219 results about "Dynamic positioning" patented technology

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.

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.

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 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 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 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.

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 invention discloses an engineering safety management method and system based on big data analysis, and the method comprises the steps: constructing a unified data mapping model for the difference between a data format and an updating frequency, converting heterogeneous data into structured data, and generating an integrated multi-source data set; according to a pre-established anomaly detection model, comparing the real-time feature value with a preset threshold value, and if the feature value exceeds the threshold value, marking the feature value as a potential anomaly value; on the basis of correlation analysis, abnormal values are divided into different risk categories by adopting a clustering algorithm, and a dynamic distribution diagram of risk points is generated; according to the dynamic distribution diagram of the risk points, calculating priorities of the risk points by adopting a real-time early warning algorithm, and generating an early warning information list; and inputting the early warning information list into an engineering safety management system, and displaying the position and severity of the risk point by adopting a visualization technology to complete dynamic positioning.

The utility model discloses a multifunctional deck transport ship which comprises a main ship body and a dynamic positioning DP2 system, the main ship body is provided with a sinking mooring area, and the main ship body comprises a double-layer bottom deck, a middle deck, a main deck and a forecastle A deck. The dynamic positioning DP2 system comprises a bow thruster arranged on the bow portion of the ship and a pod thruster arranged on the stern portion of the ship. The multifunctional deck transport ship has the advantages of being high in maneuverability, high in maneuverability, longer in all-pass deck, wider in cargo transfer and loading and unloading operation range, higher in efficiency and high in safety.

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 invention discloses an unmanned ship distributed docking control system and method based on an integral sliding mode strategy, and the system comprises a positioning data obtaining module, an instruction issuing and processing module, an unmanned ship execution module, and an unmanned ship data feedback module. A dynamic communication topology network with environmental adaptability is constructed, anti-interference distributed information distribution is realized through a relay node dynamic distribution mechanism, and the problem of single-point failure of traditional centralized control is solved. Meanwhile, an error integral item is introduced into sliding mode surface design, and the buffeting phenomenon can be effectively reduced through the provided integral sliding mode control strategy. By disassembling the docking task, the expected longitude and latitude information of each member can be calculated respectively, and the expected longitude and latitude information is set as the position information under the follow coordinate system through coordinate conversion, so that the communication resources of the system can be saved to a great extent.

The invention discloses a real-time positioning performance testing system, and belongs to the technical field of positioning equipment performance testing. Comprising a data import module, a three-dimensional plotting module, a comparative analysis module, a result output module and an auxiliary function module, the data import module supports multi-format data import and verification, and the three-dimensional plotting module creates a three-dimensional scene based on a GIS platform, carries out differential plotting positioning and real coordinate point, supports filtering display, and displays a real coordinate point. The comparative analysis module calculates multiple indexes such as static positioning accuracy and dynamic positioning accuracy according to the national standard and covers scenarized and concurrent performance analysis, and the result output module generates a test report including an error thermodynamic diagram and the like and supports data report export and visual result output. The auxiliary function module integrates distance measurement and coordinate conversion tools. The system adopts a B / S architecture, realizes multi-index testing, has the advantage of three-dimensional visualization, is high in multi-scene adaptability, can efficiently process data, is good in expansibility, and provides a comprehensive and accurate solution for performance testing of positioning equipment.

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 present invention discloses an autonomous deployment and recovery system for an unmanned marine system, comprising a mother ship platform, a lifting crane, a mooring cable, a lifting frame, and a surface mobile support; the lifting crane is mounted on the mother ship platform, and is connected to the surface mobile support via a mooring cable and a lifting frame; a U-shaped space for placing the unmanned marine system is formed on the surface mobile support, and an opening for the unmanned marine system to enter and exit the U-shaped space is left at the tail end of the surface mobile support; a positioning communication antenna and a control system are also provided on the surface mobile support, and an azimuth propeller for promoting its autonomous movement and dynamic positioning is provided at the bottom of the surface mobile support, and the azimuth propeller is connected to the control system. The system of the present invention deploys and recovers the unmanned marine system via a suspendable surface mobile support, and can adapt to the deployment and recovery requirements under higher speeds and more complex sea conditions of the mother ship, and has the advantages of fast deployment and recovery speed, high efficiency, and a high degree of autonomy.

