Distributed spatial synthesis emission coherent regulation and control method based on spatial positioning prediction

Abstract

The invention provides a distributed spatial synthesis emission coherent regulation and control method based on spatial positioning prediction, and the method comprises the steps: carrying out the modeling and estimation of a real-time spatial positioning error of a distributed electromagnetic pulse emission platform in a moving state through a Kriging method; under the condition that real-time high-precision spatial positioning data and known accurately calibrated initial spatial positioning data cannot be directly obtained, a high-precision and credible spatial positioning error estimation value can be generated. The method comprises the steps of obtaining an estimated value of a relative position of each transmitting platform based on a spatial positioning error estimated value of a distributed electromagnetic pulse transmitting platform, calculating a remainder obtained by dividing an actual distance between each transmitting platform and a synthetic position by a wavelength of a transmitting electromagnetic signal, and compensating an initial phase of the transmitting electromagnetic signal according to a space-time phase equivalence principle to obtain a spatial positioning error of the transmitting platform. And a relatively good distributed space synthesis emission coherent effect is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of measuring the degree of coherence by using an interference method, and in particular relates to a distributed spatial synthetic emission coherent control method based on spatial positioning prediction. Background Art

[0002] Microwave distributed spatial coherent synthesis refers to the arrangement of multiple microwave emission sources in space to emit microwave beams to the same target. By adjusting the carrier frequency, pulse triggering time, emission phase and other parameters of each beam, they are made consistent at the synthetic target, so that the parameters of each emission source take the same value at the location of the synthetic target, that is, the conditions for coherent synthesis are achieved, and the power density at the synthetic target increases by the square of the number of emission sources (the signal-to-noise ratio increases by the cube of the number of emission sources). It has broad application prospects in radar, wireless communications and other fields.

[0003] Microwave distributed spatial coherent synthesis needs to meet conditions such as beam spatial alignment, consistent carrier frequency, consistent pulse trigger time, and consistent phase. Among them, phase consistency is affected by many factors such as spatial positioning error, and is the most difficult to achieve among the above four conditions.

[0004] Most of the existing methods for achieving phase consistency are to perform relatively complex calibration after the positions of the microwave emission sources are fixed. Specifically, it is to use corner reflectors and other cooperative targets with known precise spatial positioning as targets at multiple locations, use the transmission channel of the microwave emission source to transmit small signals, use its receiving channel to receive the return signal, and compare the time difference between the transmitted signal and the received signal for reverse calculation. This type of method requires recalibration after the position of any microwave emission source is moved, which is a large workload; in addition, it is not applicable when the microwave emission source cannot receive the echo signal (such as radar decoys, electronic jammers and other equipment).

[0005] However, for microwave distributed spatial coherent synthesis scenarios, especially in higher frequency bands such as the X-band, centimeter-level spatial positioning errors will still have a significant impact on synthesis efficiency. It is extremely difficult to obtain higher-precision spatial positioning data. In the actual application of microwave distributed spatial coherent synthesis, the impact of spatial positioning errors must be considered. By adjusting the initial phase of the microwave transmission signal, the spatial positioning error is compensated to achieve the effect of distributed spatial transmission coherent synthesis.

[0006] Therefore, how to provide a distributed spatial synthetic emission coherent control method based on spatial positioning prediction has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0007] The purpose of the present invention is to provide a distributed spatial synthesis transmission coherent control method based on spatial positioning prediction.

[0008] According to a first aspect of the present invention, a distributed spatial synthesis transmission coherent control method based on spatial positioning prediction is provided, comprising:

[0009] Determine the spatial positioning error of the launch platform at the target point; the spatial positioning error is calculated by the following formula:

[0010] e(P)=f(e x (P),e y (P),e z (P),e d (P))

[0011] Where: e(P) is the spatial positioning error; P is the target point; e x (P), e y (P), and e z (P) are the error components of the spatial positioning error of the target point in the x, y, and z directions respectively; e d (P) is the actual spatial positioning error of the target point; the actual spatial positioning error is calculated by the following formula:

[0012]

[0013] determining a nominal spatial position of the launch platform;

[0014] A preset model is established based on the Kriging method; the nominal spatial position is used as the input of the preset model, and the spatial positioning error corresponding to the nominal spatial position is used as the output of the preset model to obtain a prediction model; the prediction model is used to: when used online, input the target position into the prediction model to obtain an estimated value of the spatial positioning error output by the prediction model; the target position is the nominal spatial position that the launch platform is intended to reach;

[0015] Based on the estimated value, error compensation is performed on the spatial positioning of the launch platform, and the nominal spatial position obtained after compensation is used as the actual arrival point of the launch platform;

[0016] Before the launch platform starts to move, determining the actual spatial positioning error of each of the launch platforms;

[0017] Based on the data when the launch platform starts to move, the prediction model is used for fitting to obtain an actual arrival point based on the estimated value;

[0018] Based on the actual arrival point, perform time-space spatial positioning equivalent conversion and initial phase calculation;

[0019] Based on the result of the initial phase calculation, initial phase control is performed.

