A collaborative positioning method, system, device and medium with limited observation amount

Abstract

The present invention relates to the technical field of collaborative positioning of unmanned boat clusters, and provides a collaborative positioning method, system, equipment and medium with limited observation amount, the method comprising: dividing the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats; determining the direction of satellite navigation interference according to the scope of the restricted area; determining the collaborative positioning configuration of the navigation relay unmanned boats by using the principle of optimal allocation of geometric precision factor; planning the navigation relay unmanned boat route; obtaining the driving speed of the navigation relay unmanned boat according to the speed of the business unmanned boats in the restricted area and the time from the initial moment of the business unmanned boats to the moment when the distribution configuration of the unmanned boats meets the collaborative positioning; after the navigation relay unmanned boats travel to the designated position according to the navigation relay unmanned boat route, they continue to travel at the limited business unmanned boat speed. The present invention ensures that the navigation relay unmanned boats obtain sufficient observation amount, perform collaborative positioning, and improve the navigation accuracy of the entire unmanned boat cluster.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative positioning of unmanned boat clusters, and in particular to a collaborative positioning method, system, equipment and medium with limited observation amount. Background Art

[0002] Due to cost and payload limitations, unmanned boats are generally equipped with low-precision inertial navigation equipment, which are combined with Beidou receivers to obtain high-precision navigation information assurance. However, the signal received by the Beidou receiver is very weak and is easily affected by electromagnetic interference in the environment and cannot be used. Collaborative positioning technology has been proposed as a supplementary navigation method for environments where satellite navigation is restricted. In the current unmanned boat cluster collaborative positioning system, the pilot boat and follower boat mode, or the peer-to-peer mode, is generally used. In these two working modes, when the Beidou receivers of some unmanned boats in the unmanned boat cluster are interfered with, the number or spatial distribution of unmanned boats in the non-restricted area may not meet the requirements of high-precision collaborative positioning.

[0003] In the traditional unmanned boat cluster collaborative positioning system, all unmanned boats participate in collaborative positioning, which will lead to two problems: first, the positions of some unmanned boats in the unmanned boat cluster are linearly related, that is, these unmanned boats participating in collaborative positioning cannot provide more information, but increase the amount of collaborative positioning calculation; second, generally, when the satellite navigation receiver is interfered, it is the unmanned boat on one side of the unmanned boat cluster that is interfered. In this case, the observability of the unmanned boats in the satellite navigation non-restricted area is not strong compared to the unmanned boats in the satellite navigation restricted area, that is, it cannot provide sufficient observation information. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a collaborative positioning method, system, device and medium with limited observation amount, which divides the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats, wherein the navigation relay unmanned boats have the characteristics of low load and high speed, and the working unmanned boats have the characteristics of high load and low speed. When the satellite navigation receivers of some unmanned boats in the unmanned boat cluster are interfered, the optimal distribution area and driving trajectory of the relay unmanned boats are calculated based on the command and control center to ensure that sufficient observation amount can be obtained, and then collaborative positioning is performed to improve the navigation accuracy of the entire unmanned boat cluster.

[0005] The present invention provides a collaborative positioning method with limited observation volume, comprising:

[0006] S1: The unmanned boats in the unmanned boat cluster are divided into navigation relay unmanned boats and business unmanned boats;

[0007] S2: Determine the direction of satellite navigation interference based on the scope of the restricted area;

[0008] S3: According to the direction of satellite navigation interference, the optimal allocation principle of geometric precision factor is used to determine the collaborative positioning configuration of the navigation relay unmanned boat;

[0009] S4: planning the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat;

[0010] S5: Obtain the driving speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the time from the initial moment of the business unmanned boat to the moment when the distribution configuration of the unmanned boat meets the collaborative positioning;

[0011] S6: According to the driving speed vector of the navigation relay unmanned boat, after the navigation relay unmanned boat travels to the designated location along the navigation relay unmanned boat route, it continues to travel at the restricted service unmanned boat speed vector.

[0012] According to a collaborative positioning method with limited observation amount provided by the present invention, the highest priority tasks of the navigation relay unmanned boat are navigation relay, load energy load and safe navigation guarantee load, and business unmanned boat installation task load.

