Airborne anti-electromagnetic interference positioning method and device

Abstract

The present invention discloses an airborne anti-electromagnetic interference positioning method and device, which can be used in the field of remote monitoring. The method comprises: filtering electromagnetic signals to obtain filtered electromagnetic signals; extracting electromagnetic signal features of the filtered electromagnetic signals to construct an observation model of the aircraft to be positioned; constructing a motion equation of the aircraft to be positioned and a motion model of the aircraft to be positioned; linearizing the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix, updating the state transfer matrix using the linear observation matrix to obtain an updated state transfer matrix; predicting the predicted posture of the aircraft to be positioned using the updated state transfer matrix, calculating the determination coefficient of the predicted posture, and determining the positioning information of the aircraft to be positioned using the predicted posture. The present invention can improve the positioning accuracy of aircraft under electromagnetic interference.

Description

Technical Field

[0001] The present invention relates to the field of remote monitoring, and in particular to an airborne anti-electromagnetic interference positioning method and device. Background Art

[0002] This section is intended to provide a background or context to embodiments of the present invention. No description herein is admitted to be prior art by virtue of its inclusion in this section.

[0003] Airborne anti-electromagnetic interference positioning refers to the use of specific technical measures and equipment in airborne environments such as aircraft or aircraft to combat external electromagnetic interference, ensuring that the positioning system can work accurately and stably. Airborne anti-electromagnetic interference positioning ensures flight safety and improves the reliability of the navigation and positioning system.

[0004] At present, airborne anti-electromagnetic interference positioning is mainly achieved by collecting flight data of aircraft under electromagnetic interference, and simulating the aircraft's navigation trajectory through the flight data for positioning. Since the electromagnetic interference environment of the aircraft will change, this method cannot accurately predict the flight trajectory of the aircraft, resulting in inaccurate airborne anti-electromagnetic interference positioning. Summary of the invention

[0005] The embodiment of the present invention provides an airborne anti-electromagnetic interference positioning method, which is used to improve the positioning accuracy of an aircraft under electromagnetic interference and ensure flight safety. The method includes:

[0006] Collect flight data and electromagnetic signals of the aircraft to be located, identify filtering requirements of the electromagnetic signals, filter the electromagnetic signals according to the filtering requirements, and obtain filtered electromagnetic signals;

[0007] Extracting electromagnetic signal features of the filtered electromagnetic signal, and constructing an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features;

[0008] Determine the flight state of the aircraft to be located according to the flight data, construct a motion equation of the aircraft to be located according to the flight state, the motion equation is a mechanical equation used to represent the flight law of the aircraft to be located, and construct a motion model of the aircraft to be located according to the motion equation, the motion model is used to predict the motion trajectory of the aircraft to be located;

[0009] Linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix, wherein the linear observation matrix is ​​a matrix obtained after linearizing the observation model, and the state transfer matrix is ​​a matrix obtained after linearizing the motion model, and the state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix;

[0010] The predicted position and posture of the aircraft to be positioned is predicted according to the updated state transfer matrix, and the determination coefficient of the predicted position and posture is calculated. The determination coefficient is used to indicate the accuracy of the predicted position and posture. When the determination coefficient reaches a preset standard, the positioning information of the aircraft to be positioned is determined according to the predicted position and posture.

[0011] The embodiment of the present invention further provides an airborne anti-electromagnetic interference positioning device, which is used to improve the positioning accuracy of an aircraft under electromagnetic interference and ensure flight safety. The device includes:

[0012] The electromagnetic signal filtering module is used to collect flight data and electromagnetic signals of the aircraft to be located, identify the filtering requirements of the electromagnetic signals, filter the electromagnetic signals according to the filtering requirements, and obtain filtered electromagnetic signals;

[0013] An observation model building module is used to extract electromagnetic signal features of the filtered electromagnetic signal, and to build an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features;

[0014] A motion model building module is used to determine the flight state of the aircraft to be located according to the flight data, and to build a motion equation of the aircraft to be located according to the flight state. The motion equation is a mechanical equation used to represent the flight law of the aircraft to be located. According to the motion equation, a motion model of the aircraft to be located is built, and the motion model is used to predict the motion trajectory of the aircraft to be located.

