Integrated navigation relative positioning method
A technology of relative positioning and integrated navigation, applied in the field of navigation, can solve problems such as no signal, inaccurate positioning methods, and inability to play positioning functions
Active Publication Date: 2019-01-11
SOUTHEAST UNIV
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Problems solved by technology
[0003] The traditional positioning method of observing the map environment through maps and compass is not so accurate. In complex combat environments such as mountains, jungles, buildings, and caves, the search and positioning GPS module often cannot perform positioning functions because there is no signal.
The solution has evolved from simple strapdown inertial navigation system navigation to strapdown inertial navigation system plus geomagnetic information system, which replaces GPS combined personnel's independent positioning, but its positioning is not accurate. Search and positioning needs in complex combat environments such as jungles, buildings, and caves provide reserves for new search and positioning technologies
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[0075] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0076] Aiming at TOA has the characteristics of high precision, less time-consuming ranging, and long transmission distance, the present invention uses TOA ranging technology to establish a navigation relative coordinate estimation model, which specifically includes the following steps:
[0077] There are N combatants distributed in a certain plane area under the two-dimensional coordinate system, Indicates the estimated position of the i-th person to be located in the relative coordinate system.
[0078] Such as figure 1 As shown, it is a schematic diagram of TOA distance measurement. Two persons i and j use TOA technology to measure mutual distance. The steps are as follows, T 1 Time, i sends an inquiry command to j, T2 time j receives the inquiry command, T3 is the time when j sends a response command to i, T4 is the tim...
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The invention discloses an integrated navigation relative positioning method. The method comprises the following steps that (1), a navigation relative positioning estimation model is established withcombination of the TOA ranging technology; (2), error of a ranging model is considered, a coordinate estimation model is transformed into a constrained nonlinear programming problem, the external penalty function method can gradually approach the feasible domain from a non-feasible solution, the Powell method can approach a local optimal solution, an optimization solution method is used for solving the optimal solution of the objective function; and (3), wireless communication and an integrated inertial navigation mathematical model are established, and accurate relative coordinates are obtained by Kalman filter fusion.
Description
technical field [0001] The invention belongs to the technical field of navigation, in particular to a relative positioning method for combined navigation. Background technique [0002] In the complex environment of earthquake rescue, anti-terrorist operations, field search and rescue and other emergencies, operators often need to determine their current location, and communicate the location information to their companions and superior commanders in time, so that operators can grasp their own location status, Ensuring safety is also conducive to the commander's comprehensive understanding of the posture of all personnel and coordinating the next action plan. [0003] The traditional positioning method of observing the map environment through maps and compass is not so accurate. In complex combat environments such as mountains, jungles, buildings, and caves, the search and positioning GPS module often cannot perform positioning functions because there is no signal. The solut...
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IPC IPC(8): G01S5/02G01C21/16
CPCG01C21/165G01S5/0294Y02T10/40
Inventor 刘锡祥许广富杨文强马晓爽刘贤俊
Owner SOUTHEAST UNIV