the preset initial geographical affiliation data are misplaced, the dynamic deviation parameter is adjusted, and a space-time synchronization correction value is obtained. According to the method, a dynamic positioning technology is utilized, the space-time error of the shipborne thermohaline drag chain data is corrected in real time, the space-time consistency of the data is ensured, and the space-time resolution of the thermohaline data is improved.

The invention provides a real-time positioning and mapping method based on laser radar and inertial navigation, and relates to the field of robot positioning and mapping, and the method comprises the steps: obtaining data information, and carrying out the data preprocessing; a laser inertial attitude estimation module is adopted to carry out pose estimation; key frame extraction and management are carried out; loopback detection is carried out on the new key frame, and loopback constraints are generated; performing pose map construction, constraint fusion and global pose map optimization; and outputting the optimized trajectory. And executing global map construction, and outputting a global map. According to the method, a loopback detection mechanism and a global pose image optimization method are introduced, so that effective identification of historical frames and global trajectory closed-loop optimization are realized; meanwhile, the method fuses multi-source sensing information of an inertial measurement unit, a wheel type odometer, a real-time dynamic positioning module and the like, so that the robustness, the map consistency and the positioning precision in a complex degradation environment are remarkably improved.

The application relates to a flexible material dynamic positioning control system and method based on real-time length detection, which comprises a transmission mechanism, a sensing mechanism, an encoder, an array air jet group, a peripheral system and a motion controller. The motion controller is connected to the sensing mechanism, the encoder, the array air jet group and the peripheral system. The motion controller is used for calculating the length and displacement of the flexible material according to the response time of the flexible material passing through the sensing mechanism and the conveying speed of the transmission mechanism, dynamically calculating the midpoint position of the flexible material according to the length and displacement of the flexible material, and determining the corresponding array air jet group of the flexible material according to the flexible material obtained by the peripheral system. When the center position of the flexible material reaches the position of the corresponding array air jet group, the corresponding array air jet group is triggered. The array air jet group can realize accurate air blowing sorting of the flexible material, realize adaptive adjustment of the air blowing position of the flexible material with different lengths, and meet the accurate sorting requirements of the flexible material with different lengths.

The invention discloses an unmanned ship safe dynamic positioning method based on a switching fuzzy wavelet network, and the method comprises the steps: building and constructing a switching LPV networked unmanned ship system according to the number of shipborne equipment, designing an event triggering mechanism, and constructing an attack detection observer and a detector in a shore-based system for possible spoofing attacks in communication; designing a safety controller in combination with a switching fuzzy wavelet network and an attack detector, introducing a shore-ship event triggering mechanism, further designing a special attack detector and a control input compensator, and generating a safe event triggering control input; a closed-loop system is constructed by integrating an attack detection observer, an unmanned ship system and control input, and a stable condition of the system is given through theoretical analysis, so that safe dynamic positioning of the unmanned ship under potential network attacks is realized; according to the method, the estimation accuracy can be improved, the safety is improved, and safe dynamic positioning of the networked unmanned ship is realized.

The invention discloses an analysis and prediction method for high-frequency noise of a pod propeller, and the method comprises the following steps: S1, obtaining flow field original data and corresponding high-frequency noise monitoring data of the pod propeller in a working state, and carrying out the preprocessing; and S2, constructing a flow field-noise coupling analysis framework based on the separation vortex model, and setting a time step length and a calculation frequency matched with actual working conditions. The invention relates to the technical field of ship propeller noise analysis and prediction. According to the pod propulsor high-frequency noise analysis and prediction method, flow field vortex structure characteristics can be captured by constructing a flow field-noise coupling analysis framework and processing the preprocessed flow field data, and the contribution degree of each vortex unit to the high-frequency noise is accurately calculated based on a vortex structure and noise generation correlation mechanism, so that the high-frequency noise analysis and prediction method is provided for the high-frequency noise analysis and prediction of the pod propulsor. The vortex units leading the noise source are screened, dynamic positioning of the high-frequency noise source is achieved by combining the space-time position information of the vortex units, and the source of noise generation can be deeply known.

The application provides an RTK service quality testing method and device and electronic equipment, and relates to the technical field of testing. The method comprises the following steps: acquiring a position relationship between a target user and a first group network which is constructed in advance; the first group network comprises at least one triangular network, each triangular network comprises three reference stations which are in communication connection, and the distance between the two reference stations which are farthest apart in the triangular network is less than a preset distance; the position relationship is used to indicate whether the target user is located within the range covered by the first group network; and the real-time dynamic positioning (RTK) service quality of the target user is determined according to the position relationship. The scheme of the application can provide high-quality services for areas with poor RTK service quality, and improve user experience.

