394 results about "Satellite navigation system" patented technology

The invention discloses a graph optimization-based UWB / IMU / GNSS multi-unmanned vehicle cooperative positioning method, which comprises a global satellite navigation system GNSS, an ultra wide band (UWB) system, an inertial measurement unit IMU and a robot motion control system, and is characterized in that the UWB system comprises a UWB label and three UWB base stations, the UWB label is deployed on a target unmanned vehicle to be positioned, and the UWB label is deployed on the target unmanned vehicle to be positioned; and the three UWB base stations are respectively arranged on the other three unmanned vehicles as mobile base station unmanned vehicles. The GNSS module and the IMU module are deployed on the unmanned vehicle to serve as a movable UWB base station, and GNSS absolute position information and IMU relative motion information are fused by adopting an extended Kalman filtering algorithm; and according to the determined position of the unmanned vehicle in the movable base station, a distance observation value between the label and the base station is obtained based on a single-side bidirectional distance measurement method, a factor graph model fusing UWB distance measurement constraint and IMU motion constraint is constructed, and a factor graph optimization algorithm is adopted to optimize the position of the target unmanned vehicle. According to the method, the cost of a traditional fixed base station is reduced through the deployment of a mobile base station unmanned vehicle, and the precision and robustness of UWB system positioning in a complex environment are improved in combination with a multi-source sensor data fusion strategy.

The invention relates to the technical field of unmanned aerial vehicle navigation and control, and discloses an unmanned aerial vehicle indoor and outdoor seamless navigation method fusing Beidou and visual positioning. Comprising the following steps: S1, synchronously acquiring original observation data of a Beidou satellite navigation system of an unmanned aerial vehicle, an image sequence acquired by a visual sensor and inertial data of an inertial measurement unit; s2, processing the original observation data of the Beidou satellite navigation system to obtain the position of the unmanned aerial vehicle, according to the unmanned aerial vehicle indoor and outdoor seamless navigation method and system fusing Beidou and visual positioning, through a self-adaptive fusion filter module, the fusion weight of the unmanned aerial vehicle and visual positioning is dynamically adjusted according to the Beidou signal quality; smooth transition of indoor and outdoor navigation main sources is achieved, pose jump is effectively avoided, a tight coupling depth fusion algorithm is adopted, the precision and robustness of the system are improved, the continuous and stable flight capacity of the unmanned aerial vehicle in complex indoor and outdoor environments is ensured, and the application scene is expanded.

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.

To eliminate the influence of station position fluctuations in a satellite navigation system. [Solution] In satellite navigation systems, including the US GPS and Japan's Quasi-Zenith Satellite System, when multiple reference stations are installed to form a wide-area differential correction system (WADGPS), previously, position errors caused by fluctuations in station position would remain in the position information calculated by the user receiver.However, by adding a correction amount to the correction information provided by WADGPS in advance to cancel this, the position errors caused by fluctuations in station position at the user station can be reduced without changing the calculation processing content at the WADGPS user station, thereby improving the accuracy of the position information calculated by the user station.

The invention discloses a power distribution network fault positioning method and device based on a satellite time service inverter, and belongs to the technical field of power system fault diagnosis, and the method comprises the steps: obtaining a time service signal of a satellite navigation system, decoding the time service signal to generate a unified space-time reference, distributing the unified space-time reference to a plurality of inverter nodes in a power distribution network, and forming a cooperative measurement network; a coding sequence current signal is injected into a power distribution network line through a master control inverter node; synchronously acquiring response voltage traveling wave data by each inverter node, performing cross-correlation analysis on the response voltage traveling wave data and the coded sequence current signal, and extracting propagation time delay of each inverter node; and correcting the reference line wave velocity by using the current line parameters and the current meteorological data, and calculating fault point position data in combination with propagation time delay. According to the method, an inverter cooperative measurement network is constructed by using satellite time service, a coding sequence current signal is actively injected, and a real-time wave velocity is corrected by combining an intelligent model, so that rapid, accurate and high-reliability positioning of a power distribution network fault can be realized.