[0015] A transfer matrix update module is used to linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix. The linear observation matrix is ​​a matrix obtained after linearizing the observation model, and the state transfer matrix is ​​a matrix obtained after linearizing the motion model. The state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix.

[0016] The positioning module is used to predict the predicted posture of the aircraft to be positioned according to the updated state transfer matrix, calculate the determination coefficient of the predicted posture, and the determination coefficient is used to indicate the accuracy of the predicted posture. When the determination coefficient reaches a preset standard, the positioning information of the aircraft to be positioned is determined according to the predicted posture.

[0017] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned airborne anti-electromagnetic interference positioning method when executing the computer program.

[0018] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned airborne anti-electromagnetic interference positioning method is implemented.

[0019] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned airborne anti-electromagnetic interference positioning method is implemented.

[0020] In an embodiment of the present invention, flight data and electromagnetic signals of an aircraft to be located are collected, filtering requirements of the electromagnetic signals are identified, and the electromagnetic signals are filtered according to the filtering requirements to obtain filtered electromagnetic signals; electromagnetic signal characteristics of the filtered electromagnetic signals are extracted, and an observation model of the aircraft to be located is constructed according to the electromagnetic signal characteristics, and the observation model is used to analyze the posture information of the aircraft to be located according to the electromagnetic signal characteristics; the flight state of the aircraft to be located is determined according to the flight data, and a motion equation of the aircraft to be located is constructed according to the flight state, and the motion equation is a mechanical equation used to represent the flight law of the aircraft to be located, and a motion model of the aircraft to be located is constructed according to the motion equation. The motion model is used to predict the motion trajectory of the aircraft to be located; the observation model and the motion model are linearized to obtain a linear observation matrix and a state transfer matrix, wherein the linear observation matrix is ​​a matrix obtained after the observation model is linearized, and the state transfer matrix is ​​a matrix obtained after the motion model is linearized; the state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix; the predicted posture of the aircraft to be located is predicted according to the updated state transfer matrix, and the determination coefficient of the predicted posture is calculated, wherein the determination coefficient is used to indicate the accuracy of the predicted posture, and when the determination coefficient reaches a preset standard, the positioning information of the aircraft to be located is determined according to the predicted posture. In this way, by filtering the electromagnetic signal, extracting the electromagnetic signal features according to the filtered electromagnetic signal, constructing the observation model and the motion model of the aircraft, and determining the linear observation matrix and the state transfer matrix according to the observation model and the motion model, the realization and calculation complexity of the aircraft state estimation are effectively simplified, and then the predicted posture of the aircraft is determined, and then the aircraft positioning information is predicted, the accuracy of the positioning estimation is improved, the aircraft positioning is predicted based on the electromagnetic signal, and the positioning accuracy of the aircraft under the electromagnetic interference state is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 A flow chart of an airborne anti-electromagnetic interference positioning method provided in an embodiment of the present invention;

[0023] Figure 2 A flowchart of constructing a filtered electromagnetic signal provided in an embodiment of the present invention;

[0024] Figure 3 A flowchart of extracting electromagnetic signal features provided in an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of an airborne anti-electromagnetic interference positioning device provided in an embodiment of the present invention;

[0026] Figure 5 It is a structural block diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0028] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0029] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps is not limited and can be appropriately adjusted as needed.

[0030] The embodiment of the present invention provides an airborne anti-electromagnetic interference positioning method, such as Figure 1 As shown, including:

[0031] Step 101: collecting flight data and electromagnetic signals of the aircraft to be located, identifying filtering requirements of the electromagnetic signals, filtering the electromagnetic signals according to the filtering requirements, and obtaining filtered electromagnetic signals;

[0032] Step 102: extracting electromagnetic signal features of the filtered electromagnetic signal, and constructing an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features;

[0033] Step 103: determining the flight state of the aircraft to be located according to the flight data, constructing a motion equation of the aircraft to be located according to the flight state, wherein the motion equation is a mechanical equation used to represent the flight law of the aircraft to be located, and constructing a motion model of the aircraft to be located according to the motion equation, wherein the motion model is used to predict the motion trajectory of the aircraft to be located;

