Method, device and electronic equipment for geomagnetic navigation based on vector data

Abstract

The present specification discloses a kind of geomagnetic navigation method, device and electronic equipment based on vector data, can be determined out the magnetic variation rate of geomagnetic observation data in specified direction by the vector geomagnetic observation data collected in the calibration area obtained, further determine the linear magnetic observation model containing unknown parameter indicating the relationship between the geomagnetic observation data collected by aircraft and the interference data generated by aircraft and solve unknown parameter, so that aircraft can solve the interference magnetic data generated by aircraft by the geomagnetic observation data collected and the linear magnetic observation model of solving unknown parameter when flying in target area, further exclude the influence of interference magnetic data in the geomagnetic observation data collected by aircraft, obtain the actual magnetic data of the position of aircraft, to improve the precision of navigation.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to geomagnetic navigation methods, devices, and electronic devices based on vector data. Background Technology

[0002] Because the Earth's magnetic field possesses rich characteristics such as total intensity, vector intensity, magnetic inclination, magnetic declination, and intensity gradient, a geomagnetic field database can be constructed using data collected from it. This database provides the basis for geomagnetic positioning and navigation technology. Specifically, geomagnetic positioning and navigation technology determines the geographical location of an aircraft by matching the collected geomagnetic information with the geomagnetic field database. Aircraft using geomagnetic positioning and navigation technology can then generate a corresponding navigation route by combining the determined geographical location with the geographical location of the destination.

[0003] Currently, geomagnetic positioning and navigation technology is increasingly widely used due to its lack of long-term accumulated errors, resistance to interference, and significant advantages in usability, anti-interference capabilities, and autonomy. However, achieving accurate navigation requires obtaining precise measurements of the geomagnetic field within the navigation area. However, current aircraft equipped with magnetometers are inevitably affected by magnetic fields generated by various ferromagnetic materials on the aircraft itself and by magnetic fields generated by electronic devices. Under these influences, the geomagnetic data obtained by the magnetometer will also contain a certain degree of interference, leading to a reduction in navigation accuracy.

[0004] Therefore, how to reduce the impact of magnetic field interference generated by various ferromagnetic materials and electronic devices on the aircraft itself on the final positioning results is an urgent problem to be solved. Summary of the Invention

[0005] This specification provides a geomagnetic navigation method, apparatus, and electronic device based on vector data to solve the aforementioned problems existing in the prior art.

[0006] The following technical solution is adopted in this specification:

[0007] This specification provides a geomagnetic navigation method based on vector data, including:

[0008] The vector geomagnetic observation data collected by the aircraft equipped with the geomagnetic measurement sensor during flight is used as calibration magnetic observation data.

[0009] Determine the rate of magnetic change of the calibrated magnetic observation data in a specified direction;

[0010] A linear magnetic observation model containing unknown parameters is determined, and the linear magnetic observation model is fitted according to the calibrated magnetic observation data and the magnetic change rate to determine the unknown parameters. The determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft.

[0011] The vector geomagnetic observation data used by the aircraft when flying in the target area is acquired as target observation data;

[0012] Based on the linear magnetic observation model obtained from solving the unknown parameters and the target observation data, the interference magnetic data generated by the spacecraft are determined;

[0013] Based on the target observation data and the interference magnetic data, determine the actual magnetic data of the position of the aircraft when it is flying in the target area;

[0014] The aircraft is guided to fly in the target area based on the actual magnetic data.

[0015] Optionally, the linear magnetic observation model is fitted based on the calibrated magnetic observation data and the magnetic change rate to determine the unknown parameters, specifically including:

[0016] The magnetic observation matrix is ​​determined based on the magnetic rate of change and the component magnetic observation data of the calibrated magnetic observation data in the specified direction;

[0017] The linear magnetic observation model is fitted based on the magnetic observation matrix and the calibrated magnetic observation data to determine the unknown parameters.