[0020] Optionally, the method further comprises:

[0021] The error compensation for the spatial positioning of the launch platform is calculated by the following formula:

[0022]

[0023] Where: as well as is the estimated value Components in the x, y, and z directions; Z Px , Z Py , and Z Pz is the nominal spatial position Z P Components in the x, y, and z directions; Z′ Px , Z′ Py , and Z′ Pz , are the components of the actual arrival point in the x, y, and z directions.

[0024] Optionally, fitting using the prediction model includes:

[0025] The following formula is used to weight the measured spatial positioning error to obtain the spatial positioning error of the unmeasured position;

[0026]

[0027] Where si represents several observation points in the process of continuously collecting spatial positioning errors, e(P) is the error observation value at the target point with coordinate P in a certain dimension; η i is the weight; N is the number of observation points;

[0028] According to the assumptions of the Kriging method and the properties of the variogram, the theoretical variogram model is fitted, as shown in the following formula;

[0029]

[0030] Where γ(h) is the variogram, which is used to describe the change of regionalized variables in spatial regions. The value of the variogram is equal to half of the variance of the increment e(P+h)-e(P) of the regionalized variable e(P) of the error observation, and h represents the position change.

[0031] Optionally, obtaining an actual arrival point based on the estimated value includes:

[0032] The following formula is used to predict the spatial positioning error of the unmeasured position based on the measured spatial positioning error;

[0033]

[0034] Where P i and P j is the measured observation point, μ is the Lagrange multiplier; It can be obtained by fitting the theoretical variogram model; It can be calculated directly using the measured value.

[0035] Optionally, performing time-space spatial positioning equivalent conversion and initial phase calculation includes:

[0036] The carrier wavelength of the electromagnetic pulse transmission signal is denoted as λ, and the nominal distances between each transmission platform and the synthesis position are denoted as d1,…,d n ; The actual distances between each launch platform and the composite position are denoted as d1',…,d n ';

[0037] Perform the remainder calculation to obtain the actual distance between each launch platform and the synthesis position divided by the wavelength, which is recorded as Y1=d1'modλ,…,Y n =d n 'modλ;

[0038] Determine the initial phase of each electromagnetic pulse transmission signal as θ1=2π×(1-Y1 / λ),…,θ n =2π×(1-Y n / λ), the composite position signal strength is equal to the sum of the signal strengths of each electromagnetic pulse transmitting source when transmitting separately.

[0039] Optionally, performing initial phase control based on the result of the initial phase calculation includes:

[0040] Taking the electromagnetic pulse transmitting source numbered 1 as the reference, the relative phase deviation of the remaining electromagnetic pulse transmitting signals is set to θ'2 = 2π × [1-(Y2-Y1) / λ],…,θ' n =2π×[1-(Y n -Y1) / λ];

[0041] When the position of one or more electromagnetic pulse emission sources changes, the initial phase is recalculated and adjusted according to the above steps.

[0042] Optionally, the method further comprises:

[0043] Before the launch platform starts to move, the actual spatial positioning error of each launch platform is determined by collecting high-precision spatial positioning data in a historical time period and obtaining converged data.

[0044] Optionally, the method further comprises:

[0045] Before the launch platform starts to move, the actual spatial positioning error of each launch platform is determined by placing the launch platform at a pre-calibrated precise position.

[0046] According to a second aspect of the present invention, there is provided a distributed spatial synthesis transmission coherent control device based on spatial positioning prediction, which is used to implement the method steps described in any one of the first aspect of the present invention.

[0047] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0048] Processor; and

[0049] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method steps described in the first aspect.

[0050] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device executes the method steps described in the first aspect.

