Unmanned operation platform target locking method and system based on navigation satellite

Abstract

The invention relates to the technical field of target locking, in particular to an unmanned operation platform target locking method and system based on a navigation satellite. Comprising the following steps: S1, acquiring accurate coordinate data of an unmanned operation platform and a target locking party by receiving a radio wave signal of a Beidou navigation satellite; based on the corrected accurate coordinate data of the unmanned operation platform and the target locking party, calculating a line segment length between the unmanned operation platform and the target locking party and defining the line segment length as a first distance; s2, a new line segment perpendicular to the connecting line of the unmanned operation platform and the target locking party is determined at the midpoint of the connecting line of the unmanned operation platform and the target locking party, and the length of the new line segment is calculated and defined as a second distance; according to the invention, a first distance is set through high-precision positioning of a Beidou navigation satellite; dynamically adjusting the second distance, and combining the escape behavior, the positioning precision and the speed; and setting N points on the line segment to which the second distance belongs, and determining an optimal path by using a fuzzy reasoning model.

Description

Technical Field

[0001] The present invention relates to the technical field of target locking, and in particular to a target locking method and system for an unmanned operating platform based on a navigation satellite. Background Art

[0002] In the modern military field, unmanned combat platforms (such as drones, unmanned ground vehicles, unmanned surface ships, etc.) have become important tools for performing tasks such as reconnaissance, surveillance, strike and logistical support. These platforms usually rely on high-precision navigation and positioning systems to ensure the successful execution of the mission. However, existing unmanned combat platforms have some significant problems in aiming, triggering and control: 1. Control delay: Existing unmanned combat platforms have large control delays during the aiming and firing process. This delay is caused by signal transmission delay, data processing delay or long system response time. Control delays can lead to loss of target lock or reduced strike accuracy, especially in high-speed moving target locks or dynamically changing battlefield environments. This delay seriously affects the success rate of the mission.

[0003] 2. Large video control channel occupancy: In order to achieve precise aiming, many unmanned combat platforms need to transmit a large amount of data through the video control channel, including high-definition video streams and sensor data. The video control channel occupies a large amount of communication bandwidth, resulting in the impact on other important communication tasks. In addition, video data transmission is susceptible to interference, especially in the enemy's electronic warfare environment, the video control channel will be interfered or blocked, thus affecting the accuracy of aiming and control.

[0004] 3. Large gyro positioning error: Some unmanned combat platforms use gyroscopes for positioning. Although the gyroscope has high positioning accuracy in a short period of time, it is prone to drift after long-term operation, resulting in a gradual increase in positioning error. Gyroscope drift will lead to a decrease in positioning accuracy, especially in long-term missions. This error will accumulate and eventually affect the aiming accuracy and mission execution effect of the unmanned combat platform.

[0005] 4. Reliance on a single navigation system: Many unmanned combat platforms rely mainly on GPS or other single navigation systems for positioning and navigation. In poor signal conditions (such as urban canyons, forests, and mountainous areas), Beidou navigation satellite signals are easily blocked or interfered with, resulting in reduced positioning accuracy. In addition, the enemy will use electronic warfare means to interfere with Beidou navigation satellite signals, further affecting the mission execution of unmanned combat platforms.

[0006] 5. High system complexity: Existing unmanned combat platforms usually need to integrate multiple sensors and control systems to ensure high-precision positioning and aiming. High system complexity not only increases the cost of design and maintenance, but also leads to an increase in system failure rate. Complex system architecture also makes real-time response slow, affecting mission execution efficiency.

[0007] In order to solve the above problems and improve the aiming accuracy and mission execution efficiency of unmanned combat platforms, this scheme proposes a target locking method and system for unmanned operating platforms based on navigation satellites. Summary of the invention

[0008] In order to overcome the disadvantage of low adaptability of unmanned combat platforms in aiming, stimulating and controlling, the present invention provides a target locking method and system for unmanned operating platforms based on navigation satellites.

[0009] The technical implementation scheme of the present invention is: a method for unmanned operation platform target locking based on navigation satellite, comprising the following steps: S1: Obtain accurate coordinate data of the unmanned operating platform and the target locked party by receiving radio wave signals from Beidou navigation satellites; calculate the length of the line segment between the unmanned operating platform and the target locked party based on the corrected accurate coordinate data of the unmanned operating platform and the target locked party and define it as a first distance; S2: At the midpoint of the line connecting the unmanned operating platform and the target locking party, determine a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party, calculate the length of the new line segment and define it as the second distance; the position of the line segment to which the second distance belongs will be adjusted according to the positioning accuracy of the Beidou navigation satellite; S3: Based on the needs of specific application scenarios and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in order of priority for determining the generation of the N points; first, the length of the line connecting the unmanned operating platform and point 1, as well as the length of the line connecting point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., points N in turn; S4: Dynamically adjust the second distance and the third distance according to the coordinates of the unmanned operating platform and the target locking party coordinates data provided by the Beidou navigation satellite; S5: Build a closed-loop control system based on BeiDou navigation satellite data to continuously monitor and adjust the motion trajectory of the unmanned platform.

