A method and system for rapid calibration of navigation and positioning in satellite-denied areas

Abstract

The present invention provides a method and system for rapid calibration of navigation and positioning in a satellite-denied area, the method comprising: deploying multiple integrated communication and navigation terminals to form a ground node network; designing a micro-unmanned aerial vehicle as an aerial node; obtaining real-time position information of the aerial node through an inertial navigation system; using a data link to measure the distance information between the ground node and the aerial node in real time; based on the distance information, using the Newton iteration method based on least squares to estimate the position of the ground node and the time transmission error, and obtain the position information of the ground node. The method combines the advantages of inertial full autonomy and high-precision ranging of the data link to achieve real-time calibration of the ground node.

Description

Technical Field

[0001] The present invention belongs to the field of navigation technology, and in particular relates to a method and system for rapid calibration of navigation positioning in a satellite-denied area, mainly targeting the application fields of navigation positioning and timing in wartime. Background Art

[0002] Satellite navigation systems represented by Beidou and GPS have increased the strike capability of various weapons and equipment to the meter level, transforming the original "destruction" combat mode into a modern "scalpel" fixed-point strike mode, and have been widely used. With the continuous upgrading of modern warfare confrontation means and equipment, the battlefield environment is extremely complex. Under conditions of obstruction and strong interference, satellite navigation systems are difficult to continuously provide stable and reliable navigation information. In regional operations, guided artillery shells, air-guided bombs, micro-unmanned aerial vehicles and other major combat equipment are restricted by factors such as volume, weight, and cost. Low-precision inertial navigation systems are used. Once the satellite signal fails, its combat performance will be greatly reduced or even unable to work. At the same time, due to the ever-changing battlefield situation, long-term PNT (Positioning, Navigation and Timing, PNT) network deployment will miss favorable opportunities. Therefore, it is urgent to carry out research on rapid calibration methods for navigation and positioning in satellite-denied areas, which can provide a time and space benchmark as an effective supplement to satellite navigation in complex battlefield environments. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the present invention provides a method and system for rapid calibration of navigation positioning in a satellite-denied area.

[0005] The technical solution of the present invention is as follows:

[0006] According to one aspect, a method for rapid calibration of navigation positioning in a satellite-denied area is provided, the method comprising:

[0007] Deploy multiple integrated communication and navigation terminals to form a ground node network;

[0008] The design uses micro drones as aerial nodes;

[0009] Obtain real-time location information of aerial nodes through the inertial navigation system;

[0010] Use data link to measure the distance information between ground nodes and aerial nodes in real time;

[0011] Based on the distance information, the Newton iteration method based on least squares is used to estimate the position of the ground node and the time transmission error to obtain the position information of the ground node.

[0012] Furthermore, the method further comprises:

[0013] As the confrontation progresses, the obtained ground node location information will be used as a new reference point to locate and time the equipment.

[0014] Furthermore, the real-time location information of the aerial node is obtained by the following method:

[0015]

[0016] Among them, (x i ,y i ,z i ) is the coordinate of the aerial node in the geodetic coordinate system at the i-th sampling time; the latitude and longitude of the aerial node at the i-th sampling time is Re is the radius of the earth.

[0017] Further, based on the distance information, the Newton iteration method based on least squares is used to estimate the position of the ground node and the time transmission error to obtain the position information of the ground node, including:

[0018] Assume the geographic coordinates of the ground node in the geodetic coordinate system are [x, y, z] T , N equations are formed for the N groups of measured data, as shown in the following formula (2):

[0019]

[0020] in, ρ i (i=1,2,3,…,N) is the real distance between the aerial node and the ground node at the i-th moment;

[0021] Based on the formula (2), Newton's iteration method is used to solve (x, y, z).

[0022] Furthermore, when using Newton's method:

[0023] Let the update amount of the kth iteration be Δx, then by solving the linear equation system of formula (3), we can obtain (x, y, z):

[0024] G×Δx=b (1)

[0025] in:

[0026]

[0027] G is f(x,y,z,x i ,y i ,z i ) in x k-1The Jacobian matrix of partial derivatives of (x, y, z) is N*3; b is N*1 matrix, where The relative distance between the air node and the ground node measured for the data link;

[0028] Then, the least squares solution is used to obtain the theoretical update Δx:

[0029] Δx=(G T G) -1 G T b (2)

[0030] There are: x k =x k-1 +ζ·Δx, ζ is the step size.

[0031] Furthermore, ζ is selected to be ζ≤0.5.

[0032] Furthermore, x k =x k-1 +ζ·Δx, the initial value x0 is taken as:

[0033]

[0034] Furthermore, the deployment of ground nodes is completed through artillery shells or drones.

[0035] According to another aspect, a rapid calibration system for navigation and positioning in a satellite-denied area is provided. The calibration system adopts the above-mentioned method to implement rapid calibration of navigation and positioning in a satellite-denied area.

