CN108398706A - A kind of cruise dispatching management information system and its method - Google Patents

Abstract

A cruise dispatch management system and method thereof, the system includes a GPS device, a calibration device, and anchor points of a plurality of mesh structures set on the deck of a cruise ship, and corresponding distances from anchor points of a plurality of mesh structures set on the deck of a cruise ship The vertical distance of the point is L and the anchor points of a plurality of mesh structures are arranged in the cabin of the cruise ship, and a plurality of tag devices are respectively equipped on the object S for dispatching and monitoring, and the first transceiver device is arranged at the stern of the cruise ship And the second transceiver device installed on the bow of the cruise ship, as well as the inertial navigation device, display device and control processor, can realize the real-time positioning of the cruise ship and the personnel in the cruise ship cabin, and can perform calibration updates in real time, which can improve the positioning accuracy, and It can realize seamless positioning, has strong applicability and low energy consumption, which makes up for the shortcomings of large compensation and calibration errors of inertial navigation devices, and improves the monitoring of cruise ships.

Description

A cruise dispatch management system and method thereof

technical field

The invention relates to the field of wireless satellite positioning, in particular to a cruise dispatch management system and method thereof.

Background technique

At present, with the vigorous development of marine and sea tourism business, it is necessary to pay attention to promoting the coordinated development of cruise transportation, land transportation, air transportation and other transportation methods, and continuously improve the technological content and innovation of ports and ships. By the end of 2020, the number of global cruise tourists is expected to exceed 30 million. With the increase in demand, investment in the cruise industry in various countries has also continued to increase, and the overall supply level of the cruise industry measured by carrying capacity has also continued to increase.

The supporting facilities of the cruise ship is a huge comprehensive supporting facility, which includes the supporting facilities and services of the cruise distribution and transportation hub center, the supporting facilities and services of the cruise government affairs and business information platform, the cruise facilities and its information platform, etc. Its huge structural framework A diverse system is required to complete it. From the practical experience of the development of the cruise industry, the development of the cruise economy needs to achieve scale through the aggregation of economic factors. Build the supporting facilities and services of the cruise government and business information platform, and form the characteristics of the cruise city information platform, that is, comprehensive networking, resource integration, collaborative operation, and incentive innovation have become the mainstream.

As an important system, the positioning system can provide services for other surrounding systems, as well as cruise supporting facilities, its staff, passengers and other parties. However, most of the cruise ships are sailing at sea for a long time, and most of the existing technologies use GPS equipment or inertial navigation devices to realize the positioning of the cruise ships. However, GPS positioning needs to meet certain vision and weather requirements, and there are often problems such as inability to search for satellites, large positioning errors, and long time. At the same time, it is impossible to locate the indoor environment in the cabin in real time. Most inertial navigation devices need to be calibrated, and long-term positioning will cause large errors. Moreover, the GPS equipment or the inertial navigation device needs to be continuously performed in real time, which consumes a lot of energy and takes a long time.

Moreover, the number of cruise staff or passengers has grown rapidly with the development of cruise ships, and the scheduling and management of personnel has become more and more complicated. Quick and accurate positioning of personnel can effectively control their behavior. However, the current positioning of personnel is still not accurate enough. , unable to effectively meet the requirements of accurate scheduling management.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a cruise ship scheduling management system and its method, which can realize the real-time positioning of the cruise ship and the personnel in the cruise ship cabin, and can perform calibration update in real time, can improve the positioning accuracy, and It can realize seamless positioning, has strong applicability and low energy consumption, which makes up for the shortcomings of large compensation and calibration errors of inertial navigation devices, and improves the monitoring and dispatching management efficiency of cruise ships.

