CN116782146A - Dynamic monitoring system for constructors on ship - Google Patents
Dynamic monitoring system for constructors on ship Download PDFInfo
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- CN116782146A CN116782146A CN202310681451.5A CN202310681451A CN116782146A CN 116782146 A CN116782146 A CN 116782146A CN 202310681451 A CN202310681451 A CN 202310681451A CN 116782146 A CN116782146 A CN 116782146A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000007726 management method Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
- G08B21/088—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water by monitoring a device worn by the person, e.g. a bracelet attached to the swimmer
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Abstract
The invention discloses a dynamic monitoring system for shipboard constructors, which comprises: the system comprises three corner GPS mobile stations, a plurality of personnel wearing units, a monitoring center system, an RTK base station and an alarm unit; each personnel wearing unit comprises a personnel GPS mobile station, a personnel falling detection unit, a personnel electric shock detection unit and a data processing unit; the RTK base station provides differential signals for the angular point GPS mobile station and the personnel GPS mobile station through a wireless transmission system; the monitoring center system calculates a coordinate system of the current ship according to the data of the angular point GPS mobile station, calculates personnel real-time position information relative to the ship coordinate system according to the personnel GPS mobile station detection data of the personnel wearing unit, judges whether personnel cross the boundary condition according to the personnel real-time position information and a preset dangerous area on the ship, and judges whether personnel fall into water, fall and get electric shock. The alarm unit is connected with the monitoring center system and used for giving an alarm according to the instruction of the monitoring center system.
Description
Technical Field
The invention belongs to the technical field of personnel safety monitoring on ships, and particularly relates to a dynamic monitoring system for shipboard constructors.
Background
The management of personnel safety monitoring on ships is an important research direction in the field of ship safety. The dynamic monitoring system for the constructors on the ship is beneficial to the safe navigation of the ship and the safe operation of the staff. And the accurate positioning of constructors on the ship is a prerequisite for personnel safety monitoring. At present, the related documents of the positioning safety monitoring system for the constructors on the ship are few in the ship field, the situation of lag exists in the actual monitoring management of the constructors, and if dangerous situations are met, the rescue is not timely, so that irrecoverable serious consequences can be caused.
The global positioning system (English: global Positioning System, commonly abbreviated as GPS), also called GPS, is a medium-distance circular orbit satellite navigation system. The device can provide accurate positioning, speed measurement and high-precision time standard for most areas (98%) of the earth surface.
The global satellite positioning system (Global Positioning System, GPS) is adopted, so that the requirement of accurate positioning of the shipboard constructors can be met, the position information of the constructors is monitored in real time, the position information is dynamically displayed in real time in the monitoring system, and meanwhile, when the shipboard constructors enter a deck forbidden area or are close to a strong current area and fall or fall into water, warning or rescue can be timely found and timely adopted. Therefore, the safety guarantee of the staff is effectively improved, the staff is far away from a dangerous area, and the rescue efficiency of the staff in severe weather such as night or rainy days is ensured.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a dynamic monitoring system for shipboard constructors, which can monitor working positions and behavior tracks of the constructors on a ship deck in real time, and can timely find and timely take warning and rescue when the deck personnel enter a deck forbidden area and electric shock, fall and fall water. Therefore, the safety guarantee of the staff is effectively improved, the staff is far away from a dangerous area, and the rescue efficiency of the staff in severe weather such as night or rainy days is ensured.
