A method and device for processing asynchronous measurement information of data link relative navigation

Abstract

Embodiments of the present application provide a method and device for processing asynchronous measurement information of data link relative navigation, which relate to the technical field of navigation information fusion. The method includes: absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion; wherein, the absolute navigation asynchronous measurement information fusion includes: obtaining the inertial navigation data of the local machine, and performing absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the local machine based on the inertial navigation data of the local machine; the relative navigation asynchronous measurement information fusion includes: obtaining the inertial navigation data of the local machine and the inertial navigation data of another machine, and performing relative navigation information fusion on the inertial navigation assembled in the other machine and the inertial navigation 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. This method covers the processing of two types of asynchronous measurement information, absolute / relative navigation. The method has strong generality, simple and reliable implementation method, and has strong engineering application value.

Description

Technical Field

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

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

[0003] The data link relative navigation function needs to take into account two types of functions: absolute navigation and relative navigation. Among them, absolute navigation refers to the node realizing inertial navigation / satellite navigation / JTIDS integrated navigation in the aircraft when obtaining useful satellite navigation signals. In this case, the absolute navigation information of the node, such as longitude, latitude, and altitude, is accurate. Another situation is that when several nodes in the network can obtain absolute navigation information, the relative navigation function can be used to realize the transmission of the absolute space-time reference, so that the nodes that cannot obtain satellite navigation signals also have the ability of absolute navigation. In addition to taking into account the absolute navigation function, the relative navigation function is mainly to realize the precise relative position calculation of network members 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 and satellite navigation, and altimeter data; for relative navigation measurement information, asynchronous information fusion mainly refers to the fusion between the inertial navigation information of the aircraft itself and the inertial navigation information broadcast by other aircraft through navigation information.

[0004] There are two types of phenomena in relative navigation information fusion that lead to the heterogeneity of asynchronous information fusion. One is the asynchronous caused by different sampling times of different sensor data, and the other is the asynchronous caused by communication delays caused by transmission lines or space propagation after sampling. At present, the problem of asynchronous measurement information fusion has not been considered in the relevant theoretical research on relative navigation information fusion. In fact, for the relative navigation function serving dense formation and air refueling guidance, for asynchronous measurement information, if no targeted solutions are taken in the information fusion algorithm, it will bring relative positioning errors of dozens of meters, and it cannot serve the scenarios with high-precision application requirements for relative positioning in dense formation and air refueling guidance. Therefore, corresponding means must be taken to further improve the relevant theory of relative navigation information fusion and improve the feasibility of the algorithm in engineering practice.

[0005] As one of the important technical directions of communication-navigation integration, the data link relative navigation technology is an effective means to improve the elasticity of the space-time reference system constructed with satellite navigation as the core in a strong electromagnetic interference environment. As 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 on the asynchronous measurement information processing method in relative navigation information fusion. Summary of the Invention

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

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

[0008] According to the first aspect of the embodiments of the present application, a method for processing asynchronous measurement information in data link relative navigation is provided, including:

[0009] Absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion;

[0010] Among them, the absolute navigation asynchronous measurement information fusion includes:

[0011] Obtain the inertial navigation data of the local aircraft, and perform absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the local aircraft based on the inertial navigation data of the local aircraft;

[0012] The relative navigation asynchronous measurement information fusion includes:

[0013] Obtain the inertial navigation data of the local aircraft and the inertial navigation data of other aircraft, and perform relative navigation information fusion on the inertial navigation assembled in other aircraft and the inertial navigation of the local aircraft obtained through navigation information based on the inertial navigation data of the local aircraft and the inertial navigation data of other aircraft.

[0014] In some embodiments of the present application, based on the foregoing solution, the performing absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the local aircraft based on the inertial navigation data of the local aircraft includes:

[0015] Parse the inertial navigation information generation time, satellite navigation information generation time, and barometric altitude information generation time based on the inertial navigation data of the local aircraft;

[0016] Determine the change rate of the local aircraft's position based on the velocity information of the local aircraft in the northeast-down coordinate system;

[0017] Determine the inertial navigation position information at the satellite navigation information generation time and the inertial navigation position information at the barometric altitude information generation time based on the change rate of the local aircraft's position and the inertial navigation position information at the inertial navigation information generation time;

[0018] Sequential Kalman filtering is used to perform fusion processing on the inertial navigation position information at the moment when inertial navigation information is generated, the inertial navigation position information at the moment when satellite navigation information is generated, and the inertial navigation position information at the moment when barometric altitude information is generated.

