Multi-station positioning method and system based on time-sharing inquiry

Abstract

The invention relates to the technical field of wireless communication, and particularly discloses a multi-station positioning method and system based on time-sharing inquiry, and the method comprises the steps: determining and marking TACAN equipment existing in a current airspace and corresponding equipment information, and selecting at least two TACAN equipment for positioning according to the equipment information of the TACAN equipment, communication parameters of the airborne equipment are configured, then the airborne equipment transmits inquiry signals with corresponding frequencies to the at least two TACAN equipment in an inquiry time period, receives response signals of the at least two TACAN equipment in a response time period, and calculates the position information of the aircraft according to the inquiry signals and the response signals. According to the invention, the at least two TACAN devices are selected to carry out inquiry response type distance measurement under the corresponding frequency, the signal duty ratio is improved, the position of the aircraft is calculated in combination with the distance information between the at least two TACAN devices and the aircraft, the calculation result is more accurate, and technical support is provided for subsequent TACAN networking.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication navigation technology, and in particular to a multi-station positioning method and system based on time-sharing inquiry. Background Art

[0002] In the traditional application of TACAN, within the effective range of station A, the onboard equipment only uses the signal of station A; when the aircraft flies from station A to the effective range of station B, the onboard equipment will switch to the working mode of station B, and only receive the signal of station B. The working frequencies of stations A and B are different. Figure 1 As shown, Figure 1 The two circles in the figure represent the effective ranges of stations A and B, respectively. If the working channel of station A is a and the working channel of station B is b, the above process can be described as the aircraft's airborne equipment working on channel a at the beginning. After entering the circle where B is located, the aircraft's airborne equipment switches from channel a to channel b. This method allows only one station's information to be used in each time period, which wastes time and there is room for improvement in positioning accuracy.

[0003] The operating range of each TACAN device is about 300 to 500 kilometers. In the actual distribution of stations, the distance between two or more adjacent stations is less than 500 kilometers. Here we take two stations as an example: According to the electromagnetic wave propagation theory, the signal of station B also exists in the operating area of ​​station A, but the signal strength and signal quality of station A are better than those of station B. Similarly, the signal of station A also exists in the operating area of ​​station B, that is, the operating areas of stations A and B overlap. Figure 2 As shown, in Figure 2 In the overlapping area, the signal quality of station A is better than that of station B. If station A is defined as the main station and station B as the secondary station, in the current TACAN application, we only use the signal of station A and do not use the signal of station B, which results in a waste of station resources.

[0004] Based on this problem, the present invention proposes a solution of a multi-station positioning method based on time-sharing inquiry. Summary of the invention

[0005] In view of the technical problems in the prior art, the present invention provides a multi-station positioning method and system based on time-sharing inquiry.

[0006] In a first aspect, the present invention includes a multi-station positioning method based on time-sharing inquiry, the method comprising:

[0007] Determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database; the equipment information at least includes the station operating frequency, the station geographical coordinates, and the station operating coverage;

[0008] receiving a positioning setting instruction, and selecting at least two TACAN devices for positioning according to the positioning setting instruction and device information of the TACAN device; the aircraft is located within the station working coverage of the selected TACAN device;

[0009] configuring the communication parameters of the airborne device according to the device information of the selected TACAN device; the communication parameters include an inquiry response period and an emission frequency of an inquiry signal, the inquiry response period is divided into a preceding inquiry time period and a succeeding response time period, and the emission frequency of the inquiry signal corresponds to the station operating frequency;

[0010] In each interrogation response cycle, the airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices during the interrogation time period, and receives response signals from at least two TACAN devices during the response time period;

[0011] The distance between the aircraft and the TACAN device is calculated according to the interrogation signal and the response signal in at least one interrogation response cycle, and the position information of the aircraft is calculated in combination with the station geographic coordinates.

[0012] Further, in each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in the inquiry time period, and receives response signals from at least two TACAN devices in the response time period, including:

[0013] The airborne device transmits interrogation signals of corresponding frequencies to at least two TACAN devices in sequence at the start time of the interrogation time period;

[0014] During the response time period, the corresponding station operating frequency is adjusted to receive the response signal sent by the corresponding TACAN device.

