492 results about "Satellite navigation system" patented technology

The invention discloses a multimode GNSS / inertia tight combination factor graph optimization method based on variance component estimation, and belongs to the technical field of satellite / inertia combination navigation. The implementation method comprises the following steps: fusing observed quantities of a multimode GNSS and an inertial navigation system on the basis of a factor graph optimization method under the condition of distributing prior weights among multiple GNSS systems; on the basis of a posteriori state estimation result obtained after factor graph optimization, combining a multi-mode GNSS observation equation, calculating a posteriori residual error, and utilizing a variance component estimation method to adaptively adjust weights among the multiple GNSS systems in real time according to the signal quality of satellites of the satellite navigation systems; on the basis of gross error detection and a weight reduction algorithm, weight reduction processing is carried out on the satellite observed quantity containing gross errors before the weight between the systems is adjusted in a self-adaptive mode. According to the invention, the robust variance component estimation is used to determine the weight among multiple GNSS systems, the reliability of satellite observation information of different satellite navigation systems is adjusted in real time, and the precision and robustness of the multimode GNSS / inertial tight integration navigation system are improved.

The invention provides a GNSS deception jamming detection method and system based on LSTM, and relates to the technical field of global satellite navigation systems. Acquiring a target signal through a receiver in the GNSS tracking loop model; acquiring output information of the tracking loop; selecting four types of basic SQM detection quantities of Ratio, Delta, ELP and PCS as a detection quantity set; generating a characteristic parameter set according to the output information and the detection quantity set; preprocessing the feature parameter set by using a sliding window technology to generate standardized data; and inputting the standardized data into a preset LSTM model to obtain a detection result corresponding to the target signal. The technical effect of effectively identifying the navigation deception is realized.

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 method for realizing data acquisition clock synchronization through Beidou time service and an FPGA phase-locked loop, and the method comprises the steps: obtaining a short message service signal of a Beidou satellite navigation system, and carrying out the analysis to obtain time service information; controlling a digital phase-locked loop to calibrate a local clock signal according to the time service information; monitoring the deviation between the time service information and the local clock signal, and adjusting the frequency and phase of the local clock signal through feedback control of the digital phase-locked loop; monitoring a clock synchronization state, setting a clock deviation threshold value, judging the synchronization state of the time service information and the local clock signal, if the deviation exceeds a threshold value range, triggering an alarm signal, and taking a recovery measure according to an abnormity type and duration time; a hardware timestamp function is integrated, clock synchronization with other acquisition nodes is carried out through a precise time protocol, and the acquisition time of seismic data is recorded.

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 belongs to the technical field of bridge detection, and particularly relates to an unmanned aerial vehicle navigation positioning method based on bridge detection, which comprises the following steps of: receiving signals of a plurality of satellites through a satellite navigation system receiver, and calculating a pseudo-range measurement value of each satellite according to a satellite navigation observation equation; the method comprises the following steps: acquiring three-dimensional point cloud data of a bridge by adopting a laser radar sensor, and carrying out data preprocessing on the three-dimensional point cloud data; performing fusion processing on the pseudo-range measurement value and the three-dimensional point cloud data to generate fused positioning information and an environment sensing result; processing three-dimensional point cloud data measured by the laser radar sensor by adopting a laser SLAM algorithm to generate relative pose change of the laser radar sensor and bridge map information; and inputting the fused positioning information and the environment sensing result into an unmanned aerial vehicle flight control algorithm, generating a control instruction, and controlling the flight of the unmanned aerial vehicle, so that accurate positioning of the unmanned aerial vehicle can be realized.

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 an automatic lineation method, device and equipment for a lineation robot and a storage medium. The method comprises the steps that first position information of the lineation robot is obtained in real time based on a global satellite navigation system; acquiring a road image in front of the marking robot, and analyzing the road image to obtain second position information of the marking robot relative to the road center point; combining the first position information and the second position information to confirm the accurate position of the scribing robot; and controlling the marking robot to automatically travel based on the accurate position and the preset planned path, and executing road marking operation. According to the invention, the position of the marking robot in the road is accurately positioned through the positioning information of the global satellite navigation system and the acquired road image in front of the marking robot, and then the marking robot is controlled to automatically advance according to the preset planned path and execute the marking operation according to the accurate positioning, so that the marking operation can be accurately completed; and the manpower consumption is reduced.

