Ultra-short baseline positioning method, system, device and medium

Abstract

The invention provides an ultra-short baseline positioning method, system and device and a medium, and relates to the technical field of underwater positioning. The method comprises the following steps: acquiring a target signal, and obtaining an initial phase of the target signal reaching each receiving array element based on the target signal; based on each initial phase, determining all corresponding phase difference sets from the target signal to every two array elements; on the basis of a phase difference fuzzy correction strategy, correcting each phase difference to obtain a phase difference between every two array elements of the target signal; and carrying out positioning calculation according to the corrected phase difference in combination with the positioning formation to obtain a position coordinate corresponding to the target signal so as to improve the positioning precision and accuracy.

Description

Technical Field

[0001] The present invention relates to the field of underwater positioning technology, and in particular to an ultra-short baseline positioning method, system, equipment and medium. Background Art

[0002] The ultra-short baseline positioning system is a type of underwater acoustic positioning. The ultra-short baseline positioning obtains the relative position of the target in the array coordinate system based on the time delay difference / phase difference between the transmitted signal reaching the positioning array elements, and then obtains the absolute position of the target through coordinate conversion based on the azimuth attitude data of the positioning array and the geodetic coordinate data.

[0003] In the prior art, in order to ensure the positioning accuracy of the ultra-short baseline positioning system, the baseline length of the positioning array is generally greater than half the wavelength of the system operating frequency, which will lead to phase difference ambiguity during signal detection and phase difference estimation. Especially for the single-frequency signal system, the phase difference ambiguity will seriously affect the positioning accuracy of the ultra-short baseline positioning system. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an ultra-short baseline positioning system, method, device and medium to improve the positioning accuracy of the ultra-short baseline positioning system.

[0005] In a first aspect, the present invention provides an ultra-short baseline positioning method, which is applied to a five-element array, wherein the five-element array includes five receiving elements, and the five receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center. The positioning method includes: Acquire the target signal, and based on the target signal, obtain the initial phase of the target signal arriving at each receiving array element; Based on each initial phase, determine a phase difference set corresponding to the target signal; wherein the phase difference set includes multiple phase differences, and the phase difference is a phase difference between the target signal arriving at one receiving array element and arriving at another receiving array element; Based on the phase difference ambiguity correction strategy, each phase difference is corrected to obtain each target phase difference corresponding to the target signal; The positioning formation is used to locate and solve the phase difference of each target to obtain the target position corresponding to the target signal.

[0006] Optionally, obtaining, based on the target signal, an initial phase of the target signal arriving at each receiving array element includes: The target signal is processed by orthogonal transformation and filtering to obtain the initial phases corresponding to the target signal.

[0007] Optionally, the lines connecting two receiving array elements form a baseline; wherein the baseline includes a plurality of long baselines and a plurality of short baselines, each short baseline corresponds to a long baseline parallel to the short baseline, and each phase difference is corrected based on a phase difference ambiguity correction strategy to obtain each target phase difference corresponding to the target signal, including: Based on the pairwise parallel restriction condition, the phase difference ambiguity cycle number of each phase difference is determined; wherein the pairwise parallel includes a short baseline and a long baseline corresponding to the short baseline and parallel to the short baseline; Based on the number of ambiguity cycles of each phase difference, each phase difference is corrected to obtain a corrected phase difference corresponding to the target signal; Based on the phase difference constraint condition, each corrected phase difference is processed to obtain the target phase difference corresponding to the target signal.

[0008] Optionally, before solving each target phase difference to obtain the target position corresponding to the target signal, the method further includes: Based on each target phase difference, the time delay difference corresponding to the target signal is determined.

[0009] Optionally, determining a delay difference corresponding to a target signal based on each target phase difference includes: The delay difference corresponding to the target signal is determined by the following formula:

[0010] In the formula, The target signal arrives The delay difference between the receiving array element and the j receiving array element, The target signal arrives The phase difference between the receiving array element and the j receiving array element, is the target signal center frequency.

[0011] Optionally, solving each target phase difference to obtain a target position corresponding to the target signal includes: Based on each delay difference, determine the slant range between the target signal and the five-element base array; Based on the slant range, delay difference and the geographic coordinates of the two receiving array elements, the geographic coordinates corresponding to the target signal are obtained; Based on the weighted average, each geographic coordinate is processed to obtain the target position corresponding to the target signal.

