Real-time fusion positioning methods, devices, equipment, media, and software products for direction finding stations and positioning systems

Abstract

The application provides a real-time fusion positioning method, device, equipment, medium and program product of a direction-finding station and a positioning system, which comprises the following steps: receiving direction-finding station and positioning system deployment information and positioning and direction-finding data, and obtaining corresponding coordinates through coordinate conversion; calculating the coordinates of the positioning ellipse center on the direction-finding line and the corresponding lateral error of the direction-finding line; converting the coordinates of the positioning ellipse to the coordinate system corresponding to the direction-finding line; according to the positioning system coordinates and the positioning ellipse center coordinates, combining the positioning and direction-finding data to measure the long axis of the positioning ellipse and the short axis of the positioning ellipse; setting a cyclic search coefficient, sequentially calculating the corresponding parameters of each cyclic search coefficient, the fusion positioning result and the positioning variance, and converting the fusion positioning result corresponding to the minimum positioning variance into a latitude-longitude-height form for output. The application solves the problem that fusion positioning cannot be performed when the observation results of multiple sensors are greatly deviated, and the positioning accuracy of the fusion algorithm is greatly improved compared with the single-sensor case.

Description

Technical Field

[0001] This invention relates to the field of multi-sensor fusion positioning, and more specifically, to a real-time fusion positioning method, apparatus, equipment, medium, and program product of a direction finding station and a positioning system. Background Technology

[0002] With the development of sensors such as active radar and passive radar, the requirements for positioning accuracy are gradually increasing. In order to meet the needs of more accurate positioning, multi-sensor cooperative positioning fusion has attracted more and more attention from scholars. Diverse cooperative combinations have been developed, mainly including direction finding intersection positioning, joint time-frequency difference positioning, and radar network positioning. Scholars have mainly conducted a lot of research on the fusion of real-time positioning results and the analysis of cooperative positioning accuracy. However, when the observation results of each sensor are significantly different in cooperative mode, the positioning accuracy of the target will be reduced, and in severe cases, it may even cause the fusion positioning algorithm to fail.

[0003] Direction finding sensor technology is relatively mature, easy to implement in engineering, and widely used. Fusion of orientation observations and positioning results can make the positioning results more accurate. However, there is little research on the collaborative mode between direction finding stations and positioning systems. Therefore, how to perform positioning fusion under the condition that the direction finding sensor and positioning system have biased estimates is an important issue that deserves attention. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a real-time fusion positioning method, apparatus, equipment, medium, and program product for a direction finding station and a positioning system. This method, based on data such as the deployment information of the direction finding station and the positioning system, real-time positioning and direction finding information, and relevant observation error information, achieves real-time fusion positioning even when the direction finding and positioning estimates are biased, according to the elliptic probability density function fusion optimal principle.

[0005] In a first aspect, the present invention provides a real-time fusion positioning method for a direction-finding station and a positioning system, comprising the following steps:

[0006] Step 1: Receive the deployment information of the direction finding station, the deployment information of the positioning system, and the positioning and direction finding data, and obtain the coordinates of the direction finding station, the coordinates of the positioning system, and the coordinates of the center of the positioning ellipse through coordinate transformation;

[0007] Step 2: Based on the coordinates obtained in Step 1, calculate the coordinates of the center of the positioning ellipse on the direction finding line according to the coordinate projection principle, and calculate the corresponding lateral error of the direction finding line in combination with the positioning and direction finding data.

[0008] Step 3: Based on the azimuth observation information of the direction finding station, the coordinates of the center of the positioning ellipse, and the coordinates of the direction finding station, transform the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line to obtain the transformed ordinate of the center of the positioning ellipse.

[0009] Step 4: Measure the major axis and minor axis of the positioning ellipse based on the positioning system coordinates and the center coordinates of the positioning ellipse, combined with the positioning direction finding data;

[0010] Step 5: Based on the positioning system deployment information, positioning direction finding data, lateral error corresponding to the direction finding line, ordinate of the center of the positioning ellipse, major axis and minor axis of the positioning ellipse, set the cyclic search coefficients, calculate the parameters corresponding to each cyclic search coefficient, the fused positioning result and the positioning variance in turn, and output the fused positioning result corresponding to the minimum positioning variance in latitude, longitude and altitude form.