[0013] According to a collaborative positioning method with limited observation amount provided by the present invention, the method also includes distributing the navigation relay unmanned boats at the vertices of a regular polygon centered on the unmanned boat in the restricted area according to the principle of optimal allocation of geometric precision factor.

[0014] According to a collaborative positioning method with limited observations provided by the present invention, the error term related to the geometric precision factor in the collaborative positioning error term is:

[0015]

[0016] in, is the error related to the spatial distribution in the unmanned boat cluster, is the number of unmanned boats participating in collaborative positioning, For the Moment The unmanned boat and The position difference of the unmanned boat in the x-axis direction is: For the Moment The unmanned boat and The position difference of the unmanned boat in the y-axis direction is defined as , ;

[0017] According to the Lagrange number multiplication, when the error term related to the geometric precision factor is minimized, it satisfies:

[0018]

[0019] in, and Determined by the relative positions between the unmanned boats;

[0020] In the two-dimensional Cartesian coordinate system, the origin of the coordinate is the position of the unmanned boat whose satellite navigation is interfered with. The first navigation relay unmanned boat is located on the horizontal axis with the coordinate , For the The distance between the navigation relay unmanned boat and the origin, For the Moment The first navigation relay unmanned boat and the The angle between the navigation relay unmanned boat and the origin is defined as , then:

[0021]

[0022] It can be obtained that when the error term related to the geometric precision factor is minimized, it satisfies:

[0023]

[0024] The optimal formation of the unmanned boat swarm based on data link collaborative positioning is that the position of the navigation relay unmanned boat is in the right position centered on the restricted area business unmanned boat. On the vertices of the polygon.

[0025] According to a collaborative positioning method with limited observation amount provided by the present invention, the distance between the navigation relay unmanned boat and the restricted area service unmanned boat is greater than 10 km.

[0026] According to a collaborative positioning method with limited observation amount provided by the present invention, the method further includes, in step S4, a route planning method for a navigation relay unmanned boat includes:

[0027] S41: Calculate the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment ;

[0028] S42: According to the speed vector of the unmanned boat in the restricted area And the duration from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , calculate the distance vector of the unmanned boat in the restricted area from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , ;

[0029] S43: The position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat calculated by the command and control center to meet the collaborative positioning of the navigation relay unmanned boat ;

[0030] S44: The distance vector from the initial moment of the navigation relay unmanned boat to the moment of collaborative positioning of the navigation relay unmanned boat satisfy:

[0031]

[0032] To plan the route of the navigation relay unmanned boat.

[0033] According to a collaborative positioning method with limited observation amount provided by the present invention, the method further includes step S5, wherein the driving speed calculation expression of the navigation relay unmanned boat is:

[0034]

[0035] in, The speed vector of the navigation relay unmanned boat, is the velocity vector of the unmanned boat for restricted area operations, It is the time between the initial moment of the business unmanned boat and the moment of collaborative positioning of the navigation relay unmanned boat. is the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment, The position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat calculated by the command and control center to meet the collaborative positioning of the navigation relay unmanned boat.

[0036] The present invention also provides a collaborative positioning system with limited observation volume, comprising:

[0037] A classification module, wherein the classification module is used to classify the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats;

[0038] An interference determination module, the interference determination module is used to determine the direction of satellite navigation interference according to the scope of the restricted area;

[0039] A positioning configuration module, which is used to determine the collaborative positioning configuration of the navigation relay unmanned boat according to the direction of satellite navigation interference and the principle of optimal allocation of geometric precision factor;

[0040] A route planning module, the route planning module is used to plan the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat;

[0041] A speed calculation module, which is used to obtain a travel speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the time from the initial moment of the business unmanned boat to the moment when the distribution configuration of the unmanned boat meets the collaborative positioning;

[0042] The driving module is used to drive the navigation relay unmanned boat to a designated location according to the driving speed vector of the navigation relay unmanned boat, and then continue to drive at the restricted service unmanned boat speed vector.