[0015] Further, in each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in the inquiry time period, and receives response signals from at least two TACAN devices in the response time period, including:

[0016] The airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices simultaneously at any time during the interrogation period;

[0017] During the response time period, the corresponding station operating frequency is adjusted to receive the response signal sent by the corresponding TACAN device.

[0018] Furthermore, configuring the communication parameters of the airborne device according to the device information of the selected TACAN device includes:

[0019] Setting the order and interval of transmitting the interrogation signal according to at least two selected TACAN devices;

[0020] Setting the sequence of adjusting the station working frequencies and the switching time within the reply time period according to the geographical coordinates of the stations of at least two selected TACAN devices;

[0021] The inquiry response cycle is generated according to the order and interval time of transmitting the inquiry signals, the order and switching time of adjusting the station working frequency.

[0022] Furthermore, it also includes:

[0023] The airborne device performs a positioning test according to the communication parameters;

[0024] Determining whether the airborne device can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response period;

[0025] If yes, the positioning test passes;

[0026] If not, adjust the transmission order and interval time, adjust the order and switching time of the station operating frequencies, generate a new inquiry and response cycle, and perform the positioning test again until the positioning test passes.

[0027] Furthermore, when the airborne device performs a positioning test according to the communication parameters, if the number of TACAN devices selected for positioning is greater than or equal to three, the method includes:

[0028] Determining whether the airborne device can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response period;

[0029] If yes, the positioning test passes;

[0030] If not, the transmitted inquiry signal and the received response signal are matched with the TACAN equipment. If the number of corresponding TACAN equipment is at least two, the positioning test passes; if the number of corresponding TACAN equipment is less than two, the transmission order and interval time, the order of station working frequencies and switching time are adjusted to generate a new inquiry and response cycle, and the positioning test is performed again until the positioning test passes.

[0031] Further, in each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in the inquiry time period, and receives response signals from at least two TACAN devices in the response time period, including:

[0032] In each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices once or multiple times within the inquiry time period, and receives response signals from at least two TACAN devices once or multiple times within the response time period.

[0033] Furthermore, it also includes:

[0034] Reselect at least two TACAN devices for positioning according to the device information of each TACAN device and the distance between the aircraft and the TACAN device;

[0035] And, adjusting the communication parameters of the onboard equipment according to the equipment information of the reselected TACAN equipment.

[0036] In a second aspect, the present invention also includes an aircraft, the aircraft is equipped with an onboard device, the onboard device includes a radio frequency signal processing module, and at least one set of onboard transmitting antennas and onboard receiving antennas, the onboard transmitting antennas and onboard receiving antennas are both communicatively connected to the radio frequency signal processing module; wherein,

[0037] The radio frequency signal processing module is used to determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database; the equipment information at least includes the station working frequency, the station geographical coordinates, and the station working coverage; and, receive a positioning setting instruction, and select at least two TACAN equipment for positioning according to the positioning setting instruction and the equipment information of the TACAN equipment; the aircraft is located within the station working coverage of the selected TACAN equipment; and configure the communication parameters of the airborne equipment according to the equipment information of the selected TACAN equipment; the communication parameters include the inquiry response period and the transmission frequency of the inquiry signal, the The inquiry response cycle is divided into a preceding inquiry time period and a succeeding response time period, and the transmitting frequency of the inquiry signal corresponds to the operating frequency of the station; and, in each inquiry response cycle, the airborne transmitting antenna transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in the inquiry time period, and the airborne receiving antenna receives response signals of at least two TACAN devices in the response time period; the radio frequency signal processing module is further used to calculate the distance between the aircraft and the TACAN device according to the inquiry signal and the response signal in at least one inquiry response cycle, and calculate the position information of the aircraft in combination with the geographical coordinates of the station.

[0038] In a third aspect, the present invention also includes a multi-unit positioning system based on time-sharing inquiry, the multi-unit positioning system includes an aircraft and at least two TACAN devices for positioning; the multi-unit positioning system implements the aforementioned multi-unit positioning method based on time-sharing inquiry.