[0011] In some embodiments, step 1 specifically involves: receiving direction finding station deployment information, positioning system deployment information, direction finding station azimuth observation information, positioning system real-time target positioning information, positioning system ranging accuracy, positioning system direction finding accuracy, and direction finding station direction finding error; using the positioning system's real-time target positioning point as the origin (0,0,0) of the Northeast Altitude coordinate system; and converting the longitude, latitude, and altitude of the positioning system deployment information and the direction finding station deployment information into Northeast Altitude coordinate system xyz coordinates to obtain the direction finding station coordinates (x... A ,y A ,z A The coordinates of the positioning system are (x2, y2, z2) and the coordinates of the center of the positioning ellipse are (η0, ξ0, z0).

[0012] In some embodiments, step 2 specifically includes the following sub-steps:

[0013] Step 21, calculate the abscissa of the projection of the center of the positioning ellipse onto the direction finding line:

[0014]

[0015] in, The azimuth measurement value of the direction finding station. The x-coordinate of the projection of the center of the ellipse onto the direction finding line;

[0016] Step 22, calculate the ordinate of the projection of the center of the positioning ellipse onto the direction finding line:

[0017]

[0018] in, The ordinate of the projection of the center of the ellipse onto the direction finding line;

[0019] Step 23: Based on the abscissa and ordinate of the projection of the center of the positioning ellipse onto the direction finding line and the direction finding error of the direction finding station, calculate the lateral error corresponding to the direction finding line:

[0020]

[0021] Where, σy This refers to the lateral error corresponding to the direction finding line. This represents the direction finding error of the direction finding station.

[0022] In some embodiments, the formula for calculating the ordinate of the center of the transformed positioning ellipse in step 3 is:

[0023]

[0024] Where k0 is the ordinate of the center of the transformed positioning ellipse.

[0025] In some embodiments, the formulas for calculating the major axis and minor axis of the positioning ellipse in step 4 are as follows:

[0026]

[0027] Where, σ a To locate the major axis of the ellipse, σ b To locate the minor axis of the ellipse, σ r For the ranging accuracy of the positioning system, σ e To improve the orientation accuracy of the positioning system.

[0028] In some embodiments, step 5 specifically includes the following sub-steps:

[0029] Step 51: Calculate the major axis deflection angle θ of the positioning ellipse based on the positioning system deployment information and the real-time positioning information of the target by the positioning system;

[0030] Step 52, based on the converted positioning ellipse center ordinate k0 and the azimuth measurement value of the direction finding station... Positioning ellipse major axis deflection angle θ, positioning ellipse major axis σ a and positioning the minor axis σ of the ellipse b Calculate parameters A, B, C, D, and E:

[0031]

[0032] Step 53, set the number of sampling points N samp Let i range from 1 to N samp -1 loop, generating loop search coefficients m = i / Nsamp, and sequentially calculating parameters A1, B1, C1, D1, E1, the fused positioning result (h2, k2), the major semi-axis σ1 of the fused positioning ellipse, and the minor semi-axis σ2 of the positioning ellipse, i.e.:

[0033] Step 531, based on parameters A, B, C, D, E, the cyclic search coefficient m, and the lateral error σ corresponding to the direction finding line. y Calculate parameters A1, B1, C1, D1, and E1:

[0034]

[0035] Step 532: Based on the cyclic search coefficient m and the abscissa of the projection of the center of the positioning ellipse onto the direction finding line... The ordinate of the projection of the center of the positioning ellipse onto the direction finding line Calculate the fused localization result (h2, k2):

[0036]

[0037] Where h2 is the x-axis coordinate of the fused positioning result, and k2 is the y-axis coordinate of the fused positioning result;

[0038] Step 533: Based on parameters A1, B1, C1, D1, and E1, calculate the major semi-axis σ1 and minor semi-axis σ2 of the fused positioning ellipse:

[0039]

