CN117739961A

CN117739961A - Positioning method, device, equipment, vehicle and medium for nuclear fuel transport vehicle

Info

Publication number: CN117739961A
Application number: CN202311523487.7A
Authority: CN
Inventors: 吴腾; 蔡进; 李其朋; 王佳眉; 江祖富
Original assignee: China Nuclear Power Technology Research Institute Co Ltd; Lingao Nuclear Power Co Ltd
Current assignee: China Nuclear Power Technology Research Institute Co Ltd; Lingao Nuclear Power Co Ltd
Priority date: 2023-11-15
Filing date: 2023-11-15
Publication date: 2024-03-22

Abstract

The application relates to a positioning method, a positioning device, positioning equipment, positioning vehicles and positioning media of a nuclear fuel transport vehicle. The method comprises the following steps: acquiring a first inertial navigation detection parameter based on an inertial navigation module in the nuclear fuel transport vehicle; acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle; a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle is obtained. And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle. According to the embodiment of the application, the navigation detection parameters are fused, so that the positioning precision and accuracy of the nuclear fuel transport vehicle can be improved.

Description

Positioning method, device, equipment, vehicle and medium for nuclear fuel transport vehicle

Technical Field

The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method, device, equipment, vehicle, and medium for a nuclear fuel transport vehicle.

Background

The high sensitivity and risk of nuclear fuel is critical to ensure accurate and safe transport of the nuclear fuel to the destination. The positioning navigation system provides real-time position information and navigation guidance for the transport vehicle, and can help a driver to select an optimal route and avoid a potential dangerous area. Meanwhile, the positioning navigation system can also provide real-time updating of traffic conditions and road conditions, and help drivers to make accurate decisions, so that potential transportation risks are reduced to the greatest extent. Thus, positioning navigation of a nuclear fuel transport vehicle is one of the key measures to ensure safe transport of nuclear fuel.

In the related art, the nuclear fuel transport vehicle is positioned by satellite navigation, but when satellite signals are blocked and interfered, the satellite signals are weak, so that the positioning accuracy in the related art is low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a positioning method, apparatus, device, vehicle, and medium for a nuclear fuel transport vehicle that can improve the accuracy of vehicle navigation positioning.

In a first aspect, the present application provides a method for positioning a nuclear fuel transport vehicle, comprising:

Acquiring a first inertial navigation detection parameter based on an inertial navigation module in the nuclear fuel transport vehicle;

acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle;

acquiring a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle;

and under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

In one embodiment, the method further comprises:

under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter do not meet the preset fusion condition, performing calibration processing on the inertial navigation module according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter, and acquiring a second inertial navigation detection parameter detected by the inertial navigation module after the calibration processing;

And carrying out fusion judgment processing based on the second inertial navigation detection parameters to obtain second navigation positioning parameters of the nuclear fuel transport vehicle.

In one embodiment, the performing fusion determination processing based on the second inertial navigation detection parameter to obtain a second navigation positioning parameter of the nuclear fuel transport vehicle includes:

acquiring a second communication navigation detection parameter detected by the mobile communication module, and acquiring a second satellite navigation detection parameter detected by the satellite navigation module;

and under the condition that the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter to obtain a second navigation positioning parameter.

In one embodiment, acquiring a first inertial navigation detection parameter based on an inertial navigation module in a nuclear fuel transport vehicle includes:

acquiring initial inertial navigation detection parameters detected by an inertial navigation module;

and performing first data processing on the initial inertial navigation detection parameters to obtain first inertial navigation detection parameters.

In one embodiment, the first data processing includes: feature extraction processing, and/or data update processing.

In one embodiment, obtaining a first communication navigation detection parameter based on a mobile communication module in a nuclear fuel transport vehicle includes:

acquiring initial communication navigation detection parameters detected by a mobile communication module;

and performing second data processing on the initial communication navigation detection parameters to obtain first communication navigation detection parameters.

In one embodiment, the preset fusion condition includes: the difference value between the maximum detection parameter and the minimum detection parameter in the inertial navigation detection parameter, the communication navigation detection parameter and the satellite navigation detection parameter is smaller than a first preset threshold value; or,

the difference value between any detection parameter among the inertial navigation detection parameter, the communication navigation detection parameter and the satellite navigation detection parameter and the average detection parameter is smaller than a second preset threshold, wherein the average detection parameter is the average parameter among the inertial navigation detection parameter, the communication navigation detection parameter and the satellite navigation detection parameter.

In a second aspect, the present application also provides a positioning device for a nuclear fuel transport vehicle, including:

The first acquisition module is used for acquiring a first inertial navigation detection parameter based on an inertial navigation module in the nuclear fuel transport vehicle;

the second acquisition module is used for acquiring the first communication navigation detection parameters based on the mobile communication module in the nuclear fuel transport vehicle;

the third acquisition module is used for acquiring the first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle;

and the fusion processing is used for carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

In a third aspect, the present application also provides a locating device for a nuclear fuel transport vehicle, the locating device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of the method of the first aspect described above.

In a fourth aspect, the present application also provides a nuclear fuel transport vehicle, the vehicle comprising: inertial navigation module, mobile communication module, satellite navigation module, and the positioning device of the nuclear fuel transport vehicle according to the third aspect;

Wherein, the locating device of nuclear fuel transport vehicle is used for:

acquiring a first inertial navigation detection parameter based on an inertial navigation module;

acquiring a first communication navigation detection parameter based on a mobile communication module;

acquiring a first satellite navigation detection parameter detected by a satellite navigation module;

In a fifth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above.

In a sixth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above.

