A resource-constrained collaborative positioning method, system, device and medium

Abstract

The present invention relates to the technical field of collaborative positioning of unmanned boat clusters, and provides a resource-constrained collaborative positioning method, system, device and medium, the method comprising: identifying unmanned boats in satellite navigation restricted areas according to output information of satellite navigation receivers; calculating the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats and the relative position relationship with unmanned boats in non-restricted areas; according to unmanned boat selection rules, the command and control center selects unmanned boats in the satellite navigation restricted area that participate in collaborative positioning; calculating the number and relative position relationship of unmanned boats in non-restricted areas participating in collaborative positioning; dynamically allocating channels to each unmanned boat; establishing a centralized collaborative positioning mathematical model, and performing collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster. The present invention reduces the calculation amount of centralized collaborative positioning and the overall power consumption of the unmanned boat cluster, and provides a high-precision, cost-effective solution for high-precision navigation of unmanned boats.

Description

Technical Field

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

[0002] Due to low cost and limited payload, unmanned boats are mostly equipped with low-precision inertial navigation equipment and ordinary satellite navigation receivers. Satellite navigation receivers are the main source of high-precision navigation information for unmanned boats. However, the satellite navigation reception signal is weak and is susceptible to suppression and deceptive interference. When the satellite navigation receiver is interfered with, resulting in the limited use of satellite navigation receivers of some unmanned boats in the unmanned boat cluster, high-precision location information can be obtained by sharing the high-precision navigation information of other uninterrupted unmanned boats in the unmanned boat cluster, that is, through the collaborative positioning of the unmanned boat cluster. When the unmanned boat cluster is collaboratively positioned, each unmanned boat performs mutual ranging between each other, which leads to huge communication resource overhead on the one hand and huge power consumption overhead on the other.

[0003] In the cooperative positioning system of unmanned boat clusters based on wireless ranging, the cooperative positioning error is mainly related to the accuracy of the observation information of the unmanned boat cluster system, the relative spatial relationship of the unmanned boats participating in the cooperative positioning, and the accuracy of mutual ranging. The wireless ranging error is related to the occupied communication resources. In the traditional centralized cooperative positioning system, each unmanned boat performs mutual ranging with other unmanned boats in the unmanned boat cluster. On the one hand, this results in less communication resources allocated to each unmanned boat, and on the other hand, it also causes too many wireless signals in the space, resulting in mutual interference. 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 resource-constrained collaborative positioning method, system, device and medium, in which the unmanned boat resources are allocated on demand, and each unmanned boat only performs mutual ranging with some unmanned boats in the unmanned boat cluster, which reduces the calculation amount of centralized collaborative positioning and the overall power consumption of the unmanned boat cluster, and provides a high-precision, cost-effective solution for high-precision navigation of unmanned boats.

[0005] The present invention provides a resource-constrained collaborative positioning method, comprising:

[0006] S1: Identify whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtain the unmanned boat in the satellite navigation restricted area;

[0007] S2: According to the distribution of unmanned boats in the satellite navigation restricted area, the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area is calculated;

[0008] S3: According to the unmanned boat selection rule, the command and control center selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning;

[0009] S4: Based on the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning, the command and control center calculates the number of unmanned boats in the non-restricted area and their relative position relationship;

[0010] S5: The command and control center dynamically allocates channels to each unmanned boat based on the unmanned boats in the satellite-guided restricted area and the unmanned boats in the unrestricted area that participate in the collaborative positioning.

[0011] S6: Collect status information and observation information based on the channels and the number and relative position relationship of all unmanned boats participating in collaborative positioning, establish a centralized collaborative positioning mathematical model, and perform collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster.