[0018] Optionally, vector geomagnetic observation data collected by an aircraft equipped with a geomagnetic measurement sensor during flight can be used as calibration magnetic observation data, specifically including:

[0019] The vector geomagnetic observation data collected at various time points during flight by the aircraft equipped with a geomagnetic measurement sensor are used as the calibration magnetic observation data for each time point.

[0020] Determining the rate of magnetic change of the calibrated magnetic observation data in a specified direction specifically includes:

[0021] For each time point, the rate of magnetic change of the calibration magnetic observation data at that time point in the specified direction is determined as the corresponding rate of magnetic change at that time point.

[0022] Based on the calibrated magnetic observation data and the magnetic change rate, the linear magnetic observation model is fitted to determine the unknown parameters, specifically including:

[0023] For each time point, the magnetic observation matrix corresponding to that time point is determined based on the magnetic rate of change corresponding to that time point and the component magnetic observation data of the calibrated magnetic observation data in the specified direction.

[0024] The linear magnetic observation model is fitted based on the magnetic observation matrix and the calibration magnetic observation data at each time point to determine the unknown parameters.

[0025] Optionally, the linear magnetic observation model is fitted based on the calibrated magnetic observation data and the magnetic change rate to determine the unknown parameters, specifically including:

[0026] The calibration magnetic observation data is filtered by a preset filter to obtain filtered calibration magnetic observation data, and the magnetic change rate is filtered by the same filter to obtain filtered magnetic change rate.

[0027] The linear magnetic observation model is fitted based on the filtered calibrated magnetic observation data and the filtered magnetic change rate to determine the unknown parameters.

[0028] This specification provides a geomagnetic navigation device based on vector data, including:

[0029] The acquisition module is used to acquire vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor during flight, as calibration magnetic observation data;

[0030] The determination module is used to determine the rate of magnetic change of the calibration magnetic observation data in a specified direction;

[0031] The calculation module is used to determine a linear magnetic observation model containing unknown parameters, and to fit the linear magnetic observation model according to the calibration magnetic observation data and the magnetic change rate to determine the unknown parameters. The determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft.

[0032] The application module is used to acquire vector geomagnetic observation data used by the aircraft when flying in the target area, as target observation data; determine the interference magnetic data generated by the aircraft based on the linear magnetic observation model with the unknown parameters solved and the target observation data; determine the actual magnetic data of the aircraft's position when flying in the target area based on the target observation data and the interference magnetic data; and navigate the aircraft's flight in the target area based on the actual magnetic data.

[0033] Optionally, the calculation module is specifically used to: determine a magnetic observation matrix based on the magnetic change rate and the component magnetic observation data of the calibrated magnetic observation data in the specified direction; and fit the linear magnetic observation model based on the magnetic observation matrix and the calibrated magnetic observation data to determine the unknown parameters.

[0034] Optionally, the acquisition module is specifically used to acquire vector geomagnetic observation data collected at various time points during flight by an aircraft equipped with a geomagnetic measurement sensor, as calibration magnetic observation data corresponding to each time point;

[0035] The determining module is specifically used to determine, for each time point, the magnetic change rate of the calibration magnetic observation data in the specified direction at that time point, as the magnetic change rate corresponding to that time point;

[0036] The calculation module is specifically used to determine the magnetic observation matrix corresponding to each time point based on the magnetic change rate corresponding to that time point and the component magnetic observation data of the calibration magnetic observation data in the specified direction at that time point; and to fit the linear magnetic observation model based on the magnetic observation matrix corresponding to each time point and the calibration magnetic observation data corresponding to each time point to determine the unknown parameters.

[0037] Optionally, the calculation module is specifically used to filter the calibration magnetic observation data through a preset filter to obtain filtered calibration magnetic observation data, and to filter the magnetic change rate through the filter to obtain a filtered magnetic change rate; and to fit the linear magnetic observation model based on the filtered calibration magnetic observation data and the filtered magnetic change rate to determine the unknown parameters.

[0038] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described geomagnetic navigation method based on vector data.

[0039] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described geomagnetic navigation method based on vector data.