The positioning method, the positioning device, the positioning equipment, the positioning vehicle and the positioning medium for the nuclear fuel transport vehicle acquire a first inertial navigation detection parameter through an inertial navigation module in the nuclear fuel transport vehicle; acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle; a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle is obtained. And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle. Compared with the mode of positioning through satellite navigation in the prior art, the method for acquiring the first inertial navigation detection parameters through the inertial navigation module in the nuclear fuel transport vehicle can acquire the first inertial navigation detection parameters of the vehicle without depending on external information of the nuclear fuel transport vehicle, so that accurate positioning of the nuclear fuel transport vehicle is realized. The first communication navigation detection parameter can be accurately acquired through the mobile communication module in the nuclear fuel transport vehicle. The global positioning system data of the vehicle can be obtained through the first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle so as to realize high-precision position location. Further, under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, the first navigation positioning parameter of the nuclear fuel transport vehicle is obtained by carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter, and the accuracy and the reliability of navigation positioning can be improved by combining a plurality of navigation detection parameters.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.

FIG. 1 is a schematic view of an environment for implementing a method for positioning a nuclear fuel transport vehicle in accordance with one embodiment of the present application;

FIG. 2 is a schematic view of an environment for implementing a method for positioning a nuclear fuel transport vehicle according to another embodiment of the present application;

FIG. 3 is a flow chart of a method of locating a nuclear fuel transport vehicle in one embodiment of the present application;

FIG. 4 is a flow chart of a method of locating a nuclear fuel transport vehicle in accordance with another embodiment of the present application;

FIG. 5 is a flow chart of a method of locating a nuclear fuel transport vehicle in accordance with another embodiment of the present application;

FIG. 6 is a flow chart of a method of locating a nuclear fuel transport vehicle in accordance with another embodiment of the present application;

FIG. 7 is a flow chart of a method of locating a nuclear fuel transport vehicle in accordance with another embodiment of the present application;

FIG. 8 is a general flow diagram of an exemplary method of locating a nuclear fuel transport vehicle in one embodiment of the present application;

FIG. 9 is a general flow diagram of a method of locating an exemplary nuclear fuel transport vehicle in accordance with another embodiment of the present application;

FIG. 10 is a schematic structural view of a positioning device of a nuclear fuel transport vehicle according to one embodiment of the present application;

FIG. 11 is an internal block diagram of a positioning apparatus for a nuclear fuel transport vehicle in one embodiment of the present application;

fig. 12 is a schematic structural view of a nuclear fuel transport vehicle in one embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The positioning method, the device, the equipment, the vehicle and the medium for the nuclear fuel transport vehicle can be applied to the positioning application scene of the nuclear fuel transport vehicle; of course, the method can also be applied to other scenes, and the embodiment of the application is not limited to this.

For convenience of description, the following embodiments take a positioning scenario in which the vehicle positioning method of the present application is applied to a nuclear fuel transport vehicle as an example. It should be appreciated that the vehicle positioning method of the embodiments of the present application achieve similar principles and technical effects when applied to other scenarios.

Fig. 1 is a schematic diagram of an implementation environment of a positioning method of a nuclear fuel transport vehicle according to an embodiment of the present application, as shown in fig. 1, where the implementation environment of the embodiment of the present application may include a terminal 101, and the terminal may include, but is not limited to, various smartphones or vehicle-mounted terminals.

In connection with the implementation environment shown in fig. 1, in the embodiment of the present application, the terminal 101 may obtain the first inertial navigation detection parameter based on an inertial navigation module in the nuclear fuel transport vehicle; the terminal 101 obtains a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle; the terminal 101 acquires a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle. Further, in the case that the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfy the preset fusion condition, the terminal 101 may perform data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter, to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

Fig. 2 is a schematic view of an implementation environment of a positioning method of a nuclear fuel transport vehicle according to another embodiment of the present application, as shown in fig. 2, the implementation environment may include: a terminal 101 and a server 102; the terminal 101 may communicate with the server 102 through a network, for example, the terminal 101 may send the acquired first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter to the server 102. The server 102 may be implemented as a stand-alone server or as a server cluster of multiple servers. The data storage system may store the first inertial navigation detection parameters, the first communication navigation detection parameters, and the first satellite navigation detection parameters that the server 102 needs to process. The data storage system may be integrated on the server 102 or may be located on a cloud or other network server.

In connection with the implementation environment illustrated in fig. 2, in an embodiment of the present application, the server 102 may obtain the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter from the terminal 101. Further, in the case that the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfy the preset fusion condition, the server 102 may perform data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter to obtain a first navigation positioning parameter of the nuclear fuel transport vehicle, and send the first navigation positioning parameter of the nuclear fuel transport vehicle to the terminal 101.

In the related art, the nuclear fuel transport vehicle is positioned by satellite navigation, but in complex environments such as building groups, tunnels, overhead bridges, trees and the like, satellite signals are shielded and interfered, so that the satellite signals are weaker, and the situation such as interruption, abrupt change and the like of positioning results can be caused, therefore, the positioning accuracy of the vehicle navigation in the related art is lower.

According to the positioning method, the positioning device, the positioning equipment, the positioning vehicle and the positioning medium for the nuclear fuel transport vehicle, the first inertial navigation detection parameters are obtained through the inertial navigation module in the nuclear fuel transport vehicle; acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle; a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle is obtained. And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle. Compared with the mode of positioning through satellite navigation in the prior art, the method for acquiring the first inertial navigation detection parameters through the inertial navigation module in the nuclear fuel transport vehicle can acquire the first inertial navigation detection parameters of the vehicle without depending on external information of the nuclear fuel transport vehicle, so that accurate positioning of the nuclear fuel transport vehicle is realized. The first communication navigation detection parameter can be accurately acquired through the mobile communication module in the nuclear fuel transport vehicle. The global positioning system data of the vehicle can be obtained through the first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle so as to realize high-precision position location. Further, under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, the first navigation positioning parameter of the nuclear fuel transport vehicle is obtained through data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter, and the accuracy and reliability of navigation positioning can be improved by combining a plurality of navigation detection parameters.

