Data link relative navigation asynchronous measurement information processing method and device

Abstract

The embodiment of the invention provides a data chain relative navigation asynchronous measurement information processing method and device, and relates to the technical field of navigation information fusion, and the method comprises absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion. Wherein the absolute navigation asynchronous measurement information fusion comprises the following steps: acquiring local inertial navigation data, and performing absolute navigation information fusion on asynchronous data generated by inertial navigation, satellite navigation and barometric altimeters assembled in a local machine based on the local inertial navigation data; the relative navigation asynchronous measurement information fusion comprises the following steps: acquiring local inertial navigation data and other-machine inertial navigation data, and carrying out relative navigation information fusion on inertial navigation assembled in other machines and local inertial navigation obtained through navigation information on the basis of the local inertial navigation data and the other-machine inertial navigation data. The method covers absolute / relative navigation asynchronous measurement information processing, is high in universality and simple and reliable in implementation mode, and has high engineering application value.

Description

Technical Field

[0001] The present application relates to the technical field of navigation information fusion, and in particular to a method and device for processing data link relative navigation asynchronous measurement information. Background Art

[0002] Tactical Data Link (TDL), referred to as "data link", is a digital information system with a fixed message format and communication protocol. It is proposed to solve the problem of message interconnection between aircraft and monitors.

[0003] The data link relative navigation function needs to take into account both absolute navigation and relative navigation. Absolute navigation refers to the node realizing inertial navigation / satellite navigation / JTIDS combined navigation in the local machine when obtaining useful satellite navigation signals. In this case, the absolute navigation information of the node, such as longitude, latitude, and altitude, is accurate. There is also a situation where when there are several nodes in the network that can obtain absolute navigation information, the absolute time and space reference can be transmitted through the relative navigation function, so that the nodes that cannot obtain satellite navigation signals also have absolute navigation capabilities. In addition to taking into account the absolute navigation function, the relative navigation function is mainly used to realize the calculation of the precise relative position of members in the network under the condition of satellite navigation denial. Both navigation methods need to realize the positioning information calculation through information fusion, and the information fusion process inevitably involves the information fusion of asynchronous measurement data. For absolute navigation measurement information, asynchronous information fusion mainly refers to the information fusion of inertial navigation, satellite navigation, and altimeter data; for relative navigation measurement information, asynchronous information fusion mainly refers to the fusion between the local inertial navigation information and the inertial navigation information broadcast by other machines through navigation information.

[0004] There are two types of phenomena in relative navigation information fusion that lead to asynchronous information fusion heterogeneity. One is the asynchrony caused by different sampling times of different sensor data, and the other is the asynchrony caused by communication delays caused by transmission lines or space propagation in the sampled data. At present, the fusion of asynchronous measurement information has not been considered in the relevant theoretical research on relative navigation information fusion. In fact, for the relative navigation function serving dense formations and aerial refueling guidance, if targeted solutions are not taken in the information fusion algorithm for asynchronous measurement information, it will cause relative positioning errors of tens of meters and cannot serve the scenarios with high-precision application requirements for relative positioning for dense formations and aerial refueling guidance. Therefore, corresponding measures must be taken to further improve the relevant theories of relative navigation information fusion and improve the feasibility of the algorithm in engineering practice.

[0005] Data link relative navigation technology is one of the important technical directions of communication and navigation fusion. It is an effective means to improve the flexibility of space-time reference built with satellite navigation as the core in a strong electromagnetic interference environment. The asynchronous measurement information processing method in relative navigation information fusion is one of the key technologies to improve the relative navigation information fusion theory and the accuracy of relative navigation information fusion. It is necessary to carry out targeted research. Summary of the invention

[0006] The embodiments of the present application provide a data link relative navigation asynchronous measurement information processing method and device to solve the technical problems existing in the prior art.

[0007] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0008] According to a first aspect of an embodiment of the present application, a method for processing data link relative navigation asynchronous measurement information is provided, comprising: Absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion; Wherein, the absolute navigation asynchronous measurement information fusion includes: Acquire the inertial navigation data of the aircraft, and perform absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft; The relative navigation asynchronous measurement information fusion comprises: The inertial navigation data of the own aircraft and the inertial navigation data of other aircraft are obtained, and based on the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft, relative navigation information fusion is performed on the inertial navigation installed in the other aircraft and the inertial navigation of the own aircraft obtained through navigation information.