[0012] According to the present invention, a resource-constrained collaborative positioning method is provided, which further includes step S1 comprising:

[0013] S11: Detect the satellite navigation receiver output information valid flag. If the information valid flag is continuous If the second is invalid, it means that the satellite navigation receiver is interfered with, and the satellite navigation receiver state is set to invalid; otherwise, the satellite navigation receiver state is set to valid;

[0014] S12: If the satellite navigation receiver is in valid state, detect whether the pseudorange and carrier Doppler of the received satellite are abnormal. seconds abnormal, and the number of abnormal satellites exceeds half of the number of visible satellites or the number of abnormal satellites is greater than If the state of the satellite navigation receiver is invalid, the state of the satellite navigation receiver is set to be invalid; otherwise, the state of the satellite navigation receiver is set to be valid;

[0015] S13: If the state of the satellite navigation receiver is valid, continue to execute steps S11 and S12 until the state of the satellite navigation receiver is invalid;

[0016] S14: The satellite navigation receiver status is invalid, start collaborative positioning, and obtain the unmanned boat in the satellite-guided restricted area.

[0017] According to the present invention, a resource-constrained collaborative positioning method is provided, which further includes step S2 comprising:

[0018] S21: The command and control center selects any unmanned boat in the satellite-guided restricted area , with unmanned boats As the center, in order to obtain the best geometric precision factor, three unmanned boats in the non-restricted area are selected. 、Unmanned Boat And unmanned boats , making unmanned boats With unmanned boat Connection 、Unmanned Boat With unmanned boat Connection And unmanned boats With unmanned boat Connection When the angle between any two lines is close to 120 degrees, calculate the first geometric precision factor;

[0019] S22: Add 1 unmanned boat in non-restricted area To obtain the best geometric precision factor, the unmanned boat With unmanned boat Connection The minimum angle between the two existing three lines is the largest, and the second geometric precision factor is calculated; if the difference between the second geometric precision factor and the first geometric precision factor is greater than 1, the unmanned boat is Join the collaborative positioning; otherwise, the unmanned boat Not joining in co-location;

[0020] S23: When the number of unrestricted unmanned boats stops increasing, the center is switched to another unmanned boat in the restricted area, assuming it is an unmanned boat , the unmanned boat Consider it as an unrestricted unmanned boat;

[0021] S24: Calculating unmanned boats The geometric precision factor of the unmanned boat in the non-restricted area that has been added to the collaborative positioning is calculated according to the unmanned boat. The next unmanned boat in the non-restricted area is selected according to the selection principle until the geometric precision factor decreases to less than 1 or all unrestricted unmanned boats have completed the traversal.

[0022] S25: Repeat steps S23 and S24 to complete the traversal of all unmanned boats in the satellite-guided restricted area, and obtain the relative position relationship between each unmanned boat in the satellite-guided restricted area and other unmanned boats in the satellite-guided restricted area and unmanned boats in the non-restricted area.

[0023] According to the present invention, a resource-constrained collaborative positioning method is provided, which further includes step S3, wherein the selection rule of the unmanned boat in the satellite-guided restricted area includes:

[0024] The geometric precision factor of each unmanned boat in the satellite navigation restricted area and other unmanned boats participating in the collaborative positioning is less than or equal to 5;

[0025] The geometric precision factor of at least one unmanned boat in the satellite-guided restricted area and the unmanned boat in the unrestricted area is less than or equal to 5;

[0026] The unmanned boats participating in the collaborative positioning have mutual observation values ​​with at least one other unmanned boat participating in the collaborative positioning;

[0027] The unmanned boat in the satellite-guided restricted area has mutual observation values ​​with at least three unmanned boats in the unmanned boat cluster.

[0028] According to the present invention, a resource-constrained collaborative positioning method is provided, which further includes step S5 comprising:

[0029] S51: The mutual observation relationship matrix M between the unmanned boats participating in the collaborative positioning is obtained through directional search and random search. The elements of M are only 0 and 1. Line Column 1 means The unmanned boat The unmanned boats carried out observations, and the Line Column 0 means The unmanned boat The unmanned boats do not conduct observations;

[0030] S52: The first Sum the row elements to get the number of The total number of communication time slots.

[0031] According to the present invention, a resource-constrained collaborative positioning method is provided, which also includes a command and control center collecting status information and observation information of all unmanned boats participating in the collaborative positioning, establishing a status model and observation model of centralized collaborative positioning, and solving high-precision navigation information of the unmanned boats in the satellite navigation restricted area, and sending the high-precision navigation information to the unmanned boats in the satellite navigation restricted area.