[0040] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0041] The geomagnetic navigation method provided in this specification first acquires vector geomagnetic observation data collected by an aircraft equipped with a geomagnetic measurement sensor during flight, which is used as calibration magnetic observation data. The rate of change of the magnetic field in a specified direction is determined from the calibration magnetic observation data. A linear magnetic observation model containing unknown parameters is then established. Based on the calibration magnetic observation data and the rate of change of the magnetic field, the linear magnetic observation model is fitted to determine the unknown parameters. These determined parameters represent the relationship between the geomagnetic observation data collected by the aircraft and the interference magnetic data generated by the aircraft. After fitting the parameters, vector geomagnetic observation data used by the aircraft during flight in the target area is acquired, serving as target observation data. Based on the linear magnetic observation model with the unknown parameters solved and the target observation data, the interference magnetic data generated by the aircraft is determined. Then, based on the target observation data and the interference magnetic data, the actual magnetic data of the aircraft's position during flight in the target area is determined. Finally, navigation is performed in the target area based on the actual magnetic data.

[0042] As can be seen from the above method, by acquiring vector geomagnetic observation data within the calibration area, the magnetic change rate of the vector geomagnetic observation data in a specified direction is determined. This leads to the determination of a linear magnetic observation model containing unknown parameters representing the relationship between the vector geomagnetic observation data acquired by the aircraft and the interference data generated by the aircraft. Solving for these unknown parameters allows the aircraft to solve for the interference magnetic data generated by the aircraft when flying in the target area using the acquired vector geomagnetic observation data and the linear magnetic observation model with the unknown parameters solved. This eliminates the influence of interference magnetic data in the geomagnetic observation data acquired by the aircraft, obtaining the actual magnetic data of the aircraft's location and improving navigation accuracy. Attached Figure Description

[0043] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0044] Figure 1 This document provides a flowchart illustrating a geomagnetic navigation method based on vector data.

[0045] Figure 2 This specification provides a schematic diagram of a geomagnetic navigation device based on vector data.

[0046] Figure 3 This specification provides a corresponding Figure 1 A schematic diagram of an electronic device. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0048] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0049] Figure 1 This is a flowchart illustrating a geomagnetic navigation method based on vector data provided in this specification, including the following steps:

[0050] S101: Acquire vector geomagnetic observation data collected by an aircraft equipped with a geomagnetic measurement sensor during flight, and use it as calibration magnetic observation data.

[0051] With the continuous development of geomagnetic positioning and navigation technology, its application is becoming increasingly widespread, bringing great convenience to people's lives. Aircraft using geomagnetic positioning and navigation can determine their geographical location by matching the collected geomagnetic information with a geomagnetic field database, and then generate a corresponding navigation route by combining it with the geographical location of the input destination.

[0052] However, aircraft currently equipped with magnetometers for geomagnetic navigation are affected by the magnetic fields generated by various ferromagnetic materials within the aircraft itself and by the magnetic fields generated by electronic devices. This reduces the accuracy of the geomagnetic information collected by the magnetometer, thereby reducing the accuracy of navigation.

[0053] Therefore, this specification provides a geomagnetic navigation method based on vector data. The geomagnetic navigation method provided in this specification can solve for the interference magnetic data generated by the aircraft itself, thereby eliminating the influence of interference magnetic data in the vector geomagnetic observation data collected by the aircraft, and obtaining the actual magnetic data of the aircraft's location, so as to improve the accuracy of navigation.

[0054] In this specification, the executing entity used to implement the geomagnetic navigation method can refer to a designated device such as a server set up on an online platform, an aircraft equipped with a geomagnetic measurement sensor, or an electronic device such as a desktop computer or a laptop computer. For ease of description, the following description will only use a server as the executing entity to illustrate the geomagnetic navigation method provided in this specification.

[0055] The following is a detailed description of a geomagnetic navigation method provided in this manual. The entire method can be roughly divided into two stages: the first stage is the calibration stage, and the second stage is the navigation stage.