[0040] Step 534: Calculate the final positioning variance σ based on the major semi-axis σ1 and the minor semi-axis σ2 of the fused positioning ellipse. 2 :

[0041]

[0042] Step 54: After traversing and calculating all the loop search coefficients m, calculate the final positioning variance σ. 2 Search for the minimum localization variance σ 2 The corresponding (h2,k2) is used as the final localization result (h final ,k final );

[0043] Step 55: Add height information to the final positioning result to form a three-dimensional coordinate vector (h). final ,k final According to the longitude, latitude, and altitude of the target's real-time positioning information provided by the positioning system, the three-dimensional coordinate vector (h) is... final ,k final ,0) is converted into the final positioning latitude, longitude and altitude result (LON) final ,LAT final H final ).

[0044] Secondly, the present invention provides an instantaneous fusion positioning device for a direction finding station and a positioning system, comprising:

[0045] The data preprocessing module is used to receive the deployment information of the direction finding station, the deployment information of the positioning system, and the positioning and direction finding data, and to obtain the coordinates of the direction finding station, the coordinates of the positioning system, and the coordinates of the center of the positioning ellipse through coordinate transformation;

[0046] The lateral error calculation module for the direction finding line is used to calculate the coordinates of the center of the positioning ellipse on the direction finding line based on the coordinates obtained by the data preprocessing module and the coordinate projection principle, and to calculate the corresponding lateral error of the direction finding line in combination with the positioning and direction finding data.

[0047] The ellipse center coordinate transformation module is used to transform the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line based on the azimuth observation information of the direction finding station, the coordinates of the center of the positioning ellipse, and the coordinates of the direction finding station, so as to obtain the transformed ordinate of the center of the positioning ellipse.

[0048] The major and minor axes calculation module for the positioning ellipse is used to measure the major and minor axes of the positioning ellipse based on the coordinates of the positioning system and the center coordinates of the positioning ellipse, combined with the positioning and orientation data.

[0049] The direction finding and positioning fusion module is used to set cyclic search coefficients based on the positioning system deployment information, positioning direction finding data, the lateral error corresponding to the direction finding line, the ordinate of the center of the positioning ellipse, the major axis and the minor axis of the positioning ellipse, and to calculate the parameters corresponding to each cyclic search coefficient, the fused positioning result and the positioning variance in turn. The fused positioning result corresponding to the minimum positioning variance is then converted into latitude, longitude and altitude for output.

[0050] Thirdly, the present invention provides an electronic device, comprising:

[0051] At least one processor; and a memory communicatively connected to said at least one processor;

[0052] The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory to perform the method described above.

[0053] Fourthly, the present invention provides a computer-readable storage medium for storing instructions that, when executed, cause the above-described method to be implemented.

[0054] Fifthly, the present invention provides a computer program product that, when invoked by a computer, causes the computer to execute the above-described method.

[0055] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0056] This invention proposes a new method for fusing direction finding and positioning information based on the optimal principle of elliptic probability density function fusion. The real-time fusion positioning method proposed in this invention can be used when the direction finding station and positioning system make biased or unbiased estimations of the target, which expands the application scope of the algorithm and solves the problem that fusion positioning cannot be performed when the observation results of multiple sensors have large deviations. Moreover, the positioning accuracy of the fusion algorithm is significantly improved compared with the single sensor case. Attached Figure Description

[0057] Figure 1 This is a flowchart of a real-time fusion positioning method for a direction finding station and a positioning system provided in an embodiment of the present invention.

[0058] Figure 2 This is a schematic diagram of a real-time fusion positioning device for a direction finding station and a positioning system provided in an embodiment of the present invention.

[0059] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0061] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0062] Example

[0063] like Figure 1 As shown in the figure, this invention proposes a real-time fusion positioning method for a direction finding station and a positioning system, comprising the following steps:

[0064] Step 1: Receive the deployment information of the direction finding station, the deployment information of the positioning system, and the positioning and direction finding data, and obtain the coordinates of the direction finding station, the coordinates of the positioning system, and the coordinates of the center of the positioning ellipse through coordinate transformation;

[0065] Step 2: Based on the coordinates obtained in Step 1, calculate the coordinates of the center of the positioning ellipse on the direction finding line according to the coordinate projection principle, and calculate the corresponding lateral error of the direction finding line in combination with the positioning and direction finding data.

