Cooperative detection network geometric accuracy factor calculation method and system

Abstract

The embodiment of the invention discloses a cooperative detection network geometric accuracy factor calculation method and system, and the method comprises the steps: obtaining the spatial position coordinates of a detected target and the position coordinates of detection network nodes; the system is divided into a quaternary positioning system and a multivariate positioning system according to the number of detection array elements; for a quaternary positioning system, a first observation matrix is constructed according to spatial position coordinates of a detected target and position coordinates of detection network nodes in the quaternary positioning system; a partial differential formula is constructed according to the first observation matrix; calculating a geometric precision factor according to the partial differential formula; for the multi-element positioning system, constructing a second observation matrix according to the spatial position coordinates of the detected target and the position coordinates of the detection network nodes in the multi-element detection system; constructing an algebraic remainder expression according to the second observation matrix; and calculating according to an algebraic remainder expression to obtain a geometric accuracy factor. And the real-time performance of geometric accuracy factor calculation is improved.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning, and in particular to a method and system for calculating geometric dilution of precision of a collaborative detection network. Background Art

[0002] The global positioning navigation satellite system has been widely used in many military and civilian fields. The geometric dilution of precision (GDOP) is a basic indicator for evaluating the positioning performance of the satellite positioning system. In the future, it will play a broader and more important role in collaborative detection networks, collaborative navigation system configuration optimization, etc.

[0003] Each effective node in the collaborative detection network can independently detect the arrival time of the signal transmitted by the target signal source. All nodes constituting the detection network are precisely timed and calibrated. Based on the pseudo-range measured by the effective node and the node's own known spatial position coordinates, the spatial position of the target can be calculated.

[0004] The traditional GDOP calculation method contains some complex and invalid operations, which consumes precious computing resources and is difficult to meet the requirements of real-time solution and continuous positioning of the receiver.

[0005] There is currently no effective and universal solution to the above problems in the prior art. Summary of the invention

[0006] To solve the above problems, the present invention provides a method and system for calculating the geometric precision factor of a collaborative detection network, which classifies and calculates the four-element positioning system and the multi-element positioning system, and during the calculation process, constructs an observation matrix calculation sub-formula, and calculates the geometric precision factor of each system through the sub-formula, thereby calculating the geometric precision factor in real time and quickly, so as to solve the problems of slow geometric precision factor calculation speed and poor real-time performance in the prior art.

[0007] To achieve the above object, the present invention provides a method for calculating the geometric precision factor of a collaborative detection network, comprising: S1, obtaining the spatial position coordinates (z, y, z) of the target to be detected and the position coordinates (x i ,y i , z i ), where i is the number of detection elements; S2, according to the number of detection elements, the system is divided into a four-element positioning system and a multi-element positioning system with more than four elements; S3, for the four-element positioning system, according to the spatial position coordinates (x, y, z) of the target to be measured and the position coordinates (x i ,y i , z i ), construct the first observation matrix J:

[0008]

[0009] For a multi-element positioning system, according to the spatial position coordinates (x, y, z) of the detected target and the position coordinates (x i ,y i , z i )Construct the second observation matrix A:

[0010]

[0011] in,

[0012] S4. For the four-element positioning system, construct partial differential equations J according to the first measurement matrix J. xi , J yi , J zi For the multivariate positioning system, the algebraic cofactor A is constructed according to the second measurement matrix A 11 , A 22 , A 33 ; S5, for the four-element positioning system, according to the partial differential formula J xi , J yi , J zi Calculate the geometric precision factor; for the multi-element positioning system, according to the algebraic co-formula A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

[0013] Further optionally, the partial differential equation J xi , J yi , J zi Calculated according to the following formula:

[0014]

[0015]

[0016] Further optionally, the algebraic co-formula A 11 , A 22 , A 33 It is expressed as:

[0017]

[0018] Further optionally, the partial differential equation J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

[0019]

[0020] Further optionally, according to the algebraic co-formula A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

[0021]

[0022] On the other hand, the present invention also provides a collaborative detection network geometric precision factor calculation system, including: a data acquisition module, used to obtain the spatial position coordinates (x, y, z) of the detected target and the position coordinates (x i ,y i , z i ), wherein ι is the number of detection array elements; a classification module, used to classify the system into a four-element positioning system and a multi-element positioning system with more than four elements according to the number of detection array elements; an observation matrix construction module, used to construct an observation matrix for the four-element positioning system according to the spatial position coordinates (x, y, z) of the measured target and the position coordinates (x i ,y i , z i ), construct the first observation matrix J:

[0023]

[0024] For a multi-element positioning system, according to the spatial position coordinates (x, y, z) of the detected target and the position coordinates (z) of the detection network nodes in the multi-element detection system, i ,y i , z i ) Construct the second observation matrix A:

