Inertia / data link / atmosphere distributed collaborative navigation method in partial denial environment

Abstract

The invention particularly relates to an inertia / data link / atmosphere distributed collaborative navigation method in a partial denial environment, which comprises the following steps: acquiring an attitude angle error, a speed error and a position error in a geographic coordinate system, and a gyroscope constant drift and an accelerometer constant drift in a carrier coordinate system, and determining a state variable corresponding to a target carrier; based on the state variables, configuring a collaborative navigation state equation corresponding to the target carrier in combination with a system noise matrix and a system noise driving matrix; determining height observed quantity according to the first height information and the second pressure height information of the target carrier in the inertial navigation system; determining a distance observed quantity according to the relative distance between the target carrier and the reference node in the cluster; constructing a collaborative navigation measurement equation based on inertial navigation / data chain / barometric altitude based on the height observed quantity and the distance observed quantity; and carrying out filtering processing on the collaborative navigation state equation and the collaborative navigation measurement equation so as to realize correction of attitude, speed and position information of the target carrier.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to an inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment. Background Art

[0002] In related technologies, a "denied environment" refers to a highly contested combat space artificially constructed within a specific area. Its primary characteristic is to restrict the enemy's freedom of movement and ability to project force. Its essence is to undermine an adversary's advantages in information, mobility, and strikes through technical means and tactical deployments, thereby creating asymmetric combat conditions.

[0003] Existing satellite navigation technology is susceptible to interference, making positioning accuracy difficult to guarantee. This is especially true in denied environments, where the carrier's satellite receiver loses signal lock, rendering it unable to locate its position. Alternatively, using inertial navigation alone can significantly reduce the carrier's navigation and positioning accuracy. Even using combined navigation methods, positioning accuracy cannot be guaranteed in denied environments.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0005] The present invention provides an inertial / data link / atmospheric distributed collaborative navigation method in a partially denied environment, a storage medium, a computer program product, and an electronic device, which improve the positioning accuracy of a carrier in a partially denied environment and can, to a certain extent, overcome the defects existing in the existing technology.

[0006] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0007] According to a first aspect of the present invention, a method for inertial / data link / atmosphere distributed collaborative navigation in a partially denied environment is provided, the method comprising:

[0008] Obtain the attitude angle error, velocity error, and position error in the geographic coordinate system, as well as the gyroscope constant drift and accelerometer constant drift in the carrier coordinate system, and determine the state variables corresponding to the target carrier;

[0009] Based on the state variables, combining the system noise matrix and the system noise driving matrix, the cooperative navigation state equation corresponding to the target carrier is configured;

[0010] Determine the height observation value Z according to the first height information and the second pressure height information of the target carrier in the inertial navigation system h ;

[0011] Determine the distance observation Z according to the relative distance between the target carrier and the reference node in the cluster D ;

[0012] Based on the height observation Z h , distance observation Z D Construct collaborative navigation measurement equations based on inertial navigation / data link / barometric altitude;

[0013] The collaborative navigation state equation and the collaborative navigation measurement equation are filtered to achieve correction of the attitude, speed and position information of the target carrier.

[0014] In some exemplary embodiments, the method further comprises:

[0015] Define the Earth-centered Earth-fixed coordinate system, geographic coordinate system, and carrier coordinate system corresponding to the target carrier;

[0016] Determining a corresponding first transformation matrix based on a coordinate system position relationship between the Earth-centered Earth-fixed coordinate system and the geographic coordinate system;

[0017] Based on the coordinate system position relationship between the geographic coordinate system and the carrier coordinate system, a corresponding second transformation matrix is ​​determined.

[0018] In some exemplary embodiments, the distance observation value Z is determined based on the relative distance between the target carrier and the reference node in the cluster. D ,include:

[0019] Measuring a first relative distance p1 / 2 between the target carrier and the reference node through a data link navigation system;

[0020] Obtaining positioning information of the reference node through the data link navigation system and calculating a second relative distance between the target carrier and the reference node in combination with positioning information of the target carrier based on the inertial navigation system;

[0021] The distance observation is configured according to the difference between the first relative distance and the second relative distance.