The invention provides a cruise scheduling management system, which includes a GPS device arranged on the top of the cruise ship, a calibration device set at a vertical distance L from the GPS device, and a plurality of anchors with a mesh structure set on the deck of the cruise ship points, and the corresponding vertical distances from the anchor points of multiple mesh structures on the deck of the cruise ship are L and the anchor points of multiple mesh structures arranged in the cabin of the cruise ship, and multiple The tag equipment on the monitored object S, and the first transceiver device arranged at the stern of the cruise ship and the second transceiver device arranged at the bow of the cruise ship, as well as the inertial navigation device, display device and control processor, and the GPS device includes a transmitter;

The GPS device, the calibration device, multiple anchor points, the inertial navigation device, the display device, the first transceiver device and the second transceiver device are respectively connected to the control processor, and the multiple tag devices are wirelessly connected to the multiple anchor points;

Among them, the anchor points of multiple mesh structures set on the deck of the cruise ship, the relative position information of the first transceiver device and the second transceiver device and the GPS device are known, the anchor points of the multiple mesh structures set in the cabin of the cruise ship and the calibration The relative position information of the devices is known, and the first transceiver device, the second transceiver device and the GPS device are located on the same straight line on the projection plane.

Further, each tag device includes a wireless transceiver.

Further, the tag device has its own ID.

Further, the control processor calculates and obtains the sailing speed v of the cruise ship through the following formula:

R=(tt _s )·c;

v=d/c;

Among them, c is the speed of light, ts is the moment when the transmitter transmits signals to the first transceiver device and the second transceiver device simultaneously, t is the moment when the first transceiver device or the second transceiver device receives the signal transmitted by the GPS device, and b is the GPS device The vertical distance from the first transceiver device or the second transceiver device, a is the vertical distance from the first transceiver device or the second transceiver device to the GPS device.

Further, the relative position information of the anchor points of the plurality of mesh structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device and the GPS device is the anchor points of the plurality of mesh structures set on the deck of the cruise ship, the first The linear distance, vertical distance and height difference between the transceiver device and the second transceiver device and the GPS device.

The present invention also provides a cruise dispatching management method, the sequence includes the following steps:

(1) Initially calibrate the cruise dispatch management system when the cruise ship is stationary;

(2) The GPS device receives the satellite data from the satellite, and obtains its own coordinates G (x, y, z) after solving by the control processor;

(3) Based on the coordinates G(x, y, z) of the GPS device, use the relative positions of multiple mesh-structured anchor points, the first transceiver device and the second transceiver device, the calibration device and the GPS device set on the deck of the cruise ship Information, obtain the position coordinates of the anchor points of a plurality of network structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device, and the calibration device respectively;

(4) Based on the position coordinates of the anchor points of a plurality of network structures set on the deck of the cruise ship, the position coordinates of the anchor points of the multiple network structures set in the cabin of the cruise ship are obtained;

(5) The control processor sends a positioning request signal to the dispatching and monitoring object S on the deck of the cruise ship using anchor points of multiple mesh structures set on the deck of the cruise ship, and/or utilizes multiple mesh structures set in the cabin of the cruise ship The anchor point sends a positioning request signal to the dispatching and monitoring object S in the cabin of the cruise ship, and the corresponding tag device sends the positioning signal to the corresponding anchor point after receiving it;

(6) The positioning signal received by the corresponding anchor point is sent to the control processor, and the position information of the corresponding scheduling and monitoring object S is obtained through settlement, and displayed by the display device;

(7) Obtain the motion parameters of the cruise ship. When the GPS positioning conditions are met, the positioning information obtained by the GPS device is used as the position information of the GPS device; when the GPS positioning conditions are not satisfied, the motion parameters are used as auxiliary positioning information, combined with the GPS device to obtain The historical positioning information is calculated to obtain the position information at the position of the GPS device, and steps (3)-(6) are repeated.

