A multi-node cooperative navigation semi-physical simulation system and method
By using a multi-node cooperative navigation hardware-in-the-loop simulation system, combining geomagnetic field and inertial information, and utilizing a multi-dimensional feature cooperative navigation algorithm model, the problem of low simulation accuracy of cluster multi-node cooperative navigation under GNSS unavailability is solved, achieving high-precision and low-cost simulation results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
- Filing Date
- 2025-04-24
- Publication Date
- 2026-07-21
Smart Images
Figure CN120044815B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of cluster control technology, and in particular relates to a hardware-in-the-loop simulation system and method for multi-node cooperative navigation. Background Technology
[0002] With the development of technology, swarm collaborative navigation technology has emerged, and the low-cost, high-return navigation sources have led to increasingly higher efficiency in unmanned swarms. Therefore, it is necessary to develop collaborative navigation and collaborative decision-making technologies to achieve high-precision, high-stability fusion navigation capabilities in complex mission environments. The traditional fusion navigation model relying on "satellite navigation + inertial navigation + visual navigation" has significant limitations. Although it is currently the mainstream swarm navigation and positioning method and can effectively improve the operational capabilities of individual units, in environments where GNSS (Global Navigation Satellite System) is unavailable or where GNSS signals are limited, such as indoors, the results of multi-source fusion navigation will diverge sharply due to inertial guidance drift. Visual navigation, on the other hand, relies on obvious terrain features, making high-precision positioning and navigation impossible in deserts, oceans, and grasslands. Therefore, researching multi-source fusion navigation, including navigation and positioning capabilities from multiple sources besides inertial, satellite, and visual navigation, is of great significance. However, due to cost constraints, verifying multi-source fusion navigation algorithms through unmanned swarm flight tests is not suitable for reducing costs and meeting the requirements of algorithm iteration and updates. In addition, actual flight tests also involve control algorithms and hardware and software adaptation, which is not conducive to the exploration, research and improvement of multi-source fusion navigation algorithms. This also leads to problems such as high difficulty, low accuracy and high cost in the simulation and deduction methods of aircraft swarms for fusion navigation.
[0003] Existing navigation fusion simulation platforms can be divided into hardware-in-the-loop (HIL) simulation and analog simulation. Analog simulation is inexpensive, but the simulation results have large errors and provide limited reference value. Hardware-in-the-loop (HIL) simulation is mostly based on integrated navigation technologies such as inertial navigation and GNSS satellite navigation. This type of inertial / satellite navigation integrated navigation HIL simulation system can obtain a rough navigation result with an error within an acceptable range, but the simulation accuracy is low, and it cannot achieve HIL simulation of multi-node collaborative navigation when GNSS is unavailable. Summary of the Invention
[0004] To address some or all of the technical problems existing in the prior art, this invention provides a multi-node collaborative navigation hardware-in-the-loop simulation system and method. This system enables multi-node collaborative navigation hardware-in-the-loop simulation for clusters when hardware-in-the-loop simulation and GNSS are unavailable. The simulation and simulation accuracy and experimental scenario reproduction are high, and the experimental conditions are controllable and the cost is low.
[0005] The technical solution of the present invention is as follows: In a first aspect, the present invention provides a multi-node cooperative navigation hardware-in-the-loop simulation system, comprising: The environment and target simulation module is used to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight, based on the trajectory data and geomagnetic field reference map information of each node during flight. A cluster multi-sensor ground simulation platform is used to generate a real geomagnetic environment based on the real-time geomagnetic field map generated by the environment and target simulation module, and to 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. The cluster cooperative navigation module is equipped with a multi-dimensional feature cooperative navigation algorithm model. It is used to receive trajectory data obtained by the environment and target simulation module, and combine the motion state of each node in the simulated cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster to perform simulation and deduction of the cluster based on the multi-dimensional feature cooperative navigation algorithm model.