[0009] In some embodiments of the present application, based on the above-mentioned solution, the absolute navigation information fusion of asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft includes: Based on the analysis of the aircraft's inertial navigation data, the generation time of the inertial navigation information, the generation time of the satellite navigation information and the generation time of the high pressure information are obtained; Based on the own-aircraft's velocity information in the northeast sky coordinate system, determine the rate of change of the own-aircraft's position; Based on the rate of change of the own aircraft's position and the inertial navigation position information at the time when the inertial navigation information is generated, determine the inertial navigation position information at the time when the satellite navigation information is generated and the inertial navigation position information at the time when the high pressure information is generated; The sequential Kalman filter is used to fuse the inertial navigation position information at the time when the inertial navigation information is generated, the inertial navigation position information at the time when the satellite navigation information is generated, and the inertial navigation position information at the time when the high pressure information is generated.

[0010] In some embodiments of the present application, based on the above solution, determining the rate of change of the position of the aircraft based on the velocity information of the aircraft in the northeast sky coordinate system includes: Get the speed information of the aircraft in the northeast sky coordinate system, including the eastward speed , North speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (1); ; (1) in, is the rate of change of latitude, is the rate of change of longitude, is the rate of change of altitude; Along the meridian, is the radius of curvature along the y-axis.

[0011] In some embodiments of the present application, based on the aforementioned solution, determining the inertial navigation position information at the time when the satellite navigation information is generated and the inertial navigation position information at the time when the high pressure information is generated based on the change rate of the aircraft position and the inertial navigation position information at the time when the inertial navigation information is generated includes: Get the inertial navigation position information at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (2), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the satellite navigation information is generated; ; (2) in, Indicates the latitude when the satellite navigation information is generated. Indicates the longitude when the satellite navigation information is generated. Indicates the altitude at which the satellite navigation information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when satellite navigation information is generated; Based on formula (3), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the high pressure information is generated; ; (3) in, Indicates the latitude of the aircraft when the high pressure information is generated. Indicates the longitude of the aircraft at the time when the high air pressure information is generated. Indicates the aircraft's altitude at the time the high pressure information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when high air pressure information is generated.

[0012] In some embodiments of the present application, based on the aforementioned solution, the relative navigation information fusion of the inertial navigation system installed in the other machine and the inertial navigation system of the local machine obtained through navigation information based on the inertial navigation data of the local machine and the inertial navigation data of the other machine includes: Based on the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft, the time when the inertial navigation information of the own aircraft is generated, the time when the inertial navigation information of other aircraft is generated, and the time when the other aircraft receives the signal are obtained; Based on the own-aircraft's velocity information in the northeast sky coordinate system, determine the rate of change of the own-aircraft's position; Determine the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal based on the change rate of the own aircraft's position and the inertial navigation position information of the own aircraft at the time when the inertial navigation information is generated; Based on the velocity information of the other aircraft in the northeast sky coordinate system, determine the rate of change of the other aircraft's position; Determine the inertial navigation position information of the other machine at the time when the other machine receives the signal based on the rate of change of the position of the other machine and the inertial navigation position information of the other machine at the time when the inertial navigation information is generated; Sequential Kalman filtering is used to fuse the inertial navigation position information of the local aircraft and the inertial navigation position information of the other aircraft at the moment the other aircraft receives the signal.

[0013] In some embodiments of the present application, based on the above solution, determining the rate of change of the position of the aircraft based on the velocity information of the aircraft in the northeast sky coordinate system includes: Get the speed information of the aircraft B in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (4); ; (4) in, is the rate of change of the own aircraft's B latitude, is the rate of change of own-ship B's longitude, is the rate of change of the aircraft B’s altitude; is the meridian corresponding to the position of own aircraft B at the time when the own aircraft inertial navigation information is generated, is the curvature radius of the azimuth circle corresponding to the position of the aircraft B at the time when the aircraft inertial navigation information is generated, It is the cosine value of the latitude of the own aircraft B at the moment when the own aircraft inertial navigation information is generated.

