Cooperative positioning method and system

Abstract

The invention relates to the technical field of positioning, in particular to a cooperative positioning method and system, and the method comprises the steps: receiving two medium wave benches and medium wave signals through a positioned target, and calculating the time when the two medium wave signals reach the positioned target; according to the time when the two medium-wave signals arrive at the positioned target and the propagation velocity model of the medium-wave signals in the propagation medium, a hyperbolic equation is established, the positioned target receives the TACAN signals of the TACAN station, and the azimuth angle and distance of the positioned target relative to the TACAN station are analyzed according to the TACAN signals; according to the azimuth angle of the positioned target relative to the TACAN station, an azimuth linear equation is established, data fusion is carried out on the hyperbolic equation and the azimuth linear equation, and the position coordinates of the positioned target are obtained through calculation, so that the positioning precision and the reliability in a complex environment can be improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a collaborative positioning method and system. Background Art

[0002] Accurate positioning is crucial in navigation, aviation, and land navigation in some special environments. Traditional positioning methods include satellite navigation, Loran navigation, etc., but in some cases, such as when satellite signals are blocked or in an environment with complex electromagnetic interference, these methods have limitations. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a collaborative positioning method and system, which can improve positioning accuracy and reliability in complex environments.

[0004] In order to solve the above technical problems, the first technical solution adopted by the present invention is: A collaborative positioning method comprises the following steps: S1, the located target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals reach the located target; S2. Establish a hyperbolic equation based on the time it takes for the two medium wave signals to reach the located target and the propagation speed model of the medium wave signal in the propagation medium; S3, the located target receives the TACAN signal from the TACAN station, and parses the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; S4. Establishing an azimuth straight line equation according to the azimuth of the located target relative to the TACAN station; S5. Fusing the hyperbola equation and the azimuth line equation to obtain the position coordinates of the located target.

[0005] The second technical solution adopted by the present invention is: A collaborative positioning system comprises a positioned target, a TACAN station and two medium wave stations, wherein the positioned target is provided with a medium wave signal receiving module, a TACAN signal receiving module and a data fusion calculation module, and the data fusion calculation module is electrically connected to the medium wave signal receiving module and the TACAN signal receiving module respectively; The medium wave signal receiving module is used to receive two medium wave stations and medium wave signals, and calculate the time when the two medium wave signals arrive at the located target; The TACAN signal receiving module is used for the TACAN signal of the TACAN station, and analyzes the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; The data fusion calculation module is used to establish a hyperbola equation based on the time when two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, and to establish an azimuth straight line equation based on the azimuth angle of the located target relative to the TACAN station, and to fuse the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the located target.

[0006] The beneficial effects of the present invention are: In this scheme, the located target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals reach the located target. According to the time when the two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, a hyperbola equation is established. The located target receives the TACAN signal of the TACAN station, and resolves the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal. According to the azimuth of the located target relative to the TACAN station, an azimuth straight line equation is established, and the hyperbola equation and the azimuth straight line equation are data-fused to calculate the position coordinates of the located target, thereby improving the positioning accuracy and reliability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 The following is a flow chart of the steps of the collaborative positioning method of the present invention: Figure 2 is a connection block diagram of the collaborative positioning system of the present invention; Description of labels: 1. Medium wave signal receiving module; 2. TACAN signal receiving module; 3. Data fusion calculation module. DETAILED DESCRIPTION

[0008] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0009] Please refer to Figure 1 , the first technical solution adopted by the present invention is: A collaborative positioning method comprises the following steps: S1, the located target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals reach the located target; S2. Establish a hyperbolic equation based on the time it takes for the two medium wave signals to reach the located target and the propagation speed model of the medium wave signal in the propagation medium; S3, the located target receives the TACAN signal from the TACAN station, and parses the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; S4. Establishing an azimuth straight line equation according to the azimuth of the located target relative to the TACAN station; S5. Fusing the hyperbola equation and the azimuth line equation to obtain the position coordinates of the located target.

[0010] From the above description, it can be seen that the beneficial effects of the present invention are: In this scheme, the located target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals reach the located target. According to the time when the two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, a hyperbola equation is established. The located target receives the TACAN signal of the TACAN station, and resolves the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal. According to the azimuth of the located target relative to the TACAN station, an azimuth straight line equation is established, and the hyperbola equation and the azimuth straight line equation are data-fused to calculate the position coordinates of the located target, thereby improving the positioning accuracy and reliability in complex environments.

[0011] Furthermore, step S2 is specifically as follows: S21, calculating the time difference between the two medium wave signals reaching the located target according to the time when the two medium wave signals reach the located target; S22, calculating the distance difference between the located target and the two medium wave stations according to the time difference between the two medium wave signals reaching the located target and the propagation speed model of the medium wave signal in the propagation medium; S23. Establish a hyperbola equation based on the distance difference between the located target and the two medium wave stations.

