Instant double-station cooperative positioning method, device and equipment based on error ellipse fusion, medium and program product

Abstract

The invention provides an instant double-station cooperative positioning method, device and equipment based on error ellipse fusion, a medium and a program product, and the method comprises the steps: receiving positioning system deployment information and instant target positioning information, and obtaining the northeast-east-sky coordinates of a positioning system through coordinate conversion; calculating an included angle between positioning ellipses based on the east-north-sky coordinates of the positioning system; and based on the distance measurement precision and the direction measurement precision of the positioning system, calculating corresponding long and short semi-axes of a positioning ellipse through coordinate transformation, setting cyclic search coefficients, sequentially calculating parameters corresponding to the cyclic search coefficients, fusing positioning results and positioning variances, and outputting the fused positioning result corresponding to the minimum positioning variance as a final positioning result. According to the method, the problem that fusion positioning cannot be carried out when the deviation of a multi-sensor positioning result is large is solved, all information under the positioning condition is utilized in the proposed method, and the fusion positioning precision is greatly improved compared with a traditional one-dimensional weighted fusion mode.

Description

Technical Field

[0001] The present invention relates to the field of multi-sensor fusion positioning, and in particular to an instant dual-station collaborative positioning method, device, equipment, medium and program product based on error ellipse fusion. Background Art

[0002] With the continuous development and progress of sensor technology, users have put forward new requirements for sensor positioning technology, such as more accurate and faster positioning results. In order to meet these needs, multi-sensor collaborative positioning methods have emerged. The combination of multiple sensor observations (including direction finding intersection combination, azimuth and time difference combination, positioning and positioning combination, etc.) makes the target positioning results more accurate than the single sensor case.

[0003] The collaborative fusion positioning using positioning results usually adopts the weighted average fusion method, and uses the sensor positioning error and the mutual covariance to set the weight for positioning fusion. When the positioning results between sensors are very different, the fusion positioning accuracy of the target will be reduced, and even the fusion positioning algorithm will be invalid. Therefore, how to improve the accuracy of positioning and positioning fusion and solve the problem that fusion positioning cannot be performed when the deviation of multi-sensor positioning results is large is the problem that the present invention is concerned with. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention provides a method, device, equipment, medium and program product for instant dual-station collaborative positioning based on error ellipse fusion, which realizes dual-station collaborative positioning in the case of biased sensor positioning estimation based on the optimal principle of ellipse probability density function fusion according to sensor deployment information, sensor positioning error information and sensor instant positioning result data.

[0005] In a first aspect, the present invention provides a method for real-time dual-station collaborative positioning based on error ellipse fusion, comprising the following steps:

[0006] Step 1, receiving the positioning system deployment information and the real-time target positioning information, and obtaining the northeast celestial coordinates of the positioning system through coordinate conversion;

[0007] Step 2, based on the northeast celestial coordinate of the positioning system, use the law of cosines to calculate the angle between the positioning ellipses;

[0008] Step 3: Based on the ranging accuracy and direction finding accuracy of the positioning system, the positioning ellipses of the two positioning systems are transformed into the same coordinate system through coordinate transformation, and the corresponding major and minor semi-axes of the positioning ellipses are calculated;

[0009] Step 4: Based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, set the circular search coefficients, calculate the parameters corresponding to each circular search coefficient, the fused positioning result and the positioning variance in turn, and output the fused positioning result corresponding to the minimum positioning variance as the final positioning result.

[0010] In some embodiments, step 1 specifically includes: receiving two positioning system deployment information and immediate target positioning information, taking the immediate target positioning information of positioning system 1 as the origin of the northeast sky coordinate system, respectively converting the longitude, latitude and altitude of positioning system 1, positioning system 2 and the immediate target positioning information of positioning system 1 and positioning system 2 into the northeast sky coordinate system xyz coordinates, and obtaining the northeast sky coordinates of the positioning system, including the positioning system 1 coordinates (x A ,y A ,z A ), positioning system 2 coordinates (x2, y2, z2), positioning system 1 positioning ellipse center coordinates (η0, ξ0, z0) and positioning system 2 positioning ellipse center coordinates

[0011]

[0012] In some embodiments, the calculation formula for the angle between the positioning ellipses in step 2 is:

[0013]

[0014] Wherein, θ is the angle between the positioning ellipses.