The invention is realized by the following technical scheme:
a system for dynamically monitoring constructors on a ship, comprising: the system comprises three corner GPS mobile stations, a plurality of personnel wearing units, a wireless transmission system, a monitoring center system, an RTK base station and an alarm unit;
the wireless transmission system comprises a wireless data transmission master station and a plurality of wireless data transmission slave stations, and the master station is connected with the monitoring center system in a wired manner;
the number of the angular point GPS mobile stations is three, the angular point GPS mobile stations are respectively arranged at three angular points of a ship horizontal plane, and each angular point GPS mobile station is correspondingly connected with one wireless data transmission slave station;
the personnel wearing unit is used for being worn by constructors on a ship, each personnel wearing unit comprises a personnel GPS mobile station, a personnel falling detection unit, a personnel electric shock detection unit, a data processing unit and a wireless data transmission slave station, the data processing unit is connected with the personnel GPS mobile station, the personnel falling detection unit, the personnel electric shock detection unit and the wireless data transmission slave station, and the data processing unit is used for acquiring detection data of the personnel GPS mobile station, the personnel falling detection unit and the personnel electric shock detection unit, processing and packaging the acquired data, transmitting the data to the wireless data transmission master station through the wireless data transmission slave station and further transmitting the data to the monitoring center system;
the RTK base station is connected with the monitoring center system, and provides differential signals for the angular point GPS mobile station and the personnel GPS mobile station in the personnel wearing unit through the wireless transmission system;
the alarm unit is connected with the monitoring center system and used for giving an alarm according to the instruction of the monitoring center system.
In the above technical scheme, the monitoring center system can calculate the coordinate system of the current ship according to the data of the three corner GPS mobile stations, calculate the real-time personnel position information relative to the ship coordinate system according to the personnel GPS mobile station detection data of the personnel wearing unit and the calculated current ship coordinate system, judge whether the personnel cross the boundary according to the real-time personnel position information and the preset dangerous area on the ship, and judge whether the personnel fall into water, fall and get electric shock according to the detection data of the personnel wearing unit.
In the technical scheme, when the monitoring center system analyzes that the situation that people cross the border, fall into water, fall and get an electric shock occurs, the monitoring center system alarms through the alarm unit.
In the above technical solution, the monitoring center system includes a data processing module, a data storage module, a management module and a display module, where the data processing module is configured to calculate a coordinate system of a current ship according to data of three corner GPS mobile stations, calculate personnel real-time position information corresponding to the ship coordinate system according to personnel GPS mobile station detection data of personnel wearing units and the calculated current ship coordinate system, determine whether personnel cross-border conditions occur according to the personnel real-time position information and a preset dangerous area on the ship, and determine whether personnel fall into water, fall and get electric shock conditions according to detection data of the personnel wearing units; the real-time position information of the personnel obtained after analysis and processing by the data processing module is displayed in a ship model diagram in a software interface of the display module in a real-time dynamic motion mode; the data storage module is used for storing the original data acquired by the personnel wearing unit, the data processed by the data processing module and the data set by the management module, and uploading the data to the cloud server at regular time.
In the above technical solution, three corner coordinates of a ship are determined according to detection data of three corner GPS mobile stations, the bow and the port are determined, and then a rectangular coordinate system using the upper left corner of the ship as an origin is determined, wherein a distance from a person to the port is set as x, a distance from the person to the bow is set as y, then actual physical coordinate data are mapped into pixel coordinate data, and finally the person is displayed on a ship model diagram in a software interface of a display module in a pixel point mode.
In the above technical scheme, each personnel wearing unit has different and unique IDs, the IDs are bound with the name, sex, age and mobile phone number information of the personnel, and if personnel information needs to be added, deleted and changed, the personnel information is operated in a management module of the monitoring center system.
In the technical scheme, if a person falls into water, the movable RTK base station is matched, the RTK base station is moved into the rescue yacht, and the GPS position of the person falling into water can be obtained more accurately through the person GPS mobile station of the person wearing unit worn by the person falling into water.
The invention has the advantages and beneficial effects that:
the invention can realize real-time, timely, comprehensive and visual monitoring and detection of the behavior track and the safety state of the constructors on the ship; when personnel enter the deck forbidden area and electric shock, falling and falling water occur, the personnel can timely find and timely take warning and rescue. The intelligent and automatic hardware and software system is used for protecting the safety of ship personnel.
The system adopts the form of image combination data, namely, each person on the ship is used as a data point to be displayed on the ship model image, so that the whole can be combined with the part, and hundreds of persons can be accommodated in the whole and simultaneously displayed on the ship model image. Compared with the traditional camera shooting mode, the invention can monitor more constructors, can avoid shooting dead angles, can more intuitively see the overall condition of all constructors in the ship, and can quickly find out each person with abnormal conditions.