[0032] According to the present invention, a resource-constrained collaborative positioning method is provided, which also includes a state model of centralized collaborative positioning:

[0033]

[0034] in, for The state vector at time, for The state transfer matrix at time , for The state vector at time, for The process noise driving matrix at time t, for Moment noise sequence;

[0035] The observation model of centralized co-location is:

[0036]

[0037] in, for The observation vector at time, for The observation matrix at time, for The noise matrix at time instant.

[0038] The present invention also provides a resource-constrained collaborative positioning system for executing any of the resource-constrained collaborative positioning methods described above, comprising:

[0039] An identification module, wherein the identification module identifies whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtains the unmanned boat in the satellite navigation restricted area;

[0040] A first calculation module, which calculates the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area according to the distribution of the unmanned boats in the satellite navigation restricted area;

[0041] A selection module, wherein the command and control center selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning according to the unmanned boat selection rule, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning;

[0042] A second calculation module, wherein the command and control center calculates the number and relative position relationship of the unmanned boats in the non-restricted area participating in the collaborative positioning according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning;

[0043] An allocation module, wherein the allocation module is used for the command and control center to dynamically allocate channels to each unmanned boat according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning and the unmanned boats in the unrestricted area participating in the collaborative positioning;

[0044] The collaborative positioning module collects status information and observation information according to the channel and the number and relative position relationship of all unmanned boats participating in the collaborative positioning, establishes a centralized collaborative positioning mathematical model, and performs collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster.

[0045] 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 resource-constrained collaborative positioning methods described above are implemented.

[0046] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the resource-constrained collaborative positioning methods described above are implemented.

[0047] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0048] The present invention provides a resource-constrained collaborative positioning method, system, device and medium.

[0049] According to the geometric precision factor, some unmanned boats in the unrestricted area of ​​satellite navigation are selected to participate in collaborative positioning. On the one hand, the relative observation accuracy is improved under the same communication resources. On the other hand, the calculation amount of centralized collaborative positioning and the overall power consumption of the unmanned boat cluster are reduced, providing a high-precision and cost-effective solution for high-precision navigation of unmanned boats.

[0050] 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

[0051] 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.

[0052] Figure 1 It is a flowchart of a resource-constrained collaborative positioning method provided by the present invention.

[0053] Figure 2 It is a structural schematic diagram of a resource-constrained collaborative positioning system provided by the present invention.

[0054] Figure 3 It is a block diagram of the electronic device provided by the present invention.

[0055] Reference numerals:

[0056] 101. Identification module; 102. First calculation module; 103. Selection module; 104. Second calculation module; 105. Allocation module; 106. Co-location 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 3 A resource-constrained collaborative positioning method, system, device and medium of the present invention are described.

[0060] like Figure 1 As shown, a resource-constrained co-location method includes:

[0061] S1: Identify whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtain the unmanned boat in the satellite navigation restricted area;

[0062] If there is satellite navigation interference, the output information of the satellite navigation receiver will no longer participate in the unmanned boat navigation information fusion, and cooperative positioning will be used to obtain the unmanned boat's high-precision navigation information. If there is no satellite navigation interference, the satellite navigation signal will be used to obtain the unmanned boat's high-precision navigation information;

[0063] Satellite navigation interference is satellite suppression or deception interference;

[0064] S11: Detect the satellite navigation receiver output information valid flag. If the information valid flag is continuous If the second is invalid, it means that the satellite navigation receiver is interfered with, and the satellite navigation receiver state is set to invalid; otherwise, the satellite navigation receiver state is set to valid;

[0065] S12: If the satellite navigation receiver is in valid state, detect whether the pseudorange and carrier Doppler of the received satellite are abnormal. seconds abnormal, and the number of abnormal satellites exceeds half of the number of visible satellites or the number of abnormal satellites is greater than If the state of the satellite navigation receiver is invalid, the state of the satellite navigation receiver is set to be invalid; otherwise, the state of the satellite navigation receiver is set to be valid;

[0066] S13: If the state of the satellite navigation receiver is valid, continue to execute steps S11 and S12 until the state of the satellite navigation receiver is invalid;

[0067] S14: The satellite navigation receiver status is invalid, start collaborative positioning, and obtain the unmanned boat in the satellite-guided restricted area.