[0034] Step 104: Linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix, wherein the linear observation matrix is ​​a matrix obtained by linearizing the observation model, and the state transfer matrix is ​​a matrix obtained by linearizing the motion model, and the state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix;

[0035] Step 105: Predict the predicted position and posture of the aircraft to be positioned according to the updated state transfer matrix, and calculate the determination coefficient of the predicted position and posture. The determination coefficient is used to indicate the accuracy of the predicted position and posture. When the determination coefficient reaches a preset standard, the positioning information of the aircraft to be positioned is determined according to the predicted position and posture.

[0036] The airborne anti-electromagnetic interference positioning method proposed in the embodiment of the present invention can effectively filter electromagnetic signals to obtain filtered electromagnetic signals that meet the requirements; extract the electromagnetic signal characteristics of the filtered electromagnetic signals, and then use them for subsequent aircraft flight identification and analysis tasks; based on the flight state, construct the motion equation of the aircraft to be located, which can describe the flight principle of the aircraft to be located and provide a basis for subsequent positioning analysis; by linearizing the observation model and the motion model, the linear observation matrix and the state transfer matrix are obtained, which can simplify the implementation and computational complexity of the state estimation algorithm and improve the accuracy of the estimation; and by using the predicted posture to construct a positioning report for the aircraft to be located, the accurate positioning of the aircraft to be located can be achieved.

[0037] In one embodiment, the flight data refers to the flight status data of the aircraft to be located, such as flight position, flight speed and other data, and the electromagnetic signal refers to the electromagnetic influence data of the aircraft to be located, such as electromagnetic interference intensity, electromagnetic interference position and other data.

[0038] In specific implementation, the embodiment of the present invention clarifies the purpose and requirements of filtering by identifying the filtering requirements of the electromagnetic signal. The filtering requirements refer to the requirements for filtering the electromagnetic signal, such as filtering out noise, retaining signals in a specific frequency range, suppressing interference at a specific frequency, etc. The filtering requirements can be analyzed based on the application environment.

[0039] The embodiment of the present invention filters the electromagnetic signal based on the filtering requirement to obtain a filtered electromagnetic signal, which can effectively filter the electromagnetic signal to obtain a filtered electromagnetic signal that meets the requirement. The filtered electromagnetic signal refers to a signal obtained after filtering the electromagnetic signal.

[0040] In one embodiment, filtering the electromagnetic signal according to the filtering requirement to obtain the filtered electromagnetic signal includes:

[0041] Determine the filter type corresponding to the electromagnetic signal;

[0042] According to the filtering request, configure the filtering parameters of the electromagnetic signal;

[0043] Constructing a filter function of the electromagnetic signal according to the filter parameters of the electromagnetic signal and the corresponding filter type;

[0044] The electromagnetic signal is filtered according to the filter function to obtain a filtered electromagnetic signal.

[0045] In specific implementation, the filter types include pass filter, high pass filter, band pass filter, band stop filter and other types, and the filtering parameters are set according to the filtering requirements, such as cutoff frequency, filter order, stop band width, etc. These parameters will directly affect the filtering effect, and the filtering function refers to the function for filtering the convolution calculation of the electromagnetic signal.

[0046] Figure 2 The flowchart of constructing a filtered electromagnetic signal provided in an embodiment of the present invention is as follows: Figure 2 As shown, in the embodiment of the present invention, filtering the electromagnetic signal to obtain the filtered electromagnetic signal includes:

[0047] Step 201: discretize the filter function and the electromagnetic signal to obtain a discrete filter function and a discrete electromagnetic signal;

[0048] Step 201: filtering the discrete electromagnetic signal according to the discrete filter function to obtain a filter value;

[0049] Step 203: constructing a filtered electromagnetic signal of the discrete electromagnetic signal according to the filtering value.