[0066] Step 3: Based on the azimuth observation information of the direction finding station, the coordinates of the center of the positioning ellipse, and the coordinates of the direction finding station, transform the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line to obtain the transformed ordinate of the center of the positioning ellipse.

[0067] Step 4: Measure the major axis and minor axis of the positioning ellipse based on the positioning system coordinates and the center coordinates of the positioning ellipse, combined with the positioning direction finding data;

[0068] Step 5: Based on the positioning system deployment information, positioning direction finding data, lateral error corresponding to the direction finding line, ordinate of the center of the positioning ellipse, major axis and minor axis of the positioning ellipse, set the cyclic search coefficients, calculate the parameters corresponding to each cyclic search coefficient, the fused positioning result and the positioning variance in turn, and output the fused positioning result corresponding to the minimum positioning variance in latitude, longitude and altitude form.

[0069] In some embodiments, step 1 specifically involves: receiving data such as direction finding station deployment information, positioning system deployment information, direction finding station azimuth observation information, real-time target positioning information from the positioning system, positioning system ranging accuracy, positioning system direction finding accuracy, and direction finding station direction finding error; using the real-time target positioning point of the positioning system as the origin (0,0,0) of the Northeast Altitude coordinate system; and converting the longitude, latitude, and altitude of the positioning system deployment information and the direction finding station deployment information into Northeast Altitude coordinate system xyz coordinates, respectively, to obtain the direction finding station coordinates, positioning system coordinates, and positioning ellipse center coordinates, i.e.:

[0070] (LON1,LAT1,H1)→(x A ,y A ,z A )

[0071] (LON2,LAT2,H2)→(x2,y2,z2)

[0072] (LON,LAT,H)→(η0,ξ0,z0)→(0,0,0)

[0073] Where (LON1, LAT1, H1) represent the longitude, latitude, and altitude of the direction finding station deployment information, respectively, and (x A ,y A ,z A(x1, y2, z2) represent the coordinates of the x, y, and z axes of the northeast celestial coordinate system of the direction finding station, hereinafter referred to as the direction finding station coordinates. (LON2, LAT2, H2) represent the longitude, latitude, and altitude of the positioning system deployment information, respectively. (x2, y2, z2) represent the coordinates of the x, y, and z axes of the northeast celestial coordinate system of the positioning system, hereinafter referred to as the positioning system coordinates. (LON, LAT, H) represent the longitude, latitude, and altitude of the positioning system's instantaneous positioning point of the target, respectively. (η0, ξ0, z0) represent the coordinates of the x, y, and z axes of the northeast celestial coordinate system of the positioning system's instantaneous positioning point of the target, hereinafter referred to as the center coordinates of the positioning ellipse.

[0074] In some embodiments, step 2 specifically includes the following sub-steps:

[0075] Step 21, calculate the abscissa of the projection of the center of the positioning ellipse onto the direction finding line:

[0076]

[0077] in, The azimuth measurement value of the direction finding station. The x-coordinate of the projection of the center of the ellipse onto the direction finding line.

[0078] Step 22, calculate the ordinate of the projection of the center of the positioning ellipse onto the direction finding line:

[0079]

[0080] in, The ordinate of the projection of the center of the ellipse onto the direction finding line.

[0081] Step 23: Based on the abscissa and ordinate of the projection of the center of the positioning ellipse onto the direction finding line and the direction finding error of the direction finding station, calculate the lateral error corresponding to the direction finding line:

[0082]

[0083] Where, σ y This refers to the lateral error corresponding to the direction finding line. This represents the direction finding error of the direction finding station.

[0084] In some embodiments, the formula for calculating the ordinate of the center of the transformed positioning ellipse in step 3 is:

[0085]

[0086] Where k0 is the ordinate of the center of the transformed positioning ellipse.