[0068] If the satellite navigation receiver status is invalid, the satellite navigation receiver information will be removed from the unmanned boat navigation information and integrated to start the collaborative positioning function.

[0069] In some embodiments of the present invention, , , .

[0070] S2: According to the distribution of unmanned boats in the satellite navigation restricted area, the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area is calculated;

[0071] S21: The command and control center selects any unmanned boat in the satellite-guided restricted area , with unmanned boats As the center, in order to obtain the best geometric precision factor, three unmanned boats in the non-restricted area are selected. 、Unmanned Boat And unmanned boats , making unmanned boats With unmanned boat Connection 、Unmanned Boat With unmanned boat Connection And unmanned boats With unmanned boat Connection The angle between any two lines is close to 120 degrees.

[0072] Unmanned boat The position coordinates are , unmanned boat The position coordinates are 、Unmanned Boat The position coordinates are 、Unmanned Boat The position coordinates are ,

[0073] Unmanned boat With unmanned boat The distance calculation expression is:

[0074]

[0075] in, Unmanned boat With unmanned boat The distance between

[0076] Unmanned boat With unmanned boat The distance calculation expression is:

[0077]

[0078] in, Unmanned boat With unmanned boat The distance between

[0079] Unmanned boat With unmanned boat The distance calculation expression is:

[0080]

[0081] in, Unmanned boat With unmanned boat The distance between

[0082] This yields:

[0083]

[0084] in, is the measurement matrix,

[0085] This yields:

[0086]

[0087] in, is the measurement transformation matrix, is the first auxiliary operator, is the second auxiliary operator, is the third auxiliary operator, is the fourth auxiliary operator;

[0088] The calculation expression of the first geometric precision dilution is:

[0089]

[0090] in, is the first geometric dilution of precision;

[0091] S22: Add 1 unmanned boat in non-restricted area To obtain the best geometric precision factor, the unmanned boat With unmanned boat Connection The minimum angle between the two existing three lines is the largest, and the second geometric precision factor is calculated; if the difference between the second geometric precision factor and the first geometric precision factor is greater than 1, the unmanned boat is Join the collaborative positioning; otherwise, the unmanned boat Not joining in co-location;

[0092] Calculate the second geometrical precision factor by using the calculation method of the first geometrical precision factor;

[0093] S23: When the number of unrestricted unmanned boats stops increasing, the center is switched to another unmanned boat in the restricted area, assuming it is an unmanned boat , the unmanned boat Consider it as an unrestricted unmanned boat;

[0094] S24: Calculating unmanned boats The geometric precision factor of the unmanned boat in the non-restricted area that has been added to the collaborative positioning is calculated according to the unmanned boat. The next unmanned boat in the non-restricted area is selected according to the selection principle until the geometric precision factor decreases to less than 1 or all unrestricted unmanned boats have completed the traversal.

[0095] S25: Repeat steps S23 and S24 to complete the traversal of all unmanned boats in the satellite-guided restricted area, and obtain the relative position relationship between each unmanned boat in the satellite-guided restricted area and other unmanned boats in the satellite-guided restricted area and unmanned boats in the non-restricted area.

[0096] S3: According to the unmanned boat selection rule, the command and control center selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning;

[0097] The selection rules for satellite-guided restricted area unmanned boats include:

[0098] The geometric precision factor of each unmanned boat in the satellite navigation restricted area and other unmanned boats participating in the collaborative positioning is less than or equal to 5;

[0099] The geometric precision factor of at least one unmanned boat in the satellite-guided restricted area and the unmanned boat in the unrestricted area is less than or equal to 5;

[0100] The unmanned boats participating in the collaborative positioning have mutual observation values ​​with at least one other unmanned boat participating in the collaborative positioning;

[0101] The unmanned boat in the satellite-guided restricted area has mutual observation values ​​with at least three unmanned boats in the unmanned boat cluster.

[0102] S4: Based on the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning, the command and control center calculates the number of unmanned boats in the non-restricted area and their relative position relationship;

[0103] If the distribution of unmanned boats meets the unmanned boat selection rules, the number and relative position relationship of the participating unmanned boats in the non-restricted area are recorded.