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 relates to the technical field of global satellite navigation systems, in particular to a network RTK (Real Time Kinematic) method for generating a virtual reference station based on a PPP (Point-to-Point Protocol) SSR (Simple Sequence Repeat) correction, which comprises the following steps of: calculating a moving station approximate coordinate of a target moving station; an observation value error of each target satellite is corrected through the target server by using the rough coordinate of the moving station and the PPP SSR information of the plurality of target satellites, and a position coordinate and an observation value of a virtual reference station are generated; on the basis of an RTCM protocol, the target server side encodes the position coordinates and the observation values to obtain OSR information corresponding to the position coordinates and the observation values, and broadcasts the OSR information to the target moving station; and based on the OSR information and a double-difference relative positioning strategy, enabling the target moving station to obtain relative position information between the target moving station and the virtual reference station so as to determine position coordinates of the target moving station. Therefore, the problems of slow convergence, limited coverage range, poor receiver compatibility and the like of the existing navigation positioning technology are solved.

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 provides a GNSS-based real-time positioning service stability improving method and system, and belongs to the field of satellite navigation and positioning services. According to the method, abnormal identification and elimination are carried out on monitoring receiver data with pseudo-range hopping and pseudo codes inconsistent with carriers, multiple receivers synchronous with a time reference are adopted to participate in clock correction calculation, the effectiveness of precise orbit determination and clock correction calculation is judged and identified, and meanwhile the consistency of calculation results is judged and repaired; estimating a satellite initial position vector and kinetic parameters, and forecasting a satellite orbit and a satellite clock error; and when the precise orbit determination solution and clock correction solution processing process is interrupted, the satellite orbit forecast result and the clock correction forecast result are output as a precise orbit and a clock correction, and the output robustness is guaranteed. According to the invention, the algorithm software of the system end is compensated, so that the calculation and storage burden of the user terminal is reduced, and the availability, continuity and stability of the real-time precise positioning service of the satellite navigation system are improved.

The invention belongs to a timing method, and provides a Beidou and long wave fusion timing method and a related device aiming at the technical problems of satellite denial or failure, poor long wave timing result precision and large jitter of the existing timing method for fusing a Beidou satellite navigation system and a long wave navigation technology. The method comprises the following steps: acquiring a long-wave time difference data set and a Beidou time difference data set, performing abnormal value processing on long-wave time difference data and Beidou time difference data, performing correction processing on the long-wave time difference data, reducing fluctuation of the long-wave time difference data, eliminating abnormal values, and ensuring the accuracy of subsequent timing; and fusing the long-wave time difference data and the Beidou time difference data at each moment in sequence by adopting an extended Kalman filtering algorithm, and finally completing timing according to a fusion result set. The advantages of a Beidou satellite navigation system and a long-wave navigation technology are fused, and the fusion timing precision and the timing stability of the system can be remarkably improved by adopting the extended Kalman filtering algorithm.

The invention relates to the technical field of wind power generation equipment monitoring, in particular to a draught fan tower footing settlement monitoring method and system based on Beidou high-precision positioning, and the method comprises the steps: S1, setting at least three positioning points below a draught fan tower footing, and installing a Beidou positioning instrument; s2, acquiring longitude and latitude height coordinates of the positioning point, and converting the longitude and latitude height coordinates into earth-centered earth-fixed coordinates; s3, converting the earth-centered earth-fixed coordinate into an east-north-sky coordinate; s4, drawing a monitoring space plane in the three-dimensional space by using the east-north-sky coordinates, and calculating geometric features of the monitoring space plane; s5, building a tower footing position state model based on geometric features of the monitoring space plane; and S6, repeating the steps S2 to S5, and judging whether the tower footing is settled or not and judging the settlement degree by comparing the front and back changes of the tower footing position state model. According to the method disclosed by the invention, millimeter-level monitoring on the settlement of the tower footing of the fan is realized by utilizing the high-precision positioning capability of the Beidou satellite navigation system.