[0039] The multi-station positioning method and system based on time-sharing inquiry of the present invention determines and marks the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database, then selects at least two TACAN equipment for positioning according to the information such as the station distance geographical coordinates and the station working coverage range, and then configures the communication parameters of the airborne equipment according to the equipment information of the selected TACAN equipment, the communication parameters including the inquiry response cycle and the transmission frequency of the inquiry signal, the inquiry response cycle is divided into the preceding inquiry time period and the following response time period, and the transmission frequency of the inquiry signal corresponds to the station working frequency; thereafter, in each inquiry response cycle, the airborne equipment transmits the inquiry signal of the corresponding frequency to the at least two TACAN equipment in the inquiry time period, and Receive response signals of at least two TACAN devices within a response time period; then calculate the distance between the aircraft and the TACAN device according to the query signal and the response signal within at least one query response period, and calculate the position information of the aircraft in combination with the station geographic coordinates; the present invention performs question-and-answer communication at a corresponding frequency with at least two selected TACAN devices within an query response period. Compared with the traditional TACAN ranging mode, on the one hand, the time-sharing query effectively utilizes the idle time outside the query and answer operation and improves the signal duty cycle; on the other hand, the distance between at least two TACAN devices and the aircraft and the distance between the two TACAN devices are combined to calculate the position information of the aircraft, so that the calculation result is more accurate, and also provides technical support for subsequent TACAN networking. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 This is a schematic diagram of the effective range of the TACAN equipment (I);

[0042] Figure 2 This is a schematic diagram of the effective range of the TACAN equipment (II);

[0043] Figure 3 Schematic diagram of the duty cycle of signal transmission and reception (I);

[0044] Figure 4 The present invention is a flowchart of a multi-station positioning method based on time-sharing inquiry according to an embodiment of the present invention.

[0045] Figure 5 Schematic diagram of the duty cycle of signal sending and receiving (II). DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0047] For the traditional TACAN ranging mode, that is, the inquiry and response ranging method, the airborne equipment only works at one frequency point, the airborne equipment generates an inquiry signal, and the ground station receives the inquiry signal and decodes it to give a response signal. Figure 3 As shown, if the inquiry frequency of the airborne equipment is about 50 Hz, that is, the airborne equipment and the same ground station have only 50 ranging inquiry and reply operations within 1 second, and the rest of the time (dashed line) is idle, and the time utilization rate is low.

[0048] A multi-station positioning method based on time-sharing inquiry in an embodiment of the present invention is applied to an aircraft (such as an airplane). The aircraft in the embodiment of the present invention is equipped with an onboard device, which includes a radio frequency signal processing module, and at least one set of onboard transmitting antennas and onboard receiving antennas, and the onboard transmitting antennas and onboard receiving antennas are both communicatively connected to the radio frequency signal processing module;

[0049] like Figure 4 As shown, the method comprises the following steps:

[0050] Step S10: Determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database.

[0051] In the embodiment of the present invention, the navigation database includes the equipment information of the TACAN equipment within a certain airspace range. The navigation database can be a database that has been established in the art, or a database that is set according to the solution of the present invention. The equipment information includes at least information such as the station working frequency, the station geographical coordinates, and the station working coverage range. Each TACAN equipment has its own station working frequency. Usually, the station working frequencies of these TACAN equipment are different. The station geographical coordinates represent the geographical location of the TACAN equipment, which can be expressed in longitude and latitude or other common position expressions. The station working coverage range represents that only signals within the range can be received, that is, if the aircraft wants to communicate with a certain TACAN equipment, its location must be within the station working coverage range of the TACAN equipment. In addition, the equipment information of the embodiment of the present invention can also include information such as the station working mode and the station identification code. The number of TACAN equipment determined in this step should be multiple, which can be represented by A / B / C / D... stations.

[0052] Step S20: receiving a positioning setting instruction, and selecting at least two TACAN devices for positioning according to the positioning setting instruction.

[0053] When the pilot or commander wants to measure the specific position of the aircraft, he can generate a positioning setting instruction through the input device, and the onboard device will perform the positioning operation only after receiving the positioning setting instruction. Alternatively, the positioning setting instruction in this embodiment can also be understood as any trigger-type instruction before the implementation of the TACAN device selection step, such as an instruction to start software operation, a pilot's operation instruction for the onboard device, etc.