[0104] S5: The command and control center dynamically allocates channels to each unmanned boat based on the unmanned boats in the satellite-guided restricted area and the unmanned boats in the unrestricted area that participate in the collaborative positioning.

[0105] S51: The mutual observation relationship matrix M between the unmanned boats participating in the collaborative positioning is obtained through directional search and random search. The elements of M are only 0 and 1. Line Column 1 means The unmanned boat The unmanned boats carried out observations, and the Line Column 0 means The unmanned boat The unmanned boats do not conduct observations;

[0106] S52: The first Sum the row elements to get the number of The total number of communication time slots.

[0107] S6: Collect state information and observation information based on the channels and the number and relative position relationship of all unmanned boats participating in the collaborative positioning, establish a centralized collaborative positioning mathematical model, and perform collaborative positioning calculation to obtain high-precision navigation information of the unmanned boat cluster;

[0108] The command and control center collects the status and observation information of all unmanned boats participating in the collaborative positioning, establishes the status model and observation model of centralized collaborative positioning, and calculates the high-precision navigation information of the unmanned boats in the satellite navigation restricted area, and sends it to the unmanned boats in the satellite navigation restricted area;

[0109] The state vector of centralized collaborative positioning is the superposition of multiple unmanned boat state vectors.

[0110]

[0111] in, is the number of unmanned boats, For the The state vector of the unmanned boat is

[0112] The state transfer matrix is:

[0113]

[0114] in, for The state transfer matrix at time , for The state transfer matrix of the first unmanned boat at time, for Moment The state transfer matrix of an unmanned boat;

[0115] The process noise driving matrix is:

[0116]

[0117] in, for The process noise driving matrix at time t, for The process noise driving matrix of the first unmanned boat at time, for Moment The process noise driving matrix of an unmanned boat;

[0118]

[0119] in, for The noise sequence at time, for The noise sequence of the first unmanned boat at time, for Moment Noise sequence of an unmanned boat;

[0120] The state model is:

[0121]

[0122] in, for The state of the moment, for The state transfer matrix at time , for The state of the moment, for The process noise driving matrix at time t, for Moment noise sequence;

[0123] The observation vector is:

[0124]

[0125] in, is the observation vector, for The observation vector of the first unmanned boat at time, for Moment The observation vector of the unmanned boat;

[0126] The observation matrix is:

[0127]

[0128] in, is the observation matrix, for The observation matrix of the first unmanned boat at time, for Moment The observation matrix of an unmanned boat;

[0129] In centralized collaborative positioning, the relative observation part is added to the observation vector, and the relative observation equation is:

[0130]

[0131] in, for Unmanned boat and unmanned boats The observation vector, for Unmanned boat Compared to unmanned boats The observation matrix, for Unmanned boat The state vector of for Unmanned boat Compared to unmanned boats The observation matrix, for Unmanned boat The state vector of for Noise matrix of unmanned boat and unmanned boats The noise matrix between

[0132] Combining the relative observation equation with the observation matrix, we obtain:

[0133]

[0134]

[0135] The observation model of centralized collaborative positioning is obtained as follows:

[0136]

[0137] in, for The observation vector at time, for The observation matrix at time, for The noise matrix at time instant.

[0138] The mathematical model of centralized collaborative positioning includes the state model of centralized collaborative positioning and the observation model of centralized collaborative positioning. According to the mathematical model of centralized collaborative positioning, the Kalman filter is used to solve the high-precision navigation information of the unmanned boat. The specific solution process can be found in "Principles of Kalman Filtering and Combined Navigation" published by Northwestern Polytechnical University Press, edited by Qin Yongyuan, Zhang Hongyue, and Wang Shuhua, the contents of the second chapter, which will not be repeated here.