[0014] In some embodiments of the present application, based on the above-mentioned solution, the method of determining the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal based on the rate of change of the own aircraft's position and the inertial navigation position information of the own aircraft at the time when the inertial navigation information of the own aircraft is generated includes: Get the inertial navigation position information of the aircraft at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (5), the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal is calculated using the inertial navigation position information of the own aircraft at the time when the inertial navigation information is generated and the rate of change of the position of the own aircraft; ; (5) in, is the dimension of the local machine B when the other machine receives the signal, is the longitude of the local machine B when the signal is received by the other machine, is the altitude of the aircraft B when the signal is received by the other aircraft, The time when the inertial navigation information of the aircraft is generated. The time when the other machine receives the signal.

[0015] In some embodiments of the present application, based on the above solution, determining the rate of change of the position of the other aircraft based on the speed information of the other aircraft in the northeast sky coordinate system includes: Get the speed information of the other machine A in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ; Based on formula (6), the change rate of the other machine's position is calculated; ; (6) in, is the rate of change of the latitude of the machine A, is the rate of change of longitude of machine A, is the rate of change of the altitude of aircraft A; is the meridian corresponding to the position of the other machine A at the time when the other machine's inertial navigation information is generated, is the curvature radius of the yoke corresponding to the position of the other machine A at the time when the other machine inertial navigation information is generated, It is the cosine value of the latitude of the other machine A when the inertial navigation information of the other machine is generated.

[0016] In some embodiments of the present application, based on the aforementioned solution, determining the inertial navigation position information of the other machine at the time when the other machine receives the signal based on the change rate of the position of the other machine and the inertial navigation position information of the other machine at the time when the inertial navigation information of the other machine is generated includes: Get the inertial navigation position information of the other machine at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (7), the inertial navigation position information of the other machine at the time when the inertial navigation information of the other machine is generated and the rate of change of the position of the other machine are used to calculate the inertial navigation position information of the other machine at the time when the other machine receives the signal; ; (7) in, is the dimension of the other machine A when it receives the signal, is the longitude of the other machine A when it receives the signal, is the height of the other machine A when it receives the signal, The time when the inertial navigation information of the aircraft is generated. It is the time when the inertial navigation information of the other machine is generated.

[0017] According to a second aspect of an embodiment of the present application, a data link relative navigation asynchronous measurement information processing device is provided, comprising: An absolute navigation asynchronous measurement information fusion unit and a relative navigation asynchronous measurement information fusion unit; Wherein, the absolute navigation asynchronous measurement information fusion unit comprises: The first acquisition subunit is used to acquire the local inertial navigation data. The first fusion subunit is used to fuse the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft; The relative navigation asynchronous measurement information fusion unit comprises: The second acquisition subunit is used to acquire the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft; The second fusion subunit is used to fuse the relative navigation information of the inertial navigation installed in the other aircraft and the inertial navigation of the own aircraft obtained through navigation information based on the inertial navigation data of the own aircraft and the inertial navigation data of the other aircraft.

[0018] The technical solution of this application has the following beneficial effects: This method improves the engineering practicability of the existing relative navigation information fusion method, and further improves the performance upper limit of the existing relative navigation information fusion method. At the same time, this method covers two types of asynchronous measurement information processing: absolute / relative navigation. The method has strong versatility, simple and reliable implementation, and has strong engineering application value.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 A schematic flow chart of a method for processing data link relative navigation asynchronous measurement information according to an embodiment of the present application is shown; Figure 2 A schematic diagram of asynchronous measurement information of local absolute navigation according to an embodiment of the present application is shown; Figure 3 A schematic diagram of asynchronous measurement information of relative navigation between two machines according to an embodiment of the present application is shown; Figure 4 A block diagram of a data link relative navigation asynchronous measurement information processing device according to an embodiment of the present application is shown; Figure 5 A block diagram of an electronic device according to an embodiment of the present application is shown; Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0022] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0024] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those shown or described.

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiment 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.

[0027] Some embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0028] See also Figure 1 , shows a flow chart of a method for processing data link relative navigation asynchronous measurement information according to an embodiment of the present application.