In an embodiment, fig. 3 is a schematic flow chart of a positioning method of a nuclear fuel transport vehicle according to an embodiment of the present application, and in an embodiment of the present application, an application of the method to a positioning device is described as an example, where the positioning device may be the terminal or the server. As shown in fig. 3, the method of the embodiment of the present application may include the following steps:

step S201, acquiring a first inertial navigation detection parameter based on an inertial navigation module in a nuclear fuel transport vehicle.

Illustratively, the nuclear fuel transport vehicle referred to in the embodiments of the present application refers to a vehicle dedicated to transporting nuclear fuel to ensure safe transportation of nuclear fuel.

By way of example, inertial navigation modules referred to in embodiments of the present application may include, but are not limited to, sensors such as accelerometers and gyroscopes for measuring acceleration and angular velocity of a vehicle. The accelerometer is a sensor for measuring acceleration, and can provide information about acceleration, speed, displacement and the like of a vehicle by measuring the acceleration of the vehicle. A gyroscope is a sensor that measures angular velocity, and by measuring angular velocity of a vehicle, the gyroscope can provide information about the rotation angle, rotation speed, direction, and the like of the vehicle.

Illustratively, the first inertial navigation detection parameter in the embodiment of the present application refers to a displacement amount of the nuclear fuel transport vehicle calculated by the inertial navigation module. Wherein the displacement amount may be used to indicate an actual distance of movement of the nuclear fuel transport vehicle at the current time period position relative to the previous time period position.

In this step, the positioning device may accurately acquire the first inertial navigation detection parameter based on the inertial navigation module in the nuclear fuel transport vehicle. Therefore, in the embodiment of the application, the first inertial navigation detection parameter is obtained by measuring and calculating according to the inertial navigation module, so that the parameter can be obtained through internal measurement and calculation without depending on the external information of the nuclear fuel transport vehicle, and the nuclear fuel transport vehicle can realize the navigation function without external reference.

Step S202, acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle.

The mobile communication module according to the embodiments of the present application is used for receiving and calculating positioning assistance data returned by the mobile switching center in communication with the mobile communication base station. The positioning assistance data may include, but is not limited to, a base station number and a relative position of the base station. The mobile switching center is responsible for handling positioning requests from positioning devices. A mobile communication base station refers to a physical device with an antenna and a device, which is responsible for communication with a positioning device.

The first communication navigation detection parameter in the embodiment of the present application refers to a displacement amount of the nuclear fuel transport vehicle calculated by the mobile communication module.

In this step, the positioning device may accurately acquire the first communication navigation detection parameter based on the mobile communication module in the nuclear fuel transport vehicle. It can be seen that, in the embodiment of the present application, the first communication navigation detection parameter may be accurately obtained by measuring and calculating according to the mobile communication module. Furthermore, when satellite signals are blocked and interfered and satellite signals cannot be received, a mobile communication positioning technology can be adopted, so that a positioning result is more accurate, and the positioning precision and accuracy are improved.

Step S203, acquiring a first satellite navigation detection parameter detected by a satellite navigation module in the nuclear fuel transport vehicle.

Illustratively, the satellite navigation module referred to in the embodiments of the present application refers to a device for receiving satellite signals and determining the location, navigation information, of a nuclear fuel transport vehicle. The satellite navigation module may include, but is not limited to, a global positioning system receiver, a Beidou positioning system receiver, or other satellite navigation technology.

The first satellite navigation detection parameter in the embodiment of the present application refers to a displacement amount of the nuclear fuel transport vehicle obtained by calculating information such as a pseudo range, a pseudo range rate, a carrier phase and the like acquired by the satellite navigation module. Wherein the pseudoranges are used to indicate a distance between the positioning device and the satellite; the pseudo-range rate refers to the rate of change of the pseudo-range; the carrier phase may refer to phase information of electromagnetic waves of the satellite signal.

In this step, the positioning device may acquire a first satellite navigation detection parameter detected by a satellite navigation module in the nuclear fuel transport vehicle. Therefore, according to the embodiment of the application, the first communication navigation detection parameter can be obtained through calculation according to the satellite navigation module, global positioning system data of the vehicle can be obtained, and high-precision position positioning is achieved.

Step S204, under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

For example, the first navigation positioning parameter related to the embodiment of the present application may be used to indicate the three-dimensional coordinates of the nuclear fuel transport vehicle obtained by performing the data fusion processing on the first satellite navigation detection parameter under the condition that the preset fusion condition is met according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter. The three-dimensional coordinates may include, among other things, longitude, latitude, and altitude of the nuclear fuel transport vehicle for precisely locating the location information of the nuclear fuel transport vehicle.

The data fusion processing in the embodiments of the present application refers to data fusion of the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter by a preset integrated navigation algorithm. The preset integrated navigation algorithm may include, but is not limited to, a global navigation satellite system (Global Navigation Satellite System, GNSS)/inertial navigation system (Inertial Navigation System, INS) integrated navigation algorithm, an extended kalman filter algorithm, and an unscented kalman filter algorithm.

Hereinafter, the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfying the preset fusion condition are exemplarily described.

In a possible implementation manner, the preset fusion condition may include: the inertial navigation detection parameter, the communication navigation detection parameter, and/or a difference between a maximum detection parameter and a minimum detection parameter of the satellite navigation detection parameters is smaller than a first preset threshold.

The first preset threshold is used for indicating a preset numerical limitation, and is used for measuring the relative difference between the maximum detection parameter and the minimum detection parameter between two or more different navigation detection parameters in navigation data fusion.