[0139] like Figure 2 As shown, a resource-constrained collaborative positioning system is used to perform a resource-constrained collaborative positioning method, including:

[0140] The identification module 101 identifies whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtains the unmanned boat in the satellite navigation restricted area;

[0141] The first calculation module 102 calculates the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area according to the distribution of the unmanned boats in the satellite navigation restricted area;

[0142] The selection module 103 selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning according to the unmanned boat selection rule, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning;

[0143] The second calculation module 104 calculates the number and relative position relationship of the participating unmanned boats in the non-restricted area according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning, and the command and control center calculates the number and relative position relationship of the participating unmanned boats in the non-restricted area;

[0144] The allocation module 105 is used for the command control center to dynamically allocate channels to each unmanned boat according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning and the unmanned boats in the unrestricted area participating in the collaborative positioning;

[0145] The collaborative positioning module 106 collects status information and observation information according to the channel and the number and relative position relationship of all unmanned boats participating in the collaborative positioning, establishes a centralized collaborative positioning mathematical model, and performs collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster.

[0146] Through the collaborative work of the above modules, on the one hand, the relative observation accuracy is improved under the same communication resources, and on the other hand, the computational complexity of centralized collaborative positioning and the overall power consumption of the unmanned boat cluster are reduced, providing a high-precision, cost-effective solution for high-precision navigation of unmanned boats.

[0147] Figure 3 A block diagram of an electronic device is shown as an example. Figure 3 As 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 resource-constrained collaborative positioning method.

[0148] 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.

[0149] 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 resource-constrained collaborative positioning method provided by the above-mentioned methods.

[0150] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a resource-constrained collaborative positioning method provided by the above methods.

[0151] 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.

[0152] 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.

[0153] 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 resource-constrained collaborative positioning method, characterized in that: include: S1: Identify whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtain the unmanned boat in the satellite navigation restricted area; S2: According to the distribution of unmanned boats in the satellite navigation restricted area, the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area is calculated; S21: The command and control center selects any unmanned boat in the satellite-guided restricted area , with unmanned boats As the center, in order to obtain the best geometric precision factor, three unmanned boats in the non-restricted area are selected. 、Unmanned Boat And unmanned boats , making unmanned boats With unmanned boat Connection 、Unmanned Boat With unmanned boat Connection And unmanned boats With unmanned boat Connection When the angle between any two lines is close to 120 degrees, calculate the first geometric precision factor; S22: Add 1 unmanned boat in non-restricted area To obtain the best geometric precision factor, the unmanned boat With unmanned boat Connection The minimum angle with the existing three connecting lines is the largest, and the second geometric precision factor is calculated; If the difference between the second geometric precision factor and the first geometric precision factor is greater than 1, the unmanned boat Join the collaborative positioning; otherwise, the unmanned boat Not joining in co-location; S23: When the number of unrestricted unmanned boats stops increasing, the center is switched to another unmanned boat in the restricted area, assuming it is an unmanned boat , the unmanned boat Consider it as an unrestricted unmanned boat; S24: Calculating unmanned boats The geometric precision factor of the unmanned boat in the non-restricted area that has been added to the collaborative positioning is calculated according to the unmanned boat. The next unmanned boat in the non-restricted area is selected according to the selection principle until the geometric precision factor decreases to less than 1 or all unrestricted unmanned boats have completed the traversal. S25: Repeat steps S23 and S24 to complete the traversal of all unmanned boats in the satellite navigation restricted area, and obtain the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area; S3: According to the unmanned boat selection rule, the command and control center selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning; S4: Based on the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning, the command and control center calculates the number of unmanned boats in the non-restricted area and their relative position relationship; S5: The command and control center dynamically allocates channels to each unmanned boat based on the unmanned boats in the satellite-guided restricted area and the unmanned boats in the unrestricted area that participate in the collaborative positioning. S6: Collect status information and observation information based on the channels and the number and relative position relationship of all unmanned boats participating in collaborative positioning, establish a centralized collaborative positioning mathematical model, and perform collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster.

