Multi-node collaborative navigation semi-physical simulation system and method

Abstract

The invention discloses a multi-node collaborative navigation semi-physical simulation system and method, and belongs to the technical field of cluster control, and the system comprises an environment and target simulation module, a cluster multi-sensor ground simulation platform and a cluster collaborative navigation module. The environment and target simulation module is used for simulating and generating a geomagnetic field real-time map measured by each node of the cluster in the flight process; the cluster multi-sensor ground simulation platform is used for generating a real geomagnetic field environment according to the geomagnetic field real-time map, and simulating and outputting a motion state of each node of the cluster, inertia information of each node of the cluster and geomagnetic field measurement information of each node of the cluster; and the cluster collaborative navigation module is provided with a multi-dimensional feature collaborative navigation algorithm model and is used for receiving the trajectory data and carrying out simulation deduction on the cluster based on the algorithm model by combining the motion state of each node of the cluster, the inertial information and the geomagnetic field measurement information. According to the method, cluster multi-node collaborative navigation semi-physical simulation can be realized, the simulation precision and the reduction degree are high, and the cost is low.

Description

Technical Field

[0001] The present invention belongs to the technical field of cluster control, and particularly relates to a multi-node collaborative navigation hardware-in-the-loop simulation system and method. Background Art

[0002] With the development of the times, cluster collaborative navigation technology has come into the limelight. The navigation sources with low cost and high return have made the efficiency of unmanned clusters higher and higher. Therefore, it is necessary to develop collaborative navigation and collaborative decision-making technologies to achieve high-precision and high-stability integrated navigation capabilities in complex mission environments. The traditional integrated navigation mode relying on "satellite navigation + inertial navigation + visual navigation" has great limitations. Although it is the current mainstream cluster navigation and positioning method and can effectively improve the action ability of a single unit, in the case of unavailable GNSS (Global Navigation Satellite System) environment and limited GNSS signals indoors, due to the drift of inertial guidance, the results of multi-source integrated navigation will diverge sharply. And visual navigation depends on obvious topographic and geomorphic features. For example, high-precision positioning and navigation cannot be achieved in deserts, oceans, grasslands and other places. Therefore, in the study of multi-source integrated navigation, in addition to inertial navigation, satellite navigation and visual navigation, the navigation and positioning capabilities of other multi-navigation sources are of great significance. However, due to cost limitations, if unmanned clusters are used to verify multi-source integrated navigation algorithms through actual flight tests, it is not suitable for the requirements of cost reduction and algorithm iteration and update. At the same time, actual flight tests also involve control algorithms and the adaptation of software and hardware, which is not conducive to the exploration, research and improvement of multi-source integrated navigation algorithms. This also leads to problems such as high difficulty, poor accuracy and high cost in the simulation and deduction methods for aircraft clusters for integrated navigation.

[0003] Existing navigation integration simulation platforms can be divided into hardware-in-the-loop simulation and simulation simulation. The simulation simulation has a low price, but the simulation results have large errors and limited reference value; while the hardware-in-the-loop simulation is mostly based on combined navigation technologies such as inertial navigation and GNSS satellite navigation. This type of inertial navigation / satellite navigation combined navigation hardware-in-the-loop simulation and deduction system can obtain a general navigation result with an error within an acceptable range, but the simulation accuracy is low, and in the case of unavailable GNSS, it is impossible to realize the hardware-in-the-loop simulation of cluster multi-node collaboration navigation. Summary of the Invention

[0004] To solve some or all of the above technical problems existing in the prior art, the present invention provides a multi-node collaborative navigation hardware-in-the-loop simulation system and method, which can realize the hardware-in-the-loop simulation of cluster multi-node collaboration navigation in the case of a hardware-in-the-loop simulation and deduction system for clusters and unavailable GNSS, with high simulation and deduction accuracy and high experimental scenario restoration degree, and controllable experimental conditions and low cost.