[0010] Preferably, the calculating of the line segment length between the unmanned operating platform and the target locking party and defining it as the first distance comprises: using Beidou navigation satellite to obtain coordinate data of the unmanned operating platform and coordinate data of the target locking party, and performing preprocessing; based on the preprocessed unmanned operating coordinate data and target locking party coordinate data, calculating the line segment length between the coordinates of the unmanned operating platform and the coordinates of the target locking party, and defining it as the first distance; the first distance is the line segment length between the unmanned operating platform and the target locking party; the calculation formula of the first distance is as follows: in,( , ) is the coordinate of the unmanned platform, ( , ) is the coordinate of the target locking party, It is the length of the line segment between the unmanned platform and the target locking party.

[0011] Preferably, at the midpoint of the line connecting the unmanned operating platform and the target locking party, a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party is determined, and the length of the new line segment is calculated and defined as the second distance, including: the second distance is a line segment perpendicular to the line segment to which the first distance belongs; the coordinates at the midpoint of the first distance are: ; The length of the line segment of the second distance is obtained by the following steps: using the Beidou navigation satellite to obtain the initial coordinates of the target locked party; setting the first weight of the second distance based on the escape coordinates of the initial coordinates of the target locked party, and setting the second weight of the second distance based on the Beidou navigation satellite positioning accuracy of the escape coordinates of the target locked party; setting the third weight of the second distance based on the speed of the unmanned operation platform relative to the target locked party; and calculating the second distance by a formula.

[0012] Preferably, the second distance is calculated by a formula, including: the formula is calculated as follows: in, is a constant coefficient, is the first weight, is the escape distance of the target locked party, is the second weight, For the Beidou navigation satellite positioning accuracy, is the third weight, is the speed of the unmanned platform relative to the target lock party, The length of the line segment for the second distance.

[0013] Preferably, based on the needs of the specific application scenario and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in sequence according to the priority order of determining the generation of the N points; first, the length of the line between the unmanned operation platform and point 1, as well as the length of the line between point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., and N in sequence, including: obtaining the Beidou navigation satellite The positioning accuracy data of the Beidou navigation satellite for the target locking party; the SVM classification model is used to classify the positioning accuracy data to obtain accurate and ambiguous positioning data; the escape coordinates of the target locking party are predicted based on the Kalman filter model; the accuracy of the Beidou navigation satellite positioning path is determined by combining the accurate and ambiguous positioning data obtained by the SVM classification model and the escape coordinates of the target locking party predicted by the Kalman filter model; N points are set on the line segment belonging to the second distance, with the unmanned operation platform as the starting point, and a line is connected with the target locking party through N points to form a third distance; the third distance is calculated by the formula.

[0014] Preferably, the third distance is calculated by a formula, including: the formula is calculated as follows: in, is the length of the line segment to which the third distance belongs, ( , ) is the first The coordinates of the points, is the number of points set on the line segment to which the second distance belongs, It is the minimum value of the total length from the unmanned platform to each intermediate point and then to the target locking party's locking position.

[0015] Preferably, the second distance and the third distance are dynamically adjusted according to the coordinates of the unmanned operating platform and the target locking party coordinate data provided by the Beidou navigation satellite, including: obtaining the relative coordinates of the unmanned operating platform and the target locking party, and calculating the relative coordinate difference; if the relative coordinate difference is a positive value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a first frequency; if the relative coordinate is a negative value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a second frequency; obtaining the first frequency and the second frequency according to the relative coordinate difference; based on the target locking party locking data modified by the first frequency and the second frequency, obtaining the signal propagation time using the Beidou navigation satellite, and constructing a distance sequence based on the signal propagation time.

[0016] Preferably, acquiring the first frequency and the second frequency according to the relative coordinate difference includes:

[0017]

[0018]

[0019]

[0020]

[0021]

[0022] in, is the relative coordinate difference between the unmanned platform and the target locking party in the x direction; is the relative coordinate difference between the unmanned platform and the target locking party in the y direction; is the reference frequency; is the adjustment coefficient; is the first frequency when the relative coordinate difference is positive; is the second frequency when the relative coordinate difference is negative.