[0006] Furthermore, in the aforementioned multi-node cooperative navigation hardware-in-the-loop simulation system, the environment and target simulation module includes: A cluster trajectory generator is used to simulate the trajectory data of each node in the cluster under various flight processes based on kinematic equations, providing data for simulation and deduction. The simulator is used to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight, based on 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] Furthermore, in the aforementioned multi-node cooperative navigation hardware-in-the-loop simulation system, the cluster multi-sensor ground simulation platform includes: An environmental field generation device, wherein the environmental field generation device is used to generate a real geomagnetic field environment based on the real-time geomagnetic field map generated by the environmental and target simulation module; A real-time simulation platform for node measurement is used to simulate and generate the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster based on the trajectory data of each node in the cluster under various flight processes generated by the environment and target simulation module, and the geomagnetic field environment generated by the environment field generation device. An information generation device is used to generate and output corresponding information signals based on 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.
[0008] Furthermore, in the aforementioned multi-node cooperative navigation hardware-in-the-loop simulation system, the environmental field generation device includes: A magnetic generator is used to simulate the geomagnetic field environment in different regions during the flight of cluster nodes; A power supply, used to power the magnetic generator; A fluxgate acts on the magnetic generator to prevent the magnetic generator from generating interfering magnetic fields during the generation of a real geomagnetic field environment.
[0009] Furthermore, in the aforementioned multi-node cooperative navigation hardware-in-the-loop simulation system, the real-time simulation platform for node measurement includes: A turntable device, used to simulate the motion state of each node in the cluster; An inertial sensor, used to measure the inertial information of each node in the cluster; A geomagnetic sensor is used to measure the real-time geomagnetic field information of each node in the cluster.
[0010] Furthermore, in the aforementioned multi-node collaborative navigation hardware-in-the-loop simulation system, the information generation device includes an analog signal generator.
[0011] Furthermore, in the aforementioned multi-node cooperative navigation hardware-in-the-loop simulation system, the multi-dimensional feature cooperative navigation algorithm model is represented as follows: ; in: Indicates the first Huber values of geomagnetic measurements and geomagnetic map readings at each node. This represents the Huber function. and They represent the first The node is the first in its corresponding flight trajectory. Geomagnetic map readings and geomagnetic measurement values at each trajectory point location. This represents the average Huber value of the cluster. Indicates the number of nodes in the cluster. Indicates the node's actual location The following geomagnetic map readings, Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point. Indicates geomagnetic measurement error. Indicates the first The number of trajectory points of each node. Indicates the first The inferred trajectory of each node in the inertial frame based on multidimensional feature matching. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the first trajectory point in the flight trajectory of each node. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the second trajectory point in the flight trajectory of each node. Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point.
[0012] Secondly, the present invention also provides a hardware-in-the-loop simulation method for multi-node cooperative navigation, the method being used in the aforementioned hardware-in-the-loop simulation system for multi-node cooperative navigation, comprising: The trajectory data and geomagnetic reference map information of each node in the cluster during flight are obtained. The obtained trajectory data and geomagnetic reference map information are analyzed by interpolation to obtain the navigation path of each node in the cluster. Based on the navigation paths of each node in the cluster and the navigation parameters of each trajectory point on the flight path of each node in the cluster, a simulation is generated to produce a real-time map of the geomagnetic field measured by each node in the cluster during flight. Based on the obtained real-time geomagnetic field map, a real geomagnetic field environment is generated. Based on the trajectory data of each node in the flight process and the generated geomagnetic field environment, 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 are simulated and output. Based on the acquired trajectory data of each node during flight, the motion state of each node, the inertial information of each node, and the geomagnetic field measurement information of each node, the cluster is simulated and deduced based on the multi-dimensional feature cooperative navigation algorithm model, and the multi-dimensional feature cluster cooperative navigation solution is performed.
[0013] The main advantages of the technical solution of this invention are as follows: The multi-node collaborative navigation hardware-in-the-loop simulation system and method of the present invention can realize multi-node collaborative navigation hardware-in-the-loop simulation for clusters and in the case of GNSS unavailability. The simulation and deduction accuracy and experimental scenario reproduction are high, and complex experimental conditions are controllable and low cost. At the same time, it can control and simulate various situations such as cluster communication failures, thereby increasing the versatility of simulation and deduction. Attached Figure Description
[0014] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a multi-node cooperative navigation hardware-in-the-loop simulation system provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a hardware-in-the-loop simulation method for multi-node cooperative navigation provided in an embodiment of the present invention.