[0056] During the calibration phase, the server acquires vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor during flight within the calibration area. This data is then processed to determine a linear magnetic observation model containing unknown parameters. The model is then fitted to determine these unknown parameters. Subsequently, the linear magnetic observation model with known true values ​​of the unknown parameters can be used to eliminate the magnetic interference generated by the aircraft, obtaining the actual magnetic data of the aircraft's location. This enables precise navigation of the aircraft. The unknown parameters represent the relationship between the geomagnetic observation data collected by the aircraft and the interfering magnetic data generated by the aircraft.

[0057] Therefore, in this specification, the aircraft can first collect vector geomagnetic observation data in the calibration area according to a preset flight mode. There are various flight modes that the aircraft can use when collecting vector geomagnetic observation data. For example, taking pentagonal flight as an example, the aircraft needs to perform calibration flight in the calibration area according to a pentagonal route, and perform a series of specific maneuvers such as take-off, climb, turn, level flight, descent and landing during the calibration flight in order to collect vector geomagnetic observation data in the calibration area as calibration magnetic observation data.

[0058] It should be noted that if only vector geomagnetic observation data collected by the aircraft at a single point in time is used to solve for the unknown parameters in the linear magnetic observation model, the resulting values ​​may be inaccurate. Therefore, in practical applications, the aircraft needs to collect vector geomagnetic observation data at multiple points in the calibration area to improve the accuracy of the solved unknown parameters, thereby obtaining more accurate actual magnetic data, reducing the impact of interfering magnetic data, and improving navigation accuracy.

[0059] S102: Determine the rate of magnetic change of the calibrated magnetic observation data in the specified direction.

[0060] After acquiring the aforementioned vector geomagnetic observation data, the server needs to further process the data to determine how the interference generated by the aircraft affects the collected vector geomagnetic observation data.

[0061] Therefore, in this specification, the server can determine the rate of change of the calibrated magnetic observation data in a specified direction. The purpose of determining the rate of change is as follows: when the vector geomagnetic observation data acquired by the aircraft is not affected by interference magnetic data generated by the aircraft itself, the rate of change of the vector geomagnetic observation data exhibits a linear change; when the vector geomagnetic observation data acquired by the aircraft is affected by interference magnetic data generated by the aircraft itself, the rate of change of the vector geomagnetic observation data exhibits a non-linear change. Therefore, the rate of change of the vector geomagnetic observation data actually provides a basis for determining the interference magnetic data generated by the aircraft itself in subsequent processes. Based on this, according to the change in the rate of change of the vector geomagnetic observation data, the relationship between the vector geomagnetic observation data acquired by the aircraft and the interference magnetic data generated by the aircraft can be determined, facilitating the subsequent determination of a linear magnetic interference model.

[0062] The purpose of determining the magnetic rate of change in a specified direction is that the change in the magnetic rate of change of the acquired calibration magnetic observation data is significant in the specified direction, which facilitates the subsequent solution of the unknown parameters representing the relationship between the vector geomagnetic observation data collected by the aircraft and the interference magnetic data generated by the aircraft, thereby determining the linear magnetic interference model. There are many ways to represent the magnetic rate of change in a specified direction. For example, in this specification, the magnetic rate of change of the vector geomagnetic observation data in the cosine direction can be used. The specific implementation method will be described in detail below.

[0063] In this specification, the server can specifically determine the information of the calibration magnetic observation data in the cosine direction, and further process the obtained cosine direction information to obtain the magnetic rate of change of the calibration magnetic observation data in the cosine direction.

[0064] The cosine direction information of the calibration magnetic observation data can be represented as: Let represent the components of the calibration magnetic observation data in the cosine directions of the three axes, and let represent the rate of change of the calibration magnetic observation data in the cosine directions.

[0065] The above is just one embodiment of this specification. The magnetic rate of change in the specified direction is not limited to the cosine direction, but can also be in other directions, such as the sine direction.

[0066] S103: Determine a linear magnetic observation model containing unknown parameters, and fit the linear magnetic observation model according to the calibrated magnetic observation data and the magnetic change rate to determine the unknown parameters, wherein the determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft.