[0019] In some embodiments of the present application, based on the foregoing solution, determining the rate of change of the local position based on the velocity information of the local machine in the northeast celestial coordinate system includes:

[0020] Obtain the velocity information of the local machine in the northeast celestial coordinate system, including the eastward velocity , the northward velocity and the upward velocity ;

[0021] Calculate the rate of change of the local position based on formula (1);

[0022] ; (1)

[0023] where is the rate of change of latitude, is the rate of change of longitude, is the rate of change of altitude; is along the meridian, is the radius of curvature along the prime vertical.

[0024] In some embodiments of the present application, based on the foregoing solution, determining the inertial navigation position information at the moment when satellite navigation information is generated and the inertial navigation position information at the moment when barometric altitude information is generated based on the rate of change of the local position and the inertial navigation position information at the moment when inertial navigation information is generated includes:

[0025] Obtain the inertial navigation position information at the moment when inertial navigation information is generated, including latitude , longitude and altitude ;

[0026] Based on formula (2), use the inertial navigation position information at the moment when inertial navigation information is generated and the rate of change of the local position to calculate the inertial navigation position information at the moment when satellite navigation information is generated;

[0027] ; (2)

[0028] where represents the latitude at the moment when satellite navigation information is generated, represents the longitude at the moment when satellite navigation information is generated, represents the altitude at the moment when satellite navigation information is generated, represents the moment when inertial navigation information is generated, represents the moment when satellite navigation information is generated;

[0029] Based on Equation (3), the inertial navigation position information at the time when the barometric altitude information is generated is calculated using the inertial navigation position information at the moment when the inertial navigation information is utilized and the rate of change of the local position.

[0030] ; (3)

[0031] wherein, represents the latitude of the local aircraft at the time when the barometric altitude information is generated, represents the longitude of the local aircraft at the time when the barometric altitude information is generated, represents the altitude of the local aircraft at the time when the barometric altitude information is generated, represents the moment when the inertial navigation information is generated, represents the time when the barometric altitude information is generated.

[0032] In some embodiments of the present application, based on the foregoing solution, the relative navigation information fusion of the inertial navigation installed in another aircraft and the local inertial navigation obtained through navigation information based on the local inertial navigation data and the inertial navigation data of another aircraft includes:

[0033] Based on the local inertial navigation data and the inertial navigation data of another aircraft, analyze and obtain the time when the local inertial navigation information is generated, the time when the inertial navigation information of another aircraft is generated, and the time when another aircraft receives the signal;

[0034] Based on the velocity information of the local aircraft in the northeast - up coordinate system, determine the rate of change of the local position;

[0035] Based on the rate of change of the local position and the inertial navigation position information at the time when the local inertial navigation information is generated, determine the local inertial navigation position information at the time when another aircraft receives the signal;

[0036] Based on the velocity information of another aircraft in the northeast - up coordinate system, determine the rate of change of the position of another aircraft;

[0037] Based on the rate of change of the position of another aircraft and the inertial navigation position information at the time when the inertial navigation information of another aircraft is generated, determine the inertial navigation position information of another aircraft at the time when another aircraft receives the signal;

[0038] Use sequential Kalman filtering to perform fusion processing on the local inertial navigation position information and the inertial navigation position information of another aircraft at the time when another aircraft receives the signal.

[0039] In some embodiments of the present application, based on the foregoing solution, the determining the rate of change of the local position based on the velocity information of the local aircraft in the northeast - up coordinate system includes:

[0040] Obtain the velocity information of the local aircraft B in the northeast - up coordinate system, including the east - ward velocity , the north - ward velocity and the up - ward velocity ;

[0041] Calculate the rate of change of the local position based on Equation (4);

[0042] ; (4)

[0043] wherein, is the rate of change of the latitude of the local machine B, is the rate of change of the longitude of the local machine B, is the rate of change of the altitude of the local machine B; is the meridian corresponding to the position of the local machine B at the time when the inertial navigation information of the local machine is generated, is the radius of curvature of the prime vertical corresponding to the position of the local machine B at the time when the inertial navigation information of the local machine is generated, is the cosine value of the latitude of the local machine B at the time when the inertial navigation information of the local machine is generated..