[0036] The above technical solution aims to solve the problem that it is difficult for ground nodes to obtain position reference information after deployment. It uses micro-UAVs as aerial nodes to achieve high-precision calibration of ground terminals. The aerial node position information is known, and high-precision inertial navigation is mainly used to obtain its own position information. Through the geometric distribution relationship between aerial nodes and ground nodes, the ground nodes are quickly and accurately calibrated, and the high-precision absolute position information of the ground nodes is obtained, which is the core key to the generation of regional PNT networks. This method uses the anti-interference and high-precision ranging characteristics of the data link, and based on the Newton iteration method, establishes the optimal spatiotemporal geometric distribution relationship between aerial nodes and ground nodes, and completes the rapid and high-precision calibration of ground terminals. This method can provide flexible and high-precision ground reference points for regional PNT capability generation, and realize PNT agile deployment and precision evolution in complex environments during battlefield advancement. This method meets the agile PNT requirements of battlefield environments and improves the precision strike capability of weapons and equipment. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in 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.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] Unless otherwise specifically stated, the relative arrangement of the parts and steps set forth in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values.

[0040] In one embodiment of the present invention, a method for rapid calibration of navigation positioning in a satellite-denied area is provided, the method comprising:

[0041] Step 1: deploy multiple integrated communication and navigation terminals to form a ground node network;

[0042] Step 2: Design a micro-UAV as an aerial node;

[0043] Step 3: Obtain the real-time position information of the aerial node through the inertial navigation system;

[0044] Step 4: Use data link to measure the distance information between ground nodes and aerial nodes in real time;

[0045] Step 5: Based on the distance information, the Newton iteration method based on least squares is used to estimate the position of the ground node and the time transmission error to obtain the position information of the ground node.

[0046] That is, communication and navigation integration is an important component and key direction of the development of the comprehensive PNT system. It refers to the integration of communication and navigation systems through multi-level integrated design of signals, information, platforms, networks, etc., to achieve coordination and enhancement of communication and navigation business capabilities. Data link is one of the typical application products. It has high transmission power, frequency hopping and time hopping functions, and strong anti-interference ability. It is one of the more ideal alternative systems in an environment where satellite navigation is unavailable.

[0047] In the embodiment of the present invention, regional PNT uses various means such as artillery firing and air-launched delivery to quickly deploy multiple integrated communication and navigation terminals on the battlefield front line to form a ground node network, and uses micro-unmanned aerial vehicles to achieve rapid calibration of ground nodes, build regional PNT capabilities, and design a high-precision calibration method for regional PNT network nodes to meet the agile PNT requirements of the battlefield environment and enhance the precision strike capability of weapons and equipment. This method can provide flexible and high-precision ground reference points for regional PNT capability generation, and realize agile deployment and precision evolution of PNT in complex environments during battlefield advancement. That is, as the confrontation advances, the obtained ground node position information is used as a new reference point to locate and time the equipment.

[0048] It can be seen that the embodiment of the present invention aims at the problem that it is difficult for ground nodes to obtain position reference information after deployment, and uses micro-UAVs as aerial nodes to achieve high-precision calibration of ground terminals. Among them, the position information of aerial nodes is known, and high-precision inertial navigation is mainly used to obtain its own position information. Through the geometric distribution relationship between aerial nodes and ground nodes, the ground nodes are quickly and accurately calibrated, and the high-precision absolute position information of ground nodes is obtained, which is the core key to the generation of regional PNT networks. This method utilizes the anti-interference and high-precision ranging characteristics of the data link, and establishes the optimal spatiotemporal geometric distribution relationship between aerial nodes and ground nodes based on the Newton iteration method, and completes the rapid and high-precision calibration of ground terminals. This method can provide flexible and high-precision ground reference points for regional PNT capability generation, and realize PNT agile deployment and precision evolution in complex environments during battlefield advancement. This method meets the agile PNT requirements of battlefield environments and improves the precision strike capability of weapons and equipment.

[0049] In the above embodiment, the real-time location information of the aerial node is obtained by the following method:

[0050]

[0051] Among them, (x i ,y i ,z i ) is the coordinate of the aerial node in the geodetic coordinate system at the i-th sampling time; the latitude and longitude of the aerial node at the i-th sampling time is Re is the radius of the earth.

[0052] In the above embodiment, the Newton iteration method of the least square method itself is a well-known technology in the art, and the key point of the embodiment of the present invention is not this. The Newton iteration method of the least square method of the embodiment of the present invention is described below:

[0053] Assume the geographic coordinates of the ground node in the geodetic coordinate system are [x, y, z] T , N equations are formed for the N groups of measured data, as shown in the following formula (2):

[0054]

[0055] in, ρ i (i=1,2,3,…,N) is the real distance between the aerial node and the ground node at the i-th moment;

[0056] Based on the formula (2), Newton's iteration method is used to solve (x, y, z).