[0051] The beneficial effects brought by the present invention are as follows:

[0052] It can be seen from the above scheme that the embodiment of the present invention provides a distributed spatial synthesis transmission coherent control method based on spatial positioning prediction, which has the following beneficial effects:

[0053] The Kriging method is used to model and estimate the real-time spatial positioning error of the distributed electromagnetic pulse launch platform in a mobile state. Under the condition that the real-time high-precision spatial positioning data and the known accurately calibrated initial spatial positioning data cannot be directly obtained, a highly accurate and reliable spatial positioning error estimation value can be generated. Based on the spatial positioning error estimation value of the distributed electromagnetic pulse launch platform, the estimated value of the relative position of each launch platform is obtained, and the remainder of the actual distance between each launch platform and the synthetic position divided by the wavelength of the transmitted electromagnetic signal is calculated. Then, based on the principle of time-space phase equivalence, the initial phase of the transmitted electromagnetic signal is compensated to achieve a better distributed space synthetic launch coherence effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic diagram of the steps of a distributed spatial synthesis transmission coherent control method based on spatial positioning prediction provided according to an embodiment;

[0055] Figure 2 It is a schematic diagram of the spatial positioning error collection and estimation process;

[0056] Figure 3 Schematic diagram of distributed transmission coherent control based on spatial positioning. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. 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.

[0058] In practical applications, if only the coherence is transmitted, the microwave emission source can also be spatially positioned and the coherence parameters can be directly calculated. Satellite spatial positioning is the most commonly used means of spatial positioning acquisition. Depending on the specific technology adopted, there are different degrees of spatial positioning errors. Among the existing high-precision satellite spatial positioning technologies, the Precise Point Positioning (PPP) technology requires a long continuous acquisition time, and the real-time kinematic (RTK) base station communication needs to be coordinated with a fixed station with known precise longitude and latitude. Both can obtain centimeter-level precision spatial positioning, which can meet the spatial positioning needs of most scenarios.

[0059] For the typical application scenarios of microwave distributed space synthesis transmission coherence, especially in higher frequency bands such as X-band, centimeter-level spatial positioning errors will still have a significant impact on the synthesis efficiency. It is extremely difficult to obtain higher-precision spatial positioning data. In the actual application of microwave distributed space coherent synthesis, the impact of spatial positioning errors must be considered. By adjusting the initial phase of the microwave transmission signal, the spatial positioning error is compensated to achieve the effect of distributed space transmission coherent synthesis.

[0060] The present invention provides a distributed space synthetic emission coherent control method based on space positioning prediction, which can achieve better distributed space synthetic emission coherent effect by observing the position, estimating the error and compensating the initial phase of the emission signal when each electromagnetic pulse emission platform moves.

[0061] According to a first aspect of the present invention, a distributed spatial synthesis transmission coherent control method based on spatial positioning prediction is provided, comprising:

[0062] S100: Determine the spatial positioning error of the launch platform at the target point.

[0063] The launch platform involved in this specification is not unique. Since the distributed electromagnetic pulse launch platform (hereinafter referred to as the launch platform) may be affected by factors such as the accuracy error of the spatial positioning sensor, environmental factors, response delay of the motion control system, and wear of the platform structural components during movement, the movement trajectory of the platform may deviate from the predetermined trajectory and the collected trajectory data during actual movement. The above deviations are collectively referred to as spatial positioning errors.

[0064] The spatial positioning error is calculated by the following formula:

[0065] e(P)=f(e x (P),e y (P),e z (P),e d (P)) Formula (1)

[0067] Where: e(P) is the spatial positioning error; P is the target point; e x (P), e y (P), and e z (P) are the error components of the spatial positioning error of the target point in the x, y, and z directions respectively; e d (P) is the actual spatial positioning error of the target point; the actual spatial positioning error is calculated by the following formula:

[0068] Formula (2)

[0070] From formula (2), we can see that the actual spatial positioning error of point P is d (P) is about e x (P), e y (P) and e z (P), therefore, after determining the errors in each coordinate direction of point P, the actual spatial positioning error of point P can be obtained.

[0071] S102: Determine the nominal spatial position of the launch platform.

[0072] The nominal spatial position in this manual is expressed as Z P express.

[0073] S104: Establish a preset model based on the Kriging method; use the nominal spatial position as the input of the preset model, and use the spatial positioning error corresponding to the nominal spatial position as the output of the preset model to obtain a prediction model.