The invention discloses a forest fire fighting robot path planning method and system based on ground-air cooperation, and the method comprises the steps: carrying out the air scanning of a disaster area through employing an unmanned plane to carry a laser radar and infrared and visible light cameras, and obtaining the space information and fire intensity of a fire point in real time; the unmanned aerial vehicle is in communication connection with the wind power fire extinguishing robot, shares the three-dimensional point cloud model and performs environment proofreading and positioning; an improved A * algorithm is used for path planning, and a path planning mathematical model with the minimum disaster degree as the target is constructed; through fusion of a global satellite navigation system and an inertial navigation system, the working path of the wind power fire extinguishing robot is dynamically updated and planned; after a target fire point is reached, the wind power fire extinguishing robot identifies a fire source, calculates a safe fire extinguishing distance by using a flame detection model result, and dynamically adjusts an air duct angle according to a flame state to perform fire extinguishing operation. Through cooperative work between the unmanned aerial vehicle and the fire extinguishing robot, the efficiency and the intelligent degree of fire extinguishing operation are improved.

The invention relates to the technical field of urban traffic management and carbon emission reduction accounting, and provides a bus travel carbon emission reduction accounting method fused with Beidou spatio-temporal data, which comprises the following steps: acquiring spatio-temporal trajectory data based on a Beidou satellite navigation system, and constructing a passenger-trajectory-station three-dimensional correlation model for passenger flow analysis; constructing a passenger transfer analysis system based on the passenger flow analysis result; constructing a dynamic'perception-prediction-optimization 'dynamic scheduling optimization system for passenger flow detail analysis on the basis of space-time trajectory data and a reinforcement learning algorithm; and constructing a mileage-frequency distribution model and a station efficiency evaluation model based on the spatio-temporal trajectory data, respectively generating a trajectory matching optimization strategy and a differentiated station optimization scheme, and realizing adaptive optimization of the public transportation system under dynamic demand change. Compared with a traditional static data dependence method, the method achieves the dynamic and fine-grained monitoring of the operation process of the public transportation system, and effectively improves the timeliness and integrity of data.

The invention relates to a low-cost Beidou satellite positioning enhancement method, and belongs to the technical field of GNSS positioning. According to the invention, the first Beidou terminal receives the correction number information, realizes high-precision positioning and obtains the observation value domain difference correction number of the position where the first Beidou terminal is located, and at the moment, the first Beidou terminal is used as a base station to establish a Beidou short message multicast group with other Beidou terminals; and broadcasting the observation value domain difference correction number to other Beidou terminals in the area through Beidou short message broadcasting. According to the invention, cooperative positioning of a plurality of north hopper terminals in a working area can be realized without relying on a ground base station; and communication resources of a Beidou No.3 global satellite navigation system are fully utilized, satellite-based and ground-based differential correction number broadcasting is realized based on Beidou short messages, and high-precision positioning and communication self-closed-loop of the system can be realized only through a Beidou system. Infrastructure construction investment is reduced to the maximum extent, the service coverage range is wide, cost is low, and the system is light and easy to deploy.

The invention discloses a Galileo satellite clock error medium and short term forecasting method fusing a grey model and a first-order weighted local method, belongs to the field of satellite clock error medium and short term forecasting, and aims to solve the technical bottleneck that a traditional model is difficult to consider both clock error sequence linear drift and nonlinear disturbance. A dynamic prediction framework of wavelet decomposition-reconstruction time sequence maintenance, grey model and local method combined modeling is provided. The method comprises the following steps: firstly, decomposing an original clock error sequence into a low-frequency trend item and a high-frequency detail item through adaptive wavelet decomposition layer number selection, and keeping component time sequence dimension integrity by utilizing a reconstruction algorithm; secondly, precisely fitting deterministic linear drift of a low-frequency component by adopting a gray model, and dynamically capturing nonlinear random disturbance characteristics of a high-frequency component by applying a first-order weighted local method; through a multi-scale dynamic fusion strategy, a weight coefficient is adjusted in combination with a component prediction error real-time feedback mechanism. And a reliable solution is provided for high-precision real-time clock error correction of the satellite navigation system.

The invention discloses a deception jamming signal identification and interference source positioning method and system, and belongs to the technical field of signal identification and interference source positioning, and the method comprises the steps: receiving intermediate frequency receiving signals of a global satellite navigation system, including a real satellite signal, a forwarding deception jamming signal, a multipath signal and a noise signal; performing multi-component parameter estimation based on a space alternating generalized expectation maximization algorithm to obtain a parameter set comprising time delay, Doppler frequency shift and complex amplitude; according to consistency detection of receiver clock differences and Doppler frequency shift information of a plurality of adjacent base stations, identifying deception jamming components and real signal components from the parameter set; and determining the position of an interference source by adopting a delay inequality positioning algorithm based on the arrival delay inequality of the deception interference component among the plurality of adjacent base stations. According to the method, the GNSS signal characteristics are utilized, space-power time-frequency joint detection is realized with low complexity under the condition of not needing extra hardware cost, and the performance of deception jamming detection in practical application is improved.