[0012] Optionally, based on the slant range, the delay difference and the geographic coordinates of the two receiving array elements, the geographic coordinates corresponding to the target signal are obtained, including: Based on the convergence condition, it is determined whether the target phase difference corresponding to each geographic coordinate needs to be corrected. If necessary, the target phase difference is corrected according to the preset target depth value to obtain the minimum phase difference combination.

[0013] In a second aspect, the present invention provides an ultra-short baseline positioning system, comprising: A five-element array includes five receiving elements, and the five receiving elements are evenly distributed along the circumference with the center of the positioning array as the center; The processing modules are respectively connected to the five receiving array elements, and are used for: acquiring a target signal, and based on the target signal, obtaining an initial phase of the target signal arriving at each receiving array element; based on each initial phase, determining a phase difference set corresponding to the target signal; wherein the phase difference set includes a plurality of phase differences, and the phase difference is a phase difference between the target signal arriving at one receiving array element and arriving at another receiving array element; based on a phase difference ambiguity correction strategy, correcting each phase difference to obtain each target phase difference corresponding to the target signal; and using a positioning formation to perform positioning and solution on each target phase difference to obtain a target position corresponding to the target signal.

[0014] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the ultra-short baseline positioning method is implemented when the processor executes the computer program.

[0015] In a fourth aspect, the present invention further provides a computer-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to execute the above-mentioned ultra-short baseline positioning method.

[0016] An ultra-short baseline positioning method, system, device and medium provided by an embodiment of the present invention obtain a target signal and, based on the target signal, obtain the initial phase of the target signal arriving at each receiving array element; based on each initial phase, determine the phase difference set corresponding to the target signal; based on a phase difference ambiguity correction strategy, correct each phase difference to obtain each target phase difference corresponding to the target signal; use a positioning formation to perform positioning and solution on each target phase difference to obtain the target position corresponding to the target signal, so as to improve the precision and accuracy of positioning.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the structure of a five-element base array provided by an embodiment of the present invention is shown; Figure 2 A schematic diagram of a process flow of an ultra-short baseline positioning method provided by an embodiment of the present invention is shown; Figure 3 A schematic diagram showing the structure of the position coordinates of five receiving array elements provided in an embodiment of the present invention; Figure 4 A schematic diagram showing the geometric relationship of the three-element array positioning solution provided by an embodiment of the present invention is shown; Figure 5 A schematic structural diagram of an ultra-short baseline positioning system provided by an embodiment of the present invention is shown; Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0020] 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 only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0021] Figure 1 A schematic diagram of the structure of a five-element base array provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the five-element array includes five receiving elements, and the five receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle.

[0022] Furthermore, the five receiving elements are evenly distributed on a circle with a radius of 110 mm.

[0023] Due to the complexity of phase ambiguity correction and hardware equipment, the number of array elements should not be too many, but the geometric relationship between the array elements needs to meet the phase ambiguity correction conditions. Therefore, the base array of the positioning array in this application includes 5 receiving elements.

[0024] Figure 2 A flow chart of an ultra-short baseline positioning method provided by an embodiment of the present invention is as follows: Figure 2 As shown, the positioning method includes: Step S100: Acquire a target signal, and based on the target signal, obtain an initial phase of the target signal arriving at each receiving array element.

[0025] Since the distances between the target position and each array element of the base array are different, the initial phases between the target position and each array element are also different. Therefore, the target signal is processed by using orthogonal transformation and filtering to obtain the initial phase of the target signal arriving at each receiving array element.

[0026] Specifically, the signal received by the receiving array element can be converted from the time domain to the frequency domain by using the fast Fourier transform, and the noise can be removed by using the low-pass filtering method to obtain the signal in the preset frequency range. Finally, by analyzing the phase information of the filtered signal at each receiving array element, the initial phase of the target signal arriving at each array element can be determined.

[0027] Step S200: determining a phase difference set corresponding to a target signal based on each initial phase; wherein the phase difference set includes a plurality of phase differences, and the phase difference is a phase difference between a target signal arriving at one receiving element and arriving at another receiving element.