[0022] In some exemplary embodiments, the number of reference nodes in the cluster is n, where n is a positive integer; and the method further comprises:

[0023] Obtaining the first relative distance and the second relative distance between the target carrier and each reference node respectively, to calculate the difference between n first relative distances and second relative distances;

[0024] The distance observation value is configured according to the difference between the n first relative distances and the second relative distance.

[0025] In some exemplary embodiments, the reference node is in a satellite-available environment;

[0026] The method further comprises:

[0027] Obtain navigation status information of each node in the cluster corresponding to the target carrier;

[0028] The nodes available for satellite navigation are configured as reference nodes and used to calculate the distance observation between the target carrier and the reference node.

[0029] In some exemplary embodiments, the method further comprises:

[0030] The inertial navigation / data link collaborative navigation measurement equation is defined by combining the relative distance measurement matrix, data link ranging noise matrix, state variables, and relative distance to determine the distance observation quantity Z D ;

[0031] Among them, the inertial navigation / data link integrated navigation measurement equation includes:

[0032] Z D =H D X+V D

[0033] Among them, V D is the data link ranging noise array, X is the state variable, H D is the relative distance measurement matrix; Z D It is the difference between the first relative distance and the second relative distance between the target carrier and the reference node. The first relative distance is the relative distance between the target carrier and the reference node measured by the data link navigation system. The second relative distance is the relative distance between the positioning information of the reference node obtained by the data link navigation system and the positioning information of the target carrier calculated based on the inertial navigation system.

[0034] In some exemplary embodiments, the method further comprises:

[0035] The inertial navigation / pressure altitude combined navigation measurement equation is defined by combining the altitude measurement matrix, pressure altitude measurement noise, state variables, and altitude difference to determine the altitude observation Z h ;

[0036] Among them, the inertial navigation / barometric altitude combined navigation measurement equation includes:

[0037] Z h =H h X+V h

[0038] Among them, H h is the height measurement matrix, X is the state variable, V h is the pressure altitude measurement noise, Z h It is the difference between the first altitude information and the second pressure altitude information output by the inertial navigation system.

[0039] In some exemplary embodiments, the method further comprises:

[0040] When it is identified that a carrier enters an area corresponding to a denied environment, a cooperative navigation control instruction is generated to configure the target carrier to execute a cooperative navigation mode.

[0041] In some exemplary embodiments, configuring the cooperative navigation state equation corresponding to the target carrier based on the state variable in combination with the system noise matrix and the system noise driving matrix includes:

[0042]

[0043] Where F is the state transfer matrix, X is the state variable, G is the system noise driving matrix, and W is the system noise matrix.

[0044] According to a second aspect of the present invention, there is provided a computer program product having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment.

[0045] According to a third aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment.

[0046] According to a fourth aspect of the present invention, there is provided an electronic device, comprising:

[0047] processor; and

[0048] a memory for storing executable instructions of the processor;

[0049] Wherein, the processor is configured to implement the above-mentioned inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment by executing the executable instructions.

[0050] The inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment provided by an embodiment of the present invention configures the collaborative navigation state equation corresponding to the target carrier based on the state variables, in combination with the system noise matrix and the system noise driving matrix, and determines the altitude observation value based on the first altitude information and the second pressure altitude information of the target carrier in the inertial navigation system, and determines the distance observation value based on the relative distance between the target carrier and the reference node in the cluster, so that the inertial navigation / data link / pressure altitude collaborative navigation measurement equation can be constructed based on the altitude observation value and the distance observation value. By filtering the collaborative navigation state equation and the collaborative navigation measurement equation, the attitude, speed and position of the carrier can be corrected. By constructing state variables and collaborative navigation measurement equations, the combination of the inertial navigation system, data link navigation and pressure altitude is realized, and distributed collaborative navigation is realized, which can improve the positioning accuracy of the carrier in partially denied environments and denied environments.

