A navigation and positioning method and apparatus based on muon detection time series correction

Abstract

This invention discloses a navigation and positioning method and apparatus based on muon detection time series correction. The method includes: determining a time interval model for calculating the simultaneous detection of a specific muon event by a mobile receiver and a reference receiver based on the muon flux distribution; performing initial clock synchronization on the reference receiver and the mobile receiver; acquiring time series of the specific muon event detected by the reference receiver and the mobile receiver, respectively; correcting the time series of the reference receiver and the mobile receiver, respectively; calculating the time interval between the mobile receiver and the reference receiver based on the corrected time series, and calculating the muon flight distance based on the time interval; and calculating the positioning information of the mobile receiver based on the muon flight distance. This invention, based on muon detection and time series matching, achieves identification based on a specific muon event sequence and uses specific muon events to correct the time series, thereby improving the accuracy of navigation and positioning based on muon detection.

Description

Technical Field

[0001] This specification relates to the field of navigation technology, and in particular to a navigation and positioning method, apparatus, electronic device, and storage medium based on muon detection time series correction. Background Technology

[0002] Polar regions, deep earth, and deep sea are rich in valuable mineral resources and possess extremely high strategic value. As human exploration deepens, achieving navigation and positioning in these areas has become a pressing issue. Traditional global positioning systems (GPS) are susceptible to external interference, leading to inaccurate positioning and affecting navigation accuracy. In particular, satellite navigation and positioning are unusable in the polar regions, beneath the Earth's surface, and under sea level and ice, severely hindering exploration of these areas. Recently, a novel passive navigation and positioning technology based on cosmic ray muons has emerged. Cosmic rays, when emitted through atmospheric showers, produce a large number of particles that decay into highly penetrating muons. High-energy muons travel at near the speed of light in the air, where their speed and direction remain almost unchanged. Because cosmic ray muons carry velocity and direction information, they provide the initial conditions for determining distance. These cosmic ray muons are randomly distributed in three-dimensional space; therefore, by detecting their trajectories, the system can acquire navigation and positioning capabilities. Especially in areas where satellite signal positioning is difficult, muons, due to their high penetrability and widespread presence in the atmosphere, can be used for detection in polar, deep-sea, and deep-earth regions. However, traditional muon detection methods cannot effectively correct for time errors in long-distance muons, preventing the application of muon detection technology in navigation and positioning fields that are highly sensitive to time integration. Therefore, there is an urgent need for a method to correct time errors in muon detection and to build a navigation and positioning system based on muon detection time series correction. Summary of the Invention

[0003] The purpose of the embodiments in this specification is to address the above-mentioned problems by providing a navigation and positioning method, apparatus, electronic device, and storage medium based on muon detection time series correction.

[0004] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0005] Firstly, a navigation and positioning method based on muon detection time series correction is proposed, constructing a navigation and positioning system based on muon detection time series correction. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction. Both the mobile receiver and the reference receiver have built-in muon detectors. The navigation and positioning method is applicable to the navigation and positioning system and includes:

[0006] Based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver.

[0007] Complete the initial clock synchronization of the reference receiver and the mobile receiver;

[0008] The time series of the specific muon event detected by the reference receiver and the mobile receiver are obtained respectively;

[0009] The time series of the reference receiver and the mobile receiver are corrected respectively;

[0010] The interval time between the mobile receiver and the reference receiver is calculated based on the corrected time series, and the muon flight distance is calculated based on the interval time;

[0011] Based on the muon's flight distance, the positioning information of the mobile receiver is calculated.

[0012] Furthermore, based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver. This time interval model is... Where θ is the angle between the incident direction and the zenith direction, l is the distance between the mobile receiver and the reference receiver, A is the area considering the mobile receiver and the reference receiver, and n varies within a certain range depending on factors such as the cutoff momentum of the muon, longitude, and latitude.

[0013] Furthermore, the specific muon event includes the mobile receiver detecting and acquiring muons with specific characteristics, the specific characteristics including an incident angle that is the same as the exit angle of the reference receiver, and an incident energy that is similar to the exit energy of the reference receiver.