The invention relates to the technical field of non-electrical variable control, in particular to an underwater unmanned vehicle dynamic positioning control method based on discrete optimal control, and the method comprises the following steps: obtaining a simplified underwater unmanned vehicle longitudinal motion equation, a simplified horizontal plane motion equation, a simplified vertical plane motion equation and a simplified auxiliary motion equation; establishing a longitudinal motion, horizontal plane motion and vertical plane motion state space model of the underwater unmanned vehicle; calculating the instruction longitudinal displacement, the instruction transverse displacement and the instruction course of the unmanned underwater vehicle; designing a dynamic positioning control law of the underwater unmanned vehicle, and resolving an instruction longitudinal thrust, an instruction lateral thrust, an instruction bow turning moment, an instruction vertical thrust and an instruction longitudinal tilting moment of the underwater unmanned vehicle; and calculating the bow and stern lateral thrust instruction rotating speed, the bow and stern vertical thrust instruction rotating speed and the main thrust instruction rotating speed to complete the dynamic positioning control of the unmanned underwater vehicle. The method provided by the invention can effectively avoid the static error problem of traditional PID control and LQR optimal control.

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-modal data fusion method and system for indoor and outdoor seamless positioning of an unmanned ship, and relates to the technical field of measurement, and the method comprises the steps: building a multi-modal positioning architecture comprising a visual camera, an RTK module, an IMU unit and an SLAM module, and collecting an environment image, RTK positioning, IMU motion and SLAM composition data of the unmanned ship; switching a positioning sensor according to the operation scene and the signal intensity, generating a positioning source switching mechanism, activating a corresponding data source, and obtaining multi-modal positioning data; and constructing a fusion channel, including extended Kalman filtering and a deep neural network, performing weighted fusion on the multi-modal data, and generating an unmanned ship dynamic positioning map. Therefore, the technical effects of diversification of positioning modes, improvement of data fusion efficiency and enhancement of positioning precision are achieved.

The application relates to the field of ship motion control and discloses a high-frequency adaptive dynamic positioning ship state estimation method, which comprises the following steps: constructing a system model and a measurement model of a three-degree-of-freedom motion state estimation of a ship horizontal plane; expanding the model, taking a dominant frequency of high-frequency motion and a relative damping coefficient as state variables and measurement information; collecting ship position, heading, wind speed and direction and propeller rotating speed information by using a position reference system and sensors; performing frequency spectrum analysis through fast Fourier transform to extract the dominant frequency of high-frequency motion; performing state estimation by using extended Kalman filtering or unscented Kalman filtering, separating and eliminating the high-frequency motion component, and outputting a low-frequency motion state for dynamic positioning control. The method can improve state estimation precision and convergence by dynamically estimating high-frequency parameters and combining time domain and frequency domain analysis, reduce propeller wear and energy consumption, adapt to complex marine environments and improve dynamic positioning control performance.

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.

The present disclosure provides an ambiguity fixing method, apparatus, electronic device, and autonomous driving device, relating to the field of autonomous driving technology, and in particular, to real-time dynamic positioning technology. The implementation scheme is: an ambiguity fixing method for real-time dynamic positioning, comprising: obtaining initial ambiguities associated with an initial satellite set and an initial variance-covariance matrix corresponding to the initial ambiguities; in response to determining that a first success rate test fails based on the initial ambiguities and the initial variance-covariance matrix, or determining that an initial ambiguity candidate value obtained via the initial ambiguities and the initial variance-covariance matrix is ​​incorrect, performing a hierarchical ambiguity fixing operation, wherein the hierarchical ambiguity fixing operation includes at least one level of ambiguity fixing sub-process, and each level of ambiguity fixing sub-process includes a corresponding satellite elimination operation; and determining, based on the hierarchical ambiguity fixing operation, outputting a fixed solution or a floating-point solution for the updated ambiguity candidate value.

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.