Distributed spatial synthesis emission phase reference control method based on spatial positioning prediction

Abstract

The application provides a distributed space synthesis emission phase reference control method based on space positioning prediction, utilizes Kriging method to model and estimate real-time space positioning error of a distributed electromagnetic pulse emission platform in a moving state, and can generate a space positioning error estimation value with high accuracy and reliability under the condition that real-time high-precision space positioning data cannot be directly obtained and initial space positioning data with known accurate calibration cannot be obtained. Based on the space positioning error estimation value of the distributed electromagnetic pulse emission platform, an estimation value of relative positions of each emission platform is obtained, a remainder of actual distance of each emission platform from a synthesis position divided by wavelength of an emitted electromagnetic signal is calculated, and then, according to the space-time phase equivalence principle, an initial phase of the emitted electromagnetic signal is compensated, so that a better distributed space synthesis emission phase reference effect is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of measuring the degree of coherence by using interference method, and particularly relates to a distributed space synthesis emission phase control method based on space positioning prediction. BACKGROUND

[0002] Microwave distributed space phase synthesis refers to dispersing multiple microwave emission sources in space, emitting microwave beams to the same target, adjusting the carrier frequency, pulse trigger time, emission phase and other parameters of each beam to make them consistent at the synthesis target, making the parameters of each emission source take the same value at the position of the synthesis target, i.e., achieving the condition of phase synthesis implementation, and making the power density at the synthesis target increase by the square of the number of emission sources (the signal-to-noise ratio increases by the third power of the number of emission sources), which has broad application prospects in radar, wireless communication and other aspects.

[0003] Microwave distributed space phase synthesis needs to meet the conditions of beam space alignment, consistent carrier frequency, consistent pulse trigger time and consistent phase, among which the phase consistency is most difficult to achieve due to the influence of space positioning errors and other factors.

[0004] The existing phase consistency implementation method is to perform relatively complex calibration after fixing the positions of the microwave emission sources. Specifically, a known accurate space positioning cooperative target such as an angle reflector is used as a target, a small signal is emitted by the emission channel of the microwave emission source, the return signal is received by the receiving channel, and the time difference between the emitted signal and the received signal is compared to perform reverse calculation. This method needs to be recalibrated after the position of any microwave emission source is moved, which is a large amount of work. In addition, when the microwave emission source cannot receive the return signal (such as radar decoys, electronic jammers and other devices), it is also not applicable.

[0005] However, for the microwave distributed space phase synthesis scenario, especially at higher frequencies such as X-band, a centimeter-level space positioning error will still have a great impact on the synthesis efficiency. It is extremely difficult to obtain higher-precision space positioning data, and the influence of space positioning error must be considered in the actual application of microwave distributed space phase synthesis. The initial phase of the microwave emission signal is regulated to compensate for the space positioning error and achieve the effect of distributed space emission phase synthesis.

[0006] Therefore, how to provide a distributed space synthesis emission phase control method based on space positioning prediction has become a technical problem to be solved in the field. SUMMARY

[0007] The purpose of the present application is to provide a distributed space synthesis emission phase control method based on space positioning prediction.

[0008] According to a first aspect of the present application, a distributed space synthesis emission phase reference control method based on space positioning prediction is provided, comprising,

[0009] determining a space positioning error of the emission platform at a target point; the space 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] In the formula; e(P) is the space positioning error; P is the target point; e x (P), e y (P), and e z (P) are error components of the space positioning error of the target point in x, y, and z directions respectively; e d (P) is the actual space positioning error of the target point; the actual space positioning error is calculated by the following formula:

[0012]

[0013] determining a nominal space position of the emission platform;

[0014] establishing a preset model based on Kriging method; taking the nominal space position as the input of the preset model, and taking the space positioning error corresponding to the nominal space position as the output of the preset model, to obtain a prediction model; the prediction model is used for: when used online, inputting a target position into the prediction model to obtain an estimated value of the space positioning error output by the prediction model; the target position is a nominal space position to be reached by the emission platform;

[0015] based on the estimated value, compensating for the space positioning error of the emission platform, and taking the nominal space position obtained after compensation as the actual arrival point of the emission platform;

[0016] determining the actual space positioning error of each emission platform before the emission platform starts to move;

[0017] based on the data under the condition that the emission platform starts to move, fitting the prediction model to obtain the actual arrival point based on the estimated value;

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

[0019] Based on the result of the initial phase calculation, an 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] In the formula: And is the estimated value The components in x, y, z directions; Z Px , Z Py , and Z Pz are the nominal spatial positions Z P The components in x, y, z directions; Z' Px , Z' Py , and Z' Pz are the actual arrival point positions in x, y, z directions.