[0044] In some embodiments of the present application, based on the foregoing solution, the determining the inertial navigation position information of the local machine at the time when the other machine receives the signal based on the rate of change of the local machine position and the inertial navigation position information at the time when the inertial navigation information of the local machine is generated includes:

[0045] Obtaining the inertial navigation position information at the time when the inertial navigation information of the local machine is generated, including latitude 、longitude and altitude ;

[0046] Based on formula (5), using the inertial navigation position information at the time when the inertial navigation information of the local machine is generated and the rate of change of the local machine position, calculate the inertial navigation position information of the local machine at the time when the other machine receives the signal;

[0047] ; (5)

[0048] wherein, is the dimension of the local machine B at the time when the other machine receives the signal, is the longitude of the local machine B at the time when the other machine receives the signal, is the altitude of the local machine B at the time when the other machine receives the signal, is the time when the inertial navigation information of the local machine is generated, is the time when the other machine receives the signal.

[0049] In some embodiments of the present application, based on the foregoing solution, the determining the rate of change of the position of the other machine based on the velocity information of the other machine in the northeast - sky coordinate system includes:

[0050] Obtaining the velocity information of the other machine A in the northeast - sky coordinate system, including the east - ward velocity 、north - ward velocity and sky - ward velocity ;

[0051] Calculating the rate of change of the position of the other machine based on formula (6);

[0052] ; (6)

[0053] Wherein, is the rate of change of the latitude of aircraft A of other aircraft, is the rate of change of the longitude of aircraft A of other aircraft, is the rate of change of the altitude of aircraft A of other aircraft; is the meridian corresponding to the position of aircraft A of other aircraft at the moment when the inertial navigation information of other aircraft is generated, is the radius of curvature of the prime vertical corresponding to the position of aircraft A of other aircraft at the moment when the inertial navigation information of other aircraft is generated, is the cosine value of the latitude of aircraft A of other aircraft at the moment when the inertial navigation information of other aircraft is generated.

[0054] In some embodiments of the present application, based on the foregoing solution, determining the inertial navigation position information of the other aircraft at the moment when the other aircraft receives the signal based on the rate of change of the position of the other aircraft and the inertial navigation position information at the moment when the inertial navigation information of the other aircraft is generated includes:

[0055] Obtaining the inertial navigation position information at the moment when the inertial navigation information of the other aircraft is generated, including latitude 、longitude and altitude ;

[0056] Based on formula (7), calculating the inertial navigation position information of the other aircraft at the moment when the other aircraft receives the signal by using the inertial navigation position information at the moment when the inertial navigation information of the other aircraft is generated and the rate of change of the position of the other aircraft;

[0057] ; (7)

[0058] Wherein, is the dimension of aircraft A of the other aircraft at the moment when the other aircraft receives the signal, is the longitude of aircraft A of the other aircraft at the moment when the other aircraft receives the signal, is the altitude of aircraft A of the other aircraft at the moment when the other aircraft receives the signal, is the moment when the inertial navigation information of the local aircraft is generated, is the moment when the inertial navigation information of the other aircraft is generated.

[0059] According to the second aspect of the embodiments of the present application, there is provided a data link relative navigation asynchronous measurement information processing device, including:

[0060] An absolute navigation asynchronous measurement information fusion unit and a relative navigation asynchronous measurement information fusion unit;

[0061] Wherein, the absolute navigation asynchronous measurement information fusion unit includes:

[0062] A first acquisition subunit, configured to acquire the inertial navigation data of the local aircraft,

[0063] The first fusion subunit is used to perform absolute navigation information fusion on asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the aircraft based on the aircraft's own inertial navigation data;

[0064] The relative navigation asynchronous measurement information fusion unit includes:

[0065] The second acquisition subunit is used to acquire the aircraft's own inertial navigation data and the inertial navigation data of other aircraft;

[0066] The second fusion subunit is used to perform relative navigation information fusion on the inertial navigation assembled in other aircraft and the aircraft's own inertial navigation obtained through navigation information based on the aircraft's own inertial navigation data and the inertial navigation data of other aircraft.