[0074] Using the Kriging method (Kriging method, also known as spatial local interpolation method, is based on the theory of variogram and structural analysis. It is a method for unbiased optimal estimation of regionalized variables in a limited area), according to the measured nominal position Z of the launch platform P and the corresponding spatial positioning error e(P), and the nominal spatial position Z P As input and spatial positioning error e(P) as output, the spatial positioning error of the launch platform at any position in the working space can be predicted by the established Kriging method.

[0075] The prediction model is used to: when used online, input the target position into the prediction model to obtain an estimated value of the spatial positioning error output by the prediction model. In this specification, the target position is the nominal spatial position that the launch platform is intended to reach.

[0076] S106: Based on the estimated value, error compensation is performed on the spatial positioning of the launch platform, and the nominal spatial position obtained after compensation is used as the actual arrival point of the launch platform.

[0077] The compensation methods in the relevant technologies are applicable to this specification when conditions permit.

[0078] In an optional embodiment of the present specification, the nominal spatial position to be reached by the spatial positioning of the launch platform is input into the above model to obtain an estimated value of the spatial positioning error e^(P). Error compensation is performed on the spatial positioning of the launch platform based on the obtained e^(P), and the nominal spatial position to be reached by the launch platform after compensation is shown in formula (3). The nominal spatial position after compensation is the actual arrival point of the launch platform, thereby improving the absolute spatial positioning accuracy of the launch platform.

[0079]

[0080] Where: as well as is the estimated value Components in the x, y, and z directions; Z Px , Z Py , and Z Pz is the nominal spatial position Z P Components in the x, y, and z directions; Z′ Px , Z′ Py , and Z′ Pz , are the components of the actual arrival point in the x, y, and z directions.

[0081] S108: Before the launch platform starts to move, determine the actual spatial positioning error of each launch platform.

[0082] This step aims to obtain the initial precise spatial positioning error. Before the launch platform starts to move, the precise spatial positioning of each launch platform and the error ed(P) during the initial observation can be obtained by collecting long-term high-precision spatial positioning data and obtaining converged data, or by placing the launch platform at a pre-calibrated precise position, etc., as shown in Figure 2 shown.

[0083] S110: Based on the data when the launch platform starts to move, the prediction model is used for fitting to obtain the actual arrival point based on the estimated value.

[0084] The Kriging method uses a statistical perspective and the continuity of spatiotemporal attributes to weight the surrounding measured true attribute values ​​(the attribute value of the present invention is the spatial positioning error) to obtain the predicted attribute value of the unmeasured position.

[0085] In an optional embodiment of the present specification, fitting using the prediction model includes:

[0086] The following formula is used to weight the measured spatial positioning error to obtain the spatial positioning error of the unmeasured position;

[0087]

[0088] Wherein, si represents a number of observation points in the process of continuously collecting spatial positioning errors, e(P) is the error observation value at the target point with coordinate P in a certain dimension, which refers to the error generated by the launch platform at coordinate P in the context of the present invention; η i is the weight; N is the number of observation points;

[0089] According to the assumptions of the Kriging method and the properties of the variogram, the theoretical variogram model is fitted, as shown in the following formula;

[0090]

[0091] Where γ(h) is the variogram, which is used to describe the change of regionalized variables in spatial regions. The value of the variogram is equal to half of the variance of the increment e(P+h)-e(P) of the regionalized variable e(P) of the error observation, and h represents the position change.

[0092] According to the assumptions of the Kriging method and the properties of the variogram, we have the following formula:

[0093]

[0094] S112: Based on the actual arrival point, perform time-space spatial positioning equivalent conversion and initial phase calculation.

[0095] The means of performing equivalent conversion of space-time positioning and initial phase calculation in the related technology are applicable to this specification when conditions permit.

[0096] In an optional embodiment of the present specification, the actual spatial positioning error of an unmeasured point (the error of which is unknown) is predicted and calculated based on the measured accurate value, that is, the error value generated by some sample points in a certain dimension of space, that is, Figure 2 In Write the system of equations as follows:

[0097]

[0098] Where P i and P j is the measured observation point, μ is the Lagrange multiplier (constant); It can be obtained by fitting the theoretical variogram model; It can be calculated directly using the measured value.

[0099] Solving the equation group formula (7), we can solve the weight coefficient ηi, and substitute the result into the error prediction equation formula (4) to calculate the estimated value e^(P) of the prediction point. Then, we can use formula (3) to calculate the estimated value Z of the launch platform position coordinate after error compensation. P ′.

