Method, system, equipment and medium for identifying non-line-of-sight error based on DVL speed measurement

Abstract

The present invention relates to the technical field of cooperative positioning of unmanned boat clusters, and provides a method, system, device and medium for identifying non-line-of-sight errors based on DVL speed measurement, the method comprising: constructing a radio ranging model to obtain a relative ranging measurement value between a master and a slave node; obtaining a relative position difference between the master and the slave node at the last moment; measuring the position change of the master and the slave node according to DVL; estimating the relative position difference at the current moment according to the relative position difference of the master and the slave node at the last moment and the position change of the master and the slave node; obtaining a detection threshold according to a satellite navigation pseudorange or a carrier phase double difference; identifying non-line-of-sight errors according to the relative position difference between the master and the slave node, the relative ranging measurement value between the master and the slave node and the detection threshold. The present invention utilizes the characteristics of high-precision speed measurement of DVL to estimate the relative distance between the master and the slave node, identifies the non-line-of-sight error by comparison, avoids the influence of the non-line-of-sight error on the cooperative positioning, and greatly improves the accuracy of the cooperative positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat cluster collaborative positioning, and in particular to a DVL speed measurement-based non-line-of-sight error identification method, system, equipment and medium. Background Art

[0002] At present, most unmanned boat clusters are master-slave type, that is, a small number of master nodes in the unmanned boat cluster are equipped with high-performance navigation sensors, while most slave nodes are equipped with low-precision navigation sensors. The slave nodes realize mutual observation with multiple master nodes through wireless ranging, and rely on collaborative positioning technology to share the high-precision navigation information of the master nodes. In the collaborative positioning technology based on relative ranging, the accuracy of relative ranging directly affects the accuracy of collaborative positioning. Generally speaking, the error based on radio relative ranging mainly includes system error, error caused by relative ranging method and error caused by propagation environment. The system error of radio relative ranging is mainly caused by hardware reasons such as system crystal oscillator. Different relative ranging methods also have differences in ranging principles, and the errors are inconsistent. These two errors can be effectively controlled through early calibration and correction or filtering, and their contribution to collaborative positioning error is not large. The error caused by the propagation environment, such as non-line-of-sight propagation, multipath effect, etc., contributes more to the collaborative positioning error, among which the contribution of non-line-of-sight propagation is the largest. Because the radio in the unmanned cluster is blocked by obstacles such as unmanned platforms, some slave nodes receive radio ranging signals after transmission, diffraction and other processes, resulting in the measured relative distance being much greater than the actual distance between the nodes. Summary of the invention

[0003] 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 method, system, device and medium for identifying non-line-of-sight errors based on DVL (Doppler odometer) speed measurement, which uses the relative positions between nodes calculated at the previous moment and the relative position changes obtained by DVL speed measurement to construct the predicted value of the relative distance measurement at the current moment, and identifies whether it is a non-line-of-sight signal by comparing it with the measured value, and then eliminates the non-line-of-sight signal to avoid the influence of the non-line-of-sight signal on collaborative positioning.

[0004] The present invention provides a method for identifying non-line-of-sight errors based on DVL speed measurement, comprising:

[0005] S1: construct a radio ranging error model, and obtain the relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model;

[0006] S2: Obtain the relative position difference between the master and slave nodes at the previous moment according to the positions of the master and slave nodes at the previous moment;

[0007] S3: The position change of the master node between the last moment and the current moment is measured according to the DVL sensor configured on the master node, and the position change of the slave node between the last moment and the current moment is measured according to the DVL sensor configured on the slave node;

[0008] S4: Obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment;

[0009] S5: Obtaining a detection threshold of a relative distance based on DVL speed measurement according to satellite navigation pseudorange or carrier phase double difference;

[0010] S6: Identify the non-line-of-sight error according to the relative position difference between the master and slave nodes at the current moment, the relative distance measurement value between the master and slave nodes at the current moment, and the detection threshold.