[0050] In a specific implementation, an optional embodiment of the present invention, filtering the electromagnetic signal based on the filter function to obtain the filtered electromagnetic signal includes: discretizing the filter function and the electromagnetic signal to obtain a discrete filter function and a discrete electromagnetic signal; based on the discrete filter function, filtering the discrete electromagnetic signal using the following formula:

[0051]

[0052] in, Represents a discrete electromagnetic signal in discrete time a The filter value of ω[a] Represents a discrete electromagnetic signal in discrete time a The sampling value of μ[ac] Represents the discrete filter function in discrete time ac The sampling value of a , c A discrete time index representing an electromagnetic signal.

[0053] Figure 3 Flow chart of extracting electromagnetic signal features provided in an embodiment of the present invention, such as Figure 3 As shown, in the embodiment of the present invention, extracting the electromagnetic signal feature of the filtered electromagnetic signal includes:

[0054] Step 301: performing wavelet transform on the filtered electromagnetic signal to obtain wavelet transform components;

[0055] Step 302: Analyze the wavelet transform component to obtain the component state of the wavelet transform component;

[0056] Step 303: determining the initial signal characteristics of the filtered electromagnetic signal according to the component state;

[0057] Step 304: Perform feature screening on the initial signal features to obtain electromagnetic signal features.

[0058] Among them, the wavelet transform component refers to a series of coefficients obtained by mapping the original signal to a set of bases of the wavelet function. These coefficients represent the information of the original signal at different frequencies and time positions in the wavelet domain, and can be used for signal analysis, compression, filtering and other processing. The component state refers to the amplitude, frequency, phase and other characteristics of the wavelet transform component. The initial signal characteristics refer to the initial characteristics of the electromagnetic signal filtered by analyzing the component state, such as signal amplitude, signal phase and other characteristics.

[0059] In a specific implementation, the electromagnetic signal features of the filtered electromagnetic signal are extracted and then used for subsequent aircraft flight identification and analysis tasks. The electromagnetic signal features refer to characteristic attributes of the filtered electromagnetic signal, such as electromagnetic change amplitude, electromagnetic change direction and other features.

[0060] In one embodiment, the wavelet transform components are analyzed to obtain the component states of the wavelet transform components, including:

[0061] Calculate component energies of wavelet transformed components;

[0062] Based on the component energy, the component status of the wavelet transformed component is determined.

[0063] In specific implementation, the component energy of the wavelet transform component is calculated using the following formula:

[0064]

[0065] in, τ k Indicates k The component energy of the wavelet transformed components, u k represents the wavelet coefficients, k represents the index of the wavelet coefficients, T represents the integration time interval of the wavelet transform components;

[0066] Based on the component energies, component states of the wavelet transformed components are analyzed.

[0067] The component energies correspond to different frequency components of the signal.

[0068] Based on the electromagnetic signal characteristics, an observation model of the aircraft to be located is constructed to associate the electromagnetic signal with the state of the aircraft, thereby performing positioning and attitude estimation. The observation model refers to a model that analyzes the position and attitude information of the aircraft to be located through the characteristics of the electromagnetic signal.

[0069] In one embodiment, constructing an observation model of the aircraft to be located according to the electromagnetic signal characteristics includes:

[0070] Obtain historical flight data of the aircraft to be located;

[0071] Determine the historical flight status of the aircraft to be located based on historical flight data;

[0072] Determining a correlation coefficient between the historical flight status and the electromagnetic signal characteristics, wherein the correlation coefficient is used to indicate a correlation degree between the historical flight status and the electromagnetic signal characteristics;

[0073] According to the correlation coefficient, the observation model of the aircraft to be located is constructed.

[0074] The historical flight data refers to a data set of the historical flight of the aircraft to be located, such as flight trajectory, flight speed and other data, and the historical flight status refers to the historical flight status of the aircraft to be located, such as traveling in one direction at a constant speed. The correlation coefficient refers to the degree of correlation between the electromagnetic signal feature and the flight status of the aircraft to be located.

[0075] In specific implementation, based on the flight state, constructing the motion equation of the aircraft to be positioned can describe the flight principle of the aircraft to be positioned, and provide a basis for later positioning analysis. The motion equation refers to a mechanical equation that describes the flight law of the aircraft to be positioned.