[0025]

[0026] in,

[0027] Sub-formula construction module, used for constructing partial differential formula J according to the first measurement matrix J for the four-element positioning system xi , J yi , J zi For the multivariate positioning system, the algebraic co-factor A is constructed according to the second measurement matrix A 11 , A 22 , A 33 ; The geometric precision factor calculation module is used for the four-element positioning system, according to the partial differential formula J xi , J yi , J ziCalculate the geometric precision factor; for the multi-element positioning system, according to the algebraic co-formula A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

[0028] Further optionally, the partial differential equation J xi , J yi , J zi Calculated according to the following formula:

[0029]

[0030] Further optionally, the algebraic co-formula A 11 , A 22 , A 33 It is expressed as:

[0031]

[0032] Further optionally, the partial differential equation J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

[0033]

[0034] Further optionally, according to the algebraic co-formula A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

[0035]

[0036] The above technical scheme has the following beneficial effects: the present invention avoids matrix inversion operations and invalid operations in traditional GDOP calculation methods, reduces the amount of GDOP calculations, improves the GDOP calculation speed, ensures that the geometric precision factor can be calculated in real time during the positioning process, and timely improves the positioning accuracy of the navigation system; in addition, the four-element positioning system and the multi-element positioning system are classified and calculated to improve the calculation accuracy in various systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 is a flow chart of a method for calculating a geometric dilution of precision of a collaborative detection network provided by an embodiment of the present invention;

[0039] Figure 2 It is a flow chart of a collaborative detection network geometric precision factor calculation system provided by an embodiment of the present invention.

[0040] Figure numerals: 100 - data acquisition module; 200 - classification module; 300 - observation matrix construction module; 400 - sub-formula construction module; 500 - geometric precision factor calculation module. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In order to solve the problem that the geometric dilution of precision calculation technology in the positioning and navigation system in the prior art is time-consuming, thereby affecting the real-time positioning function, the embodiment of the present invention provides a method for calculating the geometric dilution of precision of a collaborative detection network. Figure 1 is a flow chart of a method for calculating a geometric dilution of precision of a collaborative detection network provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0043] S1. Obtain the spatial position coordinates (x, y, z) of the target and the position coordinates (x i ,y i , z i ), where i is the number of detection elements;

[0044] Each effective node in the collaborative detection network will independently detect the arrival time of the signal transmitted by the signal source of the target under test. All nodes constituting the detection network are precisely timed and calibrated. Based on the pseudo-range measured by the effective node and the node's own known spatial position coordinates, the spatial position of the target under test can be calculated.

[0045] In the GPS positioning process, there is a parameter that reflects the degree of influence of the satellite's geometric position on the positioning accuracy, namely the geometric dilution of precision (GDOP). The smaller the geometric dilution of precision, the smaller the influence of the satellite's geometric position on the positioning accuracy, and the higher the positioning accuracy. Therefore, after obtaining the geometric dilution of precision, the positioning system can be adjusted in time to ensure the accuracy of the positioning system.

[0046] In order to quickly calculate the geometric precision factor in real time, this embodiment uses the spatial position coordinates (x, y, z) of the target to be measured and the position coordinates (x i ,y i , z i ) to calculate the geometric precision factor. Where i = 1, 2, ..., N. i is the number of array elements.

[0047] S2. According to the number of detection array elements, the system is divided into a four-element positioning system and a multi-element positioning system with more than four elements;

[0048] When the number of detection array elements is 4, the current navigation and positioning system is considered to be a four-element positioning system, and when the number of detection array elements is greater than 4, the current navigation and positioning system is considered to be a multi-element positioning system. Different geometric precision factors are calculated for the two types of systems.

[0049] S3, for the four-element positioning system, according to the spatial position coordinates (x, y, z) of the measured target and the position coordinates (x i ,y i , z i ), construct the first observation matrix J:

[0050]

[0051] For the multi-element positioning system, according to the spatial position coordinates (x, y, z) of the target being measured and the position coordinates (x i ,y i , z i )Construct the second observation matrix A:

[0052]

[0053] in,

[0054] In the four-element positioning system, i=1, 2, 3, 4; in the multi-element positioning system, i=1, 2, ...N, where N is an integer greater than 4.

[0055] S4. For the four-element positioning system, construct the partial differential formula J according to the first measurement matrix J xi , J yi , J zi ; For the multivariate positioning system, construct the algebraic cofactor A according to the second measurement matrix A 11 , A 22 , A 33 ;

[0056] For the four-element positioning system, the partial differential formula J is constructed according to the first measurement matrix J xi , J yi, J zi ,Right now It is expressed as:

[0057]

[0058] For the multivariate positioning system, the algebraic cofactor A is constructed according to the second measurement matrix A. 11 , A 22 , A 33 .

