An ultra-short baseline positioning method, system, device and medium

Abstract

The present invention provides an ultra-short baseline positioning method, system, device and medium, which relates to the technical field of underwater positioning. The method includes obtaining a target signal, and based on the target signal, obtaining the initial phase of the target signal arriving at each receiving array element; based on each initial phase, determining a set of all corresponding phase differences between the target signal and pairwise array elements; based on a phase difference ambiguity correction strategy, correcting each phase difference to obtain the phase difference between the target signal and pairwise array elements; performing positioning calculation according to the corrected phase difference in combination with the positioning array to obtain the position coordinates corresponding to the target signal, so as to improve the accuracy and precision of positioning.

Description

Technical Field

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

[0002] An ultra-short baseline positioning system is a type of underwater acoustic positioning. Ultra-short baseline positioning obtains the relative position of a target in the array coordinate system based on the time delay difference / phase difference between the transmitted signal arriving at the positioning array elements, and then the absolute position of the target can be obtained through coordinate transformation based on the azimuth and 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, generally, the baseline length of the positioning array is greater than half of the wavelength of the system operating frequency, which will lead to the situation of phase difference ambiguity in signal detection and phase difference estimation. Especially in the case of a 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. The five-element array includes 5 receiving elements, and the 5 receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle. The positioning method includes:

[0006] Obtain a target signal, and based on the target signal, obtain the initial phases of the target signal arriving at each receiving element;

[0007] Based on each initial phase, determine a set of phase differences corresponding to the target signal; wherein, the set of phase differences includes multiple phase differences, and the phase difference is the phase difference between the target signal arriving at one receiving element and arriving at another receiving element;

[0008] Based on a phase difference ambiguity correction strategy, correct each phase difference to obtain each target phase difference corresponding to the target signal;

[0009] Perform positioning calculation on each target phase difference using a positioning array pattern to obtain the target position corresponding to the target signal.

[0010] Optionally, obtaining the initial phases of the target signal arriving at each receiving element based on the target signal includes:

[0011] Process the target signal using orthogonal transformation and filtering to obtain each initial phase corresponding to the target signal.

[0012] Optionally, the connections between pairwise receiving array elements form baselines; among them, the baselines include multiple long baselines and multiple short baselines, and each short baseline corresponds to a long baseline parallel to the short baseline. 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:

[0013] Based on the pairwise parallel limiting condition, determine the phase difference ambiguity period number of each phase difference; among them, pairwise parallel includes a short baseline and a long baseline parallel to the short baseline corresponding to the short baseline;

[0014] Based on each phase difference ambiguity period number, correct each phase difference to obtain the corrected phase difference corresponding to the target signal;

[0015] Based on the phase difference constraint condition, process each corrected phase difference to obtain the target phase difference corresponding to the target signal.

[0016] Optionally, before solving each target phase difference to obtain the target position corresponding to the target signal, it further includes:

[0017] Based on each target phase difference, determine the time delay difference corresponding to the target signal.

[0018] Optionally, based on each target phase difference, determining the time delay difference corresponding to the target signal includes:

[0019] Determine the time delay difference corresponding to the target signal through the following formula:

[0020]

[0021] In the formula, is the time delay difference between the target signal arriving at the receiving array element and the j receiving array element, is the phase difference between the target signal arriving at the receiving array element and the j receiving array element, is the center frequency of the target signal.

[0022] Optionally, solving each target phase difference to obtain the target position corresponding to the target signal includes:

[0023] Based on each time delay difference, determine the slant range between the target signal and the five-element array;

[0024] Based on the slant range, time delay difference and geographical coordinates of pairwise receiving array elements, obtain each geographical coordinate corresponding to the target signal;

[0025] Based on weighted average, process each geographical coordinate to obtain the target position corresponding to the target signal.

[0026] Optionally, based on the slant range, time delay difference, and geographical coordinates of each pair of receiving array elements, the geographical coordinates corresponding to the target signal are obtained, including:

[0027] Based on the convergence condition, it is determined whether the target phase difference corresponding to each geographical coordinate needs to be corrected. If so, the target phase difference is corrected according to the preset target depth value to obtain the minimum phase difference combination.