[0067] After obtaining the magnetic rate of change in the specified direction, the server needs to determine the magnetic observation matrix based on the magnetic rate of change, the calibrated magnetic observation data, and the component magnetic observation data in the specified direction of the calibrated magnetic observation data. Then, based on the magnetic observation matrix and the calibrated magnetic observation data, the server fits the linear magnetic observation model to determine the unknown parameters.

[0068] In this specification, the magnetic observation matrix is ​​represented as Λ=[α1α2α3]∈R 3×18 , where α1=I 3×3 I 3×3 It is a 3×3 identity matrix;

[0069]

[0070]

[0071] in, It is the total field strength of the geomagnetic field observation data.

[0072] After determining the aforementioned magnetic observation matrix, it is necessary to solve for the unknown parameters contained in the linear magnetic observation model based on the magnetic observation matrix and the calibrated magnetic observation data.

[0073] The linear magnetic observation model mentioned here can be viewed as a model used to represent the linear relationship between calibration magnetic observation data and the magnetic observation matrix. For example, it can be represented by the following formula:

[0074] b = Aβ

[0075] In this formula, if only calibration magnetic observation data at a single time point is used, then A is actually the magnetic observation matrix Λ at that time point. As can be seen from the formula, b and A can be obtained from the observation data, while β is an unknown quantity. Therefore, β is the unknown parameter that needs to be solved for.

[0076] However, if only calibrated geomagnetic observation data at a single time point and the magnetic observation matrix determined through processing are used to solve for the above unknown parameters, the results obtained will be relatively inaccurate.

[0077] Therefore, in this specification, the server acquires vector geomagnetic observation data collected by the aircraft at various time points as the calibration magnetic observation data corresponding to each time point. For each time point, the server can determine the rate of change of the calibration magnetic observation data in a specified direction, which is used as the corresponding magnetic rate of change. Simultaneously, for each time point, the server can determine the corresponding magnetic observation matrix based on the corresponding magnetic rate of change and the component magnetic observation data of the calibration magnetic observation data in the specified direction.

[0078] The server can fit a linear magnetic observation model to determine unknown parameters based on the magnetic observation matrix and calibration magnetic observation data corresponding to each time point. Specifically, based on the collected calibration magnetic observation data from multiple time points, A in the above formula can be expressed by the following formula:

[0079]

[0080] In this formula, Λ1-Λ N This can be viewed as a magnetic observation matrix at 1 to N time points, and b in the linear observation model can be expressed as:

[0081] After determining the specific parameters of each term in the linear magnetic observation model, the unknown parameters of the linear magnetic observation model can be solved. There are many methods for solving the unknown parameters of the linear magnetic observation model. For example, the least squares method can be used to solve the unknown parameters. Of course, in practical applications, other methods can also be used. This manual does not impose specific restrictions on these methods.

[0082] In order to obtain more accurate values ​​for the unknown parameters, the data used in the above process can be filtered in this specification. The specific process will be described in detail below.

[0083] After determining the magnetic observation matrix, calibration magnetic observation data, and linear magnetic observation model containing unknown parameters at each time point through the above steps, the calibration magnetic observation data can be filtered using a preset filter to remove Earth's magnetic field data, resulting in filtered calibration magnetic observation data. Similarly, the magnetic rate of change can be filtered to remove Earth's magnetic field data, resulting in filtered magnetic rate of change. The server can then fit the linear magnetic observation model to determine the unknown parameters based on the filtered calibration magnetic observation data and the filtered magnetic rate of change. Filtering the calibration magnetic observation data and magnetic rate of change retains most of the interfering magnetic data, resulting in a more accurate linear magnetic observation model and more precise values ​​for the unknown parameters. This eliminates the influence of most interfering magnetic data in the geomagnetic observation data, leading to more accurate navigation.

[0084] The filtered linear magnetic observation model can be expressed by the following formula: b f =A f β;

[0085] Among them, b f =bpf(b),A f =bpf(A), bf This refers to the filtered calibration magnetic observation data, while A f This is used to represent the rate of change of magnetic field after filtering.