[0054] First, at least two TACAN devices for positioning are selected according to the positioning setting instruction and the device information of the TACAN devices. The aircraft should be located within the station working coverage of the selected TACAN devices. The selection range of the TACAN devices is the A / B / C / D... stations determined in step S10. The positioning setting instruction may include the number of TACAN devices to be selected, and even the specific station number or sequence number. For example, in this step, stations A and B are selected for positioning the aircraft.

[0055] Step S30: configuring the communication parameters of the onboard device according to the device information of the selected TACAN device.

[0056] The communication parameters in this embodiment include the inquiry response cycle and the transmission frequency of the inquiry signal. The inquiry response cycle is divided into a preceding inquiry time period and a succeeding response time period. The transmission frequency of the inquiry signal corresponds to the station operating frequency. If station A and station B are selected for positioning the aircraft as in step S20, then there are at least two inquiry signals, and their transmission frequencies correspond to the station operating frequencies of station A and station B, respectively, so that the transmitted inquiry signals can be received by the stations of the corresponding frequencies. The implementation of this step shows that within one inquiry response cycle, at least two inquiry signals are sent, and the received response signals also correspond to the frequencies of the inquiry signals, and the number is also at least two, so that multi-station positioning by time-sharing inquiry is realized.

[0057] After the communication parameters of the airborne device are determined, the airborne device will transmit and receive signals, as specifically shown in step S40.

[0058] Step S40: In each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in an inquiry time period, and receives response signals from at least two TACAN devices in a response time period.

[0059] The present invention includes two implementation modes. The first one is that the airborne equipment configured on the aircraft includes a radio frequency signal processing module and a group of airborne transmitting antennas and airborne receiving antennas. In this case, inquiry signals and response signals of different frequencies require this group of airborne transmitting antennas and airborne receiving antennas to switch working frequencies and transmit and receive in sequence to achieve. As the name suggests, when the aircraft sends different inquiry signals, station A receives the inquiry signal, and then quickly switches the frequency to station B to receive another inquiry signal. At this time, both stations A and B are processing the inquiry signal. Then, according to the distance relationship between the aircraft and the station, it is selected in different situations whether station B completes the ranging function and then switches the frequency to station A to complete the ranging function, or after station B receives the inquiry signal, switches to station A to complete the ranging function, and then switches to station B to complete the ranging function, and finally realizes the positioning function.

[0060] Therefore, step S40 specifically includes:

[0061] Step S4011: the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in sequence at the start time of the inquiry time period.

[0062] Step S4012: modulate to the corresponding station working frequency within the response time period to receive the response signal sent by the corresponding TACAN device.

[0063] The second type is that the airborne equipment configured on the aircraft includes a radio frequency signal processing module and at least two sets of airborne transmitting antennas and airborne receiving antennas. Each set of airborne transmitting antennas and airborne receiving antennas is responsible for communicating with a TACAN device. In this case, inquiry signals of different frequencies require each set of airborne transmitting antennas and airborne receiving antennas to switch working frequencies and transmit simultaneously. It is not necessary to switch working frequencies and wait for receiving a response signal. Therefore, step S40 specifically includes:

[0064] Step S4022: The airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices at the same time at any time during the inquiry time period.

[0065] Step S4022: modulate to the corresponding station working frequency within the response time period to receive the response signal sent by the corresponding TACAN device.

[0066] Assuming that the aircraft needs the distance information at time t0, due to the different distances between the aircraft and different ground stations (i.e., TACAN equipment), the time for ground station No. 1 to complete the ranging function is t1, and the time for ground station No. 2 to complete the ranging function is t2, so this embodiment sends at least two segments of interrogation signals at the same time to maintain time synchronization, which can achieve a more accurate positioning effect. This embodiment is an improvement in the hardware of the airborne equipment, changing the antenna on the aircraft to form a multi-antenna combination, so that multiple TACAN signals can be received and transmitted at the same time. At the same time, it is also necessary to change the performance of the radio frequency signal processing module so that it can simultaneously realize multiple signal processing processes of different frequencies.

[0067] The radio frequency signal processing module of the embodiment of the present invention has the functions of analog-to-digital conversion of signals as well as content recognition and data analysis and calculation.