[0011] According to a DVL speed measurement non-line-of-sight error identification method provided by the present invention, the radio ranging error model in the unmanned boat cluster collaborative positioning is:

[0012]

[0013] in, for The relative distance measurement value between the master and slave nodes at the moment, for The actual distance between the master and slave nodes at the moment, for The ranging error caused by the time platform system error, for The ranging error between the master and slave nodes caused by non-line-of-sight transmission of wireless signals at this moment.

[0014] According to a DVL speed measurement non-line-of-sight error identification method provided by the present invention, the method also includes step S2, in which the master node sends the position at the last moment to the slave node through wireless communication, and the slave node calculates the relative position difference between the master and slave nodes at the last moment based on the position at the last moment.

[0015] According to a method for identifying non-line-of-sight errors based on DVL speed measurement provided by the present invention, the step S3 includes:

[0016] S31: The master node calculates the change in the master node position from the previous moment to the current moment according to the DVL speed measurement value, and sends the change in the master node position from the previous moment to the current moment to the slave node;

[0017] S32: The slave node calculates the change in the slave node position between the previous moment and the current moment based on the DVL speed measurement value.

[0018] According to a method for identifying non-line-of-sight errors based on DVL speed measurement provided by the present invention, the step S4 includes:

[0019] S41: Calculate the change in relative position difference between the master and slave nodes according to the change in position of the master node between the last moment and the current moment, and the change in position of the slave node between the last moment and the current moment;

[0020] S42: Add the relative position difference between the master and slave nodes at the previous moment and the change in the relative position difference between the master and slave nodes to obtain the relative position difference between the master and slave nodes at the current moment.

[0021] According to a method for identifying non-line-of-sight errors based on DVL speed measurement provided by the present invention, step S5 includes:

[0022] S51: at the last moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the last moment through the pseudorange double difference or the carrier phase double difference; at the current moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the current moment through the pseudorange double difference or the carrier phase double difference; the relative position difference between the master and slave nodes at the current moment is subtracted from the relative position difference between the master and slave nodes at the last moment, and the change in the position difference between the master and slave nodes from the last moment to the current moment is obtained;

[0023] S52: The master node calculates the position change of the master node from the previous moment to the current moment through the DVL speed measurement value, and sends it to the slave node through wireless communication. The slave node calculates the position change of the slave node from the previous moment to the current moment through the DVL speed measurement value, and the two are subtracted to obtain the change of the relative position difference between the master and slave nodes from the previous moment to the current moment calculated through the DVL speed measurement value;

[0024] S53: Take the modulus of the change in the master-slave node position difference from the previous moment to the current moment and the modulus of the change in the relative position difference of the master-slave node from the previous moment to the current moment calculated by the DVL speed measurement value, calculate the absolute value of the difference between the two, obtain the position error of the master-slave node from the previous moment to the current moment, count the N position errors from the previous moment to the current moment, and obtain the root mean square error based on the N master-slave node position errors from the previous moment to the current moment , take n times The detection threshold as the position difference portion of the DVL velocity value calculation;

[0025] S54: Determine the master node position error based on the navigation sensor accuracy configured on the master node , according to the cooperative positioning error transfer characteristics, the slave node position error is determined , the master node position error Added to the slave node position error , obtain the relative distance estimation error caused by the position error of the master and slave nodes;

[0026] S55: Add the detection threshold of the position difference part calculated by the DVL speed measurement and the relative distance estimation error caused by the master and slave node position errors to obtain the detection threshold of the relative distance based on the DVL speed measurement.

[0027] According to a method for identifying non-line-of-sight errors based on DVL speed measurement provided by the present invention, step S6 includes:

[0028] S61: Obtaining a relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging model;

[0029] S62: Compare the relative distance measurement value between the master and slave nodes at the current moment with the relative position difference between the master and slave nodes at the current moment. If the comparison result is greater than the detection threshold, it is non-line-of-sight ranging and there is a non-line-of-sight error. If the comparison result is less than or equal to the detection threshold, it is line-of-sight ranging and there is no non-line-of-sight error.