2. A resource-constrained collaborative positioning method according to claim 1, characterized in that: The S1 step includes: S11: Detect the satellite navigation receiver output information valid flag. If the information valid flag is continuous If the second is invalid, it means that the satellite navigation receiver is interfered with, and the satellite navigation receiver state is set to invalid; otherwise, the satellite navigation receiver state is set to valid; S12: If the satellite navigation receiver is in valid state, detect whether the pseudorange and carrier Doppler of the received satellite are abnormal. seconds abnormal, and the number of abnormal satellites exceeds half of the number of visible satellites or the number of abnormal satellites is greater than If the state of the satellite navigation receiver is invalid, the state of the satellite navigation receiver is set to be invalid; otherwise, the state of the satellite navigation receiver is set to be valid; S13: If the state of the satellite navigation receiver is valid, continue to execute steps S11 and S12 until the state of the satellite navigation receiver is invalid; S14: The satellite navigation receiver status is invalid, start collaborative positioning, and obtain the unmanned boat in the satellite-guided restricted area.

3. The resource-constrained collaborative positioning method according to claim 1, characterized in that: In step S3, the selection rules of the unmanned boat in the satellite-guided restricted area include: The geometric precision factor of each unmanned boat in the satellite navigation restricted area and other unmanned boats participating in the collaborative positioning is less than or equal to 5; The geometric precision factor of at least one unmanned boat in the satellite-guided restricted area and the unmanned boat in the unrestricted area is less than or equal to 5; The unmanned boats participating in the collaborative positioning have mutual observation values ​​with at least one other unmanned boat participating in the collaborative positioning; The unmanned boat in the satellite-guided restricted area has mutual observation values ​​with at least three unmanned boats in the unmanned boat cluster.

4. The resource-constrained collaborative positioning method according to claim 1, characterized in that: Step S5 includes: S51: The mutual observation relationship matrix M between the unmanned boats participating in the collaborative positioning is obtained through directional search and random search. The elements of M are only 0 and 1. Line Column 1 means The unmanned boat The unmanned boats carried out observations, and the Line Column 0 means The unmanned boat The unmanned boats do not conduct observations; S52: The first Sum the row elements to get the number of The total number of communication time slots.

5. The resource-constrained collaborative positioning method according to claim 1, characterized in that: The command and control center collects the status and observation information of all unmanned boats participating in the collaborative positioning, establishes the status model and observation model of centralized collaborative positioning, and calculates the high-precision navigation information of the unmanned boats in the satellite navigation restricted area, and sends it to the unmanned boats in the satellite navigation restricted area.

6. A resource-constrained collaborative positioning method according to claim 5, characterized in that: The state model of centralized co-location is: in, for The state vector at time, for The state transfer matrix at time , for The state vector at time, for The process noise driving matrix at time t, for Moment noise sequence; The observation model of centralized co-location is: in, for The observation vector at time, for The observation matrix at time, for The noise matrix at time instant.

7. A resource-constrained collaborative positioning system, used to execute a resource-constrained collaborative positioning method as claimed in any one of claims 1 to 6, characterized in that: include: An identification module, wherein the identification module identifies whether the unmanned boat is interfered with by satellite navigation according to the output information of the satellite navigation receiver, and obtains the unmanned boat in the satellite navigation restricted area; A first calculation module, which calculates the relative position relationship between each unmanned boat in the satellite navigation restricted area and other unmanned boats in the satellite navigation restricted area and unmanned boats in the non-restricted area according to the distribution of the unmanned boats in the satellite navigation restricted area; A selection module, wherein the command and control center selects the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning according to the unmanned boat selection rule, and obtains the number and relative position relationship of the unmanned boats in the satellite-guided restricted area that participate in the collaborative positioning; A second calculation module, wherein the command and control center calculates the number and relative position relationship of the unmanned boats in the non-restricted area participating in the collaborative positioning according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning; An allocation module, wherein the allocation module is used for the command and control center to dynamically allocate channels to each unmanned boat according to the unmanned boats in the satellite-guided restricted area participating in the collaborative positioning and the unmanned boats in the unrestricted area participating in the collaborative positioning; The collaborative positioning module collects status information and observation information according to the channel and the number and relative position relationship of all unmanned boats participating in the collaborative positioning, establishes a centralized collaborative positioning mathematical model, and performs collaborative positioning solution to obtain high-precision navigation information of the unmanned boat cluster.

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 the resource-constrained collaborative positioning method as described in any one of claims 1 to 6 are implemented.

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 the resource-constrained co-location method according to any one of claims 1 to 6 are implemented.

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