To allow one satellite navigation receiver to simultaneously acquire calculation results based on different positioning methods, calculation conditions, or calculation parameters.SOLUTION: For a satellite navigation receiver that measures its own position using satellite navigation systems, including the GPS by the United States and Japan's Quasi-Zenith Satellite System, multiple combinations of positioning methods, calculation conditions, and calculation parameters for positioning calculations will be maintained, and each of these will be applied to a set of distance measurements using a single ranging processing circuit to perform positioning calculations, and all calculation results obtained will be output, making it possible to simultaneously obtain calculation results using different positioning methods, calculation conditions, or calculation parameters by one satellite navigation receiver.SELECTED DRAWING: Figure 1

The invention discloses an indoor and outdoor positioning method and system based on ultra wide band and satellite positioning fusion, and belongs to the technical field of indoor and outdoor positioning, and the method comprises the steps: collecting an outdoor initial coordinate of a first target through a satellite navigation system in an outdoor environment; the method comprises the following steps: in an indoor environment, continuously transmitting ultra-wideband signals to a first target through an ultra-wideband positioning system to obtain indoor relative coordinates of the first target; determining a coordinate processing strategy according to a signal intensity comparison result of the satellite navigation signal and the ultra-wideband signal; and based on a coordinate processing strategy, obtaining a final positioning coordinate by combining the outdoor initial coordinate and the indoor relative coordinate. Therefore, by implementing the application, the problem that in the prior art, indoor and outdoor high-precision positioning is difficult to realize at the same time, so that the positioning precision is greatly influenced by the movement of the positioning target can be solved.

The invention relates to the technical field of target detection and identification, and discloses a low-altitude target identification system and method combined with multi-band signal processing. Comprising the steps of establishing a cross-frequency implicit vector model and constraining a geometric scale, a scattering center and rotor harmonic waves through synchronous acquisition of an L-band radar, a Ku-band radar and a millimeter-wave radar, and realizing unified characterization of multi-frequency signals; receiving a global satellite navigation system reflection signal, communication channel state information or a very high frequency / ultrahigh frequency passive radar signal to form prior discrimination, and triggering high-frequency radar short-time imaging; carrying out propagation correction on millimeter wave, terahertz and infrared signals in combination with a meteorological profile and generating an environment label; determining a sampling window by using the region of interest and rotor phase prediction, and optimizing a residence strategy; harmonic waves are extracted from radar and acoustic signals, robust pairing is carried out, and a cross-domain consistency score output category is calculated. The method realizes multi-frequency multi-source cooperative processing, has environment self-adaption and closed-loop feedback capabilities, and can improve the precision and stability of low-altitude target identification.

The invention relates to the technical field of unmanned aerial vehicle trapping, and discloses an unmanned aerial vehicle trapping method for emitting a navigation deception signal, which comprises the following steps: step 1, generating a navigation deception signal synchronized with the time reference of a satellite navigation system through an atomic clock synchronization mechanism; step 2, injecting dynamically predicted satellite orbit parameters based on the navigation deception signal; 3, subcarrier pseudo-arbitrary frequency hopping control is carried out on the navigation deception signal with the injected parameters; and 4, collecting multi-source data of the radar and the optical sensor, and fusing the multi-source data to generate a motion track of the unmanned aerial vehicle. According to the invention, an atomic clock synchronization mechanism is adopted to generate a high-precision time reference, a technical scheme of dynamic orbit prediction and pseudo-random frequency hopping control is combined, time synchronization with a satellite system is realized through an atomic clock, satellite orbit parameters are dynamically corrected through a long and short-term memory network, and rapid hopping modulation of a subcarrier frequency band is realized. The technical effects of high space-time consistency of deception signals and dynamic disguising of spectrum characteristics are achieved.