Drawings
FIG. 1 is a schematic diagram of the system for dynamically monitoring the personnel on a ship according to the present invention.
Fig. 2 is a schematic diagram of the signal communication of the dynamic monitoring system of the constructor on board of the invention.
Fig. 3 is a schematic view of the vessel coordinate system of the present invention.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
Referring to fig. 1-2, a dynamic monitoring system for a shipboard constructor, comprising: the system comprises three corner GPS mobile stations, a plurality of personnel wearing units, a wireless transmission system, a monitoring center system, an RTK base station and an alarm unit.
The wireless transmission system adopts a wireless data transmission module of 2.4GHZ and comprises a wireless data transmission master station and a plurality of wireless data transmission slave stations, wherein the master station is in wired connection with the monitoring center system, and each slave station is respectively connected with each angular point GPS mobile station and a personnel wearing unit in one-to-one correspondence.
The number of the angular point GPS mobile stations is three, the angular point GPS mobile stations are respectively arranged at the upper left, the upper right and the lower left of the horizontal plane of the ship, each angular point GPS mobile station is correspondingly connected with one wireless data transmission slave station, position detection data of the angular point GPS mobile stations are sent to the wireless data transmission master station in real time through the wireless data transmission slave stations and then sent to the monitoring center system, the monitoring center system calculates a ship coordinate system, and the accurate coordinate position of personnel relative to the ship is calculated through the determined ship coordinate system.
The personnel wearing unit is used for being worn by constructors on the ship, and each personnel wearing unit comprises a personnel GPS mobile station, a personnel falling detection unit, a personnel electric shock detection unit, a data processing unit and a wireless data transmission slave station, wherein the personnel GPS mobile station is used for collecting GPS data information of personnel in real time and determining the position of the personnel; the personnel falling detection unit is used for detecting whether personnel falls into water or not; the personnel falling detection unit adopts an acceleration sensor to detect whether personnel fall or not; the personnel electric shock detection unit is used for detecting whether personnel are in electric shock or not; the data processing unit is connected with the personnel GPS mobile station, the personnel falling detection unit, the personnel electric shock detection unit and the wireless data transmission slave station, and is used for collecting detection data of the personnel GPS mobile station, the personnel falling detection unit and the personnel electric shock detection unit, carrying out data processing and packaging on the collected data, and sending the data to the wireless data transmission master station through the wireless data transmission slave station and then sending the data to the monitoring center system.
The RTK base station is connected with the monitoring center system, and the RTK base station provides differential signals for the angular point GPS mobile station and the personnel GPS mobile station in the personnel wearing unit through the wireless transmission system, so that each GPS mobile station obtains error correction, and positioning accuracy is improved.
The monitoring center system comprises a data processing module, a data storage module, a management module and a display module, wherein the data processing module is responsible for the analysis and processing functions of data, specifically, the data processing module calculates a coordinate system of a current ship according to data of three corner GPS mobile stations, calculates personnel real-time position information relative to the ship coordinate system according to personnel GPS mobile station detection data of personnel wearing units and the calculated current ship coordinate system, judges whether personnel cross-border conditions occur according to the personnel real-time position information and preset dangerous areas on the ship (namely, judges whether personnel enter dangerous areas), and judges whether personnel fall into water, fall, electric shock and the like according to detection data of the personnel wearing units; the real-time position information of the personnel obtained after analysis and processing by the data processing module is displayed in a ship model diagram in a software interface of the display module in a real-time dynamic motion mode, and the real-time quasi-coordinate position of the personnel on the ship is visually displayed; the data storage module is used for storing the original data acquired by the personnel wearing unit, the data processed by the data processing module and the data set by the management module, and uploading the data to the cloud server at regular time; furthermore, each personnel wearing unit has different and unique IDs, the IDs are bound with basic information such as names, sexes, ages, mobile phone numbers and the like of the personnel, namely the IDs correspond to constructors one by one, and if personnel information needs to be added, deleted and changed, the personnel information can be operated in a management module of a monitoring center system; in the history track inquiry, the stored data is called, so that the positions of each person at each time can be visually seen, and the action track of each person in one day can be comprehensively seen.