[0100] The relative position relationship between each transmitting platform and the initial phase of the transmitting signal can both affect the signal phase at the synthetic position. Therefore, the spatial positioning error is equivalent to the initial phase deviation of the signal. The consistency at the synthetic position can be achieved by superimposing the compensation amount on the basis of the original signal phase.

[0101] The carrier wavelength of the electromagnetic pulse transmission signal is denoted as λ, and the nominal distances between each transmission platform (numbered 1,…,n) and the synthesis position are denoted as d1,…,d n After considering the error factor, the actual distance between each launch platform and the synthetic position is recorded as d1',...,d n ', where d1' is the distance between the predicted value ZP' after the position coordinate compensation of the launch platform 1 and the synthetic position, and the rest is similar. The remainder operation is represented by A mod B, where B is the divisor and A is the dividend. The remainder of the actual distance between each launch platform and the synthetic position divided by the wavelength is recorded as Y1 = d1'modλ,…,Y n =d n 'modλ.

[0102] Then the initial phase of each electromagnetic pulse transmission signal is θ1=2π×(1-Y1 / λ),…,θ n =2π×(1-Y n / λ), in an ideal state, 100% coherent synthesis efficiency can be achieved, that is, the synthetic position signal strength is equal to the sum of the signal strengths of each electromagnetic pulse emission source when it is emitted separately, such as Figure 3 As shown; even if there is still a certain error, a higher coherent synthesis efficiency can still be achieved with the maximum probability.

[0103] S114: Based on the result of the initial phase calculation, perform initial phase control.

[0104] Since the phase of the electromagnetic pulse transmission signal has no absolute concept but only a relative concept, based on the initial phase value calculated in step 4, with the electromagnetic pulse transmission source numbered 1 as the reference, the essence of the transmission coherent synthesis control is to set the phase of each electromagnetic pulse transmission signal and set the relative phase deviation of the remaining electromagnetic pulse transmission signals to θ'2=2π×[1-(Y2-Y1) / λ],…,θ' n =2π×[1-(Y n -Y1) / λ]. By reasonably setting the initial phase of each electromagnetic pulse transmission signal in a specific scenario, transmission coherence can be achieved.

[0105] When the position of one or more electromagnetic pulse emission sources changes, the initial phase can be recalculated and adaptively adjusted according to the above steps.

[0106] Since the spatial positioning error of the launch platform is affected by many factors such as weather, observation time, performance of spatial positioning equipment and data processing algorithms, it is difficult to establish a highly reliable spatial positioning error estimation model. The Kriging method is based on the first law of geography and integrates the continuous attributes of time and space. It can predict the attribute values ​​of any target point in nearby time and space through relatively limited measured values. The Kriging method can generate a more accurate spatial prediction model by considering spatial autocorrelation and the weight of data points. This method not only considers the numerical value of the data points, but also the spatial relationship between them, so that it can better capture spatial changes. Under the condition that it is impossible to directly obtain real-time high-precision spatial positioning data and known accurately calibrated initial spatial positioning data, it can produce highly accurate and reliable spatial positioning error estimates.

[0107] Based on the above spatial positioning error estimation values, the relative spatial position relationship of each transmitting source can be calculated. The real-time change of the relative position relationship can be compensated by initial phase control to achieve a better distributed spatial synthetic transmission coherence effect.

[0108] In summary, the Kriging method is used to model and estimate the real-time spatial positioning error of the distributed electromagnetic pulse launch platform in a mobile state. Under the condition that the real-time high-precision spatial positioning data and the known accurately calibrated initial spatial positioning data cannot be directly obtained, a highly accurate and reliable spatial positioning error estimation value can be generated. Based on the spatial positioning error estimation value of the distributed electromagnetic pulse launch platform, the estimated value of the relative position of each launch platform is obtained, and the remainder of the actual distance between each launch platform and the synthetic position divided by the wavelength of the transmitted electromagnetic signal is calculated. Then, based on the principle of time-space phase equivalence, the initial phase of the transmitted electromagnetic signal is compensated to achieve a better distributed space synthetic launch coherence effect.