The invention discloses a Beidou reference station operation state AI diagnosis and remote maintenance method, and belongs to the technical field of satellite navigation system operation and maintenance. The method comprises the following steps: acquiring reference station operation data including satellite signal quality, equipment temperature, voltage, clock error and the like, and performing exception elimination, missing value filling and de-noising processing; key features such as signal intensity fluctuation, temperature change trend and power supply stability are extracted; training a deep learning model fusing the LSTM and the CNN to perform operation state prediction; fault diagnosis and anomaly detection are carried out based on model output, and a threshold value is dynamically set; formulating a maintenance scheme according to a diagnosis result, and executing remote maintenance operation through an MQTT protocol of TLS1. 2 + bidirectional authentication; and the maintenance feedback is used for model optimization and online learning updating. According to the method, the fault identification accuracy of the reference station can be improved, the maintenance response time is shortened, and the intelligent and autonomous remote operation and maintenance capability is realized.

The invention provides an unmanned aerial vehicle multi-protocol communication anti-interference method and system based on Beidou space-time isolation. The method comprises the following steps: firstly, acquiring real-time space-time information of an unmanned aerial vehicle by using a Beidou satellite navigation system, secondly, analyzing a potential interference mode in a flight environment of the unmanned aerial vehicle based on the real-time space-time information, and generating a space-time isolation strategy according to the potential interference mode; according to the space-time isolation strategy, dynamically determining a use sequence and a switching time of a communication protocol in the multi-protocol communication system of the unmanned aerial vehicle to generate a communication control instruction, and finally applying the communication control instruction to a multi-protocol communication process of the multi-protocol communication system of the unmanned aerial vehicle to realize anti-interference operation. According to the technical scheme provided by the invention, active prediction and intelligent avoidance of communication interference are realized, and the communication reliability of the unmanned aerial vehicle in a complex electromagnetic environment is also improved.

The invention discloses an improved Swin UNet-based radar echo extrapolation forecasting method fusing low-layer water vapor convergence flux. The method comprises the following steps of (1) collecting radar echo reflectivity data, reflected water vapor convergence flux data and GNSS satellite navigation system wind field data and performing preprocessing; (2) generating sample data input by the model, performing strong radar echo sample data screening, and constructing a strong radar echo convection system forecasting training set; (3) building a deep learning model based on an improved Swin UNet model, constructing a weighted loss function, and respectively endowing different weights to the strong and weak echo regions; (4) training based on the training set and the model; (5) generating a forecast product based on the radar echo reflectivity data, the reflected water vapor convergence flux data and the satellite navigation system wind field data; according to the invention, the extrapolation forecasting skill is improved.

The invention relates to a commercial vehicle (3) comprising a tractor unit (4) and a semi-trailer (5), wherein the tractor unit (4) has cameras, a satellite navigation system, side mirrors (7) and / or mirror replacement cameras (7) having a first field of view (B1), wherein a radar sensor (8) is arranged at the rear of the tractor unit (4) such that it detects a second field of view (B2) under the semi-trailer (5) or trailer, which includes an area of ​​shadowing (A) by the semi-trailer (5) lying outside the first field of view (B1), wherein the tractor unit (4) further comprises a lane change assistance system configured to monitor areas next to, behind and to the side of the commercial vehicle (3) for other vehicles (6.1 to 6.4), to determine the position, speed and acceleration of detected vehicles (6.1 to 6.4) and to predict when approaching vehicles (6.1 to 6.4) will4) are located next to or near the commercial vehicle (3), when one of the vehicles (6.1 to 6.4) enters an area critical for a lane change of the commercial vehicle (3), to issue a warning in the commercial vehicle (3), to increase a warning level of the warning issued to the driver when a direction indicator (10) of the commercial vehicle (3) is switched on, in this case then, if the vehicle (6.1 to 6.4) decelerates, to withdraw the warning or reduce the warning level, and otherwise to maintain the warning.

The invention provides a Beidou satellite navigation positioning terminal dynamic test system and method, and the system comprises a power divider which is connected with a high-precision navigation positioning antenna, and is connected with a standard global satellite navigation system high-precision positioning terminal and a tested Beidou satellite navigation positioning terminal at the same time. The signal receiving module is used for enabling the standard global satellite navigation system high-precision positioning terminal and the detected Beidou satellite navigation positioning terminal to receive consistent satellite navigation signals; the post-data resolving and processing computer is used for being connected with the standard global satellite navigation system high-precision positioning terminal and the tested Beidou satellite navigation positioning terminal and receiving and obtaining test data of the standard global satellite navigation system high-precision positioning terminal and the tested Beidou satellite navigation positioning terminal. And post-resolving processing is carried out based on the test data. The system is simple in structure, easy to deploy, reliable in test result and suitable for a dynamic test scene, and the positioning precision and the test efficiency are remarkably improved.

