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Self-localization and self-tracking method of maneuvering flying target with single radiation source

A technology of maneuvering flight and radiation source, applied in positioning, instruments, complex mathematical operations, etc., can solve the problem of self-positioning and self-tracking of a single radiation source maneuvering flight target, and achieve the effect of improving wide adaptability and tracking accuracy

Inactive Publication Date: 2021-06-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the prior art cannot realize the self-positioning and self-tracking of a single radiation source maneuvering target, the present invention provides a single radiation source maneuvering target self-positioning and self-tracking method

Method used

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  • Self-localization and self-tracking method of maneuvering flying target with single radiation source
  • Self-localization and self-tracking method of maneuvering flying target with single radiation source
  • Self-localization and self-tracking method of maneuvering flying target with single radiation source

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specific Embodiment approach 1

[0043] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 The present embodiment is described. The self-positioning and self-tracking method of the single radiation source maneuvering target provided in the present embodiment specifically includes the following steps:

[0044] Step 1, the maneuvering target receives the round-trip time from the maneuvering target to a single radiation source in real time, thereby obtaining real-time pseudo-range information;

[0045] Step 2. Obtain the altimetry information of the maneuvering target. If the altimeter information of the maneuvering target can be obtained, the relative motion time accumulation self-positioning pseudo-measurement acquisition algorithm is used to obtain the pseudo-measurement of the maneuvering target, so as to realize the maneuvering target Self-positioning; if the altimetry information of the maneuvering flight target cannot be obtained, the pseudo-measurement acquisition al...

specific Embodiment approach 2

[0066] Specific implementation mode two: as Figure 5 As shown, the difference between this embodiment and the first embodiment is that the specific process of interactive multi-model filtering described in step three includes:

[0067] The Interacting Multiple Model (IMM) algorithm assumes multiple filtering models to fully describe the maneuvering target. The input interaction step is completed by calculating the model probability and model transition probability during the filtering process. The data after interaction It is the model input of IMM. The model probability is updated through the model probability estimator. Finally, different models are interacted through the interactor to obtain the fusion value of multiple model states and corresponding covariances. After estimating the mixer, the result is output.

[0068] Step 31. Input interaction:

[0069] Assuming that the interactive multi-model is composed of n sub-models, the initial state of each sub-model is inter...

specific Embodiment approach 3

[0077] Embodiment 3: This embodiment differs from Embodiment 2 in that the sub-model described in step 31 is a Kalman filter model.

[0078] Other steps and parameters are the same as in the second embodiment.

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Abstract

The invention provides a self-positioning and self-tracking method for a maneuvering flight target with a single radiation source, and belongs to the technical field of aircraft positioning and navigation. The present invention firstly receives the round-trip time from the maneuvering target to a single reference radiation source in real time, and obtains real-time pseudo-range information; then, acquires the altimetry information of the maneuvering target, and if it can be acquired, uses relative motion time to accumulate self-positioning pseudo-range information. The measurement acquisition algorithm obtains the pseudo-measurement of the maneuvering target. If it cannot be obtained, the pseudo-measurement of the maneuvering target is obtained by using the two-circle intersecting self-positioning pseudo-measurement acquisition algorithm to realize the self-positioning of the maneuvering target; Interactive multi-model filtering is performed on the pseudo-measurement; it is repeated until the tracking is completed, and finally the motion track of the maneuvering flight target is formed. The invention solves the problem that the prior art cannot realize self-positioning and self-tracking of a maneuvering flight target with a single radiation source. The invention can be used for aircraft positioning and tracking.

Description

technical field [0001] The invention relates to a self-positioning and self-tracking method for a maneuvering flight target, and belongs to the technical field of aircraft positioning and navigation. Background technique [0002] The self-positioning and self-tracking of maneuvering flying targets involves a variety of combat units and plays an irreplaceable role in national defense construction. At the same time, the development of UAVs has also shown its potential application and development in civilian applications. In an environment where there are multiple reference radiation sources, the multi-radiation source TDOA (Time Difference of Arrival) positioning algorithm can be used to achieve positioning. However, considering the actual situation, if the environment is relatively harsh, the number of reference radiation sources is too small , in the extreme case there is only one, and the traditional positioning algorithm cannot realize the self-positioning function of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/10
CPCG01S5/02G01S5/0294
Inventor 刘梅赵佳旻曲世勃
Owner HARBIN INST OF TECH
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