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

[0025] The spatial positioning error of the unmeasured position is calculated by the following formula by weighting the measured spatial positioning error:

[0026]

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

[0028] According to the assumptions of the Kriging method and the properties of the variation function, a theoretical variation function model is fitted, as shown in the following formula:

[0029]

[0030] In the formula, γ(h) is the variation function, which is used to describe the variation of regionalized variables in a spatial region, and the value of the variation value function 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 value, and h represents the position change amount.

[0031] Optionally, the actual arrival point position based on the estimated value is obtained by:

[0032] The spatial positioning error of the unmeasured position is calculated by the following formula according to the measured spatial positioning error.

[0033]

[0034] P i and P j are measured observation points, and μ is a Lagrange multiplier; The theoretical variogram model can be obtained by fitting; The measured value can be directly used to calculate.

[0035] Optionally, the space-time space positioning equivalent conversion and initial phase calculation are performed, including:

[0036] The carrier wavelength of the electromagnetic pulse emission signal is denoted as λ, and the nominal distances of the respective emission platforms and the synthetic position are denoted as d1,…,d n ; the actual distances of the respective emission platforms and the synthetic position are denoted as d1’,…,d n ’;

[0037] The remainder calculation is performed, and the remainders of the actual distances of the respective emission platforms and the synthetic position divided by the wavelength are denoted as Y1=d1’modλ,…,Y n =d n ’modλ;

[0038] When the initial phases of the respective electromagnetic pulse emission signals are θ1=2π×(1-Y1 / λ),…,θ n =2π×(1-Y n / λ), the signal intensity of the synthetic position is equal to the sum of the signal intensities when the respective electromagnetic pulse emission sources are separately emitted.

[0039] Optionally, based on the result of the initial phase calculation, the initial phase control is performed, including:

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

[0041] When the positions of one or more electromagnetic pulse emission sources change, the initial phases are recalculated and adjusted according to the above steps.

[0042] Optionally, the method further includes:

[0043] Before the emission platforms start to move, the actual spatial positioning errors of the respective emission platforms are determined by collecting high-precision spatial positioning data in a historical time period and obtaining converged data.

[0044] Optionally, the method further comprises:

[0045] The actual spatial positioning error of each of the launch platforms is determined by placing the launch platforms at precisely positioned locations that are pre-calibrated before the launch platforms start moving.

[0046] According to a second aspect of the present application, there is provided a distributed spatial synthetic launch phase control device based on spatial positioning prediction, for implementing the method steps of any one of the first aspect of the present application.

[0047] In a third aspect, the embodiments of the present application further provide an electronic device, comprising:

[0048] a processor; and

[0049] a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method steps of the first aspect.

[0050] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium storing one or more programs, which, when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method steps of the first aspect.

[0051] The present application has the following beneficial effects:

[0052] As can be seen from the above solutions, the embodiments of the present application provide a distributed spatial synthetic launch phase 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 moving state. In the condition that the real-time high-precision spatial positioning data and the initial spatial positioning data with known accurate calibration cannot be directly obtained, the spatial positioning error estimation value with high accuracy and reliability can be generated. Based on the spatial positioning error estimation value of the distributed electromagnetic pulse launch platform, the estimation value of the relative position of each launch platform is obtained, the actual distance of each launch platform from the synthetic position is divided by the remainder of the wavelength of the launched electromagnetic signal, and then the initial phase of the launched electromagnetic signal is compensated according to the space-time phase equivalence principle, so that a better distributed spatial synthetic launch phase effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 A distributed spatial synthetic launch phase control method based on spatial positioning prediction according to an embodiment is provided.

[0055] Figure 2 A spatial positioning error collection and estimation process diagram is provided.

[0056] Figure 3 A distributed emission phase control diagram based on spatial positioning. DETAILED DESCRIPTION

[0057] To make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0058] In actual application, if only emission phase is controlled, the microwave emission source can be spatially positioned, and the phase control parameter can be directly calculated. Satellite spatial positioning is the most commonly used spatial positioning acquisition method, and there is a spatial positioning error in different degrees according to the specific technology adopted. In the existing high-precision satellite spatial positioning technology, the continuous acquisition time required by the precise point positioning (PPP) technology is relatively long, and the communication between the base station of the real-time kinematic (RTK) technology and the fixed station with known accurate longitude and latitude needs to be coordinated, and both can obtain the spatial positioning with centimeter-level accuracy, which can meet the spatial positioning requirements of most scenes.