The alarm unit is connected with the monitoring center system, and when the data processing module of the monitoring center system analyzes that people cross the border, fall into water, fall, get electric shock and the like, the alarm unit displays the alarm on the one hand and alarms on the other hand through the alarm unit. If the situation that the danger of falling into water by people is extremely high is met, the RTK base station is matched with the movable RTK base station, the RTK base station is moved to the rescue yacht, the GPS position of the falling into water can be obtained more accurately through the personnel GPS mobile station of the personnel wearing unit worn by the falling into water by people, and the personnel in the condition of meeting the police can be timely rescued by matching with AIS rescue to conduct falling into water to guide rescue.
Further, the data processing module of the monitoring center system firstly unpacks and decrypts the received initial data packet to obtain various data information, wherein the coordinate data is longitude and latitude information, namely coordinates in a geodetic coordinate system, and the coordinate data is converted into coordinates in a plane coordinate system through Gaussian projection. The coordinates of the personnel relative to the ship are required to be determined by three angular point coordinates of the ship, namely, upper left, upper right and lower left points, so as to determine a rectangular coordinate system taking the upper left of the ship as an origin, the distance from the personnel to the port is set as x, the distance from the personnel to the bow is set as y and the unit mm, then the actual physical coordinate data (x, y; mm) are mapped into pixel coordinate data (x ', y'; pixel), and finally the personnel are displayed on a ship model diagram in a software interface of a display module in the form of pixel points.
Specifically, after the geodetic coordinate system is converted into the planar coordinate system, the conversion of the ship coordinate system is performed, and the ship coordinate system is schematically shown in fig. 3, and the conversion steps of the ship coordinate system are as follows:
1) And determining the coordinate positions of three angular points of the ship through the three angular point GPS mobile stations, and calculating a fourth angular point coordinate. In the invention, three corner coordinates of upper left, lower left and upper right are determined selectively, and then the fourth corner is the lower right corner, and the coordinates of the lower right corner are calculated by using a formula 1.
(a 1 ，b 1 ) Is the upper left corner coordinates, (a) 2 ，b 2 ) Is the lower left corner coordinates, (a) 3 ，b 3 ) Is the upper right corner coordinates, (a) 4 ，b 4 ) Is the lower right corner coordinates.
2) As shown in a ship coordinate system schematic diagram, taking an upper left corner point as a coordinate origin of the ship coordinate system, wherein the upper left corner point to the upper right corner point correspond to a bow, the upper left corner point to the upper right corner point correspond to a positive X-axis direction, the upper left corner point to the lower left corner point correspond to a port, and the upper left corner point to the lower left corner point corresponds to a positive Y-axis direction; x and y are the distances of the personnel to the bow and port respectively, calculated by equation 2, and x 'and y' are calculated similarly, x 'and y' being the distances of the personnel to the stern and starboard respectively.
3) And (3) calculating from (x, y) and (x ', y') to obtain the final signed constructor coordinate when the personnel is positioned in or out of the ship, and mapping the final signed constructor coordinate into the pixel coordinate.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (7)
1. A dynamic monitoring system for constructors on a ship is characterized in that: the system comprises three corner GPS mobile stations, a plurality of personnel wearing units, a wireless transmission system, a monitoring center system, an RTK base station and an alarm unit;
the wireless transmission system comprises a wireless data transmission master station and a plurality of wireless data transmission slave stations, and the master station is connected with the monitoring center system in a wired manner;
the number of the angular point GPS mobile stations is three, the angular point GPS mobile stations are respectively arranged at three angular points of a ship horizontal plane, and each angular point GPS mobile station is correspondingly connected with one wireless data transmission slave station;
the personnel wearing unit is used for being worn by constructors on a ship, each personnel wearing unit comprises a personnel GPS mobile station, a personnel falling detection unit, a personnel electric shock detection unit, a data processing unit and a wireless data transmission slave station, the data processing unit is connected with the personnel GPS mobile station, the personnel falling detection unit, the personnel electric shock detection unit and the wireless data transmission slave station, and the data processing unit is used for acquiring detection data of the personnel GPS mobile station, the personnel falling detection unit and the personnel electric shock detection unit, processing and packaging the acquired data, transmitting the data to the wireless data transmission master station through the wireless data transmission slave station and further transmitting the data to the monitoring center system;
the RTK base station is connected with the monitoring center system, and provides differential signals for the angular point GPS mobile station and the personnel GPS mobile station in the personnel wearing unit through the wireless transmission system;
the alarm unit is connected with the monitoring center system and used for giving an alarm according to the instruction of the monitoring center system.