Illustratively, assume that there are three different types of navigation detection parameters: inertial navigation detection parameter A, communication navigation detection parameter B and satellite navigation detection parameter C. The value of the inertial navigation detection parameter A is 10, the value of the communication navigation detection parameter B is 5, the value of the satellite navigation detection parameter C is 6, and the first preset threshold value is set to be 6. Because the difference between the maximum value and the minimum value is smaller than 6 (10-5= 5<6), the three parameters meet the preset fusion condition, and data fusion processing can be performed according to the inertial navigation detection parameter a, the communication navigation detection parameter B and/or the satellite navigation detection parameter C, so as to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

In another possible implementation manner, the preset fusion condition may include: the difference value between any detection parameter in the inertial navigation detection parameters, the communication navigation detection parameters and/or the satellite navigation detection parameters and the average detection parameter is smaller than a second preset threshold value, wherein the average detection parameter is the inertial navigation detection parameter, the communication navigation detection parameter and/or the average parameter among the satellite navigation detection parameters.

The second preset threshold value is used for indicating another preset numerical limitation, and is used for measuring the relative difference between any detection parameter and the average detection parameter among a plurality of different navigation detection parameters in navigation data fusion.

Illustratively, assume that there are three different types of navigation detection parameters: inertial navigation detection parameter A, communication navigation detection parameter B and satellite navigation detection parameter C. The value of the inertial navigation detection parameter A is 10, the value of the communication navigation detection parameter B is 5, the value of the satellite navigation detection parameter C is 6, the second preset threshold value is set to be 6, and the average detection parameter is 7. And the three parameters all meet the preset fusion condition, and the first navigation positioning parameter of the nuclear fuel transport vehicle can be obtained by carrying out data fusion processing according to the inertial navigation detection parameter A, the communication navigation detection parameter B and/or the satellite navigation detection parameter C.

Thus, according to any of the embodiments, when the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfy the preset fusion condition, the positioning device may perform the data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter, so as to accurately obtain the first navigation positioning parameter of the nuclear fuel transport vehicle. The specific threshold setting and condition determination can be adjusted accordingly according to application requirements and performance requirements.

It should be understood that, when the first inertial navigation detection parameter, the first communication navigation detection parameter, and the first satellite navigation detection parameter are all acquired, whether the preset fusion condition is satisfied may be determined according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and the first satellite navigation detection parameter, and the data fusion process may be performed when the preset condition is satisfied, so as to obtain the first navigation positioning parameter. According to the embodiment of the application, one or more navigation modules are fused, so that the method has strong fault tolerance and can flexibly adjust a fusion strategy; the method can acquire rich and multi-source navigation detection parameters from different types of navigation modules for fusion processing.

As can be seen, the embodiment of the present application may determine, according to the first preset threshold or the second preset threshold, whether the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfy the fusion condition. Under the condition that preset conditions are met, the first inertial navigation detection parameters, the first communication navigation detection parameters and/or the first satellite navigation detection parameters are fused together, so that more accurate results can be obtained, the navigation systems complement each other, and further, the positioning accuracy and reliability of the nuclear fuel transport vehicle can be improved.

In the positioning method of the nuclear fuel transport vehicle, the first inertial navigation detection parameter is acquired through the inertial navigation module in the nuclear fuel transport vehicle; acquiring a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle; a first satellite navigation detection parameter detected by a satellite navigation module in a nuclear fuel transport vehicle is obtained. And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle. Compared with the mode of positioning through satellite navigation in the prior art, the method for acquiring the first inertial navigation detection parameters through the inertial navigation module in the nuclear fuel transport vehicle can acquire the first inertial navigation detection parameters of the vehicle without depending on external information of the nuclear fuel transport vehicle, so that accurate positioning of the nuclear fuel transport vehicle is realized. The first communication navigation detection parameter can be accurately acquired through the mobile communication module in the nuclear fuel transport vehicle. The global positioning system data of the vehicle can be obtained through the first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle so as to realize high-precision position location. Further, under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, the first navigation positioning parameter of the nuclear fuel transport vehicle is obtained through data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter, and the accuracy and reliability of navigation positioning can be improved by combining a plurality of navigation detection parameters.

In an embodiment, fig. 4 is a schematic flow chart of a positioning method of a nuclear fuel transport vehicle according to another embodiment of the present application, and on the basis of the foregoing embodiment, the positioning method of a nuclear fuel transport vehicle of the present embodiment may further include step S301 and step S302.

In step S301, when the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter do not meet the preset fusion condition, the inertial navigation module is calibrated according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter, and the second inertial navigation detection parameter detected by the inertial navigation module after the calibration process is obtained.

Illustratively, the calibration process referred to in the embodiments of the present application may include, but is not limited to, at least one of: zero offset calibration, coordinate system calibration, and time alignment. Zero offset calibration means that there may be zero offset errors in the gyroscope and the accelerometer, i.e. the measured value output when there is no motion is not zero, and these zero offset errors need to be measured and corrected to ensure that the output of the inertial navigation module accurately reflects the actual motion of the nuclear fuel transport vehicle. Coordinate system calibration refers to the need to ensure that the coordinate system of the sensor coincides with the coordinate system of the actual mobile platform. Time alignment refers to ensuring that the internal time of the inertial navigation system is synchronized with an external time source in order to correlate inertial measurements with time.

The second inertial navigation detection parameter in the embodiment of the present application refers to, for example, the displacement of the nuclear fuel transport vehicle calculated again by the inertial navigation module after the calibration processing of the inertial navigation module.

In this step, when the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter do not satisfy the preset fusion condition, the positioning device may perform corresponding calibration processing on the inertial navigation module according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter, so as to reacquire the second inertial navigation detection parameter detected by the inertial navigation module after the calibration processing.

Therefore, in the embodiment of the application, under the condition that the preset threshold is not met, the inertial navigation module is calibrated, the second inertial navigation detection parameter detected by the inertial navigation module after the calibration is acquired again, and the error accumulation amount of the inertial navigation module can be corrected so as to obtain more accurate inertial navigation detection parameters.