[0023] Preferably, the modified target locking party locking data based on the first frequency and the second frequency, using Beidou navigation satellite to obtain signal propagation time, and constructing a distance sequence based on the signal propagation time, includes: constructing an initial signal propagation distance sequence according to the signal propagation time data obtained by Beidou navigation satellite; constructing a second distance signal propagation distance sequence based on the propagation time data of the signal obtained by Beidou navigation satellite at the center point of the line segment to which the second distance belongs; calculating the difference between the initial signal propagation distance sequence and the second distance signal propagation distance sequence, and evaluating the accuracy of the unmanned platform target locking party locking based on the difference; Based on the signal propagation time data obtained from Beidou navigation satellite , using the speed of light Calculate the initial signal propagation distance , and construct the initial signal propagation distance sequence

[0024] Similarly, at the center point of the line segment to which the second distance belongs, according to the signal propagation time data obtained by the Beidou navigation satellite , calculate the second distance signal propagation distance , and construct the second distance signal propagation distance sequence ; Based on the initial signal propagation distance sequence and the second distance signal propagation distance sequence , calculate the difference between two distance sequences; use the root mean square error RMSE:

[0025] in, are the lengths of the two sequences, and are the corresponding elements in the initial signal propagation distance sequence and the second distance signal propagation distance sequence respectively; according to the calculated difference, the accuracy of the target locking of the unmanned operation platform is evaluated; a threshold is set , when the difference is less than the threshold, the target locking party is considered to be locked accurately: if Then the target locking party is accurate.

[0026] A target locking system for an unmanned operating platform based on a navigation satellite, comprising: Beidou navigation satellite receiving and preprocessing module: used to receive and process Beidou navigation satellite signals, calculate coordinate data, and perform data preprocessing; Data classification and optimization module: used to classify positioning data, distinguish accurate and ambiguous data, and use Kalman filtering to predict the target lock position; Weight calculation module: used to calculate the weight of the second distance and dynamically adjust parameters; Path planning module: used to set intermediate points and optimize path planning; Frequency adjustment and optimization module: used to calculate and adjust the frequency according to the relative coordinate difference and perform closed-loop optimization; Signal propagation time and accuracy evaluation module: used to construct distance sequences using signal propagation time data and evaluate the accuracy of target locking.

[0027] Beneficial effects: First, the coordinates between the unmanned operating platform and the target locking party are accurately obtained through the high-precision positioning system of the Beidou navigation satellite, and the initial first distance is set, laying a solid foundation for the subsequent steps; then, the second distance is set vertically at the midpoint of the line segment to which the first distance belongs. This process not only takes into account the escape behavior of the target locking party, but also combines the navigation positioning accuracy and relative speed, and dynamically adjusts the second distance through weight calculation, thereby enhancing the adaptability and response speed to the mobile target locking party; then, by reasonably setting N intermediate points on the line segment to which the second distance belongs, and using the fuzzy reasoning model to determine the optimal path, the unmanned operating platform to the target is further optimized. The system can adjust the second distance and the third distance in real time according to the changing relative position between the unmanned platform and the target locking party, and this real-time adjustment mechanism ensures the flexibility and accuracy of the locking process, so that the unmanned platform can quickly respond to any movement changes of the target; finally, the entire system uses a closed-loop control mechanism to construct a distance sequence based on the signal propagation time to evaluate and continuously optimize the accuracy of the target locking party, forming a self-improving target locking party tracking system, which greatly improves the target locking capability and mission success rate of the unmanned platform in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of a method for unmanned operating platform target locking based on navigation satellites according to the present invention; Figure 2 This is a schematic structural diagram of a target locking system for an unmanned operating platform based on a navigation satellite according to the present invention; Figure 3 It is a schematic diagram of the distance relationship between the unmanned operation platform of the present invention and the target locking party. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of 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 are within the scope of protection of the present invention.

[0030] Embodiment 1: A method for locking a target of an unmanned operating platform based on a navigation satellite, such as Figure 1 As shown, the following steps are included: S1: Obtain accurate coordinate data of the unmanned operating platform and the target locked party by receiving radio wave signals from Beidou navigation satellites; calculate the length of the line segment between the unmanned operating platform and the target locked party based on the corrected accurate coordinate data of the unmanned operating platform and the target locked party and define it as a first distance; S2: At the midpoint of the line connecting the unmanned operating platform and the target locking party, determine a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party, calculate the length of the new line segment and define it as the second distance; the position of the line segment to which the second distance belongs will be adjusted according to the positioning accuracy of the Beidou navigation satellite; S3: Based on the needs of specific application scenarios and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in order of priority for determining the generation of the N points; first, the length of the line connecting the unmanned operating platform and point 1, as well as the length of the line connecting point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., points N in turn; S4: Dynamically adjust the second distance and the third distance according to the coordinates of the unmanned operating platform and the target locking party coordinates data provided by the Beidou navigation satellite; S5: Build a closed-loop control system based on BeiDou navigation satellite data to continuously monitor and adjust the motion trajectory of the unmanned platform.