[0005] The technical solution of the present invention is as follows: In the first aspect, the present invention provides a multi-node collaborative navigation hardware-in-the-loop simulation system, including: An environment and target simulation module, which is used to simulate and generate a real-time geomagnetic field map measured by each node of the cluster during flight according to the trajectory data and geomagnetic field reference map information during the flight of each node of the cluster; A cluster multi-sensor ground simulation platform, which is used to generate a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module, and simulate and output the motion states of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster; A cluster collaborative navigation module, which is provided with a multi-dimensional feature collaborative navigation algorithm model, is used to receive the trajectory data obtained by the environment and target simulation module, and based on the multi-dimensional feature collaborative navigation algorithm model, simulate and deduce the cluster in combination with the simulated motion states of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster.

[0006] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the environment and target simulation module includes: A cluster trajectory generator, which is used to simulate the trajectory data of each node of the cluster under various flight conditions according to the kinematic equation, and provide data for simulation and deduction; A simulator, which is used to simulate and generate a real-time geomagnetic field map measured by each node of the cluster during flight according to the trajectory data of each node of the cluster simulated by the cluster trajectory generator and the externally input geomagnetic field reference map information.

[0007] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the cluster multi-sensor ground simulation platform includes: An environment field generation device, which is used to generate a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module; A node measurement real-time simulation platform, which is used to simulate and generate the motion states of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster according to the trajectory data of each node of the cluster simulated by the environment and target simulation module under various flight conditions and the geomagnetic field environment generated by the environment field generation device; An information generation device, which is used to generate corresponding information signals and output them according to the motion states of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster.

[0008] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the environmental field generation device includes: A magnetic generator, which is used to simulate and generate the geomagnetic field environment in different regions during the flight of cluster nodes; A power supply, which is used to supply power to the magnetic generator; A fluxgate, which acts on the magnetic generator and is used to prevent the magnetic generator from generating interfering magnetic fields during the generation of the real geomagnetic field environment.

[0009] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the node measurement real-time simulation platform includes: A turntable device, which is used to simulate the motion states of each cluster node; An inertial sensor, which is used to measure the inertial information of each cluster node; A geomagnetic sensor, which is used to measure the real-time geomagnetic field information of each cluster node.

[0010] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the information generation device includes an analog signal generator.

[0011] Further, in the above multi-node collaborative navigation hardware-in-the-loop simulation system, the multi-dimensional feature collaborative navigation algorithm model is expressed as: ; Where: represents the Huber value of the geomagnetic measurement value and the geomagnetic map reading value of the th node, represents the Huber function, and respectively represent the geomagnetic map reading value and the geomagnetic measurement value at the th trajectory point position in the corresponding flight trajectory of the th node, represents the average Huber value of the cluster, represents the number of nodes in the cluster, represents the geomagnetic map reading value at the true position of the node, represents the true position in the inertial system of the estimated true trajectory point corresponding to the th trajectory point in the flight trajectory of the th node, represents the geomagnetic measurement error, represents the th number of trajectory points of the node, represents the The estimated trajectory obtained by a node based on multi-dimensional feature matching in the inertial system, represents the true position in the inertial system of the estimated true trajectory point corresponding to the first trajectory point in the flight trajectory of the th node, represents the true position in the inertial system of the estimated true trajectory point corresponding to the second trajectory point in the flight trajectory of the th node, represents the true position in the inertial system of the estimated true trajectory point corresponding to the th trajectory point in the flight trajectory of the th node.

[0012] In a second aspect, the present invention also provides a multi-node cooperative navigation hardware-in-the-loop simulation method, which is used for the multi-node cooperative navigation hardware-in-the-loop simulation system as described above, and includes: Obtain the trajectory data and geomagnetic reference map information during the flight of each node in the cluster, and analyze the obtained trajectory data and geomagnetic reference map information through interpolation to obtain the navigation paths of each node in the cluster; According to the obtained navigation paths of each node in the cluster and the navigation parameters of each trajectory point on the flight trajectory of each node in the cluster, simulate and generate the real-time geomagnetic map measured by each node in the cluster during flight; Generate a real geomagnetic environment according to the obtained real-time geomagnetic map, and based on the trajectory data during the flight of each node in the cluster and the generated geomagnetic environment, simulate and output the motion states of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic measurement information of each node in the cluster; According to the obtained trajectory data, motion states, inertial information, and geomagnetic measurement information of each node in the cluster during flight, perform simulation deduction on the cluster based on the multi-dimensional feature cooperative navigation algorithm model, and perform multi-dimensional feature cluster cooperative navigation solution.