[0015] Explanation of reference numerals in the attached figures: 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. Environmental field generation equipment; 22. Real-time simulation platform for node measurement; 23. Information generation equipment; 210. Magnetic generator; 211. Power supply; 212. Fluxgate; 220. Turntable equipment; 221. Inertial sensor; 222. Geomagnetic sensor. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0017] The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0018] Specifically, GNSS in this invention is an abbreviation for 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, velocity, and time information at any location on the Earth's surface or in near-Earth space.
[0019] As attached Figure 1 As shown, this embodiment of the invention provides a hardware-in-the-loop simulation system for multi-node cooperative navigation. 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, wherein: The environment and target simulation module 1 is used to simulate and generate real-time geomagnetic field maps measured by each node during flight, based on the trajectory data and geomagnetic field reference map information of each node in the cluster. The cluster multi-sensor ground simulation platform 2 is used to generate a realistic geomagnetic field environment based on the real-time geomagnetic field map generated by the environment and target simulation module 1, and to simulate and output the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster. The cluster cooperative navigation module 3 is equipped with a multi-dimensional feature cooperative navigation algorithm model, which is used to receive the trajectory data obtained by the environment and target simulation module 1, and combine the simulated motion state, inertial information, and geomagnetic field measurement information of each node in the cluster to perform simulation and deduction of the cluster based on the multi-dimensional feature cooperative navigation algorithm model.
[0020] It should be noted that a node in a cluster refers to an individual unit within the cluster; one node corresponds to one individual unit in the cluster, and a cluster consists of multiple individual units. In this embodiment of the invention, the individual unit is an aircraft.
[0021] The following details the principle of the simulation system provided in the embodiments of the present invention: The environment and target simulation module 1 takes the cluster as the target object and simulates the trajectory data of each node in the cluster under various flight processes according to the cluster's kinematic equations, providing flight data information for simulation. Based on the acquired trajectory data of each node in the cluster during flight and the pre-uploaded geomagnetic reference map information of the area to be simulated, it simulates and generates real-time geomagnetic field maps measured by each node in the cluster during flight. The cluster multi-sensor ground simulation platform 2 simulates and generates a realistic geomagnetic field environment based on the real-time geomagnetic field map generated by the environment and target simulation module 1. Based on the trajectory data of each node in the cluster under various flight processes simulated by the environment and target simulation module 1, and the generated... The geomagnetic environment is simulated, and the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster are output. The cluster cooperative navigation module 3, based on the trajectory data of each node in the cluster under various flight processes generated by the environment and target simulation module 1, and combined with the motion state, inertial information, and geomagnetic field measurement information of each node simulated by the cluster multi-sensor ground simulation platform 2, performs multi-dimensional feature cooperative navigation calculation based on the multi-dimensional feature cooperative navigation algorithm model to realize the simulation and deduction of the cluster. This enables the control and simulation of various situations such as cluster communication failure, thereby increasing the versatility of the simulation and deduction.
[0022] Specifically, the environment and target simulation module 1 in the multi-node cooperative navigation hardware-in-the-loop simulation system of the present invention includes: a cluster trajectory generator 11 and a simulator 12, wherein: The cluster trajectory generator 11 is used to simulate the trajectory data of each node of the cluster under various flight processes according to the kinematic equations, providing data for simulation and deduction; the simulator 12 is used to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight based on the trajectory data of each node of the cluster simulated by the cluster trajectory generator 11 and the externally input geomagnetic field reference map information.
[0023] Specifically, when the environment and target simulation module 1 simulates and generates real-time geomagnetic field maps measured by each node of the cluster during flight, the cluster trajectory generator 11 is run. Taking the cluster as the target object, the trajectory data of each node of the cluster under various flight processes is simulated according to its kinematic equations to provide flight trajectory data information for simulation and deduction. Combined with the geomagnetic field reference map of the area to be simulated, geomagnetic field reference information is obtained. The simulator 12 is run to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight, based on the flight trajectory and geomagnetic field reference map information of each node of the cluster and considering various magnetic measurement error factors.