[0028] According to the position of each receiving element of the base array and the initial phase of the target signal arriving at each receiving element, the phase difference between the target signal arriving at one receiving element and arriving at another receiving element is determined to obtain a phase difference set, that is, the phase difference between the target signal arriving at each two receiving elements constitutes a phase difference set. In this application, the phase difference set is { }.

[0029] Step S300: Based on the phase difference ambiguity correction strategy, correct each phase difference to obtain each target phase difference corresponding to the target signal.

[0030] In an optional embodiment, in step S300, based on the phase difference ambiguity correction strategy, each phase difference is corrected to obtain each target phase difference corresponding to the target signal, including: Based on the pairwise parallel restriction condition, the phase difference ambiguity cycle number of each phase difference is determined; wherein the pairwise parallel includes a short baseline and a long baseline corresponding to the short baseline and parallel to the short baseline; Based on the number of ambiguity cycles of each phase difference, each phase difference is corrected to obtain a corrected phase difference corresponding to the target signal; Based on the phase difference constraint condition, each corrected phase difference is processed to obtain the target phase difference corresponding to the target signal.

[0031] Furthermore, the lines connecting the two receiving array elements form a baseline; wherein the baseline includes a plurality of long baselines and a plurality of short baselines, and each short baseline corresponds to a long baseline parallel to the short baseline. Figure 3As shown, with the center of the five-element base array as the origin, the No. 1 receiving array element is located on the coordinate axis X, and the position coordinates of the No. 2 receiving array element, the No. 3 receiving array element, the No. 4 receiving array element, and the No. 5 receiving array element are determined. Figure 3 It can be seen that the baseline between receiving element No. 1 and receiving element No. 2 is a short baseline, and the baseline between receiving element No. 1 and receiving element No. 3 is a long baseline. The baselines between every two receiving elements in the five-element array include 5 short baselines and 5 long baselines. The 5 short baselines form a regular pentagon, and the 5 long baselines form a pentagon.

[0032] It should be noted that the pairwise parallel constraint condition is a modified constraint condition between pairwise parallel lines, wherein pairwise parallel lines refer to a short baseline corresponding to a long baseline parallel to the short baseline.

[0033] In an optional embodiment, based on the pairwise parallel restriction conditions, the number of phase difference ambiguity cycles of each phase difference is determined; based on each phase difference ambiguity cycle number, each phase difference is corrected to obtain a corrected phase difference corresponding to the target signal.

[0034] Specifically, based on the five-element base array, the number of phase difference ambiguity cycles in the pairwise parallel restriction condition is determined, wherein the number of phase difference ambiguity cycles can be the maximum number of ambiguity cycles calculated according to the baseline length in the five-element base array; then, based on each phase difference ambiguity cycle number, each phase difference is corrected to obtain each corrected phase difference, and the corrected phase difference can be determined by the following formula:

[0035] In the formula, The target signal arrives The receiving array and The corrected phase difference between array elements, The target signal arrives The receiving array and The measured phase difference between array elements, for The receiving array and The baseline length between array elements.

[0036] Further, by Figure 3 It can be seen that a short baseline corresponds to a long baseline parallel to the short baseline, and the length difference between the short baseline and the long baseline is 1.618 times. For example, ,in, is the length of the baseline between array elements 5 and 3, is the length of the baseline between array elements 1 and 2. According to the assumption of plane wave incidence of the target signal, the delay difference between the target signal and array elements 1 and 2 and the delay difference between the target signal and array elements 5 and 3 also need to satisfy the above relationship, that is, , the delay difference relationship between other array elements can also be obtained as follows: (1-1) Taking array elements 5 and 3 as an example, if the measured phase difference between the target signal reaching array elements 5 and 3 is set to , assuming that the phase difference ambiguity period between elements 5 and 3 is ,in is the maximum number of fuzzy cycles calculated based on the baseline length. Then the phase difference after phase difference fuzzy correction is , and the relationship between the delay difference and the phase difference is , where The target signal arrives The delay difference between the receiving array element and the j receiving array element, The target signal arrives The phase difference between the receiving array element and the j receiving array element, is the center frequency of the target signal. Therefore, the above equation 1-1 can be transformed into the following formula, which is a pairwise parallel constraint condition: (1-2) Furthermore, all the baseline lengths in the five-element matrix are searched to obtain the minimum value corresponding to the above formula. That is, based on the lengths of all baselines in the five-element array, the long baseline parallel to each short baseline is determined, and the number of phase difference ambiguity cycles between all pairs of array elements is obtained.