[0068] After the response signal is obtained, the process continues with step S50.

[0069] Step S50: Calculate the distance between the aircraft and the TACAN device according to the interrogation signal and the response signal in at least one interrogation response cycle, and calculate the position information of the aircraft in combination with the station geographic coordinates.

[0070] For the implementation schemes in (1) and (2), one group of airborne receiving antennas sends the reply signals received at different times to the RF signal processing module, or two or more groups of airborne receiving antennas send the received reply signals to the RF signal processing module. The RF signal processing module can measure the distance and direction of the aircraft relative to the A / B / C / D... stations based on the polar coordinate positioning principle of the TACAN equipment. The position of the aircraft can be obtained by the two-ball positioning method or the three-ball positioning method. Since the information of multiple navigation stations is integrated, the positioning accuracy will be improved compared with the single-station positioning.

[0071] Specifically, step S30 of the embodiment of the present invention: configuring the communication parameters of the airborne device according to the device information of the selected TACAN device includes:

[0072] Step S301: setting the order and interval of transmitting inquiry signals according to at least two selected TACAN devices.

[0073] Step S302: setting the sequence of modulating the station working frequencies and the modulation time within the response time period according to the station geographical coordinates of the at least two selected TACAN devices.

[0074] Step S303: Generate an inquiry response cycle according to the order and interval time of transmitting the inquiry signal, the order and modulation time of modulating the station working frequency.

[0075] Take the implementation scheme in (1) as an example. Figure 5 As shown, the order of modulating the working frequency of the station during the response time period is to first send an inquiry signal corresponding to the frequency to station A, switch the signal frequency within time t1, and then send an inquiry signal corresponding to the frequency to station A. After the response time period, it enters the response time period, first modulates to the working frequency of station A to receive the response signal sent by station A, and then switches the signal frequency within time t1 and modulates to the working frequency of station B to receive the response signal sent by station B, showing a situation where the working frequency changes alternately.

[0076] The embodiment of the present invention does not specifically limit the order and interval time of transmitting the inquiry signal and the order and modulation time of modulating the working frequency of the station. Figure 5 The figure is only one implementation mode. In this implementation mode, the distance time between the sending of the inquiry signal corresponding to station A and the receiving of the response signal is t a The distance between the sending of the inquiry signal and the receiving of the reply signal of station B is t b It can also be seen from this figure that t a and t b There is a certain difference in time length. This is because the distances between the aircraft and stations A and B are different. Combined with the length of time it takes to send and receive signals at the same frequency and the speed of signal transmission, the straight-line distance between the aircraft and the corresponding station can be calculated based on this. Then, the position information of the aircraft can be calculated based on the distance between stations A and B.

[0077] The present invention proposes two methods of selecting a station by comparing the distance between the aircraft and each station:

[0078] The first method is to monitor the power of the signals received by the aircraft from each station through real-time power monitoring. According to the principle of electromagnetic wave propagation, when the transmission power is equal, the farther the aircraft is from the station, the smaller the signal power it receives. Therefore, the aircraft can judge its distance from each station by the strength of the signal received from each station, and select the two or more nearest stations for positioning.

[0079] The second method is that the aircraft can measure its relative position to the TACAN equipment through the TACAN equipment. By comparing the distances to each station, two or more stations are selected for positioning.

[0080] The aircraft exchanges information with A / B / C / D... stations, and the distance and direction of the aircraft relative to A / B / C / D... stations can be measured. The position of the aircraft can be obtained through two-ball positioning or three-ball positioning. Since the information of multiple guide stations is integrated, the positioning accuracy will be significantly improved compared to single-station positioning.

[0081] More preferably, step S40: in each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in an inquiry time period, and receives a response signal from at least two TACAN devices in a response time period, including:

[0082] In each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices once or multiple times during an inquiry time period, and receives response signals from at least two TACAN devices once or multiple times during a response time period.

[0083] This embodiment Figure 5 Based on the example shown, the inquiry signal of the corresponding frequency can be transmitted to at least two TACAN devices multiple times within the inquiry time period, and the response signals of at least two TACAN devices can be received multiple times within the response time period. Since the position of the aircraft changes in real time during the flight, the present embodiment can further utilize the idle time other than the inquiry and response operations, greatly improve the signal duty cycle, and can also measure the position of the aircraft more accurately.