[0013] The main advantages of the technical solution of the present invention are as follows: The multi-node cooperative navigation hardware-in-the-loop simulation system and method of the present invention can realize the hardware-in-the-loop simulation of multi-node cooperation navigation for a cluster in a hardware-in-the-loop simulation deduction system for a cluster and when GNSS is unavailable. The simulation deduction accuracy and the experimental scenario restoration degree are high, and the complex experimental conditions are controllable and the cost is low; at the same time, it can realize the control and simulation of various situations such as cluster communication failures, so as to increase the versatility of the simulation deduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings described herein are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 FIG. is a schematic structural diagram of a multi-node cooperative navigation hardware-in-the-loop simulation system provided by an embodiment of the present invention; Figure 2 FIG. is a schematic flow diagram of a multi-node cooperative navigation hardware-in-the-loop simulation method provided by an embodiment of the present invention.

[0015] Explanation of reference numerals: 1. Environment and target simulation module; 2. Cluster multi-sensor ground simulation platform; 3. Cluster cooperative navigation module; 11. Cluster trajectory generator; 12. Simulator; 21. Environment field generation device; 22. Node measurement real-time simulation platform; 23. Information generation device; 210. Magnetic generator; 211. Power supply; 212. Fluxgate; 220. Turntable device; 221. Inertial sensor; 222. Geomagnetic sensor. Detailed implementation manners

[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0017] The following will detail the technical solutions provided by the embodiments of the present invention with reference to the drawings.

[0018] Specifically, GNSS in the present invention is an abbreviation for Global Navigation Satellite System, which means a global navigation satellite system, also known as a global satellite navigation system. It is a space-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, speeds, and time information at any location on the earth's surface or in near-earth space.

[0019] As shown in the appendix Figure 1 An embodiment of the present invention provides a multi-node cooperative navigation hardware-in-the-loop simulation system. The simulation system includes: an environment and target simulation module 1, a cluster multi-sensor ground simulation platform 2, and a cluster cooperative navigation module 3, where: The environment and target simulation module 1 is used to simulate and generate the real-time geomagnetic field map measured by each node of the cluster during flight according to the trajectory data of each node of the cluster during flight and the geomagnetic field reference map information; the cluster multi-sensor ground simulation platform 2 is used to generate a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module 1, and simulate and output the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster; the cluster cooperative navigation module 3 is set with a multi-dimensional feature cooperative navigation algorithm model, and is used to receive the trajectory data obtained by the environment and target simulation module 1, and combine the simulated motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster, and perform simulation deduction on the cluster based on the multi-dimensional feature cooperative navigation algorithm model.

[0020] It should be noted that the nodes of the cluster refer to the single entities in the cluster. One node corresponds to one single entity in the cluster, and the cluster is composed of multiple single entities. In the embodiments of the present invention, the single entity is an aircraft.

[0021] The following specifically describes the principle of the simulation system provided by the embodiments of the present invention: The environment and target simulation module 1 takes the cluster as the target object, simulates the trajectory data of each node of the cluster under various flight processes according to the kinematic equation of the cluster, provides flight data information for simulation deduction, and simulates and generates the real-time geomagnetic field map measured by each node of the cluster during flight according to the trajectory data of each node of the cluster during flight and the geomagnetic field reference map information of the area to be deduced uploaded in advance; the cluster multi-sensor ground simulation platform 2 simulates and generates a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module 1, and based on the trajectory data of each node of the cluster simulated by the environment and target simulation module 1 under various flight processes and the generated geomagnetic field environment, simulates and outputs the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster; the cluster cooperative navigation module 3 performs multi-dimensional feature cooperative navigation calculation based on the multi-dimensional feature cooperative navigation algorithm model according to the trajectory data of each node of the cluster simulated by the environment and target simulation module 1 under various flight processes, combined with the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic field measurement information of each node of the cluster simulated by the cluster multi-sensor ground simulation platform 2, realizes the simulation deduction of the cluster, and thus can realize the control and simulation of various situations such as cluster communication failures, so as to increase the versatility of the simulation deduction.