[0087] In some embodiments, in step 4, the major axis and minor axis of the positioning ellipse are measured based on the distance between the center of the positioning ellipse and the positioning system, combined with the working principles of ranging and direction finding. The calculation formula is as follows:

[0088]

[0089] Where, σ a To locate the major axis of the ellipse, σ b To locate the minor axis of the ellipse, σ r For the ranging accuracy of the positioning system, σ e To improve the orientation accuracy of the positioning system.

[0090] In some embodiments, step 5 specifically includes the following sub-steps:

[0091] Step 51: Based on the positioning system deployment information and the real-time positioning information of the target, calculate the major axis deflection angle θ of the positioning ellipse. The specific calculation formula is as follows:

[0092]

[0093] Step 52, based on the converted positioning ellipse center ordinate k0 and the azimuth measurement value of the direction finding station... Positioning ellipse major axis deflection angle θ, positioning ellipse major axis σ a and positioning the minor axis σ of the ellipse b Calculate parameters A, B, C, D, and E:

[0094]

[0095] Step 53: Set the number of sampling points N according to actual needs and application conditions. samp =100, let i range from 1 to N samp -1 loop, generating loop search coefficients m = i / N samp Calculate parameters A1, B1, C1, D1, E1, the fused positioning result (h2, k2), the major semi-axis σ1 of the fused positioning ellipse, and the minor semi-axis σ2 of the positioning ellipse in sequence, i.e.:

[0096] Step 531, based on parameters A, B, C, D, E, the cyclic search coefficient m, and the lateral error σ corresponding to the direction finding line. y Calculate parameters A1, B1, C1, D1, and E1:

[0097]

[0098] Step 532: Based on the cyclic search coefficient m and the abscissa of the projection of the center of the positioning ellipse onto the direction finding line... The ordinate of the projection of the center of the positioning ellipse onto the direction finding line Calculate the fused localization result (h2, k2):

[0099]

[0100] Where h2 is the x-axis coordinate of the fused positioning result, and k2 is the y-axis coordinate of the fused positioning result.

[0101] Step 533: Based on parameters A1, B1, C1, D1, and E1, calculate the major semi-axis σ1 and minor semi-axis σ2 of the fused positioning ellipse:

[0102]

[0103] Step 534: Calculate the final positioning variance σ based on the major semi-axis σ1 and the minor semi-axis σ2 of the fused positioning ellipse. 2 :

[0104]

[0105] Step 54: After traversing and calculating all the loop search coefficients m, calculate the final positioning variance σ. 2 Search for the minimum localization variance σ 2 The corresponding (h2,k2) is used as the final localization result (h final ,k final );

[0106] Step 55: Add height information to the final positioning result to form a three-dimensional coordinate vector (h). final ,k final According to the longitude, latitude, and altitude of the target's real-time positioning information provided by the positioning system, the three-dimensional coordinate vector (h) is... final ,k final ,0) is converted into the final positioning latitude, longitude and altitude result (LON) final ,LAT final H final ).

[0107] Based on the same technological concept, such as Figure 2 As shown, this embodiment of the invention also provides a real-time fusion positioning device for a direction finding station and a positioning system, comprising:

[0108] The data preprocessing module is used to receive the deployment information of the direction finding station, the deployment information of the positioning system, and the positioning and direction finding data, and to obtain the coordinates of the direction finding station, the coordinates of the positioning system, and the coordinates of the center of the positioning ellipse through coordinate transformation;

[0109] The lateral error calculation module for the direction finding line is used to calculate the coordinates of the center of the positioning ellipse on the direction finding line based on the coordinates obtained by the data preprocessing module and the coordinate projection principle, and to calculate the corresponding lateral error of the direction finding line in combination with the positioning and direction finding data.

[0110] The ellipse center coordinate transformation module is used to transform the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line based on the azimuth observation information of the direction finding station, the coordinates of the center of the positioning ellipse, and the coordinates of the direction finding station, so as to obtain the transformed ordinate of the center of the positioning ellipse.

