A follow-up adjacent track laying drone control system and method

Abstract

The application provides a kind of follow type adjacent line track laying wing machine control system and method, belongs to adjacent line track laying technical field, system includes track laying main line, track laying adjacent line, track laying main machine, track laying wing machine, control end, monitoring end and main machine positioning label, track laying main machine is located on track laying main line, track laying wing machine is located on track laying adjacent line, main machine positioning label is installed on track laying main machine, control end is installed on track laying wing machine, control end measures the distance between itself and main machine positioning label to obtain the relative distance of track laying main machine and track laying wing machine, and it is corrected, monitoring end generates adjustment signal according to preset condition and relative distance, and control end adjusts the moving direction of track laying wing machine according to adjustment signal.The application can lay steel rail on main adjacent line at the same time, without changing line, so as to improve the track laying efficiency, by arranging wing machine on adjacent track, the synchronism and relative accuracy of main adjacent track laying are guaranteed, and the manpower of adjacent track laying is saved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of adjacent line track laying, and in particular to a follow-up adjacent line track laying wingman control system and method. Background Art

[0002] At present, most track laying methods at home and abroad only support the step-by-step laying of long rails on both the main line and the adjacent line, that is, the long rails on the adjacent line are laid after the main line is laid or a certain distance is reached. The time for the locomotive to align the long rails on the main line is not fully utilized, which greatly affects the construction progress. There is also a construction method for laying tracks on both the main and adjacent lines, which can achieve the simultaneous laying of long rails on the main and adjacent lines, greatly improving the efficiency of railway track laying. However, more construction workers are required to constantly adjust the laying posture of the adjacent track during track laying, which not only poses a potential threat to the life safety of the construction workers, but also affects the efficiency and accuracy of track laying. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a control system and method for a following adjacent line track laying wingman in response to the deficiencies in the prior art.

[0004] The present invention solves the above-mentioned technical problems with the following technical solution: a follow-up adjacent-line track-laying wingman control system, comprising a track-laying main line, a track-laying adjacent line, a track-laying host, a track-laying wingman, a control terminal, a monitoring terminal, and a host positioning tag, wherein the track-laying main line and the track-laying adjacent line are laid parallel to each other, the track-laying host is located on the track-laying main line, the track-laying wingman is located on the track-laying adjacent line, the host positioning tag is mounted on the track-laying host, and the control terminal is mounted on the track-laying wingman;

[0005] The control end is used to measure the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and to correct the relative distance;

[0006] The monitoring terminal is used to display the corrected relative distance and generate an adjustment signal according to preset conditions and the relative distance;

[0007] The control end is further used to adjust the moving direction of the track-laying wingman according to the adjustment signal.

[0008] Another technical solution of the present invention to solve the above technical problem is as follows: a control method of a following adjacent line track laying wingman, applied to the following adjacent line track laying wingman control system, comprises the following steps:

[0009] The control end measures the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and corrects the relative distance;

[0010] The monitoring end displays the corrected relative distance, and generates an adjustment signal according to preset conditions and the relative distance;

[0011] The control end adjusts the moving direction of the track laying subordinate machine according to the adjustment signal.

[0012] The control end can measure the relative distance between the track laying main machine and the track laying subordinate machine, the monitoring end generates an adjustment signal according to preset conditions and the relative distance, and the control end adjusts the moving direction of the track laying subordinate machine according to the adjustment signal, so that the track laying efficiency is improved, the synchronization and relative accuracy of track laying on the main track and the adjacent track are ensured, and the manpower for track laying on the adjacent track is saved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A functional module block diagram of the follow-up type adjacent track track laying subordinate machine control system is provided for the embodiment of the present application;

[0014] Figure 2 A flowchart of the follow-up type adjacent track track laying subordinate machine control method is provided for the embodiment of the present application;

[0015] Figure 3 A principle diagram of the positioning algorithm based on UWB and the time of flight method is provided for the embodiment of the present application;

[0016] Figure 4 A structural schematic diagram of the follow-up type adjacent track track laying subordinate machine automatic control system is provided for the embodiment of the present application;

[0017] Figure 5 An algorithm flowchart for measuring the relative distance between the adjacent track track laying subordinate machine and the main track track laying main machine is provided for the embodiment of the present application.

