2889 results about "Position fixing" patented technology

The invention provides a road marking quality intelligent evaluation system based on image analysis, and relates to the technical field of road facility monitoring, and the system comprises a detection unit, a marking quality evaluation unit, a marking wear prediction unit, a GPS positioning unit, a vehicle driving information unit, a control unit and a remote central control unit. The marking quality evaluation unit is constructed based on a differential geometry theory and comprises a curvature flow edge detection module, a marking geometric characteristic manifold representation module and a multi-scale differential invariant evaluation module, the system regards a marking as a two-dimensional manifold, and the marking quality is evaluated by calculating differential geometric quantities such as a Gaussian curvature, an average curvature and a shape index. And constructing geodesic distance measurement on the feature manifold, and evaluating the completeness, visibility and reflective performance of the marked line. And the marking wear prediction unit predicts the service life of the marking based on the traffic flow information and the environment characteristic mapping relation model, and generates a maintenance suggestion.

The invention discloses an ocean multi-mode environment perception and intelligent ship navigation decision-making method based on a double-branch vision-semantic encoder. The method comprises the following steps: S1, acquiring a multi-source data image containing a ship and a surrounding environment thereof from an existing public maritime data set or platform; s2, training a double-branch vision-semantic encoder by using the multi-source data image, and inputting a to-be-processed image extracted in real time into a multi-modal feature matrix in the trained double-branch vision-semantic encoder; s3, based on the multi-modal feature matrix, obtaining positioning information of the ship and surrounding environment elements, and constructing a dynamic security domain model; and S4, in combination with the dynamic security domain model and the multi-ship relative position relationship, carrying out quantitative evaluation on the navigation risk, and generating a self-adaptive navigation strategy based on an evaluation result. According to the invention, high-precision ship positioning and environment element identification under complex weather and illumination conditions are realized by using all-weather characteristics and multi-scale visual feature coding of SAR imaging.

The invention discloses a transformer substation positioning and navigation method and system integrating positioning and visual auxiliary positioning. The method comprises the following steps: establishing a background electromagnetic field distribution baseline graph associated with a three-dimensional reference map; electromagnetic field data of the transformer substation in an emergency response mode is collected through the unmanned aerial vehicle, and the abnormal field intensity of a space electromagnetic field and a fault source pointing vector pointing to a fault source are calculated; constructing a risk adaptive elliptical forbidden zone; calculating a passage cost index Cto of the unmanned aerial vehicle passing through each three-dimensional grid in the three-dimensional reference map by using the fault source pointing vector and the risk adaptive elliptical forbidden zone; and searching a path which is from the current position of the unmanned aerial vehicle to a preset target point, bypasses the risk adaptive elliptical forbidden zone, faces the fault source and has the lowest total passing cost index Cto by adopting a preset path search algorithm. According to the method, the risk self-adaptive elliptical forbidden zone is constructed and is used as the three-dimensional grid forbidden assignment processing, so that the dynamic global path avoidance of the sudden dangerous zone is realized.

Disclosed are an inertial baseline integrated navigation method, and a product, a medium, a device and an autonomous underwater vehicle, relating to the field of navigation. The method comprises: in an initial stage of the starting of an inertial baseline integrated navigation system, an SINS using a USBL to assist with initial alignment and obtaining initial attitude information (1); when the inertial baseline integrated navigation system enters a formal navigation operating state, the SINS performing pure inertial navigation solving on the basis of the initial attitude information, so as to obtain navigation parameter calculation values including errors (2), wherein the navigation parameter calculation values comprise the attitude, velocity and position; on the basis of the navigation parameter calculation values including the errors, constructing a navigation state error model based on a Lie group (3); on the basis of a Huber function, constructing a generalized maximum likelihood estimation model (4); according to the navigation state error model based on a Lie group and the generalized maximum likelihood estimation model, establishing an integrated navigation robust Kalman filtering algorithm (5); on the basis of the integrated navigation robust Kalman filtering algorithm, performing filtering estimation on the inertial baseline integrated navigation system, so as to obtain a state estimation value (6); and on the basis of the state estimation value, performing feedback updating on navigation parameters, and on the basis of the updated navigation parameters, performing navigation. The method can improve the integrated filtering precision and positioning and orientation precision.

