A communication and navigation integrated high-precision relative positioning and time synchronization device and method

Abstract

The present invention provides a communication and navigation integrated high-precision relative positioning and time synchronization device and method, the device includes a satellite positioning module, an inertial sensor module, a chip-level atomic clock, a relative positioning module and a pseudo-code spread spectrum data link module; the satellite positioning module is used to output the first absolute position velocity information, absolute time information, pseudo-range and carrier phase; the inertial sensor module is used to output the second absolute position velocity information, angular velocity and acceleration; the chip-level atomic clock is used to obtain the time reference according to the absolute time information; during use, two of the devices are used in combination, and one is set as a master device and the other is set as a slave device; communication is established between the master device and the slave device through their respective pseudo-code spread spectrum data link modules to achieve time synchronization and relative positioning of the two. The present invention can solve the technical problem that the prior art cannot achieve high-precision relative positioning and time synchronization of the two coordinated parties in a complex battlefield environment.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision satellite navigation and positioning, and in particular to a communication and navigation integrated high-precision relative positioning and time synchronization device and method. Background Art

[0002] The future battlefield will show a trend of continuous integration of combat platform system functions and multi-platform collaborative operations. In a strong interference and high dynamic environment, the navigation and positioning systems of the two parties should not only meet the high-precision absolute positioning requirements of the unit itself, but also meet the requirements of high-precision relative positioning, time synchronization and real-time information interaction between functional units. For example, a typical distributed antenna synthetic aperture requires the relative position accuracy between each distributed array element to be as low as the wavelength level, and the time reference error between each antenna is required to be better than the nanosecond level.

[0003] At present, it is impossible to achieve high-precision relative positioning and time synchronization between the two parties in a complex battlefield environment. Summary of the invention

[0004] The present invention provides a communication and navigation integrated high-precision relative positioning and time synchronization device and method, which can solve the technical problem in the prior art that high-precision relative positioning and time synchronization of two coordinated parties cannot be achieved in a complex battlefield environment.

[0005] According to one aspect of the present invention, a communication and navigation integrated high-precision relative positioning and time synchronization device is provided, the device comprising a satellite positioning module, an inertial sensing module, a chip-level atomic clock, a relative positioning module and a pseudo-code spread spectrum data link module; the satellite positioning module is used to output first absolute position velocity information, absolute time information, pseudo-range and carrier phase; the inertial sensing module is used to output second absolute position velocity information, angular velocity and acceleration; the chip-level atomic clock is used to maintain a time reference according to the absolute time information;

[0006] During use, two of the devices are used in conjunction with one being set as a master device and the other being set as a slave device;

[0007] The chip-level atomic clock of the master device is used to maintain the time reference of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device is used to maintain the time reference of the slave device according to the absolute time information of the slave device;

[0008] The pseudo code spread spectrum data link module of the master device is used to send relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device;

[0009] The pseudo code spread spectrum data link module of the slave device is used to capture, track and demodulate the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization of the master device and the slave device; it is also used to complete the time reference pulse signal synchronization of the master device and the slave device according to the relative distance between the master device and the slave device at the last moment in the relative positioning and time synchronization request information and the frequency control word; it is also used to spread spectrum frame the first absolute position speed information, absolute time information, pseudo range, carrier phase output by the satellite positioning module of the slave device and the second absolute position speed information, angular velocity, acceleration output by the inertial sensor module of the slave device using the same pseudo code as the master device to obtain frame data, and send the frame data to the pseudo code spread spectrum data link module of the master device;

[0010] The pseudo code spread spectrum data link module of the master device is also used to capture, track and demodulate the frame data, and measure the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment;

[0011] The relative positioning module of the master device is used to perform relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device respectively through a Kalman filter to obtain the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

[0012] Preferably, when the communication state between the master device and the slave device is without a data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is with a data link, the master device and the slave device perform time synchronization and relative positioning.