Further, step (1) is specifically:

(1.1) Utilize the transmitter to transmit signals at the same time to the anchor points of multiple mesh structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device, the anchor points of the multiple mesh structures set on the deck of the cruise ship, The first transceiver device and the second transceiver device respectively receive the transmission signal, and respectively record the time when the transmission signal is received;

Utilize the calibration device to transmit the signal at the same time to the anchor points of multiple mesh structures set in the cabin of the cruise ship, and the anchor points of multiple mesh structures set in the cabin of the cruise ship receive the transmitted signals respectively, and record the received transmission signals respectively. the moment of the signal;

(1.2) Calculate respectively relative to the anchor points of multiple network structures set on the deck of the cruise ship, the time difference between the moment of transmitting signals and the moment of receiving signals of the first transceiver device and the second transceiver device, and obtain the multiple anchor points set on the deck of the cruise ship respectively. The anchor point of the mesh structure, the first transceiver device and the second transceiver device and the initial measurement distance of the GPS device;

Calculate the time difference between the time of transmitting signals and the time of receiving signals relative to the anchor points of multiple mesh structures set in the cabin of the cruise ship, and obtain the initial values of the anchor points of the multiple mesh structures set in the cabin of the cruise ship and the calibration device respectively. measuring distance;

(1.3) Compare the difference between the known distances and the initial measured distances of the anchor points of a plurality of mesh structures set on the deck of the cruise ship, the first transceiver device, the second transceiver device and the GPS device, and compare the distances of the cruise ship respectively The difference between the known distance and the initial measured distance between the anchor points of multiple mesh structures set in the cabin and the calibration device: if the difference is all zero, go to the next step, if at least one difference is not zero , then correspondingly adjust the positions of the anchor points of the multiple mesh structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device relative to the GPS device based on the difference, so that the positions of the multiple mesh structures set on the deck of the cruise ship The distances between the anchor point, the first transceiver device, the second transceiver device and the GPS device are the same as the known distances, and/or the corresponding anchor points of multiple mesh structures set in the cabin of the cruise ship are adjusted relative to the calibration device based on the difference position, so that the distance between the anchor points of the multiple mesh structures set in the cabin of the cruise ship and the calibration device is the same as the known distance, return to step (1.1).

Further, in step (7), the GPS positioning condition is satisfied that the number of visible satellites is at least 4.

Further, the acquisition of the motion parameters of the cruise ship is specifically:

(7.1) Obtain the sailing speed v of the cruise ship:

Make the vertical distance of the GPS device apart from the first transceiver device and the second transceiver device be b, the vertical distances of the first transceiver device and the second transceiver device from the GPS device are respectively a1 and a2, and the GPS device and the first transceiver device and the second transceiver device The measurement distances of the two transceiver devices are R1 and R2 respectively, and d1 and d2 are displacements calculated based on the first transceiver device and the second transceiver device respectively, and the calculation method is as follows:

R ₁ =(t ₁ -t _s )·c, R ₂ =(t ₂ -t _s )·c;

Let d=(d ₁ +d ₂ )/2, then the cruise speed v=d/c;

(7.2) Use the inertial navigation device to obtain the inertial navigation data of the cruise ship, compare the navigation speed v obtained in step (7.1) with the cruise ship's inertial navigation data, if the threshold condition is met, then the inertial navigation device will not be compensated and corrected, and enter the next step Steps; if not satisfied, perform compensation correction to the inertial navigation device;

(7.3) Acquire the inertial navigation data in real time based on the inertial navigation device, and use it as auxiliary positioning information.

Description of drawings

Figure 1 is a schematic diagram of the structure of the cruise dispatch management system.

Figure 2 is a top view of the cruise dispatch management system.

Figure 3 is a schematic diagram of the principle of personnel positioning on a cruise ship;

Figure 4 is a schematic diagram of the calibration update of the cruise dispatch management system.

Figure 5 is a schematic diagram of the circuit structure of the cruise dispatching management system.

Detailed ways

The concrete implementation of the present invention is described in detail below, it is necessary to point out here that the following implementation is only used for further description of the present invention, and can not be interpreted as limiting the protection scope of the present invention. Some non-essential improvements and adjustments still belong to the protection scope of the present invention.