[0015] In some embodiments, step 3 includes the following sub-steps:

[0016] Step 31, based on the coordinates of the positioning system 1, the center coordinates of the positioning ellipse of the positioning system 1 and the distance and direction finding data of the positioning system 1, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 1:

[0017]

[0018] in, is the ranging accuracy of positioning system 1, is the direction finding accuracy of positioning system 1, σ r_JZ is the ranging accuracy of positioning system 1 after the coordinate system is converted, σ e_JZ is the direction finding accuracy of positioning system 1 after the coordinate system is converted;

[0019] If σ r_JZ >σ e_JZ

[0020] Then there is

[0021] If σ r_JZ ≤σe_JZ

[0022] Then there is

[0023] Among them, σ a is the major semi-axis of the positioning ellipse of positioning system 1, σ b is the minor semi-axis of the positioning ellipse of the positioning system 1;

[0024] Step 32, based on the coordinates of the positioning system 2, the center coordinates of the positioning ellipse of the positioning system 2 and the distance and direction finding data of the positioning system 2, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 2:

[0025]

[0026] in, is the ranging accuracy of positioning system 2, is the direction finding accuracy of positioning system 2, σ r_Radar is the ranging accuracy of positioning system 2 after the coordinate system is converted, σ e_Radar is the direction finding accuracy of positioning system 2 after the coordinate system is converted;

[0027] If σ r_Radar >σ e_Radar

[0028] Then there is

[0029] If σ r_Radar ≤σ e_Radar

[0030] Then there is

[0031] Among them, σ u is the major semi-axis of the positioning ellipse of positioning system 2, σ v is the minor semi-axis of the positioning ellipse of positioning system 2.

[0032] In some embodiments, step 4 includes the following sub-steps:

[0033] Step 41, based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the parameters P, Q, A, B, and C:

[0034]

[0035] Step 42, set the number of sampling points N samp , let i range from 1 to N samp -1 loop, generate loop search coefficient m = i / N samp , let j range from 1 to N samp -1 loop, generate loop search coefficient k = j / N sampBased on the parameters P, Q, A, B, and C, the fusion positioning result (h2, k2) and the final positioning variance σ are calculated through a cyclic search. 2 ;

[0036] Step 43, traverse and calculate the final positioning variance σ corresponding to all cyclic search coefficients k and m 2 , search for the final positioning variance σ 2 The minimum value (h2, k2) is the final positioning result (h final ,k final );

[0037] Step 44: Add the height information to the final positioning result to form a three-dimensional coordinate vector (h final ,k final ,0), according to the longitude, latitude and altitude of the instant target positioning information of the positioning system 1, the three-dimensional coordinate vector (h final ,k final ,0) is converted into the final positioning latitude and longitude result (LON final ,LAT final ,H final ).

[0038] In some embodiments, step 42 includes the following sub-steps:

[0039] Step 421, calculating parameters A1, B1, C1, D1, E1 according to parameters P, Q, A, B, C, cyclic search coefficients k and m, and x-axis and y-axis coordinates of the center coordinates of the positioning ellipse of the positioning system;

[0040]

[0041] B1=B

[0042]

[0043] Step 422, calculating the fusion positioning result (h2, k2) according to the parameters A1, B1, C1, D1, and E1;

[0044]

[0045] Among them, h2 is the coordinate of the x-axis of the fusion positioning result, and k2 is the coordinate of the y-axis of the fusion positioning result;

[0046] Step 423, calculate the parameter H according to the parameters A1, B1, C1, P, Q, the cyclic search coefficients k and m, and the x and y axis coordinates of the center coordinates of the positioning ellipse of the positioning system 2. x , H y , H0, K x , K y 、K0:

[0047]

[0048] Step 424, based on parameters A1, B1, C1, P, Q, H x , H y , H0, K x , K y , K0, cyclic search coefficients k and m, calculate A2, B2, C2, D2, E2, F2:

[0049]

[0050] B2=-2A1H x H y -2C1K y K x -B1(H x K y +H y K x )

[0051] D2=-2A1H x H0-2C1K x K0-B1(H x K0+K x H0)

[0052] E2=-2A1H y H0-2C1K y K0-B1(H y K0+K y H0)

[0053] F2=-1

[0054] Step 425, according to the parameters A2, B2, C2, D2, E2, F2, calculate the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse:

[0055]

[0056] Step 426, calculate the final positioning variance according to the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse:

[0057]

[0058] Among them, σ 2 is the final positioning variance.