[0028] In a second aspect, the present invention provides a short baseline positioning system, including:

[0029] A five-element array, including 5 receiving array elements, and the 5 receiving array elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle;

[0030] A processing module, which is respectively connected to the 5 receiving array elements. The processing module is used to: acquire the target signal, and based on the target signal, obtain the initial phase of the target signal reaching each receiving array element; based on each initial phase, determine the set of phase differences corresponding to the target signal; wherein, the set of phase differences includes multiple phase differences, and the phase difference is the phase difference between the target signal reaching one receiving array element and reaching another receiving array element; based on the phase difference ambiguity correction strategy, correct each phase difference to obtain each target phase difference corresponding to the target signal; perform positioning calculation on each target phase difference using the positioning array to obtain the target position corresponding to the target signal.

[0031] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned short baseline positioning method is implemented.

[0032] In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and run by the processor, the machine-executable instructions cause the processor to run the above-mentioned short baseline positioning method.

[0033] A short baseline positioning method, system, device, and medium provided by an embodiment of the present invention obtain the initial phase of the target signal reaching each receiving array element by acquiring the target signal and based on the target signal; determine the set of phase differences corresponding to the target signal based on each initial phase; correct each phase difference based on the phase difference ambiguity correction strategy to obtain each target phase difference corresponding to the target signal; perform positioning calculation on each target phase difference using the positioning array to obtain the target position corresponding to the target signal, so as to improve the accuracy and precision of positioning.

[0034] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following accompanying drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related accompanying drawings can also be obtained based on these drawings.

[0036] Figure 1 It shows a schematic structural diagram of a five-element array provided by an embodiment of the present invention;

[0037] Figure 2 It shows a schematic flow diagram of a short baseline positioning method provided by an embodiment of the present invention;

[0038] Figure 3 It shows a schematic structural diagram of the position coordinates of 5 receiving array elements provided by an embodiment of the present invention;

[0039] Figure 4 It shows a schematic diagram of the geometric relationship of the three-element array positioning solution provided by an embodiment of the present invention;

[0040] Figure 5 It shows a schematic structural diagram of a short baseline positioning system provided by an embodiment of the present invention;

[0041] Figure 6 It shows a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Specific Embodiments

[0042] To make the objectives, 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 accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying 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 accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0043] Figure 1 It is a schematic structural diagram of a five-element array provided for an embodiment of the present invention, as Figure 1 shown. The five-element array includes 5 receiving array elements, and the 5 receiving array elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle.

[0044] Furthermore, the 5 receiving elements are evenly distributed on a circle with a radius of 110 mm.

[0045] Due to phase ambiguity correction and the complexity of hardware devices, the number of array elements should not be too large. However, the geometric relationship between array elements needs to meet the phase ambiguity correction condition. Therefore, the basic array of the positioning formation in this application includes 5 receiving elements.

[0046] Figure 2 The flowchart of a short baseline positioning method provided by an embodiment of the present invention is shown as Figure 2 shown, and this positioning method includes:

[0047] Step S100: Obtain a target signal, and based on the target signal, obtain the initial phase of the target signal reaching each receiving array element.

[0048] Since the distances from the target position to each array element of the basic array are different, the initial phases of the target position and each array element are also different. Therefore, by processing the target signal using orthogonal transformation and filtering, the initial phase of the target signal reaching each receiving array element is obtained.

[0049] Specifically, the fast Fourier transform can be used to convert the signal received by the receiving array element from the time domain to the frequency domain, and then the low-pass filtering processing method is used to remove noise to obtain a signal within a preset frequency range. Finally, by analyzing the phase information of the filtered signals on each receiving array element, the initial phase of the target signal reaching each array element can be determined.

[0050] Step S200: Based on each initial phase, determine the set of phase differences corresponding to the target signal; where the set of phase differences includes multiple phase differences, and the phase difference is the phase difference between the target signal reaching one receiving array element and reaching another receiving array element.

[0051] Among them, according to the positions of the receiving array elements of the basic array and the initial phases of the target signal reaching each receiving array element, the phase difference between the target signal reaching one receiving array element and reaching another receiving array element is determined to obtain the set of phase differences, that is, the phase differences between the target signal reaching two receiving array elements in pairs form the set of phase differences. In this application, the set of phase differences is { }.

[0052] 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.

[0053] In an optional embodiment, in step S300, based on the phase difference ambiguity correction strategy, correcting each phase difference to obtain each target phase difference corresponding to the target signal includes:

[0054] Based on the pairwise parallel constraint conditions, determine the phase difference ambiguity period number for each phase difference; wherein, pairwise parallel includes a short baseline and a long baseline parallel to the short baseline corresponding to the short baseline.

[0055] Based on each phase difference ambiguity period number, correct each phase difference to obtain the corrected phase difference corresponding to the target signal.