[0051] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and it is clear that those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0053] Figure 1 A schematic diagram schematically illustrates an inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment according to an exemplary embodiment of the present invention;

[0054] Figure 2 A schematic diagram schematically illustrating the relationship between an Earth-centered inertial coordinate system and an Earth-centered Earth-fixed coordinate system according to an exemplary embodiment of the present invention;

[0055] Figure 3 A schematic diagram schematically illustrates a carrier coordinate system (top right front) according to an exemplary embodiment of the present invention;

[0056] Figure 4 A schematic diagram schematically illustrating a relationship between an Earth-centered Earth-fixed coordinate system and a local horizontal coordinate system according to an exemplary embodiment of the present invention;

[0057] Figure 5 A schematic diagram schematically illustrates a Kalman filter process according to an exemplary embodiment of the present invention;

[0058] Figure 6 A schematic diagram schematically illustrates a cooperative navigation algorithm principle according to an exemplary embodiment of the present invention;

[0059] Figure 7 The figure schematically shows the composition of an electronic device in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0060] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0061] In addition, the accompanying drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. Identical reference numerals in the figures denote identical or similar parts, and thus repetitive descriptions thereof will be omitted. Some of the blocks shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0062] In view of the shortcomings and deficiencies of the existing technology, this example embodiment provides an inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment. Figure 1 As shown, the inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment may specifically include the following steps:

[0063] Step S11, obtaining the attitude angle error, velocity error, position error in the geographic coordinate system, and the gyroscope constant drift and accelerometer constant drift in the carrier coordinate system, and determining the state variables corresponding to the target carrier;

[0064] Step S12, configuring a cooperative navigation state equation corresponding to the target carrier based on the state variables, in combination with a system noise matrix and a system noise driving matrix;

[0065] Step S13, determining the height observation value Z according to the first height information and the second pressure height information of the target carrier in the inertial navigation system h ;

[0066] Step S14: Determine the distance observation value Z according to the relative distance between the target carrier and the reference node in the cluster. D ;

[0067] Step S15, based on the height observation Z h , distance observation Z DConstruct collaborative navigation measurement equations based on inertial navigation / data link / barometric altitude;

[0068] Step S16: filtering the collaborative navigation state equation and the collaborative navigation measurement equation to achieve correction of the attitude, velocity, and position information of the target carrier.

[0069] Below, each step of the inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0070] For example, the above navigation method can be applied to aircraft such as drones, airplanes, cruise missiles, or guided missiles. The aircraft, as a carrier, can be pre-installed with an inertial navigation system, a satellite navigation system, a data link navigation system, and a barometric altitude sensor system. For example, a carrier cluster can be provided, and the target carrier can be a node in the cluster.

[0071] A denied environment refers to a satellite-denied environment. Taking the carrier as an example, the environment in which cruise missiles are deployed can be categorized as partially denied and fully denied, given the potential differences in the environments in which different cruise missiles within a swarm operate. A partially denied environment means that some cruise missiles within the swarm are in a satellite-available environment, enabling them to use inertial / satellite combined navigation with high positioning accuracy. However, others are in a satellite-denied environment, unable to properly receive satellite signals. Traditional inertial / satellite combined navigation struggles to function properly, making it difficult for cruise missiles to maintain accurate navigation and positioning.

[0072] Exemplarily, the method includes: when identifying that a carrier enters an area corresponding to a denied environment, generating a collaborative navigation control instruction to configure the target carrier to execute a collaborative navigation mode.

[0073] Specifically, with the target carrier as the execution subject, the target carrier can determine in real time during flight whether it has entered an area corresponding to a denied environment. For example, whether satellite navigation is currently available can be used to determine whether the target carrier has entered a denied environment. For example, if the target carrier is currently unable to receive GPS signals, but other carriers in the cluster are able to receive GPS signals, then the target carrier is currently in a partially denied environment. In this case, a cooperative navigation control instruction can be generated and executed, causing the target carrier to enter a cooperative navigation mode.

[0074] Alternatively, in some embodiments, the carrier can pre-analyze the planned path to determine whether it passes through a denied environment and pre-configure the coordinated navigation mode to operate in a localized area within the denied environment. While flying along the planned path, if the carrier determines based on positioning information that it is about to enter or approach an area corresponding to the denied environment, it automatically triggers the generation of coordinated navigation control instructions, thereby executing the coordinated navigation mode.

[0075] Exemplarily, the method further includes:

[0076] Define the Earth-centered Earth-fixed coordinate system, geographic coordinate system, and carrier coordinate system corresponding to the target carrier;

[0077] Determining a corresponding first transformation matrix based on a coordinate system position relationship between the Earth-centered Earth-fixed coordinate system and the geographic coordinate system;

[0078] Based on the coordinate system position relationship between the geographic coordinate system and the carrier coordinate system, a corresponding second transformation matrix is ​​determined.