[0029] like Figure 1 As shown, a data link relative navigation asynchronous measurement information processing method is demonstrated, including two parts: absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion, specifically including steps S100 to S200.

[0030] refer to Figure 1 , step S100, obtaining the inertial navigation data of the aircraft, and based on the inertial navigation data of the aircraft, performing absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft.

[0031] In some feasible embodiments, based on the above solution, the absolute navigation information fusion of asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft includes: Step S110, obtaining the generation time of the inertial navigation information, the generation time of the satellite navigation information and the generation time of the high pressure information based on the local inertial navigation data; Step S120, determining the rate of change of the aircraft's position based on the aircraft's velocity information in the northeast sky coordinate system; Step S130, determining the inertial navigation position information at the time when the satellite navigation information is generated and the inertial navigation position information at the time when the high pressure information is generated based on the change rate of the own aircraft position and the inertial navigation position information at the time when the inertial navigation information is generated; Step S140, using a sequential Kalman filter to fuse the inertial navigation position information at the time when the inertial navigation information is generated, the inertial navigation position information at the time when the satellite navigation information is generated, and the inertial navigation position information at the time when the high pressure information is generated.

[0032] It should be noted that the absolute navigation information fusion of this aircraft refers to the fusion of asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft. Since the fusion result is the absolute navigation information of the aircraft, it is called absolute navigation asynchronous measurement information fusion.

[0033] It should be noted that see Figure 2 , Figure 2 middle, The inertial navigation system of the aircraft outputs information at all times, including position, speed and attitude information; The local satellite navigation system outputs the aircraft position information at all times. The aircraft's barometric altimeter outputs the aircraft's altitude information. Figure 2 It can be seen that the outputs of inertial navigation, satellite navigation and barometric altimeter are not generated at the same time, that is, there is an asynchronous situation. Since the relative navigation information fusion adopts the sequential Kalman filtering method to realize the relative navigation information fusion, the processing of the absolute navigation asynchronous measurement information needs to be The position information output by the inertial navigation system at the time is extrapolated to the data generated by the satellite navigation system. Time and data generated by the barometric altimeter time.

[0034] Exemplarily, the specific process of step S110 is as follows: After acquiring the local inertial navigation data, parse the local inertial navigation data according to the standard sensor data format to obtain the time when the inertial navigation information was generated. , Satellite navigation information generation time High pressure information generation time .

[0035] In some feasible embodiments, based on the above solution, step S120 includes: Get the speed information of the aircraft in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (1); ; (1) in, is the rate of change of latitude, is the rate of change of longitude, is the rate of change of altitude; Along the meridian, is the radius of curvature along the y-axis.

[0036] in, and The calculation formula is as follows: ; (2) Where: =1 / 298.257 is the Earth's flattening ratio; =6378137m is the semi-major axis of the earth.

[0037] In some feasible embodiments, based on the above solution, step S130 includes: Get the inertial navigation position information at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (3), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the satellite navigation information is generated; ; (3) in, Indicates the latitude when the satellite navigation information is generated. Indicates the longitude when the satellite navigation information is generated. Indicates the altitude at which the satellite navigation information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when the satellite navigation information is generated; Based on formula (4), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the high pressure information is generated; ; (4) in, Indicates the latitude of the aircraft when the high pressure information is generated. Indicates the longitude of the aircraft at the time when the high air pressure information is generated. Indicates the aircraft's altitude at the time the high pressure information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when high air pressure information is generated.

[0038] Continue to refer Figure 1, step S200, obtaining the inertial navigation data of the local machine and the inertial navigation data of the other machine, and based on the inertial navigation data of the local machine and the inertial navigation data of the other machine, performing relative navigation information fusion of the inertial navigation installed in the other machine and the inertial navigation of the local machine obtained through navigation information.