[0076] In one embodiment, according to the flight state, the motion equation of the aircraft to be positioned is constructed, including:

[0077] Determine the flight parameters of the aircraft to be positioned according to the flight status;

[0078] According to the flight parameters, the inertia matrix of the aircraft to be positioned is calculated;

[0079] Determine the force data of the aircraft to be positioned;

[0080] The motion equation of the aircraft to be positioned is constructed according to the flight parameters, inertia matrix and force data of the aircraft to be positioned.

[0081] In specific implementation, the flight parameters refer to the initial data of the aircraft to be positioned, such as aircraft weight, aircraft angle, aircraft acceleration and other data; the inertia matrix refers to the moment of inertia of the aircraft rigid body when it rotates around different axes; the force state refers to the force condition of the aircraft to be positioned, such as engine thrust, aerodynamic force, gravity and the like.

[0082] In specific implementation, the following motion equation is constructed:

[0083]

[0084] in, Indicates the torque corresponding to the force state of the aircraft to be positioned, represents the inertia matrix of the aircraft to be positioned, α It represents the angular acceleration of the aircraft to be positioned corresponding to the initial flight parameters, Indicates the angular velocity of the aircraft to be positioned corresponding to the initial flight parameters.

[0085] In specific implementation, the motion model refers to a model for predicting the motion trajectory of the aircraft to be positioned. In detail, the motion model can be constructed by introducing aerodynamic forces into the motion equation through an aerodynamic model. The aerodynamic model refers to a mathematical model that describes the aerodynamic forces and torques to which the aircraft is subjected when moving in the air.

[0086] By linearizing the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix, the implementation and computational complexity of the state estimation algorithm can be simplified, and the accuracy of the estimation can be improved. The linear observation matrix and the state transfer matrix refer to matrices obtained by linearizing the observation model and the motion model.

[0087] In specific implementation, the linear observation matrix and state transfer matrix are obtained in the following way:

[0088] Identify the linearization requirements of the observation model and the motion model; based on the linearization requirements, calculate the observation Jacobian matrix and the motion Jacobian matrix of the observation model and the motion model; based on the observation Jacobian matrix and the motion Jacobian matrix, linearize the observation model and the motion model to obtain the linear observation matrix and the state transfer matrix.

[0089] The linearization requirement refers to the requirement for linearization based on the model function, and the observation Jacobian matrix and the motion Jacobian matrix refer to the transpose of the partial derivative vector of a function.

[0090] In an embodiment of the present invention, the state transfer matrix is ​​updated by using the linear observation matrix to obtain an updated state transfer matrix, which can improve the accuracy of the state transfer matrix in positioning the aircraft. The updated state transfer matrix refers to a matrix after the performance of the state transfer matrix is ​​updated.

[0091] The state transfer matrix is ​​updated using the following formula to obtain an updated state transfer matrix:

[0092]

[0093] in, L new represents the updated state transfer matrix, L old represents the state transfer matrix, represents the update step size parameter, β represents the linear observation matrix, M old represents the prediction error covariance matrix, S represents the Kalman gain.

[0094] Among them, the predicted error covariance matrix refers to the error covariance matrix involved in the prediction of the next state in the Kalman filter, which describes the possible difference between the predicted state estimate and its true value. The update step parameter usually refers to the parameter that controls the update of the new information weight, which determines the degree of influence of the new information on the state update.

[0095] The predicted posture refers to analyzing the state information of the aircraft to be positioned by updating the state transfer matrix, and the determination coefficient refers to the accuracy of the predicted posture. In detail, the determination coefficient can be evaluated by the prediction error covariance matrix.