[0079] Specifically, the coordinate systems and coordinate system conversions involved in the integrated navigation of the carrier can be predefined. Among them, the navigation coordinate systems commonly used in the strapdown inertial navigation system include: the Earth-centered inertial coordinate system (i system), the Earth-centered earth-fixed coordinate system (e system), the ground-level coordinate system (l system) and the projectile coordinate system (b system). Among them:

[0080] (1) Earth-centered Earth-fixed coordinate system (e system); the origin of the coordinate system is the center of the earth, x e The axis lies in the equatorial plane and points toward the prime meridian, z e The axis is the Earth's rotation axis and points to the North Pole, e The axis lies in the equatorial plane and is aligned with the x e Axis, z e The axes form a right-handed rectangular coordinate system. The relationship between the Earth-centered inertial coordinate system and the Earth-centered Earth-fixed coordinate system is as follows: Figure 2 shown.

[0081] (2) Local horizontal coordinate system (L system); The local horizontal coordinate system, L system, is also called the geographic coordinate system. Depending on the selection of the coordinate system axis, it can also be called the "Northeast Sky" coordinate system, the "North Sky East" coordinate system, etc. Taking the "North Sky East" coordinate system as an example, the coordinate origin is the center of mass of the carrier, the x-axis points to the east, the y-axis points to the north, and the z-axis is perpendicular to the earth plane where the carrier is located and points to the sky. The three axes form a right-handed rectangular coordinate system. The position of the local horizontal coordinate system is expressed in latitude, longitude, and altitude. The local horizontal coordinate system used in the present invention is the "northeastern" coordinate system.

[0082] (3) Carrier coordinate system (b system); Depending on the different axial directions of the coordinate system, it can also be called the "front-upright" coordinate system, the "right-front-up" coordinate system, etc. Taking the "right-front-up" coordinate system as an example, the origin of the coordinate system is the center of mass of the carrier, the x-axis points to the right along the horizontal axis of the carrier, the y-axis points to the front along the vertical axis of the carrier, and the z-axis forms a right-handed rectangular coordinate system with the x-axis and the y-axis and points to the top of the carrier, such as Figure 3 The carrier coordinate system used in this method is the "right front upper" coordinate system.

[0083] (4) Earth-centered Earth-fixed coordinate system and local horizontal coordinate system; the relationship between the Earth-centered Earth-fixed coordinate system and the local horizontal coordinate system is as follows: Figure 4 As shown, the e system can be obtained by three-coordinate rotation to obtain the l system. First, Ox e y e z e Around z e The axis rotates by an angle λ to align the xOy plane of the e system with the NOU plane of the l system. Then, the new e system rotates around the y axis. Angle, so that the Oz axis of the e system is aligned with the z axis of the l system, and finally, rotate 9()° around the z axis of the e system to align the three axes of the e system and the l system.

[0084] Therefore, the transformation matrix from the e-system to the l-system is expressed as:

[0085]

[0086] in, is the geographic latitude, and λ is the geographic longitude.

[0087] (5) Carrier coordinate system and local horizontal coordinate system: The transformation from the local horizontal coordinate system (l system) to the carrier coordinate system (b system) is a commonly used transformation matrix, called the attitude matrix. The attitude matrix contains the pitch angle θ, the roll angle γ and the heading angle ψ, where the heading angle ψ is usually taken as north-east. It can be obtained by three rotations: first, rotate -ψ angle around the z-axis of the l-system; second, rotate θ angle around the x-axis of the new l-system; finally, rotate γ angle around the y-axis of the new l-system so that the axes of the two coordinate systems are aligned in turn, and the obtained attitude matrix for:

[0088]

[0089] The attitude matrix from b system to l system for:

[0090]

[0091] use To calculate the pitch angle θ, roll angle γ and yaw angle ψ, the formula is as follows:

[0092]

[0093] In step S11, the attitude angle error, velocity error, position error in the geographic coordinate system, and the gyroscope constant drift and accelerometer constant drift in the carrier coordinate system are obtained to determine the state variables corresponding to the target carrier.

[0094] For example, the attitude angle error, velocity error, position error, gyroscope drift, and accelerometer drift are combined together, and the state variables are selected to be expressed as:

[0095]

[0096] Among them, φ l is the attitude angle error; δv l is the speed error; δr l is the position error; ε b The gyroscope is always drifting; The accelerometer is constantly drifting.