[0067] The technical solution of this application has the following beneficial effects:

[0068] This method improves the engineering practicability of the existing relative navigation information fusion method, further improves the performance upper limit of the existing relative navigation information fusion method, and at the same time, this method covers the processing of two types of asynchronous measurement information, absolute / relative navigation. The method has strong generality, simple and reliable implementation method, and has strong engineering application value.

[0069] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0071] Figure 1 Shows a schematic flowchart of a method for processing data link relative navigation asynchronous measurement information according to an embodiment of this application;

[0072] Figure 2 Shows a schematic diagram of the aircraft's absolute navigation asynchronous measurement information according to an embodiment of this application;

[0073] Figure 3 Shows a schematic diagram of the relative navigation asynchronous measurement information of two aircraft according to an embodiment of this application;

[0074] Figure 4 Shows a block diagram of a device for processing data link relative navigation asynchronous measurement information according to an embodiment of this application;

[0075] Figure 5A block diagram of an electronic device according to an embodiment of the present application is shown;

[0076] Figure 6 A schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. Detailed implementation manners

[0077] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various 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 complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0078] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0079] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can 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.

[0080] The flowcharts shown in the accompanying drawings are only illustrative and do not necessarily include all the content and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0081] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above accompanying drawings are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the objects so used can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described.

[0082] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0083] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the embodiments described below and the features in the embodiments may be combined with each other.

[0084] Refer to Figure 1 , which shows a schematic flowchart of a method for processing asynchronous measurement information of a data link relative navigation according to an embodiment of the present application.

[0085] As Figure 1 shown, a method for processing asynchronous measurement information of a data link relative navigation is presented, which includes two parts: absolute navigation asynchronous measurement information fusion and relative navigation asynchronous measurement information fusion, specifically including steps S100 to S200.

[0086] Referring to Figure 1 , in step S100, the inertial navigation data of the host is obtained, and absolute navigation information fusion is performed on the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the host based on the inertial navigation data of the host.

[0087] In some feasible embodiments, based on the foregoing solution, the absolute navigation information fusion of the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the host based on the inertial navigation data of the host includes:

[0088] In step S110, the generation time of the inertial navigation information, the generation time of the satellite navigation information, and the generation time of the barometric altitude information are obtained by parsing the inertial navigation data of the host;

[0089] In step S120, based on the velocity information of the host in the northeast-down coordinate system, the rate of change of the position of the host is determined;

[0090] In step S130, based on the rate of change of the position of the host and the inertial navigation position information at the generation time of the inertial navigation information, the inertial navigation position information at the generation time of the satellite navigation information and the inertial navigation position information at the generation time of the barometric altitude information are determined;

[0091] In step S140, sequential Kalman filtering is used to perform fusion processing on the inertial navigation position information at the generation time of the inertial navigation information, the inertial navigation position information at the generation time of the satellite navigation information, and the inertial navigation position information at the generation time of the barometric altitude information.

[0092] 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 result of the fusion is the absolute navigation information of the aircraft, it is called the absolute navigation asynchronous measurement information fusion.

[0093] It should be noted that referring to Figure 2 , Figure 2 in, the output information of the aircraft's inertial navigation at time , including position, velocity, and attitude information; the output aircraft position information of the aircraft's satellite navigation at time Figure 2 the output aircraft altitude information of the aircraft's barometric altimeter at time As can be seen from , the outputs of the inertial navigation and the 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 is implemented by the sequential Kalman filter method for relative navigation information fusion, the processing of the absolute navigation asynchronous measurement information requires the position information output by the aircraft's inertial navigation at time

[0094] to be extrapolated to the time

[0095] when the satellite navigation generates data and the time when the barometric altimeter generates data. and the time .