[0014] Further, the process of acquiring the time series of the specific muon event detected by the reference receiver and correcting the time series of the reference receiver includes:

[0015] Obtain the time series of the specific muon event occurring at the reference receiver:

[0016]

[0017] After self-correction time, the time sequence of the specific muon event detected by the reference receiver is obtained: {K1(t),K2(t),…,K N (t)} ref +δt ref , where K N (t) refδt represents the time when the Nth specific muon event occurs at the reference receiver. ref This indicates the clock offset of the reference receiver after using the self-correcting time.

[0018] Further, the process of acquiring the time series of the specific muon event detected by the mobile receiver and correcting the time series of the mobile receiver includes:

[0019] Obtain the time series of the specific muon event occurring at the mobile receiver:

[0020] {Ψ1(t),Ψ2(t),…,Ψ N (t)} move ;

[0021] By performing logical operations and threshold analysis on the time series of the specific muon event at the reference receiver, a corrected time series of the specific muon event occurring at the reference receiver is obtained: Among them, K N (t) move δt represents the time when the Nth specific μ-sub-event occurs at the mobile receiver. move k represents the inherent time error of the mobile receiver itself. move (t move (T) represents the drift coefficient of the mobile receiver clock with respect to time and temperature T, where t move Indicates the specific time of the mobile receiver clock. The time t represents the i-th specific μ-sub event. i The time t of the specific muon event relative to the last correction time of the mobile receiver i-1 The length of time that has elapsed.

[0022] Further, the process of calculating the muon flight distance between the mobile receiver and the reference receiver based on the corrected time series includes:

[0023] Calculate the average time interval of the specific muon event that simultaneously passes through the reference receiver and the mobile receiver:

[0024] Calculate the muon flight distance between the mobile receiver and the reference receiver: ρ N =βcΔt N , where c represents the speed of light, and β represents the ratio of the muon's speed of flight calculated from energy to the speed of light c.

[0025] Furthermore, the mobile receiver acquires and corrects time series multiple times in correspondence with multiple reference receivers, and calculates the muon flight distance between the multiple mobile receivers and the reference receivers based on the time series acquired and corrected multiple times in correspondence with multiple reference receivers.

[0026] Furthermore, the process of calculating the positioning information of the mobile receiver based on the muon flight distance includes:

[0027] Acquire the positioning information of the plurality of reference receivers; and,

[0028] By combining the multiple muon flight distances calculated between the mobile receiver and the multiple reference receivers, a corresponding mathematical model is selected to calculate the positioning information of the mobile receiver.

[0029] Secondly, a navigation and positioning device based on muon detection time series correction is proposed, constructing a navigation and positioning system based on muon detection time series correction. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known position information and capable of time self-correction. Both the mobile receiver and the reference receiver have built-in muon detectors. The navigation and positioning device, applicable to the navigation and positioning system, includes:

[0030] The first module is able to determine, based on the muon flux distribution, the time interval model used to calculate the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver;

[0031] The second module is capable of performing initial clock synchronization between the reference receiver and the mobile receiver;

[0032] The third module is capable of acquiring the time series of the specific muon events detected by the reference receiver and the mobile receiver, respectively.

[0033] The fourth module is capable of correcting the time series of the reference receiver and the mobile receiver respectively;

[0034] The fifth module is capable of calculating the interval time between the mobile receiver and the reference receiver based on the corrected time series, and calculating the muon flight distance based on the interval time;

[0035] The sixth module is capable of calculating the positioning information of the mobile receiver based on the flight distance of the muon.

[0036] Thirdly, an electronic device is proposed, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the navigation and positioning method based on muon detection time series correction as described in the first aspect.

[0037] Fourthly, a computer-readable storage medium is proposed, characterized in that the computer-readable storage medium stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the navigation and positioning method based on muon detection time series correction as described in the first aspect.

[0038] This instruction manual can achieve at least the following technical effects:

[0039] The present invention is based on muon detection and time series matching, and realizes the identification of specific muon event sequences. It uses specific muon events to correct the time series, thereby improving the navigation and positioning accuracy based on muon detection. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is one of the schematic diagrams of a navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0042] Figure 2 This is the second schematic diagram of the navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0043] Figure 3 This is the third schematic diagram of the navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0044] Figure 4 This is the fourth schematic diagram of the navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0045] Figure 5 This is the fifth schematic diagram of the navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0046] Figure 6 This is the sixth schematic diagram of the navigation and positioning method based on muon detection time series correction provided in the embodiments of this specification.