Step S302, fusion judgment processing is carried out based on the second inertial navigation detection parameters, and second navigation positioning parameters of the nuclear fuel transport vehicle are obtained.

Illustratively, the second navigation positioning parameter in the embodiment of the present application is used to indicate the three-dimensional coordinates of the nuclear fuel transport vehicle that are redetermined after the inertial navigation module is calibrated.

In this step, the positioning device may perform fusion determination processing on the second inertial navigation detection parameter determined after the calibration processing on the inertial navigation module, the second communication navigation detection parameter detected by the mobile communication module, and/or the second satellite navigation detection parameter detected by the satellite navigation module, so as to obtain a second navigation positioning parameter of the nuclear fuel transport vehicle.

Optionally, the positioning device may acquire the second communication navigation detection parameter detected by the mobile communication module, and acquire the second satellite navigation detection parameter detected by the satellite navigation module.

The second communication navigation detection parameter in the embodiment of the present application refers to a displacement amount of the nuclear fuel transport vehicle calculated again by the mobile communication module after the inertial navigation module is calibrated.

The second satellite navigation detection parameter in the embodiment of the present application refers to a displacement amount of the nuclear fuel transport vehicle calculated again by the satellite navigation module after the inertial navigation module is calibrated.

Further, under the condition that the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter meet the preset fusion condition, the positioning device may perform data fusion processing according to the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter to obtain the second navigation positioning parameter.

It can be seen that, in this embodiment of the present application, the positioning device may perform fusion determination processing through the second inertial navigation detection parameter, the second communication navigation detection parameter, and/or the second satellite navigation detection parameter, and recalculate the updated parameter in combination with the plurality of navigation information, so as to obtain the second navigation positioning parameter of the nuclear fuel transport vehicle more accurately.

In summary, in the embodiment of the present application, under the condition that the preset threshold is not met, the positioning device performs calibration processing on the inertial navigation module, and re-acquires the second inertial navigation detection parameter detected by the inertial navigation module after the calibration processing, so that the more accurate inertial navigation detection parameter can be obtained. Further, the positioning device can perform fusion judgment processing based on the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter, and recalculate to obtain updated parameters by combining a plurality of navigation information, so that the navigation modules complement each other, the second navigation positioning parameter of the nuclear fuel transport vehicle can be obtained more accurately, and errors or instability possibly occurring in the navigation system can be better dealt with, thereby providing higher-quality navigation positioning parameters and being beneficial to ensuring the safety of the nuclear fuel transport vehicle.

In one embodiment, fig. 5 is a schematic flow chart of a positioning method of a nuclear fuel transport vehicle according to another embodiment of the present application, and as shown in fig. 5, on the basis of the foregoing embodiment, in the embodiment of the present application, the first inertial navigation detection parameter obtained based on the inertial navigation module in the nuclear fuel transport vehicle in step S201 related to the foregoing embodiment is described as an example. As shown in fig. 5, the step S201 includes a step S2011 and a step S2012.

Step S2011, acquiring initial inertial navigation detection parameters detected by the inertial navigation module.

Illustratively, the initial inertial navigation detection parameters referred to in embodiments of the present application are used to indicate acceleration, angular velocity, and other parameters of accelerometer and gyroscope sensor outputs of the inertial navigation module acquired by the navigation computer. Wherein the acceleration represents a rate of change of a position of the nuclear fuel transport vehicle in a three-dimensional coordinate system over time; angular velocity represents the amount of angular velocity that a nuclear fuel transport vehicle rotates about a fixed or fixed axis, and the navigation computer refers to a chip or processor embedded in the inertial navigation module.

In the step, the positioning device can acquire initial inertial navigation detection parameters detected by the inertial navigation module, so that the vehicle can accurately know the position and the direction of the vehicle, and the positioning device is very critical for realizing an accurate navigation and positioning system, especially in applications requiring high-precision navigation such as nuclear fuel transport vehicles.

Step S2012, performing a first data processing on the initial inertial navigation detection parameter to obtain a first inertial navigation detection parameter.

Illustratively, the first data processing referred to in the embodiments of the present application may include, but is not limited to, at least one of: feature extraction processing, and/or data update processing.

Alternatively, the feature extraction process refers to extracting key information related to navigation and positioning from the initial inertial navigation detection parameters and for further navigation calculation, decision making or transmission to other systems. Further, methods of feature extraction processing may include, but are not limited to, filtering and smoothing, feature selection, principal component analysis. Filtering and smoothing, among other things, means that the initial inertial navigation parameters may contain noise or jitter. The data can be smoothed and noise removed by filtering and smoothing techniques. Feature selection means that specific parameters or features can be selected and reserved according to the navigation positioning requirement, and unimportant information is discarded.

Further, the data updating process refers to performing corresponding numerical integration operation on the initial inertial navigation detection parameters, and determining navigation parameters such as the gesture, the speed and the position of the nuclear fuel transport vehicle, so as to obtain a first inertial navigation detection parameter. Wherein the numerical integration operation includes, but is not limited to, at least one of: attitude update algorithm, velocity update algorithm, and position update algorithm.

In this step, the positioning device may perform feature extraction processing and/or data update processing on the initial inertial navigation detection parameter, so as to accurately determine the first inertial navigation detection parameter. Therefore, in the embodiment of the application, the initial inertial navigation detection parameters can be reduced in dimension through feature extraction, the most important information is reserved, the compression and redundancy removal of the information are realized, and feature information is provided for information fusion to the maximum extent, so that the data volume is reduced, and the calculation efficiency is improved. Meanwhile, noise in the data can be removed through feature extraction, and accuracy of the first inertial navigation detection parameters is improved. Furthermore, the data updating process can obtain the vehicle instantaneous speed and instantaneous position data, which is beneficial to the inertial navigation module to maintain the real-time property of navigation parameters and ensure that the navigation information is updated in real time along with the change of time.