[0059] In a second aspect, the present invention provides an instant dual-station collaborative positioning device based on error ellipse fusion, comprising:

[0060] A data preprocessing module is used to receive the positioning system deployment information and the real-time target positioning information, and obtain the northeast celestial coordinates of the positioning system through coordinate conversion;

[0061] The ellipse angle calculation module is used to calculate the angle between positioning ellipses based on the northeast celestial coordinates of the positioning system using the cosine theorem;

[0062] The positioning ellipse major and minor semi-axis calculation module is used to transform the positioning ellipses of the two positioning systems into the same coordinate system through coordinate transformation based on the ranging accuracy and direction finding accuracy of the positioning system, and calculate the corresponding major and minor semi-axis of the positioning ellipse;

[0063] The fusion positioning estimation module is used to set the circular search coefficient based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the corresponding parameters of each circular search coefficient, the fusion positioning result and the positioning variance in turn, and output the fusion positioning result corresponding to the minimum positioning variance as the final positioning result.

[0064] In a third aspect, the present invention provides an electronic device, comprising:

[0065] at least one processor; and a memory communicatively coupled to the at least one processor;

[0066] 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, so that the at least one processor performs the method.

[0067] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store instructions, and when the instructions are executed, the above method is implemented.

[0068] In a fifth aspect, the present invention provides a computer program product, which, when called by a computer, enables the computer to execute the above method.

[0069] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0070] The present invention constructs a two-dimensional elliptical probability density function through the direction-finding error and the ranging error of the sensor, and proposes an instant dual-station collaborative positioning method based on error ellipse fusion based on the optimal principle of elliptical probability density function fusion. The method solves the problem that fusion positioning cannot be performed when the deviation of multi-sensor positioning results is large. In addition, the proposed method utilizes all the information in the positioning situation, and the fused positioning accuracy is greatly improved compared with the traditional one-dimensional weighted fusion method. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1A flowchart of a method for real-time dual-station collaborative positioning based on error ellipse fusion is provided in an embodiment of the present invention.

[0072] Figure 2 A schematic diagram of an instant dual-station collaborative positioning device based on error ellipse fusion provided in an embodiment of the present invention.

[0073] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0075] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] Example

[0077] like Figure 1 As shown, the embodiment of the present invention proposes a real-time dual-station collaborative positioning method based on error ellipse fusion, comprising the following steps:

[0078] Step 1, receiving the positioning system deployment information and the real-time target positioning information, and obtaining the northeast celestial coordinates of the positioning system through coordinate conversion;

[0079] Step 2, based on the northeast celestial coordinate of the positioning system, use the law of cosines to calculate the angle between the positioning ellipses;

[0080] Step 3: Based on the ranging accuracy and direction finding accuracy of the positioning system, the positioning ellipses of the two positioning systems are transformed into the same coordinate system through coordinate transformation, and the corresponding major and minor semi-axes of the positioning ellipses are calculated;

[0081] Step 4: Based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, set the circular search coefficients, calculate the parameters corresponding to each circular search coefficient, the fused positioning result and the positioning variance in turn, and output the fused positioning result corresponding to the minimum positioning variance as the final positioning result.

[0082] In some embodiments, step 1 is specifically: receiving two positioning system deployment information and immediate target positioning information, taking the immediate target positioning information of positioning system 1 as the origin (0,0,0) of the northeast sky coordinate system, respectively converting the longitude, latitude and altitude of positioning system 1, positioning system 2 and the immediate target positioning information of positioning system 1 and positioning system 2 into the xyz coordinates of the northeast sky coordinate system, and obtaining the northeast sky coordinates of the positioning system, including the coordinates of positioning system 1, the coordinates of positioning system 2, the center coordinates of the positioning ellipse of positioning system 1 and the center coordinates of the positioning ellipse of positioning system 2, which are respectively expressed as:

[0083] (LON1,LAT1,H1)→(x A ,y A ,z A )

[0084] (LON2,LAT2,H2)→(x2,y2,z2)

[0085]