[0111] The major and minor axes calculation module for the positioning ellipse is used to measure the major and minor axes of the positioning ellipse based on the coordinates of the positioning system and the center coordinates of the positioning ellipse, combined with the positioning and orientation data.

[0112] The direction finding and positioning fusion module is used to set cyclic search coefficients based on the positioning system deployment information, positioning direction finding data, the lateral error corresponding to the direction finding line, the ordinate of the center of the positioning ellipse, the major axis and the minor axis of the positioning ellipse, and to calculate the parameters corresponding to each cyclic search coefficient, the fused positioning result and the positioning variance in turn. The fused positioning result corresponding to the minimum positioning variance is then converted into latitude, longitude and altitude for output.

[0113] As for the specific processing methods of each functional module in the above device, please refer to the detailed description of the above method, which will not be repeated here.

[0114] Based on the same technical concept, embodiments of the present invention also provide an electronic device that can implement the real-time fusion positioning method flow of the direction-finding station and positioning system provided in the above embodiments of the present invention. In one embodiment, the electronic device may be a server, a terminal device, or other electronic devices. Figure 3 As shown, the electronic device may include:

[0115] At least one processor and a memory connected to the at least one processor. In this embodiment of the invention, the specific connection medium between the processor and the memory is not limited. Figure 3 The example used is the connection between the processor and memory via a bus. The bus... Figure 3 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. Buses can be divided into address buses, data buses, control buses, etc., but for ease of representation, [the specific bus type is not shown here]. Figure 3 The processor is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, a processor can also be called a controller; there are no restrictions on the name.

[0116] In this embodiment of the invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, the at least one processor can execute the real-time fusion positioning method for a direction-finding station and positioning system described above. The processor can implement... Figure 3 The functions of each module in the device shown.

[0117] The processor is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory and calling data stored in memory, it can monitor the device's various functions and process data, thereby enabling overall monitoring of the device.

[0118] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor, wherein the application processor primarily handles the operating system, user interface, and applications, while the modem processor primarily handles wireless communication. It is understood that the modem processor may also not be integrated into the processor. In some embodiments, the processor and memory may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0119] The processor can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the real-time fusion positioning method for a direction-finding station and positioning system disclosed in the embodiments of this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0120] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. Memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. In embodiments of the present invention, memory can also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0121] By designing and programming the processor, the code corresponding to the real-time fusion positioning method of a direction finding station and positioning system described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the code during runtime. Figure 1 The steps of the method in the illustrated embodiment are described below. How to design and program a processor is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0122] Based on the same inventive concept, embodiments of the present invention also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a real-time fusion positioning method for a direction finding station and a positioning system as described above.

[0123] In some alternative embodiments, the present invention also provides a variety of aspects of an instantaneous fusion positioning method for a direction-finding station and a positioning system, which can also be implemented in the form of a program product including program code. When the program product is run on a device, the program code is used to cause the control device to perform the steps in the instantaneous fusion positioning method for a direction-finding station and a positioning system according to various exemplary embodiments of the present invention as described above.