[0097] In step S12, based on the state variables, the system noise matrix and the system noise driving matrix are combined to configure the cooperative navigation state equation corresponding to the target carrier.

[0098] For example, the error state equation of a single carrier in the cluster can be established based on the geographic strapdown inertial navigation error equation. Correspondingly, the distributed collaborative navigation state equation based on inertial / data link / barometric altitude is:

[0099]

[0100] Where F is the state transfer matrix, X is the state variable, G is the system noise driving matrix, and W is the system noise matrix.

[0101]

[0102] W=[ω gx ω gv ω gz ω ax ω ay ω az ] T (8)

[0103] Among them, ω gx ,ω gv ,ω gz is the gyroscope white noise, ω ax ,ω ay ,ω az is the accelerometer white noise.

[0104] Exemplarily, the method further includes: combining the altitude measurement matrix, the pressure altitude measurement noise, the state variable, and the altitude difference to define an inertial navigation / pressure altitude combined navigation measurement equation for determining the altitude observation quantity Z h .

[0105] Specifically, the inertial navigation / barometric altitude combined navigation measurement equation includes:

[0106] Zh =H h X+V h (9)

[0107] Among them, H h is the height measurement matrix, X is the state variable, V h is the pressure altitude measurement noise, Z h It is the difference between the first altitude information and the second pressure altitude information output by the inertial navigation system.

[0108] Z h =h SINS -h Baro (10)

[0109] Among them, h SINS is the height information output by the inertial navigation; h Baro It is the barometric altitude information.

[0110] Measurement matrix H h for:

[0111] H h =[0 1×8 1 0 1×6 ] (11)

[0112] In step S13, the height observation value Z is determined based on the first height information and the second pressure height information of the target carrier in the inertial navigation system. h .

[0113] For example, the target carrier can collect the output height information h SINS , and collect pressure height information h Baro , configured as the first height information and the second height information, and calculate the height difference, and configure the height difference as the height observation value Z h .

[0114] Exemplarily, the method further includes:

[0115] The inertial navigation / data link collaborative navigation measurement equation is defined by combining the relative distance measurement matrix, data link ranging noise matrix, state variables, and relative distance to determine the distance observation quantity Z D ;

[0116] Among them, the inertial navigation / data link integrated navigation measurement equation includes:

[0117] Z D =H D X+V D

[0118] Among them, V D is the data link ranging noise array, X is the state variable, H Dis the relative distance measurement matrix; Z D It is the difference between the first relative distance and the second relative distance between the target carrier and the reference node. The first relative distance is the relative distance between the target carrier and the reference node measured by the data link navigation system. The second relative distance is the relative distance between the positioning information of the reference node obtained by the data link navigation system and the positioning information of the target carrier calculated based on the inertial navigation system.

[0119] In step S14, the distance observation Z is determined based on the relative distance between the target carrier and the reference node in the cluster. D .

[0120] For example, the target carrier is taken as the denial node LM1, and the GNSS available node LM2 in the cluster is taken as an example to derive the collaborative navigation measurement equation. LM1 can measure the relative distance ρ between itself and LM2 through the data link. 1 / 2 , and then combine the positioning information of LM2 obtained through the data link with its own inertial positioning information to calculate the relative distance l between itself and LM2 1 / 2 , the calculated relative distance l 1 / 2 Relative distance ρ measured by data link 1 / 2 Do the difference, the difference is the measurement information, then:

[0121]

[0122] in, is the three-axis position of LM1 in the Earth-centered Earth-fixed coordinate system, are the three-axis positions of LM2 in the Earth-centered Earth-fixed coordinate system, which are obtained by converting the inertial navigation output into the coordinate system.

[0123] The above equation is a nonlinear equation, which linearizes the measurement information. Theoretical position with LM2 A first-order Taylor expansion and ignoring higher-order terms yields:

[0124]

[0125] in, represents the theoretical relative distance between LM1 and LM2, and They represent the three-axis position errors of LM1 in the Earth-centered Earth-fixed coordinate system, namely:

[0126]

[0127] Similarly, the three-axis position error of LM2 in the Earth-centered Earth-fixed coordinate system is expressed as:

[0128]

[0129] Based on this, the above formula (13) can be simplified as follows:

[0130]

[0131] in, is the theoretical relative distance between LM1 and LM2; ρ 1 / 2 is the relative distance between LM1 and LM2 measured by the data link, and the combination of the two is the ranging error of the data link, that is:

[0132]

[0133] Among them, ε b is the data link ranging error.