[0012] Further, step S23 is specifically as follows: Assume that the coordinates of the target to be located are , the coordinates of the two medium wave stations (medium wave station A and medium wave station B) are and ; Calculate the distance between two medium wave stations according to the distance formula between two points: ; Then half the distance between two medium wave stations is: ; According to the principle of hyperbola positioning, with two medium wave stations as the focus, the hyperbola equation is established: ; .

[0013] Furthermore, in step S5, the position coordinates of the located target are calculated by an optimization algorithm.

[0014] Furthermore, the optimization algorithm is a least squares method or a Kalman filter algorithm.

[0015] The second technical solution adopted by the present invention is: A collaborative positioning system comprises a positioned target, a TACAN station and two medium wave stations, wherein the positioned target is provided with a medium wave signal receiving module, a TACAN signal receiving module and a data fusion calculation module, and the data fusion calculation module is electrically connected to the medium wave signal receiving module and the TACAN signal receiving module respectively; The medium wave signal receiving module is used to receive two medium wave stations and medium wave signals, and calculate the time when the two medium wave signals arrive at the located target; The TACAN signal receiving module is used for the TACAN signal of the TACAN station, and analyzes the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; The data fusion calculation module is used to establish a hyperbola equation based on the time when two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, and to establish an azimuth straight line equation based on the azimuth angle of the located target relative to the TACAN station, and to fuse the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the located target.

[0016] From the above description, it can be seen that the beneficial effects of the present invention are: This solution receives two medium wave stations and medium wave signals through a medium wave signal receiving module, and calculates the time when the two medium wave signals reach the located target. According to the time when the two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, a hyperbola equation is established. The TACAN signal receiving module receives the TACAN signal of the TACAN station, and parses the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal. According to the azimuth of the located target relative to the TACAN station, an azimuth straight line equation is established. The data fusion calculation module fuses the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the located target, thereby improving the positioning accuracy and reliability in complex environments.

[0017] Furthermore, the medium wave signal receiving module includes a medium wave antenna, a radio frequency front-end amplifier and a signal processing unit, the radio frequency front-end amplifier is electrically connected to the medium wave antenna and the signal processing unit respectively, and the signal processing circuit is electrically connected to the data fusion calculation module.

[0018] Furthermore, the RF front-end amplifier is a low noise amplifier.

[0019] Further, the TACAN signal receiving module includes a TACAN antenna, a signal demodulator and a data solving unit, the signal demodulator is electrically connected to the TACAN antenna and the data solving unit respectively, and the data solving unit is electrically connected to the data fusion calculation module.

[0020] Furthermore, the data fusion calculation module calculates the position coordinates of the located target through an optimization algorithm.

[0021] Please refer to Figure 1 , Embodiment 1 of the present invention is: A collaborative positioning method comprises the following steps: S1. The located target (such as a ship, an airplane, etc.) receives two medium wave stations (assuming that they are medium wave station A and medium wave station B in this embodiment) and medium wave signals, and calculates the time when the two medium wave signals reach the located target (respectively marked as and ); S2. Establish a hyperbolic equation based on the time it takes for the two medium wave signals to reach the located target and the propagation speed model of the medium wave signal in the propagation medium; Step S2 is specifically as follows: S21, according to the time when the two medium wave signals arrive at the located target, calculate the time difference between the two medium wave signals arriving at the located target, and use Indicates that ; S22, based on the time difference between the two medium wave signals reaching the located target and the propagation speed model of the medium wave signal in the propagation medium (the propagation speed is expressed as ), through the formula , calculate the distance difference between the located target and the two medium wave stations ; S23. Establish a hyperbola equation based on the distance difference between the located target and the two medium wave stations.

[0022] Step S23 is specifically as follows: Assume that the coordinates of the target to be located are , the coordinates of the two medium wave stations (medium wave station A and medium wave station B) are and ; Calculate the distance between two medium wave stations according to the distance formula between two points: ; Then half the distance between two medium wave stations ; According to the principle of hyperbola positioning, with two medium wave stations (medium wave station A and medium wave station B) as the focus, the hyperbola equation is established: ; ; in, and The value of is calculated based on the geometric properties of the hyperbola and the distance difference between the located target and the two medium wave stations, specifically: According to the formula ,but .