[0037] Furthermore, the corrected phase difference is verified by simulation. When the single-channel phase estimation accuracy is less than 10 degrees, the phase difference ambiguity cycle number is used to correct the phase difference, which can achieve the correction of the phase difference ambiguity cycle number between two array elements. However, for the pool test data and the lake test data, due to the increase in the phase estimation accuracy error, the N value corresponding to the minimum value of the above formula is not the true phase difference ambiguity cycle number. In order to make the phase difference ambiguity cycle number suitable for different phase estimation accuracies, the phase difference constraint condition is adopted to process each corrected phase difference to obtain the target phase difference corresponding to the target signal.

[0038] In an optional embodiment, each corrected phase difference is processed based on the phase difference constraint condition to obtain a target phase difference corresponding to the target signal.

[0039] Among them, based on the preset angle threshold, the corrected phase difference is processed to obtain the optimized phase difference; secondly, the optimized phase difference is subjected to phase difference defuzzification processing to obtain the channel phase difference; finally, based on the phase difference constraint condition, the channel phase difference is processed to obtain the target phase difference.

[0040] For example, based on the preset angle threshold of 80°, the corrected phase difference is screened, and the processing process is as follows: the baseline length corresponding to the corrected phase difference angle value less than 80° is removed, and the baseline length corresponding to the corrected phase difference angle greater than 80° is retained, so as to obtain an optimized phase difference set; The channel phase difference after phase difference deambiguation is calculated for the optimized phase difference set ; Based on the phase difference constraint, the difference of the channel phase difference is calculated to obtain the target phase difference. The difference of the channel phase difference can be calculated by the following phase difference constraint: (1-3) Furthermore, if the target phase difference satisfies each result of the phase difference constraint condition and is less than 30 degrees, the target limit difference is retained. By adopting the phase difference constraint condition, most of the phase difference combinations that do not meet the requirements can be eliminated.

[0041] Step S400: performing positioning calculation on each target phase difference using a positioning formation to obtain the target position corresponding to the target signal.

[0042] In an optional embodiment, in step S400, before performing positioning calculation on each target phase difference using a positioning formation to obtain the target position corresponding to the target signal, the method further includes: Based on each target phase difference, the time delay difference corresponding to the target signal is determined.

[0043] Further, based on each target phase difference, determining the delay difference corresponding to the target signal includes: The delay difference corresponding to the target signal is determined by the following formula:

[0044] In the formula, The target signal arrives The delay difference between the receiving array element and the j receiving array element, The target signal arrives The phase difference between the receiving array element and the j receiving array element, is the target signal center frequency.

[0045] Optionally, positioning and solving each target phase difference using a positioning formation to obtain a target position corresponding to the target signal includes: Based on each delay difference, determine the slant range between the target signal and the five-element base array; Based on the slant range, delay difference and the geographic coordinates of the two receiving array elements, the geographic coordinates corresponding to the target signal are obtained; Based on the weighted average, each geographic coordinate is processed to obtain the target position corresponding to the target signal.

[0046] Specifically, when solving the target phase difference, the three-element positioning solution method is used to solve the target phase difference to obtain the target position. In this application, 413 elements, 524 elements, 135 elements, 142 elements, and 253 elements are used to solve the target position according to the three-element positioning solution method. If the difference in the positioning results solved by the five combinations of elements is less than 10m, the phase difference combination is retained.

[0047] like Figure 4 As shown, taking the 4th, 1st, and 3rd array elements in the five-element array as an example, the positioning formation of the 3rd array element is as follows Figure 4 As shown, point O represents array element 1, point A represents array element 3, point B represents array element 4, and point S represents the target position. Suppose the delay difference between array elements 1 and 3 receiving the target signal is , the delay difference between array elements 1 and 4 receiving the target signal is , the relationship between the delay difference and the target phase difference is: .