The invention provides an intraoperative dynamic positioning system and method based on a magnetic sensor array and a composite magnetic field, and the system comprises a composite excitation handle which is internally and non-coaxially integrated with a static magnetic source and a dynamic magnetic source, and generates a non-axisymmetric static and dynamic composite magnetic field; the self-adaptive sensing array is provided with a plurality of magnetic sensing nodes and is used for synchronously acquiring magnetic field signals; and the navigation processing terminal is used for processing the signal and resolving the pose. According to the method, static magnetic and dynamic magnetic components are obtained through synchronous acquisition and frequency domain decoupling; the method comprises the following steps: fitting the position and direction of a handle by utilizing a static magnetic component, and solving a rotation angle around a shaft by taking the position and direction as initial values and combining a dynamic magnetic component to realize full six-degree-of-freedom positioning; and finally, obtaining the navigation pose of the instrument tip through filtering mapping. According to the invention, full-attitude, high-precision and strong-interference-resistance intraoperative dynamic positioning is realized, and the problems of precision degradation and visual lag of traditional electromagnetic positioning in a metal environment are solved.

The invention discloses a deepwater collaborative operation platform dynamic relative positioning system and method, and relates to the field of deep sea engineering, and the system comprises a first operation platform which is symmetrically provided with a first beacon and a second beacon along a central axis; a third beacon and a fourth beacon are symmetrically arranged on the second working platform along the central axis; the dynamic positioning network is formed by continuously carrying out bidirectional distance measurement among beacons; the edge calculation unit is arranged on the second operation platform and comprises a data acquisition interface and a data processing mechanism; the data acquisition interface is used for receiving original distance observation data and attitude data and depth data of each beacon; and the data processing mechanism unifies all beacon coordinates to a horizontal coordinate system by fusing the distance measurement data, the depth data and the attitude data, and solves the three-dimensional relative position and the relative yaw angle between the two platforms. According to the system and method, multi-source data fusion and edge calculation are utilized, the problem of deepwater transmission delay can be solved, and high-precision real-time feedback of dynamic relative poses between collaborative operation platforms can be achieved.

The invention discloses a multi-source undisturbed attack detection and safe dynamic positioning method for switching an unmanned ship system, and the method comprises the steps: building an unmanned ship quality switching model through a hysteresis quantizer, inhibiting residual buffeting through an event triggering protocol, and transmitting a state and quality mode switching signal to a shore base; designing a multi-source undisturbed rate residual calculation model based on the state observer, and eliminating the influence of quality switching and event triggering on the residual; constructing a spoofing attack detection function, obtaining a state and modal detection result, and designing a safety controller according to the state and modal detection result; meanwhile, an event triggering and watermarking mechanism is introduced into a controller-actuator channel to resist spoofing attacks; according to the method, a closed-loop system is constructed based on a double-event triggering protocol, finally, safe dynamic positioning of the quality switching unmanned ship is achieved, detection false alarm and missing alarm caused by rate residual buffeting due to switching behaviors and data updating during triggering can be overcome, and the detection strategy is achieved to give an alarm only when a spoofing attack occurs.

This invention discloses an autonomous vessel and a method for maintaining a precise position or trajectory during offshore operations (e.g., cable or pipe laying or offshore construction installation). The vessel includes multiple externally anchored mooring lines, a winch system with tension sensors, a position sensor, and a control system. The control system processes position and tension data to detect deviations caused by environmental forces such as wind, waves, or ocean currents. In response, the control system activates the winch system to adjust the length of the mooring lines, counteracting forces caused by different environmental factors and achieving controlled maneuvering within the mooring area. An optional artificial intelligence module can learn from historical data to predict dynamics and optimize adjustments along predetermined waypoints. Compared to traditional dynamic positioning systems, this reduces fuel consumption, improves accuracy, and minimizes risk. It is applicable to vessels such as barges or installation platforms.