[0031] Calculating the length of a line segment between the unmanned operation platform and the target locking party and defining it as a first distance includes: using Beidou navigation satellites to obtain coordinate data of the unmanned operation platform and coordinate data of the target locking party, and performing preprocessing; based on the preprocessed unmanned operation coordinate data and target locking party coordinate data, calculating the length of a line segment between the coordinates of the unmanned operation platform and the coordinates of the target locking party, and defining it as the first distance; the first distance is the length of a line segment between the unmanned operation platform and the target locking party; the calculation formula of the first distance is as follows: in,( , ) is the coordinate of the unmanned platform, ( , ) is the coordinate of the target locking party, It is the length of the line segment between the unmanned platform and the target locking party.

[0032] Further explanation is that by obtaining the high-precision coordinates of the unmanned platform and the target locked party through Beidou navigation satellites, and calculating the line segment length (first distance) between the two based on these coordinates, it is not only possible to achieve precise positioning and real-time monitoring, but also to optimize path planning, ensure safe distance and evaluate performance. For example, if the coordinates of the unmanned platform are (10,20) and the coordinates of the target locked party are (30,40), then the first distance Unit length, this distance can be used to adjust path and speed in real time to improve mission efficiency and safety.

[0033] At the midpoint of the line connecting the unmanned operating platform and the target locking party, a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party is determined, and the length of the new line segment is calculated and defined as a second distance, including: the second distance is a line segment perpendicular to the line segment to which the first distance belongs; the coordinates at the midpoint of the first distance are: ; The length of the line segment of the second distance is obtained by the following steps: using the Beidou navigation satellite to obtain the initial coordinates of the target locked party; setting the first weight of the second distance based on the escape coordinates of the initial coordinates of the target locked party, and setting the second weight of the second distance based on the Beidou navigation satellite positioning accuracy of the escape coordinates of the target locked party; setting the third weight of the second distance based on the speed of the unmanned operation platform relative to the target locked party; and calculating the second distance by a formula.

[0034] Further explanation is that the second distance helps to improve the tracking accuracy and response speed of the unmanned platform to the target locking party. The coordinates of . The second distance is obtained by the following steps: first, the initial coordinates of the target lock party are obtained using the Beidou navigation satellite; then, the first weight is set based on the escape coordinates of the initial coordinates of the target lock party, the second weight is set based on the Beidou navigation satellite positioning accuracy of the escape coordinates, and the third weight is set based on the speed of the unmanned platform relative to the target lock party; finally, the second distance is calculated by the formula. This method more accurately predicts the motion trajectory of the target lock party, optimizes path planning, and ensures that the unmanned platform can adjust its strategy in time to improve the success rate and safety of the mission. For example, if the target lock party suddenly changes direction, the setting of the second distance helps the unmanned platform react faster and avoid losing the target lock party.

[0035] The second distance is calculated by a formula, including: The formula is as follows:

[0036] in, is a constant coefficient, is the first weight, is the escape distance of the target locked party, is the second weight, For the Beidou navigation satellite positioning accuracy, is the third weight, is the speed of the unmanned platform relative to the target lock party, The length of the line segment for the second distance.

[0037] Further explanation is, is a constant coefficient used to adjust the length of the second distance, is the first weight, based on the escape coordinates of the target lock party's initial coordinates, is the second weight, based on the Beidou navigation satellite positioning accuracy of the target lock party’s escape coordinates, is the third weight, based on the speed of the unmanned platform relative to the target lock party; through the formula Calculate the second distance, more accurately predict the target's movement trajectory and optimize the unmanned platform's response strategy, so that the unmanned platform can adjust the path more quickly and ensure timely interception or following of the target, thereby improving the success rate and safety of the mission.