The invention discloses a high-precision wireless synchronous triggering acquisition system and method. The system comprises a data acquisition terminal and a plurality of sensor acquisition terminals, the data acquisition terminal is used for broadcasting a time synchronization signal to the plurality of sensor acquisition terminals, receiving sensor data returned by the plurality of sensor acquisition terminals, and forwarding the received synchronous sampling data to the upper computer; the sensor acquisition terminal is used for performing time synchronization by using the time synchronization signal broadcasted by the data acquisition terminal, generating a synchronization trigger signal, sending the synchronization trigger signal to the sensor, controlling the sensor to perform data acquisition, reconstructing the sensor data according to the data acquired by the sensor and the time synchronization signal, and sending the reconstructed data to the data acquisition terminal. And synchronously sampled sensor data is generated and sent to a data acquisition terminal. According to the invention, high-precision wireless synchronous data acquisition of a plurality of sensor circuit boards can be realized at positions without global navigation satellite system (GNSS) satellite signals.

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 provides a positioning method and system based on the time difference of global short-wave time service stations, and the method comprises the steps: obtaining the coordinate information of each short-wave time service station, receiving the short-wave time signals of a plurality of short-wave time service stations, and recording the time when each short-wave time signal is actually received; eliminating the delay error of the ionosphere to the short-wave time signal, and calculating the time difference between the time when the short-wave time signal is received and the standard time when the short-wave time signal is broadcasted; and calculating the geographic position of the receiving end by using the time differences and the coordinate information corresponding to the at least three short-wave time service stations in combination with a time difference positioning algorithm. According to the method, the time difference information of a plurality of global short-wave time service stations is combined, the time delay error is eliminated, and the geographic position of the receiving end is calculated by using a time difference positioning algorithm, so that the positioning precision is improved. The method is suitable for an area where a GPS and other satellite navigation systems cannot cover or signals are interfered, the application range of the positioning technology is expanded, and the cost is reduced.

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.

The invention discloses an intelligent navigation system for a grain depot. The system comprises a vehicle navigation module, a user side and administrator side double-end management platform, a real-time position tracking module based on a Beidou satellite navigation system and a geographic information system module. Wherein the vehicle navigation module is used for acquiring longitude and latitude information of an operation vehicle and realizing real-time navigation of the operation vehicle by displaying a shortest path from a current position to a target operation area; the double-end management platform of the user side and the administrator side is based on a WeChat applet, and the administrator side limits the user permission through a background and issues a navigation permission to an operation vehicle entering a reservoir area; through multi-level innovative design including dynamic rapid adaptation, multi-vehicle cooperative scheduling, distributed signal interaction, dynamic path adjustment and an adaptive navigation mode, compared with the prior art, the system has remarkable advantages in the aspects of rapid adaptability, scheduling efficiency, traffic guarantee, data safety, driving experience and the like of vehicles.

The invention discloses a satellite time service anti-interference and anti-cheating multi-level receiver reinforcement method, which comprises the following steps that: an interference detection strategy of each preset interference detection dimension is obtained, a time service receiver carries out clock synchronization based on a satellite navigation system, each preset interference detection dimension corresponds to at least one interference detection strategy, and each preset interference detection dimension corresponds to at least one interference detection strategy; each interference detection strategy corresponds to a detectable interference type, and the interference type comprises natural environment interference, suppressing interference and deception interference; performing interference detection on the target time service receiver according to each interference detection strategy in a preset interference detection time period; and when any interference detection strategy is utilized to detect that the target time service receiver is interfered, obtaining an interference detection result of the target time service receiver in a preset interference detection time period according to the detected target interference type, and carrying out anti-interference reinforcement on the target time service receiver. And multi-level interference detection and reinforcement are carried out, so that the anti-interference performance of the time service receiver 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.