[0047] Figure 7 This is a schematic diagram of a navigation and positioning device based on muon detection time series correction provided in the embodiments of this specification.

[0048] Figure 8 This is a schematic diagram of the structure of an electronic device provided as an embodiment of this specification. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0050] The following detailed description of a navigation and positioning scheme based on muon detection time series correction, as described in this specification, is illustrated with specific examples.

[0051] The purpose of this invention is to overcome the problem that traditional muon detection methods cannot effectively correct for time errors in long-distance muons. By correcting the time errors in muon detection, an optimized muon detection-based technical solution can be applied to navigation and positioning. Since muons are not currently used in navigation and positioning, this represents a pioneering advancement compared to existing muon applications. The technical approach of this invention is based on the principles of muon detection and time series matching. It constructs a navigation and positioning system based on muon detection time series correction. This system uses a method to improve the accuracy of muon navigation and positioning by matching the time series of specific muon events. It achieves improved navigation and positioning accuracy by identifying and correcting the time series of specific muon events. The muon detection-based navigation and positioning system is constructed using components including a muon detector, a satellite signal receiver, a photomultiplier tube, a constant ratio fractional discriminator, a time-to-number converter, a fiber optic inertial navigation module, and a host computer. The overall working principle and process of the muon detection-based navigation and positioning system includes setting up a mobile receiver and a reference receiver. The mobile receiver is the target object to be navigated and positioned, and the reference receiver is a freely movable reference object with known position information. Both the reference receiver and the mobile receiver have built-in muon detectors. Cosmic ray muons excite a plastic scintillator after passing through the detector. The scintillator signal is then output to a time-to-digital converter (TD-SCDMA) after passing through a photomultiplier tube and a fractional constant ratio discriminator. The TD-SCDMA transmits the result to a host computer for calculation by measuring the time interval. Typically, only after initial clock synchronization can the muon detector achieve positioning through measurements at multiple locations. However, in practical navigation and positioning applications, muon detection requires wireless transmission to record the muon arrival time. Current clock precision and cost make accurate recording of muon arrival times impossible. Furthermore, significant errors occur during wireless information exchange, resulting in meter-level accuracy for calculated muon distances. Specifically, high-precision crystal oscillators are used for wireless transmission, ensuring relatively high accuracy within a certain time range; however, over long periods, errors exceeding microseconds occur in the recorded time, leading to unacceptable positioning errors of hundreds of meters when using these times for distance calculations. Therefore, in order to build a muon positioning system with a positioning error at the meter level, we first need to consider the impact of specific muon characteristics detected by the relativistic muon transport characteristic correction detector on the positioning accuracy.

[0052] Example 1

[0053] Based on the above description of the storage problem and the technical concept of the present invention, as follows: Figure 1The diagram illustrates a navigation and positioning method based on muon detection time series correction according to an embodiment of the present invention. Based on the constructed muon detection-based navigation and positioning system, the system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction; both the mobile receiver and the reference receiver have built-in muon detectors. The navigation and positioning method, applicable to the navigation and positioning system, includes:

[0054] S1: Based on the muon flux distribution, determine the time interval model used to calculate the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver.

[0055] Optionally, based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver, wherein the time interval model is: Where θ is the angle between the incident direction and the zenith direction, l is the distance between the mobile receiver and the reference receiver, A is the area considering the mobile receiver and the reference receiver, and n varies within a certain range depending on factors such as the cutoff momentum of the muon, longitude, and latitude.