[0096] Exemplarily, the specific process of step S110 is as follows:

[0097] After obtaining the aircraft's inertial navigation data, parse the aircraft's inertial navigation data according to the standard sensor data format to obtain the inertial navigation information generation time , the satellite navigation information generation time and the barometric altitude information generation time .

[0098] Based on formula (1), calculate the rate of change of the aircraft's position;

[0099] ; (1)

[0100] where, is the rate of change of latitude, is the rate of change of longitude, is the rate of change of altitude; is along the meridian, is the radius of curvature along the prime vertical.

[0101] Among them, and The calculation formulas are as follows:

[0102] ; (2)

[0103] In the formula: = 1 / 298.257 is the flattening of the earth; = 6378137 m is the semi-major axis of the earth.

[0104] In some feasible embodiments, based on the foregoing solution, the step S130 includes:

[0105] Obtain the inertial navigation position information at the moment when the inertial navigation information is generated, including latitude longitude and altitude ;

[0106] Based on formula (3), use the inertial navigation position information at the moment when the inertial navigation information is generated and the change rate of the local position to calculate the inertial navigation position information at the moment when the satellite navigation information is generated;

[0107] ; (3)

[0108] Among them, represents the latitude at the moment when the satellite navigation information is generated, represents the longitude at the moment when the satellite navigation information is generated, represents the altitude at the moment when the satellite navigation information is generated, represents the moment when the inertial navigation information is generated, represents the moment when the satellite navigation information is generated;

[0109] Based on formula (4), use the inertial navigation position information at the moment when the inertial navigation information is generated and the change rate of the local position to calculate the inertial navigation position information at the moment when the barometric altitude information is generated;

[0110] ; (4)

[0111] Among them, represents the latitude of the local machine at the moment when the barometric altitude information is generated, represents the longitude of the local machine at the moment when the barometric altitude information is generated, represents the altitude of the local machine at the moment when the barometric altitude information is generated, represents the moment when the inertial navigation information is generated, represents the moment when the barometric altitude information is generated.

[0112] Continue to refer to Figure 1, step S200, obtain the inertial navigation data of the local machine and that of other machines, and perform relative navigation information fusion on the inertial navigation installed in other machines and the local inertial navigation obtained through navigation information based on the inertial navigation data of the local machine and that of other machines.

[0113] In some feasible embodiments, based on the foregoing solution, the performing relative navigation information fusion on the inertial navigation installed in other machines and the local inertial navigation obtained through navigation information based on the inertial navigation data of the local machine and that of other machines includes:

[0114] Step S210, parse the local inertial navigation information generation time, the other machine inertial navigation information generation time, and the other machine signal reception time based on the inertial navigation data of the local machine and that of the other machine;

[0115] Step S220, determine the change rate of the local machine position based on the velocity information of the local machine in the northeast-down coordinate system;

[0116] Step S230, determine the local machine inertial navigation position information at the other machine signal reception time based on the change rate of the local machine position and the inertial navigation position information at the local machine inertial navigation information generation time;

[0117] Step S240, determine the change rate of the other machine position based on the velocity information of the other machine in the northeast-down coordinate system;

[0118] Step S250, determine the other machine inertial navigation position information at the other machine signal reception time based on the change rate of the other machine position and the inertial navigation position information at the other machine inertial navigation information generation time;

[0119] Step S260, perform fusion processing on the local machine inertial navigation position information and the other machine inertial navigation position information at the other machine signal reception time by using sequential Kalman filtering.

[0120] It should be noted that relative navigation information fusion refers to achieving relative navigation information fusion for the inertial navigation installed in machine A and the inertial navigation information of machine B obtained through navigation messages. This type of information fusion calculates the distance between the two machines through 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. Therefore, it is called relative navigation information fusion.

[0121] See Figure 3 , Figure 3 in, the time is the arrival time of the signal carrying the navigation message of machine B; At time, the inertial navigation of machine A outputs information, including position, velocity, and attitude information; The information output by the inertial navigation of machine B at time is sent to the message processing software of the data link and prepared to be sent to machine A. After a certain delay, at 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.

[0122] Exemplarily, the specific process of step S210 is as follows:

[0123] 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 .