[0057] That is, let the update amount of the kth iteration be Δx, then by solving the linear equation system of formula (3), we can obtain (x, y, z):

[0058] G×Δx=b (3)

[0059] in:

[0060]

[0061] G is f(x,y,z,x i ,y i ,z i ) in x k-1 The Jacobian matrix of partial derivatives of (x, y, z) is N*3; b is N*1 matrix, where The relative distance between the air node and the ground node measured for the data link;

[0062] Then, the least squares solution is used to obtain the theoretical update Δx:

[0063] Δx=(G T G) -1 G T b (4)

[0064] There are: x k =x k-1 +ζ·Δx, ζ is the step size.

[0065] Preferably, in order to avoid estimating iterations to the radial space, ζ is designed to be ζ≤0.5.

[0066] Preferably, in order to better ensure the accuracy of the results, x k =x k-1 +ζ·Δx, the initial value x0 is taken as:

[0067]

[0068] According to another embodiment, a rapid calibration system for navigation and positioning in a satellite-denied area is provided. The calibration system adopts the above-mentioned method to implement rapid calibration of navigation and positioning in a satellite-denied area.

[0069] That is, the implementation principle of the system is consistent with the method of the above-mentioned embodiment, and will not be elaborated here.

[0070] Features described and / or illustrated above for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or used in place of features in other embodiments.

[0071] It should be emphasized that the term "include / comprises" when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components or combinations thereof.

[0072] The above method of the present invention can be implemented by hardware, or by hardware combined with software. The present invention relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above-mentioned device or component, or enables the logic component to implement the above-mentioned various methods or steps. The present invention also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0073] The many features and advantages of these embodiments are apparent from this detailed description, and thus the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since numerous modifications and changes will readily occur to those skilled in the art, it is not intended that the embodiments of the invention be limited to the exact construction and operation illustrated and described, but rather all suitable modifications and equivalents falling within the scope thereof are intended to be covered.

[0074] Parts of the present invention that are not described in detail are well known to those skilled in the art.

Claims

1. A method for rapid calibration of navigation positioning in a satellite-denied area, characterized in that: The method comprises: Deploy multiple integrated communication and navigation terminals to form a ground node network; The design uses micro drones as aerial nodes; Obtain real-time location information of aerial nodes through the inertial navigation system; Use data link to measure the distance information between ground nodes and aerial nodes in real time; Based on the distance information, the Newton iteration method based on least squares is used to estimate the position of the ground node and the time transmission error to obtain the position information of the ground node.

2. According to the method of claim 1, the method is characterized in that: The method further comprises: As the confrontation progresses, the obtained ground node location information will be used as a new reference point to locate and time the equipment.

3. A method for rapid calibration of navigation positioning in a satellite-denied area according to claim 1 or 2, characterized in that: Get the real-time location information of the aerial node by the following methods Among them, (x i ,y i ,z i ) is the coordinate of the aerial node in the geodetic coordinate system at the i-th sampling time; the latitude and longitude of the aerial node at the i-th sampling time is Re is the radius of the earth.

4. A method for rapid calibration of navigation positioning in a satellite-denied area according to any one of claims 1 to 3, characterized in that: Based on the distance information, the least squares-based Newton iteration method is used to estimate the position of the ground node and the time transmission error to obtain the position information of the ground node, including: Assume the geographic coordinates of the ground node in the geodetic coordinate system are [x, y, z] T , N equations are formed for the N groups of measured data, as shown in the following formula (2): in, ρ i (i=1,2,3,…,N) is the real distance between the aerial node and the ground node at the i-th moment; Based on the formula (2), Newton's iteration method is used to solve (x, y, z).

5. The method for rapid calibration of navigation positioning in a satellite-denied area according to claim 4, characterized in that: When using Newton's method: Let the update amount of the kth iteration be Δx, then by solving the linear equation system of formula (3), we can obtain (x, y, z): G×Δx=b (1) in: G is f(x,y,z,x i ,y i ,z i ) in x k-1 The Jacobian matrix of partial derivatives of (x, y, z) is N*3; b is N*1 matrix, where The relative distance between the air node and the ground node measured for the data link; Then, the least squares solution is used to obtain the theoretical update Δx: Δx=(G T G) -1 G T b (2) There are: x k =x k-1 +ζ·Δx, ζ is the step size.

6. The method for rapid calibration of navigation positioning in a satellite-denied area according to claim 5, characterized in that: ζ is selected as ζ≤0.

5.

7. A method for rapid calibration of navigation positioning in a satellite-denied area according to claim 5 or 6, characterized in that: x k =x k-1 +ζ·Δx, the initial value x0 is taken as:

8. The method for rapid calibration of navigation positioning in a satellite-denied area according to claim 1, characterized in that: The deployment of ground nodes is completed through artillery shells or drones.

9. A rapid calibration system for navigation and positioning in satellite-denied areas, characterized in that: The calibration system adopts the method described in any one of claims 1 to 8 to realize rapid calibration of navigation positioning in a satellite-denied area.

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