[0096] The present invention also provides an airborne anti-electromagnetic interference positioning device in an embodiment, as described in the following embodiment. Since the principle of the device to solve the problem is similar to that of the airborne anti-electromagnetic interference positioning method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0097] Figure 4 Schematic diagram of an airborne anti-electromagnetic interference positioning device provided in an embodiment of the present invention, such as Figure 4 As shown, the device comprises:

[0098] The electromagnetic signal filtering module 401 is used to collect flight data and electromagnetic signals of the aircraft to be located, identify the filtering requirements of the electromagnetic signals, and filter the electromagnetic signals according to the filtering requirements to obtain filtered electromagnetic signals;

[0099] An observation model building module 402 is used to extract electromagnetic signal features of the filtered electromagnetic signal, and to build an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features;

[0100] The motion model building module 403 is used to determine the flight state of the aircraft to be located according to the flight data, and to build the motion equation of the aircraft to be located according to the flight state. The motion equation is a mechanical equation used to represent the flight law of the aircraft to be located. According to the motion equation, a motion model of the aircraft to be located is built, and the motion model is used to predict the motion trajectory of the aircraft to be located.

[0101] The transfer matrix update module 404 is used to linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix. The linear observation matrix is ​​a matrix obtained by linearizing the observation model, and the state transfer matrix is ​​a matrix obtained by linearizing the motion model. The state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix.

[0102] The positioning module 405 is used to predict the predicted posture of the aircraft to be positioned according to the updated state transfer matrix, calculate the determination coefficient of the predicted posture, and the determination coefficient is used to indicate the accuracy of the predicted posture. When the determination coefficient reaches a preset standard, the positioning information of the aircraft to be positioned is determined according to the predicted posture.

[0103] In one embodiment, the electromagnetic signal filtering module 401 is specifically used for:

[0104] Determine the filter type corresponding to the electromagnetic signal;

[0105] According to the filtering request, configure the filtering parameters of the electromagnetic signal;

[0106] Constructing a filter function of the electromagnetic signal according to the filter parameters of the electromagnetic signal and the corresponding filter type;

[0107] The electromagnetic signal is filtered according to the filter function to obtain a filtered electromagnetic signal.

[0108] In one embodiment, the electromagnetic signal filtering module 401 is specifically used for:

[0109] Discretizing the filter function and the electromagnetic signal to obtain a discrete filter function and a discrete electromagnetic signal;

[0110] According to the discrete filter function, the discrete electromagnetic signal is filtered to obtain a filter value;

[0111] A filtered electromagnetic signal of the discrete electromagnetic signal is constructed according to the filtered value.

[0112] In one embodiment, the observation model building module 402 is specifically used to:

[0113] Performing wavelet transform on the filtered electromagnetic signal to obtain wavelet transform components;

[0114] Analyze the wavelet transform components to obtain the component states of the wavelet transform components;

[0115] determining an initial signal characteristic of the filtered electromagnetic signal according to the component state;

[0116] The initial features of the signal are screened to obtain the electromagnetic signal features.

[0117] In one embodiment, the observation model building module 402 is specifically used to:

[0118] Calculate component energies of wavelet transformed components;

[0119] Based on the component energy, the component status of the wavelet transformed component is determined.

[0120] In one embodiment, the observation model building module 402 is specifically used to:

[0121] Obtain historical flight data of the aircraft to be located;

[0122] Determine the historical flight status of the aircraft to be located based on historical flight data;

[0123] Determining a correlation coefficient between the historical flight status and the electromagnetic signal characteristics, wherein the correlation coefficient is used to indicate a correlation degree between the historical flight status and the electromagnetic signal characteristics;

[0124] According to the correlation coefficient, the observation model of the aircraft to be located is constructed.

[0125] In one embodiment, the motion model building module 403 is specifically used to:

[0126] Determine the flight parameters of the aircraft to be positioned according to the flight status;

[0127] According to the flight parameters, the inertia matrix of the aircraft to be positioned is calculated;

[0128] Determine the force data of the aircraft to be positioned;

[0129] The motion equation of the aircraft to be positioned is constructed according to the flight parameters, inertia matrix and force data of the aircraft to be positioned.

[0130] Based on the above invention concept, Figure 5 As shown, the present invention also proposes a computer device 500, including a memory 510, a processor 520, and a computer program 530 stored in the memory 510 and executable on the processor 520, wherein the processor 520 implements the aforementioned airborne anti-electromagnetic interference positioning method when executing the computer program 530.

[0131] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned airborne anti-electromagnetic interference positioning method is implemented.