[0039] In some feasible embodiments, based on the above scheme, the relative navigation information fusion of the inertial navigation system installed in the other aircraft and the inertial navigation system of the own aircraft obtained through navigation information based on the inertial navigation data of the own aircraft and the inertial navigation data of the other aircraft includes: Step S210, obtaining the time when the inertial navigation information of the local machine is generated, the time when the inertial navigation information of the other machine is generated, and the time when the other machine receives the signal based on the inertial navigation data of the local machine and the inertial navigation data of the other machine; Step S220, determining the rate of change of the aircraft's position based on the aircraft's velocity information in the northeast sky coordinate system; Step S230, determining the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal based on the change rate of the own aircraft's position and the inertial navigation position information of the own aircraft at the time when the inertial navigation information of the own aircraft is generated; Step S240, determining the rate of change of the position of the other aircraft based on the speed information of the other aircraft in the northeast sky coordinate system; Step S250, determining the inertial navigation position information of the other machine at the time when the other machine receives the signal based on the change rate of the position of the other machine and the inertial navigation position information of the other machine at the time when the inertial navigation information is generated; Step S260: using sequential Kalman filtering to fuse the inertial navigation position information of the local machine and the inertial navigation position information of the other machine at the time when the other machine receives the signal.

[0040] It should be noted that relative navigation information fusion refers to the relative navigation information fusion of the inertial navigation installed in machine A and the inertial navigation information of machine B obtained through navigation messages. This type of information fusion uses the distance between the two machines calculated by the inertial navigation of the two machines, and then combines the arrival time (Time of Arrival) of the signal carrying the navigation message to carry out information fusion and output relative positioning information, so it is called relative navigation information fusion.

[0041] See also Figure 3 , Figure 3 middle, The time is the arrival time of the signal carrying the navigation message of machine B; At this moment, the inertial navigation output information of machine A includes position, speed and attitude information; At this moment, the information output by the inertial navigation system of the B machine is sent to the message processing software of the data link and is ready to be sent to the A machine. It is received by machine A at the same time. It should be emphasized that machine B does not broadcast the inertial navigation information at each sampling point. The "delay" time of machine B's inertial navigation information includes the link transmission delay and space propagation delay of machine B. Obviously, the inertial navigation information of machines A and B is not generated at the same time, that is, there is an asynchronous situation. Since the relative navigation information fusion adopts the sequential Kalman filtering method to realize the relative navigation information fusion, the processing of relative navigation asynchronous measurement information needs to be The position information output by the inertial navigation system of machine B at time The position information output by machine A at the moment is extrapolated to the time when machine A receives the signal time.

[0042] Exemplarily, the specific process of step S210 is as follows: After obtaining the inertial navigation data of the local machine and the inertial navigation data of other machines, the inertial navigation data of the local machine is parsed according to the standard sensor data format to obtain the time when the inertial navigation information of the local machine is generated. 、The time when the inertial navigation information of other machines is generated 、The time when the other machine receives the signal .

[0043] In some feasible embodiments, based on the above solution, step S220 includes: Get the speed information of the aircraft B in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (5); ; (5) in, is the rate of change of the own aircraft's B latitude, is the rate of change of own-ship B's longitude, is the rate of change of the aircraft B’s altitude; is the meridian corresponding to the position of own aircraft B at the time when the own aircraft inertial navigation information is generated, is the curvature radius of the azimuth circle corresponding to the position of the aircraft B at the time when the aircraft inertial navigation information is generated, It is the cosine value of the latitude of own aircraft B at the time when the own aircraft inertial navigation information is generated.

[0044] in, and The calculation formula is as follows: ; (6) Where: =1 / 298.257 is the Earth's flattening ratio; =6378137m is the semi-major axis of the earth, It is the latitude of the aircraft B when the inertial navigation information is generated.

[0045] In some feasible embodiments, based on the above solution, step S230 includes: Get the inertial navigation position information of the aircraft at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (7), the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal is calculated using the inertial navigation position information of the own aircraft at the time when the inertial navigation information is generated and the rate of change of the own aircraft's position; ; (7) in, is the dimension of the local machine B when the other machine receives the signal, is the longitude of the local machine B when the signal is received by the other machine, is the altitude of the aircraft B when the signal is received by the other aircraft, The time when the inertial navigation information of the aircraft is generated. The time when the other machine receives the signal.