In summary, in the embodiment of the application, the positioning device may acquire the initial inertial navigation detection parameter detected by the inertial navigation module, so as to ensure that the vehicle can accurately know its own position and direction. Further, the positioning device can perform first data processing on the initial inertial navigation detection parameters to obtain first inertial navigation detection parameters, the initial inertial navigation detection parameters can be reduced in dimension, the data volume is reduced, the calculation efficiency is improved, information compression and redundancy removal are achieved, and therefore accuracy of the first inertial navigation detection parameters is improved.

In one embodiment, fig. 6 is a flowchart of a positioning method of a nuclear fuel transport vehicle according to another embodiment of the present application, and as shown in fig. 6, on the basis of the foregoing embodiment, in the embodiment of the present application, the first communication navigation detection parameter acquired based on the mobile communication module in the nuclear fuel transport vehicle in step S202 related to the foregoing embodiment is described and illustrated as an example. As shown in fig. 6, the step S202 includes a step S2021 and a step S2022.

In step S2021, the initial communication navigation detection parameters detected by the mobile communication module are acquired.

For example, the initial communication navigation detection parameter in the embodiment of the present application may be used to instruct the mobile switching center to search for the nearest mobile communication base station according to the location of the positioning device for communication, the returned base station number and the relative location of the base station. The mobile switching center is responsible for processing the positioning request from the positioning equipment and also responsible for seamlessly switching the positioning request to a new base station when the positioning equipment moves between different base stations. A mobile communication base station refers to a physical device with an antenna and a device, which is responsible for communication with a positioning device.

In this step, the positioning device may send a positioning request signal to the mobile switching center, where the mobile switching center searches for the nearest mobile communication base station according to the position of the positioning device to perform communication, returns the base station number and the relative position of the base station, and the mobile switching center returns the initial communication navigation detection parameter to the positioning device, where the positioning device obtains the initial communication navigation detection parameter detected by the mobile communication module.

Therefore, in the embodiment of the application, the positioning device obtains the initial communication navigation detection parameters detected by the mobile communication module, and the parameters can be used in combination with other navigation data (such as Beidou, inertial navigation and the like), so that the accuracy and stability of the position and navigation information can be improved.

Step S2022 performs a second data processing on the initial communication navigation detection parameter to obtain a first communication navigation detection parameter.

Illustratively, the filtering process referred to in the embodiments of the present application refers to that some noisy data or data of a remote base station may be included in the initial communication navigation detection parameter, and thus the filtering process is required. The filtering process may include, but is not limited to, at least one of: a low-pass filtering algorithm, a high-pass filtering algorithm, a final value filtering algorithm, and the like.

Illustratively, the second data processing referred to in the embodiments of the present application may include, but is not limited to, filtering processing, weighted least squares, triangulation, and the like.

In this step, the positioning device may obtain the first communication navigation detection parameter by performing the second data processing on the initial communication navigation detection parameter. Therefore, in the embodiment of the application, the more reliable and accurate first communication navigation detection parameter is extracted from the initial communication navigation detection parameter, so that the data volume is reduced, the calculation efficiency is improved, and the first communication navigation detection parameter can be obtained accurately.

In summary, in the embodiment of the present application, the positioning device may improve accuracy and stability of the position and navigation information by acquiring the initial communication navigation detection parameter detected by the mobile communication module. Further, the positioning device can obtain the filtered communication navigation detection parameters by performing filtering processing on the initial communication navigation detection parameters; further, the first communication navigation detection parameter is obtained through weighted least square method calculation on the filtered communication navigation detection parameter. By extracting the more reliable and accurate first communication navigation detection parameters from the initial communication navigation detection parameters, the data volume is reduced, the calculation efficiency is improved, and the first communication navigation detection parameters can be obtained accurately.

In one embodiment, fig. 7 is a schematic flow chart of a positioning method of a nuclear fuel transport vehicle according to another embodiment of the present application, and as shown in fig. 7, on the basis of the foregoing embodiment, in this embodiment of the present application, the positioning device includes a data collecting module, a data processing module, and a combined positioning module, and description is given of related content of a positioning process in the positioning method of the nuclear fuel transport vehicle.

As shown in fig. 7, the data collection module (or referred to as a data layer) may include an initial inertial navigation detection parameter collection module, an initial communication navigation detection parameter collection module, and a first satellite navigation detection parameter collection module.

The initial inertial navigation detection parameter collection module is used for acquiring initial inertial navigation detection parameters detected by the inertial navigation module; the initial communication navigation detection parameter collection module is used for obtaining initial communication navigation detection parameters detected by the mobile communication module; the first satellite navigation detection parameter collection module is used for obtaining first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle.

The data processing module (or referred to as a feature layer) is used for performing first data processing on the initial inertial navigation detection parameters to obtain first inertial navigation detection parameters; and filtering the initial communication navigation detection parameters to obtain first communication navigation detection parameters.

The combined positioning module (or referred to as a decision layer) is configured to perform data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter when the first inertial navigation detection parameter and the first communication navigation detection parameter meet a preset fusion condition, so as to obtain a first navigation positioning parameter of the nuclear fuel transport vehicle.

It should be noted that, the realizable manner and the technical effect of each step in the embodiments of the present application may refer to the relevant content in the above embodiments, which is not repeated herein.

In one embodiment, based on the above embodiment, fig. 8 is an overall flowchart of a positioning method of an exemplary nuclear fuel transport vehicle in one embodiment of the present application, and fig. 9 is an overall flowchart of a positioning method of an exemplary nuclear fuel transport vehicle in another embodiment of the present application, and as shown in fig. 8 and 9, the positioning method of a nuclear fuel transport vehicle may include the following steps:

1) The positioning equipment acquires initial inertial navigation detection parameters detected by the inertial navigation module; wherein the inertial navigation module may include, but is not limited to, gyroscopes, accelerometers, etc

2) The positioning equipment acquires initial communication navigation detection parameters detected by the mobile communication module; the mobile switching center can search the nearest mobile communication base station according to the position of the positioning device to communicate, return the base station number and the relative position of the base station, and transmit the initial communication navigation detection parameters back to the positioning device, and the positioning device acquires the initial communication navigation detection parameters detected by the mobile communication module.