[0043] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned collaborative positioning methods with limited observation quantities are implemented.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a collaborative positioning method with limited observations as described in any one of the above.

[0045] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0046] The present invention provides a collaborative positioning method, system, device and medium with limited observations, which divides the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats, wherein the navigation relay unmanned boats have the characteristics of low load and high speed, and the business unmanned boats have the characteristics of high load and low speed. When the satellite navigation receivers of some unmanned boats in the unmanned boat cluster are interfered, the optimal distribution area and driving trajectory of the relay unmanned boats are calculated based on the command and control center to ensure that sufficient observations can be obtained, and then collaborative positioning is performed to improve the navigation accuracy of the entire unmanned boat cluster.

[0047] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present invention or 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 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.

[0049] Figure 1 It is a flow chart of a collaborative positioning method with limited observation amount provided by the present invention.

[0050] Figure 2 This is a distribution map of navigation relay unmanned boats for a collaborative positioning method with limited observation amount provided by the present invention.

[0051] Figure 3It is a position relationship diagram of a navigation relay unmanned boat and a business unmanned boat in a two-dimensional Cartesian coordinate system of a collaborative positioning method with limited observation amount provided by the present invention.

[0052] Figure 4 It is a schematic diagram of route planning for a navigation relay unmanned boat according to a collaborative positioning method with limited observation amount provided by the present invention.

[0053] Figure 5 It is a structural schematic diagram of a collaborative positioning system with limited observation amount provided by the present invention.

[0054] Figure 6 It is a block diagram of the electronic device provided by the present invention.

[0055] Reference numerals:

[0056] 101. Classification module; 102. Interference determination module; 103. Positioning configuration module; 104. Route planning module; 105. Speed ​​calculation module; 106. Driving module; 201. Processor; 202. Communication bus; 203. Communication interface; 204. Memory. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0058] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without contradiction.

[0059] Combine the following Figures 1 to 6The present invention describes a limited observation collaborative positioning method, system, device and medium.

[0060] like Figure 1 As shown, a collaborative positioning method with limited observations includes:

[0061] S1: The unmanned boats in the unmanned boat cluster are divided into navigation relay unmanned boats and business unmanned boats; the highest priority task of the navigation relay unmanned boat is navigation relay, carrying energy load and safe navigation support load, energy load such as power load, safe navigation support load such as navigation equipment. The navigation relay unmanned boat has the characteristics of small load, and has faster driving speed and flexibility than the business unmanned boat. The business unmanned boats that perform operational tasks are equipped with radar, sonar and other mission loads. Due to the heavy mission load, they have a lower driving speed and lower flexibility than the navigation relay unmanned boats.

[0062] The purpose of this step is to enable the navigation relay unmanned boat to travel quickly and thus quickly obtain the required collaborative positioning configuration.

[0063] S2: Determine the direction of satellite navigation interference based on the scope of the restricted area;

[0064] When the use of satellite navigation receivers of some unmanned boats in the unmanned boat cluster is restricted, the restricted area is mostly on one side of the unmanned boat cluster. At this time, the observability of unmanned boats in the non-restricted area is generally not strong compared with the unmanned boats in the restricted area, that is, the spatial correlation is strong. At this time, the observation amount is limited. The command and control center determines the direction of satellite navigation interference based on the scope of the restricted area.

[0065] S3: According to the direction of satellite navigation interference, the optimal allocation principle of geometric precision factor is used to determine the collaborative positioning configuration of the navigation relay unmanned boat;

[0066] In order to avoid satellite navigation interference and obtain the optimal geometric precision factor, the present invention takes the unmanned boat in the center of the satellite navigation restricted area as the object to determine the distribution of the navigation relay unmanned boat during collaborative positioning.