[0046] In some feasible embodiments, based on the above solution, step S240 includes: Get the speed information of the other machine A in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ; The change rate of the other machine's position is calculated based on formula (8); ; (8) in, is the rate of change of the latitude of the machine A, is the rate of change of longitude of machine A, is the rate of change of the altitude of aircraft A; is the meridian corresponding to the position of the other machine A at the time when the other machine's inertial navigation information is generated, is the curvature radius of the yoke corresponding to the position of the other machine A at the time when the other machine inertial navigation information is generated, It is the cosine value of the latitude of the other machine A when the inertial navigation information of the other machine is generated.

[0047] in, and The calculation formula is as follows: ; (9) Where: =1 / 298.257 is the Earth's flattening ratio; =6378137m is the semi-major axis of the earth, It is the latitude of machine A when the inertial navigation information of the machine is generated.

[0048] In some feasible embodiments, based on the above solution, step S250 includes: Get the inertial navigation position information of the other machine at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (10), the inertial navigation position information of the other machine at the time when the inertial navigation information of the other machine is generated and the rate of change of the position of the other machine are used to calculate the inertial navigation position information of the other machine at the time when the other machine receives the signal; ; (10) in, is the dimension of the other machine A when it receives the signal, is the longitude of the other machine A when it receives the signal, is the height of the other machine A when it receives the signal, The time when the inertial navigation information of the aircraft is generated. It is the time when the inertial navigation information of the other machine is generated.

[0049] In summary, the method proposed in this application has the following characteristics: (1) Improve the engineering practicability of existing relative navigation information fusion. Existing relative navigation information fusion theories all assume that the multi-dimensional sensor data being processed are completely synchronized and that information fusion is carried out under a synchronized information structure. The designed method fully considers the actual situation of sensor asynchrony and adopts targeted measures to solve it, thereby improving the engineering practicability of the relative navigation information fusion method.

[0050] (2) This method is applicable to the processing of two types of asynchronous measurement information: absolute / relative navigation. The designed method is applicable to the processing of two types of asynchronous measurement information: the internal measurement information of the local machine and the measurement information between the local machine and other machines. The processing of relative navigation information fused with asynchronous measurement information is well considered and the theory is complete.

[0051] (3) This method improves the engineering practicability of the existing relative navigation information fusion method and further improves the performance upper limit of the existing relative navigation information fusion method. At the same time, this method covers two types of asynchronous measurement information processing: absolute / relative navigation. The method has strong versatility, simple and reliable implementation, and has strong engineering application value.

[0052] The following describes an apparatus embodiment of the present application, which can be used to execute a data link relative navigation asynchronous measurement information processing method in the above embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above method embodiment of the present application.

[0053] Reference Figure 4As shown, according to an embodiment of the present application, a data link relative navigation asynchronous measurement information processing device 400 includes: An absolute navigation asynchronous measurement information fusion unit 401 and a relative navigation asynchronous measurement information fusion unit 402; Wherein, the absolute navigation asynchronous measurement information fusion unit 401 includes: The first acquisition subunit 4011 is used to acquire the local inertial navigation data. The first fusion subunit 4012 is used to fuse the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft; The relative navigation asynchronous measurement information fusion unit 402 includes: The second acquisition subunit 4021 is used to acquire the inertial navigation data of the own machine and the inertial navigation data of other machines; The second fusion subunit 4022 is used to fuse the relative navigation information of the inertial navigation system installed in the other aircraft and the inertial navigation system of the own aircraft obtained through navigation information based on the inertial navigation data of the own aircraft and the inertial navigation data of the other aircraft.

[0054] like Figure 5 As shown, an embodiment of the present application also provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor. When the processor 520 executes the computer program 511, the steps of the above-mentioned data link relative navigation asynchronous measurement information processing method are implemented.

[0055] Since the electronic device introduced in this embodiment is a device used to implement a data link relative navigation asynchronous measurement information processing device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, the technical personnel in this field can understand the specific implementation mode of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by the technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0056] During the specific implementation process, when the computer program 511 is executed by a processor, any implementation method in the embodiments corresponding to the first aspect can be implemented.

[0057] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0058] It should be noted that Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0059] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602 and the RAM 603 are connected to each other through the bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0060] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0061] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0062] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0063] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0064] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0065] As another aspect, the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a data link relative navigation asynchronous measurement information processing method described in the above embodiment.