[0086] Among them, (LON1, LAT1, H1) is the longitude LON1, latitude LAT1 and altitude H1 of positioning system 1, and (LON2, LAT2, H2) is the longitude LON2, latitude LAT2 and altitude H2 of positioning system 2. Longitude of instant target positioning information for positioning system 1 latitude and height Longitude of instant target location information for positioning system 2 latitude and height (x A ,y A ,z A ) is the coordinates of the x, y, and z axes of the northeast celestial coordinate system of positioning system 1, that is, the coordinates of positioning system 1, (x2, y2, z2) is the coordinates of the x, y, and z axes of the northeast celestial coordinate system of positioning system 2, that is, the coordinates of positioning system 2, (η0, ξ0, z0) is the coordinates of the x, y, and z axes of the northeast celestial coordinate system of the instant positioning result of positioning system 1 for the target, that is, the coordinates of the center of the positioning ellipse of positioning system 1, It is the coordinates of the x, y, and z axes of the northeast celestial coordinate system of the real-time positioning result of the target by the positioning system 2, that is, the center coordinates of the positioning ellipse of the positioning system 2.

[0087] In some embodiments, the calculation formula for the angle between the positioning ellipses in step 2 is:

[0088]

[0089] Wherein, θ is the angle between the positioning ellipses.

[0090] In some embodiments, step 3 includes the following sub-steps:

[0091] Step 31, based on the coordinates of the positioning system 1, the center coordinates of the positioning ellipse of the positioning system 1 and the distance and direction finding data of the positioning system 1, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 1:

[0092]

[0093] in, is the ranging accuracy of positioning system 1, is the direction finding accuracy of positioning system 1, σ r_JZ is the ranging accuracy of positioning system 1 after the coordinate system is converted, σ e _ JZ Positioning system 1 after the coordinate system is converted

[0094] Direction finding accuracy.

[0095] If σ r_JZ >σ e_JZ

[0096] Then there is

[0097] If σ r_JZ ≤σ e_JZ

[0098] Then there is

[0099] Among them, σ a is the major semi-axis of the positioning ellipse of positioning system 1, σ b is the minor semi-axis of the positioning ellipse of positioning system 1.

[0100] Step 32, based on the coordinates of the positioning system 2, the center coordinates of the positioning ellipse of the positioning system 2 and the distance and direction finding data of the positioning system 2, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 2:

[0101]

[0102] in, is the ranging accuracy of positioning system 2, is the direction finding accuracy of positioning system 2, σ r_Radar is the ranging accuracy of positioning system 2 after the coordinate system is converted, σ e_Radar is the direction finding accuracy of positioning system 2 after the coordinate system is converted.

[0103] If σ r_Radar >σ e_Radar

[0104] Then there is

[0105] If σ r_Radar ≤σ e_Radar

[0106] Then there is

[0107] Among them, σ u is the major semi-axis of the positioning ellipse of positioning system 2, σ v is the minor semi-axis of the positioning ellipse of positioning system 2.

[0108] In some embodiments, step 4 includes the following sub-steps:

[0109] Step 41, based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the initial parameters P, Q, A, B, and C of the cyclic search:

[0110]

[0111] Step 42: 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, generate loop search coefficient m = i / N samp , let j range from 1 to N samp -1 loop, generate loop search coefficient k = j / N samp Based on the parameters P, Q, A, B, and C, the parameters A1, B1, C1, D1, E1, and H are calculated in sequence through a cyclic search. x , H y , H0, K x , K y , K0, A2, B2, C2, D2, E2, F2, fusion positioning result (h2, k2), fusion positioning ellipse major semi-axis σ1 and fusion positioning ellipse minor semi-axis σ2, as follows:

[0112] Step 421, calculate parameters A1, B1, C1, D1, E1 according to parameters P, Q, A, B, C, cyclic search coefficients k and m, and x and y axis coordinates of the center coordinates of the positioning ellipse of the positioning system:

[0113]

[0114] B1=B

[0115]

[0116] Step 422, calculate the fusion positioning result (h2, k2) according to the parameters A1, B1, C1, D1, E1:

[0117]

[0118] Among them, h2 is the coordinate of the x-axis of the fused positioning result, and k2 is the coordinate of the y-axis of the fused positioning result.