[0030] A DVL speed measurement non-line-of-sight error identification system is used to execute any of the above-mentioned DVL speed measurement non-line-of-sight error identification methods, comprising:

[0031] A relative ranging acquisition module, wherein the relative ranging acquisition module is used to construct a radio ranging error model and obtain a relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model;

[0032] A relative position difference acquisition module, wherein the relative position difference acquisition module is used to obtain the relative position difference between the master and slave nodes at the last moment according to the positions of the master and slave nodes at the last moment;

[0033] A position change acquisition module, the position change acquisition module is used to measure the position change of the master node at the previous moment and the current moment according to the DVL sensor configured on the master node, and to measure the position change of the slave node at the previous moment and the current moment according to the DVL sensor configured on the slave node;

[0034] An estimation module, the estimation module is used to obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment;

[0035] A detection threshold acquisition module, wherein the detection threshold acquisition module is used to obtain a detection threshold of a relative distance based on DVL speed measurement according to a satellite navigation pseudorange or a carrier phase double difference;

[0036] A non-line-of-sight error identification module is used to identify a non-line-of-sight error according to a relative position difference between a master node and a slave node at a current moment, a relative distance measurement value between the master node and the slave node at a current moment, and a detection threshold.

[0037] 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 a method for identifying non-line-of-sight errors based on DVL speed measurement are implemented as described in any one of the above methods.

[0038] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for identifying non-line-of-sight errors based on DVL speed measurement are implemented.

[0039] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0040] The present invention provides a method, system, device and medium for identifying non-line-of-sight errors based on DVL speed measurement. The relative positions between nodes calculated at the previous moment and the relative position changes obtained by DVL speed measurement are used to construct a predicted value of relative ranging at the current moment. By comparing with the measured value, it is identified whether it is a non-line-of-sight signal, and then the non-line-of-sight signal is eliminated to avoid the influence of the non-line-of-sight signal on collaborative positioning.

[0041] The present invention is not affected by the DVL working mode, and makes full use of the high-precision speed measurement characteristics of DVL to estimate the relative distance between the master and slave nodes, and identifies the non-line-of-sight error by comparison, thereby avoiding the influence of the non-line-of-sight error on the collaborative positioning, and greatly improving the accuracy of the collaborative positioning.

[0042] 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

[0043] 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.

[0044] Figure 1 The present invention provides a flow chart of a method for identifying non-line-of-sight errors based on DVL speed measurement.

[0045] Figure 2It is a schematic diagram of master-slave node distance estimation based on DVL speed measurement based on a DVL speed measurement non-line-of-sight error identification method provided by the present invention.

[0046] Figure 3 The present invention provides a structural schematic diagram of a DVL speed measurement non-line-of-sight error identification system.

[0047] Figure 4 It is a block diagram of the electronic device provided by the present invention.

[0048] Reference numerals:

[0049] 101. Relative distance acquisition module; 102. Relative position difference acquisition module; 103. Position change acquisition module; 104. Estimation module; 105. Detection threshold acquisition module; 106. Non-line-of-sight error identification module; 201. Processor; 202. Communication bus; 203. Communication interface; 204. Memory. DETAILED DESCRIPTION

[0050] 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.

[0051] In the description of the embodiments of the present invention, it should be noted that the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0052] Combine the following Figures 1 to 4 The present invention describes a method, system, device and medium for identifying non-line-of-sight errors based on DVL speed measurement.

[0053] like Figure 1 As shown, a method for identifying non-line-of-sight errors based on DVL speed measurement includes:

[0054] S1: construct a radio ranging error model, and obtain the relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model;

[0055] In some embodiments of the present invention, in the unmanned boat cluster, the master node is generally equipped with medium-precision optical inertial navigation, satellite navigation receiver, DVL, compass, radio communication ranging and other navigation sensors, and the slave node is generally equipped with MEMS inertial navigation, satellite navigation receiver, DVL, radio communication ranging and other navigation sensors. When the satellite navigation receiver is working normally, high-precision navigation information that meets the needs can generally be obtained through the satellite navigation receiver. When the satellite navigation receiver cannot work normally due to interference, etc., radio ranging is generally used to share the high-precision navigation information of the master node through a collaborative positioning algorithm. In the collaborative positioning algorithm based on radio ranging, the error of radio ranging directly affects the error of collaborative positioning.