The invention discloses a positioning method and device for an indoor and outdoor switching process and electronic equipment. The method comprises the following steps: when a target object enters the electronic fence, detecting the signal quality of a satellite navigation system for outdoor positioning of the target object at preset time intervals, and acquiring first position information of the target object fed back by the satellite navigation system; under the condition that the signal quality does not meet the signal quality requirement, activating an ultra-wideband system for indoor positioning, and determining first target position information of the target object in each preset time period; and for each preset time period, determining second target position information of the target object and the position of the target object in the process of switching from outdoor to indoor at least according to the first position information, the first target position information, the weight of the satellite navigation system and the weight of the ultra-wideband system. According to the method and the device, the technical problems of positioning blind areas and position hopping of the target object during indoor and outdoor environment switching are solved.

This solution discloses a hierarchical multi-module fusion precise positioning method for vehicles in situations where the global navigation satellite system is denied. It is mainly aimed at achieving precise vehicle positioning in special driving scenarios where the global navigation satellite system is denied, such as underground spaces, long tunnels in mountains, and the lower levels of three-dimensional transportation hubs. By utilizing a modular framework at different levels, the scalability and maintainability of the designed positioning method are enhanced. By fully mobilizing multi-source heterogeneous positioning information and utilizing a vehicle-road collaborative approach, precise vehicle self-positioning is achieved. This solves the problem of vehicles being unable to accurately perceive their own precise position and posture in driving situations where the global satellite navigation system is denied, as well as the "corridor effect" in long sections of roads with consistent features. By constructing a hierarchical, multi-module fusion precise positioning framework, heterogeneous positioning information flows are integrated and utilized to the greatest extent possible, eliminating redundancy and conflict between information flows from different modules.

The invention discloses a data screening system for smart traffic big data, and relates to the technical field of big data. The historical driving data screening module is used for obtaining the historical driving data storage database through the satellite navigation system, and then the historical driving data of the vehicle is screened according to the historical driving data storage database; a road data screening module is used for screening historical road data according to the vehicle historical running data, and then data association is carried out on the vehicle historical running data and the historical road data through an association data processing module to establish a road running model; obtaining a to-be-selected driving route according to a demand data screening module; and finally, acquiring a traffic jam index and a safety index according to the road driving model by utilizing an optimal driving route screening module, and screening an optimal vehicle driving route. And the accuracy of screening the driving route is effectively improved.

The invention provides an inertial navigation aided navigation positioning method and system, and the method comprises the steps: calculating the coordinate of each navigation satellite in an ECEF coordinate system according to the satellite ephemeris of a satellite navigation system; according to the navigation satellite coordinate and the inertial navigation system positioning result, the azimuth angle and the pitch angle of the navigation satellite relative to the optical detection equipment under the ENU coordinate system are solved, and the navigation satellite is tracked; acquiring star maps collected by the optical detection equipment, matching the star maps through a star map recognition algorithm, resolving a coordinate transformation matrix between two continuous frames of star maps, and recognizing fixed stars and satellites in the star maps based on the transformation matrix; converting the identified fixed star in the field of view into an ECEF coordinate system, calculating an observation angular distance between the fixed star and the satellite, and calculating a satellite observation vector in the ECEF coordinate system according to the observation angular distance; and performing error correction on the positioning result of the inertial navigation system based on the satellite observation vector. Through the scheme, the positioning precision of the inertial navigation system can be improved, and the influence of interference deception signals is reduced.

The application discloses a kind of trusted time stamp devices, it is related to trusted time technical field, including: trusted satellite time signal receiving module, for identifying and receiving time signal from satellite navigation system provided, and through signal discrimination mechanism, resist and filter out the satellite signal of forgery or tampering, obtain trusted satellite time signal;Trusted optical fiber time signal receiving module is used to identify and receive the trusted optical fiber time signal originating from ground-based time service system, obtain trusted optical fiber time signal;Trusted NTP time signal receiving module is used to synchronize trusted NTP reference time from trusted time system with NTS protocol two-way identity authentication and encrypted mode, obtain trusted NTP time signal;Trusted time signal selection module is used to select trusted satellite time signal, optical fiber time signal and NTP time signal according to priority;Trusted time stamp verification module is used to realize the stamping and verification of time stamp;The application can ensure that the time used for stamping is trusted.