[0018] In the drawings, the components represented by each mark are as follows:

[0019] 1, monitoring end, 2, main machine positioning tag, 3, track laying subordinate machine, 4, control end, 5, track laying main machine, 6, track laying main line, 7, track laying adjacent line, 8, personnel positioning tag, 9, main line steel rail, 10, adjacent line steel rail, 11, main machine steel guide, 12, virtual electronic fence. DETAILED DESCRIPTION

[0020] The principles and characteristics of the present application are described below in combination with the drawings, and the examples are only used to explain the present application, and are not used to limit the scope of the present application.

[0021] Example 1:

[0022] As Figure 1As shown, a following adjacent line track laying wingman control system includes a track laying main line, a track laying adjacent line, a track laying host, a track laying wingman, a control terminal, a monitoring terminal, and a host positioning tag. The track laying main line and the track laying adjacent line are laid parallel to each other, the track laying host is located on the track laying main line, the track laying wingman is located on the track laying adjacent line, the host positioning tag is installed on the track laying host, and the control terminal is installed on the track laying wingman;

[0023] The control end is used to measure the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and to correct the relative distance;

[0024] The monitoring terminal is used to display the corrected relative distance and generate an adjustment signal according to preset conditions and the relative distance;

[0025] The control end is further used to adjust the moving direction of the track-laying wingman according to the adjustment signal.

[0026] Specifically, the control terminal is coplanar with the host's positioning tag. The monitoring terminal can be installed in the host's cab or held by a construction worker. To support handheld use, the monitoring terminal is powered by a built-in battery. The control terminal uses an STM32F407VGT6 processor.

[0027] In the above embodiment, the control end is capable of measuring the relative distance between the track-laying host machine and the track-laying wingman, the monitoring end generates an adjustment signal according to preset conditions and relative distance, and the control end adjusts the moving direction of the track-laying wingman according to the adjustment signal. Rails can be laid on the main and adjacent lines at the same time without changing lines, thereby improving the track-laying efficiency. By arranging the wingman on the adjacent track, the synchronization and relative accuracy of track laying on the main and adjacent tracks are ensured, and manpower for track laying on the adjacent track is saved.

[0028] Based on the above embodiments, Figure 3 As shown, based on the UWB positioning algorithm and the time-of-flight method, the distance is calculated by measuring the round-trip flight time of the UWB signal between the base station (included in the control terminal) and the tag. The bilateral two-way ranging is divided into two ranging times.

[0029] In the control end, the distance between itself and the host positioning tag is measured to obtain the relative distance between the track laying host and the track laying wingman, specifically:

[0030] Receive the first data sent by the host positioning tag and record the sending time T of the host positioning tag a1 , and delay T r1 Then send a signal to the host positioning tag and record the sending time T b1And the reception time T of the host positioning tag receiving the signal a2 ;

[0031] Delay T for receiving the host location tag r2 The second data is fed back and the receiving time T is recorded b2 ;

[0032] According to the sending time T a1 , receiving time T a2 , sending time T b1 and receiving time T b2 , get the time difference T dv1 and time difference T dv2 ;

[0033] According to the signal flight time calculation formula, time difference T dv1 , time difference T dv2 and delay T r1 and delay T r2 , get the flight time T c , the signal flight time calculation formula is:

[0034]

[0035] According to the distance formula and flight time T c Calculate the relative distance between the track laying host and the track laying wingman. The distance formula is:

[0036] x0=T c ×C,

[0037] Wherein, x0 is the relative distance between the track-laying host and the track-laying wingman, and C is the speed of light.