[0056] Specifically, such as Figure 2 As shown, it is necessary to calculate and measure the vertical muon flux at the zenith angle and the relationship between the muon flux and the zenith angle at different angles. The measured flux is generally considered to be I(θ) = I0cosθ. n θ, where I0 represents the vertical flux, θ is the angle between the incident direction and the zenith direction, and the exponent n varies within a certain range, depending on factors such as the muon's cutoff momentum, longitude, and latitude. Therefore, experimental observations can determine the distribution of muon events in different θ directions and the solid-state angular distribution that the detector can receive at different locations. The chi-square distribution is used to describe the best-fit value of the vertical flux and n. Where, N Obs. ω(θ) represents the number of events observed at different angles θ, while ω(θ) represents the acceptance of the solid angle at different angles θ. Experimentally, the best-fit value for n is n = 2.150 ± 0.01. By constructing a flux distribution model for the muon, we can calculate the interval Δt between the simultaneous passage of a muon by the mobile receiver and the reference receiver. i This time interval can be used to reliably assess the muon event time of the corrected mobile receiver, adding a reliability factor ζ related to time. With a distance of l between the mobile receiver and the reference receiver, and a zenith angle of θ, considering the areas A of the mobile receiver and the reference receiver, the time interval for detecting muon events is...

[0057] Optionally, the specific muon event includes the mobile receiver detecting and acquiring muons with specific characteristics, the specific characteristics including an incident angle that is the same as the exit angle of the reference receiver, and an incident energy that is similar to the exit energy of the reference receiver.

[0058] S2: Complete the initial clock synchronization of the reference receiver and the mobile receiver. Specifically, at the initial moment, both the reference receiver and the mobile receiver use the satellite clock for time alignment to complete the initial clock synchronization. The satellite clock accuracy is on the order of nanoseconds. Once the mobile receiver is placed in the detection environment, it cannot be aligned using the satellite.

[0059] S3: Obtain the time series of the specific muon event detected by the reference receiver and the mobile receiver, respectively.

[0060] S4: Correct the time series of the reference receiver and the mobile receiver respectively.

[0061] Optionally, such as Figure 3 As shown, for a reference receiver, acquiring the time series of the specific muon event detected by the reference receiver and correcting the time series of the reference receiver includes:

[0062] S31: Obtain the time series of the specific muon event occurring at the reference receiver.

[0063]

[0064] S32: The time sequence of the specific μ-event occurring at the reference receiver after the self-correction time: {K1(t),K2(t),…,K N (t)} ref +δt ref , where K N (t) ref δt represents the time when the Nth specific muon event occurs at the reference receiver. ref This indicates the clock offset of the reference receiver after using the self-correcting time.

[0065] Optionally, such as Figure 4 As shown, for a mobile receiver, acquiring the time series of the specific muon event detected by the mobile receiver and correcting the time series of the mobile receiver includes:

[0066] S41: Obtain the time sequence of the specific μ-sub event occurring at the mobile receiver: {Ψ1(t),Ψ2(t),…,Ψ N (t)} move ;

[0067] S42: By performing logical operations and threshold analysis on the time series of the specific muon event at the reference receiver, the corrected time series of the specific muon event occurring at the reference receiver is as follows: Among them, K N (t) move δt represents the time when the Nth specific μ-sub-event occurs at the mobile receiver. move k represents the inherent time error of the mobile receiver itself. move (t move (T) represents the drift coefficient of the mobile receiver clock with respect to time and temperature T, where t move Indicates the specific time of the mobile receiver clock. The time t represents the i-th specific μ-sub event. i The time t of the specific muon event relative to the last correction time of the mobile receiver i-1 The length of time that has elapsed.

[0068] S5: Calculate the interval time between the mobile receiver and the reference receiver based on the corrected time series, and calculate the muon flight distance based on the interval time.

[0069] Optionally, the mobile receiver acquires and corrects time series multiple times in correspondence with multiple reference receivers, and calculates the muon flight distance between the multiple mobile receivers and the reference receivers based on the time series acquired and corrected multiple times in correspondence with multiple reference receivers.

[0070] Optionally, such as Figure 5 As shown, the calculation of the interval time between the mobile receiver and the reference receiver based on the corrected time series, and the calculation of the muon flight distance based on the interval time, includes:

[0071] S51: Calculate the time interval of the specific muon event that simultaneously passes through the reference receiver and the mobile receiver:

[0072] Specifically, for generating multiple sets of specific μ sub-events {R1,R2,…,R...} N The corrected time difference between adjacent muon events is: Where N1, N2, ..., N j This represents the moment {t} when the mobile receiver is detected. j} moveThis also represents the number of different specific muon events in group j; by using multiple different sequence groups, the mobile receiver clock can be corrected according to multiple groups of specific muon events, resulting in a sequence of mobile receiver clock drift correction coefficients for different sequence groups. Considering the muon flux distribution I(θ)=I0cos n For a specific set of j-group muon event sequences, after the mobile receiver's initial clock is calibrated via the satellite clock, the first specific muon event sequence in the j-group is: Where Δt1 refers to the interval from the first specific μ-sub-event to the initial time, Δt i The time interval between the i-th specific muon event and the (i-1)-th specific muon event is defined by the flux distribution I(θ) of cosmic ray muons. All j groups of Δt1 are fundamentally different and exhibit different statistical patterns depending on their location and distance. This sequence can form j clock drift corrections; therefore, each group... Where i = 1, 2, ..., j, k = 1, 2, ..., N j Record the N pairs between groups j. j The time interval of each specific μ-event is such that each data set accounts for N times the clock drift of the mobile receiver. j After several corrections, and finally by taking a normal distribution for the clock drift coefficient, the clock drift of the mobile receiver is ultimately limited to the nanosecond level. The mobile receiver with limited clock drift will achieve a flight distance with meter-level accuracy. Positioning can be achieved using the following method based on multiple sets of measured muon flight distances. It should be noted that the interval time mentioned here refers to the flight time of the muon between the mobile receiver and the reference receiver.

[0073] S52: Calculate the muon flight distance ρ between the mobile receiver and the reference receiver. N =βcΔt N , where c represents the speed of light, and β represents the ratio of the muon's speed of flight calculated from energy to the speed of light c.

[0074] Specifically, after correcting the time of the muon event at the mobile receiver as described above, the distance between the reference receiver and the mobile receiver can be calculated by calculating the muon distance. The reference receiver is generally considered to be placed in a location capable of receiving satellite signals or with fixed coordinates. Since the muon's flight speed is close to the speed of light, based on the flight time Δt... N The flight distance of the muon can be calculated. In a specific implementation, for example, the time when the muon is detected by the first reference receiver... The muon emission angle θ1 is calculated. Within a certain distance range, if a mobile receiver detects muons with the same incident angle and similar incident energies at this time, it can be recorded as the same high-energy muon event, and this moment is... The distance from the first reference receiver to the mobile receiver can then be calculated. By recording the same μ event n times, it is possible to... If we obtain statistics that conform to a normal distribution, then the distance that has a 90% probability can be considered the distance from the first reference receiver to the mobile receiver. r1 represents the reference receiver, and m represents the mobile receiver. The moment when the muon is detected using the second reference receiver is... The emission angle θ2 of the muon emission detector can be calculated using a multi-layer detector. Once the previous conditions are met, it can be recorded as the same high-energy muon event, and this moment is t. m2 Therefore, the distance from the second reference receiver 2 to the mobile receiver can be calculated. Similarly, by recording the same μ event n times, we can... If we obtain statistics that conform to a normal distribution, then the distance that has a 90% probability can be considered the distance from the second reference receiver to the mobile receiver. r2 represents the reference receiver, and m represents the mobile receiver. Similarly, the position of the third reference receiver relative to the mobile receiver can be obtained.

[0075] S6: Calculate the positioning information of the mobile receiver based on the muon flight distance. Optionally, as follows... Figure 6 As shown, the process of calculating the positioning information of the mobile receiver based on the muon flight distance includes:

[0076] S61: Obtain the positioning information of the plurality of reference receivers; and,

[0077] S62: Combining the multiple muon flight distances calculated between the mobile receiver and the multiple reference receivers, select the appropriate mathematical model to calculate the positioning information of the mobile receiver.

[0078] Specifically, the calculation of the positioning information of the mobile receiver is implemented as follows. Since the j reference receivers can have known positioning information, such as obtaining real-time positioning information by receiving satellite positioning signals, assume the positioning information of the j-th reference receiver is (X... j ,Y j Z j Therefore, it is possible to construct a system with (X) j ,Y j Z j With the center of the ball, and Let j be spheres with radius j. Since the distance intersection method is used, two coordinate points can be obtained as long as three spheres with different centers intersect, based on the incident direction θ of the muon. j This allows us to determine the location P of the mobile receiver.m (X m ,Y m Z m The distance equation for the μ-sub-distance in three-dimensional coordinates is solved using the distance intersection method:

[0079]

[0080] Meanwhile, due to various errors in the muon distance equation, the main error of the equation for muon distance observation from a single location is shown in the following equation: in, t represents the distance between the reference receiver and the mobile receiver measured at the i-th position. tdc This means that the time difference recorded by the muon via a time-to-digital converter needs to be subtracted from the time spent via wired connection or wireless transmission. It is also necessary to correct the positional error caused by the drift of the timing system itself. Ultimately, the above-mentioned invention achieves a navigation and positioning method based on muon detection time series correction.