[0084] In addition, the embodiment of the present invention also includes:

[0085] 1. Reselect at least two TACAN devices for positioning based on the device information of each TACAN device and the distance between the aircraft and the TACAN device. As the aircraft continues to fly, its position continues to change. It is preferred to select a TACAN device closer to the aircraft based on the distance between the aircraft and the TACAN device (associated with the station geographic coordinates and station working coverage in the device information) to cooperate with the aircraft to determine the aircraft's position.

[0086] 2. Adjust the communication parameters of the airborne equipment according to the distance between the aircraft and the TACAN equipment. Since the distance between the aircraft and at least two TACAN equipment varies, the order and interval of signal transmission, the order and modulation time of the working frequency of the modulation station can be reasonably arranged according to the time used for signal transmission, that is, the interrogation and response cycle can be adjusted, and the transmission frequency of the interrogation signal and the receiving frequency of the response signal can be changed according to the change of the selection of the TACAN equipment. For example, the TACAN equipment closest to the aircraft is set as the main station, the interrogation rate of the main station is increased (for example, 3-4 interrogations and responses are performed in one interrogation and response cycle), and the interrogation rate of the station far away is reduced (1 interrogation and response is performed in one interrogation and response cycle). The specific order of transmitting the interrogation signal can be set according to the specific situation.

[0087] Specifically, the method of the embodiment of the present invention further includes:

[0088] Step S60: The airborne device performs a positioning test according to the communication parameters.

[0089] The positioning test process includes:

[0090] Determine whether the airborne equipment can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response cycle;

[0091] If yes, the positioning test passes;

[0092] If not, adjust the transmission order and interval time, adjust the order and switching time of the station operating frequencies, generate a new inquiry and response cycle, and perform the positioning test again until the positioning test passes.

[0093] If the number of TACAN devices selected for positioning is greater than or equal to three, when the onboard equipment performs positioning test according to the communication parameters, the positioning test process includes:

[0094] Determine whether the airborne equipment can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response cycle;

[0095] If yes, the positioning test passes;

[0096] If not, the transmitted inquiry signal and the received response signal are matched with the TACAN equipment. If the number of corresponding TACAN equipment is at least two, the positioning test is passed. Usually, two TACAN equipments can participate in positioning to obtain more accurate position information, so the positioning test is passed. If the number of corresponding TACAN equipment is less than two, adjust the transmission order and interval time, adjust the order of station working frequency and switching time, generate a new inquiry response cycle, and perform the positioning test again until the positioning test is passed.

[0097] The embodiment of the present invention also includes an aircraft, the aircraft is equipped with an onboard device, the onboard device includes a radio frequency signal processing module, and at least one set of an onboard transmitting antenna and an onboard receiving antenna, the onboard transmitting antenna and the onboard receiving antenna are both communicatively connected to the radio frequency signal processing module; wherein,

[0098] The radio frequency signal processing module is used to determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database; the equipment information at least includes the station working frequency, the station geographical coordinates, and the station working coverage; and, receive the positioning setting instruction, and select at least two TACAN equipment for positioning according to the positioning setting instruction and the equipment information of the TACAN equipment; the aircraft is located within the station working coverage of the selected TACAN equipment; and, configure the communication parameters of the airborne equipment according to the equipment information of the selected TACAN equipment; the communication parameters include the inquiry response cycle and the transmission frequency of the inquiry signal, the inquiry response cycle is divided into a front inquiry time period and a rear response time period, and the transmission frequency of the inquiry signal corresponds to the station working frequency; and, in each inquiry response cycle, the inquiry signal of the corresponding frequency is transmitted to at least two TACAN equipment in the inquiry time period through the airborne transmitting antenna, and the response signal of at least two TACAN equipment is received in the response time period through the airborne receiving antenna; the radio frequency signal processing module is also used to calculate the distance between the aircraft and the TACAN equipment according to the inquiry signal and the response signal in at least one inquiry response cycle, and calculate the position information of the aircraft in combination with the station geographical coordinates.