[0023] S3. The located target receives the TACAN signal from the TACAN station and parses the azimuth of the located target relative to the TACAN station based on the TACAN signal. and distance ; The specific parsing process is as follows: (1) The distance of the located target relative to the TACAN station The parsing method is as follows: The TACAN signal receiving module of the located target will periodically transmit the distance inquiry signal, and the TACAN signal receiving module will record the time from the time of transmitting the inquiry. The time from when the reply signal is received from the ground TACAN station The time difference between the two is ; Since the speed of radio waves in space (approximately equal to the speed of light, 3×10 8 m / s), according to the distance formula , the distance of the located target relative to the TACAN station can be calculated .

[0024] (2) Azimuth of the located target relative to the TACAN station The parsing method is as follows: In the TACAN ground system, the main signal is a directional signal that rotates at a certain frequency, and the auxiliary signal is a non-directional reference signal. Assuming that the rotation frequency of the main signal is 15Hz, the main signal rotates one circle (360°), and its phase changes by (2π) radians. The phase difference between the main signal and the auxiliary signal measured at a certain moment is (Unit: radian), and it is known that when the main signal rotates to the true north direction (as the reference direction), the phase difference between the main signal and the auxiliary signal is ; First, calculate the phase difference change corresponding to the main signal rotating from the true north direction to the target direction (unit: radian); Since one rotation of the main signal (2π radians) corresponds to a 360° change in azimuth, the azimuth change per radian is ; The azimuth of the located target relative to the TACAN station is .

[0025] S4. According to the azimuth angle of the located target relative to the TACAN station, establish the azimuth straight line equation; the details are as follows: (1) Known TACAN coordinates and the azimuth angle determined by the located target , and its azimuth line equation is , that is, the located target point is located on this straight line starting from the TACAN station at a specific azimuth; (2) The TACAN signal receiving module of the located target receives the TACAN signal and parses the azimuth of the located target relative to the TACAN station. and distance ; (3) The equation of the azimuth line , substituting into the hyperbola equation: In the The equation of (4) Using the distance of the located target relative to the TACAN station , we can get the distance equation as ; Equation of the bearing line Substituting this distance equation, we get another equation about The equation for The equations verify each other and simplify the solution process.

[0026] (5) The obtained Substitute the value of into the azimuth line equation , thus obtaining the corresponding value.

[0027] S5. Fusing the hyperbola equation and the azimuth line equation to obtain the position coordinates of the located target.

[0028] In step S5, the position coordinates of the located target are calculated by an optimization algorithm.

[0029] The optimization algorithm is a least squares method or a Kalman filter algorithm.

[0030] Please refer to Figure 2 , Embodiment 2 of the present invention is: A collaborative positioning system, comprising a positioned target, a TACAN station and two medium wave stations (assuming that they are medium wave station A and medium wave station B in this embodiment), the positioned target is provided with a medium wave signal receiving module 1, a TACAN signal receiving module 2 and a data fusion calculation module 3, and the data fusion calculation module 3 is electrically connected to the medium wave signal receiving module 1 and the TACAN signal receiving module 2 respectively; The medium wave signal receiving module 1 is used to receive two medium wave stations and medium wave signals, and calculate the time when the two medium wave signals arrive at the located target; The TACAN signal receiving module 2 is used for receiving the TACAN signal of the TACAN station, and analyzing the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; The data fusion calculation module 3 is used to establish a hyperbola equation according to the time when the two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, and to establish an azimuth straight line equation according to the azimuth angle of the located target relative to the TACAN station, and to fuse the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the located target.

[0031] The medium wave signal receiving module 1 includes a medium wave antenna, a radio frequency front-end amplifier and a signal processing unit. The radio frequency front-end amplifier is electrically connected to the medium wave antenna and the signal processing unit respectively, and the signal processing circuit is electrically connected to the data fusion calculation module 3.

[0032] The radio frequency front-end amplifier is a low noise amplifier.

[0033] The TACAN signal receiving module 2 includes a TACAN antenna, a signal demodulator and a data solving unit. The signal demodulator is electrically connected to the TACAN antenna and the data solving unit respectively. The data solving unit is electrically connected to the data fusion calculation module 3.

[0034] The data fusion calculation module 3 calculates the position coordinates of the located target through an optimization algorithm.

[0035] Installation of medium wave station: Medium wave station A and medium wave station B are installed in suitable geographical locations according to the predetermined coverage requirements; during the installation process, the transmitting antenna (i.e., medium wave antenna) of the medium wave station is accurately calibrated to ensure that its radiation coverage meets the design requirements; at the same time, the atomic clock of the medium wave station is synchronously calibrated to ensure that the time bases of the two medium wave stations are consistent.

[0036] Installation of TACAN station: According to the characteristics and requirements of the navigation area, choose a suitable location to install the TACAN station; after installation, calibrate and test the TACAN station's transmitter, antenna system, and internal ranging and azimuth measurement circuits to ensure that it can accurately transmit azimuth and distance information signals.