The invention belongs to the technical field of ship design and manufacturing, and discloses a standardized offshore external energy supply device which comprises a nuclear energy module, a hydrogen energy module, a propelling module, a connecting module and a conveying module. The nuclear energy module generates power through nuclear energy. The hydrogen energy module uses a part of electric energy generated by the nuclear energy module to electrolyze water to prepare hydrogen; the propelling module has a dynamic positioning function, can follow the tracking motion of the target platform, and can be used as external power to assist the propelling motion of the target platform; the connection module is used for being connected with a target platform, transmitting acting force and keeping the relative position relation with an external platform. The conveying module can convey needed energy to the target platform. According to the invention, high-safety, high-environmental-protection, high-flexibility and low-transformation-cost green-power and green-hydrogen offshore external energy sources are provided for deep and far sea engineering equipment, and the economical efficiency, the stability and the safety can be all improved in an all-around manner.

The present application relates to the cable (18) processing technical field of aviation, electric power, communication and the like industry, especially relates to a kind of cable protection material hot cutting equipment.It is composed of three major core modules by precision measurement system, efficient cutting system and gas purification system.Advanced laser ranging technology is used in precision measurement system, and millimeter level dynamic positioning is realized through high-precision sensor and intelligent algorithm, which can monitor cutting position deviation in real time and carry out automatic calibration;Efficient cutting system is equipped with intelligent temperature control device, which can accurately control the surface temperature of cutting tool to fluctuate within the best process interval, which can ensure smooth and undamaged cut, and effectively avoid safety hazards and material performance degradation caused by excessive heating;Gas purification system is configured with modular exhaust gas purification unit for harmful substances generated during cutting, and closed treatment cycle is constructed by combining negative pressure air guide technology, which can realize efficient collection and decomposition of toxic gases, particulate matter and other pollutants.

The application provides a three-way adjustable ship body segment fixing device and a working method thereof, and relates to the technical field of ship and marine structure construction. The device comprises a three-way adjustable ship body segment fixing platform and four movable segment lifting lug fixing devices. The movable segment lifting lug fixing device comprises a segment fixing module, a dynamic positioning module and an electric locking module. The dynamic positioning module is connected with the segment fixing module and limits the setting position of the segment fixing module. The electric locking module is connected with the segment fixing module. The segment lifting lug to be fixed is installed on the segment fixing module through the electric locking module. The application realizes accurate positioning and locking of the segment structure in an automatic manner, reduces the error and labor intensity of manual operation. Automatic control not only improves the stability and safety of the lifting process, but also significantly improves the work efficiency, and meets the requirements of modern ship construction for high efficiency and safety.

The invention discloses a deep sea operation simulation method, device and system, and relates to the technical field of ocean engineering and deep sea operation system dynamics simulation. The method comprises the following steps: acquiring first motion information of a simulated deep sea operation platform, second motion information of a simulated underwater operation device, environmental load information, dynamic positioning load information and umbilical cable load information; sending the first motion information, the second motion information, the environment load information, the dynamic positioning load information and the umbilical cable load information into a preset simulation model for simulation calculation, and outputting third motion information corresponding to the deep sea operation platform and the underwater operation device, the first motion information, the second motion information, the environment load information, the dynamic positioning load information and the umbilical cable load information are obtained, all information parameters are sent to a preset simulation model for simulation calculation, third motion information is output, and evaluation analysis is conducted through the third motion information; therefore, the collaborative response of the deep sea operation system is analyzed.

The embodiment of the invention discloses a GNSS receiver clock modeling method based on power-law noise, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: obtaining phase difference data between a local clock and a reference clock, and obtaining a diffusion coefficient of clock noise through extraction based on the phase difference data; establishing a clock state space equation containing a clock offset parameter and a frequency offset parameter, and calculating a process noise covariance matrix of the clock state space equation based on the diffusion coefficient; and embedding the two-dimensional clock random state model and the process noise covariance matrix into a process noise embedding filtering estimation algorithm, and calculating to obtain a clock offset parameter, a frequency offset parameter and a three-dimensional coordinate parameter of the receiver. According to the method, estimation noise of receiver frequency deviation can be remarkably suppressed, and the short-term stability of the elevation direction in GNSS dynamic positioning is effectively improved. The method and the device are suitable for the GNSS terminal adopting a low-cost clock so as to realize high-precision time synchronization and positioning.

The present application relates to the technical field of dynamic positioning of steel material local heating cutting, and discloses a steel material cutting positioning system, which comprises a cutting energy source numerical control controller and a thermal signal sensing base station which moves integrally with a workpiece, wherein the actual thermal diffusivity of the workpiece is self-calibrated through double-point inquiry before cutting, and in the cutting, the thermal pulse emitted by the energy source is responded by the base station and the real position is solved through three-side measurement to generate a coordinate offset value to correct the subsequent path in real time, the present application directly establishes the measurement reference on the workpiece body, so that the physical drift and deformation of the workpiece caused by local heating are converted from a continuous cumulative positioning error source into a background condition which is real-time surveyed and internally eliminated in each position solving, thereby solving the problem of dynamic disconnection of the coordinate system.