[0022] Specifically, the environment and target simulation module 1 in the multi-node cooperative navigation semi-physical simulation system of the present invention includes: a cluster trajectory generator 11 and a simulator 12, where: The cluster trajectory generator 11 is used to simulate the trajectory data of each node in the cluster under various flight processes according to the kinematic equations, providing data for simulation deduction; the simulator 12 is used to simulate and generate the real-time geomagnetic field map measured by each node in the cluster during flight according to the trajectory data of each node in the cluster simulated by the cluster trajectory generator 11 and the geomagnetic field reference map information input externally.

[0023] Specifically, when the environmental and target simulation module 1 simulates and generates the real-time geomagnetic field map measured by each node in the cluster during flight, the cluster trajectory generator 11 is run. Taking the cluster as the target object, the trajectory data of each node in the cluster under various flight processes is simulated according to its kinematic equations, providing flight trajectory data information for simulation deduction; combining with the geomagnetic field reference map of the area to be deduced, the geomagnetic field reference information is obtained; the simulator 12 is run, and according to the flight trajectories of each node in the cluster and the geomagnetic field reference map information and considering various magnetic measurement error factors, the real-time geomagnetic field map measured by each node in the cluster during flight is simulated and generated.

[0024] Since there are differences between the geomagnetic field information measured in real time by each node in the cluster during flight and the uploaded geomagnetic field reference information, specifically due to the magnetic sensor measurement errors in the geomagnetic field measurement information of each node during flight, the magnetic field interference of the node itself, the magnetic field interference of other nodes in the cluster, various random magnetic field interferences, and the influence of short-term geomagnetic variations, the geomagnetic field information obtained in real time by each node in the cluster during flight is inconsistent with the uploaded geomagnetic field reference map, with various error terms. In the embodiments of the present invention, considering the above various error terms and the corresponding error models comprehensively, and performing comprehensive simulation with the trajectory data of each node in the cluster and the externally input geomagnetic field reference map information, so as to simulate and generate a more accurate real-time geomagnetic field map measured by each node in the cluster during flight.

[0025] In some optional implementation manners of this embodiment, the geomagnetic field reference map of the area to be deduced can be uploaded manually; at the same time, as another optional implementation manner, the required geomagnetic field reference map of the area to be deduced can also be stored in advance and called when needed.

[0026] In the multi-node cooperative navigation hardware-in-the-loop simulation system of the present invention, the cluster multi-sensor ground simulation platform 2 includes: an environmental field generation device 21, a node measurement real-time simulation platform 22, and an information generation device 23, where: The environmental field generating device 21 is used to generate a real geomagnetic field environment according to the real-time map of the geomagnetic field generated by the environment and target simulation module 1; the node measurement real-time simulation platform 22 is used to simulate and generate the trajectory data of each node in the cluster under various flight processes and the geomagnetic field environment generated by the environmental field generating device 21 according to the simulation of the environment and target simulation module 1, and simulate and generate the motion states of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster; the information generating device 23 is used to generate corresponding information signals and output them according to the motion states of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster.

[0027] Specifically, the above-mentioned environmental field generating device 21 includes: a magnetic generator 210, a power supply 211, and a fluxgate 212, where: The magnetic generator 210 is used to simulate and generate the geomagnetic field environment in different regions during the flight of the cluster nodes; the power supply 211 is used to supply power to the magnetic generator 210; the fluxgate 212 acts on the magnetic generator 210 and is used to prevent the magnetic generator 210 from generating interfering magnetic fields during the process of generating a real geomagnetic field environment.