[0056] Based on the phase difference constraint conditions, process each corrected phase difference to obtain the target phase difference corresponding to the target signal.

[0057] Further, the connection lines between pairwise receiving array elements form baselines; wherein, the baselines include multiple long baselines and multiple short baselines, and each short baseline corresponds to a long baseline parallel to the short baseline. As Figure 3 shown, taking the center of the five-element array as the origin, the No. 1 receiving array element is located on the X-axis of the coordinate axis, and determine 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. From Figure 3 it can be seen that the baseline between the No. 1 receiving array element and the No. 2 receiving array element is a short baseline, the baseline between the No. 1 receiving array element and the No. 3 receiving array element is a long baseline. The baselines between pairwise receiving array 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 pentagram.

[0058] It should be noted that the pairwise parallel constraint condition is the correction constraint condition between pairwise parallel lines, wherein, the pairwise parallel lines refer to a short baseline corresponding to a long baseline parallel to the short baseline.

[0059] In an alternative embodiment, based on the pairwise parallel constraint conditions, determine the phase difference ambiguity period number for each phase difference; based on each phase difference ambiguity period number, correct each phase difference to obtain the corrected phase difference corresponding to the target signal.

[0060] Specifically, based on the five-element array, determine the phase difference ambiguity period numbers in the pairwise parallel constraint conditions, wherein, the phase difference ambiguity period number can be the maximum ambiguity period number calculated according to the baseline lengths in the five-element array; then based on each phase difference ambiguity period number, correct each phase difference to obtain each corrected phase difference. The corrected phase difference can be determined by the following formula:

[0061]

[0062] In the formula, is the corrected phase difference of the target signal arriving at the receiving array element and the array element, is the corrected phase difference of the target signal arriving at the receiving array element and the The measured phase difference between array elements is the baseline length between the receiving array element and array elements

[0063] Furthermore, from Figure 3 it can be seen that a short baseline corresponds to a long baseline parallel to the short baseline, and the length of the short baseline and the long baseline differ by a factor of 1.618. For example , where is the length of the baseline between element No. 5 and element No. 3 is the length of the baseline between element No. 1 and element No. 2. According to the assumption condition of the target signal plane wave incidence, the time delay difference between the target signal arriving at element No. 1 and element No. 2 and the time delay difference between the target signal arriving at element No. 5 and element No. 3 also need to satisfy the above relationship, that is , and the time delay difference relationships between other array elements can also be obtained as follows

[0064] (1-1)

[0065] Taking element No. 5 and element No. 3 as an example, if the measured phase difference of the target signal arriving at element No. 5 and element No. 3 is set as , assuming the phase difference ambiguity period number between element No. 5 and element No. 3 is , where is the maximum ambiguity period number calculated according to the baseline length. Then the phase difference after phase difference ambiguity correction is , and the relationship between the time delay difference and the phase difference is , in the formula is the time delay difference between the target signal arriving at the receiving array element and the jth receiving array element is the phase difference between the target signal arriving at the receiving array element and the jth receiving array element is the center frequency of the target signal. Therefore, the above relational formula 1-1 can be transformed into the following formula, and this formula is the pairwise parallel limiting condition

[0066] (1-2)

[0067] Furthermore, traverse and search all the baseline lengths in the five-element array, and obtain the corresponding to the minimum value in the above formula, that is, based on all the baseline lengths in the five-element array, determine the long baselines parallel to each short baseline, and obtain the phase difference ambiguity period numbers between all pairwise array elements

[0068] Furthermore, the corrected phase difference is verified through simulation. When the phase estimation accuracy of a single channel is less than 10 degrees, the phase difference ambiguity period number is used to correct the phase difference, and the phase difference ambiguity period number correction between two array elements can be achieved. However, for the pool test data and 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 period number. In order to make the phase difference ambiguity period number applicable to different phase estimation accuracies, the phase difference constraint condition is adopted to process each corrected phase difference, and the target phase difference corresponding to the target signal is obtained.

[0069] In an alternative embodiment, based on the phase difference constraint condition, each corrected phase difference is processed to obtain the target phase difference corresponding to the target signal.

[0070] Among them, based on a preset angle threshold, the corrected phase difference is processed to obtain an optimized phase difference; secondly, the phase difference ambiguity resolution processing is performed on the optimized phase difference 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.