[0059] S5. For the four-element positioning system, according to the partial differential formula J xi , J yi , J zi Calculate the geometric precision factor; for the multi-positioning system, according to the algebraic co-factor A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

[0060] As an optional implementation, the partial differential formula J xi , J yi , J zi Calculated according to the following formula:

[0061]

[0062] As an optional implementation, the algebraic cofactor A 11 , A 22 , A 33 It is expressed as:

[0063]

[0064] As an optional implementation, according to the partial differential formula J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

[0065]

[0066] As an optional implementation, according to the algebraic cofactor A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

[0067]

[0068] After the geometric precision factor is obtained, the positioning system can be adjusted according to the geometric precision factor value, such as adjusting system parameters or adjusting array element positions.

[0069] The embodiment of the present invention further provides a collaborative detection network geometric dilution of precision calculation system, comprising:

[0070] The data acquisition module 100 is used to obtain the spatial position coordinates (x, y, z) of the detected target and the position coordinates (x i ,y i , z i ), where ι is the number of detection elements;

[0071] Each effective node in the collaborative detection network will independently detect the arrival time of the signal transmitted by the signal source of the target under test. All nodes constituting the detection network are precisely timed and calibrated. Based on the pseudo-range measured by the effective node and the node's own known spatial position coordinates, the spatial position of the target under test can be calculated.

[0072] In the GPS positioning process, there is a parameter that reflects the degree of influence of the satellite's geometric position on the positioning accuracy, namely the geometric dilution of precision (GDOP). The smaller the geometric dilution of precision, the smaller the influence of the satellite's geometric position on the positioning accuracy, and the higher the positioning accuracy. Therefore, after obtaining the geometric dilution of precision, the positioning system can be adjusted in time to ensure the accuracy of the positioning system.

[0073] In order to quickly calculate the geometric precision factor in real time, this embodiment uses the spatial position coordinates (x, y, z) of the target to be measured and the position coordinates (x i ,y i , z i ) to calculate the geometric precision factor. Where i = 1, 2, ..., N. i is the number of array elements.

[0074] A classification module 200, for classifying the system into a four-element positioning system and a multi-element positioning system with more than four elements according to the number of detection array elements;

[0075] When the number of detection array elements is 4, the current navigation and positioning system is considered to be a four-element positioning system, and when the number of detection array elements is greater than 4, the current navigation and positioning system is considered to be a multi-element positioning system. Different geometric precision factors are calculated for the two types of systems.

[0076] The observation matrix construction module 300 is used for the four-element positioning system to obtain the spatial position coordinates (x, y, z) of the target and the position coordinates (x, y, z) of the detection network node in the four-element positioning system. i ,y i , z i ), construct the first observation matrix J:

[0077]

[0078] For the multi-element positioning system, according to the spatial position coordinates (x, y, z) of the target being measured and the position coordinates (x i ,y i , z i ) Construct the second observation matrix A:

[0079]

[0080] in,

[0081] In the four-element positioning system, i=1, 2, 3, 4; in the multi-element positioning system, i=1, 2, ...N, where N is an integer greater than 4.

[0082] The sub-formula construction module 400 is used to construct partial differential formulas J for the four-element positioning system according to the first measurement matrix J xi , J yi , J zi For the multivariate positioning system, the algebraic co-factor A is constructed according to the second measurement matrix A 11 , A 22 , A 33 ;

[0083] For the four-element positioning system, the partial differential formula J is constructed according to the first measurement matrix J xi , J yi , J zi ,Right now It is expressed as:

[0084]

[0085] For the multivariate positioning system, the algebraic cofactor A is constructed according to the second measurement matrix A. 11 , A 22 , A 33 .

[0086] The geometric precision factor calculation module 500 is used for calculating the geometric precision factor of the four-element positioning system according to the partial differential formula J xi , J yi , J zi Calculate the geometric precision factor; for the multi-positioning system, according to the algebraic co-factor A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

[0087] As an optional implementation, the partial differential formula J xi , J yi , J zi Calculated according to the following formula:

[0088]

[0089] As an optional implementation, the algebraic cofactor A 11 , A 22 , A 33 It is expressed as:

[0090]

[0091] As an optional implementation, according to the partial differential formula J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

[0092]

[0093] As an optional implementation, according to the algebraic cofactor A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

[0094]

[0095] After the geometric precision factor is obtained, the positioning system can be adjusted according to the geometric precision factor value, such as adjusting system parameters or adjusting array element positions. Specific embodiment one:

[0097] It is known that there are four valid array elements participating in positioning in the detection network, the position coordinates of array element 1 are (5, 3, 2), the position coordinates of array element 2 are (202, 2, 3), the position coordinates of array element 3 are (4, 203, 1), the position coordinates of array element 4 are (6, 2, 203), and the target position coordinates are (800, 800, 800). It can be determined that the system is a four-element positioning system.