The invention discloses a satellite navigation positioning method and device and a storage medium. The positioning method comprises the steps that observation parameters collected by a mobile terminal in a preset epoch are obtained, the observation parameters comprise GNSS parameters and inertial navigation correlation parameters, and the GNSS parameters comprise GNSS prior parameters and GNSS posterior parameters; the observation parameters are input into a preset positioning precision evaluation model, a precision evaluation value is obtained, and the positioning precision evaluation model is obtained based on training of historical observation parameters collected by multiple epochs; determining whether the positioning information represented by the current observation parameter is accurate based on the precision evaluation value; when it is determined that the positioning information is inaccurate, a positioning result is determined based on a floating point solution of integer ambiguity; and when the positioning information is determined to be accurate, determining a positioning result based on the fixed solution of the integer ambiguity. The method has the technical effect of improving the positioning precision and the positioning reliability of the global satellite navigation system.

The invention discloses an automatic obstacle avoidance method and system for an unmanned ship based on Beidou artificial intelligence, and relates to the field of computer vision, and the method comprises the steps: collecting a visible light image and a near-infrared image of a water surface environment, and carrying out the reflection suppression processing; performing feature fusion on the image to generate an environment perception graph; obstacle features are extracted through a cascade cavity convolution structure, and an obstacle pixel-level semantic segmentation result is obtained; constructing an obstacle motion prediction model, and obtaining a predicted obstacle motion track; acquiring motion track data of the unmanned ship based on Beidou positioning and electronic chart data; establishing a space-time collision detection model, calculating collision parameters, and generating a collision data set; an obstacle avoidance path is generated through a dynamic situation field method, and a rudder angle instruction and a propeller rotating speed instruction are obtained. The unmanned ship has the advantages that accurate sensing, motion prediction and intelligent obstacle avoidance of the unmanned ship on water surface obstacles are realized through Beidou positioning and technology, and the sailing safety and intelligent level are improved.

The invention discloses a high-precision real-time positioning system and method for positioning personnel based on multi-mode fusion. The system comprises a multi-source data acquisition module, an intelligent data processing module, a fusion positioning model construction module and a positioning result application module, provides visual monitoring, trajectory analysis and scene customization functions, and supports flexible expansion through modular design. According to the method, satellite positioning, Bluetooth beacon and inertial navigation technologies are integrated, the weight is dynamically adjusted in combination with an adaptive weighted fusion algorithm, and a fusion positioning model supports outdoor (satellite dominant + EKF calibration, the precision being 2-5 meters) and indoor (beacon dominant + fingerprint matching, the precision being lt); according to the invention, intelligent switching between three modes (inertial navigation + ZUPT correction) and signal loss (1 meter) is realized, data noise is optimized by using Kalman filtering, and high-precision real-time positioning in indoor and outdoor complex scenes is realized. According to the invention, the problems of insufficient precision, poor environmental adaptability and weak expansibility of a single positioning technology are solved, and the comprehensive performance of the positioning system is significantly improved.

The invention discloses a quadruped robot inspection method based on multi-modal sensing fusion. The method comprises the following steps of: 1, initializing a global task, loading a basic navigation map, and generating the basic navigation map comprising topographic features, forbidden areas and parking positions; 2, autonomous navigation and dynamic correction of positioning deviation are realized according to laser radar SLAM data, and the positioning deviation is dynamically corrected according to real-time observation data; 3, dynamically switching or adjusting the gait strategy according to the terrain category, training the gait strategy of the quadruped robot to be matched with the terrain category, and generating a self-adaptive motion control instruction to adapt to the terrain in real time; and step 4, synchronously realizing parking area structured data acquisition and dynamic abnormal information perception through multi-sensor fusion, and realizing target state monitoring and abnormal event response in the inspection task. According to the invention, through collaborative innovation of the bionic motion platform and multi-mode intelligent detection, all-terrain coverage, total-factor perception and full-process autonomous intelligent inspection in a complex parking lot environment is realized.