[0071] For example, based on a preset angle threshold of 80°, the corrected phase difference is screened. The processing process is as follows: the baseline lengths corresponding to the corrected phase difference with an angle value less than 80° are removed, and the baseline lengths corresponding to the corrected phase difference with an angle greater than 80° are retained to obtain an optimized phase difference set;

[0072] The channel phase difference after phase difference ambiguity resolution is calculated for the optimized phase difference set ;

[0073] Based on the phase difference constraint condition, the difference of the channel phase difference is calculated to obtain the target phase difference. Among them, the difference of the channel phase difference can be calculated through the following phase difference constraint condition:

[0074] (1-3)

[0075] Furthermore, if each result of the target phase difference satisfying the phase difference constraint condition 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.

[0076] Step S400: Perform positioning calculation on each target phase difference using the positioning array to obtain the target position corresponding to the target signal.

[0077] In an alternative embodiment, in step S400, before performing positioning calculation on each target phase difference using the positioning array to obtain the target position corresponding to the target signal, it further includes:

[0078] Determine the time delay difference corresponding to the target signal based on each target phase difference.

[0079] Further, determining the time delay difference corresponding to the target signal based on each target phase difference includes:

[0080] Determine the time delay difference corresponding to the target signal through the following formula:

[0081]

[0082] In the formula, is the time delay difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the phase difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the central frequency of the target signal. is the phase difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the central frequency of the target signal.

[0083] Optionally, perform positioning and calculation on each target phase difference using a positioning array pattern to obtain the target position corresponding to the target signal, including:

[0084] Determine the slant range between the target signal and the five-element array based on each time delay difference;

[0085] Based on the slant range, time delay difference, and geographical coordinates of each pair of receiving array elements, obtain the respective geographical coordinates corresponding to the target signal;

[0086] Process each geographical coordinate based on weighted average to obtain the target position corresponding to the target signal.

[0087] Specifically, when solving the target phase difference, use the positioning and calculation method of three array elements to solve the target phase difference to obtain the target position. In this application, use the 413 array element, 524 array element, 135 array element, 142 array element, and 253 array element to solve the target position according to the positioning and calculation method of three array elements. If the difference between the positioning results calculated by the 5 types of array element combinations is less than 10 m, then retain this phase difference combination.

[0088] As Figure 4 shown, taking the 4th, 1st, and 3rd array elements in the five-element array as an example, the positioning array pattern of the 3rd array element is as Figure 4 shown, that is, point O represents the 1st array element, point A represents the 3rd array element, point B represents the 4th array element, point S represents the target position. Assume that the time delay difference between the 1st and 3rd array elements receiving the target signal is , and the time delay difference between the 1st and 4th array elements receiving the target signal is . The relationship between the time delay difference and the target phase difference is: .

[0089] Set the XOY-Z coordinate system as the geographic coordinate system. Then, the first array element is the origin of the geographic coordinate system. This setting does not affect the generality of the solution method. If the first array element 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 position in the geographic coordinate system, is the coordinate of the first array element in the geographic coordinate system, is the coordinate of the third array element in the geographic coordinate system, is the coordinate of the fourth array element in the geographic coordinate system. According to the vector relationship, we can obtain:

[0090]

[0091] In the formula, is the vector and the vector The included angle of, is the slant range from the target position to the origin.

[0092] Furthermore, by performing orthogonal transformation and filtering on the target signal to process the target signal, the time delay of the target signal arriving at each receiving array element is obtained. Based on the time delay of each receiving array element, the average value of the time delay is obtained, and the average value of the time delay is multiplied by the sound speed in water to obtain the slant range from the target position to the origin.

[0093] If the far-field relationship of plane wave incidence is satisfied, then we can obtain:

[0094]

[0095] In the formula, where is the acoustic signal propagation time delay difference between the sound wave transmitted from the target position arriving at the first array element and arriving at the third array element, is the baseline length between the first array element and the third array element, is the sound speed in water.

[0096] Since , therefore:

[0097]

[0098] That is:

[0099]

[0100] Since the coordinates of the third array element and the first array element in the array coordinate system are known, and the rotation matrix from the array coordinate system to the geographic coordinate system is also known, then and are also known.

[0101] Using the first array element and the fourth array element, the following relationship can also be obtained:

[0102]

[0103] If the depth of the acoustic beacon is known , then through the above two equations, we can solve and , which is the target location.

[0104] 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:

[0105]

[0106] 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.

[0107] 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.

[0108] 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:

[0109] 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.

[0110] 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.

[0111] Specifically, in the present application, the convergence condition is that the difference between each target position is less than 10 m. In this case, the target phase difference is retained. If it is greater than 10 m, the target phase difference is corrected. The correction process is as follows: Based on the preset target depth value, the target phase difference is corrected, and the difference between the corrected phase differences is calculated through the above phase constraint conditions. The set of phase differences with the smallest sum of all results is used as the phase difference of the final target position.