[0038] Based on the needs of specific application scenarios and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in order of priority for determining the generation of the N points; first, the length of the line between the unmanned operating platform and point 1, as well as the length of the line between point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., and N in turn, including: obtaining the Beidou navigation satellite's position relative to the target; The positioning accuracy data of the target locking party; use the SVM classification model to classify the positioning accuracy data to obtain accurate and ambiguous positioning data; predict the escape coordinates of the target locking party based on the Kalman filter model; determine the accuracy of the Beidou navigation satellite positioning path by combining the accurate and ambiguous positioning data obtained by the SVM classification model and the escape coordinates of the target locking party predicted by the Kalman filter model; set N points on the line segment belonging to the second distance, take the unmanned operation platform as the starting point, and connect the N points with the target locking party to form a third distance; calculate the third distance through the formula.

[0039] Further explanation is that N points are set on the line segment to which the second distance belongs, and the unmanned platform is used as the starting point to connect to the predicted position of the target lock party through N points. The length of the line connecting the three points of the unmanned platform, the middle point, and the target lock party is calculated and defined as the third distance. This process combines the positioning accuracy data of the Beidou navigation satellite, the classification results of the positioning data by the SVM classification model, and the escape coordinates of the target lock party predicted by the Kalman filter model to ensure the accuracy of path planning. First, the positioning accuracy data of the Beidou navigation satellite is obtained, and the SVM classification model is used to divide it into accurate and fuzzy categories; then, the Kalman filter model is used to predict the escape coordinates of the target lock party; finally, based on the above analysis, N points are set on the line segment to which the second distance belongs to form a path, and the third distance is calculated by the formula. This method improves the accuracy and reliability of path planning. For example, when the target lock party attempts to escape, the position is predicted more accurately, thereby optimizing the route of the unmanned platform and improving the tracking efficiency and success rate. In the path planning process, the SVM classification model is first used to classify the target position data provided by the Beidou navigation satellite to distinguish high-precision and low-precision data points. Next, the Kalman filter model predicts the future position of the target based on high-precision data points, generating a smoother and more accurate trajectory. Finally, the fuzzy inference model is used to determine N intermediate points on this predicted trajectory to form an optimized path from the unmanned platform to the target. This method of combining SVM classification and Kalman filtering improves the accuracy and reliability of path planning, enabling the unmanned platform to track moving targets efficiently and accurately.

[0040] The third distance is calculated by the formula, including: The formula is as follows: in, is the length of the line segment to which the third distance belongs, ( , ) is the first The coordinates of the points, is the number of points set on the line segment to which the second distance belongs, It is the minimum value of the total length from the unmanned platform to each intermediate point and then to the target locking party's locking position.

[0041] A further explanation is that, through the formula Choose the best path to quickly approach the target, reducing travel time and resource consumption even in complex environments, and improving response speed and mission success rate; Further explanation is that, for ease of understanding, the first distance, second distance, and third distance in the accompanying drawings are all represented by D1 / 2, D2 / 2, and D3 / 2, that is, D1 = D1 / 2+ D1 / 2, D2 = D2 / 2+ D2 / 2, D3 = D3 / 2+ D3 / 2, and the N points are represented by the point at the bottom of the line segment to which the second distance belongs.

[0042] According to the coordinate data of the unmanned operating platform and the target locking party provided by the Beidou navigation satellite, the second distance and the third distance are dynamically adjusted, including: obtaining the relative coordinates of the unmanned operating platform and the target locking party, and calculating the relative coordinate difference; if the relative coordinate difference is a positive value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a first frequency; if the relative coordinate is a negative value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a second frequency; obtaining the first frequency and the second frequency according to the relative coordinate difference; based on the target locking party locking data modified by the first frequency and the second frequency, obtaining the signal propagation time by using the Beidou navigation satellite, and constructing a distance sequence based on the signal propagation time.

[0043] Further explanation is that dynamically adjusting the second distance and the third distance according to the relative coordinates between the unmanned platform and the target lock party can make the tracking process more flexible and efficient. The advantage of dynamically adjusting the second distance and the third distance is that it can improve the tracking accuracy and response speed. By obtaining the relative coordinates between the unmanned platform and the target lock party, and adjusting the direction of the line segment to which the second distance belongs to move toward the target lock party at different frequencies according to the relative coordinate difference (positive or negative value), a rapid response to the position change of the target lock party is ensured. In addition, the first frequency and the second frequency determined based on the relative coordinate difference, combined with the distance sequence constructed by the propagation time of the Beidou navigation satellite signal, further enhance the accuracy of the prediction of the motion trajectory of the target lock party. This mechanism is particularly important in military operations. For example, when performing reconnaissance missions, if the enemy target lock party suddenly changes its direction or speed, the unmanned platform can quickly adjust its tracking strategy and maintain effective monitoring of the target lock party, thereby improving combat efficiency and safety. Such a dynamic adjustment mechanism ensures that the unmanned platform can respond to various situations more flexibly in a complex and changing battlefield environment. When dynamically adjusting the second distance, based on the positioning accuracy of the Beidou navigation satellite and the movement of the target locked party, the system first calculates the relative coordinate difference between the unmanned operating platform and the target. If the relative coordinate difference is positive, the line segment to which the second distance belongs moves toward the target at the first frequency; if it is negative, it moves at the second frequency. The frequency is calculated based on the relative coordinate difference through the formula and This mechanism ensures that the unmanned platform can quickly respond to the position changes of the target and improve the tracking accuracy.