[0048] Set the XOY-Z coordinate system as the geographic coordinate system, and array element 1 is the origin of the geographic coordinate system. This setting does not affect the versatility of the solution method. If array element 1 is not the origin of the geographic coordinate system, the final positioning result can be corrected by coordinate translation. is the coordinate of the target location in the geographic coordinate system, is the coordinate of array element 1 in the geographic coordinate system, is the coordinate of array element 3 in the geographic coordinate system, is the coordinate of array element 4 in the geographic coordinate system. According to the vector relationship, we can get:

[0049] In the formula, For vector With vector The angle of is the slope distance from the target position to the origin.

[0050] Furthermore, the target signal is processed by orthogonal transformation and filtering to obtain the time delay of the target signal reaching each receiving element. Based on the time delay of each receiving element, the average value of the time delay is obtained. The average value of the time delay is multiplied by the speed of sound in water to obtain the slant distance from the target position to the origin.

[0051] If the far-field relation for plane wave incidence is satisfied, we can obtain:

[0052] In the formula, It is the acoustic signal propagation delay difference between the sound wave sent from the target position reaching array element 1 and array element 3. is the baseline length between array element 1 and array element 3, is the speed of sound in water.

[0053] because ,therefore:

[0054] Right now:

[0055] Since the coordinates of array element 3 and array element 1 in the base array coordinate system are known, the rotation matrix from the base array coordinate system to the geographic coordinate system is also known, then and It is also known.

[0056] The following relationship can also be obtained using array element No. 1 and array element No. 4:

[0057] If the depth of the acoustic beacon is known , then through the above two equations, we can solve and , which is the target location.

[0058] If the depth of the acoustic beacon is unknown , then we can solve the above two equations and the following equation together to get and , that is, the target location:

[0059] It should be noted that if the target positioning solution is first performed based on the base array coordinate system, and then the target position in the geodetic coordinate system is obtained by coordinate rotation, since the receiving primitives defined in the base array coordinate system are located on the same plane, even if the target depth is unknown, the above equation can still be used to obtain and , and then use the calculation to get the target depth, where The signs of the coordinates are chosen based on a priori information.

[0060] In this application, a set of target positioning results can be obtained by any combination of 3 array elements. Taking into account the influence of baseline length on the positioning results, 413 array elements, 524 array elements, 135 array elements, 142 array elements, and 253 array elements are selected to solve the target position respectively according to the above method, and then the weighted average of multiple groups of solutions is used to further eliminate noise and improve target positioning accuracy.

[0061] In an optional embodiment, obtaining the geographical coordinates corresponding to the target signal based on the slant range, the delay difference and the geographical coordinates of the two receiving array elements further includes: Based on the convergence condition, it is determined whether the target phase difference corresponding to each geographic coordinate needs to be corrected. If necessary, the target phase difference is corrected according to the preset target depth value to obtain the minimum phase difference combination.

[0062] Among them, the target phase difference is solved by the above method to obtain multiple target positions; based on the multiple target positions, the difference between each target position is determined; based on the convergence condition, it is determined whether the target phase difference corresponding to the target position needs to be corrected, and if necessary, the target phase difference is corrected according to the preset target depth value to obtain the minimum phase difference combination.

[0063] Specifically, in the present application, the convergence condition is that if the difference between each target position is less than 10m, the target phase difference will be retained; if it is greater, the target phase difference will be corrected, and the correction process is as follows: based on the preset target depth value, the target phase difference is corrected, and the difference of the corrected phase difference is calculated through the above-mentioned phase constraint condition, and all results and the smallest set of phase differences are used as the phase difference of the final target position.

[0064] Figure 5 A schematic diagram of the structure of an ultra-short baseline positioning system provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the system includes: The five-element array 510 includes five receiving elements, and the five receiving elements are evenly distributed along the circumference with the center of the positioning array as the center of the circle; The processing module 520 is connected to the five receiving array elements respectively, and is used for: acquiring the target signal, and obtaining the initial phase of the target signal arriving at each receiving array element based on the target signal; determining the phase difference set corresponding to the target signal based on each initial phase; wherein the phase difference set includes multiple phase differences, and the phase difference is the phase difference between the target signal arriving at one receiving array element and arriving at another receiving array element; based on the phase difference ambiguity correction strategy, correcting each phase difference to obtain each target phase difference corresponding to the target signal; and performing positioning and solving for each target phase difference using a positioning formation to obtain the target position corresponding to the target signal.