[0013] Preferably, when the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the Kalman filter is in the first working mode;

[0014] In a case where the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode;

[0015] When the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode;

[0016] When the communication state between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is fixed, the Kalman filter is in the third working mode;

[0017] Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration output by the inertial sensor modules of the master device and the slave device, and a relative distance between the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between a second absolute position speed information solution equation of the master device and a second absolute position speed information solution equation of the slave device;

[0018] When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device;

[0019] When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

[0020] According to another aspect of the present invention, a communication and navigation integrated high-precision relative positioning and time synchronization method is provided, the method comprising:

[0021] The chip-level atomic clock of the master device maintains the time base of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device maintains the time base of the slave device according to the absolute time information of the slave device;

[0022] The pseudo code spread spectrum data link module of the master device sends relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device;

[0023] The pseudo code spread spectrum data link module of the slave device captures, tracks and demodulates the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization between the master device and the slave device;

[0024] The pseudo code spread spectrum data link module of the slave device completes the synchronization of the time reference pulse signal between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information;

[0025] The pseudo code spread spectrum data link module of the slave device uses the same pseudo code as the master device to perform spread spectrum framing on the first absolute position velocity information, absolute time information, pseudo range, carrier phase output by the satellite positioning module of the slave device and the second absolute position velocity information, angular velocity, acceleration output by the inertial sensor module of the slave device to obtain framing data, and sends the framing data to the pseudo code spread spectrum data link module of the master device;

[0026] The pseudo code spread spectrum data link module of the master device captures, tracks and demodulates the frame data, and measures the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment;

[0027] The relative positioning module of the master device performs relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device respectively through the Kalman filter, and obtains the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

[0028] Preferably, when the communication state between the master device and the slave device is without a data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is with a data link, the master device and the slave device perform time synchronization and relative positioning.

[0029] Preferably, when the communication state between the master device and the slave device is a data link, the master device and the slave device perform time synchronization and relative positioning including:

[0030] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the Kalman filter is in the first working mode;

[0031] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode;

[0032] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode;

[0033] When the communication state between the master device and the slave device is that the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase are fixed, the Kalman filter is in the third working mode;

[0034] Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration and a relative distance between the master device and the slave device output by the inertial sensor modules of the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between the second absolute position speed information solution equation of the master device and the second absolute position speed information solution equation of the slave device;

[0035] When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative velocity, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device;

[0036] When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​the Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

[0037] Preferably, the pseudo code spread spectrum data link module of the slave device completes the synchronization of the time reference pulse signal between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information, including:

[0038] The pseudo code spread spectrum data link module of the slave device compensates for the transmission delay according to the relative distance between the master device and the slave device at the last moment in the relative positioning and time synchronization request information;

[0039] On the basis of compensating for the transmission delay, the pseudo code spread spectrum data link module of the slave device eliminates the sampling deviation according to the frequency control word to complete the synchronization of the time reference pulse signal between the master device and the slave device.

[0040] Preferably, the frequency control word is obtained by the following formula:

[0041]

[0042] Where FTW is the frequency control word, R b is the transmitter code rate, f s For the master clock, 2 n is the code table depth.

[0043] Preferably, the relative distance between the master device and the slave device is obtained by the following formula:

[0044]

[0045] Where L is the relative distance between the master device and the slave device, c is the speed of light, t delay1 and t delay2 are the transmission delays of the master device and the slave device respectively, t deal1 and t deal2 The processing delays of the master device and the slave device respectively, T1 represents the time when the master device sends the relative positioning and time synchronization request information, and T2 represents the time when the master device receives the framing data.

[0046] By applying the technical solution of the present invention, communication is established between the master device and the slave device through their respective pseudo code spread spectrum data link modules. The slave device uses the pseudo code phase of the data link signal sent by the master device to achieve clock synchronization and time reference pulse signal synchronization with the master device, that is, time synchronization; the master device uses the pseudo code phase difference of the data link signal sent back by the slave device to calculate the relative distance, and uses the positioning information and observation information sent back by the slave device to perform relative positioning solution. The present invention achieves sub-meter relative positioning accuracy, nanosecond time synchronization accuracy and radio positioning capability under satellite denial conditions in complex confrontation environments, and can meet the needs of coordinated operations such as formation flying, precision landing, aerial refueling, electronic reconnaissance, radar early warning, precision strikes, and battlefield assessment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 It shows a schematic structural diagram of a communication-guidance integrated high-precision relative positioning and time synchronization device provided according to an embodiment of the present invention;