[0119] Step 423, calculate the parameter H according to the parameters A1, B1, C1, P, Q, the cyclic search coefficients k and m, and the x and y axis coordinates of the center coordinates of the positioning ellipse of the positioning system 2. x , H y , H0, K x , K y 、K0:

[0120]

[0121] Step 424, based on parameters A1, B1, C1, P, Q, H x , H y , H0, K x , K y , K0, cyclic search coefficients k and m, calculate A2, B2, C2, D2, E2, F2:

[0122]

[0123] B2=-2A1H x H y -2C1K y K x -B1(H x K y +H y K x )

[0124] D2=-2A1H x H0-2C1K x K0-B1(H x K0+K x H0)

[0125] E2=-2A1H y H0-2C1K y K0-B1(H y K0+K y H0)

[0126] F2=-1

[0127] Step 425, according to the parameters A2, B2, C2, D2, E2, F2, calculate the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse:

[0128]

[0129] Step 426, calculate the final positioning variance σ according to the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse 2 :

[0130]

[0131] Step 43, traverse and calculate the final positioning variance σ corresponding to all cyclic search coefficients k and m 2 , search for the final positioning variance σ 2 The minimum value (h2, k2) is the final positioning result (h final ,k final );

[0132] Step 44: Add the height information to the final positioning result to form a three-dimensional coordinate vector (h final ,k final ,0), according to the longitude, latitude and altitude of the instant target positioning information of the positioning system 1, the three-dimensional coordinate vector (h final ,k final ,0) is converted into the final positioning latitude and longitude result (LON final ,LAT final ,H final ).

[0133] Based on the same technical concept, such as Figure 2 As shown, the embodiment of the present invention also provides an instant dual-station collaborative positioning device based on error ellipse fusion, comprising:

[0134] A data preprocessing module is used to receive the positioning system deployment information and the real-time target positioning information, and obtain the northeast celestial coordinates of the positioning system through coordinate conversion;

[0135] The ellipse angle calculation module is used to calculate the angle between positioning ellipses based on the northeast celestial coordinates of the positioning system using the cosine theorem;

[0136] The positioning ellipse major and minor semi-axis calculation module is used to transform the positioning ellipses of the two positioning systems into the same coordinate system through coordinate transformation based on the ranging accuracy and direction finding accuracy of the positioning system, and calculate the corresponding major and minor semi-axis of the positioning ellipse;

[0137] The fusion positioning estimation module is used to set the circular search coefficient based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the corresponding parameters of each circular search coefficient, the fusion positioning result and the positioning variance in turn, and output the fusion positioning result corresponding to the minimum positioning variance as the final positioning result.

[0138] As for the specific processing methods of each functional module in the above device, reference can be made to the specific description of the above method, which will not be repeated here.

[0139] Based on the same technical concept, an embodiment of the present invention further provides an electronic device, which can implement the instant dual-station collaborative positioning method based on error ellipse fusion provided in the above embodiment of the present invention. In one embodiment, the electronic device can be a server, or a terminal device or other electronic device. Figure 3 As shown, the electronic device may include:

[0140] At least one processor, and a memory connected to the at least one processor. The specific connection medium between the processor and the memory is not limited in the embodiment of the present invention. Figure 3 The example in this article is that the processor and memory are connected through a bus. Figure 3 The connections between other components are shown in bold lines, which are only for illustration and are not intended to be limiting. The bus can be divided into address bus, data bus, control bus, etc. Figure 3 In the diagram, only one thick line is used, but this does not mean that there is only one bus or only one type of bus. Alternatively, a processor can also be called a controller, and there is no limitation on the name.

[0141] In an embodiment of the present invention, the memory stores instructions that can be executed by at least one processor. By executing the instructions stored in the memory, the at least one processor can execute the instant dual-station collaborative positioning method based on error ellipse fusion discussed above. The processor can implement Figure 3 The functions of each module in the device shown.

[0142] Among them, the processor is the control center of the device, which can use various interfaces and lines to connect the various parts of the entire control device, and monitor the device as a whole by running or executing instructions stored in the memory and calling data stored in the memory, various functions of the device and processing data.

[0143] In an optional design, the processor may include one or more processing units, and the processor may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor. In some embodiments, the processor and the memory may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.

[0144] The processor may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of a method for real-time dual-station collaborative positioning based on error ellipse fusion disclosed in an embodiment of the present invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0145] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic memory, disk, optical disk, etc. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present invention can also be a circuit or any other device that can realize a storage function, used to store program instructions and / or data.

[0146] By programming the processor, the code corresponding to the instant dual-station collaborative positioning method based on error ellipse fusion introduced in the above embodiment can be fixed into the chip, so that the chip can execute it when running. Figure 1 The steps of the method of the embodiment shown. How to design and program a processor is a technique known to those skilled in the art and will not be described in detail here.