[0124] In some feasible embodiments, based on the above solution, step S220 includes:

[0125] Get the speed information of the aircraft B in the northeast sky coordinate system, including the eastward speed , Northbound speed and celestial speed ;

[0126] The rate of change of the own aircraft position is calculated based on formula (5);

[0127] ; (5)

[0128] in, is the rate of change of the own aircraft's B latitude, is the rate of change of the longitude of own aircraft B, 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.

[0129] in, and The calculation formula is as follows:

[0130] ; (6)

[0131] Wherein: = 1 / 298.257 is the flattening of the earth; = 6378137 m is the semi-major axis of the earth, is the latitude of the local machine B at the time when the inertial navigation information is generated.

[0132] In some feasible embodiments, based on the foregoing solution, the step S230 includes:

[0133] Obtain the inertial navigation position information at the time when the local machine's inertial navigation information is generated, including latitude , longitude and altitude ;

[0134] Based on formula (7), use the inertial navigation position information at the time when the local machine's inertial navigation information is generated and the change rate of the local machine's position to calculate the inertial navigation position information of the local machine at the time when the other machine receives the signal;

[0135] ; (7)

[0136] Wherein, is the dimension of the local machine B at the time when the other machine receives the signal, is the longitude of the local machine B at the time when the other machine receives the signal, is the altitude of the local machine B at the time when the other machine receives the signal, is the time when the local machine's inertial navigation information is generated, is the time when the other machine receives the signal.

[0137] In some feasible embodiments, based on the foregoing solution, the step S240 includes:

[0138] Obtain the velocity information of the other machine A in the northeast celestial coordinate system, including the eastward velocity , the northward velocity and the upward velocity ;

[0139] Calculate the change rate of the position of the other machine based on formula (8);

[0140] ; (8)

[0141] Wherein, is the change rate of the latitude of the other machine A, is the change rate of the longitude of the other machine A, is the change rate of the altitude of the other machine 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 radius of curvature along the prime vertical corresponding to the position of the other machine A at the time when the other machine's inertial navigation information is generated, is the cosine value of the latitude of the other machine A at the time when the other machine's inertial navigation information is generated.

[0142] Among them, and The calculation formulas are as follows:

[0143] ; (9)

[0144] In the formula: = 1 / 298.257 is the flattening of the earth; = 6378137 m is the semi-major axis of the earth, is the latitude of aircraft A at the moment when the inertial navigation information of other aircraft is generated.

[0145] In some feasible embodiments, based on the foregoing solution, the step S250 includes:

[0146] Obtain the inertial navigation position information at the moment when the inertial navigation information of other aircraft is generated, including latitude longitude and altitude ;

[0147] Based on formula (10), use the inertial navigation position information at the moment when the inertial navigation information of other aircraft is generated and the change rate of the position of other aircraft to calculate the inertial navigation position information of other aircraft at the moment when other aircraft receives the signal;

[0148] ; (10)

[0149] Among them, is the dimension of aircraft A at the moment when other aircraft receives the signal, is the longitude of aircraft A at the moment when other aircraft receives the signal, is the altitude of aircraft A at the moment when other aircraft receives the signal, is the moment when the inertial navigation information of the local aircraft is generated, is the moment when the inertial navigation information of other aircraft is generated.

[0150] In summary, the method proposed in this application has the following characteristics:

[0151] (1) Improve the engineering practicability of the existing relative navigation information fusion. The existing relative navigation information fusion theories all assume that the multi-dimensional sensor data to be processed are completely synchronized, and information fusion is carried out under the synchronous information structure. The designed method fully considers the actual situation of sensor asynchrony and adopts targeted measures to solve it, improving the engineering practicability of the relative navigation information fusion method.

[0152] (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, internal to the local aircraft and between the local aircraft and other aircraft. The processing of asynchronous measurement information for relative navigation information fusion is considered comprehensively and the theory is complete.

[0153] (3) This method improves the engineering practicability of the existing relative navigation information fusion method, further raises the performance ceiling of the existing relative navigation information fusion method, and at the same time, this method covers the processing of two types of asynchronous measurement information, absolute / relative navigation. The method has strong versatility, simple and reliable implementation methods, and has strong engineering application value.