[0049] Figure 2 A flow chart of a communication-guidance integrated high-precision relative positioning and time synchronization method provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0050] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0053] like Figure 1As shown, the present invention provides a communication and navigation integrated high-precision relative positioning and time synchronization device, the device includes a satellite positioning module, an inertial sensor module, a chip-level atomic clock, a relative positioning module and a pseudo-code spread spectrum data link module; the satellite positioning module is used to output first absolute position speed information, absolute time information, pseudo-range and carrier phase; the inertial sensor module is used to output second absolute position speed information, angular velocity and acceleration; the chip-level atomic clock is used to maintain a time reference according to the absolute time information;

[0054] During use, two of the devices are used in conjunction with one being set as a master device and the other being set as a slave device;

[0055] The chip-level atomic clock of the master device is used to maintain the time reference of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device is used to maintain the time reference of the slave device according to the absolute time information of the slave device;

[0056] The pseudo code spread spectrum data link module of the master device is used to send relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device;

[0057] The pseudo code spread spectrum data link module of the slave device is used to capture, track and demodulate the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization of the master device and the slave device; it is also used to complete the time reference pulse signal synchronization of the master device and the slave device according to the relative distance between the master device and the slave device at the last moment in the relative positioning and time synchronization request information and the frequency control word; it is also used to spread spectrum frame the first absolute position speed information, absolute time information, pseudo range, carrier phase output by the satellite positioning module of the slave device and the second absolute position speed information, angular velocity, acceleration output by the inertial sensor module of the slave device using the same pseudo code as the master device to obtain frame data, and send the frame data to the pseudo code spread spectrum data link module of the master device;

[0058] The pseudo code spread spectrum data link module of the master device is also used to capture, track and demodulate the frame data, and measure the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment;

[0059] The relative positioning module of the master device is used to perform relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device respectively through a Kalman filter to obtain the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

[0060] The present invention establishes communication between the master device and the slave device through their respective pseudo code spread spectrum data link modules. The slave device uses the pseudo code phase of the data link signal sent by the master device to achieve clock synchronization and time reference pulse signal synchronization with the master device, that is, time synchronization; the master device uses the pseudo code phase difference of the data link signal sent back by the slave device to calculate the relative distance, and uses the positioning information and observation information sent back by the slave device to perform relative positioning solution. The present invention achieves sub-meter relative positioning accuracy, nanosecond time synchronization accuracy and radio positioning capability under satellite denial conditions in complex confrontation environments, and can meet the needs of coordinated operations such as formation flying, precision landing, aerial refueling, electronic reconnaissance, radar early warning, precision strikes, and battlefield assessment.

[0061] In the present invention, the positioning information transmitted back from the device includes the first absolute position velocity information, absolute time information output from the satellite positioning module of the device and the second absolute position velocity information output from the inertial sensor module of the device; the observation quantity information transmitted back from the device includes the pseudorange, carrier phase output from the satellite positioning module of the device and the angular velocity and acceleration output from the inertial sensor module of the device.

[0062] According to one embodiment of the present invention, when the communication state between the master device and the slave device is without a data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is with a data link, the master device and the slave device perform time synchronization and relative positioning.

[0063] According to an embodiment of the present invention, when the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the Kalman filter is in the first working mode;

[0064] In a case where the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode;

[0065] When the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode;

[0066] When the communication state between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is fixed, the Kalman filter is in the third working mode;

[0067] Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration output by the inertial sensor modules of the master device and the slave device, and a relative distance between the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between a second absolute position speed information solution equation of the master device and a second absolute position speed information solution equation of the slave device;

[0068] When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device;

[0069] When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

[0070] like Figure 2 As shown, according to the present invention, a communication and navigation integrated high-precision relative positioning and time synchronization method is also provided, the method comprising:

[0071] S10, the chip-level atomic clock of the master device maintains the time reference of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device maintains the time reference of the slave device according to the absolute time information of the slave device;

[0072] S20, the pseudo code spread spectrum data link module of the master device sends relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device;

[0073] S30, the pseudo code spread spectrum data link module of the slave device captures, tracks and demodulates the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization between the master device and the slave device;

[0074] S40, the pseudo code spread spectrum data link module of the slave device completes the time reference pulse signal synchronization between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information;

[0075] S50, the pseudo code spread spectrum data link module of the slave device uses the same pseudo code as the master device to perform spread spectrum framing on the first absolute position and velocity information, absolute time information, pseudo range, carrier phase output by the satellite positioning module of the slave device and the second absolute position and velocity information, angular velocity, and acceleration output by the inertial sensor module of the slave device to obtain framing data, and sends the framing data to the pseudo code spread spectrum data link module of the master device;