[0038] However, due to the influence of electromagnetic, steering or bridge tunnel factors, there is an error in the relative distance between the adjacent track laying vehicle and the main workshop measured by UWB. In addition, due to many uncertain factors in the actual working environment, the theoretically constructed adjacent track laying vehicle motion model is not completely accurate. For example, when estimating the position of the vehicle moving at a constant speed on the track, the torque originally output by the vehicle's engine will change due to some changes in the intake or fuel pump nozzle blockage, which will cause the vehicle to accelerate and decelerate briefly, thereby introducing process noise. This part of the error is usually unavoidable. Under the interference of multiple factors, the Kalman filter method is used, combined with the previous system state x k-1 and the current measured value z k For the current system state x k Make accurate estimates.

[0039] In the control end, the relative distance is corrected, specifically:

[0040] Correcting the relative distance based on a Kalman filter method includes:

[0041] Establish an initial k-time correction model, the initial k-time correction model is:

[0042] x k =Ax k-1 +Bu k-1 ,

[0043] Among them, A is the predicted state transfer matrix, x k-1 is the state at time k-1, B is the control matrix, u k-1 is the control vector from the previous moment k-1 to the next moment k;

[0044] Next, the prediction error covariance matrix P can be updated:

[0045] P k =AP k-1 A T +Q,

[0046] Among them, P k is the prediction error covariance matrix at time k, P k-1 is the prediction error covariance matrix at time k-1, and Q is the process noise covariance matrix. After completing the prediction for the current moment, it is necessary to prepare for the subsequent Kalman filtering and update the relevant parameters in the derivation process. First, the Kalman gain K at the current moment can be obtained k .

[0047] Adjust the corrected model state at time k:

[0048] x k =x k +K k (z k -Hx k ),

[0049] Among them, K k is the Kalman gain, z k is the measurement value at time k, and H is the measurement matrix.

[0050] When performing Kalman filtering for the first time, the initial values ​​of the covariance matrix of the prediction error P0, the initial value of the covariance matrix of the measurement noise R0, and the initial value of the covariance matrix of the process noise Q0 are very critical. Generally speaking, if P0, R0, and Q0 cannot be accurately obtained and only the possible value range is known, the larger value that may appear can be conservatively adopted. The corrected relative distance x at each moment is obtained through the process. k .

[0051] Finally, the KF algorithm is used to fuse the UWB measurement information with the MIMU navigation information. The MIMU's attitude, velocity, and position error equations are used as the KF state equations. The state variables include attitude angle error, velocity error, position error, and gyro and accelerometer bias errors. The KF observation equation uses the actual position observation error equation, and the observation variables include the three-dimensional position error information between the UWB tag position and the MIMU position. Coordinate constraints and zero-speed corrections are added based on the characteristics of the airport or supermarket. The position information observed by the UWB receiver board is compared with the position information measured by the MIMU and used as the position observation input. The KF algorithm estimates and corrects the gyro and accelerometer bias errors, ultimately obtaining more accurate positioning information as well as relative distance and velocity.

[0052] like Figure 5 As shown, the above process should be understood as the first data, the second data and the sending signal are specifically: the UWB speed measurement signals sent and received between the host positioning tag and the control end respectively.

[0053] First, the UWB speed measurement signals are sent and received between the host positioning tag and the control end respectively.

[0054] Next, the time-of-flight method is used to obtain the uncorrected relative distance x0 between the host positioning tag and the control terminal. In other words, the relative distance x0 is used as the relative distance x0 to be corrected. k .

[0055] Then, the Kalman filter method is used to correct the relative distance x at each moment after correction. k .

[0056] Next, the UWB measurement information and MIMU navigation information are fused based on the KF algorithm.

[0057] Finally, higher-precision positioning information and relative distance are obtained.

[0058] Based on the above embodiment, it also includes a personnel positioning tag;

[0059] The monitoring terminal is further used to import an electronic map of the track laying site and set a virtual electronic fence as a virtual warning zone in the electronic map;

[0060] The personnel positioning tag is used to locate the wearer of the positioning tag in real time and send the wearer's positioning information to the monitoring terminal;

[0061] The monitoring terminal is further used to determine whether the wearer's current location is within the virtual warning area based on the wearer's positioning information. If not, an alarm message is generated and sent to a designated administrator terminal.