3) The positioning device acquires a first satellite navigation detection parameter detected by a satellite navigation module in the nuclear fuel transport vehicle.

4) And the positioning equipment performs first data processing on the initial inertial navigation detection parameters to obtain first inertial navigation detection parameters.

5) And the positioning equipment performs second data processing on the initial communication navigation detection parameters to obtain first communication navigation detection parameters.

6) And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, the positioning equipment performs data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

7) And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter do not meet the preset fusion condition, the positioning equipment performs calibration processing on the inertial navigation module according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter and acquires a second inertial navigation detection parameter detected by the inertial navigation module after the calibration processing.

8) The positioning equipment acquires second communication navigation detection parameters detected by the mobile communication module and acquires second satellite navigation detection parameters detected by the satellite navigation module.

9) And under the condition that the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter meet the preset fusion condition, the positioning equipment performs data fusion processing according to the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter to obtain the second navigation positioning parameter.

It should be understood that the mobile communication module and the satellite navigation module in the embodiments of the present application may be separately provided, or may be integrated into one Assisted-beidou satellite navigation module (a-BDS) for providing.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a positioning device for the nuclear fuel transport vehicle, which is used for realizing the positioning method of the nuclear fuel transport vehicle. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation in the embodiments of the positioning device for one or more nuclear fuel transport vehicles provided below may be referred to the limitation of the positioning method for a nuclear fuel transport vehicle hereinabove, and will not be repeated herein.

In one embodiment, fig. 10 is a schematic structural diagram of a positioning device of a nuclear fuel transport vehicle according to one embodiment of the present application, where the positioning device of a nuclear fuel transport vehicle provided in the embodiment of the present application may be applied to a positioning apparatus. As shown in fig. 10, the positioning device for a nuclear fuel transport vehicle according to the embodiment of the present application may include: a first acquisition module 10, a second acquisition module 11, a third acquisition module 12 and a fusion processing module 13, wherein:

the first acquisition module 10 is configured to acquire a first inertial navigation detection parameter based on an inertial navigation module in a nuclear fuel transport vehicle.

The second acquisition module 11 is configured to acquire the first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle.

A third acquisition module 12 is configured to acquire the first satellite navigation detection parameter detected by the satellite navigation module in the nuclear fuel transport vehicle.

The fusion processing module 13 is configured to perform data fusion processing according to the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter when the first inertial navigation detection parameter, the first communication navigation detection parameter, and/or the first satellite navigation detection parameter satisfy a preset fusion condition, so as to obtain a first navigation positioning parameter of the nuclear fuel transport vehicle.

The positioning device for a nuclear fuel transport vehicle provided in this embodiment may implement the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.

In one embodiment, the positioning device of the nuclear fuel transport vehicle further comprises: a fourth acquisition module and a determination module, wherein:

the fourth acquisition module is used for carrying out calibration processing on the inertial navigation module according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter under the condition that the first inertial navigation detection parameter and/or the first communication navigation detection parameter do not meet the preset fusion condition, and acquiring a second inertial navigation detection parameter detected by the inertial navigation module after the calibration processing.

And the determining module is used for carrying out fusion judgment processing based on the second inertial navigation detection parameters to obtain second navigation positioning parameters of the nuclear fuel transport vehicle.

In one embodiment, the determining module includes: an acquisition unit and a determination unit, wherein:

the acquisition unit is used for acquiring the second communication navigation detection parameters detected by the mobile communication module and acquiring the second satellite navigation detection parameters detected by the satellite navigation module.

The determining unit is configured to perform data fusion processing according to the second inertial navigation detection parameter, the second communication navigation detection parameter, and/or the second satellite navigation detection parameter to obtain a second navigation positioning parameter when the second inertial navigation detection parameter, the second communication navigation detection parameter, and/or the second satellite navigation detection parameter satisfy a preset fusion condition.

In one embodiment, the first obtaining module 10 is specifically configured to:

acquiring initial inertial navigation detection parameters detected by an inertial navigation module; and performing first data processing on the initial inertial navigation detection parameters to obtain first inertial navigation detection parameters.

In one embodiment, the second obtaining module 11 is specifically configured to:

acquiring initial communication navigation detection parameters detected by a mobile communication module; and performing second data processing on the initial communication navigation detection parameters to obtain first communication navigation detection parameters.

In one embodiment, the preset fusion condition includes: inertial navigation detection parameters, communication navigation detection parameters and/or a difference value between a maximum detection parameter and a minimum detection parameter in satellite navigation detection parameters is smaller than a first preset threshold; or, the difference between any detection parameter of the inertial navigation detection parameters, the communication navigation detection parameters and/or the satellite navigation detection parameters and the average detection parameter is smaller than a second preset threshold, wherein the average detection parameter is the inertial navigation detection parameter, the communication navigation detection parameter and/or the average parameter among the satellite navigation detection parameters.

The above-described individual modules in the positioning device of the nuclear fuel transport vehicle may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules can be embedded in hardware or independent from a processor in the positioning device, or can be stored in a memory in the positioning device in a software form, so that the processor can call and execute the operations corresponding to the above modules.