[0086] S104: Obtain the vector geomagnetic observation data used by the aircraft when flying in the target area, and use it as target observation data.

[0087] Steps S101 to S103 above mainly describe the calibration stage. After completing the calibration stage, a linear magnetic observation model containing specific parameter values ​​can be determined, and then the navigation stage can be performed using this model. The navigation stage will be described in detail below.

[0088] During the navigation phase, before navigation begins, the server acquires vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor as it flies through the target area. This data allows the server to determine the aircraft's actual magnetic data within the target area, enabling precise navigation. The target area mentioned here refers to the geographical region where the aircraft equipped with the geomagnetic measurement sensor is actually located during flight.

[0089] S105: Based on the linear magnetic observation model obtained from solving the unknown parameters and the target observation data, determine the interference magnetic data generated by the spacecraft.

[0090] After obtaining the vector geomagnetic observation data collected by the aforementioned aircraft, the server will determine the magnitude of the interference magnetic data generated by the aircraft based on the parameters determined during the calibration phase that represent the relationship between the vector geomagnetic observation data collected by the aircraft and the interference magnetic data generated by the aircraft.

[0091] S106: Based on the target observation data and the interference magnetic data, determine the actual magnetic data of the position of the aircraft when flying in the target area.

[0092] After obtaining the magnitude of the interference magnetic data generated by the aircraft, the server can calculate the actual magnetic data of the aircraft's location when flying in the target area based on the collected vector geomagnetic observation data, which is also the target observation data.

[0093] Specifically, the identified interfering magnetic data can be removed from the target observation data to determine the actual magnetic data of the aircraft's location when flying in the target area.

[0094] S107: Navigate the flight of the aircraft in the target area based on the actual magnetic data.

[0095] After obtaining the actual magnetic data of the aircraft's location, the server can determine the aircraft's geographical coordinates based on the actual magnetic data, and combine this with the geographical location of the aircraft determined by other sensors (such as radar, Global Positioning System (GPS), BeiDou Navigation Satellite System), etc., to determine the aircraft's actual position coordinates. Then, based on the aircraft's current actual position coordinates and the destination the aircraft wants to fly to, a corresponding navigation route is generated, thereby achieving precise navigation of the aircraft flying in the target area.

[0096] It is worth noting that, in this specification, the navigation phase can also involve the aircraft as the executor. The formulas used in the calibration phase, specifically in determining the linear magnetic observation model and solving for unknown parameters, are merely illustrative examples and are not necessarily limited to these forms in practical applications.

[0097] As can be seen from the above method, by acquiring vector geomagnetic observation data within the calibration area, the magnetic change rate of the vector geomagnetic observation data in a specified direction is determined. This leads to the determination of a linear magnetic observation model containing unknown parameters representing the relationship between the vector geomagnetic observation data acquired by the aircraft and the interference data generated by the aircraft. Solving for these unknown parameters allows the aircraft to solve for the interference magnetic data generated by the aircraft when flying in the target area using the acquired vector geomagnetic observation data and the linear magnetic observation model with the unknown parameters solved. This eliminates the influence of interference magnetic data in the geomagnetic observation data acquired by the aircraft, obtaining the actual magnetic data of the aircraft's location and improving navigation accuracy.

[0098] The above describes one or more embodiments of a geomagnetic navigation method based on vector data provided in this specification. Based on the same concept, this specification also provides corresponding geomagnetic navigation devices based on vector data, such as... Figure 2 As shown.

[0099] Figure 2 A schematic diagram of a geomagnetic navigation device based on vector data provided in this specification includes:

[0100] The acquisition module 201 is used to acquire vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor during flight, as calibration magnetic observation data;

[0101] The determination module 202 is used to determine the rate of magnetic change of the calibration magnetic observation data in a specified direction;

[0102] The calculation module 203 is used to determine a linear magnetic observation model containing unknown parameters, and to fit the linear magnetic observation model according to the calibration magnetic observation data and the magnetic change rate to determine the unknown parameters. The determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft.