The present invention provides a cruise dispatch management system and method thereof. As shown in accompanying drawings 1-5, the cruise dispatch management system includes a GPS device 1 (denoted as G point) arranged on the top of the cruise ship, and also includes distances from the GPS device 1. Calibration device 4 with vertical distance L. When the GPS positioning condition is met, that is, when the number of visible satellites is at least 4, the GPS device 1 receives satellite data from the satellites, obtains its own coordinates G(x, y, z) after calculation by the control processor. The position of the calibration device 4 is unknown, but as shown in Figure 1, the plane coordinates of the calibration device 4 are the same as those of the GPS device 1, except that the vertical coordinate has a difference of L, and the calibration can be obtained directly by using the coordinates G(x, y, z) Coordinates G'(x,y,z-L) of the device 4.

The dispatch management system also includes a plurality of anchor points 5 correspondingly set on the deck of the cruise ship and in the cabin. Figure 3 is a schematic diagram of the positioning principle of personnel on the cruise ship. Specifically, there are multiple anchor points on the deck of the cruise ship and form a network structure. The setting of the anchor points 5 is correspondingly arranged on the deck of the cruise ship and in the cabin of the cruise ship, that is, a plurality of anchor points 5 with mesh structures are arranged on the deck of the cruise ship, and anchor points 5 with a plurality of mesh structures correspondingly arranged in the cabin 5 and the plane coordinates of the anchor points 5 of multiple network structures set on the deck of the cruise ship are respectively the same, except that the corresponding vertical coordinates have a difference of L, and the anchor points 5 of multiple network structures set on the deck of the cruise ship are the same as The relative position information of GPS device 1 is known (the linear distance between the anchor point and the GPS device, the vertical distance and the height difference, etc.), so the anchor points 5 of a plurality of mesh structures arranged in the cabin of the cruise ship and their corresponding cruise ship decks The vertical coordinate difference between the anchor points 5 of the plurality of network structures set on the above is L.

Specifically, after the GPS device 1 receives satellite data and calculates its own coordinates G (x, y, z), it can obtain the position coordinates of anchor points 5 of multiple network structures set on the deck of the cruise ship based on the relative positional relationship, and at the same time In other words, the position coordinates of the anchor points 5 of a plurality of network structures set in the cabin of the cruise ship are obtained. As shown in Figure 3, the object that needs to be dispatched and monitored is S, then the object of dispatching and monitored on the deck can be positioned by using a plurality of anchor points 5 of the mesh structure set on the deck of the cruise ship, and the anchor point 5 set in the cabin of the cruise ship can be used to A plurality of network-structured anchor points 5 locate the dispatching and monitoring objects in the cabin, so that the real-time positioning of the dispatching and monitoring object S inside the cruise ship can be realized, and centralized dispatching management can be performed after displaying its position through the display device.

The dispatch management system includes multiple tag devices, each tag device includes a wireless transceiver device, and the objects S for dispatch monitoring are equipped with tag devices respectively. The object S is positioned and monitored. Specifically, for the real-time positioning of the cruise ship’s internal scheduling and monitoring object S, various methods such as TOA, TDOA, and RSSI can be used. Anchor implementation. In this way, the internal positioning system of the cruise ship is realized, and the coordinate system and the GPS coordinates adopt the same coordinate system, without further conversion, which is more convenient and intuitive.

The dispatch management system also includes a first transceiver device 2 arranged at the stern of the cruise ship and a second transceiver device 3 arranged at the bow of the cruise ship, wherein the first transceiver device 2, the second transceiver device 3 and the GPS device 1 are located on the same projection plane. in a straight line. The position information of the first transceiver device 2 and the second transceiver device 3 relative to the GPS device 1 is known.