[0098] For the four-element positioning system, the observation matrix is ​​calculated according to the following formula:

[0099]

[0100] in, get:

[0101]

[0102] Further construct the partial differential formula J xi , J yi , J zi , expressed as:

[0103]

[0104]

[0105] Then according to the partial differential formula J xi , J yi , J zi Calculate the geometric dilution of precision:

[0106]

[0107] The above technical scheme has the following beneficial effects: the present invention avoids matrix inversion operations and invalid operations in traditional GDOP calculation methods, reduces the amount of GDOP calculations, improves the GDOP calculation speed, ensures that the geometric precision factor can be calculated in real time during the positioning process, and timely improves the positioning accuracy of the navigation system; in addition, the four-element positioning system and the multi-element positioning system are classified and calculated to improve the calculation accuracy in various systems.

[0108] The specific implementation methods of the above invention further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above content is only the specific implementation methods of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating geometric dilution of precision of collaborative detection network, It is characterized in that include: S1. Obtain the spatial position coordinates (x, y, z) of the target and the position coordinates (x i ,y i , z i ), where i is the number of detection elements; S2. Dividing the system into a four-element positioning system and a multi-element positioning system with more than four elements according to the number of detection array elements; S3, for the four-element positioning system, according to the spatial position coordinates (x, y, z) of the measured target and the position coordinates (x, y, z) of the detection network node in the four-element positioning system i ,y i , z i ), construct the first observation matrix J: For a multi-element positioning system, according to the spatial position coordinates (x, y, z) of the detected target and the position coordinates (x i ,y i , z i )Construct the second observation matrix A: in, S4. For the four-element positioning system, construct partial differential equations J according to the first measurement matrix J. xi , J yi , J zi For the multivariate positioning system, the algebraic cofactor A is constructed according to the second measurement matrix A 11 , A 22 , A 33 ; S5. For the four-element positioning system, according to the partial differential formula J xi , J yi , J zi Calculate the geometric precision factor; for the multi-element positioning system, according to the algebraic co-formula A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

2. The method for calculating the geometric dilution of precision of a collaborative detection network according to claim 1, It is characterized in that The partial differential formula J xi , J yi , J zi Calculated according to the following formula:

3. The method for calculating the geometric dilution of precision of a collaborative detection network according to claim 1, It is characterized in that The algebraic co-formula A 11 , A 22 , A 33 It is expressed as:

4. The method for calculating the geometric dilution of precision of a collaborative detection network according to claim 1, It is characterized in that According to the partial differential formula J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

5. The method for calculating the geometric dilution of precision of a collaborative detection network according to claim 1, It is characterized in that According to the algebraic co-formula A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

6. A collaborative detection network geometric precision factor calculation system, It is characterized in that include: The data acquisition module is used to obtain the spatial position coordinates (x, y, z) of the target and the position coordinates (x i ,y i , z i ), where ι is the number of detection elements; A classification module, used for classifying the system into a four-element positioning system and a multi-element positioning system with more than four elements according to the number of detection array elements; The observation matrix construction module is used for the four-element positioning system to obtain the spatial position coordinates (x, y, z) of the measured target and the position coordinates (x, y, z) of the detection network node in the four-element positioning system. i ,y i , z i ), construct the first observation matrix J: For a multi-element positioning system, according to the spatial position coordinates (x, y, z) of the detected target and the position coordinates (x i ,y i , z i ) Construct the second observation matrix A: in, Sub-formula construction module, used for constructing partial differential formula J according to the first measurement matrix J for the four-element positioning system xi , J yi , J zi For the multivariate positioning system, the algebraic co-factor A is constructed according to the second measurement matrix A 11 , A 22 , A 33 ; The geometric precision factor calculation module is used for the quaternary positioning system according to the partial differential formula J xi , J yi , J zi Calculate the geometric precision factor; for the multi-element positioning system, according to the algebraic co-formula A 11 , A 22 , A 33 Calculate the geometric dilution of precision.

7. The collaborative detection network geometric dilution of precision calculation system according to claim 6, It is characterized in that The partial differential formula J xi , J yi , J zi Calculated according to the following formula:

8. The collaborative detection network geometric dilution of precision calculation system according to claim 6, It is characterized in that The algebraic co-formula A 11 , A 22 , A 33 It is expressed as:

9. The collaborative detection network geometric dilution of precision calculation system according to claim 6, It is characterized in that According to the partial differential formula J xi , J yi , J zi The geometric precision factor is calculated using the following formula:

10. The collaborative detection network geometric dilution of precision calculation system according to claim 6, It is characterized in that According to the algebraic co-formula A 11 , A 22 , A 33 The geometric precision factor is calculated using the following formula:

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