[0112] Figure 5 FIG. 4 is a schematic structural diagram of a short baseline positioning system provided by an embodiment of the present invention. As Figure 5 shown, the system includes:

[0113] A five-element array 510, including 5 receiving elements, and the 5 receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle;

[0114] A processing module 520, which is respectively connected to the 5 receiving elements. The processing module is used for: acquiring a target signal, and based on the target signal, obtaining the initial phases of the target signal reaching each receiving element; based on each initial phase, determining a set of phase differences corresponding to the target signal; wherein, the set of phase differences includes multiple phase differences, and the phase difference is the phase difference between the target signal reaching one receiving element and reaching another receiving element; based on a phase difference ambiguity correction strategy, correcting each phase difference to obtain each target phase difference corresponding to the target signal; performing positioning calculation on each target phase difference by using a positioning array configuration to obtain the target position corresponding to the target signal.

[0115] In a possible embodiment, the processing module 520 is further used for:

[0116] Processing the target signal by using orthogonal transformation and filtering to obtain the initial phases corresponding to the target signal.

[0117] In a possible embodiment, the processing module 520 is further used for:

[0118] Based on the pairwise parallel limitation condition, determining the number of phase difference ambiguity periods of each phase difference; wherein, pairwise parallel includes a short baseline and a long baseline parallel to the short baseline corresponding to the short baseline;

[0119] Based on the number of phase difference ambiguity periods of each phase difference, correcting each phase difference to obtain the corrected phase difference corresponding to the target signal;

[0120] Based on the phase difference constraint condition, processing each corrected phase difference to obtain the target phase difference corresponding to the target signal.

[0121] In a possible embodiment, the processing module 520 is further used for:

[0122] Based on each target phase difference, determine the time delay difference corresponding to the target signal.

[0123] In a possible embodiment, the processing module 520 is further configured to:

[0124] Determine the time delay difference corresponding to the target signal through the following formula:

[0125]

[0126] In the formula, is the time delay difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the phase difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the phase difference between the receiving array element where the target signal arrives and the j-th receiving array element, is the center frequency of the target signal. is the center frequency of the target signal.

[0127] In a possible embodiment, the processing module 520 is further configured to:

[0128] Based on each time delay difference, determine the slant range between the target signal and the five-element array;

[0129] Based on the slant range, time delay difference, and geographical coordinates of each pair of receiving array elements, obtain the respective geographical coordinates corresponding to the target signal;

[0130] Based on weighted averaging, process each geographical coordinate to obtain the target position corresponding to the target signal.

[0131] In a possible embodiment, the processing module 520 is further configured to:

[0132] Based on the convergence condition, determine whether the target phase difference corresponding to each geographical coordinate needs to be corrected. If so, correct the target phase difference according to the preset target depth value to obtain the minimum phase difference combination.

[0133] For the device provided in the embodiments of the present application, the implementation principle and the technical effects produced are the same as those of the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding contents in the foregoing method embodiments.

[0134] As Figure 6 shown, an electronic device 600 provided in the embodiments 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 runs, the processor 601 communicates with the memory 602 through the bus, and the processor 601 executes the machine-readable instructions to perform the steps of the above ultra-short baseline positioning method.

[0135] Specifically, the above-mentioned memory 602 and processor 601 can be general-purpose memory and processor, which are not specifically limited here. When the processor 601 runs the computer program stored in the memory 602, it can execute the above-mentioned ultra-short baseline positioning method.

[0136] 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 integrated logic circuit in the hardware of the processor 601 or instructions in the form of software. The above-mentioned processor 601 can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and combines its hardware to complete the steps of the above method.

[0137] Corresponding to the above-mentioned ultra-short baseline positioning method, the embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and run by the processor, the machine-executable instructions prompt the processor to run the steps of the above-mentioned ultra-short baseline positioning method.

[0138] The ultra-short baseline positioning system provided by the embodiments of the present application can be specific hardware on a device or software or firmware installed on the device, etc. For the device provided by the embodiments of the present application, the implementation principle and the technical effects produced are the same as those of the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the foregoing described system, device, and unit can all refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0139] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For another 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 displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0140] For another example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code. A module, a program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of the blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0141] 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 may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, each functional unit in the embodiments provided in this application may be integrated into a processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit.