The GPS device 1 includes a transmitter, and the transmitter transmits signals to the first transceiver device 2 and the second transceiver device 3 simultaneously at time ts, and the moments when the first transceiver device 2 and the second transceiver device 3 receive the signals are respectively denoted as t1 and t2 . As shown in FIG. 3 , when the cruise ship is stationary, after the GPS device 1 transmits a signal at point G, the first transceiver device 2 or the second transceiver device 3 should receive it at point P, and the distance between the GPS device 1 and the first transceiver device 2 is The distances from the second transceiver device 3 are r1 and r2 respectively.

However, since the cruise ship has a certain sailing speed v during the sailing process, there will be a certain deviation in the position where the signal is actually received, such as at point P'. Point P and P' have a certain displacement d, then the navigation speed v of the cruise ship can be obtained through calculation, and at the same time, the position coordinates of the anchor point 5 can be compensated and calibrated according to the navigation speed, and this compensation can be used when the GPS signal is lost The calibrated data is used for assisted positioning, and compensation and calibration can also be performed on the inertial navigation equipment, the calibration device 4, the first transceiver device 2 and the second transceiver device 3, etc., so as to realize seamless positioning. specific:

R=(tt _s )·c;

v=d/c;

Wherein, c is the speed of light, b is the vertical distance between the GPS device 1 and the first transceiver device 2 and the second transceiver device 3 , and a is the vertical distance between the first transceiver device 2 or the second transceiver device 3 and the GPS device 1 . In this way, the sailing speed v of the cruise ship can be obtained through calculation.

The calculation processes based on the first transceiver device 2 and the second transceiver device 3 are similar, and the principle is as shown in FIG. 4 . In the actual positioning process, when the cruise ship is stationary, the distances between the GPS device 1 and the first transceiver device 2 and the second transceiver device 3 are r1 and r2 respectively, and the distance between the GPS device 1 and the first transceiver device 2 and the second The vertical distance of the transceiver 3 is b, the vertical distances of the first transceiver 2 and the second transceiver 3 from the GPS device 1 are a1 and a2 respectively, the measurement of the GPS device 1 and the first transceiver 2 and the second transceiver 3 The distances are R1 and R2 respectively, d1 and d2 are displacements calculated based on the first transceiver device 2 and the second transceiver device 3 respectively, then for the first transceiver device 2:

R ₁ =(t ₁ -t _s )·c, R ₂ =(t ₂ -t _s )·c;

Normally, the calculated values of d1 and d2 should be the same, but due to the existence of errors, the two values will deviate, so in order to be more objective, to eliminate part of the error, set d=(d ₁ +d ₂ )/2 , then the cruise speed v=d/c.

In this way, the sailing speed of the cruise ship and the position information of the cruise ship can be finally obtained, and the cruise ship's sailing speed information can be used to compensate and correct the cruise ship's position information, and when the GPS signal is not available, the cruise ship's sailing speed can be used to achieve auxiliary positioning , as well as the calibration of the inertial navigation equipment, and the auxiliary positioning performed in cooperation with the inertial navigation equipment.

In the actual scheduling management process, the sequence of the cruise scheduling management method includes the following steps:

(1) Initially calibrate the cruise dispatch management system when the cruise ship is stationary;

(1.1) Utilize the transmitter to transmit signals at the same time to the anchor points of multiple mesh structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device, the anchor points of the multiple mesh structures set on the deck of the cruise ship, The first transceiver device and the second transceiver device respectively receive the transmission signal, and respectively record the time when the transmission signal is received;

Utilize the calibration device to transmit the signal at the same time to the anchor points of multiple mesh structures set in the cabin of the cruise ship, and the anchor points of multiple mesh structures set in the cabin of the cruise ship receive the transmitted signals respectively, and record the received transmission signals respectively. the moment of the signal;