The invention relates to the technical field of topographic change analysis, in particular to an unmanned aerial vehicle-based topographic change detection system, which comprises a slope direction sensing track control module, a texture structure extraction module, a crack evolution track construction module, a direction trend comparison module and a patrol recheck positioning module. According to the method, a continuous elevation point column of an unmanned aerial vehicle scanning area is extracted, laser reflection point coordinates are fused, a space relation of transition point distribution is constructed, dynamic adjustment of a ground-imitated flight path is achieved, and a texture structure area with continuous directivity is recognized in combination with a high-angle image boundary communication relation; texture boundary evolution is compared at different time nodes to form a crack path, the stability of the path and the slope direction is judged through an included angle sequence, recognition and sorting of areas with the consistent direction are completed, a space comparison result is registered in a three-dimensional coordinate system, terrain change areas are accurately marked, and rapid positioning and continuous tracking of high-risk areas are achieved.

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention discloses a channel flow velocity measurement error compensation method based on multi-source fusion, and the method comprises the following steps: S1, synchronously collecting flow velocity, position, attitude and environment data, including ADCP radial flow velocity, GNSS position / speed and IMU attitude angular velocity, through a multi-source sensor, aligning multi-source data based on a time synchronization mechanism, and achieving microsecond time synchronization based on PPS time service; according to the method, RTK high-precision positioning and ADCP bottom tracking data are integrated, the water surface elevation and the water bottom distance are inversed in real time, and the actual water depth and the riverbed erosion and deposition rate are dynamically calculated; edge calculation, motion compensation and external compass correction technologies are fused, the flow velocity and flow direction measurement precision is improved, and platform motion and attitude interference is eliminated; multi-source data local fusion processing and real-time generation of a flow velocity thermodynamic diagram and a water level change curve are realized, remote transmission and visualization are supported, and comprehensive and accurate hydrological data support is provided for maritime affair intelligent supervision, navigation safety early warning and digital channel construction.

A relative positioning method is combined with the known absolute pose of a primary vehicle to provide the absolute position and / or pose of the secondary vehicle wherein the secondary vehicle is only equipped with a non-contact relative positioning system. Thereby allowing for numerous advantages such as fleet management, safe vehicle interactions, and further automation at a fraction of the cost of using a sensor suite commonly required to calculate the absolute pose of the secondary vehicle.

The invention discloses a fusion positioning method, device and equipment, a medium and a product, and relates to tunneling equipment positioning. According to distance information measured by a millimeter-wave radar and an attitude angle, measured by a navigator, of tunneling equipment, a first distance deviation of a body rotation center of the tunneling equipment relative to a theoretical center line of a roadway is determined; according to the point cloud data obtained by scanning of the laser radar and the attitude angle, measured by the navigator, of the tunneling equipment, the second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway is determined; according to the distance information measured by the UWB range radar, the position variation of the tunneling equipment in the footage direction is determined; and fusing the first distance deviation, the second distance deviation and the position variation in the footage direction to obtain the position of the tunneling equipment. The measurement modes of the navigator, the UWB range radar, the millimeter wave radar and the laser radar are integrated, and the positioning precision and reliability of the tunneling equipment are improved.

The invention provides an unmanned aerial vehicle positioning method and system, an unmanned aerial vehicle and a medium, and the method comprises the steps: firstly, obtaining inertial motion data and visual perception data in real time, and continuously providing the inertial motion data through employing the characteristic that an inertial sensor is not limited by a signal environment, so as to avoid a positioning interruption problem when a positioning signal is weak; meanwhile, the spatial pose data is generated by performing pose analysis on the visual perception data, and the first position information is generated by combining the preset satellite map database in a matching manner, so that the defect of inertial navigation accumulative errors is made up. The inertial motion data, the spatial pose data and the first position information are fused and calculated to generate the second position information, and the second position information is converted into the GPS signal and accessed to the GPS system of the unmanned aerial vehicle, so that the error defect of a single sensor can be effectively inhibited, continuous and accurate positioning in a complex environment is realized, and the positioning accuracy is improved. The problem of application limitation of a traditional GPS positioning system in special environments with weak positioning signals and the like is fundamentally solved from the technical level.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