[0076] S60, the pseudo code spread spectrum data link module of the master device captures, tracks and demodulates the frame data, and measures the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment;

[0077] S70. The relative positioning module of the master device uses a Kalman filter to perform relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device, to obtain the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

[0078] The present invention establishes communication between the master device and the slave device through their respective pseudo code spread spectrum data link modules. The slave device uses the pseudo code phase of the data link signal sent by the master device to achieve clock synchronization and time reference pulse signal synchronization with the master device, that is, time synchronization; the master device uses the pseudo code phase difference of the data link signal sent back by the slave device to calculate the relative distance, and uses the positioning information and observation information sent back by the slave device to perform relative positioning solution. The present invention achieves sub-meter relative positioning accuracy, nanosecond time synchronization accuracy and radio positioning capability under satellite denial conditions in complex confrontation environments, and can meet the needs of coordinated operations such as formation flying, precision landing, aerial refueling, electronic reconnaissance, radar early warning, precision strikes, and battlefield assessment.

[0079] In the present invention, the positioning information transmitted back from the device includes the first absolute position velocity information, absolute time information output from the satellite positioning module of the device and the second absolute position velocity information output from the inertial sensor module of the device; the observation quantity information transmitted back from the device includes the pseudorange, carrier phase output from the satellite positioning module of the device and the angular velocity and acceleration output from the inertial sensor module of the device.

[0080] According to an embodiment of the present invention, in S10 of the present invention, the master device and the slave device respectively use the absolute time information output by their respective satellite positioning modules to synchronize and discipline their respective chip-level atomic clocks, and use the clock information output by the chip-level atomic clock as the time reference of their respective devices.

[0081] According to an embodiment of the present invention, in S30 of the present invention, the tracking uses a pseudo code delay lock tracking loop. After the tracking loop successfully locks the signal, the currently used frequency control word FTW is output according to the tracking result to the master device clock f s Restore to complete clock synchronization.

[0082] Among them, the frequency control word is obtained by the following formula:

[0083]

[0084] Where FTW is the frequency control word, R b is the transmitter code rate, f s For the master clock, 2 n is the code table depth, i.e. the total phase of a transmitted symbol.

[0085] According to an embodiment of the present invention, in S40 of the present invention, the pseudo code spread spectrum data link module of the slave device completes the time reference pulse signal synchronization between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information, including:

[0086] S41, the pseudo code spread spectrum data link module of the slave device compensates for the transmission delay according to the relative distance between the master device and the slave device at the last moment in the relative positioning and time synchronization request information;

[0087] S42. On the basis of compensating for the transmission delay, the pseudo-code spread spectrum data link module of the slave device eliminates the sampling deviation according to the frequency control word to complete the synchronization of the time reference pulse signal between the master device and the slave device.

[0088] Among them, in S42 of the present invention, the following method is used to eliminate the sampling deviation: the pseudo-code spread spectrum data link module of the slave device finds the exact position of the time reference pulse according to the frequency control word, and calculates the deviation value caused by each sampling, and dynamically adjusts the local clock phase of the slave device according to the deviation value, and then uses the clock after phase adjustment to sample, thereby eliminating the deviation caused by sampling.

[0089] According to one embodiment of the present invention, in S60 of the present invention, tracking uses a pseudo-code delay locking tracking loop. After the tracking loop successfully locks the signal, the pseudo-code spread spectrum data link module of the master device measures the phase difference between the pseudo-code code bit of the slave device and the transmitting code bit of the master device to obtain the transmission time of the framing data, thereby obtaining the relative distance between the master device and the slave device at the current moment.

[0090] The relative distance between the master device and the slave device is obtained by the following formula:

[0091]

[0092] Where L is the relative distance between the master device and the slave device, c is the speed of light, t delay1 and t delay2 are the transmission delays of the master device and the slave device respectively, t deal1 and t deal2 The processing delays of the master device and the slave device respectively, T1 represents the time when the master device sends the relative positioning and time synchronization request information, and T2 represents the time when the master device receives the framing data.

[0093] In this embodiment, t delay1 ,t delay2 ,t deal1 and t deal2 Both are obtained through advance calibration and measurement of the master and slave devices.