[0134] Substituting the above formula into formula (17) we can get:

[0135]

[0136] Write the above formula in matrix form:

[0137]

[0138] Considering that in the state equation of formula (5), the state variable includes the position error δr in the horizontal coordinate system of the cruise missile, and the measurement information is the position error of LM1 in the Earth-centered Earth-fixed coordinate system. The position error needs to be converted from the Earth-centered Earth-fixed coordinate system to the horizontal coordinate system. The specific derivation process is given below.

[0139] The conversion relationship between geodetic coordinates and spatial rectangular coordinates is:

[0140]

[0141] Considering the position error in the horizontal coordinate system and the position error in the Earth-centered Earth-fixed coordinate system [δx e δy e δz e ] T , then the above formula becomes:

[0142]

[0143] Taking into account the error Each component is small, so the following approximation is made:

[0144]

[0145] Expanding Equation (22) and ignoring high-order small quantities, we obtain:

[0146]

[0147] Substituting equation (21) into the above equation and simplifying it, we can get the position error in the Earth-centered Earth-fixed coordinate system:

[0148]

[0149] The above formula can be rewritten into the following matrix form:

[0150]

[0151] The matrix T is defined as the position error conversion matrix between the Earth-centered Earth-fixed coordinate system and the horizontal coordinate system, that is:

[0152]

[0153] Then we have:

[0154]

[0155] Therefore, the measurement information of formula (20) can be written as:

[0156]

[0157] Among them, T1 and T2 are the position error conversion matrices between the Earth-centered Earth-fixed coordinate system and the horizontal coordinate system of LM1 and LM2, respectively.

[0158] In the partially denied environment scenario, LM2 is in a satellite-available environment, its positioning accuracy is high, and the state variables only contain errors related to the denied node LM1. Therefore, the position error related items of LM2 can be combined with the data link ranging error and regarded as an equivalent ranging error, that is:

[0159]

[0160] Among them, ε2 is the position error related term of LM2, ε b，2 is the equivalent data link ranging error.

[0161] Therefore, formula (29) can be simplified as:

[0162]

[0163] Then the inertial / data link distributed collaborative navigation measurement equation is:

[0164]

[0165] Among them, the measurement matrix H is:

[0166]

[0167] matrix Specifically:

[0168]

[0169] The above gives the distributed cooperative navigation measurement equation of the rejection node LM1 when there is a reference node LM2.

[0170] Exemplarily, the number of reference nodes in the cluster includes n, where n is a positive integer. The method further includes:

[0171] Obtaining the first relative distance and the second relative distance between the target carrier and each reference node respectively, to calculate the difference between n first relative distances and second relative distances;

[0172] The distance observation value ZD is configured according to the difference between the n first relative distances and the second relative distance.

[0173] Specifically, if there are n reference nodes in the cluster, the distributed collaborative navigation measurement equation of LM1 is:

[0174] Z D =H D X+V D (35)

[0175] Among them, V D is the data link ranging noise array, Z D The difference between the calculated relative distance between all reference nodes in the cluster and the denial node LM1 and the relative distance measured by the data link is obtained, that is:

[0176]

[0177] Measurement matrix H D for:

[0178]

[0179] in,

[0180]

[0181] Exemplarily, the reference node is in a satellite-available environment. The method further includes:

[0182] Obtain navigation status information of each node in the cluster corresponding to the target carrier;

[0183] The nodes available for satellite navigation are configured as reference nodes and used to calculate the distance observation between the target carrier and the reference node.

[0184] For example, when the target carrier uses combined navigation, it is possible to first determine whether the nodes in the cluster can use satellite navigation to obtain GNSS data; if a node can use satellite navigation, it can be configured as a reference node, and the target carrier can communicate with the reference node to obtain the positioning information of the corresponding data link navigation system and use it to calculate the relative distance; and use the relative distance to calculate the distance observation.