The invention discloses an intelligent tracking heat dissipation method, device and equipment for a hot area of a server and a medium, and relates to the technical field of heat dissipation, and the method is applied to a system comprising a substrate management controller, a plurality of temperature sensors and at least one movable fan module. Comprising the following steps: acquiring temperature data of each monitoring area in a server case in real time through a plurality of temperature sensors; the substrate management controller identifies a target hot area exceeding a preset threshold value according to the temperature data and generates a corresponding heat dissipation control signal; the position of the movable fan module is adjusted according to the signal, so that the movable fan module is aligned with the target hot area for directional heat dissipation. Through real-time sensing, intelligent identification and dynamic positioning, a closed-loop control system is constructed, local hot spots formed by dynamic loads such as a GPU and a DPU can be accurately eliminated, the heat dissipation efficiency and the system reliability are remarkably improved, meanwhile, the overall energy consumption and the operation noise are reduced, and deployment of hardware with higher power density is supported.

The invention relates to a flexible material dynamic positioning control system and method based on real-time length detection, and the system comprises a transmission mechanism, an induction mechanism, an encoder, an array wind spraying group, a peripheral system, and a motion controller which is connected with the induction mechanism, the encoder, the array wind spraying group, and the peripheral system. The motion controller is used for calculating the length and the displacement of the flexible material according to the response time of the flexible material passing through the sensing mechanism and the conveying speed of the conveying mechanism, dynamically calculating the midpoint position of the flexible material according to the length and the displacement of the flexible material, and determining the corresponding array air spraying group according to the flexible material acquired by the peripheral system; and when the center position of the flexible material reaches the position of the corresponding array air spraying group, the corresponding array air spraying group is triggered. The flexible materials can be accurately blown and sorted by the array air spraying set, self-adaptive adjustment of the blowing positions of the flexible materials with different lengths is achieved, and the requirement for accurate sorting of the flexible materials with different lengths is met.

The invention discloses a switching unmanned ship safe dynamic positioning method based on an attack detection-compensation mechanism, and the method comprises the steps: building an initial unmanned ship model, constructing a switching LPV networked unmanned ship system through a switching LPV modeling method based on the number of shipborne equipment, eliminating the frequent switching problem of an existing switching modeling method, and reducing the network burden; constructing an event triggering mechanism of the ship body-shore-based channel; establishing a spoofing attack detection observer of a hull-shore-based channel, and designing a first detection standard; acquiring an estimated controller mode, establishing a safety output and a safety controller mode according to the first detection standard and the estimated controller mode, and designing a safety controller based on the safety output; an event triggering mechanism of a shore-ship channel is established, and network resources are saved; and a second detection standard is designed, a control input compensator is constructed, the asynchronous switching behavior duration caused by tampering quantity parameter vectors (namely switching signals) due to spoofing attacks is reduced, the influence of the spoofing attacks on the output of the safety controller is resisted, and finally unmanned ship dynamic positioning is realized.

The invention relates to a large AUV / UUV laying and recovery device suitable for a dynamic positioning ship, which comprises a modular base, a hydraulically-driven pitching mechanism and an automatic laying platform, wherein the base adopts a #-shaped or slideway type structure and is adaptive to different ship deck layouts; the pitching device realizes a 150-degree adjustable dip angle through linkage of a long-distance oil cylinder and a short-distance oil cylinder, and is matched with a variable-amplitude oil cylinder and a dip angle sensor to counteract ship swing in real time to keep the platform horizontal; the laying and recycling platform is integrated with a stabilization lifting winch, a two-section shear fork device and a flexible gripper triggered by a pressure sensor, and grabbing, lifting and accurate water entering recycling of the AUV / UUV are completed through visual monitoring and automatic control. The device can be completely stored at the stern when being folded, is unfolded during operation and dynamically compensates the sea condition influence, efficient and full-automatic laying and recycling are achieved, and the safety and the application territorial range of deep sea detection tasks are remarkably improved.