[0067] According to the principle of optimal allocation of geometric precision factor, the navigation relay unmanned boats are distributed at the vertices of the regular polygon centered on the unmanned boat in the restricted area. The proof is as follows:

[0068] Among the co-location error terms, the error term related to the geometric precision factor is

[0069]

[0070] in, is the error related to the spatial distribution in the unmanned boat cluster, is the number of unmanned boats participating in collaborative positioning, For the Moment The unmanned boat and The position difference of the unmanned boat in the x-axis direction is: For the Moment The unmanned boat and The position difference of the unmanned boat in the y-axis direction is defined as , ;

[0071] Define the first auxiliary operator , , the second auxiliary operator , , the third auxiliary operator , ,

[0072] According to the Lagrange number multiplication, when , , satisfy

[0073] hour, reaches the minimum value,

[0074]

[0075] Solving the above system of equations, we can get:

[0076]

[0077] So we get:

[0078]

[0079] in, and This is determined by the relative positions of the unmanned boats and can be satisfied by adjusting the positions of the unmanned boats.

[0080] like Figure 3 In the two-dimensional Cartesian coordinate system shown, the origin of the coordinate is the position of the unmanned boat whose satellite navigation is interfered with, and the first navigation relay unmanned boat is located on the horizontal axis with the coordinate , No. The coordinates of the navigation relay unmanned boat are , For the first The distance between the navigation relay unmanned boat and the origin, For the The distance between the navigation relay unmanned boat and the origin, For the Moment The first navigation relay unmanned boat and the The angle between the navigation relay unmanned boat and the origin is defined as , then:

[0081]

[0082] It is thus obtained that when the error related to the spatial distribution in the unmanned boat cluster is the smallest, it satisfies:

[0083]

[0084] The optimal formation of the unmanned boat swarm based on data link collaborative positioning is that the position of the navigation relay unmanned boat is in the right position centered on the restricted area business unmanned boat. On the vertices of the polygon.

[0085] The distance between the navigation relay unmanned boat and the restricted area business unmanned boat is greater than 10km.

[0086] In some embodiments of the present invention, Figure 2 As shown, the number of navigation relay unmanned boats is 3.

[0087] Navigation relay unmanned boat 2 is distributed in the direction of satellite navigation interference. With the restricted area service unmanned boat as the center, navigation relay unmanned boat 1 and navigation relay unmanned boat 3 are respectively located at an angle of approximately 120 degrees relative to navigation relay unmanned boat 2. In order to ensure that the navigation relay unmanned boat is not interfered with by satellite navigation, the distance between the navigation relay unmanned boat and the restricted area service unmanned boat is required to be , , Both are greater than 10km.

[0088] S4: planning the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat;

[0089] The command and control center plans a route for the relay unmanned boat based on the initial position of the navigation relay unmanned boat and the position that the navigation relay unmanned boat needs to reach during collaborative positioning;

[0090] like Figure 4 As shown, taking the navigation relay unmanned boat 3 as an example, a route planning method for the navigation relay unmanned boat is provided.

[0091] The route planning method of the navigation relay unmanned boat includes:

[0092] S41: Calculate the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment ;

[0093] S42: According to the speed vector of the unmanned boat in the restricted area And the duration from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , calculate the distance vector of the unmanned boat in the restricted area from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , ;

[0094] S43: The position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat calculated by the command and control center to meet the collaborative positioning of the navigation relay unmanned boat ;

[0095] S44: The distance vector from the initial moment of the navigation relay unmanned boat to the moment of collaborative positioning of the navigation relay unmanned boat satisfy:

[0096]

[0097] To plan the route of the navigation relay unmanned boat.

[0098] S5: Obtain the driving speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the time from the initial moment of the business unmanned boat to the moment when the distribution configuration of the unmanned boat meets the collaborative positioning;

[0099] The calculation expression of the driving speed of the navigation relay unmanned boat is:

[0100]

[0101] in, The speed vector of the navigation relay unmanned boat, is the velocity vector of the unmanned boat for restricted area operations, It is the time between the initial moment of the business unmanned boat and the moment of collaborative positioning of the navigation relay unmanned boat. is the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment, is the position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat.

[0102] S6: According to the driving speed vector of the navigation relay unmanned boat, after the navigation relay unmanned boat travels to the designated location along the navigation relay unmanned boat route, it continues to travel at the restricted service unmanned boat speed vector.

[0103] The navigation relay unmanned boat continues to move with the restricted business unmanned boat speed vector, thus keeping the collaborative positioning configuration unchanged.