[0065] In a possible embodiment, the processing module 520 is further configured to: The target signal is processed by orthogonal transformation and filtering to obtain the initial phases corresponding to the target signal.

[0066] In a possible embodiment, the processing module 520 is further configured to: Based on the pairwise parallel restriction condition, the phase difference ambiguity cycle number of each phase difference is determined; wherein the pairwise parallel includes a short baseline and a long baseline corresponding to the short baseline and parallel to the short baseline; Based on the number of ambiguity cycles of each phase difference, each phase difference is corrected to obtain a corrected phase difference corresponding to the target signal; Based on the phase difference constraint condition, each corrected phase difference is processed to obtain the target phase difference corresponding to the target signal.

[0067] In a possible embodiment, the processing module 520 is further configured to: Based on each target phase difference, the time delay difference corresponding to the target signal is determined.

[0068] In a possible embodiment, the processing module 520 is further configured to: The delay difference corresponding to the target signal is determined by the following formula:

[0069] In the formula, The target signal arrives The delay difference between the receiving array element and the j receiving array element, The target signal arrives The phase difference between the receiving array element and the j receiving array element, is the target signal center frequency.

[0070] In a possible embodiment, the processing module 520 is further configured to: Based on each delay difference, determine the slant range between the target signal and the five-element base array; Based on the slant range, delay difference and the geographic coordinates of the two receiving array elements, the geographic coordinates corresponding to the target signal are obtained; Based on the weighted average, each geographic coordinate is processed to obtain the target position corresponding to the target signal.

[0071] In a possible embodiment, the processing module 520 is further configured to: Based on the convergence condition, it is determined whether the target phase difference corresponding to each geographic coordinate needs to be corrected. If necessary, the target phase difference is corrected according to the preset target depth value to obtain the minimum phase difference combination.

[0072] The implementation principle and technical effects of the device provided in the embodiments of the present application are the same as those of the aforementioned method embodiments. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiments.

[0073] like Figure 6As shown, an electronic device 600 provided in an embodiment of the present application includes: a processor 601, a memory 602 and a bus, the memory 602 stores machine-readable instructions executable by the processor 601, when the electronic device is running, the processor 601 and the memory 602 communicate through the bus, and the processor 601 executes the machine-readable instructions to perform the steps of the ultra-short baseline positioning method as described above.

[0074] Specifically, the above-mentioned memory 602 and processor 601 can be general-purpose memories and processors, which are not specifically limited here. When the processor 601 runs the computer program stored in the memory 602, the above-mentioned ultra-short baseline positioning method can be executed.

[0075] The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 601. The above processor 601 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0076] Corresponding to the above-mentioned ultra-short baseline positioning method, an embodiment of the present application also provides a computer-readable storage medium, which stores machine-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to execute the steps of the above-mentioned ultra-short baseline positioning method.

[0077] The ultra-short baseline positioning system provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device. The device provided in the embodiment of the present application, its implementation principle and the technical effect produced are the same as those in the aforementioned method embodiment. For the sake of brief description, the parts not mentioned in the device embodiment can refer to the corresponding contents in the aforementioned method embodiment. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0078] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0079] For another example, the flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0082] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable an electronic device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the vehicle marking method of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0083] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0084] Finally, it should be noted that the above embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the aforementioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An ultra-short baseline positioning method, characterized in that: Applied to a five-element array, the five-element array includes five receiving elements, and the five receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center; wherein the lines connecting two of the receiving elements form a baseline; the baseline includes a plurality of long baselines and a plurality of short baselines, each of the short baselines corresponds to a long baseline parallel to the short baseline, and the positioning method includes: Acquire a target signal, and based on the target signal, obtain an initial phase of the target signal arriving at each of the receiving array elements; Based on each of the initial phases, determining a phase difference set corresponding to the target signal; wherein the phase difference set includes a plurality of phase differences, and the phase difference is a phase difference between when the target signal reaches one of the receiving array elements and when it reaches another of the receiving array elements; Based on the phase difference ambiguity correction strategy, each phase difference is corrected to obtain each target phase difference corresponding to the target signal; wherein, obtaining each target phase difference corresponding to the target signal includes: determining the phase difference ambiguity cycle number of each phase difference based on the pairwise parallel restriction condition; wherein, pairwise parallel includes a short baseline and a long baseline corresponding to the short baseline and parallel to the short baseline; based on each phase difference ambiguity cycle number, each phase difference is corrected to obtain the corrected phase difference corresponding to the target signal; based on the phase difference constraint condition, each corrected phase difference is processed to obtain the target phase difference corresponding to the target signal; The positioning array is used to perform positioning calculation on each target phase difference to obtain the target position corresponding to the target signal.