[0056] In the collaborative positioning of unmanned boat clusters, the radio ranging error model is:

[0057]

[0058] in, for The relative distance measurement value between the master and slave nodes at the moment, for The actual distance between the master and slave nodes at the moment, for The ranging error caused by the time platform system error, for The ranging error between the master and slave nodes caused by non-line-of-sight transmission of wireless signals at this moment.

[0059] like Figure 2 As shown, S2: obtaining the relative position difference between the master and slave nodes at the previous moment according to the positions of the master and slave nodes at the previous moment;

[0060] The master node sends its position at the last moment to the slave node through wireless communication, and the slave node calculates the relative position difference between the master and slave nodes at the last moment based on the position at the last moment.

[0061] S3: The position change of the master node between the last moment and the current moment is measured according to the DVL sensor configured on the master node, and the position change of the slave node between the last moment and the current moment is measured according to the DVL sensor configured on the slave node;

[0062] S31: The master node calculates the change in the master node position from the previous moment to the current moment according to the DVL speed measurement value, and sends the change in the master node position from the previous moment to the current moment to the slave node;

[0063] S32: The slave node calculates the change in the slave node position between the previous moment and the current moment based on the DVL speed measurement value.

[0064] DVL has a high speed measurement accuracy and can obtain the speed of the unmanned boat more accurately, and then obtain a relatively high-precision relative position change. In addition, since the measurement is the difference in the position change of the master and slave nodes, DVL speed measurement can be done on the ground or on the water. As long as the master and slave nodes measure the speed on the ground or on the water at the same time, the measurement error will not be affected by factors such as water flow speed.

[0065] S4: Obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment;

[0066] S41: Calculate the change in relative position difference between the master and slave nodes according to the change in position of the master node between the last moment and the current moment, and the change in position of the slave node between the last moment and the current moment;

[0067] S42: Add the relative position difference between the master and slave nodes at the previous moment and the change in the relative position difference between the master and slave nodes to obtain the relative position difference between the master and slave nodes at the current moment.

[0068] S5: Obtaining a detection threshold of a relative distance based on DVL speed measurement according to satellite navigation pseudorange or carrier phase double difference;

[0069] S51: at the last moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the last moment through the pseudorange double difference or the carrier phase double difference; at the current moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the current moment through the pseudorange double difference or the carrier phase double difference; the relative position difference between the master and slave nodes at the current moment is subtracted from the relative position difference between the master and slave nodes at the last moment, and the change in the position difference between the master and slave nodes from the last moment to the current moment is obtained;

[0070] S52: The master node calculates the position change of the master node from the previous moment to the current moment through the DVL speed measurement value, and sends it to the slave node through wireless communication. The slave node calculates the position change of the slave node from the previous moment to the current moment through the DVL speed measurement value, and the two are subtracted to obtain the change of the relative position difference between the master and slave nodes from the previous moment to the current moment calculated through the DVL speed measurement value;

[0071] S53: Take the modulus of the change in the master-slave node position difference from the previous moment to the current moment and the modulus of the change in the relative position difference of the master-slave node from the previous moment to the current moment calculated by the DVL speed measurement value, calculate the absolute value of the difference between the two, and obtain the position error of the master-slave node from the previous moment to the current moment , count the position errors from N previous moments to the current moment , ,......, , according to the position error of N master and slave nodes from the previous moment to the current moment, the root mean square error is obtained , take n times The detection threshold as the position difference portion of the DVL velocity value calculation;

[0072] S54: Determine the master node position error based on the navigation sensor accuracy configured on the master node , according to the cooperative positioning error transfer characteristics, the slave node position error is determined , the master node position error Added to the slave node position error , the relative distance estimation error caused by the master and slave node position error is obtained; the relative distance estimation error calculation expression is:

[0073]

[0074] in, is the relative distance estimation error;

[0075] S55: adding the detection threshold of the position difference part calculated by the DVL speed measurement and the relative distance estimation error caused by the master and slave node position errors to obtain the detection threshold of the relative distance based on the DVL speed measurement;

[0076] The calculation expression of the detection threshold is:

[0077]

[0078] in, is the detection threshold.