[0062] As Figure 4 shown, in particular, while ensuring track laying accuracy, the system can also realize real-time monitoring of the track laying site construction personnel state:

[0063] By wearing a personnel positioning tag 8 on the construction personnel, and setting a virtual electronic fence 12 in the designated area on the electronic map of the monitoring end, a fence type virtual warning area is established, and when the person or object wearing the positioning tag enters or leaves the area drawn by the mouse or other means on the electronic map, the monitoring end of the system judges whether the current position of the wearer is in the virtual warning area according to the positioning information of the wearer, to generate an alarm information, and when the construction personnel leave the area, the system will automatically send the alarm information to the administrator at the monitoring end 1 for reminding, so as to realize the safety state perception detection and construction state estimation of the construction personnel.

[0064] In the above embodiment, the construction personnel can be tracked after wearing the personnel positioning tag, and a construction personnel safety working area can be set in the background by using the positioning management of Beidou, a fence type virtual warning area is established, and when the construction personnel leave the area, the system automatically sends an alarm information to the administrator for reminding, so as to realize the safety state perception detection and construction state estimation of the construction personnel.

[0065] The process of realizing automatic track laying by using the system is introduced as follows, as Figure 4 shown:

[0066] Firstly, the track laying main machine 5 of the main line lays the main line rail 9 along the track laying main line 6, and the advancing direction is the direction indicated by the arrow. Figure 3 The track laying main machine 5 of the main line has a main machine rail guide 11, which can guide the rail on the main machine to the track laying adjacent line 7 of the track laying slave machine 3, so that the track laying adjacent line 7 of the track laying slave machine 3 can receive the adjacent line rail 10 conveyed by the track laying main machine 5 of the main line to lay the rail, and the advancing direction of the track laying adjacent line 7 of the track laying slave machine 3 is the same as that of the track laying main machine 5 of the main line, and the laying speed is synchronous.

[0067] In order to control the double line track laying accuracy, the main machine positioning tag 2 is installed on the track laying main machine 5 of the main line, and the control end 4 is installed on the track laying slave machine 3 of the adjacent line, and the relative distance and speed between the main machine positioning tag 2 and the control end 4 are measured by UWB, so as to realize the relative distance and speed measurement between the track laying main machine 5 of the main line and the track laying slave machine 3 of the adjacent line.

[0068] On the basis of the above embodiment, a LoRa wireless communication module is further included.

[0069] The LoRa wireless communication module is used to establish the connection between the control end and the monitoring end.

[0070] The LoRa wireless communication module is used to achieve wireless connection between the control end and the monitoring end, which improves the data transmission speed and can reduce some wiring harnesses.

[0071] Based on the above embodiment, the preset condition is that the relative distance between the track laying host and the track laying wingman is less than or equal to 10 centimeters.

[0072] Preferably, the monitoring terminal has two switching modes, "follow" and "manual", which can be selected through an LCD display installed on the monitoring terminal.

[0073] In "Automatic" mode, the system monitors the relative distance and speed between the adjacent track laying vehicle and the main vehicle in real time, adjusting the vehicle's speed to maintain accuracy based on specific project requirements. For example, the relative distance deviation is less than or equal to 10 cm, and the relative speed deviation is less than or equal to 0.5 m / s.

[0074] This system can monitor the relative distance and speed between the adjacent line track laying vehicle and the main workshop in real time, and can adjust the travel speed of the adjacent line track laying vehicle to ensure that the relative distance and speed between the two are within the allowable range.

[0075] In the "manual" mode, construction workers can adjust the track-laying wingman on the adjacent line through the monitoring terminal to ensure track laying accuracy.

[0076] Example 2:

[0077] like Figure 2 As shown, a control method for a following adjacent line track laying wingman is applied to the following adjacent line track laying wingman control system, comprising the following steps:

[0078] S1: The control end measures the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and corrects the relative distance;

[0079] S2: The monitoring terminal displays the corrected relative distance and generates an adjustment signal based on the preset conditions and the relative distance;

[0080] S3: The control end adjusts the moving direction of the track-laying wingman according to the adjustment signal.