[0124] It should be noted that although several units or sub-units of the apparatus have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the invention, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units. Furthermore, although the operation of the method of the invention is described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0125] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a server, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0127] Program code for performing the operations of this invention can be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0128] In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for instantaneous fusion positioning of a direction finding station and a positioning system, characterized in that, The method comprises the following steps: Step 1, receiving direction finding station deployment information, positioning system deployment information and positioning direction finding data, and obtaining direction finding station coordinates, positioning system coordinates and positioning ellipse center coordinates through coordinate conversion; Step 2, based on the coordinates obtained in step 1, calculating the coordinates of the positioning ellipse center on the direction finding line according to the coordinate projection principle, and calculating the corresponding horizontal error of the direction finding line in combination with the positioning direction finding data; Step 3, according to the direction finding station azimuth observation information, the positioning ellipse center coordinates and the direction finding station coordinates, converting the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line to obtain the converted positioning ellipse center longitudinal coordinate; Step 4, according to the positioning system coordinates and the positioning ellipse center coordinates, combining the positioning direction finding data to measure the positioning ellipse major axis and the positioning ellipse minor axis; Step 5, based on the positioning system deployment information, the positioning direction finding data, the corresponding horizontal error of the direction finding line, the positioning ellipse center longitudinal coordinate, the positioning ellipse major axis and the positioning ellipse minor axis, setting a cyclic search coefficient, sequentially calculating the corresponding parameters of each cyclic search coefficient, fusing the positioning result and the positioning variance, and converting the fused positioning result corresponding to the minimum positioning variance into a latitude-longitude-height form for output; Step 5 specifically comprises the following sub-steps: Step 51, according to the positioning system deployment information and the positioning system to the target instantaneous positioning information, calculate the long axis deflection angle of the positioning ellipse ; Step 52, calculating the parameter , the azimuth measurement value of the direction finding station , the deflection angle of the long axis of the positioning ellipse , the long axis of the positioning ellipse , and the short axis of the positioning ellipse , , , , , : Step 53, set the number of sampling points , let loop from 1 to , generate a loop search coefficient , in turn, calculate the parameters , , , , , fusion positioning results , fusion positioning ellipse major axis and the short axis of the positioning ellipse , that is: Step 531, calculating parameters 、 、 、 、 , loop search coefficient , corresponding lateral error of direction finding line , calculating parameters 、 、 、 、 : Step 532, according to the loop search coefficient , locate the horizontal coordinate of the ellipse center projected on the direction finding line , locate the vertical coordinate of the ellipse center projected on the direction finding line , calculate the fusion positioning result : wherein, is a coordinate of the x-axis of the fusion positioning result, is a coordinate of the y-axis of the fusion positioning result; Step 533, based on parameters , , , , Calculate the semi-major axis of the fusion positioning ellipse and merge positioning of the minor semi-axis of the ellipse : Step 534, based on the fusion positioning ellipse major semi-axis and merge positioning of the minor semi-axis of the ellipse Calculate the final positioning variance : Step 54, traverse all the loop search coefficients are calculated corresponding final positioning variance , search for the minimum positioning variance , its corresponding as the final positioning result ; Step 55, add height information to the final positioning result to form a three-dimensional coordinate vector , according to the longitude, latitude and height of the target instant positioning information of the positioning system, convert the three-dimensional coordinate vector into a final positioning longitude, latitude and height result .

2. The instant fusion positioning method of a direction-finding station and positioning system according to claim 1, characterized in that, The step 1 is specifically: receiving the direction-finding station deployment information, the positioning system deployment information, the direction-finding station azimuth observation information, the positioning system instant positioning information of the target, the positioning system ranging accuracy, the positioning system direction-finding accuracy and the direction-finding error of the direction-finding station, taking the instant positioning point of the positioning system to the target as the origin (0, 0, 0) of the northeast celestial coordinate system, respectively converting the longitude, latitude and height of the positioning system deployment information and the direction-finding station deployment information into the northeast celestial coordinate system xyz coordinate to obtain the direction-finding station coordinate , the positioning system coordinate and the positioning ellipse center coordinate .

3. The instant fusion positioning method of a direction-finding station and positioning system according to claim 2, characterized in that, Step 2 specifically comprises the following sub-steps: Step 21, calculating the horizontal coordinate of the positioning ellipse center projected on the direction finding line: wherein is the bearing measurement of the direction finding station, is the abscissa of the projection of the center of the positioning ellipse on the direction finding line; Step 22, calculating the vertical coordinate of the positioning ellipse center projected on the direction finding line: wherein is the ordinate of the projection of the center of the ellipse on the direction finding line; Step 23, calculating the horizontal error corresponding to the direction finding line according to the horizontal coordinate and the vertical coordinate of the positioning ellipse center projected on the direction finding line and the direction finding error of the direction finding station: wherein, is the lateral error for the direction finding line, is the direction finding error of the direction finding station.

4. The instant fusion positioning method of a direction-finding station and positioning system according to claim 2, characterized in that, The calculation formula of the converted positioning ellipse center longitudinal coordinate in step 3 is: wherein is the converted positioning ellipse center longitudinal coordinate.