[0079] When the satellite navigation receiver is available, the precise position change of the master and slave nodes before and after is obtained based on the satellite navigation pseudorange or carrier phase double difference. This is used as a benchmark to compare it with the position change of the master and slave nodes before and after obtained by DVL speed measurement, and the root mean square error of the difference between the two position changes is calculated over a long period of time. According to the detection probability and false alarm rate requirements, n times the root mean square error is used as the threshold.

[0080] In some embodiments of the present invention, n=1.5.

[0081] S6: Identify non-line-of-sight errors according to the relative position difference between the master and slave nodes at the current moment, the relative distance measurement value between the master and slave nodes at the current moment, and the detection threshold;

[0082] S61: Obtaining a relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging model;

[0083] S62: Compare the relative distance measurement value between the master and slave nodes at the current moment with the relative position difference between the master and slave nodes at the current moment. If the comparison result is greater than the detection threshold, it is non-line-of-sight ranging and there is a non-line-of-sight error. If the comparison result is less than or equal to the detection threshold, it is line-of-sight ranging and there is no non-line-of-sight error. The calculation expression is:

[0084]

[0085] in, To compare the results, for The relative distance measurement value between the master and slave nodes at the moment, is the relative position difference between the master and slave nodes at the last moment, is the change in the master node position between the previous moment and the current moment, is the change in the position of the master node between the previous moment and the current moment;

[0086] like , it is non-line-of-sight ranging, and there is non-line-of-sight error;

[0087] like , it is line-of-sight ranging and there is no non-line-of-sight error.

[0088] The error in radio ranging directly affects the error in co-location.

[0089] like Figure 3 As shown, a DVL speed measurement non-line-of-sight error identification system is used to execute the above-mentioned DVL speed measurement non-line-of-sight error identification method, including:

[0090] The relative ranging acquisition module 101 is used to construct a radio ranging error model, and obtain the relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model;

[0091] The relative position difference acquisition module 102 is used to obtain the relative position difference between the master and slave nodes at the last moment according to the positions of the master and slave nodes at the last moment;

[0092] The position change acquisition module 103 is used to measure the position change of the master node between the previous moment and the current moment according to the DVL sensor configured on the master node, and to measure the position change of the slave node between the previous moment and the current moment according to the DVL sensor configured on the slave node;

[0093] The estimation module 104 is used to obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment;

[0094] The detection threshold acquisition module 105 is used to obtain the detection threshold of the relative distance based on the DVL speed measurement according to the satellite navigation pseudorange or the carrier phase double difference;

[0095] The non-line-of-sight error identification module 106 is used to identify the non-line-of-sight error according to the relative position difference between the master and slave nodes at the current moment, the relative distance measurement value between the master and slave nodes at the current moment, and the detection threshold.

[0096] Through the coordinated work of the above modules, a radio ranging error model is constructed by the relative ranging acquisition module 101, and the relative ranging measurement value between the master and slave nodes at the current moment is obtained according to the radio ranging error model. The relative position difference acquisition module 102 obtains the relative position difference of the master and slave nodes at the previous moment according to the positions of the master and slave nodes at the previous moment. The position change acquisition module 103 measures the position change of the master node between the previous moment and the current moment according to the DVL sensor configured on the master node, and measures the position change of the slave node between the previous moment and the current moment according to the DVL sensor configured on the slave node. The estimation module 104 obtains the relative position difference of the master and slave nodes at the previous moment according to the DVL sensor configured on the slave node. The relative position difference between the master and slave nodes at one moment, the change in the position of the master node between the previous moment and the current moment, and the change in the position of the slave node between the previous moment and the current moment are used to obtain the relative position difference between the master and slave nodes at the current moment. The detection threshold acquisition module 105 obtains the detection threshold of the relative distance based on DVL speed measurement according to the satellite navigation pseudorange or the carrier phase double difference. The non-line-of-sight error identification module 106 identifies the non-line-of-sight error according to the relative position difference between the master and slave nodes at the current moment, the relative ranging measurement value between the master and slave nodes at the current moment, and the detection threshold, so as to avoid the influence of non-line-of-sight signals on collaborative positioning and greatly improve the accuracy of collaborative positioning.