[0059] For the typical application scene of microwave distributed spatial synthesis emission phase control, especially at a higher frequency band such as X band, the centimeter-level spatial positioning error will still have a great influence on the synthesis efficiency. It is extremely difficult to obtain higher-precision spatial positioning data, and in the actual application of microwave distributed spatial phase synthesis, the influence of the spatial positioning error must be considered, the initial phase of the microwave emission signal is controlled, the spatial positioning error is compensated, and the distributed spatial emission phase synthesis effect is realized.

[0060] The present application provides a distributed spatial synthesis emission phase control method based on spatial positioning prediction, which can realize good distributed spatial synthesis emission phase effect through observation, error estimation and initial phase compensation of the emission signal when the position of each electromagnetic pulse emission platform moves.

[0061] According to a first aspect of the present application, a distributed spatial synthesis emission phase control method based on spatial positioning prediction is provided, comprising,

[0062] S100: determining the spatial positioning error of the emission platform at the target point.

[0063] The launch platform involved in the specification is not unique. Due to the factors such as the accuracy error of the spatial positioning sensor, the influence of environmental factors, the response delay of the motion control system, and the wear of the platform structure components during the movement of the distributed electromagnetic pulse launch platform (hereinafter referred to as the launch platform), the actual motion trajectory of the launch platform may deviate from the predetermined trajectory and the collected trajectory data. The above deviation is collectively referred to as a spatial positioning error.

[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))

[0066] Formula (1)

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

[0068]

[0069] As can be seen from formula (2), the actual spatial positioning error e d (P) of the P point is a function of e x (P), e y (P), and e z (P), therefore, after determining the errors of each coordinate direction of the P point, the actual spatial positioning error of the P point can be obtained.

[0070] S102: Determine the nominal spatial position of the launch platform.

[0071] The nominal spatial position in the specification is represented by Z P .

[0072] S104: Establish a preset model based on the Kriging method; take the nominal spatial position as the input of the preset model, and take the spatial positioning error corresponding to the nominal spatial position as the output of the preset model to obtain a prediction model.

[0073] Kriging method (Kriging method, also known as spatial local interpolation method, is based on the theory of variogram function 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 P of the launch platform and the corresponding spatial positioning error e(P), and taking the nominal spatial position Z P as input and the 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.

[0074] The prediction model is used: when used online, input the target position into the prediction model to obtain the 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 intends to reach.

[0075] 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 taken as the actual arrival point of the launch platform.

[0076] The compensation means in the related art are applicable to this specification under the condition of permission.

[0077] In an optional embodiment of this specification, the nominal spatial position that the launch platform intends to reach is input into the above-mentioned model, and the estimated value e^(P) of the spatial positioning error can be obtained. According to the obtained e^(P), error compensation is performed on the spatial positioning of the launch platform, and the nominal spatial position that the launch platform is supposed to reach 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.

[0078]

[0079] In the formula: And The estimated value is the component in the x, y, and z directions; Z Px , Z Py , and Z Pz are the components of the nominal spatial position Z P 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.

[0080] S108: Before the launch platform starts to move, the actual spatial positioning error of each launch platform is determined.

[0081] This step aims to obtain the initial accurate spatial positioning error. Before the launch platform starts to move, the long-time high-precision spatial positioning data can be collected and the converged data can be obtained, or the launch platform can be placed in the accurately positioned position in advance, and the accurate spatial positioning of each launch platform and the error ed(P) at the initial observation can be obtained, as shown in the following formula. Figure 2

[0082] S110: Based on the data under the condition that the launch platform starts to move, the prediction model is fitted to obtain the actual arrival point position based on the estimated value.

[0083] The Kriging method obtains the predicted attribute value of the unmeasured position by statistically weighting the measured true attribute values (the attribute value of the present application is the spatial positioning error) according to the continuity of the space-time attribute.

[0084] In an optional embodiment of the present specification, the fitting using the prediction model comprises:

[0085] The following formula is used to weight the measured spatial positioning error to obtain the spatial positioning error of the unmeasured position;

[0086]

[0087] In the formula, si represents a plurality of observation points in the continuous collection of spatial positioning errors, e(P) is the error observation value at the target point with the coordinate P in a certain dimension, which refers to the error of the launch platform at the coordinate P in the context of the present application; η i is the weight; and N is the number of observation points.

[0088] According to the assumptions of the Kriging method and the properties of the variate function, a theoretical variate function model is fitted, as shown in the following formula.

[0089]

[0090] In the formula, γ(h) is the variate function, which is used to describe the change of the regionalized variable in the space region, and the value of the variate value function 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 value, and h represents the position change amount.

[0091] According to the assumptions of the Kriging method and the properties of the variate function, the following formula is obtained.