[0028] In order to make the simulated geomagnetic field environment in different regions during the flight of the cluster nodes more accurate, in combination with actual applications, the magnetic generator 210 is preferably a three-dimensional magnetic generator, the power supply 211 is preferably a programmable current source, the fluxgate 212 is installed on the cluster nodes to compensate for the carrier interfering magnetic field, the cluster cooperative navigation module 3 is fixedly connected to the fluxgate 212 and installed on the turntable device 220 of the node measurement real-time simulation platform 22, and the turntable device 220 is installed inside the magnetic generator 210 and is used to realize the navigation and positioning solution of the cluster. Specifically, the simulator 12 generates the real-time geomagnetic field information (including various error terms) during the flight of the cluster nodes, transmits the real-time geomagnetic field information data to the environmental field generating device 21 in real time, and controls it to generate a real geomagnetic field environment.

[0029] Specifically, the above-mentioned node measurement real-time simulation platform 22 includes: a turntable device 220, an inertial sensor 221, and a geomagnetic sensor 222, where: The turntable device 220 is used to simulate the motion states of each node in the cluster; the inertial sensor 221 is used to measure the inertial information of each node in the cluster; the geomagnetic sensor 222 is used to measure the real-time geomagnetic field information of each node in the cluster.

[0030] In order to enable the node measurement real-time simulation platform 22 to more accurately simulate and output the motion state information, inertial information, and real-time geomagnetic field information of the cluster nodes, it is preferably to set the turntable device 220 as a non-magnetic three-axis turntable. The inertial information of the cluster nodes measured by the inertial sensor 221 includes data such as attitude, velocity, and acceleration. Specifically, when simulating and outputting the inertial information and real-time geomagnetic field information of the cluster nodes, according to the trajectory data of the cluster nodes generated by the cluster trajectory generator 11 in the environment and target simulation module 1, the three-axis non-magnetic turntable is operated, and the real-time attitude information of the cluster nodes is reproduced through the inertial sensor 221; according to the geomagnetic field environment of the cluster nodes generated by the environment field generation device 21, the geomagnetic measurement information of the cluster nodes is reproduced through the geomagnetic sensor 222, so as to achieve the restoration of the inertial information and geomagnetic measurement information of the cluster in the real scenario on the ground environment.

[0031] Preferably, the above information generation device 23 includes a simulation signal generator, which is used to generate and output corresponding information signals according to the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic measurement information of each node of the cluster.

[0032] In the embodiment of the present invention, the information generation device 23 generates a corresponding information signal for one cluster node.

[0033] Furthermore, in the embodiment of the present invention, the information generation device 23 can also be used for the following processing: based on the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic measurement information of each node of the cluster, the adjustment simulation of the relative distance between different nodes of the cluster is realized by modifying and adjusting the parameter information, so as to complete the simulation deduction of the communication fault situation between the cluster nodes; at the same time, according to the actual situation, the transmission and reception timing of each generated information signal can also be adjusted.

[0034] By modifying and adjusting the motion state of each node of the cluster, the inertial information of each node of the cluster, and the geomagnetic measurement information of each node of the cluster through the information generation device 23, and then generating corresponding information signals for simulation deduction, the control and simulation of various situations such as cluster configuration, scale, and communication faults can be realized, so as to increase the versatility of the simulation system.

[0035] Specifically, in the multi-node cooperative navigation hardware-in-the-loop simulation system of the present invention, the multi-dimensional feature cooperative navigation algorithm model is expressed as: ; Where: represents the Huber value of the geomagnetic measurement value and the geomagnetic map reading value of the th node, represents the Huber function, and respectively represent the The geomagnetic map reading and geomagnetic measurement value of a node at the position of the th trajectory point in its corresponding flight trajectory, representing the average Huber value of the cluster, representing the number of nodes in the cluster, representing the geomagnetic map reading of the node at the true position below, representing the th node, the true position in the inertial system of the estimated true trajectory point corresponding to the th trajectory point in its flight trajectory, representing the geomagnetic measurement error, representing the th node, the number of trajectory points, representing the th node, the estimated trajectory obtained based on multi-dimensional feature matching in the inertial system, representing the th node, the true position in the inertial system of the estimated true trajectory point corresponding to the first trajectory point in its flight trajectory, representing the th node, the true position in the inertial system of the estimated true trajectory point corresponding to the second trajectory point in its flight trajectory, representing the th node, the true position in the inertial system of the estimated true trajectory point corresponding to the th trajectory point in its flight trajectory.