In one exemplary embodiment, a positioning apparatus of a nuclear fuel transport vehicle, which may be a terminal or a server, is provided, and an internal structure thereof may be as shown in fig. 11. The positioning apparatus of the nuclear fuel transport vehicle includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the positioning device of the nuclear fuel transport vehicle is adapted to provide computing and control capabilities. The memory of the positioning device of the nuclear fuel transport vehicle includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the positioning device of the nuclear fuel transport vehicle is used for exchanging information between the processor and the external device. The communication interface of the positioning device of the nuclear fuel transport vehicle is used for carrying out wired or wireless communication with external devices, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of positioning a nuclear fuel transport vehicle. The display unit of the positioning device of the nuclear fuel transport vehicle is used for forming a visual picture, which can be a display screen. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the positioning equipment of the nuclear fuel transport vehicle can be a touch layer covered on the display screen, and can also be keys, a track ball, a touch pad or the like arranged on the shell of the positioning equipment of the nuclear fuel transport vehicle.

It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present application and is not intended to limit the positioning apparatus of a nuclear fuel transport vehicle to which the present application is applied, and that a particular positioning apparatus of a nuclear fuel transport vehicle may include more or less components than those shown, or may combine some of the components, or may have a different arrangement of components.

In an embodiment, a positioning device for a nuclear fuel transport vehicle is provided, including a memory and a processor, where the memory stores a computer program, and the processor implements the technical scheme related to the positioning device in the embodiment of the positioning method for the nuclear fuel transport vehicle in the application when executing the computer program, and the implementation principle and the technical effect are similar, and are not repeated herein.

In one embodiment, fig. 12 is a schematic structural diagram of a nuclear fuel transport vehicle according to one embodiment of the present application, including: an inertial navigation module 20, a mobile communication module 21, a satellite navigation module 22, and a positioning device 23 of a nuclear fuel transport vehicle;

wherein the positioning device 23 of the nuclear fuel transport vehicle is for:

acquiring a first inertial navigation detection parameter based on the inertial navigation module 20; acquiring a first communication navigation detection parameter based on the mobile communication module 21; acquiring a first satellite navigation detection parameter detected by the satellite navigation module 22;

In an embodiment, a computer readable storage medium is provided, on which a computer program is stored, where the computer program when executed by a processor implements the technical solution related to the positioning device in the embodiment of the positioning method for a nuclear fuel transport vehicle disclosed in the present application, and the implementation principle and the technical effect are similar, and are not repeated herein.

In one embodiment, a computer program product is provided, which includes a computer program, where the computer program when executed by a processor implements the technical solution related to the positioning device in the embodiment of the positioning method for a nuclear fuel transport vehicle disclosed in the present application, and the implementation principle and technical effects are similar, and are not repeated herein.

Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium and which, when executed, may comprise the steps of the above-described embodiments of the methods. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method of locating a nuclear fuel transport vehicle, the method comprising:

acquiring a first satellite navigation detection parameter detected by a satellite navigation module in the nuclear fuel transport vehicle;

And under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing on the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

2. The method according to claim 1, wherein the method further comprises:

under the condition that the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter do not meet a preset fusion condition, calibrating the inertial navigation module according to the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter, and acquiring a second inertial navigation detection parameter detected by the inertial navigation module after the calibration;

3. The method of claim 2, wherein the performing the fusion determination process based on the second inertial navigation detection parameter to obtain a second navigation positioning parameter of the nuclear fuel transport vehicle comprises:

acquiring second communication navigation detection parameters detected by the mobile communication module and acquiring second satellite navigation detection parameters detected by the satellite navigation module;

and under the condition that the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter meet the preset fusion condition, carrying out data fusion processing on the second inertial navigation detection parameter, the second communication navigation detection parameter and/or the second satellite navigation detection parameter to obtain the second navigation positioning parameter.

4. A method according to any one of claims 1-3, wherein said obtaining a first inertial navigation detection parameter based on an inertial navigation module in the nuclear fuel transport vehicle comprises:

acquiring initial inertial navigation detection parameters detected by the inertial navigation module;

and performing first data processing on the initial inertial navigation detection parameters to obtain the first inertial navigation detection parameters.

5. The method of claim 4, wherein the first data processing comprises: feature extraction processing, and/or data update processing.

6. A method according to any one of claims 1-3, wherein said obtaining a first communication navigation detection parameter based on a mobile communication module in the nuclear fuel transport vehicle comprises:

acquiring initial communication navigation detection parameters detected by the mobile communication module;

and performing second data processing on the initial communication navigation detection parameters to obtain the first communication navigation detection parameters.

7. A method according to any one of claims 1-3, wherein the preset fusion conditions comprise: inertial navigation detection parameters, communication navigation detection parameters and/or a difference value between a maximum detection parameter and a minimum detection parameter in satellite navigation detection parameters is smaller than a first preset threshold; or,

the difference between any detection parameter of the inertial navigation detection parameters, the communication navigation detection parameters and/or the satellite navigation detection parameters and an average detection parameter is smaller than a second preset threshold, wherein the average detection parameter is the inertial navigation detection parameter, the communication navigation detection parameter and/or the average parameter among the satellite navigation detection parameters.

8. A positioning device for a nuclear fuel transport vehicle, the device comprising:

the third acquisition module is used for acquiring first satellite navigation detection parameters detected by the satellite navigation module in the nuclear fuel transport vehicle;

the fusion processing module is used for carrying out data fusion processing on the first inertial navigation detection parameter, the first communication navigation detection parameter and/or the first satellite navigation detection parameter under the condition that the first inertial navigation detection parameter meets the preset fusion condition, so as to obtain the first navigation positioning parameter of the nuclear fuel transport vehicle.

9. A positioning device for a nuclear fuel transport vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed by the processor.

10. A nuclear fuel transport vehicle, the vehicle comprising: inertial navigation module, mobile communication module, satellite navigation module, positioning device of the nuclear fuel transport vehicle of claim 8;

wherein, the locating device of nuclear fuel transport vehicle is used for:

acquiring a first inertial navigation detection parameter based on the inertial navigation module;

acquiring a first communication navigation detection parameter based on the mobile communication module;

acquiring a first satellite navigation detection parameter detected by the satellite navigation module;

11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.