[0037] Installation and initialization of the medium wave signal receiving module 1 and the TACAN signal receiving module 2 Install the medium wave signal receiving module 1 and the TACAN signal receiving module 2 on the positioned target, and initialize the medium wave signal receiving module 1 and the TACAN signal receiving module 2, including setting the frequency range and gain parameters of the medium wave signal reception, and pairing and parameter configuration of the TACAN signal receiving module 2 with the TACAN station.

[0038] In summary, the present invention provides a collaborative positioning method and system, in which the positioned target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals arrive at the positioned target, and establishes a hyperbola equation according to the time when the two medium wave signals arrive at the positioned target and the propagation speed model of the medium wave signal in the propagation medium, the positioned target receives the TACAN signal of the TACAN station, and parses the azimuth and distance of the positioned target relative to the TACAN station according to the TACAN signal, and establishes an azimuth straight line equation according to the azimuth of the positioned target relative to the TACAN station, and fuses the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the positioned target, thereby improving the positioning accuracy and reliability in complex environments.

[0039] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A collaborative positioning method, characterized in that: The following steps are involved: S1, the located target receives two medium wave stations and medium wave signals, and calculates the time when the two medium wave signals reach the located target; S2. Establish a hyperbolic equation based on the time it takes for the two medium wave signals to reach the located target and the propagation speed model of the medium wave signal in the propagation medium; S3, the located target receives the TACAN signal from the TACAN station, and parses the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; S4. Establishing an azimuth straight line equation according to the azimuth of the located target relative to the TACAN station; S5. Fusing the hyperbola equation and the azimuth line equation to obtain the position coordinates of the located target.

2. The collaborative positioning method according to claim 1, characterized in that: Step S2 is specifically as follows: S21, calculating the time difference between the two medium wave signals reaching the located target according to the time when the two medium wave signals reach the located target; S22, calculating the distance difference between the located target and the two medium wave stations according to the time difference between the two medium wave signals reaching the located target and the propagation speed model of the medium wave signal in the propagation medium; S23. Establish a hyperbola equation based on the distance difference between the located target and the two medium wave stations.

3. The collaborative positioning method according to claim 2, characterized in that: Step S23 is specifically as follows: Assume that the coordinates of the target to be located are , the coordinates of the two medium wave stations (medium wave station A and medium wave station B) are and ; Calculate the distance between two medium wave stations according to the distance formula between two points: ; Then half the distance between two medium wave stations is: ; According to the principle of hyperbola positioning, with two medium wave stations as the focus, the hyperbola equation is established: ； 。 4. The collaborative positioning method according to claim 1, characterized in that: In step S5, the position coordinates of the located target are calculated by an optimization algorithm.

5. The collaborative positioning method according to claim 4, characterized in that: The optimization algorithm is a least squares method or a Kalman filter algorithm.

6. A collaborative positioning system, characterized in that: It includes a positioned target, a TACAN station and two medium wave stations, wherein the positioned target is provided with a medium wave signal receiving module, a TACAN signal receiving module and a data fusion calculation module, and the data fusion calculation module is electrically connected to the medium wave signal receiving module and the TACAN signal receiving module respectively; The medium wave signal receiving module is used to receive two medium wave stations and medium wave signals, and calculate the time when the two medium wave signals arrive at the located target; The TACAN signal receiving module is used for the TACAN signal of the TACAN station, and analyzes the azimuth and distance of the located target relative to the TACAN station according to the TACAN signal; The data fusion calculation module is used to establish a hyperbola equation based on the time when two medium wave signals reach the located target and the propagation speed model of the medium wave signal in the propagation medium, and to establish an azimuth straight line equation based on the azimuth angle of the located target relative to the TACAN station, and to fuse the hyperbola equation and the azimuth straight line equation to calculate the position coordinates of the located target.

7. The collaborative positioning system according to claim 6, characterized in that: The medium wave signal receiving module includes a medium wave antenna, a radio frequency front-end amplifier and a signal processing unit. The radio frequency front-end amplifier is electrically connected to the medium wave antenna and the signal processing unit respectively, and the signal processing circuit is electrically connected to the data fusion calculation module.

8. The collaborative positioning system according to claim 7, characterized in that: The radio frequency front-end amplifier is a low noise amplifier.

9. The collaborative positioning system according to claim 6, characterized in that: The TACAN signal receiving module includes a TACAN antenna, a signal demodulator and a data solving unit. The signal demodulator is electrically connected to the TACAN antenna and the data solving unit respectively, and the data solving unit is electrically connected to the data fusion calculation module.

10. The collaborative positioning system according to claim 6, characterized in that: The data fusion calculation module calculates the position coordinates of the located target through an optimization algorithm.

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