[0132] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned airborne anti-electromagnetic interference positioning method is implemented.

[0133] In summary, in the embodiments of the present invention, flight data and electromagnetic signals of the aircraft to be located are collected, filtering requirements of the electromagnetic signals are identified, and the electromagnetic signals are filtered according to the filtering requirements to obtain filtered electromagnetic signals; electromagnetic signal characteristics of the filtered electromagnetic signals are extracted, and an observation model of the aircraft to be located is constructed according to the electromagnetic signal characteristics, and the observation model is used to analyze the posture information of the aircraft to be located according to the electromagnetic signal characteristics; the flight state of the aircraft to be located is determined according to the flight data, and the motion equation of the aircraft to be located is constructed according to the flight state, and the motion equation is a mechanical equation used to represent the flight law of the aircraft to be located, and the motion model of the aircraft to be located is constructed according to the motion equation. The motion model is used to predict the motion trajectory of the aircraft to be located; the observation model and the motion model are linearized to obtain a linear observation matrix and a state transfer matrix, the linear observation matrix is ​​a matrix obtained after the observation model is linearized, the state transfer matrix is ​​a matrix obtained after the motion model is linearized, and the state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix; the predicted posture of the aircraft to be located is predicted according to the updated state transfer matrix, and the determination coefficient of the predicted posture is calculated, the determination coefficient is used to indicate the accuracy of the predicted posture, and when the determination coefficient reaches a preset standard, the positioning information of the aircraft to be located is determined according to the predicted posture. In this way, by filtering the electromagnetic signal, extracting the electromagnetic signal features according to the filtered electromagnetic signal, constructing the observation model and motion model of the aircraft, and determining the linear observation matrix and the state transfer matrix according to the observation model and the motion model, the realization and calculation complexity of the aircraft state estimation are effectively simplified, and then the predicted posture of the aircraft is determined, and then the aircraft positioning information is predicted, the accuracy of the positioning estimation is improved, the aircraft positioning is predicted based on the electromagnetic signal, and the positioning accuracy of the aircraft under the electromagnetic interference state is improved.

[0134] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0136] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0138] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An airborne anti-electromagnetic interference positioning method, characterized in that: include: Collect flight data and electromagnetic signals of the aircraft to be located, identify filtering requirements of the electromagnetic signals, filter the electromagnetic signals according to the filtering requirements, and obtain filtered electromagnetic signals; Extracting electromagnetic signal features of the filtered electromagnetic signal, and constructing an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features; Determine the flight state of the aircraft to be located according to the flight data, construct a motion equation of the aircraft to be located according to the flight state, the motion equation is a mechanical equation used to represent the flight law of the aircraft to be located, and construct a motion model of the aircraft to be located according to the motion equation, the motion model is used to predict the motion trajectory of the aircraft to be located; Linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix, wherein the linear observation matrix is ​​a matrix obtained after linearizing the observation model, and the state transfer matrix is ​​a matrix obtained after linearizing the motion model, and the state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix; Predicting the predicted position and posture of the aircraft to be positioned according to the updated state transfer matrix, calculating the determination coefficient of the predicted position and posture, wherein the determination coefficient is used to indicate the accuracy of the predicted position and posture, and when the determination coefficient reaches a preset standard, determining the positioning information of the aircraft to be positioned according to the predicted position and posture; Among them, according to the characteristics of electromagnetic signals, an observation model of the aircraft to be located is constructed, including: Obtain historical flight data of the aircraft to be located; Determine the historical flight status of the aircraft to be located based on historical flight data; Determining a correlation coefficient between the historical flight status and the electromagnetic signal characteristics, wherein the correlation coefficient is used to indicate a correlation degree between the historical flight status and the electromagnetic signal characteristics; According to the correlation coefficient, an observation model of the aircraft to be located is constructed; According to the flight status, the motion equation of the aircraft to be positioned is constructed, including: Determine the flight parameters of the aircraft to be positioned according to the flight status; According to the flight parameters, the inertia matrix of the aircraft to be positioned is calculated; Determine the force data of the aircraft to be positioned; The motion equation of the aircraft to be positioned is constructed according to the flight parameters, inertia matrix and force data of the aircraft to be positioned.