[0103] Application module 204 is used to acquire vector geomagnetic observation data used by the aircraft when flying in the target area, as target observation data; determine the interference magnetic data generated by the aircraft based on the linear magnetic observation model with the unknown parameters solved and the target observation data; determine the actual magnetic data of the aircraft's position when flying in the target area based on the target observation data and the interference magnetic data; and navigate the aircraft's flight in the target area based on the actual magnetic data.

[0104] Optionally, the calculation module 203 is specifically used to: determine a magnetic observation matrix based on the magnetic change rate and the component magnetic observation data of the calibrated magnetic observation data in the specified direction; and fit the linear magnetic observation model based on the magnetic observation matrix and the calibrated magnetic observation data to determine the unknown parameters.

[0105] Optionally, the acquisition module 201 is specifically used to acquire vector geomagnetic observation data collected at various time points during the flight of the aircraft equipped with a geomagnetic measurement sensor, as calibration magnetic observation data corresponding to each time point;

[0106] The determining module 202 is specifically used to determine, for each time point, the magnetic change rate of the calibration magnetic observation data in the specified direction at that time point, as the magnetic change rate corresponding to that time point;

[0107] The calculation module 203 is specifically used to, for each time point, determine the magnetic observation matrix corresponding to that time point based on the magnetic change rate corresponding to that time point and the component magnetic observation data of the calibration magnetic observation data at that time point in the specified direction, and fit the linear magnetic observation model based on the magnetic observation matrix corresponding to each time point and the calibration magnetic observation data corresponding to each time point to determine the unknown parameters.

[0108] Optionally, the calculation module 203 is specifically used to filter the calibration magnetic observation data through a preset filter to obtain filtered calibration magnetic observation data, and to filter the magnetic change rate through the filter to obtain a filtered magnetic change rate; and to fit the linear magnetic observation model based on the filtered calibration magnetic observation data and the filtered magnetic change rate to determine the unknown parameters.

[0109] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 A geomagnetic navigation method based on vector data is provided.

[0110] This instruction manual also provides Figure 3 The one shown corresponds to Figure 1 A schematic diagram of the structure of an electronic device. (e.g.) Figure 3 As shown, at the hardware level, this electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above. Figure 1 The aforementioned geomagnetic navigation method based on vector data.

[0111] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software. In other words, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0112] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0113] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[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, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0115] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0116] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0121] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0122] 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.

[0123] 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.

[0124] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0126] 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.

[0127] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A geomagnetic navigation method based on vector data, characterized in that, include: The vector geomagnetic observation data collected by the aircraft equipped with the geomagnetic measurement sensor during flight is used as calibration magnetic observation data. Determine the rate of magnetic change of the calibrated magnetic observation data in a specified direction; A linear magnetic observation model containing unknown parameters is determined, and the linear magnetic observation model is fitted according to the calibrated magnetic observation data and the magnetic change rate to determine the unknown parameters. The determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft. The vector geomagnetic observation data used by the aircraft when flying in the target area is acquired as target observation data; Based on the linear magnetic observation model obtained from solving the unknown parameters and the target observation data, the interference magnetic data generated by the spacecraft are determined; Based on the target observation data and the interference magnetic data, determine the actual magnetic data of the position of the aircraft when it flies in the target area; The aircraft is guided to fly in the target area based on the actual magnetic data.

2. The method as described in claim 1, characterized in that, Based on the calibrated magnetic observation data and the magnetic change rate, the linear magnetic observation model is fitted to determine the unknown parameters, specifically including: The magnetic observation matrix is ​​determined based on the magnetic rate of change and the component magnetic observation data of the calibrated magnetic observation data in the specified direction; The linear magnetic observation model is fitted based on the magnetic observation matrix and the calibrated magnetic observation data to determine the unknown parameters.