[0092]

[0093] S112: Based on the actual arrival point position, the space-time spatial positioning equivalent conversion and initial phase calculation are performed. ​

[0094] The space-time positioning conversion and initial phase calculation means in the related art are applicable to the present specification under the condition that the conversion and calculation means are allowed.

[0095] In an optional embodiment of the present specification, the actual space positioning error of an unmeasured point (unknown error of the point) is predicted and calculated according to the measured accurate value, that is, the error value generated at some sample points in a certain dimension of space, and the initial phase calculation means in the related art are applicable to the present specification under the condition that the conversion and calculation means are allowed. Figure 2 The equation group is written as follows:

[0096]

[0097] In the formula, P i and P j are measured observation points, and μ is a Lagrange multiplier (constant); The theoretical variogram model can be obtained by fitting; The measured value can be directly used to calculate.

[0098] The weight coefficient ηi is solved by solving the equation group formula (7), and the estimated value e^(P) of the predicted point is calculated by substituting the result into the error prediction equation formula (4). The estimated value Z P ′ of the launch platform position coordinate compensation error is calculated by formula (3).

[0099] The relative position relationship between each launch platform and the initial phase of the launch signal can affect the signal phase at the combined position, so the space positioning error and the signal initial phase deviation are equivalent, and the consistency at the combined position can be realized by superimposing the compensation amount on the basis of the original signal phase.

[0100] The carrier wavelength of the electromagnetic pulse launch signal is denoted as λ, the nominal distances of each launch platform (numbered as 1,…,n) and the combined position are denoted as d1,…,d n The actual distances of each launch platform and the combined position are denoted as d1’,…,d n ’ after considering the error factors, wherein d1’ is the distance between the predicted value ZP’ of the launch platform 1 position coordinate compensation and the combined position, and the rest are similar. A mod B represents the remainder operation, wherein B is the divisor and A is the dividend. The remainder of the actual distance of each launch platform and the combined position divided by the wavelength is denoted as Y1=d1’modλ,…,Y n =d n ’modλ.

[0101] Then the initial phase of each electromagnetic pulse launch signal is θ1=2π×(1-Y1 / λ),…,θ n =2π×(1-Y n ​When the phase difference is 0 (or λ), the ideal state can achieve 100% coherent synthesis efficiency, i.e. the intensity of the synthesized position signal is equal to the sum of the signal intensities of each electromagnetic pulse emission source when it is emitted alone, as shown in Figure 3 Even if there is still some error, a higher coherent synthesis efficiency can still be achieved with the highest probability.

[0102] S114: Based on the result of the initial phase calculation, initial phase control is performed.

[0103] Since the electromagnetic pulse emission signal phase has no absolute concept, only a relative concept, the initial phase value calculated based on step 4 is taken as the benchmark for the electromagnetic pulse emission source numbered 1, and the essence of the emission coherent synthesis control is to set the phase of each electromagnetic pulse emission signal and set the relative phase deviation of the remaining electromagnetic pulse emission 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 emission signal in a specific scenario, emission coherence can be achieved.

[0104] When the position of one or more electromagnetic pulse emission sources changes, the initial phase can be recalculated and adjusted according to the above steps.

[0105] Since the spatial positioning error of the emission platform is affected by many factors such as weather, observation time, spatial positioning device performance, data processing algorithm, etc., it is difficult to establish a spatial positioning error estimation model with high credibility. The Kriging method is based on the first law of geography and integrates the continuous properties of space and time. It can predict the attribute values of any nearby target point in space and time through a relatively limited measured value. The Kriging method can generate more accurate spatial prediction models by considering spatial autocorrelation and data point weights. This method not only considers the numerical values of data points, but also considers their spatial relationships, so it can better capture spatial changes. Under the condition that real-time high-precision spatial positioning data and known accurate calibration initial spatial positioning data cannot be directly obtained, the Kriging method can produce spatial positioning error estimation values with high accuracy and credibility.

[0106] Based on the above spatial positioning error estimation values, the relative spatial position relationship of each emission source can be calculated, and the real-time change of the relative position relationship can be compensated by initial phase control to achieve better distributed spatial synthesis emission coherence.

[0107] In summary, the Kriging method is used to model and estimate the real-time spatial positioning error of the distributed electromagnetic pulse transmitting platform in the moving state. In the condition that the real-time high-precision spatial positioning data and the initial spatial positioning data with known accurate calibration cannot be directly obtained, the spatial positioning error estimation value with high accuracy and reliability can be generated. Based on the spatial positioning error estimation value of the distributed electromagnetic pulse transmitting platform, the estimation value of the relative position of each transmitting platform is obtained, the remainder of the actual distance of each transmitting platform from the synthetic position divided by the wavelength of the transmitted electromagnetic signal is calculated, and then the initial phase of the transmitted electromagnetic signal is compensated according to the space-time phase equivalence principle, so that a better distributed spatial synthetic transmitting phase correlation effect is realized.