The invention provides a road inspection target positioning method based on multi-source data fusion, and relates to the field of road daily inspection and infrastructure performance monitoring, and the method comprises the following steps: obtaining multi-source data based on a preset multi-source sensor; through deep coupling of satellite positioning carrier double-difference observation and inertial navigation solution of an inertial sensor, error correction is carried out in combination with Kalman filtering recursion, and fusion navigation data is determined; according to the fused navigation data, carrying out fusion processing on the two-dimensional visual observation data and the three-dimensional space point cloud data to obtain a forward view depth map; determining the national geodetic coordinates of the disease by combining a depth value back calculation method and utilizing a forward view depth map; and obtaining a starting kilometer pile number in a road inspection process, and determining a mileage pile number of the disease by combining the national geodetic coordinate of the disease and utilizing a Gaussian positive algorithm. According to the invention, centimeter-level geographic coordinate positions of diseases and corresponding mileage stake numbers can be output.

Provided is a method for a user equipment (UE). The method includes detecting a status of a Global Navigation Satellite System (GNSS) position fix for the UE; in accordance with a determination that the GNSS position fix for the UE is invalid, generating, for transmission to a network device, a first GNSS measurement parameter including a first GNSS measurement periodicity and a first GNSS measurement gap; receiving, from the network device, a second GNSS measurement parameter including a second GNSS measurement gap; and performing a GNSS measurement based on the received second GNSS measurement parameter, for acquiring a valid GNSS new position fix, wherein the UE remains in Radio Resource Control (RRC)_Connected mode.

A map generation application and method generates a computer-readable worksite map for managing navigation and travel for a plurality of mobile machines equipped with perception-based localization and navigation systems at a worksite. Survey data and development data associated with the worksite are obtained and used to prepare an unmarked worksite development map including one or more travel / activity areas. Marker positioning factors are obtained and are associated with the one or more travel / activity areas. The application determines assigned marker positions based on the marker positioning factors for the placement of physical markers about the worksite.

The invention relates to the technical field of intelligent driving assistance systems, in particular to a vision-assisted high-precision lane-level navigation system which comprises a visual perception module, a geometric modeling module, a trajectory optimization module, a dynamic obstacle avoidance module and an execution control module. Establishing a lane local coordinate system based on arc length parameterization, and accurately capturing road geometric characteristics; state representation is constructed in a Riemannian metric space, an optimal track is selected by calculating geodesic line deviation measurement, and the generated track is made to better conform to road geometric characteristics; compared with the prior art, the method has the advantages that the lane-level positioning with centimeter-level precision can be realized, the driving track with smoother curvature change can be generated, and the driving comfort can be obviously improved.

The invention discloses a high-precision intelligent distance measurement positioning device for a heading machine, and belongs to the technical field of heading positioning. An elastic base station network comprises a plurality of groups of miniature base stations arranged on the side wall and the top plate of a roadway; the multi-source sensing module fuses multi-source data through the data acquisition and processing device to realize continuous dynamic positioning in the working process of the heading machine, the target card provides an absolute distance reference, the inertial navigation unit calculates the pose of the heading machine in real time through a built-in MEMS gyroscope and an accelerometer, the geological radar scans the stratum structure in the heading direction in real time, and the real-time positioning of the heading machine is realized. And the laser radar scans a roadway contour by emitting a laser beam to perform point cloud matching with a preset three-dimensional digital map. The probability of tunneling deviation caused by settlement or displacement is reduced by arranging the vertical crossing positioning network and dynamically correcting the positioning reference, the working environment and self state information of the tunneling machine can be comprehensively sensed from different dimensions, and the actual distance and position relation between the tunneling machine and objects around a roadway can be judged in an auxiliary mode.