[0097] The present invention uses the relative positions between nodes calculated at the previous moment and the relative position changes obtained by DVL speed measurement to construct a predicted value of relative ranging at the current moment, and by comparing with the measured value, identifies whether it is a non-line-of-sight signal, and then eliminates the non-line-of-sight signal to avoid the influence of the non-line-of-sight signal on collaborative positioning.

[0098] The present invention is not affected by the DVL working mode, and makes full use of the high-precision speed measurement characteristics of DVL to estimate the relative distance between the master and slave nodes, and identifies the non-line-of-sight error by comparison, thereby avoiding the influence of the non-line-of-sight error on the collaborative positioning, and greatly improving the accuracy of the collaborative positioning.

[0099] Figure 4 A block diagram of an electronic device is shown as an example. Figure 4As 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 method for identifying non-line-of-sight errors based on DVL speed measurement.

[0100] 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.

[0101] 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 non-line-of-sight error identification method based on DVL speed measurement provided by the above methods.

[0102] 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 method for identifying non-line-of-sight errors based on DVL speed measurement provided by the above methods.

[0103] 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.

[0104] 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.

[0105] 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 method for identifying non-line-of-sight errors based on DVL speed measurement, characterized in that: include: S1: construct a radio ranging error model, and obtain the relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model; S2: Obtain the relative position difference between the master and slave nodes at the previous moment according to the positions of the master and slave nodes at the previous moment; S3: The position change of the master node between the last moment and the current moment is measured according to the DVL sensor configured on the master node, and the position change of the slave node between the last moment and the current moment is measured according to the DVL sensor configured on the slave node; S4: Obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment; S5: Obtaining a detection threshold of a relative distance based on DVL speed measurement according to satellite navigation pseudorange or carrier phase double difference; S51: at the last moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the last moment through the pseudorange double difference or the carrier phase double difference; at the current moment, the slave node receives the pseudorange or carrier phase information of the satellite navigation of the master node through wireless communication, and obtains the relative position difference between the master and slave nodes at the current moment through the pseudorange double difference or the carrier phase double difference; the relative position difference between the master and slave nodes at the current moment is subtracted from the relative position difference between the master and slave nodes at the last moment, and the change in the position difference between the master and slave nodes from the last moment to the current moment is obtained; S52: The master node calculates the position change of the master node from the previous moment to the current moment through the DVL speed measurement value, and sends it to the slave node through wireless communication. The slave node calculates the position change of the slave node from the previous moment to the current moment through the DVL speed measurement value, and the two are subtracted to obtain the change of the relative position difference between the master and slave nodes from the previous moment to the current moment calculated through the DVL speed measurement value; S53: Take the modulus of the change in the master-slave node position difference from the previous moment to the current moment and the modulus of the change in the relative position difference of the master-slave node from the previous moment to the current moment calculated by the DVL speed measurement value, calculate the absolute value of the difference between the two, obtain the position error of the master-slave node from the previous moment to the current moment, count the N position errors from the previous moment to the current moment, and obtain the root mean square error based on the N master-slave node position errors from the previous moment to the current moment , take n times The detection threshold as the position difference portion of the DVL velocity value calculation; S54: Determine the master node position error based on the navigation sensor accuracy configured on the master node , according to the cooperative positioning error transfer characteristics, the slave node position error is determined , the master node position error Added to the slave node position error , obtain the relative distance estimation error caused by the position error of the master and slave nodes; S5 5: Add the detection threshold of the position difference part calculated by DVL speed measurement and the relative distance estimation error caused by the master and slave node position error to obtain the detection threshold of the relative distance based on DVL speed measurement; S6: Identify the non-line-of-sight error according to the relative position difference between the master and slave nodes at the current moment, the relative distance measurement value between the master and slave nodes at the current moment, and the detection threshold.