(1.2) Calculate respectively relative to the anchor points of multiple network structures set on the deck of the cruise ship, the time difference between the moment of transmitting signals and the moment of receiving signals of the first transceiver device and the second transceiver device, and obtain the multiple anchor points set on the deck of the cruise ship respectively. The anchor point of the mesh structure, the first transceiver device and the second transceiver device and the initial measurement distance of the GPS device;

Calculate the time difference between the time of transmitting signals and the time of receiving signals relative to the anchor points of multiple mesh structures set in the cabin of the cruise ship, and obtain the initial values of the anchor points of the multiple mesh structures set in the cabin of the cruise ship and the calibration device respectively. measuring distance;

(1.3) Compare the difference between the known distances and the initial measured distances of the anchor points of a plurality of mesh structures set on the deck of the cruise ship, the first transceiver device, the second transceiver device and the GPS device, and compare the distances of the cruise ship respectively The difference between the known distance and the initial measured distance between the anchor points of multiple mesh structures set in the cabin and the calibration device: if the difference is all zero, go to the next step, if at least one difference is not zero , then correspondingly adjust the positions of the anchor points of the multiple mesh structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device relative to the GPS device based on the difference, so that the positions of the multiple mesh structures set on the deck of the cruise ship The distances between the anchor point, the first transceiver device, the second transceiver device and the GPS device are the same as the known distances, and/or the corresponding anchor points of multiple mesh structures set in the cabin of the cruise ship are adjusted relative to the calibration device based on the difference position, so that the distance between the anchor points of the multiple mesh structures set in the cabin of the cruise ship and the calibration device is the same as the known distance, return to step (1.1).

(2) The GPS device receives the satellite data from the satellite, and obtains its own coordinates G (x, y, z) after solving by the control processor;

(3) Based on the coordinates G(x, y, z) of the GPS device, use the relative positions of multiple mesh-structured anchor points, the first transceiver device and the second transceiver device, the calibration device and the GPS device set on the deck of the cruise ship Information, obtain the position coordinates of the anchor points of a plurality of network structures set on the deck of the cruise ship, the first transceiver device and the second transceiver device, and the calibration device respectively;

(4) Based on the position coordinates of the anchor points of a plurality of network structures set on the deck of the cruise ship, the position coordinates of the anchor points of the multiple network structures set in the cabin of the cruise ship are obtained;

(5) The control processor sends a positioning request signal to the dispatching and monitoring object S on the deck of the cruise ship using anchor points of multiple mesh structures set on the deck of the cruise ship, and/or utilizes multiple mesh structures set in the cabin of the cruise ship The anchor point sends a positioning request signal to the dispatching and monitoring object S in the cabin of the cruise ship, and the corresponding tag device sends the positioning signal to the corresponding anchor point after receiving it;

(6) The positioning signal received by the corresponding anchor point is sent to the control processor, and the position information of the corresponding scheduling and monitoring object S is obtained through settlement, and displayed by the display device;

(7) Obtain the motion parameters of the cruise ship. When the GPS positioning conditions are met, that is, the number of visible satellites is at least 4, and the positioning information obtained by the GPS device is used as the position information of the GPS device; when the GPS positioning conditions are not met, the motion parameters are used. As auxiliary positioning information, the historical positioning information acquired by the GPS device is used for calculation to obtain the position information at the position of the GPS device, and steps (3)-(6) are repeated.

The motion parameters of the acquisition of the cruise ship are specifically:

(7.1) Obtain the sailing speed v of the cruise ship:

Make the vertical distance of the GPS device apart from the first transceiver device and the second transceiver device be b, the vertical distances of the first transceiver device and the second transceiver device from the GPS device are respectively a1 and a2, and the GPS device and the first transceiver device and the second transceiver device The measurement distances of the two transceiver devices are R1 and R2 respectively, and d1 and d2 are displacements calculated based on the first transceiver device and the second transceiver device respectively, and the calculation method is as follows:

R ₁ =(t ₁ -t _s )·c, R ₂ =(t ₂ -t _s )·c;

Let d=(d ₁ +d ₂ )/2, then the cruise speed v=d/c;

(7.2) Use the inertial navigation device to obtain the inertial navigation data of the cruise ship, compare the navigation speed v obtained in step (7.1) with the cruise ship's inertial navigation data, if the threshold condition is met, then the inertial navigation device will not be compensated and corrected, and enter the next step Steps; if not satisfied, perform compensation correction to the inertial navigation device;

(7.3) Acquire the inertial navigation data in real time based on the inertial navigation device, and use it as auxiliary positioning information.