[0081] On the basis of the above embodiment, the relative distance between the host and the track laying wingman is obtained by measuring the distance between the host and the track laying wingman, specifically:

[0082] Receive the first data sent by the host positioning tag and record the sending time T of the host positioning tag a1 , and delay Tr1 Then send a signal to the host positioning tag and record the sending time T b1 And the reception time T of the host positioning tag receiving the signal a2 ;

[0083] Delay T for receiving the host positioning tag r2 The second data is fed back and the receiving time T is recorded b2 ;

[0084] According to the sending time T a1 , receiving time T a2 , sending time T b1 and receiving time T b2 , get the time difference T dv1 and time difference T dv2 ;

[0085] According to the signal flight time calculation formula, time difference T dv1 , time difference T dv2 and delay T r1 and delay T r2 , get the flight time T c , the signal flight time calculation formula is:

[0086]

[0087] According to the distance formula and flight time T c Calculate the relative distance between the track laying host and the track laying wingman. The distance formula is:

[0088] x0=T c ×C,

[0089] Wherein, x0 is the relative distance between the track-laying host and the track-laying wingman, and C is the speed of light.

[0090] On the basis of the above embodiment, the correction process of the relative distance is specifically performed as follows:

[0091] Correcting the relative distance based on a Kalman filter method includes:

[0092] Establish an initial k-time correction model, the initial k-time correction model is:

[0093] x k =Ax k-1 +Bu k-1 ,

[0094] Among them, A is the predicted state transfer matrix, x k-1 is the state at time k-1, B is the control matrix, u k-1is the control vector from the previous moment k-1 to the next moment k;

[0095] Adjust the corrected model state at time k:

[0096] x k =x k +K k (z k -Hx k ),

[0097] Among them, K k is the Kalman gain, z k is the measurement value at time k, and H is the measurement matrix.

[0098] The control end of the present invention can measure the relative distance between the track-laying host and the track-laying wingman, the monitoring end generates an adjustment signal according to preset conditions and the relative distance, and the control end adjusts the moving azimuth direction of the track-laying wingman according to the adjustment signal. Rails can be laid on the main and adjacent lines at the same time without changing lines, thereby improving the track-laying efficiency. By arranging the wingman on the adjacent track, the synchronization and relative accuracy of track laying on the main and adjacent tracks are guaranteed, and manpower for track laying on the adjacent track is saved.

[0099] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0100] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0102] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of the embodiments of the present invention.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A following adjacent line track laying wingman control system, characterized in that: The system comprises a track laying main line, a track laying adjacent line, a track laying host, a track laying wingman, a control terminal, a monitoring terminal and a host positioning tag, wherein the track laying main line and the track laying adjacent line are laid parallel to each other, the track laying host is located on the track laying main line, the track laying wingman is located on the track laying adjacent line, the host positioning tag is installed on the track laying host, and the control terminal is installed on the track laying wingman; The control end is used to measure the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and to correct the relative distance; The monitoring terminal is used to display the corrected relative distance and generate an adjustment signal according to preset conditions and the relative distance; The control end is further used to adjust the moving direction of the track-laying wingman according to the adjustment signal.

2. The following adjacent line track laying wingman control system according to claim 1 is characterized in that: In the control end, the distance between itself and the host positioning tag is measured to obtain the relative distance between the track laying host and the track laying wingman, specifically: Receive the first data sent by the host positioning tag and record the sending time T of the host positioning tag a1 , and delay T r1 Then send a signal to the host positioning tag and record the sending time T b1 And the reception time T of the host positioning tag receiving the signal a2 ; Delay T for receiving the host location tag r2 The second data is fed back and the receiving time T is recorded b2 ; According to the sending time T a1 , receiving time T a2 , sending time T b1 and receiving time T b2 , get the time difference T dv1 and time difference T dv2 ; According to the signal flight time calculation formula, time difference T dv1 , time difference T dv2 and delay T r1 and delay T r2 , get the flight time T c , the signal flight time calculation formula is: According to the distance formula and flight time T c Calculate the relative distance between the track laying host and the track laying wingman. The distance formula is: x0=T c ×C, Wherein, x0 is the relative distance between the track-laying host and the track-laying wingman, and C is the speed of light.