The invention discloses a security guarding method and system based on a communication-guide-remote fusion technology, and the method achieves the self-adaptive selection and redundant transmission of communication links in a weak network, shielding and other environments through the construction of a multi-link communication system, an indoor and outdoor integrated high-precision positioning mechanism and a multi-mode intelligent sensing cooperation mechanism. Cross-scene continuous positioning is realized by combining multi-source information such as GNSS, inertial navigation, geomagnetism and remote sensing image backbone maps, and inertial navigation, video, sound and environment sensing data are fused to generate an abnormal behavior recognition result, so that the whole-process and whole-scene safety guarding capability for all personnel is formed, and the accuracy of abnormal behavior recognition is improved. The problems of easy communication interruption, easy positioning misalignment and unreliable abnormity identification in the prior art are effectively solved, and the method is suitable for a plurality of application scenes such as crowd safety guarding and the like.

The invention discloses a bionic joint humanoid robot navigation positioning method, device and equipment, and the method comprises the steps: monitoring a landing shock wave signal and reflection echo data of a robot, carrying out the time domain expansion of the shock wave signal to form a pulse characteristic spectrum, extracting multipath propagation components, and carrying out the time difference correlation to generate an environment response value. Screening a direct wave component by using an environmental response value, positioning a sound wave propagation trajectory, and detecting impedance mutation to construct an acoustic matrix. A strong reflection zone is identified through node analysis, a sound pressure gradient field is extracted to determine an obstacle boundary, and a landmark feature bit is determined in combination with an environmental response value. And adjusting a dynamic stride frequency interval based on a landmark feature bit, forming an adaptive detection sequence, and performing sparse processing to construct path configuration. The mechanical vibration component of the shock wave signal is used for piezoelectric conversion to generate recycled electric quantity, the recycled electric quantity is matched with path configuration power to determine a sensing period, intermittent sensing is executed to obtain detection data to construct a detection convergence field, and finally an accurate positioning window is determined and converted into position coordinates.

A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

The invention relates to the technical field of geological information, and discloses a precise positioning method and system based on geological mineral product three-dimensional modeling, and the method comprises the steps: deploying a laser ranging array, a micro-seismic array and a fiber grating sensing array, and synchronously collecting multi-source deformation and stress data; after space-time alignment and filtering, an improved ICP algorithm is adopted to reconstruct a millimeter-level precision three-dimensional point cloud model; a safety coefficient cloud picture is calculated by combining a geomechanical constitutive equation, and a risk area is automatically delineated according to a three-level threshold value; and closed-loop control instructions such as voice alarm, thermodynamic diagram pushing, grouting coordinates and avoiding paths are generated. The system is composed of a sensing deployment unit, a data preprocessing unit, a point cloud reconstruction unit, a mechanical analysis unit, a risk delineation unit and an instruction distribution and execution unit. Millimeter-level positioning, sub-hour-level early warning and full-automatic intervention of goaf deformation are achieved, the early warning accuracy rate exceeds 95%, the emergency response is shortened to the minute level, and mine safety and mining efficiency are improved.

The invention provides a three-dimensional positioning method and system for a satellite-borne multi-base radar system based on weighted linear iteration, and the method comprises the steps: obtaining radar echo data of a plurality of receivers, carrying out the effective detection of a target, and carrying out the searching of a pitch angle and a space taper angle of a target signal through a two-dimensional adaptive filtering technology, obtaining two-dimensional angle estimation information of the target at different bases and different visual angles; constructing a nonlinear equation set according to two-dimensional angle information and slope distance information of the target under different visual angles, and performing first-order Taylor expansion on the nonlinear equation set to obtain a corresponding linear overdetermined equation set; and forming a precision matrix according to the known measurement precision of the radar system, and carrying out normalization operation and iterative solution on the linear overdetermined equation to obtain the three-dimensional coordinate of the target in the earth-centered earth-fixed coordinate system, thereby obtaining the latitude, longitude and height information of the target, and realizing the high-precision three-dimensional positioning of the multi-static radar system.

The invention discloses a slope monitoring data calibration and three-dimensional point cloud matching method, belongs to the field of monitoring data calibration, and aims to improve orientation errors caused by the fact that global satellite positioning and navigation system measurement endpoint errors and equipment length problems are not fully considered in existing slope radar measurement. The method solves the problem of position deviation of a monitoring result caused by the fact that the position of a deformation area is monitored, breaks through the limitation of insufficient precision when a traditional radar image is converted into geographic space coordinates, improves the accuracy and reliability of data, remarkably improves the position precision of slope radar monitoring data, and enables the position monitoring of the deformation area to be more accurate. The high-precision requirement of slope stability monitoring is met, reliable data support is provided for fine monitoring of slope stability, potential safety hazards can be found in time, and corresponding measures can be taken.