[0185] In step S15, based on the height observation Z h , distance observation Z D Construct collaborative navigation measurement equations based on inertial navigation / data link / barometric altitude.

[0186] For example, by integrating the inertial / data link distributed collaborative navigation measurement equation and the inertial / barometric altitude combined navigation measurement equation, the distributed collaborative navigation measurement equation based on inertial / data link / barometric altitude can be obtained, which is expressed as:

[0187]

[0188] In step S16, filtering is performed on the collaborative navigation state equation and the collaborative navigation measurement equation to achieve correction of the attitude, velocity, and position information of the target carrier.

[0189] Exemplary, reference Figure 5 The following is the Kalman filter operation process. The recursive Kalman filter is established as follows:

[0190] (1) One-step state prediction:

[0191]

[0192] (2) State estimation:

[0193]

[0194] (3) Filter gain matrix:

[0195]

[0196] (4) One-step prediction error variance matrix:

[0197]

[0198] (5) Estimated error variance matrix:

[0199]

[0200] The above equations (40)-(44) are the basic formulas of the Kalman filter. It can be understood that if the initial value of the state quantity X0 and the mean square error matrix P0 are given, according to the measurement value Z at time kk , we can recursively obtain the state estimate at time k X k (k=1, 2, 3...), which is used to correct the navigation information. Repeat the above steps to calculate the state estimation at the next moment.

[0201] The method provided by the embodiment of the present invention is referred to Figure 6 Specifically, it may include:

[0202] Step 1, select the state variable value: According to the local horizontal coordinate system strapdown inertial navigation error equation, the attitude angle error φ can be obtained l , velocity error δv l 、Position error δr l , and the gyroscope constant drift ε b Accelerometer drift Combined together, selected as state variables

[0203] Step 2: Establish the state equation: Based on the state variables selected in step 1, the state equation of collaborative navigation is established using formula (5).

[0204] Step 3: Obtain the observed value: the relative distance l calculated based on the inertial navigation positioning information 1 / 2 Relative distance ρ measured by data link 1 / 2 Do the difference to get the observation quantity Z D ; According to the height information h output by the inertial navigation SINS With the barometric altitude information h Baro The difference between the two is the observation quantity Z h .

[0205] Step 4, establish the measurement equation: According to the observation quantity Z obtained in step 3 D With Z h , the measurement equation Z=HX+V is established by formula (39).

[0206] Step 5: Perform Kalman filtering based on the state equation and measurement equation to correct the attitude, speed, and position of the cruise missile.

[0207] The method provided by the present invention proposes an inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment, which can combine the inertial navigation system, data link navigation system and atmospheric altitude to improve the positioning accuracy of cruise missiles in a partially denied environment.

[0208] It should be noted that the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0209] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0210] Figure 7 A schematic diagram of an electronic device suitable for implementing an embodiment of the present invention is shown.

[0211] It should be noted that Figure 7 The electronic device 1000 shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0212] For example, the electronic device may be an intelligent electronic device installed on an aircraft and used to navigate the aircraft.

[0213] like Figure 7 As shown, electronic device 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 1002 or the program loaded from storage portion 1008 into random access memory (RAM) 1003. Various programs and data required for system operation are also stored in RAM 1003. CPU 1001, ROM 1002 and RAM 1003 are connected to each other via bus 1004. Input / output (I / O) interface 1005 is also connected to bus 1004.

[0214] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. Removable media 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1008 as needed.

[0215] In particular, according to an embodiment of the present invention, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a storage medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009 and / or installed from a removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the various functions defined in the system of the present application are performed.

[0216] It should be noted that the storage medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any storage medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0217] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, 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 box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0218] The units involved in the embodiments of the present invention may be implemented in software or hardware, and the units described may also be provided in a processor. In some cases, the names of these units do not limit the units themselves.

[0219] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device; or it can exist independently without being installed in the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments. For example, the electronic device can implement the following Figure 1 The individual steps of the method are shown.

[0220] In one embodiment, the present application provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0221] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0222] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the claims.

[0223] It should be understood that the present invention is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof, which is limited only by the appended claims.