[0036] It should be noted that in the embodiments of the present invention, the Huber function is a robust loss function that combines the mean square error and the absolute error, and is used to suppress the influence of measurement outliers.

[0037] In a second aspect, as Figure 2 shown, the present invention further provides a multi-node cooperative navigation hardware-in-the-loop simulation method, which is used for the above-mentioned multi-node cooperative navigation hardware-in-the-loop simulation system, and includes: Obtain the trajectory data and geomagnetic field reference map information of each node in the cluster during flight, and analyze the obtained trajectory data and geomagnetic field reference map information through interpolation to obtain the navigation paths of each node in the cluster; According to the obtained navigation paths of each node in the cluster and the navigation parameters of each trajectory point on the flight trajectory of each node in the cluster, simulate and generate the real-time geomagnetic field map measured by each node in the cluster during flight; Generate a real geomagnetic field environment based on the obtained real-time geomagnetic field map, and based on the trajectory data of each node in the cluster during flight and the generated geomagnetic field environment, simulate and output the motion states of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster; Based on the trajectory data of each node in the cluster during flight, the motion states of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster, a simulation deduction of the cluster is carried out based on the multi-dimensional feature collaborative navigation algorithm model, and the collaborative navigation solution of the cluster with multi-dimensional features is performed.

[0038] Therefore, for the multi-node collaborative navigation hardware-in-the-loop simulation system and method of the present invention, the multi-dimensional feature collaborative navigation algorithm model is used as the collaborative navigation algorithm model, with high simulation deduction accuracy. It can realize the hardware-in-the-loop simulation of multi-node collaboration in the cluster in the case of a hardware-in-the-loop simulation system for the cluster and the unavailability of GNSS, with high simulation deduction accuracy and high restoration degree of the experimental scenario, and the complex experimental conditions can be controlled and the cost is low. Moreover, it can realize the control and simulation of various situations such as cluster configuration and communication failure, and at the same time can highly restore various experimental scenarios, with strong flexibility and versatility.

[0039] Specifically, for the realization of the control and simulation of various situations such as cluster configuration and communication failure, the information generation device 23 is used to simulate the networking ranging information between nodes in the cluster. This information contains the geometric information of the configuration, and different configurations of the cluster can be simulated by generating the networking ranging information required for different configurations; different scales of the cluster can be simulated by increasing the number of nodes; the communication failure between nodes can be simulated by deleting the networking ranging information between nodes, that is, the ranging information cannot be transmitted.

[0040] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. In addition, in this article, "front", "rear", "left", "right", "upper" and "lower" are all referenced based on the placement state shown in the drawings.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-node collaborative navigation semi-physical simulation system, characterized in that: include: An environment and target simulation module, which is used to simulate and generate a real-time map of the geomagnetic field measured by each node of the cluster during flight according to the trajectory data of each node of the cluster during flight and the geomagnetic field reference map information; A cluster multi-sensor ground simulation platform, which is used to generate a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module, simulate and output the motion state of each node in the cluster, the inertial information of each node in the cluster and the geomagnetic field measurement information of each node in the cluster; A cluster collaborative navigation module is provided with a multi-dimensional feature collaborative navigation algorithm model, which is used to receive the trajectory data obtained by the environment and target simulation module, and simulate the cluster based on the multi-dimensional feature collaborative navigation algorithm model in combination with the simulated motion state of each node in the cluster, the inertial information of each node in the cluster and the geomagnetic field measurement information of each node in the cluster.

2. The multi-node collaborative navigation semi-physical simulation system according to claim 1 is characterized in that: The environment and target simulation module includes: A cluster trajectory generator, which is used to simulate the trajectory data of each node in the cluster under various flight processes according to the kinematic equations to provide data for simulation deduction; The simulator is used to simulate and generate a real-time map of the geomagnetic field measured by each node of the cluster during flight according to the trajectory data of each node of the cluster simulated by the cluster trajectory generator and the geomagnetic field reference map information input externally.