[0044] Obtaining the first frequency and the second frequency according to the relative coordinate difference includes:

[0045]

[0046]

[0047]

[0048]

[0049]

[0050] in, is the relative coordinate difference between the unmanned platform and the target locking party in the x direction, is the relative coordinate difference between the unmanned platform and the target locking party in the y direction, is the base frequency, which is the system default frequency value. is the adjustment coefficient, is the first frequency when the relative coordinate difference is positive, is the second frequency when the relative coordinate difference is negative.

[0051] Further explanation is, is the base frequency, which is the system default frequency value, for example, set it to 1Hz. is the adjustment coefficient, which is used to control the sensitivity of frequency changes; The value will make the frequency change more sensitive, and the smaller the The value will make the frequency change more smoothly; obtaining the first frequency and the second frequency based on the relative coordinate difference can make the unmanned operation platform track the target more accurately and flexibly. Specifically, by calculating the relative coordinate difference in the x direction The relative coordinate difference in the y direction , and use the formula (when )or (when ), and the corresponding formula in the y direction to determine the adjustment frequency. Here, is the reference frequency, is the adjustment coefficient, which is used to control the sensitivity of frequency changes. The advantage of this method is that it dynamically adjusts the tracking speed according to the actual position change of the target lock party, thereby improving the response efficiency. For example, in military reconnaissance, if the target lock party suddenly moves to the right and causes This ensures that the unmanned platform quickly adapts to the target's movements, allowing for more effective tracking and locking. and When both are not 0, the maximum value of the two is taken as the final adjustment frequency. This ensures that appropriate responses are made in both directions. Specifically: Calculate and for and : , , , , and finally adjust the frequency The maximum value among these frequencies: .

[0052] Based on the modified target lock data of the first frequency and the second frequency, the signal propagation time is obtained by using the Beidou navigation satellite, and a distance sequence is constructed based on the signal propagation time, including: constructing an initial signal propagation distance sequence according to the signal propagation time data obtained by the Beidou navigation satellite; constructing a second distance signal propagation distance sequence based on the propagation time data of the signal obtained by the Beidou navigation satellite at the center point of the line segment to which the second distance belongs; calculating the difference between the initial signal propagation distance sequence and the second distance signal propagation distance sequence, and evaluating the accuracy of the unmanned platform target lock based on the difference; Based on the signal propagation time data obtained from Beidou navigation satellite , using the speed of light Calculate the initial signal propagation distance , and construct the initial signal propagation distance sequence Similarly, at the center point of the line segment to which the second distance belongs, according to the signal propagation time data obtained by the Beidou navigation satellite , calculate the second distance signal propagation distance , and construct the second distance signal propagation distance sequence ; Based on the initial signal propagation distance sequence and the second distance signal propagation distance sequence , calculate the difference between two distance sequences; use the root mean square error RMSE:

[0053] in, are the lengths of the two sequences, and are the corresponding elements in the initial signal propagation distance sequence and the second distance signal propagation distance sequence respectively; according to the calculated difference, the accuracy of the target locking of the unmanned operation platform is evaluated; a threshold is set , when the difference is less than the threshold, the target locking party is considered to be locked accurately: if Then the target locking party is accurate.

[0054] Further explanation is that the difference includes: Generally, the smaller the difference, the closer the two distance sequences are, and the higher the accuracy of the target locking party; this method can provide a quantitative means to evaluate the accuracy of the target locking party of the unmanned operation platform, and allow the system to dynamically adjust the tracking strategy according to the actual situation. For example, when performing a military reconnaissance mission, if the unmanned operation platform detects that the current target locking party locking accuracy is lower than the preset threshold, that is, the RMSE is greater than The system improves positioning accuracy by increasing tracking frequency or adjusting path planning to ensure effective monitoring of the moving target. This not only enhances the adaptability of the unmanned platform in complex environments, but also improves the overall mission success rate.