2. The method for identifying non-line-of-sight errors based on DVL speed measurement according to claim 1, characterized in that: In the collaborative positioning of unmanned boat clusters, the radio ranging error model is: in, for The relative distance measurement value between the master and slave nodes at the moment, for The actual distance between the master and slave nodes at the moment, for The ranging error caused by the time platform system error, for The ranging error between the master and slave nodes caused by non-line-of-sight transmission of wireless signals at this moment.

3. The method for identifying non-line-of-sight errors based on DVL speed measurement according to claim 1, characterized in that: In step S2, the master node sends its position at the last moment to the slave node through wireless communication, and the slave node calculates the relative position difference between the master and slave nodes at the last moment based on the position at the last moment.

4. The method for identifying non-line-of-sight errors based on DVL speed measurement according to claim 1, characterized in that: The S3 steps include: S31: The master node calculates the change in the master node position from the previous moment to the current moment according to the DVL speed measurement value, and sends the change in the master node position from the previous moment to the current moment to the slave node; S32: The slave node calculates the change in the slave node position between the previous moment and the current moment based on the DVL speed measurement value.

5. The method for identifying non-line-of-sight errors based on DVL speed measurement according to claim 3, characterized in that: The S4 step includes: S41: Calculate the change in relative position difference between the master and slave nodes according to the change in position of the master node between the last moment and the current moment, and the change in position of the slave node between the last moment and the current moment; S42: Add the relative position difference between the master and slave nodes at the previous moment and the change in the relative position difference between the master and slave nodes to obtain the relative position difference between the master and slave nodes at the current moment.

6. The method for identifying non-line-of-sight errors based on DVL speed measurement according to claim 1, characterized in that: Step S6 includes: S61: Obtaining a relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging model; S62: Compare the relative distance measurement value between the master and slave nodes at the current moment with the relative position difference between the master and slave nodes at the current moment. If the comparison result is greater than the detection threshold, it is non-line-of-sight ranging and there is a non-line-of-sight error. If the comparison result is less than or equal to the detection threshold, it is line-of-sight ranging and there is no non-line-of-sight error.

7. A non-line-of-sight error identification system based on DVL speed measurement, characterized in that: The method for identifying non-line-of-sight errors based on DVL speed measurement according to any one of claims 1 to 6 comprises: A relative ranging acquisition module, wherein the relative ranging acquisition module is used to construct a radio ranging error model and obtain a relative ranging measurement value between the master and slave nodes at the current moment according to the radio ranging error model; A relative position difference acquisition module, wherein the relative position difference acquisition module is used to obtain the relative position difference between the master and slave nodes at the last moment according to the positions of the master and slave nodes at the last moment; A position change acquisition module, the position change acquisition module is used to measure the position change of the master node at the previous moment and the current moment according to the DVL sensor configured on the master node, and to measure the position change of the slave node at the previous moment and the current moment according to the DVL sensor configured on the slave node; An estimation module, the estimation module is used to obtain the relative position difference between the master and slave nodes at the current moment according to the relative position difference between the master and slave nodes at the previous moment, the change in the master node position between the previous moment and the current moment, and the change in the slave node position between the previous moment and the current moment; A detection threshold acquisition module, wherein the detection threshold acquisition module is used to obtain a detection threshold of a relative distance based on DVL speed measurement according to a satellite navigation pseudorange or a carrier phase double difference; A non-line-of-sight error identification module is used to identify a non-line-of-sight error according to a relative position difference between a master node and a slave node at a current moment, a relative distance measurement value between the master node and the slave node at a current moment, and a detection threshold.

8. 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 a method for identifying non-line-of-sight errors based on DVL speed measurement are implemented as described in any one of claims 1 to 6.

9. 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 method for identifying non-line-of-sight errors based on DVL speed measurement are implemented as described in any one of claims 1 to 6.

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