[0154] The following introduces the device embodiments of the present application, which can be used to execute a method for processing asynchronous measurement information of data link relative navigation in the above embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application above.

[0155] Refer to Figure 4 As shown in the figure, a device 400 for processing asynchronous measurement information of data link relative navigation according to an embodiment of the present application includes:

[0156] An absolute navigation asynchronous measurement information fusion unit 401 and a relative navigation asynchronous measurement information fusion unit 402;

[0157] Among them, the absolute navigation asynchronous measurement information fusion unit 401 includes:

[0158] A first acquisition subunit 4011, configured to acquire the inertial navigation data of the local machine,

[0159] A first fusion subunit 4012, configured to perform absolute navigation information fusion on the asynchronous data generated by the inertial navigation, satellite navigation, and barometric altimeter assembled in the local machine based on the inertial navigation data of the local machine;

[0160] The relative navigation asynchronous measurement information fusion unit 402 includes:

[0161] A second acquisition subunit 4021, configured to acquire the inertial navigation data of the local machine and the inertial navigation data of other machines;

[0162] A second fusion subunit 4022, configured to perform relative navigation information fusion on the inertial navigation assembled in other machines and the inertial navigation of the local machine obtained through navigation information based on the inertial navigation data of the local machine and the inertial navigation data of other machines.

[0163] As Figure 5 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 on the memory 510 and executable on the processor. When the processor 520 executes the computer program 511, the steps of the above method for processing asynchronous measurement information of data link relative navigation are implemented.

[0164] Since the electronic device introduced in this embodiment is the device adopted by a data link relative navigation asynchronous measurement information processing device in an embodiment of the present application, based on the method introduced in the embodiment of the present application, those skilled in the art can understand the specific implementation manners of the electronic device in this embodiment and their various variations. Therefore, the specific implementation of how this electronic device implements the method in the embodiment of the present application will not be introduced in detail here. As long as the device adopted by those skilled in the art to implement the method in the embodiment of the present application belongs to the scope protected by the present application.

[0165] In the specific implementation process, when the computer program 511 is executed by the processor, it can implement any implementation manner in the corresponding embodiment of the first aspect.

[0166] Figure 6 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiment of the present application is shown.

[0167] 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 usage scope of the embodiment of the present application.

[0168] As Figure 6 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 section 608 into 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, ROM 602, and RAM 603 are connected to each other through a bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0169] 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 required. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 610 as required so that a computer program read therefrom is installed into the storage section 608 as required.

[0170] Specifically, according to an embodiment of the present application, the processes 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 including a computer program carried on a computer-readable medium, the computer program including program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 609, and / or installed from the 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.

[0171] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0172] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0173] The units involved in the embodiments of the present application can be implemented in software or in hardware. The described units can also be provided in a processor. In some cases, the names of these units do not constitute a limitation on the units themselves.

[0174] As another aspect, the present application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are 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 method for processing asynchronous measurement information of data link relative navigation described in the above embodiments.

[0175] As another aspect, the present application also provides a computer-readable medium. The computer-readable medium can be included in the electronic device described in the above embodiments; or it can exist alone without being assembled into the electronic device. The above computer-readable medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device implements a method for processing asynchronous measurement information of data link relative navigation described in the above embodiments.

[0176] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more of the above-mentioned modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0177] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0178] Those skilled in the art will readily conceive of 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 the common general knowledge or conventional technical means in the technical field 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 drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited 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: Obtain the inertial navigation data of the aircraft and the inertial navigation data of the other aircraft, and perform relative navigation information fusion of the inertial navigation installed in the other aircraft and the inertial navigation of the aircraft obtained through navigation information based on the inertial navigation data of the aircraft; 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; 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.

2. The method according to claim 1, 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.

3. The method according to claim 2, 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.

4. The method according to claim 1, 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 the longitude of own aircraft B, 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.

5. The method according to claim 4, 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.

6. The method according to claim 5, 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.

7. The method according to claim 6, 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.

8. A data link relative navigation asynchronous measurement information processing device, applied to the method according to any one of claims 1 to 7, 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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