The invention discloses an intelligent navigation method and device of an unmanned aerial vehicle, equipment and a storage medium. The method comprises the following steps: acquiring point cloud data and motion data, and calibrating to obtain a relative position and time synchronization parameter; performing map construction on the point cloud data and the motion data to generate a three-dimensional point cloud map; analyzing the boundary coordinates of the flight area, the flight height and the route step length, and generating route planning parameters; the boundary of the target inspection area is defined by combining the three-dimensional point cloud map, and an optimized route and corresponding waypoint sequence data are generated through route planning; acquiring real-time pose data of the unmanned aerial vehicle, comparing the current position with the waypoint sequence, and triggering image acquisition when a preset waypoint reaches a tolerance range; inspection data is obtained; and integrating the real-time pose data, the three-dimensional point cloud map, the flight state and the inspection data to form an intelligent navigation route. According to the invention, high-precision positioning and linkage of waypoints and data acquisition are realized, and the navigation precision, the inspection efficiency and the operation safety are improved.

The invention belongs to the crossing field of space geodetics, satellite navigation positioning technology and atmospheric science, and discloses a real-time troposphere delay modeling method for enhancing a global forecasting system. The method comprises the following specific steps: firstly, acquiring zenith fluid static delay and zenith wet delay predicted by earth surface GFS, and constructing a regional grid difference time sequence by taking a fusion result of ERA5 data and a GNSS troposphere delay product as a reference; secondly, fitting the difference to form a GFS enhanced core model; meanwhile, a troposphere delay correction model from the grid height to the target site height is constructed based on ERA5 stratified atmosphere data, time sequence modeling is carried out on model coefficients, and finally refined troposphere delay output at different heights is achieved. The method has the advantages that (1) the real-time troposphere model is high in precision; (2) real-time application can keep robust performance without depending on a GNSS network; (3) expansion and deployment are facilitated; and (4) the real-time performance is strong, and seamless integration precision positioning application can be realized.

The invention relates to an integrated navigation positioning confidence coefficient weight calculation method, which comprises the following steps that first data of a vehicle running state is obtained based on integrated inertial navigation, and the first data comprises estimated values of vehicle coordinates, a vehicle course angle, a vehicle speed and original transverse / longitudinal offset of a vehicle; second data of the point where the vehicle position is located is obtained based on the map, wherein the second data comprises a linear point set in a lane near the vehicle position point, the road curvature, the road attribute and the map course angle. According to the integrated navigation positioning confidence coefficient weight calculation method, by introducing the second data obtained based on the map and carrying out fusion calculation on the second data and the first data, the limitation of only depending on the output data of integrated navigation is broken through, and multi-dimensional parameters such as the distance difference between the vehicle position and the lane line, the speed change component and the like are combined; the original positioning confidence is effectively corrected, and the accuracy of confidence estimation in a complex scene is remarkably improved.

The invention provides an automatic berthing method and device for a single boat in the new quality field, and relates to the technical field of automatic control of boats in the new quality field. Static berth information and a sensor sensing result are fused to construct a task situation package containing a multi-moving-obstacle trajectory prediction set and a dynamic prohibited area set, dynamic collision avoidance guidance is executed in a first-stage tracking path, and a staged deceleration strategy of vector motion and hovering is switched to obtain a berthing point state set when conflicts occur. Performing in-situ heading adjustment by using the state set of the berthing point, outputting consistent heading, zero navigational speed and position states, executing target point type vector approach guidance in the second stage, hovering when a collision risk is predicted, and recovering vector motion control in a safe time window to complete lateral positioning welt berthing. And finally, precise thruster control instruction output is achieved through thrust distribution of the double water-jet thrusters. According to the invention, automatic berthing of the new-quality field single boat under the condition of multiple moving obstacles can be realized.