2. The on-board constructor dynamic monitoring system according to claim 1, wherein: the monitoring center system can calculate a coordinate system of the current ship according to the data of the three corner GPS mobile stations, calculate personnel real-time position information relative to the ship coordinate system according to the personnel GPS mobile station detection data of the personnel wearing unit and the calculated current ship coordinate system, judge whether personnel cross the boundary according to the personnel real-time position information and a preset dangerous area on the ship, and judge whether personnel fall into water, fall and get an electric shock according to the detection data of the personnel wearing unit.
3. The on-board constructor dynamic monitoring system according to claim 2, wherein: when the monitoring center system analyzes that the situation of crossing border, falling into water, falling and electric shock occurs to personnel, the monitoring center system alarms through the alarm unit.
4. The on-board constructor dynamic monitoring system according to claim 2, wherein: the monitoring center system comprises a data processing module, a data storage module, a management module and a display module, wherein the data processing module is used for calculating a coordinate system of a current ship according to data of three angular point GPS mobile stations, calculating personnel real-time position information relative to the ship coordinate system according to personnel GPS mobile station detection data of personnel wearing units and the calculated current ship coordinate system, judging whether personnel cross-boundary conditions occur according to the personnel real-time position information and a preset dangerous area on the ship, and judging whether personnel fall into water, fall and electric shock conditions occur according to detection data of the personnel wearing units; the real-time position information of the personnel obtained after analysis and processing by the data processing module is displayed in a ship model diagram in a software interface of the display module in a real-time dynamic motion mode; the data storage module is used for storing the original data acquired by the personnel wearing unit, the data processed by the data processing module and the data set by the management module, and uploading the data to the cloud server at regular time.
5. The on-board constructor dynamic monitoring system according to claim 4, wherein: and determining three corner coordinates of the ship according to the detection data of the three corner GPS mobile stations, determining the bow and the port, further determining a rectangular coordinate system taking the upper left corner of the ship as an origin, setting the distance from a person to the port as x in the rectangular coordinate system, setting the distance from the person to the bow as y, mapping the actual physical coordinate data into pixel coordinate data, and finally displaying the actual physical coordinate data on a ship model diagram in a software interface of a display module in a pixel point mode.
6. The on-board constructor dynamic monitoring system according to claim 4, wherein: each personnel wearing unit has different and unique IDs, the IDs are bound with the name, the gender, the age and the mobile phone number of the personnel, and if personnel information needs to be added, deleted and changed, the personnel information is operated in a management module of the monitoring center system.
7. The on-board constructor dynamic monitoring system according to claim 1, wherein: if people fall into water, the RTK base station is matched with the movable RTK base station to move to the rescue yacht, and the GPS position of the person falling into water can be obtained more accurately through the person GPS mobile station of the person wearing unit worn by the person falling into water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310681451.5A CN116782146A (en) | 2023-06-09 | 2023-06-09 | Dynamic monitoring system for constructors on ship |
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| CN202310681451.5A CN116782146A (en) | 2023-06-09 | 2023-06-09 | Dynamic monitoring system for constructors on ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117119021A (en) * | 2023-10-25 | 2023-11-24 | 江苏物润船联网络股份有限公司 | Fine granularity positioning method and system based on ship networking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117119021A (en) * | 2023-10-25 | 2023-11-24 | 江苏物润船联网络股份有限公司 | Fine granularity positioning method and system based on ship networking |
| CN117119021B (en) * | 2023-10-25 | 2024-01-26 | 江苏物润船联网络股份有限公司 | Fine granularity positioning method and system based on ship networking |
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