[0094] According to one embodiment of the present invention, when the communication state between the master device and the slave device is without a data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is with a data link, the master device and the slave device perform time synchronization and relative positioning.

[0095] According to an embodiment of the present invention, when the communication state between the master device and the slave device is a data link, the master device and the slave device perform time synchronization and relative positioning including:

[0096] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the Kalman filter is in the first working mode;

[0097] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode;

[0098] When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode;

[0099] When the communication state between the master device and the slave device is that the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase are fixed, the Kalman filter is in the third working mode;

[0100] Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration and a relative distance between the master device and the slave device output by the inertial sensor modules of the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between the second absolute position speed information solution equation of the master device and the second absolute position speed information solution equation of the slave device;

[0101] When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative velocity, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device;

[0102] When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​the Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

[0103] In summary, the present invention can provide two dynamic carriers with all-day, all-weather, anti-interference, sub-meter positioning accuracy, integrity, availability and strong functional continuity relative positioning capability to meet the needs of coordinated operations such as electronic reconnaissance, radar early warning, precision strikes, and battlefield assessment.

[0104] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0105] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision relative positioning and time synchronization device with integrated communication and navigation, characterized in that: The device comprises a satellite positioning module, an inertial sensing module, a chip-level atomic clock, a relative positioning module and a pseudo-code spread spectrum data link module; the satellite positioning module is used to output first absolute position velocity information, absolute time information, pseudo-range and carrier phase; the inertial sensing module is used to output second absolute position velocity information, angular velocity and acceleration; the chip-level atomic clock is used to maintain a time reference according to the absolute time information; During use, two of the devices are used in conjunction with one being set as a master device and the other being set as a slave device; The chip-level atomic clock of the master device is used to maintain the time reference of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device is used to maintain the time reference of the slave device according to the absolute time information of the slave device; The pseudo code spread spectrum data link module of the master device is used to send relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device; The pseudo code spread spectrum data link module of the slave device is used to capture, track and demodulate the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization between the master device and the slave device; It is also used to complete the time reference pulse signal synchronization between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information; it is also used to perform spread spectrum framing on the first absolute position speed information, absolute time information, pseudorange, carrier phase output by the satellite positioning module of the slave device and the second absolute position speed information, angular velocity, acceleration output by the inertial sensor module of the slave device using the same pseudo code as that of the master device, obtain framing data, and send the framing data to the pseudo code spread spectrum data link module of the master device; The pseudo code spread spectrum data link module of the master device is also used to capture, track and demodulate the frame data, and measure the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment; The relative positioning module of the master device is used to perform relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device respectively through a Kalman filter to obtain the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

2. The device according to claim 1, characterized in that When the communication state between the master device and the slave device is that there is no data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is that there is a data link, the master device and the slave device perform time synchronization and relative positioning.

3. The device according to claim 2, characterized in that In a case where the communication content between the master device and the slave device is second absolute position speed information output by an inertial sensor module of the slave device, the Kalman filter is in a first working mode; In a case where the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode; When the communication content between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode; When the communication state between the master device and the slave device is the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is fixed, the Kalman filter is in the third working mode; Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration output by the inertial sensor modules of the master device and the slave device, and a relative distance between the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between a second absolute position speed information solution equation of the master device and a second absolute position speed information solution equation of the slave device; When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device; When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