[0104] At this time, a centralized collaborative positioning algorithm can be used to obtain high-precision navigation information for unmanned boats in restricted areas.

[0105] like Figure 5As shown, a collaborative positioning system with limited observation volume includes:

[0106] The classification module 101 is used to classify the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats;

[0107] The interference determination module 102 is used to determine the direction of satellite navigation interference according to the scope of the restricted area;

[0108] The positioning configuration module 103 is used to determine the collaborative positioning configuration of the navigation relay unmanned boat according to the direction of the satellite navigation interference and the principle of optimal allocation of geometric precision factor;

[0109] The route planning module 104 is used to plan the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat;

[0110] The speed calculation module 105 is used to obtain the driving speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the time from the initial moment of the business unmanned boat to the moment when the distribution configuration of the unmanned boat meets the collaborative positioning;

[0111] The driving module 106 is used for driving the navigation relay unmanned boat according to the driving speed vector of the navigation relay unmanned boat, and after the navigation relay unmanned boat drives to the designated location according to the navigation relay unmanned boat route, it continues to drive at the restricted service unmanned boat speed vector.

[0112] Through the collaborative work of the above modules, the unmanned boats in the unmanned boat cluster are divided into navigation relay unmanned boats and business unmanned boats through the classification module 101; the interference determination module 102 determines the direction of satellite navigation interference according to the scope of the restricted area; the positioning configuration module 103 determines the collaborative positioning configuration of the navigation relay unmanned boat according to the direction of satellite navigation interference and the principle of optimal allocation of geometric precision factor; the route planning module 104 plans the navigation relay unmanned boat route according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat; the speed calculation module 105 obtains the driving speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the time from the initial moment of the business unmanned boat to the moment when the distribution configuration of the unmanned boat meets the collaborative positioning; the driving module 106, according to the driving speed vector of the navigation relay unmanned boat, after the navigation relay unmanned boat drives to the designated position along the navigation relay unmanned boat route, it continues to drive at the restricted business unmanned boat speed vector.

[0113] Figure 6 A block diagram of an electronic device is shown as an example. Figure 6As shown, the electronic device may include: a processor 201 (processor), a communication interface 203 (Communications Interface), a memory 204 (memory) and a communication bus 202, wherein the processor 201, the communication interface 203, and the memory 204 communicate with each other through the communication bus 202. The processor 201 may call the logic instructions in the memory 204 to execute a collaborative positioning method with limited observations.

[0114] In addition, the logic instructions in the above-mentioned memory 204 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0115] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a collaborative positioning method with limited observation volume provided by the above-mentioned methods.

[0116] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a collaborative positioning method with limited observation volume provided by the above methods.

[0117] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0118] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A collaborative positioning method with limited observations, characterized in that: include: S1: The unmanned boats in the unmanned boat cluster are divided into navigation relay unmanned boats and business unmanned boats; S2: Determine the direction of satellite navigation interference based on the scope of the restricted area; S3: According to the direction of satellite navigation interference, the optimal allocation principle of geometric precision factor is used to determine the collaborative positioning configuration of the navigation relay unmanned boat; S4: planning the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat; S5: Obtaining the driving speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the duration from the initial moment of the business unmanned boat to the moment of collaborative positioning of the navigation relay unmanned boat; S6: According to the driving speed vector of the navigation relay unmanned boat, after the navigation relay unmanned boat travels to the designated location along the navigation relay unmanned boat route, it continues to travel at the restricted service unmanned boat speed vector.

2. The collaborative positioning method with limited observation amount according to claim 1, characterized in that: The unmanned boats carrying energy payloads and safe navigation guarantee payloads are called navigation relay unmanned boats, and the unmanned boats carrying mission payloads are called business unmanned boats. The highest priority task of the navigation relay unmanned boats is navigation relay.

3. The collaborative positioning method with limited observation amount according to claim 1, characterized in that: In step S3, according to the principle of optimal allocation of geometric precision factor, the collaborative positioning configuration of the navigation relay unmanned boat is that the navigation relay unmanned boat is distributed at the vertices of a regular polygon centered on the unmanned boat in the restricted area.