Claims

1. A method for inertial / data link / atmospheric distributed collaborative navigation in a partially denied environment, characterized in that: The method comprises: Obtain the attitude angle error, velocity error, and position error in the geographic coordinate system, as well as the gyroscope constant drift and accelerometer constant drift in the carrier coordinate system, and determine the state variables corresponding to the target carrier; Based on the state variables, combining the system noise matrix and the system noise driving matrix, the cooperative navigation state equation corresponding to the target carrier is configured; Determine the height observation value Z according to the first height information and the second pressure height information of the target carrier in the inertial navigation system h ; Determine the distance observation Z according to the relative distance between the target carrier and the reference node in the cluster D ; Based on the height observation Z h , distance observation Z D Construct collaborative navigation measurement equations based on inertial navigation / data link / barometric altitude; The collaborative navigation state equation and the collaborative navigation measurement equation are filtered to achieve correction of the attitude, speed and position information of the target carrier.

2. The method according to claim 1, characterized in that The method further comprises: Define the Earth-centered Earth-fixed coordinate system, geographic coordinate system, and carrier coordinate system corresponding to the target carrier; Determining a corresponding first transformation matrix based on a coordinate system position relationship between the Earth-centered Earth-fixed coordinate system and the geographic coordinate system; Based on the coordinate system position relationship between the geographic coordinate system and the carrier coordinate system, a corresponding second transformation matrix is ​​determined.

3. The method according to claim 1, characterized in that The distance observation value Z is determined based on the relative distance between the target carrier and the reference node in the cluster. D ,include: The first relative distance ρ between the target carrier and the reference node is measured by the data link navigation system 1 / 2 ; Obtaining positioning information of the reference node through the data link navigation system and calculating a second relative distance between the target carrier and the reference node in combination with positioning information of the target carrier based on the inertial navigation system; The distance observation is configured according to the difference between the first relative distance and the second relative distance.

4. The method according to claim 3, characterized in that The reference nodes in the cluster include n; wherein n is a positive integer; The method further comprises: Obtaining the first relative distance and the second relative distance between the target carrier and each reference node respectively, to calculate the difference between n first relative distances and second relative distances; The distance observation quantity Z is configured according to the difference between the n first relative distances and the second relative distances D .

5. The method according to claim 4, characterized in that The reference node is in a satellite-available environment; The method further comprises: Obtain navigation status information of each node in the cluster corresponding to the target carrier; The nodes available for satellite navigation are configured as reference nodes and used to calculate the distance observation between the target carrier and the reference node.

6. The method according to claim 1, characterized in that The method further comprises: The inertial navigation / data link collaborative navigation measurement equation is defined by combining the relative distance measurement matrix, data link ranging noise matrix, state variables, and relative distance to determine the distance observation quantity Z D ; Among them, the inertial navigation / data link integrated navigation measurement equation includes: Z D =H D X+V D Among them, V D is the data link ranging noise array, X is the state variable, H D is the relative distance measurement matrix; Z D It is the difference between the first relative distance and the second relative distance between the target carrier and the reference node. The first relative distance is the relative distance between the target carrier and the reference node measured by the data link navigation system. The second relative distance is the relative distance between the positioning information of the reference node obtained by the data link navigation system and the positioning information of the target carrier calculated based on the inertial navigation system.

7. The method according to claim 1, characterized in that The method further comprises: The inertial navigation / pressure altitude combined navigation measurement equation is defined by combining the altitude measurement matrix, pressure altitude measurement noise, state variables, and altitude difference to determine the altitude observation Z h ; Among them, the inertial navigation / barometric altitude combined navigation measurement equation includes: Z h =H h X+V h Among them, H h is the height measurement matrix, X is the state variable, V h is the pressure altitude measurement noise, Z h It is the difference between the first altitude information and the second pressure altitude information output by the inertial navigation system.

8. The method according to claim 1, characterized in that The method further comprises: When it is identified that a carrier enters an area corresponding to a denied environment, a cooperative navigation control instruction is generated to configure the target carrier to execute a cooperative navigation mode.

9. The method according to claim 1, characterized in that The configuring the cooperative navigation state equation corresponding to the target carrier based on the state variable and in combination with the system noise matrix and the system noise driving matrix includes: Where F is the state transfer matrix, X is the state variable, G is the system noise driving matrix, and W is the system noise matrix.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the inertial / data link / atmosphere distributed collaborative navigation method in a partially denied environment according to any one of claims 1 to 8 is implemented.

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