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Large-scale formation relative navigation method

A relative navigation and large-scale technology, applied in the field of relative navigation, can solve problems such as inability to accommodate multiple situations of multiple navigation members, time difference, etc., and achieve the effect of reducing cost and weight, simple in principle, and easy to implement

Inactive Publication Date: 2010-05-19
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention provides a large-scale formation relative navigation method in order to solve the problem that the existing relative navigation technology cannot deal with the situation of time difference, and cannot accommodate multiple navigation members and adapt to various situations.

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specific Embodiment approach 1

[0031] Specific implementation mode one: combine figure 1 , figure 2 , image 3 and Figure 4 Description of this embodiment, a large-scale formation relative navigation method is realized based on the following system, the system is composed of multiple formation members, and each formation member includes network equipment, navigation equipment, network communication units and core algorithms The network device is composed of a network controller and a network connection device. The core algorithm unit is composed of a data interpretation module, an algorithm scheduling module, an initial value estimation module and a filtering algorithm module. The data input / output port of the network device is connected to the network The network data input / output port of the communication unit is connected, the data output port of the navigation equipment is connected with the navigation data input port of the network communication unit, the data output port of the network communicati...

specific Embodiment approach 2

[0065] Specific implementation mode two: combination figure 1 and Figure 5 Describe this embodiment, the difference between this embodiment and specific embodiment 1 is that the structure of each formation member also includes an interface display unit, and the interface display unit is used to display the relative distance between each formation member in the entire formation , estimated position and trajectory, and the topology of the entire formation.

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Abstract

The invention relates to a large-scale formation relative navigation method, which relates to the field of relative navigation and can solve the problem that the existing relative navigation technology can not adapt to a variety of situations. The method comprises the following steps: 1) using a formation system for designating the point of origin of a coordinate of the relative navigation, selecting n members from the formation as navigation base stations, and selecting two virtual navigation base stations if the number of the navigation base stations is less than 2; 2) using an initial value estimation module for estimating the positions and the speeds of the members of the formation relative to the point of origin of the coordinate or the virtual point of origin of the coordinate when the algorithm starts to operate, and taking the estimation results as the initial values for starting the filter algorithm; 3) using a filter algorithm module for constantly predicting and amending the member state, and obtaining the positions and the speeds of the members of the formation relative to the point of origin of the coordinate or the virtual point of origin of the coordinate; and 4) outputting the positions and the speeds relative to the point of origin of the coordinate or the virtual point of origin of the coordinate. The method can reduce the cost and the weight of the members of the formation, and the principle is simple and easy to realize, thereby being applicable to realizing the relative navigation under a variety of situations.

Description

technical field [0001] The present invention relates to the field of relative navigation. Background technique [0002] Relative navigation is a key technology for formation missions, but most of the current navigation methods require complex navigation equipment. Most navigation algorithms are aimed at synchronous measurement information, and the navigation method with time difference between measurement information (such as time division multiple access mode) has not been studied yet. Moreover, all navigation methods are designed for a specific situation, and navigation methods that can accommodate multiple navigation members and adapt to various situations have not yet appeared. , Simple and reliable relative navigation simulation software. Contents of the invention [0003] The present invention provides a large-scale formation relative navigation method in order to solve the problems that the existing relative navigation technology cannot deal with the situation of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20H04W84/18
Inventor 曹喜滨邢艳军张锦绣张世杰
Owner HARBIN INST OF TECH
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