[0066] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements a data link relative navigation asynchronous measurement information processing method described in the above embodiment.

[0067] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0068] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0069] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. It should be understood that the present application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A data link relative navigation asynchronous measurement information processing method, characterized in that: include: Absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion; Wherein, the absolute navigation asynchronous measurement information fusion includes: Acquire the inertial navigation data of the aircraft, and perform absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft; The relative navigation asynchronous measurement information fusion comprises: The inertial navigation data of the own aircraft and the inertial navigation data of other aircraft are obtained, and based on the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft, relative navigation information fusion is performed on the inertial navigation installed in the other aircraft and the inertial navigation of the own aircraft obtained through navigation information.

2. The method according to claim 1, characterized in that The absolute navigation information fusion of asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft includes: Based on the analysis of the aircraft's inertial navigation data, the generation time of the inertial navigation information, the generation time of the satellite navigation information and the generation time of the high pressure information are obtained; Based on the own-aircraft's velocity information in the northeast sky coordinate system, determine the rate of change of the own-aircraft's position; Based on the rate of change of the own aircraft's position and the inertial navigation position information at the time when the inertial navigation information is generated, determine the inertial navigation position information at the time when the satellite navigation information is generated and the inertial navigation position information at the time when the high pressure information is generated; Sequential Kalman filtering is used to fuse the inertial navigation position information at the time when the inertial navigation information is generated, the inertial navigation position information at the time when the satellite navigation information is generated, and the inertial navigation position information at the time when the high pressure information is generated.

3. The method according to claim 2, characterized in that The determining the rate of change of the position of the aircraft based on the velocity information of the aircraft in the northeast sky coordinate system includes: Get the speed information of the aircraft in the northeast sky coordinate system, including the eastward speed , North speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (1); ；（1） in, is the rate of change of latitude, is the rate of change of longitude, is the rate of change of altitude; Along the meridian, is the radius of curvature along the y-axis.

4. The method according to claim 3, characterized in that The method of determining the inertial navigation position information at the time when the satellite navigation information is generated and the inertial navigation position information at the time when the high pressure information is generated based on the change rate of the own aircraft position and the inertial navigation position information at the time when the inertial navigation information is generated comprises: Get the inertial navigation position information at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (2), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the satellite navigation information is generated; ；（2） in, Indicates the latitude when the satellite navigation information is generated. Indicates the longitude when the satellite navigation information is generated. Indicates the altitude at which the satellite navigation information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when the satellite navigation information is generated; Based on formula (3), the inertial navigation position information at the time when the inertial navigation information is generated and the rate of change of the aircraft position are used to calculate the inertial navigation position information at the time when the high pressure information is generated; ；（3） in, Indicates the latitude of the aircraft when the high pressure information is generated. Indicates the longitude of the aircraft at the time when the high air pressure information is generated. Indicates the aircraft's altitude at the time the high pressure information is generated. Indicates the time when the inertial navigation information is generated, Indicates the time when high air pressure information is generated.

5. The method according to claim 1, characterized in that The method of fusing relative navigation information of the inertial navigation system installed in the other aircraft and the inertial navigation system of the own aircraft obtained through navigation information based on the inertial navigation data of the own aircraft and the inertial navigation data of the other aircraft comprises: Based on the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft, the time when the inertial navigation information of the own aircraft is generated, the time when the inertial navigation information of other aircraft is generated, and the time when the other aircraft receives the signal are obtained; Based on the own-aircraft's velocity information in the northeast sky coordinate system, determine the rate of change of the own-aircraft's position; Determine the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal based on the change rate of the own aircraft's position and the inertial navigation position information of the own aircraft at the time when the inertial navigation information is generated; Based on the velocity information of the other aircraft in the northeast sky coordinate system, determine the rate of change of the other aircraft's position; Determine the inertial navigation position information of the other machine at the time when the other machine receives the signal based on the rate of change of the position of the other machine and the inertial navigation position information of the other machine at the time when the inertial navigation information is generated; Sequential Kalman filtering is used to fuse the inertial navigation position information of the local aircraft and the inertial navigation position information of the other aircraft at the moment the other aircraft receives the signal.