The invention belongs to the technical field of automatic control, and discloses an anti-deviation positioning device for a transplanting mechanism, which comprises a data acquisition unit, a deviation prediction module, a self-adaptive PID control module and a deviation early warning module, the problems that in existing transplanting mechanism positioning control, PID parameter self-adaptive capacity is poor, neural network error modeling is insufficient, deviation risk prejudgment lags behind and the like are solved, and high-precision dynamic positioning and deviation risk active early warning in the transplanting process are achieved. According to the device, a PID-timing attention fusion control framework is innovatively introduced, the real-time adjustment characteristic of a traditional PID is combined with the multi-dimensional error prediction capability of a timing attention neural network, and real-time deviation correction and pre-judgment of positioning deviation are achieved through a double-branch cooperation mechanism; on the deviation prediction level, a multi-scale time sequence convolution-gating cycle unit (TCN-GRU) fusion model is constructed, multi-dimensional time sequence feature extraction is carried out on motion parameters and environmental perception data of the transplanting mechanism, and positioning deviation trends under different working conditions are accurately predicted.

A method of temporarily anchoring a mobile offshore drilling unit (MODU) at an offshore drilling site includes laying out anchoring assemblies at a sea floor. Each anchoring assembly has a connection unit adjacent to the drilling site, an anchor line extending away therefrom, and a sea floor anchor. The MODU is brought to the drilling site. Successively, for each connection unit, a dynamic positioning system at the MODU is operated to move the MODU to a position substantially vertically above the connection unit, a drilling unit anchor line having a connection member is lowered from the MODU to engage the connection unit, and the drilling unit anchor line is connected with the respective anchoring assembly via the connection unit and the connection member. Each drilling unit anchor line is tensioned from the MODU to anchor the MODU at the drilling site via the plurality of anchoring assemblies.

The invention discloses an undisturbed attack detection and safe dynamic positioning method for switching an unmanned ship system, and the method comprises the steps: obtaining a state and mode switching signal based on a quality switching model of a hysteresis quantizer, and designing an event triggering protocol with an interpolation interval for sampling transmission; constructing a state observer to generate a state residual error, constructing an undisturbed rate residual error based on exponential interpolation to eliminate derivative interference caused by switching, further designing an attack detection function, and generating a safety controller according to a detection result; a controller-actuator event triggering protocol is established, and a control signal is protected in combination with a watermark encryption mechanism; constructing a closed-loop system by integrating two types of trigger protocols, constructing and satisfying implementation conditions of safe dynamic positioning, and completing safe positioning control of the quality switching unmanned ship; according to the method, detection false alarm and missing alarm caused by rate residual buffeting caused by switching behaviors are overcome, and it is ensured that the unmanned ship effectively resists cheating attacks under mass switching.

This invention discloses a method for precise elevation measurement based on the fusion of wMPS and RTK real-time dynamic positioning systems, comprising: acquiring the two-dimensional planar coordinates of the point to be measured in an external coordinate system, and transforming them to the wMPS transmitter station coordinate system using a pre-calibrated coordinate transformation relationship; receiving the scanning light plane signal using a photoelectric receiver and calculating the relative phase difference when the scanning light plane sweeps across the point to be measured; establishing an instantaneous light plane constraint equation between the spatial coordinates of the point to be measured and the rotating scanning phase; substituting the coordinates of the point to be measured into the instantaneous light plane constraint equation to obtain a system of linear equations with elevation variables and the absolute phase of the rotating scan as variables, and then obtaining a linear expression for the intermediate variable of the rotating scan phase; substituting the obtained intermediate variable of the rotating scan phase into the trigonometric identity constraint to obtain the elevation variable of the point to be measured in the wMPS transmitter station coordinate system, and then outputting the three-dimensional coordinates in the external coordinate system according to the pre-calibrated rigid body coordinate transformation relationship.

An autonomous vessel and method for maintaining precise position or trajectory during marine operations, such as cable or pipe laying or offshore construction and installation, are disclosed. The vessel includes multiple mooring lines anchored externally, a winch system with tension sensors, a position sensor, and a control system. The control system processes positional and tension data to detect deviations caused by environmental forces like wind, waves or currents. In response, it actuates the winch system to adjust mooring line lengths, counteracting forces and enabling controlled maneuvering within the mooring spread. An optional artificial intelligence module learns from historical data to predict dynamics and optimize adjustments along predefined waypoints. This reduces fuel use, enhances accuracy, and minimizes risks compared to conventional dynamic positioning systems. Applicable to vessels like barges or installation platforms.