[0099] The functional implementation of this embodiment can be understood in conjunction with the aforementioned embodiment of the multi-station positioning method based on time-sharing inquiry, and will not be described in detail here.

[0100] The embodiment of the present invention also includes a multi-unit positioning system based on time-sharing inquiry, the multi-unit positioning system includes an aircraft and at least two TACAN devices for positioning; the multi-unit positioning system implements the multi-unit positioning method based on time-sharing inquiry through the above embodiment.

[0101] The multi-station positioning method and system based on time-sharing inquiry of the present invention determines and marks the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database, then selects at least two TACAN equipment for positioning according to the information such as the station distance geographical coordinates and the station working coverage range, and then configures the communication parameters of the airborne equipment according to the equipment information of the selected TACAN equipment, the communication parameters including the inquiry response cycle and the transmission frequency of the inquiry signal, the inquiry response cycle is divided into the preceding inquiry time period and the following response time period, and the transmission frequency of the inquiry signal corresponds to the station working frequency; thereafter, in each inquiry response cycle, the airborne equipment transmits the inquiry signal of the corresponding frequency to the at least two TACAN equipment in the inquiry time period, and Receive response signals of at least two TACAN devices within a response time period; then calculate the distance between the aircraft and the TACAN device according to the query signal and the response signal within at least one query response period, and calculate the position information of the aircraft in combination with the station geographic coordinates; the present invention performs question-and-answer communication at a corresponding frequency with at least two selected TACAN devices within an query response period. Compared with the traditional TACAN ranging mode, on the one hand, the time-sharing query effectively utilizes the idle time outside the query and answer operation and improves the signal duty cycle; on the other hand, the distance between at least two TACAN devices and the aircraft and the distance between the two TACAN devices are combined to calculate the position information of the aircraft, so that the calculation result is more accurate, and also provides technical support for subsequent TACAN networking.

[0102] The present invention is further described above with the aid of specific embodiments. However, it should be understood that the specific description here should not be construed as limiting the essence and scope of the present invention. Various modifications made to the above embodiments by ordinary technicians in the field after reading this specification are all within the scope of protection of the present invention.

Claims

1. A multi-station positioning method based on time-sharing inquiry, characterized in that: The method comprises: Determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database; the equipment information at least includes the station operating frequency, the station geographical coordinates, and the station operating coverage; receiving a positioning setting instruction, and selecting at least two TACAN devices for positioning according to the positioning setting instruction and device information of the TACAN device; the aircraft is located within the station working coverage of the selected TACAN device; configuring the communication parameters of the airborne device according to the device information of the selected TACAN device; the communication parameters include an inquiry response period and an emission frequency of an inquiry signal, the inquiry response period is divided into a preceding inquiry time period and a succeeding response time period, and the emission frequency of the inquiry signal corresponds to the station operating frequency; In each interrogation response cycle, the airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices during the interrogation time period, and receives response signals from at least two TACAN devices during the response time period; The distance between the aircraft and the TACAN device is calculated according to the interrogation signal and the response signal in at least one interrogation response cycle, and the position information of the aircraft is calculated in combination with the station geographic coordinates.

2. A multi-station positioning method based on time-sharing inquiry as claimed in claim 1, characterized in that: In each interrogation response cycle, the airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices in the interrogation time period, and receives response signals from at least two TACAN devices in the response time period, including: The airborne device transmits interrogation signals of corresponding frequencies to at least two TACAN devices in sequence at the start time of the interrogation time period; During the response time period, the corresponding station operating frequency is adjusted to receive the response signal sent by the corresponding TACAN device.

3. A multi-station positioning method based on time-sharing inquiry as claimed in claim 1, characterized in that: In each interrogation response cycle, the airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices in the interrogation time period, and receives response signals from at least two TACAN devices in the response time period, including: The airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices simultaneously at any time during the interrogation period; During the response time period, the corresponding station operating frequency is adjusted to receive the response signal sent by the corresponding TACAN device.