3. The method as described in claim 1, characterized in that, The vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor during flight is used as calibration magnetic observation data, specifically including: The vector geomagnetic observation data collected at various time points during flight by the aircraft equipped with a geomagnetic measurement sensor are used as the calibration magnetic observation data for each time point. Determining the rate of magnetic change of the calibrated magnetic observation data in a specified direction specifically includes: For each time point, the rate of magnetic change of the calibration magnetic observation data at that time point in the specified direction is determined as the corresponding rate of magnetic change at that time point. Based on the calibrated magnetic observation data and the magnetic change rate, the linear magnetic observation model is fitted to determine the unknown parameters, specifically including: For each time point, the magnetic observation matrix corresponding to that time point is determined based on the magnetic rate of change corresponding to that time point and the component magnetic observation data of the calibrated magnetic observation data in the specified direction. The linear magnetic observation model is fitted based on the magnetic observation matrix and the calibration magnetic observation data at each time point to determine the unknown parameters.

4. The method as described in claim 1, characterized in that, Based on the calibrated magnetic observation data and the magnetic change rate, the linear magnetic observation model is fitted to determine the unknown parameters, specifically including: The calibration magnetic observation data is filtered by a preset filter to obtain filtered calibration magnetic observation data, and the magnetic change rate is filtered by the same filter to obtain filtered magnetic change rate. The linear magnetic observation model is fitted based on the filtered calibrated magnetic observation data and the filtered magnetic change rate to determine the unknown parameters.

5. A geomagnetic navigation device based on vector data, characterized in that, include: The acquisition module is used to acquire vector geomagnetic observation data collected by the aircraft equipped with a geomagnetic measurement sensor during flight, as calibration magnetic observation data; The determination module is used to determine the rate of magnetic change of the calibration magnetic observation data in a specified direction; The calculation module is used to determine a linear magnetic observation model containing unknown parameters, and to fit the linear magnetic observation model according to the calibration magnetic observation data and the magnetic change rate to determine the unknown parameters. The determined parameters are used to represent the relationship between the geomagnetic observation data collected by the spacecraft and the interference magnetic data generated by the spacecraft. The application module is used to acquire vector geomagnetic observation data used by the aircraft when flying in the target area, as target observation data; determine the interference magnetic data generated by the aircraft based on the linear magnetic observation model with the unknown parameters solved and the target observation data; determine the actual magnetic data of the aircraft's position when flying in the target area based on the target observation data and the interference magnetic data; and navigate the aircraft's flight in the target area based on the actual magnetic data.

6. The apparatus as claimed in claim 5, characterized in that, The calculation module is specifically used to determine a magnetic observation matrix based on the magnetic change rate and the component magnetic observation data of the calibrated magnetic observation data in the specified direction; and to fit the linear magnetic observation model based on the magnetic observation matrix and the calibrated magnetic observation data to determine the unknown parameters.

7. The apparatus as claimed in claim 5, characterized in that, The acquisition module is specifically used to acquire vector geomagnetic observation data collected at various time points during flight by an aircraft equipped with a geomagnetic measurement sensor, as calibration magnetic observation data corresponding to each time point; The determining module is specifically used to determine, for each time point, the magnetic change rate of the calibration magnetic observation data in the specified direction at that time point, as the magnetic change rate corresponding to that time point; The calculation module is specifically used to determine the magnetic observation matrix corresponding to each time point based on the magnetic change rate corresponding to that time point and the component magnetic observation data of the calibration magnetic observation data in the specified direction at that time point; and to fit the linear magnetic observation model based on the magnetic observation matrix corresponding to each time point and the calibration magnetic observation data corresponding to each time point to determine the unknown parameters.

8. The apparatus as claimed in claim 5, characterized in that, The calculation module is specifically used to filter the calibration magnetic observation data through a preset filter to obtain filtered calibration magnetic observation data, and to filter the magnetic change rate through the same filter to obtain a filtered magnetic change rate; and to fit the linear magnetic observation model based on the filtered calibration magnetic observation data and the filtered magnetic change rate to determine the unknown parameters.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 4.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 1 to 4.

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