[0081] Example 2

[0082] Figure 7 This is a schematic diagram of a navigation and positioning device 700 based on muon detection time series correction, provided as an embodiment of this specification. Please refer to... Figure 7 In one embodiment, the navigation and positioning device 700 based on muon detection time series correction constructs a navigation and positioning system based on muon detection time series correction. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction. Both the mobile receiver and the reference receiver have built-in muon detectors. The navigation and positioning device is suitable for the navigation and positioning system and includes:

[0083] The first module 701 is able to determine, based on the muon flux distribution, the interval time model used to calculate the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver;

[0084] The second module 702 is capable of performing initial clock synchronization between the reference receiver and the mobile receiver;

[0085] The third module 703 is capable of acquiring the time series of the specific muon events detected by the reference receiver and the mobile receiver, respectively.

[0086] The fourth module 704 is capable of correcting the time series of the reference receiver and the mobile receiver respectively;

[0087] The fifth module 705 is capable of calculating the interval time between the mobile receiver and the reference receiver based on the corrected time series, and calculating the muon flight distance based on the interval time;

[0088] The sixth module 706 is capable of calculating the positioning information of the mobile receiver based on the flight distance of the muon.

[0089] It should be understood that the navigation and positioning device 700 based on muon detection time series correction in the embodiments of this specification can also perform... Figures 1 to 6 A method for executing a navigation and positioning device (or apparatus) based on muon detection time series correction, and for implementing the navigation and positioning device (or apparatus) based on muon detection time series correction in... Figures 1 to 6 The functionality of the example shown will not be elaborated upon here.

[0090] Example 3

[0091] Figure 8 This is a schematic diagram of the structure of an electronic device according to one embodiment of this specification. Please refer to it. Figure 8 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0092] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0093] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0094] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming a shared resource access control mechanism at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0095] A navigation and positioning system based on muon detection time series correction is constructed. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction. Both the mobile receiver and the reference receiver have a built-in muon detector. The navigation and positioning method applicable to the navigation and positioning system includes:

[0096] Based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver.

[0097] Complete the initial clock synchronization of the reference receiver and the mobile receiver;

[0098] The time series of the specific muon event detected by the reference receiver and the mobile receiver are obtained respectively;

[0099] The time series of the reference receiver and the mobile receiver are corrected respectively;

[0100] The interval time between the mobile receiver and the reference receiver is calculated based on the corrected time series, and the muon flight distance is calculated based on the interval time;

[0101] Based on the muon's flight distance, the positioning information of the mobile receiver is calculated.

[0102] The above is as described in this instruction manual. Figures 1 to 6The navigation and positioning method based on muon detection time series correction disclosed in the illustrated embodiments can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0103] Of course, in addition to the software implementation, the electronic devices in the embodiments of this specification do not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0104] Example 4

[0105] This specification also provides an embodiment of a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by a portable electronic device including multiple applications, enable the portable electronic device to perform... Figures 1 to 6 The navigation and positioning method based on muon detection time series correction shown in the embodiment is specifically used to perform the following methods:

[0106] A navigation and positioning system based on muon detection time series correction is constructed. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction. Both the mobile receiver and the reference receiver have a built-in muon detector. The navigation and positioning method applicable to the navigation and positioning system includes:

[0107] Based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver.

[0108] Complete the initial clock synchronization of the reference receiver and the mobile receiver;

[0109] The time series of the specific muon event detected by the reference receiver and the mobile receiver are obtained respectively;

[0110] The time series of the reference receiver and the mobile receiver are corrected respectively;

[0111] The interval time between the mobile receiver and the reference receiver is calculated based on the corrected time series, and the muon flight distance is calculated based on the interval time;

[0112] Based on the muon's flight distance, the positioning information of the mobile receiver is calculated.