6. The method according to claim 5, characterized in that The determining the rate of change of the position of the aircraft based on the velocity information of the aircraft in the northeast sky coordinate system includes: Get the speed information of the aircraft B in the northeast sky coordinate system, including the eastward speed , North speed and celestial speed ; The rate of change of the own aircraft position is calculated based on formula (4); ；（4） in, is the rate of change of the own aircraft's B latitude, is the rate of change of own-ship B's longitude, is the rate of change of the aircraft B’s altitude; is the meridian corresponding to the position of own aircraft B at the time when the own aircraft inertial navigation information is generated, is the curvature radius of the azimuth circle corresponding to the position of the aircraft B at the time when the aircraft inertial navigation information is generated, It is the cosine value of the latitude of own aircraft B at the time when the own aircraft inertial navigation information is generated.

7. The method according to claim 6, characterized in that The method of determining the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal based on the change rate of the own aircraft's position and the inertial navigation position information of the own aircraft at the time when the inertial navigation information of the own aircraft is generated comprises: Get the inertial navigation position information of the aircraft at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (5), the inertial navigation position information of the own aircraft at the time when the other aircraft receives the signal is calculated using the inertial navigation position information of the own aircraft at the time when the inertial navigation information is generated and the rate of change of the position of the own aircraft; ；（5） in, is the dimension of the local machine B when the other machine receives the signal, is the longitude of the local machine B when the signal is received by the other machine, is the altitude of the aircraft B when the signal is received by the other aircraft, The time when the inertial navigation information of the aircraft is generated. The time when the other machine receives the signal.

8. The method according to claim 7, characterized in that The determining the rate of change of the position of the other aircraft based on the speed information of the other aircraft in the northeast sky coordinate system includes: Get the speed information of the other machine A in the northeast sky coordinate system, including the eastward speed , North speed and celestial speed ; Based on formula (6), the change rate of the other machine's position is calculated; ；（6） in, is the rate of change of the latitude of the machine A, is the rate of change of longitude of machine A, is the rate of change of the altitude of aircraft A; is the meridian corresponding to the position of the other machine A at the time when the other machine's inertial navigation information is generated, is the curvature radius of the yoke corresponding to the position of the other machine A at the time when the other machine inertial navigation information is generated, It is the cosine value of the latitude of the other machine A when the inertial navigation information of the other machine is generated.

9. The method according to claim 8, characterized in that The method of determining the inertial navigation position information of the other machine at the time when the other machine receives the signal based on the change rate of the position of the other machine and the inertial navigation position information of the other machine at the time when the inertial navigation information of the other machine is generated includes: Get the inertial navigation position information of the other machine at the time when the inertial navigation information is generated, including latitude ,longitude and height ; Based on formula (7), the inertial navigation position information of the other machine at the time when the inertial navigation information of the other machine is generated and the rate of change of the position of the other machine are used to calculate the inertial navigation position information of the other machine at the time when the other machine receives the signal; ；（7） in, is the dimension of the other machine A when it receives the signal, is the longitude of the other machine A when it receives the signal, is the height of the other machine A when it receives the signal, The time when the inertial navigation information of the aircraft is generated. It is the time when the inertial navigation information of the other machine is generated.

10. A data link relative navigation asynchronous measurement information processing device, characterized in that: include: An absolute navigation asynchronous measurement information fusion unit and a relative navigation asynchronous measurement information fusion unit; Wherein, the absolute navigation asynchronous measurement information fusion unit comprises: The first acquisition subunit is used to acquire the local inertial navigation data. The first fusion subunit is used to fuse the asynchronous data generated by the inertial navigation, satellite navigation and barometric altimeter installed in the aircraft based on the inertial navigation data of the aircraft; The relative navigation asynchronous measurement information fusion unit comprises: The second acquisition subunit is used to acquire the inertial navigation data of the own aircraft and the inertial navigation data of other aircraft; The second fusion subunit is used to fuse the relative navigation information of the inertial navigation installed in the other aircraft and the inertial navigation of the own aircraft obtained through navigation information based on the inertial navigation data of the own aircraft and the inertial navigation data of the other aircraft.

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