2. The method according to claim 1, characterized in that The electromagnetic signal is filtered according to the filtering requirements to obtain a filtered electromagnetic signal, including: Determine the filter type corresponding to the electromagnetic signal; According to the filtering request, configure the filtering parameters of the electromagnetic signal; Constructing a filter function of the electromagnetic signal according to the filter parameters of the electromagnetic signal and the corresponding filter type; The electromagnetic signal is filtered according to the filter function to obtain a filtered electromagnetic signal.

3. The method according to claim 2, characterized in that According to the filter function, the electromagnetic signal is filtered to obtain a filtered electromagnetic signal, including: Discretizing the filter function and the electromagnetic signal to obtain a discrete filter function and a discrete electromagnetic signal; According to the discrete filter function, the discrete electromagnetic signal is filtered to obtain a filter value; A filtered electromagnetic signal of the discrete electromagnetic signal is constructed according to the filtered value.

4. The method according to claim 1, characterized in that Extracting electromagnetic signal features of the filtered electromagnetic signal, including: Performing wavelet transform on the filtered electromagnetic signal to obtain wavelet transform components; Analyze the wavelet transform components to obtain the component states of the wavelet transform components; determining an initial signal characteristic of the filtered electromagnetic signal according to the component state; The initial features of the signal are screened to obtain the electromagnetic signal features.

5. The method according to claim 4, characterized in that The wavelet transform components are analyzed to obtain the component states of the wavelet transform components, including: Calculate component energies of wavelet transformed components; Based on the component energy, the component status of the wavelet transformed component is determined.

6. An airborne anti-electromagnetic interference positioning device, characterized in that: include: The electromagnetic signal filtering module is used to collect flight data and electromagnetic signals of the aircraft to be located, identify the filtering requirements of the electromagnetic signals, filter the electromagnetic signals according to the filtering requirements, and obtain filtered electromagnetic signals; An observation model building module is used to extract electromagnetic signal features of the filtered electromagnetic signal, and to build an observation model of the aircraft to be located according to the electromagnetic signal features, wherein the observation model is used to analyze the position and posture information of the aircraft to be located according to the electromagnetic signal features; A motion model building module is used to determine the flight state of the aircraft to be located according to the flight data, and to build a motion equation of the aircraft to be located according to the flight state. The motion equation is a mechanical equation used to represent the flight law of the aircraft to be located. According to the motion equation, a motion model of the aircraft to be located is built, and the motion model is used to predict the motion trajectory of the aircraft to be located. A transfer matrix update module is used to linearize the observation model and the motion model to obtain a linear observation matrix and a state transfer matrix. The linear observation matrix is ​​a matrix obtained after linearizing the observation model, and the state transfer matrix is ​​a matrix obtained after linearizing the motion model. The state transfer matrix is ​​updated according to the linear observation matrix to obtain an updated state transfer matrix. A positioning module is used to predict the predicted posture of the aircraft to be positioned according to the updated state transfer matrix, calculate the determination coefficient of the predicted posture, and the determination coefficient is used to indicate the accuracy of the predicted posture. When the determination coefficient reaches a preset standard, the positioning information of the aircraft to be positioned is determined according to the predicted posture; Among them, the observation model construction module is specifically used for: Obtain historical flight data of the aircraft to be located; Determine the historical flight status of the aircraft to be located based on historical flight data; Determining a correlation coefficient between the historical flight status and the electromagnetic signal characteristics, wherein the correlation coefficient is used to indicate a correlation degree between the historical flight status and the electromagnetic signal characteristics; According to the correlation coefficient, an observation model of the aircraft to be located is constructed; The motion model building module is specifically used for: Determine the flight parameters of the aircraft to be positioned according to the flight status; According to the flight parameters, the inertia matrix of the aircraft to be positioned is calculated; Determine the force data of the aircraft to be positioned; The motion equation of the aircraft to be positioned is constructed according to the flight parameters, inertia matrix and force data of the aircraft to be positioned.

7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

9. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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