[0055] Example 2: Based on Example 1, a navigation satellite-based unmanned platform target locking system includes:

[0056] Beidou navigation satellite receiving and preprocessing module: used to receive and process Beidou navigation satellite signals, calculate coordinate data, and perform data preprocessing; Data classification and optimization module: used to classify positioning data, distinguish accurate and ambiguous data, and use Kalman filtering to predict the target lock position; Weight calculation module: used to calculate the weight of the second distance and dynamically adjust parameters; Path planning module: used to set intermediate points and optimize path planning; Frequency adjustment and optimization module: used to calculate and adjust the frequency according to the relative coordinate difference and perform closed-loop optimization; Signal propagation time and accuracy evaluation module: used to construct distance sequences using signal propagation time data and evaluate the accuracy of target locking.

[0057] The above is a detailed introduction to the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for unmanned platform target locking based on navigation satellite, characterized in that: The following steps are involved: S1: Obtain accurate coordinate data of the unmanned operating platform and the target locked party by receiving radio wave signals from Beidou navigation satellites; calculate the length of a line segment between the unmanned operating platform and the target locked party based on the corrected accurate coordinate data of the unmanned operating platform and the target locked party and define it as a first distance; S2: At the midpoint of the line connecting the unmanned operating platform and the target locking party, determine a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party, calculate the length of the new line segment and define it as the second distance; the position of the line segment to which the second distance belongs will be adjusted according to the positioning accuracy of the Beidou navigation satellite; S3: Based on the needs of specific application scenarios and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in order of priority for determining the generation of the N points; first, the length of the line connecting the unmanned operating platform and point 1, as well as the length of the line connecting point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., points N in turn; S4: Dynamically adjust the second distance and the third distance according to the coordinates of the unmanned operating platform and the target locking party coordinates data provided by the Beidou navigation satellite; S5: Build a closed-loop control system based on BeiDou navigation satellite data to continuously monitor and adjust the motion trajectory of the unmanned platform.

2. A method for unmanned platform target locking based on navigation satellite according to claim 1, characterized in that: The calculating of the line segment length between the unmanned operation platform and the target locking party and defining it as the first distance includes: using Beidou navigation satellite to obtain coordinate data of the unmanned operation platform and coordinate data of the target locking party, and performing preprocessing; based on the preprocessed unmanned operation coordinate data and target locking party coordinate data, calculating the line segment length between the coordinates of the unmanned operation platform and the coordinates of the target locking party, and defining it as the first distance; the first distance is the line segment length between the unmanned operation platform and the target locking party; the calculation formula of the first distance is as follows: in,( , ) is the coordinate of the unmanned platform, ( , ) is the coordinate of the target locking party, It is the length of the line segment between the unmanned platform and the target locking party.

3. The method for unmanned platform target locking based on navigation satellite according to claim 1, characterized in that: The method of determining a new line segment perpendicular to the line connecting the unmanned operating platform and the target locking party at the midpoint of the line connecting the unmanned operating platform and the target locking party, calculating the length of the new line segment and defining it as a second distance comprises: the second distance is a line segment perpendicular to the line segment to which the first distance belongs; and the coordinates at the midpoint of the first distance are: ; The length of the line segment of the second distance is obtained by the following steps: using the Beidou navigation satellite to obtain the initial coordinates of the target locked party; setting the first weight of the second distance based on the escape coordinates of the initial coordinates of the target locked party, and setting the second weight of the second distance based on the Beidou navigation satellite positioning accuracy of the escape coordinates of the target locked party; setting the third weight of the second distance based on the speed of the unmanned operation platform relative to the target locked party; and calculating the second distance by a formula.

4. A method for unmanned platform target locking based on navigation satellite according to claim 3, characterized in that: The second distance is calculated by a formula, including: the formula is calculated as follows: in, is a constant coefficient, is the first weight, is the escape distance of the target locked party, is the second weight, For the Beidou navigation satellite positioning accuracy, is the third weight, is the speed of the unmanned platform relative to the target lock party, The length of the line segment for the second distance.

5. The method for unmanned platform target locking based on navigation satellite according to claim 1, characterized in that: Based on the needs of specific application scenarios and the accuracy requirements of the Beidou satellite navigation system, N points are determined on the line segment to which the second distance belongs through a fuzzy reasoning model, and are marked as point 1, point 2, point 3, ..., point N in order of priority for determining the generation of the N points; first, the length of the line between the unmanned operating platform and point 1, as well as the length of the line between point 1 and the three points of the target locking party are calculated, and the length of the line is defined as the third distance; then, the above calculation process is repeated for the remaining points 2, 3, ..., and N in turn, including: obtaining the Beidou navigation satellite pair The positioning accuracy data of the target locked party; use the SVM classification model to classify the positioning accuracy data to obtain accurate and ambiguous positioning data; predict the escape coordinates of the target locked party based on the Kalman filter model; determine the accuracy of the Beidou navigation satellite positioning path by combining the accurate and ambiguous positioning data obtained by the SVM classification model and the escape coordinates of the target locked party predicted by the Kalman filter model; set N points on the line segment belonging to the second distance, take the unmanned operation platform as the starting point, and connect the N points with the target locked party to form a third distance; calculate the third distance through the formula.

