Unmanned aerial vehicle high-precision positioning method based on TDOA and FDOA

Abstract

The invention discloses an unmanned aerial vehicle high-precision positioning method based on TDOA and FDOA, wherein the method comprises the following steps: receiving a TDOA measurement value and anFDOA measurement value through a receiving station in space, and enabling the TDOA measurement value and the FDOA measurement value to be equivalent to a distance difference measurement value and a distance difference change rate measurement value; performing joint estimation on the position coordinates of the receiving station to construct a to-be-estimated vector; constructing expressions between the corresponding distance difference measurement value, the distance difference change rate measurement value and the receiving station position measurement value and the to-be-estimated vector; solving a nonlinear weighted least square optimization model of a cost error function; solving an optimal closed-form solution of the to-be-estimated vector through Taylor series joint iteration; and obtaining the position and speed of the target when an iteration termination condition is satisfied. According to the method, the position coordinates of the receiving station are subjected to joint iterative estimation, so that the influence of the position error of the receiving station on the positioning precision is reduced; and a more accurate iterative initial value is provided by utilizing positioning error correction, and the target positioning precision is improved while the convergence is ensured and the convergence speed is improved.

Description

technical field [0001] The invention relates to a positioning method for an unmanned aerial vehicle, in particular to a high-precision positioning method for an unmanned aerial vehicle based on TDOA and FDOA. Background technique [0002] With the rapid development of science and technology in today's world, the form of war has also undergone fundamental changes. War under modern high-tech conditions is a multi-dimensional integrated war based on information technology and involving sea, land, air, space, electricity and other fields. Among them, electronic warfare plays a dominant role, and the precise positioning and tracking of radiation sources is a very important function of modern electronic warfare systems. In the military field, accurate estimation of radiation source status information is helpful for the acquisition of battlefield intelligence and the use of precision-guided weapons, and can provide strong support for striking enemy targets; in the civilian field, ...

AI Technical Summary

Problems solved by technology

However, due to the fixed frequency band of its radiated electromagnetic waves, it is easy to be discovered and tracked by the enemy, and then it will be attacked by targeted electronic interference and precision guided weapons, which will not only reduce the positioning performance of the target, but also endanger the safety of the positioning system.

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