The invention relates to an intelligent Internet of Things emergency communication method and system supporting Beidou and AI, and the method comprises the steps: obtaining the geographical location information of an accident site and rescue resources based on a Beidou satellite navigation system, obtaining the real-time environment parameters, real-time image data and real-time video data of the accident site based on Internet of Things equipment, and carrying out the real-time image data and the real-time video data; cleaning and fusing the real-time environment parameters, the real-time image data and the real-time video data to generate target field data of an accident field, generating a disaster development analysis result according to a disaster development trend prediction model, and generating an optimal rescue scheme according to the disaster development analysis result, geographical location information of rescue resources and a preset emergency plan. And according to the communication link state, generating a target communication strategy, and based on the target communication strategy, sending an optimal rescue scheme to a target user in the accident scene. Therefore, timely, effective and reliable communication transmission of the emergency rescue scheme is realized.

The invention discloses a differential positioning method and system based on multi-source satellite data fusion, and relates to the field of satellite positioning. The method comprises the following steps: a ground station obtains a plurality of first satellite data from a plurality of satellite navigation systems; the ground station determines target fusion data according to the multiple pieces of first satellite data and the multiple target weights, determines a target error according to the target fusion data and the ground station position information, and sends the target error to the receiver; wherein the plurality of target weights are in one-to-one correspondence with the plurality of satellite navigation systems, and the plurality of target weights are determined according to signal intensities, satellite geometric distribution and historical target errors corresponding to the plurality of satellite navigation systems; and the receiver determines the target position of the receiver according to the target error and the receiver position observation value. According to the method and the device, the problem of low accuracy of a positioning result caused by poor accuracy of fused data in a complex environment in the prior art can be solved, the accuracy of the fused data is improved, and the accuracy of the positioning result is improved.

The invention provides a Beidou spatial signal integrity determination method based on non-Gaussian characteristics, which comprises the following steps of: firstly, calculating two-step Gaussian over-bound envelope distribution by using long-term empirical data according to a two-step Gaussian over-bound envelope method, then estimating a scale factor K according to a predefined integrity risk, and substituting each parameter into a spatial signal integrity standard; uREworst in a period of time is substituted into an integrity standard formula to be compared with a threshold value to judge whether a space signal is abnormal or not, and finally, the integrity standard is used for calculating the integrity risk of the satellite navigation system so as to verify whether the calculated integrity risk meets the integrity risk committed by a system manager or not. Meanwhile, an integrity index is provided for civil aviation and other navigation applications related to life safety. Aiming at the non-Gaussian characteristic of the Beidou space signal error, a two-step over-bound Gaussian envelope method is adopted to replace the traditional single-peak probability density function envelope, the feasibility and integrity are strictly proved and are tighter, and the method can be suitable for any empirical distribution.

The invention relates to a train positioning method based on a digital track map, which belongs to the technical field of satellite navigation and track traffic positioning, and is characterized in that a track is fitted by acquired track data to obtain a high-precision track curve model. Then, in the train positioning process, the train position calculated by the GNSS is matched with the fitted track curve, and a track constraint optimization method is adopted to correct the train position. A GNSS positioning result is projected to a nearest point of a fitting track curve, deviation correction is carried out in combination with track geometric information, positioning errors caused by environmental interference are eliminated, and therefore the relative positioning precision of a train is improved; according to the method, the train positioning precision is further improved by performing accurate fitting on the track line features and combining a global navigation satellite system (GNSS) positioning technology, the ambiguity fixing rate is effectively improved, and the problems of insufficient train positioning precision, low ambiguity fixing rate and the like in the prior art are solved.

The embodiment of the invention discloses a training method, a using method and a related device of an electron content prediction model, and the method comprises the steps: carrying out the feature extraction of the total electron content data, geomagnetic activity index data and solar activity index data of an ionized layer collected by a Beidou satellite navigation system through a random forest algorithm; obtaining key feature data corresponding to the total electron content data; adopting a sliding window mechanism, taking the key feature data under a preset time window length as input time sequence data, taking the total electron content data at the last moment of the time window length as target output, and constructing a training sample pair; and performing prediction training of total electron content data according to the training sample pair and a preset deep learning model to obtain a trained electron content prediction model. In this way, the nonlinear dynamic characteristics of the ionosphere delay are effectively captured by the deep learning model, the prediction precision of the total electron content is improved, and the correction precision of the ionosphere delay is improved.

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