[0147] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes an instant dual-station collaborative positioning method based on error ellipse fusion discussed above.

[0148] In some optional embodiments, the present invention also provides various aspects of an instant dual-station collaborative positioning method based on error ellipse fusion, which can also be implemented in the form of a program product, which includes program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of an instant dual-station collaborative positioning method based on error ellipse fusion according to various exemplary embodiments of the present invention described above in this specification.

[0149] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of a unit described above can be further divided into multiple units to be embodied. In addition, although the operation of the method of the present invention is described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution.

[0150] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented 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.

[0151] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a server, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] Program code for performing the operations of the present invention may be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user equipment, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0153] Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0154] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0156] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0157] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A real-time dual-station collaborative positioning method based on error ellipse fusion, characterized in that: The steps include: Step 1, receiving the positioning system deployment information and the real-time target positioning information, and obtaining the northeast celestial coordinates of the positioning system through coordinate conversion; Step 2, based on the northeast celestial coordinate of the positioning system, use the law of cosines to calculate the angle between the positioning ellipses; Step 3: Based on the ranging accuracy and direction finding accuracy of the positioning system, the positioning ellipses of the two positioning systems are transformed into the same coordinate system through coordinate transformation, and the corresponding major and minor semi-axes of the positioning ellipses are calculated; Step 4: Based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, set the circular search coefficients, calculate the parameters corresponding to each circular search coefficient, the fused positioning result and the positioning variance in turn, and output the fused positioning result corresponding to the minimum positioning variance as the final positioning result.

2. The instant dual-station collaborative positioning method based on error ellipse fusion according to claim 1 is characterized in that: Step 1 specifically includes: receiving the deployment information and immediate target positioning information of two positioning systems, taking the immediate target positioning information of positioning system 1 as the origin of the northeast sky coordinate system, respectively converting the longitude, latitude and altitude of positioning system 1, positioning system 2 and the immediate target positioning information of positioning system 1 and positioning system 2 into the xyz coordinates of the northeast sky coordinate system, and obtaining the northeast sky coordinates of the positioning system, including the coordinates of positioning system 1 (x A ,y A ,z A ), positioning system 2 coordinates (x2, y2, z2), positioning system 1 positioning ellipse center coordinates (η0, ξ0, z0) and positioning system 2 positioning ellipse center coordinates 3. The instant dual-station collaborative positioning method based on error ellipse fusion according to claim 2 is characterized in that: The calculation formula for the angle between the positioning ellipses in step 2 is: Wherein, θ is the angle between the positioning ellipses.

4. The instant dual-station collaborative positioning method based on error ellipse fusion according to claim 3 is characterized in that: Step 3 includes the following sub-steps: Step 31, based on the coordinates of the positioning system 1, the center coordinates of the positioning ellipse of the positioning system 1 and the distance and direction finding data of the positioning system 1, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 1: in, is the ranging accuracy of positioning system 1, is the direction finding accuracy of positioning system 1, σ r_JZ is the ranging accuracy of positioning system 1 after the coordinate system is converted, σ e_JZ is the direction finding accuracy of positioning system 1 after the coordinate system is converted; If r_JZ >s e_JZ Then there is If r_JZ ≤σ e_JZ Then there is Among them, σ a is the major semi-axis of the positioning ellipse of positioning system 1, σ b is the minor semi-axis of the positioning ellipse of the positioning system 1; Step 32, based on the coordinates of the positioning system 2, the center coordinates of the positioning ellipse of the positioning system 2 and the distance and direction finding data of the positioning system 2, quantify the major semi-axis and the minor semi-axis of the positioning ellipse of the positioning system 2: in, is the ranging accuracy of positioning system 2, is the direction finding accuracy of positioning system 2, σ r_Radar is the ranging accuracy of positioning system 2 after the coordinate system is converted, σ e_Radar is the direction finding accuracy of positioning system 2 after the coordinate system is converted; If r_Radar >s e_Radar Then there is If r_Radar ≤σ e_Radar Then there is Among them, σ u is the major semi-axis of the positioning ellipse of positioning system 2, σ v is the minor semi-axis of the positioning ellipse of positioning system 2.