[0143] 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 this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the vehicle marking method in each embodiment of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0144] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0145] Finally, it should be noted that the above embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, and are not intended to limit it. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; 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 this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for ultra-short baseline positioning, characterized in that, Applied to a five - element array, the five - element array includes 5 receiving elements, and the 5 receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle; wherein, the lines connecting every two of the receiving elements form baselines; the baselines include 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. The positioning method includes: Obtain a target signal, and based on the target signal, obtain the initial phase of the target signal reaching each of the receiving elements; Based on each of the initial phases, determine a set of phase differences corresponding to the target signal; wherein, the set of phase differences includes a plurality of phase differences, and the phase difference is the phase difference between the target signal reaching one receiving element and reaching another receiving 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, obtaining each target phase difference corresponding to the target signal includes: based on a pairwise parallel limitation condition, determine the number of phase - difference ambiguity periods of each phase difference; wherein, pairwise parallel includes a short baseline and a long baseline parallel to the short baseline corresponding to the short baseline; based on each of the number of phase - difference ambiguity periods, correct each of the phase differences to obtain the corrected phase differences corresponding to the target signal; based on a phase - difference constraint condition, process each of the corrected phase differences to obtain the target phase difference corresponding to the target signal; wherein, the pairwise parallel limitation condition is that the corrected phase difference of the long baseline is 1.618 times the corrected phase difference of the short baseline; Perform positioning calculation on each of the target phase differences using a positioning array configuration 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 the initial phase of the target signal reaching each of the receiving elements includes: Process the target signal using orthogonal transformation and filtering to obtain each of the initial phases corresponding to the target signal.

3. The ultra-short baseline positioning method according to claim 1, characterized in that, Before performing positioning calculation on each of the target phase differences using a positioning array configuration to obtain the target position corresponding to the target signal, it further includes: Based on each of the target phase differences, determine the time - delay difference corresponding to the target signal.

4. The ultra-short baseline positioning method according to claim 3, wherein Based on each of the target phase differences, determining the time - delay difference corresponding to the target signal includes: Determine the time - delay difference corresponding to the target signal through the following formula: In the formula, is the time delay difference between the target signal arriving at receiving array element and receiving array element j, is the target phase difference between the target signal arriving at receiving array element and receiving array element j, is the center frequency of the target signal.

5. The ultra-short baseline positioning method according to claim 3 or 4, characterized in that, Performing positioning calculation on each of the target phase differences using a positioning array configuration to obtain the target position corresponding to the target signal includes: Based on each of the time - delay differences, determine the slant range between the target signal and the five - element array; Based on the slant range, the time - delay difference, and the geographical coordinates of every two receiving elements, obtain each geographical coordinate corresponding to the target signal; Based on weighted average, process each of the geographical coordinates 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 time - delay difference, and the geographical coordinates of every two receiving elements, obtaining each geographical coordinate corresponding to the target signal includes: Based on the convergence condition, determine whether the target phase difference corresponding to each of the geographical coordinates needs to be corrected. If so, correct the target phase difference according to a preset target depth value to obtain a minimum phase difference combination.

7. An ultra-short baseline positioning system, characterized in that, Including: A five-element array, including 5 receiving elements, and the 5 receiving elements are evenly distributed along the circumferential direction with the center of the positioning array as the center of the circle; wherein, the connection lines between every two of the receiving elements form baselines; the baselines include 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; A processing module, which is respectively connected to the 5 receiving elements, and the processing module is used for: acquiring a target signal, and based on the target signal, obtaining the initial phase of the target signal reaching each of the receiving elements; based on each of the initial phases, determining a set of phase differences corresponding to the target signal; wherein, the set of phase differences includes a plurality of phase differences, and the phase difference is the phase difference between the target signal reaching one receiving element and reaching another receiving element; based on a phase difference ambiguity correction strategy, correcting each of the phase differences 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 period number of each phase difference based on a pairwise parallel limitation condition; wherein, pairwise parallel includes a short baseline and a long baseline parallel to the short baseline corresponding to the short baseline; based on each of the phase difference ambiguity period numbers, correcting each of the phase differences to obtain a corrected phase difference corresponding to the target signal; based on a phase difference constraint condition, processing each of the corrected phase differences to obtain the target phase difference corresponding to the target signal; wherein, the pairwise parallel limitation condition is that the corrected phase difference of the long baseline is 1.618 times the corrected phase difference of the short baseline; performing positioning calculation on each of the target phase differences 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 on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method described in any one of the above claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and run by the processor, the machine-executable instructions cause the processor to run the method described in any one of the above claims 1 to 6.

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