2. The ultra-short baseline positioning method according to claim 1, characterized in that: Based on the target signal, obtaining an initial phase of the target signal arriving at each of the receiving array elements includes: The target signal is processed by orthogonal transformation and filtering to obtain each initial phase corresponding to the target signal.

3. The ultra-short baseline positioning method according to claim 1, characterized in that: Before solving each of the target phase differences to obtain the target position corresponding to the target signal, the method further includes: Based on each of the target phase differences, a delay difference corresponding to the target signal is determined.

4. The ultra-short baseline positioning method according to claim 3, characterized in that: Determining the delay difference corresponding to the target signal based on each of the target phase differences includes: The delay difference corresponding to the target signal is determined by the following formula: In the formula, The target signal arrives The delay difference between the receiving array element and the j receiving array element, The target signal arrives The phase difference between the receiving array element and the j receiving array element, is the target signal center frequency.

5. The ultra-short baseline positioning method according to claim 3 or 4, characterized in that: Solving each of the target phase differences to obtain the target position corresponding to the target signal includes: Based on each of the time delay differences, determining a slant range between the target signal and the five-element array; Based on the slant range, the delay difference and the geographic coordinates of the two receiving array elements, obtaining the geographic coordinates corresponding to the target signal; Based on the weighted average, each of the geographic coordinates is processed to obtain the target position corresponding to the target signal.

6. The ultra-short baseline positioning method according to claim 5, characterized in that: Based on the slant range, the delay difference and the geographic coordinates of the receiving array elements, obtaining the geographic coordinates corresponding to the target signal, further comprising: Based on the convergence condition, it is determined whether the target phase difference corresponding to each of the geographic coordinates needs to be corrected. If necessary, the target phase difference is corrected according to a preset target depth value to obtain a minimum phase difference combination.

7. An ultra-short baseline positioning system, characterized in that: include: A five-element array, comprising five receiving elements, the five receiving elements being evenly distributed along a circumferential direction with the center of the positioning array as the center of the circle; wherein the lines connecting any two of the receiving elements form a baseline; the baseline comprises a plurality of long baselines and a plurality of short baselines, each of the short baselines corresponding to a long baseline parallel to the short baseline; a processing module, connected to the five receiving array elements respectively, the processing module being used to: acquire a target signal, and based on the target signal, obtain an initial phase of the target signal arriving at each receiving array element; based on each of the initial phases, determine a phase difference set corresponding to the target signal; wherein the phase difference set includes a plurality of phase differences, and the phase difference is a phase difference between the target signal arriving at one receiving array element and arriving at another receiving array element; based on a phase difference ambiguity correction strategy, correct each of the phase differences to obtain each target phase difference corresponding to the target signal; wherein the target signal corresponding to the target signal is obtained The method comprises: determining the phase difference ambiguity cycle number of each phase difference based on the pairwise parallel constraint condition; wherein the pairwise parallel condition includes a short baseline and a long baseline corresponding to the short baseline and parallel to the short baseline; based on each phase difference ambiguity cycle number, correcting each phase difference to obtain a corrected phase difference corresponding to the target signal; based on the phase difference constraint condition, processing each corrected phase difference to obtain the target phase difference corresponding to the target signal; and performing positioning and solving for each target phase difference using a positioning formation to obtain a target position corresponding to the target signal.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to execute the method according to any one of claims 1 to 6.

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