[0024] Because the geomagnetic field information measured in real time by each node during flight differs from the uploaded geomagnetic field reference information, specifically due to magnetic sensor measurement errors, node-specific magnetic field interference, interference from other nodes in the cluster, various random magnetic field interferences, and the influence of short-term geomagnetic variations, the real-time geomagnetic field information obtained by each node during flight is inconsistent with the uploaded geomagnetic field reference map, resulting in various error terms. In this embodiment of the invention, considering the above-mentioned various error terms and corresponding error models, a comprehensive simulation is performed with the trajectory data of each node in the cluster and the externally input geomagnetic field reference map information to simulate and generate a more accurate real-time geomagnetic field map measured by each node during flight.
[0025] In some optional implementations of this embodiment, the geomagnetic reference map of the area to be simulated can be uploaded manually; alternatively, the geomagnetic reference map of the area to be simulated can be stored in advance and retrieved 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, wherein: The environmental field generation device 21 is used to generate a real geomagnetic field environment based on the real-time geomagnetic field map generated by the environmental and target simulation module 1; the node measurement real-time simulation platform 22 is used to simulate and generate the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster based on the trajectory data of each node in the cluster under various flight processes simulated by the environmental and target simulation module 1 and the geomagnetic field environment generated by the environmental field generation device 21; the information generation device 23 is used to generate and output corresponding information signals based on the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster.
[0027] Specifically, the aforementioned environmental field generating device 21 includes: a magnetic generator 210, a power supply 211, and a fluxgate 212, wherein: The magnetic generator 210 is used to simulate the geomagnetic field environment in different regions during the flight of 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 to prevent the magnetic generator 210 from generating interfering magnetic fields during the generation of a real geomagnetic field environment.
[0028] To ensure greater accuracy of the simulated geomagnetic environment in different regions during the flight of the cluster nodes, and considering practical applications, a three-dimensional magnetic generator is preferred for the magnetic generator 210, a programmable current source is preferred for the power supply 211, and a fluxgate magnet 212 is installed on the cluster nodes to compensate for interference magnetic fields on the carrier. The cluster collaborative navigation module 3 is fixedly connected to the fluxgate magnet 212 and installed on the turntable device 220 of the node measurement real-time simulation platform 22. The turntable device 220 is installed inside the magnetic generator 210 and is used to realize the navigation and positioning calculation of the cluster. Specifically, the simulator 12 generates real-time geomagnetic information (including various error terms) during the flight of the cluster nodes, transmits this real-time geomagnetic information data to the environmental field generation device 21 in real time, and controls it to generate a realistic geomagnetic environment.
[0029] Specifically, the aforementioned real-time simulation platform 22 for node measurement includes: a turntable device 220, an inertial sensor 221, and a geomagnetic sensor 222, wherein: The turntable device 220 is used to simulate the motion state of each node in the cluster; the inertial sensor 221 is used to measure the inertial information of each node in the cluster; and the geomagnetic sensor 222 is used to measure the real-time geomagnetic field information of each node in the cluster.
[0030] To enable the 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, the turntable device 220 is preferably configured 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, the three-axis non-magnetic turntable is operated according to the trajectory data of the cluster nodes generated by the cluster trajectory generator 11 in the environment and target simulation module 1, and the real-time attitude information of the cluster nodes is reproduced by the inertial sensor 221; according to the geomagnetic field environment of the cluster nodes generated by the environmental field generation device 21, the geomagnetic measurement information of the cluster nodes is reproduced by the geomagnetic sensor 222, thereby realizing the restoration of the inertial information and geomagnetic measurement information of the cluster in a real scene on the ground.
[0031] Preferably, the information generation device 23 includes an analog signal generator, which generates and outputs corresponding information signals based on 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.
[0032] In this embodiment of the invention, the information generation device 23 generates a corresponding information signal for a cluster node.
[0033] Furthermore, in this embodiment of the invention, the information generation device 23 can also be used to perform the following processing: based on 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, the relative distance between different nodes in the cluster is adjusted by modifying and adjusting the parameter information, thereby completing the simulation and deduction of communication failure between cluster nodes; at the same time, the timing of sending and receiving each generated information signal can also be adjusted according to the actual situation.