Although exemplary embodiments of the present invention have been described for purposes of illustration, workers skilled in the art will understand that changes may be made in form and detail without departing from the scope and spirit of the invention as disclosed in the appended claims. Make various modifications, additions and replacements, etc., and all these changes should belong to the protection scope of the appended claims of the present invention, and each step in each department and method of the product claimed in the present invention can be combined in any form together. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments but by the claims or their equivalents.

Claims (9)

1. a kind of cruise dispatching management information system, it is characterised in that：GPS device including being set to cruise top, and distance GPS The vertical range of device is the anchor point of the calibrating installation being arranged at L and the multiple reticular structures being arranged on cruise deck, and The vertical range of the anchor point of the corresponding multiple reticular structures being arranged on cruise deck is at L and to be set to cruise The anchor point of multiple reticular structures in cabin and it is multiple be equipped in the labeling apparatus on the object S of dispatching and monitoring, And be set to cruise stern the first R-T unit and be set to cruise fore the second R-T unit and inertial nevigation apparatus, Display device and control processor, GPS device include transmitter；

GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, display device, the first R-T unit and the second R-T unit point It is not connect with control processor, multiple labeling apparatus are connect with multiple anchor point wireless telecommunications；

Anchor point, the first R-T unit and the second R-T unit and GPS for the multiple reticular structures being wherein arranged on cruise deck fill The relative position information set it is known that the anchor point and calibrating installation for the multiple reticular structures being arranged in the cabin of cruise relative position Information is it is known that the first R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane.

2. the system as claimed in claim 1, it is characterised in that：Each labeling apparatus includes wireless transmitter.

3. system as claimed in claim 1 or 2, it is characterised in that：Labeling apparatus has the ID of its own.

4. system as claimed in claim 3, it is characterised in that：Control processor calculates the boat for obtaining cruise by following formula Scanning frequency degree v：

R=(t-t_s)·c；

V=d/c；

Wherein, c is the light velocity, and at the time of ts is that transmitter emits signal to the first R-T unit and the second R-T unit simultaneously, t is At the time of first R-T unit or the second R-T unit receive GPS device transmitting signal, b receives and dispatches for GPS device distance first The vertical range of device or the second R-T unit, a be the first R-T unit or the second R-T unit apart from GPS device it is vertical away from From.

5. system as claimed in claim 4, it is characterised in that：The anchor point for the multiple reticular structures being arranged on cruise deck, One R-T unit and the second R-T unit and the relative position information of GPS device are the multiple reticular structures being arranged on cruise deck Anchor point, air line distance, vertical range and difference in height between the first R-T unit and the second R-T unit and GPS device.

6. a kind of schedule management method using such as the claims 1-5 any one of them cruise dispatching management information systems, It is characterized in that, sequentially includes the following steps：

(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；

(2) GPS device receive the satellite data from satellite, obtained after being resolved by control processor itself coordinate G (x, y, z)；

(3) the coordinate G (x, y, z) based on GPS device, utilizes the anchor point for the multiple reticular structures being arranged on cruise deck, first The relative position information of R-T unit and the second R-T unit, calibrating installation and GPS device obtains be arranged on cruise deck respectively The anchor points of multiple reticular structures, the first R-T unit and the second R-T unit, calibrating installation, position coordinates；

(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck obtain setting in the cabin of cruise Multiple reticular structures anchor point position coordinates；