[0113] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0114] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an electronic data carrier device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0115] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0116] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0117] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A navigation and positioning method based on muon detection time series correction, characterized in that, Construct a navigation and positioning system based on muon detection time series correction. The navigation and positioning system includes a mobile receiver and / or a reference receiver with known location information and capable of time self-correction. Both the mobile receiver and the reference receiver have a built-in muon detector. The navigation and positioning method, applicable to the navigation and positioning system, includes: Based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver. Complete the initial clock synchronization of the reference receiver and the mobile receiver; The time series of the specific muon event detected by the reference receiver and the mobile receiver are obtained respectively; The time series of the reference receiver and the mobile receiver are corrected respectively; The interval time between the mobile receiver and the reference receiver is calculated based on the corrected time series, and the muon flight distance is calculated based on the interval time; Based on the muon's flight distance, the positioning information of the mobile receiver is calculated; Based on the muon flux distribution, a time interval model is determined for calculating the simultaneous detection of a specific muon event by the mobile receiver and the reference receiver. The time interval model is as follows: Where θ is the angle between the incident direction and the zenith direction, l is the distance between the mobile receiver and the reference receiver, A is the area considering the mobile receiver and the reference receiver, and n depends on the muon's cutoff momentum, longitude, and latitude. The specific muon event includes the mobile receiver detecting and acquiring muons with specific characteristics, the specific characteristics including an incident angle that is the same as the exit angle of the reference receiver, and an incident energy that is similar to the exit energy of the reference receiver; The process of acquiring the time series of the specific muon event detected by the reference receiver and correcting the time series of the reference receiver includes: Obtain the time series of the specific muon event occurring at the reference receiver: After self-correction time, the time sequence of the specific muon event detected by the reference receiver is obtained: {K1(t),K2(t),…,K N (t)} ref +δt ref , where K N (t) ref δt represents the time when the Nth specific muon event occurs at the reference receiver. ref This indicates the clock offset of the reference receiver after using the self-correcting time; The process of acquiring the time series of the specific muon event detected by the mobile receiver and correcting the time series of the mobile receiver includes: Obtain the time series of the specific muon event occurring at the mobile receiver: {Ψ1(t),Ψ2(t),…,Ψ N (t)} move ; By performing logical operations and threshold analysis on the time series of the specific muon event at the reference receiver, a corrected time series of the specific muon event occurring at the reference receiver is obtained: Among them, K N (t) move δt represents the time when the Nth specific μ-sub-event occurs at the mobile receiver. move k represents the inherent time error of the mobile receiver itself. move (t move (T) represents the drift coefficient of the mobile receiver clock with respect to time and temperature T, where t move Indicates the specific time of the mobile receiver clock. The time t represents the i-th specific μ-sub event. i The time t of the specific muon event relative to the last correction time of the mobile receiver i-1 The length of time that has elapsed.

2. The navigation and positioning method based on muon detection time series correction according to claim 1, characterized in that, The process of calculating the muon flight distance between the mobile receiver and the reference receiver based on the corrected time series includes: Calculate the interval time of the specific muon event that passes simultaneously through the reference receiver and the mobile receiver: Calculate the muon flight distance between the mobile receiver and the reference receiver: ρ N =βcΔt N , where c represents the speed of light, and β represents the ratio of the muon's speed of flight calculated from energy to the speed of light c.

3. The navigation and positioning method based on muon detection time series correction according to claim 2, characterized in that, The mobile receiver acquires and corrects time series multiple times in correspondence with multiple reference receivers, and calculates the muon flight distance between the multiple mobile receivers and the reference receivers based on the time series acquired and corrected multiple times in correspondence with multiple reference receivers.

4. The navigation and positioning method based on muon detection time series correction according to claim 3, characterized in that, The process of calculating the positioning information of the mobile receiver based on the muon flight distance includes: Acquire the positioning information of the plurality of reference receivers; and, By combining the multiple muon flight distances calculated between the mobile receiver and the multiple reference receivers, a corresponding mathematical model is selected to calculate the positioning information of the mobile receiver.

5. An electronic device, characterized in that, include: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the navigation and positioning method based on muon detection time series correction as described in any one of claims 1 to 4.

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