[0034] By modifying and adjusting the motion state, inertial information, and geomagnetic field measurement information of each node in the cluster through the information generation device 23, and then generating corresponding information signals for simulation, it is possible to control and simulate various situations such as cluster configuration, scale, and communication failure, thereby increasing 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 represented as follows: ; in: Indicates the first Huber values of geomagnetic measurements and geomagnetic map readings at each node. This represents the Huber function. and They represent the first The node is the first in its corresponding flight trajectory. Geomagnetic map readings and geomagnetic measurement values at each trajectory point location. This represents the average Huber value of the cluster. Indicates the number of nodes in the cluster. Indicates the node's actual location The following geomagnetic map readings, Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point. Indicates geomagnetic measurement error. Indicates the first The number of trajectory points of each node. Indicates the first The inferred trajectory of each node in the inertial frame based on multidimensional feature matching. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the first trajectory point in the flight trajectory of each node. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the second trajectory point in the flight trajectory of each node. Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point.
[0036] It should be noted that, in this embodiment of the invention, the Huber function is a robust loss function that combines mean square error and absolute error, used to suppress the influence of measurement outliers.
[0037] Secondly, such as Figure 2 As shown, the present invention also provides a hardware-in-the-loop simulation method for multi-node cooperative navigation, which is used in the above-mentioned hardware-in-the-loop simulation system for multi-node cooperative navigation, and includes: The trajectory data and geomagnetic reference map information of each node in the cluster during flight are obtained. The obtained trajectory data and geomagnetic reference map information are analyzed by interpolation to obtain the navigation path of each node in the cluster. Based on the navigation paths of each node in the cluster and the navigation parameters of each trajectory point on the flight path of each node in the cluster, a simulation is generated to produce a real-time map of the geomagnetic field measured by each node in the cluster during flight. Based on the obtained real-time geomagnetic field map, a real geomagnetic field environment is generated. Based on the trajectory data of each node in the flight process and the generated geomagnetic field environment, 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 are simulated and output. Based on the acquired trajectory data of each node during flight, the motion state of each node, the inertial information of each node, and the geomagnetic field measurement information of each node, the cluster is simulated and deduced based on the multi-dimensional feature cooperative navigation algorithm model, and the multi-dimensional feature cluster cooperative navigation solution is performed.
[0038] Therefore, the multi-node cooperative navigation hardware-in-the-loop simulation system and method of the present invention adopts a multi-dimensional feature cooperative navigation algorithm model as the cooperative navigation algorithm model, which has high simulation and deduction accuracy. It can realize the navigation hardware-in-the-loop simulation of multi-nodes in a cluster when the hardware-in-the-loop simulation system for the cluster is not available or GNSS is unavailable. The simulation and deduction accuracy and experimental scenario reproduction are high, and complex experimental conditions are controllable and low cost. Furthermore, it can control and simulate various situations such as cluster configuration and communication failure, and can also highly reproduce various experimental scenarios, which has strong flexibility and versatility.
[0039] Specifically, the above implementation controls and simulates various situations such as cluster configuration and communication failures. The information generation device 23 simulates the network ranging information between nodes in the cluster. This information includes the geometric information of the configuration. Different configuration clusters can be simulated by generating the network ranging information required for different configurations. Different sizes of clusters can be simulated by increasing the number of nodes. Communication failures between nodes can be simulated by deleting the network ranging information between nodes, i.e., the inability to transmit ranging information.
[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.