5. The instant dual-station collaborative positioning method based on error ellipse fusion according to claim 4 is characterized in that: Step 4 includes the following sub-steps: Step 41, based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the parameters P, Q, A, B, and C: Step 42, set the number of sampling points N samp , let i range from 1 to N samp -1 loop, generate loop search coefficient m = i / N samp , let j range from 1 to N samp -1 loop, generate loop search coefficient k = j / N samp Based on the parameters P, Q, A, B, and C, the fusion positioning result (h2, k2) and the final positioning variance σ are calculated through a cyclic search. 2 ; Step 43, traverse and calculate the final positioning variance σ corresponding to all cyclic search coefficients k and m 2 , search for the final positioning variance σ 2 The minimum value (h2, k2) is the final positioning result (h final ,k final ); Step 44: Add the height information to the final positioning result to form a three-dimensional coordinate vector (h final ,k final ,0), according to the longitude, latitude and altitude of the instant target positioning information of the positioning system 1, the three-dimensional coordinate vector (h final ,k final ,0) is converted into the final positioning latitude and longitude result (LON final ,LAT final ,H final ).

6. The instant dual-station collaborative positioning method based on error ellipse fusion according to claim 5 is characterized in that: Step 42 includes the following sub-steps: Step 421, calculating parameters A1, B1, C1, D1, E1 according to parameters P, Q, A, B, C, cyclic search coefficients k and m, and x-axis and y-axis coordinates of the center coordinates of the positioning ellipse of the positioning system; B1=B Step 422, calculating the fusion positioning result (h2, k2) according to the parameters A1, B1, C1, D1, and E1; Among them, h2 is the coordinate of the x-axis of the fusion positioning result, and k2 is the coordinate of the y-axis of the fusion positioning result; Step 423, calculate the parameter H according to the parameters A1, B1, C1, P, Q, the cyclic search coefficients k and m, and the x and y axis coordinates of the center coordinates of the positioning ellipse of the positioning system 2. x , H y , H0, K x , K y 、K0: Step 424, based on parameters A1, B1, C1, P, Q, H x , H y , H0, K x , K y , K0, cyclic search coefficients k and m, calculate A2, B2, C2, D2, E2, F2: B2=-2A1H x H y -2C1K y K x -B1(H x K y +H y K x ) <h2 style=";text-align:left;direction:ltr">D2=-2A1H<h2 style=";text-align:left;direction:ltr"> x <h2 style=";text-align:left;direction:ltr"> H0-2C1K<h2 style=";text-align:left;direction:ltr"> x <h2 style=";text-align:left;direction:ltr"> K0-B1(H<h2 style=";text-align:left;direction:ltr"> x <h2 style=";text-align:left;direction:ltr"> K0+K<h2 style=";text-align:left;direction:ltr"> x <h2 style=";text-align:left;direction:ltr"> H0) <h2 style=";text-align:left;direction:ltr">E2=-2A1H<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> H0-2C1K<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> K0-B1(H<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> K0+K<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> H0) F2＝-1 Step 425, according to the parameters A2, B2, C2, D2, E2, F2, calculate the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse: Step 426, calculate the final positioning variance according to the major semi-axis σ1 of the fused positioning ellipse and the minor semi-axis σ2 of the fused positioning ellipse: Among them, σ 2 is the final positioning variance.

7. A real-time dual-station collaborative positioning device based on error ellipse fusion, characterized in that: include: A data preprocessing module is used to receive the positioning system deployment information and the real-time target positioning information, and obtain the northeast celestial coordinates of the positioning system through coordinate conversion; The ellipse angle calculation module is used to calculate the angle between positioning ellipses based on the northeast celestial coordinates of the positioning system using the cosine theorem; The positioning ellipse major and minor semi-axis calculation module is used to transform the positioning ellipses of the two positioning systems into the same coordinate system through coordinate transformation based on the ranging accuracy and direction finding accuracy of the positioning system, and calculate the corresponding major and minor semi-axis of the positioning ellipse; The fusion positioning estimation module is used to set the circular search coefficient based on the angle between the positioning ellipses and the major and minor semi-axes of the positioning ellipses, calculate the corresponding parameters of each circular search coefficient, the fusion positioning result and the positioning variance in turn, and output the fusion positioning result corresponding to the minimum positioning variance as the final positioning result.

8. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the method as described in any one of claims 1 to 6 by executing the instructions stored in the memory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the computer program product is called by a computer, the computer executes the method according to any one of claims 1 to 6.

Images