3. The multi-node collaborative navigation semi-physical simulation system according to claim 1 is characterized in that: The cluster multi-sensor ground simulation platform includes: An environmental field generating device, the environmental field generating device is used to generate a real geomagnetic field environment according to the real-time geomagnetic field map generated by the environment and target simulation module; A node measurement real-time simulation platform, which is used to simulate and generate the motion state of each node in the cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster according to the trajectory data of each node in the cluster generated by the environment and target simulation module in various flight processes and the geomagnetic field environment generated by the environmental field generation device; The information generating device is used to generate and output corresponding information signals according to the motion state of each node in the cluster, the inertial information of each node in the cluster and the geomagnetic field measurement information of each node in the cluster.

4. The multi-node collaborative navigation semi-physical simulation system according to claim 3 is characterized in that: The environmental field generating device comprises: A magnetic generator, which is used to simulate and generate the geomagnetic field environment of different regions during the flight of the cluster node; A power supply, the power supply being used to supply power to the magnetic generator; A flux gate acts on the magnetic generator to prevent the magnetic generator from generating an interfering magnetic field when generating a real magnetic field environment.

5. The multi-node collaborative navigation semi-physical simulation system according to claim 3 is characterized in that: The node measurement real-time simulation platform includes: A turntable device, wherein the turntable device is used to simulate the motion state of each node of the cluster; An inertial sensor, wherein the inertial sensor is used to measure the inertial information of each node in the cluster; The geomagnetic sensor is used to measure the real-time information of the geomagnetic field of each node in the cluster.

6. The multi-node collaborative navigation semi-physical simulation system according to claim 3 is characterized in that: The information generating device includes an analog signal generator.

7. The multi-node collaborative navigation semi-physical simulation system according to claim 1, characterized in that: The multi-dimensional feature collaborative navigation algorithm model is expressed as: ； in: Indicates Huber value of the geomagnetic measurement value and geomagnetic map reading value of each node, represents the Huber function, and Respectively represent The node is the first in its corresponding flight trajectory The geomagnetic map readings and geomagnetic measurements of each track point, represents the average Huber value of the cluster, Indicates the number of nodes in the cluster. Indicates the node is at the real position The magnetic map readings below, Indicates The flight trajectory of the node The actual position of the calculated real trajectory point corresponding to each trajectory point in the inertial system, represents the geomagnetic measurement error, Indicates The number of trajectory points of a node, Indicates The estimated trajectory of each node in the inertial system based on multi-dimensional feature matching, Indicates The actual position of the calculated real trajectory point corresponding to the first trajectory point in the flight trajectory of the node in the inertial system, Indicates The actual position of the calculated real trajectory point corresponding to the second trajectory point in the flight trajectory of the node in the inertial system, Indicates The flight trajectory of the node The actual position of the calculated real trajectory point corresponding to each trajectory point in the inertial system.

8. A multi-node collaborative navigation semi-physical simulation method, characterized in that: The method is used in a multi-node collaborative navigation semi-physical simulation system according to any one of claims 1 to 7, comprising: Obtain the trajectory data and geomagnetic field reference map information of each node in the cluster during flight, analyze the acquired trajectory data and geomagnetic field reference map information through interpolation method, and obtain the navigation path of each node in the cluster; According to the obtained navigation path of each node of the cluster and the navigation parameters of each trajectory point on the flight trajectory of each node of the cluster, the simulation generates a real-time map of the geomagnetic field measured by each node of the cluster during the flight; Generate a real geomagnetic field environment based on the real-time geomagnetic field map obtained, and simulate and output the motion state of each cluster node, the inertial information of each cluster node, and the geomagnetic field measurement information of each cluster node based on the trajectory data of each cluster node during flight and the generated geomagnetic field environment; According to the acquired trajectory data of each node in the cluster during flight, the motion status of each node in the cluster, the inertial information of each node in the cluster and the geomagnetic field measurement information of each node in the cluster, the cluster is simulated and deduced based on the multi-dimensional feature collaborative navigation algorithm model, and the multi-dimensional feature cluster collaborative navigation solution is performed.

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