(5) control processor sends positioning request signal to cruise using the anchor point for the multiple reticular structures being arranged on cruise deck The object S of dispatching and monitoring on deck, and/or send positioning using the anchor point for the multiple reticular structures being arranged in the cabin of cruise The object S of dispatching and monitoring in request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal to correspondence Anchor point at；

(6) it is sent to control processor after the positioning signal that corresponding anchor point receives, corresponding dispatching and monitoring is obtained through clearing The location information of object S, is shown by display device；

(7) obtain cruise kinematic parameter, when meeting GPS positioning condition, using GPS device obtain location information as The location information of GPS device；When being unsatisfactory for GPS positioning condition, using kinematic parameter as auxiliary positioning information, in conjunction with GPS The history location information that device obtains carries out resolving the location information obtained at GPS device position, repeats step (3)-(6).

7. system as claimed in claim 6, it is characterised in that：Step (1) is specially：

(1.1) utilize multiple reticular structures that transmitter is arranged on synchronization transmitting signal to cruise deck anchor point, the One R-T unit and the second R-T unit, anchor point, the first R-T unit and of the multiple reticular structures being arranged on cruise deck Two R-T units receive respectively transmitting signal, and respectively record receive transmitting signal at the time of；

Emit the anchor point for the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting, The anchor point for the multiple reticular structures being arranged in the cabin of cruise receives transmitting signal respectively, and record receives transmitting signal respectively At the time of；

(1.2) anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and second are calculated separately The transmitting signal moment of R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple netted respectively The initial measurement distance of the anchor point of structure, the first R-T unit and the second R-T unit and GPS device；

It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and receives and believe The time difference at number moment obtains the initial survey of the anchor point and calibrating installation of the multiple reticular structures being arranged in the cabin of cruise respectively Span from；

(1.3) anchor point, the first R-T unit, the second R-T unit of the multiple reticular structures being arranged on cruise deck are respectively compared The difference between the known distance and initial measurement of GPS device distance, and be respectively compared be arranged in the cabin of cruise it is more Difference between the anchor point of a reticular structure and the known distance of calibrating installation and initial measurement distance：If difference is all zero, Then enter next step, it is corresponding more based on being arranged on difference adjustment cruise deck if at least one difference is not zero The position of the anchor point of a reticular structure, the first R-T unit and the second R-T unit relative to GPS device so that on cruise deck The anchor point for the multiple reticular structures being arranged, the first R-T unit, the second R-T unit at a distance from GPS device with known distance phase The anchor point for the multiple reticular structures being arranged together and/or in the corresponding cabin for adjusting cruise based on difference is relative to calibrating installation Position so that the anchor point for the multiple reticular structures being arranged in the cabin of cruise at a distance from calibrating installation with known distance phase Together, return to step (1.1).

8. method as claimed in claims 6 or 7, it is characterised in that：It is visible satellite to meet GPS positioning condition in step (7) Quantity is at least 4.

9. method as claimed in claim 6, it is characterised in that：The kinematic parameter for obtaining cruise, specially：

(7.1) the headway v of cruise is obtained：

Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and second Vertical range of the R-T unit apart from GPS device is respectively a1 and a2, GPS device and the first R-T unit and the second R-T unit Measurement distance be respectively R1 and R2, d1 and d2 are respectively the position being calculated based on the first R-T unit and the second R-T unit It moves, calculation is as follows：

R₁=(t₁-t_s) c, R₂=(t₂-t_s)·c；

Enable d=(d₁+d₂)/2, then the headway v=d/c of cruise；

(7.2) inertial nevigation apparatus is utilized to obtain the inertial guidance data of cruise, the headway v that step (7.1) is obtained and cruise it is used Derivative if meeting threshold condition, does not compensate correction, into next step according to being compared to inertial nevigation apparatus；If It is unsatisfactory for, then correction is compensated to inertial nevigation apparatus；

(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.