[0109] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A distributed spatial synthesis transmission coherent control method based on spatial positioning prediction, characterized in that: include: Determine the spatial positioning error of the launch platform at the target point; the spatial positioning error is calculated by the following formula: e(P)=f(e x (P),and y (P),and z (P),and d (P)) Where, e(P) is the spatial positioning error; P is the target point; e x (P), e y (P), and e z (P) are the error components of the spatial positioning error of the target point in the x, y, and z directions respectively; e d (P) is the actual spatial positioning error of the target point; the actual spatial positioning error is calculated by the following formula: determining a nominal spatial position of the launch platform; A preset model is established based on the Kriging method; the nominal spatial position is used as the input of the preset model, and the spatial positioning error corresponding to the nominal spatial position is used as the output of the preset model to obtain a prediction model; the prediction model is used to: when used online, input the target position into the prediction model to obtain an estimated value of the spatial positioning error output by the prediction model; the target position is the nominal spatial position that the launch platform is intended to reach; Based on the estimated value, error compensation is performed on the spatial positioning of the launch platform, and the nominal spatial position obtained after compensation is used as the actual arrival point of the launch platform; Before the launch platform starts to move, determining the actual spatial positioning error of each of the launch platforms; Based on the data when the launch platform starts to move, the prediction model is used for fitting to obtain an actual arrival point based on the estimated value; Based on the actual arrival point, perform time-space spatial positioning equivalent conversion and initial phase calculation; Based on the result of the initial phase calculation, initial phase control is performed.

2. The method according to claim 1, characterized in that: The method further comprises: The error compensation for the spatial positioning of the launch platform is calculated by the following formula: In the formula, as well as is the estimated value Components in the x, y, and z directions; Z Px , Z Py , and Z Pz is the nominal spatial position Z P Components in the x, y, and z directions; Z′ Px , Z′ Py , and Z′ Pz , are the components of the actual arrival point in the x, y, and z directions.

3. The method according to claim 2, characterized in that The prediction model is used for fitting, including: The following formula is used to weight the measured spatial positioning error to obtain the spatial positioning error of the unmeasured position; Where si represents several observation points in the process of continuously collecting spatial positioning errors, e(P) is the error observation value at the target point with coordinate P in a certain dimension; η i is the weight; N is the number of observation points; According to the assumptions of the Kriging method and the properties of the variogram, the theoretical variogram model is fitted, as shown in the following formula; Where γ(h) is the variogram, which is used to describe the change of regionalized variables in spatial regions. The value of the variogram is equal to half of the variance of the increment e(P+h)-e(P) of the regionalized variable e(P) of the error observation, and h represents the position change.

4. The method according to claim 3, characterized in that Obtaining the actual arrival point based on the estimated value includes: The following formula is used to predict the spatial positioning error of the unmeasured position based on the measured spatial positioning error; Where P i and P j is the measured observation point, μ is the Lagrange multiplier; It can be obtained by fitting the theoretical variogram model; It can be calculated directly using the measured value.

5. The method according to claim 1, characterized in that: Perform time-space spatial positioning equivalent conversion and initial phase calculation, including: The carrier wavelength of the electromagnetic pulse transmission signal is denoted as λ, and the nominal distances between each transmission platform and the synthesis position are denoted as d1,…,d n ; The actual distances between each launch platform and the composite position are denoted as d1',…,d n '; Perform the remainder calculation to obtain the actual distance between each launch platform and the synthesis position divided by the wavelength, which is recorded as Y1=d1'modλ,…,Y n =d n 'modλ; Determine the initial phase of each electromagnetic pulse transmission signal as θ1=2π×(1-Y1 / λ),…,θ n =2π×(1-Y n / λ), the composite position signal strength is equal to the sum of the signal strengths of each electromagnetic pulse transmitting source when transmitting separately.

6. The method according to claim 5, characterized in that Based on the result of the initial phase calculation, initial phase control is performed, including: Taking the electromagnetic pulse transmitting source numbered 1 as the reference, the relative phase deviation of the remaining electromagnetic pulse transmitting signals is set to θ'2 = 2π × [1-(Y2-Y1) / λ],…,θ' n =2π×[1-(Y n -Y1) / λ]; When the position of one or more electromagnetic pulse emission sources changes, the initial phase is recalculated and adjusted according to the above steps.

7. The method according to claim 1, characterized in that The method further comprises: Before the launch platform starts to move, the actual spatial positioning error of each launch platform is determined by collecting high-precision spatial positioning data in a historical time period and obtaining converged data.

8. The method according to claim 1, characterized in that: The method further comprises: Before the launch platform starts to move, the actual spatial positioning error of each launch platform is determined by placing the launch platform at a pre-calibrated precise position.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform the method of any one of claims 1 to 8.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute any one of the methods of claims 1 to 8.

Images