[0108] The above is the preferred embodiment of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A distributed spatial synthetic emission phase control method based on spatial positioning prediction, characterized in that, The method comprises: determining a spatial positioning error of the launch platform at a target point; the spatial positioning error is calculated by the following formula: e(P) = f(e x (P), e y (P), e z (P), e d (P)) where e(P) is the spatial positioning error of the target point; P is the target point; e x (P), e y (P), and e z (P) are error components of the spatial positioning error of the target point in x, y, 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; establishing a preset model based on the Kriging method; taking the nominal spatial position as the input of the preset model, and taking the spatial positioning error corresponding to the nominal spatial position as the output of the preset model, to obtain a prediction model; the prediction model is used for: when used online, inputting a 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 a nominal spatial position to be reached by the launch platform; based on the estimated value, compensating for the spatial positioning error of the launch platform, and taking the nominal spatial position obtained after compensation as an actual arrival point of the launch platform; determining the actual spatial positioning error of each launch platform before the launch platform starts to move; based on the data under the condition that the launch platform starts to move, fitting the prediction model to obtain an actual arrival point based on the estimated value; based on the actual arrival point, performing space-time spatial positioning equivalent conversion and initial phase calculation; based on the result of the initial phase calculation, performing initial phase control; fitting the prediction model comprises: using the following formula to obtain the spatial positioning error of an unmeasured position by weighting the measured spatial positioning error; where si represents a number of observation points in a continuous acquisition spatial positioning error process, e(P) is an error observation value at a target point with a coordinate of P in a certain dimension; η i is a weight; and N is the number of observation points. according to the assumptions of the Kriging method and the properties of the variogram function, fitting a theoretical variogram function model, as shown in the following formula: wherein γ(h) is a variogram function, the variogram function is used to describe the variation of regionalized variables in a spatial region, the value of the variogram function 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 value, and h represents a position change amount; obtaining the actual arrival point based on the estimated value comprises: using the following formula to predict and calculate the spatial positioning error of an unmeasured position according to the measured spatial positioning error; In the formula, P i and P j are measured observation points, and μ is a Lagrange multiplier; The theoretical variogram model can be obtained by fitting; The measured value can be directly used to calculate.

2. The method of claim 1, wherein, The method further comprises: compensating for the spatial positioning error of the launch platform is calculated by the following formula: wherein and is the estimated value are the components in the x, y, z directions; Z Px , Z Py , and Z Pz is the nominal spatial position Z P are the components in the x, y, z directions; Z' Px , Z' Py , and Z' Pz are the components in the x, y, z directions of the actual point of arrival.

3. The method of claim 1, wherein, performing space-time spatial positioning equivalent conversion and initial phase calculation comprises: The carrier wavelength of the electromagnetic pulse emission signal is denoted by λ, and the nominal distances of the respective emission platforms from the synthesis location are denoted by d1,..., d n ; the actual distances of the respective emission platforms from the synthesis location are denoted by d1',..., d n ' The remainder calculation is performed to obtain the actual distance of each launch platform from the synthetic position divided by the wavelength, denoted as Y1= d1'mod λ,..., YN= dN'mod λ. n = d n ’modλ; The initial phases of the individual electromagnetic pulse transmission signals are determined as θ1= 2π x (1 - Y1 / λ),..., θN= 2π x (1 - YN / λ) n = 2π x (1 - Y n / λ) when the combined position signal strength is equal to the sum of the signal strengths of the individual electromagnetic pulse transmission sources.

4. The method of claim 3, wherein, based on the result of the initial phase calculation, performing initial phase control comprises: With the electromagnetic pulse transmitting source numbered 1 as the reference, the relative phase deviation amount of the rest electromagnetic pulse transmitting signals is set as θ'2=2π×[1-(Y2-Y1) / λ],..., θ' n =2π×[1-(Y n -Y1) / λ] when the position of one or more electromagnetic pulse launch sources changes, recalculating the initial phase according to the calculation method of the initial phase calculation and adjusting the initial phase.

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

6. The method of claim 1, wherein, The method further comprises: the actual spatial positioning error of each launch platform determined before the launch platform starts to move is obtained by placing the launch platform at a pre-calibrated accurate position.

7. An electronic device comprising: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any one of claims 1-6.

8. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the method of any one of claims 1-6.

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