5. The instant fusion positioning method of a direction-finding station and positioning system according to claim 4, characterized in that, The calculation formula of the positioning ellipse major axis and the positioning ellipse minor axis in step 4 is: wherein, is the long axis of the positioning ellipse, is the short axis of the positioning ellipse, is the ranging accuracy of the positioning system, is the direction finding accuracy of the positioning system.

6. An instantaneous fusion positioning apparatus of a direction finding station and a positioning system, characterized in that, It comprises: A data preprocessing module for receiving direction finding station deployment information, positioning system deployment information and positioning direction finding data, and obtaining direction finding station coordinates, positioning system coordinates and positioning ellipse center coordinates through coordinate conversion; A direction finding line horizontal error calculation module for calculating the coordinates of the positioning ellipse center on the direction finding line according to the coordinate projection principle based on the coordinates obtained by the data preprocessing module, and calculating the corresponding horizontal error of the direction finding line in combination with the positioning direction finding data; An ellipse center coordinate conversion module for converting the coordinates of the positioning ellipse to the coordinate system corresponding to the direction finding line according to the direction finding station azimuth observation information, the positioning ellipse center coordinates and the direction finding station coordinates to obtain the converted positioning ellipse center longitudinal coordinate; A positioning ellipse major and minor axis calculation module for measuring the positioning ellipse major axis and the positioning ellipse minor axis according to the positioning system coordinates and the positioning ellipse center coordinates in combination with the positioning direction finding data; A direction finding positioning fusion module for setting a cyclic search coefficient based on the positioning system deployment information, the positioning direction finding data, the corresponding horizontal error of the direction finding line, the positioning ellipse center longitudinal coordinate, the positioning ellipse major axis and the positioning ellipse minor axis, sequentially calculating the corresponding parameters of each cyclic search coefficient, fusing the positioning result and the positioning variance, and converting the fused positioning result corresponding to the minimum positioning variance into a latitude-longitude-height form for output; specifically comprising the following sub-steps: Step 51, according to the positioning system deployment information and the positioning system to the target instantaneous positioning information, calculate the long axis deflection angle of the positioning ellipse ; Step 52, calculating the parameter , the azimuth measurement value of the direction finding station , the deflection angle of the major axis of the positioning ellipse , the major axis of the positioning ellipse , and the minor axis of the positioning ellipse Step 53, calculating the center longitudinal coordinate of the positioning ellipse , , , , : Step 53, set the number of sampling points , let loop from 1 to , generate the loop search coefficient , in turn, calculate the parameters , , , , , fusion positioning results , fusion positioning ellipse major axis And the short semi-axis of the positioning ellipse , that is: Step 531, calculating parameters 、 、 、 、 , loop search coefficient , corresponding lateral error of direction finding line , calculating parameters 、 、 、 、 : Step 532, according to the search coefficient of cycle , positioning the horizontal coordinate of the ellipse center projected on the direction finding line , positioning the vertical coordinate of the ellipse center projected on the direction finding line , calculating the fusion positioning result : wherein, is a coordinate of the x-axis of the fusion positioning result, is a coordinate of the y-axis of the fusion positioning result; Step 533, calculating the fusion positioning ellipse major axis , , , , , according to the parameters and the fusion positioning ellipse minor axis : Step 534, based on the fusion positioning ellipse major semi-axis and merge positioning of the minor semi-axis of the ellipse Calculate the final positioning variance : Step 54, traverse all the loop search coefficients are calculated corresponding final positioning variance , search for the minimum positioning variance , its corresponding as the final positioning result ; Step 55, add height information to the final positioning result to form a three-dimensional coordinate vector , according to the longitude, latitude and height of the target instant positioning information of the positioning system, convert the three-dimensional coordinate vector into a final positioning longitude, latitude and height result .

7. An electronic device, comprising: It comprises: At least one processor; And a memory connected in communication with the at least one processor; The memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, performs the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions that, when executed, cause the method of any one of claims 1-5 to be implemented.

9. A computer program product, characterised in that, The computer program product, when invoked by a computer, causes the computer to perform the method of any one of claims 1-5.

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