3. The following adjacent line track laying wingman control system according to claim 2 is characterized in that: In the control end, the relative distance is corrected, specifically: Correcting the relative distance based on a Kalman filter method includes: Establish an initial k-time correction model, the initial k-time correction model is: x k =Ax k-1 +Bu k-1 , Among them, A is the predicted state transfer matrix, x k-1 is the state at time k-1, B is the control matrix, u k-1 is the control vector from the previous moment k-1 to the next moment k; Adjust the corrected model state at time k: x k =x k +K k (z k -Hx k ), Among them, K k is the Kalman gain, z k is the measurement value at time k, and H is the measurement matrix.

4. The following adjacent line track laying wingman control system according to claim 1 is characterized in that: Also included are personnel location tags; The monitoring terminal is further used to import an electronic map of the track laying site and set a virtual electronic fence as a virtual warning zone in the electronic map; The personnel positioning tag is used to locate the wearer of the positioning tag in real time and send the wearer's positioning information to the monitoring terminal; The monitoring terminal is further used to determine whether the wearer's current location is within the virtual warning area based on the wearer's positioning information. If not, an alarm message is generated and sent to a designated administrator terminal.

5. The following adjacent line track laying wingman control system according to any one of claims 1 to 4, characterized in that: It also includes a LoRa wireless communication module; The LoRa wireless communication module is used to establish a connection between the control end and the monitoring end.

6. The following adjacent line track laying wingman control system according to any one of claims 1 to 4, characterized in that: The preset condition is that the relative distance between the track laying host and the track laying wingman is less than or equal to 10 centimeters.

7. A control method for a following adjacent-line track-laying wingman, applied to the following adjacent-line track-laying wingman control system according to any one of claims 1 to 6, characterized in that: The steps include: The control end measures the distance between itself and the host positioning tag to obtain the relative distance between the track laying host and the track laying wingman, and corrects the relative distance; The monitoring terminal displays the corrected relative distance and generates an adjustment signal based on the preset conditions and the relative distance; The control end adjusts the moving direction of the track-laying wingman according to the adjustment signal.

8. The control method of a following adjacent-line track laying wingman according to claim 7, characterized in that: The relative distance between the host and the track laying wingman is obtained by measuring the distance between the host and the track laying wingman, specifically: Receive the first data sent by the host positioning tag and record the sending time T of the host positioning tag a1 , and delay T r1 Then send a signal to the host positioning tag and record the sending time T b1 And the reception time T of the host positioning tag receiving the signal a2 ; Delay T for receiving the host location tag r2 The second data is fed back and the receiving time T is recorded b2 ; According to the sending time T a1 , receiving time T a2 , sending time T b1 and receiving time T b2 , get the time difference T dv1 and time difference T dv2 ; According to the signal flight time calculation formula, time difference T dv1 , time difference T dv2 and delay T r1 and delay T r2 , get the flight time T c , the signal flight time calculation formula is: According to the distance formula and flight time T c Calculate the relative distance between the track laying host and the track laying wingman. The distance formula is: x0=T c ×C, Wherein, x0 is the relative distance between the track-laying host and the track-laying wingman, and C is the speed of light.

9. The control method of a following adjacent line track laying wingman according to claim 7, characterized in that: The correction process for the relative distance is specifically as follows: Correcting the relative distance based on a Kalman filter method includes: Establish an initial k-time correction model, the initial k-time correction model is: x k =Ax k-1 +Bu k-1 , Among them, A is the predicted state transfer matrix, x k-1 is the state at time k-1, B is the control matrix, u k-1 is the control vector from the previous moment k-1 to the next moment k; Adjust the corrected model state at time k: x k =x k +K k (z k -Hx k ), Among them, K k is the Kalman gain, z k is the measurement value at time k, and H is the measurement matrix.

10. The control method of a following adjacent-line track-laying wingman according to any one of claims 7 to 9, characterized in that: The preset condition is that the relative distance between the track laying host and the track laying wingman is less than or equal to 10 centimeters.

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