4. The collaborative positioning method with limited observation amount according to claim 3, characterized in that: In co-location, the error term related to the geometric dilution of precision is: in, is the error related to the spatial distribution in the unmanned boat cluster, is the number of unmanned boats participating in collaborative positioning, For the Moment The unmanned boat and The position difference of the unmanned boat in the x-axis direction is: For the Moment The unmanned boat and The position difference of the unmanned boat in the y-axis direction is defined as , ; According to the Lagrange number multiplication, when the error related to the spatial distribution in the unmanned boat cluster is the smallest, it satisfies: in, and Determined by the relative positions between the unmanned boats; In the two-dimensional Cartesian coordinate system, the origin of the coordinate is the position of the unmanned boat whose satellite navigation is interfered with. The first navigation relay unmanned boat is located on the horizontal axis with the coordinate , For the The distance between the navigation relay unmanned boat and the origin, For the Moment The first navigation relay unmanned boat and the The angle between the navigation relay unmanned boat and the origin is defined as , then: It is thus obtained that when the error related to the spatial distribution in the unmanned boat cluster is the smallest, it satisfies: The optimal formation for cooperative positioning of the unmanned boat swarm is that the position of the navigation relay unmanned boat is in the right direction centered on the restricted area business unmanned boat. On the vertices of the polygon.

5. The collaborative positioning method with limited observation amount according to claim 1, characterized in that: The distance between the navigation relay unmanned boat and the restricted area service unmanned boat is greater than 10 km.

6. The collaborative positioning method with limited observation amount according to claim 1, characterized in that: In step S4, the route planning method of the navigation relay unmanned boat includes: S41: Calculate the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment ; S42: According to the speed vector of the unmanned boat in the restricted area And the duration from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , calculate the distance vector of the unmanned boat in the restricted area from the initial moment to the moment of collaborative positioning of the navigation relay unmanned boat , ; S43: When the navigation relay unmanned boat collaborative positioning is met, the command and control center calculates the position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat ; S44: The distance vector from the initial moment of the navigation relay unmanned boat to the moment of collaborative positioning of the navigation relay unmanned boat satisfy: To plan the route of the navigation relay unmanned boat.

7. The collaborative positioning method with limited observation amount according to claim 1, characterized in that: In step S5, the calculation expression of the driving speed of the navigation relay unmanned boat is: in, The speed vector of the navigation relay unmanned boat, is the velocity vector of the unmanned boat for restricted area operations, is the time between the initial moment and the collaborative positioning moment of the navigation relay unmanned boat, is the position difference vector between the navigation relay unmanned boat and the restricted area service unmanned boat at the initial moment, is the position difference vector between the restricted service unmanned boat and the navigation relay unmanned boat.

8. A collaborative positioning system with limited observation volume, characterized in that: A method for collaborative positioning with limited observation volume as claimed in any one of claims 1 to 7, comprising: A classification module, wherein the classification module is used to classify the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats; An interference determination module, the interference determination module is used to determine the direction of satellite navigation interference according to the scope of the restricted area; A positioning configuration module, which is used to determine the collaborative positioning configuration of the navigation relay unmanned boat according to the direction of satellite navigation interference and the principle of optimal allocation of geometric precision factor; A route planning module, the route planning module is used to plan the route of the navigation relay unmanned boat according to the initial position of the navigation relay unmanned boat and the collaborative positioning configuration of the navigation relay unmanned boat; A speed calculation module, which is used to obtain a travel speed vector of the navigation relay unmanned boat according to the speed of the business unmanned boat in the restricted area and the duration from the initial moment of the business unmanned boat to the moment of collaborative positioning of the navigation relay unmanned boat; The driving module is used to drive the navigation relay unmanned boat to a designated location according to the driving speed vector of the navigation relay unmanned boat, and then continue to drive at the restricted service unmanned boat speed vector.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the limited observation collaborative positioning method as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a limited observation collaborative positioning method as claimed in any one of claims 1 to 7 are implemented.

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