4. A high-precision relative positioning and time synchronization method for communication and navigation, characterized in that: The method uses any one of the devices in claims 1-3 to perform relative positioning and time synchronization, and the method comprises: The chip-level atomic clock of the master device maintains the time base of the master device according to the absolute time information of the master device, and the chip-level atomic clock of the slave device maintains the time base of the slave device according to the absolute time information of the slave device; The pseudo code spread spectrum data link module of the master device sends relative positioning and time synchronization request information to the pseudo code spread spectrum data link module of the slave device; The pseudo code spread spectrum data link module of the slave device captures, tracks and demodulates the relative positioning and time synchronization request information to obtain the frequency control word, thereby completing the clock synchronization between the master device and the slave device; The pseudo code spread spectrum data link module of the slave device completes the synchronization of the time reference pulse signal between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information; The pseudo code spread spectrum data link module of the slave device uses the same pseudo code as the master device to perform spread spectrum framing on the first absolute position velocity information, absolute time information, pseudo range, carrier phase output by the satellite positioning module of the slave device and the second absolute position velocity information, angular velocity, acceleration output by the inertial sensor module of the slave device to obtain framing data, and sends the framing data to the pseudo code spread spectrum data link module of the master device; The pseudo code spread spectrum data link module of the master device captures, tracks and demodulates the frame data, and measures the phase difference between the pseudo code chip of the slave device and the transmission chip of the master device to obtain the transmission time of the frame data, thereby obtaining the relative distance between the master device and the slave device at the current moment; The relative positioning module of the master device performs relative positioning solution on the first absolute position velocity information, absolute time information, pseudorange, carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the second absolute position velocity information, angular velocity, and acceleration output by the inertial sensor modules of the master device and the slave device respectively through the Kalman filter, and obtains the relative positioning information of the master device and the slave device, wherein the relative positioning information includes three-dimensional relative position and relative velocity.

5. The method according to claim 4, characterized in that When the communication state between the master device and the slave device is that there is no data link, the master device and the slave device do not perform time synchronization and relative positioning; when the communication state between the master device and the slave device is that there is a data link, the master device and the slave device perform time synchronization and relative positioning.

6. The method according to claim 5, characterized in that When the communication state between the master device and the slave device is a data link, the time synchronization and relative positioning between the master device and the slave device include: When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the Kalman filter is in the first working mode; When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device and the pseudorange output by the satellite positioning module of the slave device, the Kalman filter is in the second working mode; When the communication content between the master device and the slave device is the second absolute position speed information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase is not fixed, the Kalman filter is in the second working mode; When the communication state between the master device and the slave device is that the second absolute position velocity information output by the inertial sensor module of the slave device, the pseudorange and carrier phase output by the satellite positioning module of the slave device, and the double difference integer ambiguity of the carrier phase are fixed, the Kalman filter is in the third working mode; Wherein, when the Kalman filter is in the first working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative speed, the observed quantity includes an angular velocity, an acceleration and a relative distance between the master device and the slave device output by the inertial sensor modules of the master device and the slave device, and the relationship matrix is ​​a Jacobian matrix obtained by Taylor series expansion of the difference between the second absolute position speed information solution equation of the master device and the second absolute position speed information solution equation of the slave device; When the Kalman filter is in the second working mode, the state vector of the Kalman filter includes a three-dimensional relative position and a relative velocity, the observation quantity includes the pseudorange output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​a Jacobian matrix obtained by performing Taylor series expansion on the differential positioning solution equation based on the pseudorange observation quantities of the master device and the slave device; When the Kalman filter is in the third operating mode, the state vector of the Kalman filter includes three-dimensional relative position and relative velocity, the observation quantity includes the carrier phase output by the satellite positioning modules of the master device and the slave device respectively, and the relationship matrix is ​​the Jacobian matrix obtained by Taylor series expansion of the differential positioning solution equation based on the carrier phase observation quantities of the master device and the slave device.

7. The method according to any one of claims 4 to 6, characterized in that: The pseudo code spread spectrum data link module of the slave device completes the synchronization of the time reference pulse signal between the master device and the slave device according to the relative distance between the master device and the slave device at the last moment and the frequency control word in the relative positioning and time synchronization request information, including: The pseudo code spread spectrum data link module of the slave device compensates for the transmission delay according to the relative distance between the master device and the slave device at the last moment in the relative positioning and time synchronization request information; On the basis of compensating for the transmission delay, the pseudo code spread spectrum data link module of the slave device eliminates the sampling deviation according to the frequency control word to complete the synchronization of the time reference pulse signal between the master device and the slave device.

8. The method according to claim 7, characterized in that The frequency control word is obtained by the following formula: Where FTW is the frequency control word, R b is the transmitter code rate, f s For the master clock, 2 n is the code table depth.

9. The method according to claim 4, characterized in that The relative distance between the master device and the slave device is obtained by the following formula: Where L is the relative distance between the master device and the slave device, c is the speed of light, t delay1 and t delay2 are the transmission delays of the master device and the slave device respectively, t deal1 and t deal2 The processing delays of the master device and the slave device respectively, T1 represents the time when the master device sends the relative positioning and time synchronization request information, and T2 represents the time when the master device receives the framing data.

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