[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A hardware-in-the-loop simulation system for multi-node cooperative navigation, characterized in that, include: The environment and target simulation module is used to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight, based on the trajectory data and geomagnetic field reference map information of each node during flight. A cluster multi-sensor ground simulation platform is used to generate a real geomagnetic environment based on the real-time geomagnetic field map generated by the environment and target simulation module, and to 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. The cluster cooperative navigation module is equipped with a multi-dimensional feature cooperative navigation algorithm model, which is used to receive trajectory data obtained by the environment and target simulation module, and combine the motion state of each node in the simulated cluster, the inertial information of each node in the cluster, and the geomagnetic field measurement information of each node in the cluster to simulate and extrapolate the cluster based on the multi-dimensional feature cooperative navigation algorithm model. The cluster multi-sensor ground simulation platform includes: an environmental field generation device, used to generate a realistic geomagnetic field environment based on the real-time geomagnetic field map generated by the environmental and target simulation module; a node measurement real-time simulation platform, used to simulate and generate the motion state, inertial information, and geomagnetic field measurement information of each cluster node based on the trajectory data of each cluster node under various flight processes simulated by the environmental and target simulation module and the geomagnetic field environment generated by the environmental field generation device; and an information generation device, used to generate and output corresponding information signals based on the motion state, inertial information, and geomagnetic field measurement information of each cluster node. The environmental field generation device includes: a magnetic generator, which is used to simulate the geomagnetic field environment of different regions during the flight of cluster nodes; a power supply, which is used to power the magnetic generator; and a flux gate, which acts on the magnetic generator to prevent the magnetic generator from generating interfering magnetic fields during the generation of a real geomagnetic field environment. The real-time simulation platform for node measurement includes: a turntable device used to simulate the motion state of each node in the cluster; an inertial sensor used to measure the inertial information of each node in the cluster; and a geomagnetic sensor used to measure the real-time geomagnetic field information of each node in the cluster. The information generation device can also be used to perform the following processing: based on 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, the relative distance between different nodes in the cluster is simulated by modifying and adjusting the parameter information, thereby completing the simulation and deduction of communication failure between cluster nodes. The multi-dimensional feature-based collaborative navigation algorithm model is represented as follows: ； in: Indicates the first Huber values of geomagnetic measurements and geomagnetic map readings at each node. This represents the Huber function. and They represent the first The node is the first in its corresponding flight trajectory. Geomagnetic map readings and geomagnetic measurement values at each trajectory point location. This represents the average Huber value of the cluster. Indicates the number of nodes in the cluster. Indicates the node's actual location The following geomagnetic map readings, Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point. Indicates geomagnetic measurement error. Indicates the first The number of trajectory points of each node. Indicates the first The inferred trajectory of each node in the inertial frame based on multidimensional feature matching. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the first trajectory point in the flight trajectory of each node. Indicates the first The calculated true position of the actual trajectory point in the inertial frame corresponding to the second trajectory point in the flight trajectory of each node. Indicates the first The flight trajectory of the first node The calculated true position of the actual trajectory point in the inertial frame corresponding to each trajectory point.
2. The multi-node cooperative navigation hardware-in-the-loop simulation system according to claim 1, characterized in that, The environment and target simulation module includes: A cluster trajectory generator is used to simulate the trajectory data of each node in the cluster under various flight processes based on kinematic equations, providing data for simulation and deduction. The simulator is used to simulate and generate real-time geomagnetic field maps measured by each node of the cluster during flight, based on the trajectory data of each node of the cluster simulated by the cluster trajectory generator and the externally input geomagnetic field reference map information.
3. The multi-node cooperative navigation hardware-in-the-loop simulation system according to claim 1, characterized in that, The information generation device includes an analog signal generator.
4. A hardware-in-the-loop simulation method for multi-node cooperative navigation, characterized in that, The method is used in the multi-node cooperative navigation hardware-in-the-loop simulation system as described in any one of claims 1-3, comprising: The trajectory data and geomagnetic reference map information of each node in the cluster during flight are obtained. The obtained trajectory data and geomagnetic reference map information are analyzed by interpolation to obtain the navigation path of each node in the cluster. Based on the navigation paths of each node in the cluster and the navigation parameters of each trajectory point on the flight path of each node in the cluster, a simulation is generated to produce a real-time map of the geomagnetic field measured by each node in the cluster during flight. Based on the obtained real-time geomagnetic field map, a real geomagnetic field environment is generated. Based on the trajectory data of each node in the flight process and the generated geomagnetic field environment, 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 are simulated and output. Based on the acquired trajectory data of each node during flight, the motion state of each node, the inertial information of each node, and the geomagnetic field measurement information of each node, the cluster is simulated and deduced based on the multi-dimensional feature cooperative navigation algorithm model, and the multi-dimensional feature cluster cooperative navigation solution is performed.