4. A multi-station positioning method based on time-sharing inquiry as claimed in claim 1, characterized in that: The step of configuring the communication parameters of the airborne device according to the device information of the selected TACAN device includes: Setting the order and interval of transmitting the interrogation signal according to at least two selected TACAN devices; Setting the sequence of adjusting the station working frequencies and the switching time within the reply time period according to the geographical coordinates of the stations of at least two selected TACAN devices; The inquiry response cycle is generated according to the order and interval time of transmitting the inquiry signals, the order and switching time of adjusting the station working frequency.

5. A multi-station positioning method based on time-sharing inquiry as claimed in claim 4, characterized in that: Also includes: The airborne device performs a positioning test according to the communication parameters; Determining whether the airborne device can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response period; If yes, the positioning test passes; If not, adjust the transmission order and interval time, adjust the order and switching time of the station operating frequencies, generate a new inquiry and response cycle, and perform the positioning test again until the positioning test passes.

6. A multi-station positioning method based on time-sharing inquiry as claimed in claim 5, characterized in that: When the airborne device performs a positioning test according to the communication parameters, if the number of TACAN devices selected for positioning is greater than or equal to three, the method includes: Determining whether the airborne device can transmit an inquiry signal and receive a corresponding response signal according to the inquiry response period; If yes, the positioning test passes; If not, the transmitted inquiry signal and the received response signal are matched with the TACAN equipment. If the number of corresponding TACAN equipment is at least two, the positioning test passes; if the number of corresponding TACAN equipment is less than two, the transmission order and interval time, the order of station working frequencies and switching time are adjusted to generate a new inquiry and response cycle, and the positioning test is performed again until the positioning test passes.

7. A multi-station positioning method based on time-sharing inquiry as claimed in any one of claims 1 to 6, characterized in that: In each interrogation response cycle, the airborne device transmits an interrogation signal of a corresponding frequency to at least two TACAN devices in the interrogation time period, and receives response signals from at least two TACAN devices in the response time period, including: In each inquiry response cycle, the airborne device transmits an inquiry signal of a corresponding frequency to at least two TACAN devices once or multiple times within the inquiry time period, and receives response signals from at least two TACAN devices once or multiple times within the response time period.

8. A multi-station positioning method based on time-sharing inquiry as claimed in claim 7, characterized in that: Also includes: Reselect at least two TACAN devices for positioning according to the device information of each TACAN device and the distance between the aircraft and the TACAN device; And, adjusting the communication parameters of the onboard equipment according to the equipment information of the reselected TACAN equipment.

9. An aircraft, characterized in that: The aircraft is equipped with an onboard device, which includes a radio frequency signal processing module, and at least one set of onboard transmitting antennas and onboard receiving antennas, and the onboard transmitting antennas and onboard receiving antennas are both communicatively connected to the radio frequency signal processing module; wherein, The radio frequency signal processing module is used to determine and mark the TACAN equipment and corresponding equipment information existing in the current airspace according to the pre-stored navigation database; the equipment information at least includes the station working frequency, the station geographical coordinates, and the station working coverage; and, receive a positioning setting instruction, and select at least two TACAN equipment for positioning according to the positioning setting instruction and the equipment information of the TACAN equipment; the aircraft is located within the station working coverage of the selected TACAN equipment; and configure the communication parameters of the airborne equipment according to the equipment information of the selected TACAN equipment; the communication parameters include the inquiry response period and the transmission frequency of the inquiry signal, the The inquiry response cycle is divided into a preceding inquiry time period and a succeeding response time period, and the transmitting frequency of the inquiry signal corresponds to the operating frequency of the station; and, in each inquiry response cycle, the airborne transmitting antenna transmits an inquiry signal of a corresponding frequency to at least two TACAN devices in the inquiry time period, and the airborne receiving antenna receives response signals of at least two TACAN devices in the response time period; the radio frequency signal processing module is further used to calculate the distance between the aircraft and the TACAN device according to the inquiry signal and the response signal in at least one inquiry response cycle, and calculate the position information of the aircraft in combination with the geographical coordinates of the station.

10. A multi-station positioning system based on time-sharing query, characterized in that: The multi-unit positioning system comprises an aircraft and at least two TACAN devices for positioning; the multi-unit positioning system implements a multi-unit positioning method based on time-sharing inquiry through any one of claims 1 to 9.

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