6. A method for unmanned platform target locking based on navigation satellite according to claim 5, characterized in that: The third distance is calculated by a formula, including: the formula is as follows: in, is the length of the line segment to which the third distance belongs, ( , ) is the first The coordinates of the points, is the number of points set on the line segment to which the second distance belongs, It is the minimum value of the total length from the unmanned platform to each intermediate point and then to the target locking party's locking position.

7. The method for unmanned platform target locking based on navigation satellite according to claim 1, characterized in that: The method dynamically adjusts the second distance and the third distance according to the coordinates of the unmanned operating platform and the coordinate data of the target locking party provided by the Beidou navigation satellite, including: obtaining the relative coordinates of the unmanned operating platform and the target locking party, and calculating the relative coordinate difference; if the relative coordinate difference is a positive value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a first frequency; if the relative coordinate is a negative value, the line segment to which the second distance belongs moves in a direction close to the target locking party at a second frequency; obtaining the first frequency and the second frequency according to the relative coordinate difference; based on the target locking party locking data modified by the first frequency and the second frequency, obtaining the signal propagation time using the Beidou navigation satellite, and constructing a distance sequence based on the signal propagation time.

8. A method for unmanned platform target locking based on navigation satellite according to claim 7, characterized in that: The obtaining of the first frequency and the second frequency according to the relative coordinate difference includes: in, is the relative coordinate difference between the unmanned platform and the target locking party in the x direction; is the relative coordinate difference between the unmanned platform and the target locking party in the y direction; is the reference frequency; is the adjustment coefficient; is the first frequency when the relative coordinate difference is positive; is the second frequency when the relative coordinate difference is negative.

9. A method for unmanned operation platform target locking based on navigation satellite according to claim 7, characterized in that: The method comprises: obtaining signal propagation time using Beidou navigation satellites based on the target lock data modified by the first frequency and the second frequency, and constructing a distance sequence based on the signal propagation time, including: constructing an initial signal propagation distance sequence based on the signal propagation time data obtained by Beidou navigation satellites; constructing a second distance signal propagation distance sequence based on the propagation time data of the signal at the second distance center point obtained by Beidou navigation satellites; calculating the difference between the two distance sequences based on the initial signal propagation distance sequence and the second distance signal propagation distance sequence, and evaluating the accuracy of the unmanned platform target lock based on the difference; Based on the signal propagation time data obtained from Beidou navigation satellite , using the speed of light Calculate the initial signal propagation distance , and construct the initial signal propagation distance sequence Similarly, at the center point of the line segment to which the second distance belongs, according to the signal propagation time data obtained by the Beidou navigation satellite , calculate the second distance signal propagation distance , and construct the second distance signal propagation distance sequence ; Based on the initial signal propagation distance sequence and the second distance signal propagation distance sequence , calculate the difference between two distance sequences; use the root mean square error RMSE: in, are the lengths of the two sequences, and are the corresponding elements in the initial signal propagation distance sequence and the second distance signal propagation distance sequence respectively; according to the calculated difference, the accuracy of the target locking of the unmanned operation platform is evaluated; a threshold is set , when the difference is less than the threshold, the target locking party is considered to be locked accurately: if Then the target locking party is accurate.

10. A navigation satellite-based unmanned platform target locking system, used in the navigation satellite-based unmanned platform target locking method according to any one of claims 1 to 9, characterized in that: Included are: Beidou navigation satellite receiving and preprocessing module: used to receive and process Beidou navigation satellite signals, calculate coordinate data, and perform data preprocessing; Data classification and optimization module: used to classify positioning data, distinguish accurate and ambiguous data, and use Kalman filtering to predict the target lock position; Weight calculation module: used to calculate the weight of the second distance and dynamically adjust parameters; Path planning module: used to set intermediate points and optimize path planning; Frequency adjustment and optimization module: used to calculate and adjust the frequency according to the relative coordinate difference and perform closed-loop optimization; Signal propagation time and accuracy evaluation module: used to construct distance sequences using signal propagation time data and evaluate the accuracy of target locking.

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