Asynchronous group positioning method, device, medium and system without precise time service
By timestamping and identifying sensors, asynchronously collecting data and performing local corrections, the problem of synchronization dependence in traditional positioning methods is solved, and high-precision group positioning without precise timing is achieved, which is suitable for large-scale low-cost systems.
Patent Information
- Application Number
- CN202510860355.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-25
- Publication Date
- 2025-09-19
AI Technical Summary
Traditional multi-station positioning methods rely heavily on precise synchronization between nodes, resulting in low positioning accuracy or even no solution in the absence of a unified time scale.
By timestamping and adding identifiers to individual sensors, data is collected asynchronously and corrected for localization, reducing time mismatch errors, and adopting asynchronous matching and positioning calculation methods.
In the absence of precise timing, the accuracy and stability of group positioning are improved, the error is reduced, and it is suitable for large-scale low-cost group system positioning.
Smart Images
Figure CN120669210A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of electronic countermeasure technology, and more specifically, to an asynchronous group positioning method, device, medium and system without precise timing. Background Art
[0002] Traditional multi-station time-difference positioning (TDOP) methods locate a target by processing the arrival time difference data of target radiation source signals received by multiple detection platforms. This method relies heavily on precise synchronization between nodes. If nodes fail to provide the correct, unified time scale for their observation data, matching errors will occur in the group positioning calculation, resulting in low positioning accuracy or even no solution.
[0003] Multi-station cross-positioning uses the target radiation angles measured by multiple detection platforms to determine the target position through triangulation. When used to locate moving targets, this method still relies on synchronization between nodes. If nodes cannot provide the correct, unified time scale for observation data, the angles measured by each node will deviate, resulting in reduced positioning accuracy or even no solution. Summary of the Invention
[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide an asynchronous group positioning method, equipment, medium and system without precise timing, which solves the problem that data matching is overly dependent on precise timing during the group system positioning target.
[0005] The object of the present invention is achieved through the following solutions: An asynchronous group positioning method without precise timing includes the following steps: The target data collected by individual sensors in the group are timestamped according to the local time of the individual sensor, and then the individual sensor's identifier and the individual sensor's own position or heading information are added to generate a data entry with a timestamp, source individual identifier, and source individual position or heading information; Asynchronously collect all data entries generated by a group within a certain period of time, perform asynchronous matching and positioning calculations, and then obtain the target location information.
[0006] Furthermore, the target data collected by individual sensors in the group are timestamped according to the local time of the individual sensors, and the individual sensor identifier and the position or heading information of the individual sensors themselves are added to generate data entries with timestamps, source individual identifiers, and source individual positions or headings; all data entries generated by the group within a certain period of time are asynchronously collected, and asynchronous matching and positioning calculations are performed to obtain target position information. Specifically, the steps include: Step S1, collect data and add tags, sensor Get the target detection data, when recording the target data, for the target data Add local timestamp , This node ID , the instantaneous location information of this node : ； and pack multiple entries into packets : ； Step S2: The computing terminal collects data. The computing terminal collects data packets collected and marked by multiple nodes within a period of time. Step S3: align the target data and send it to each node on the computing terminal. Send alignment request separately and record the local time of the terminal when sending. , and ask the other node to reply to the local time of the node , record the transmission delay of data round trip Calculate the time difference between the two places using the following formula: , used to perform localized correction on the timestamp in the original target data, namely: ; ; Step S4: Select data. After processing all asynchronous data, rematch the data entries according to the timestamps after localization correction and select the time stamps that match the reference time. The difference is not greater than The data entries are used as input for multi-station positioning and the positioning results are calculated; Step S5, group positioning, performs time difference or cross positioning calculation based on the selected data within the set time range to reduce the error caused by time mismatch in asynchronous multi-station positioning.
[0007] Furthermore, in step S1, the data collection and tagging is specifically a single-node data collection and tagging, and the sensor It is a single-node sensor.
[0008] Furthermore, in step S2, the computing terminal includes a node that meets the set requirements.
[0009] Furthermore, in step S2, the setting requirements include computing power requirements.
[0010] Furthermore, in step S2, the times of the entries in the marked data packet are not aligned, and are all local timestamps of the respective nodes.
[0011] Furthermore, in step S5, the time difference or cross positioning calculation is performed based on the selected data within the set time range to reduce the error caused by time mismatch in asynchronous multi-station positioning, which specifically includes the following sub-steps: For moving target positioning, if the estimated target speed is higher than the set value, the time offset is shortened. If the estimated target speed is lower than the set value 2, the To obtain more observation samples; setting value 1 and setting value 2 are confirmed based on empirical significance.
[0012] An asynchronous group positioning device without precise timing includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is loaded by the processor, the method described in any one of the above items is executed.
[0013] A computer-readable storage medium stores a computer program, wherein the computer program is loaded by a processor and executes any one of the above methods.
[0014] An asynchronous group positioning system without precise timing includes the asynchronous group positioning device without precise timing as described above.
[0015] The beneficial effects of the present invention include: To address the technical issues faced by traditional group positioning methods, which require high time alignment accuracy, the present invention proposes an asynchronous group positioning solution without precise timing. This solution does not rely on a highly unified time baseline within the group. Instead, it corrects time differences through inter-point communication, improving data matching accuracy and thus optimizing positioning accuracy. Compared to traditional multi-station positioning methods, this solution can locate moving targets without additional error without unified timing. Because precise timing requires high-cost additional equipment, in practical applications, the present invention offers greater economical efficiency and applicability for large-scale, low-cost group system positioning. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0017] Figure 1 It is a flow chart of the target positioning of the present invention; Figure 2 Schematic diagram for selecting data entries; Figure 3 Schematic diagram of the asynchronous group target positioning simulation scenario; Figure 4This is a comparison chart of the positioning accuracy of the traditional positioning and the positioning accuracy of the present invention under a 2° direction finding error; Figure 5 This is a comparison chart of the positioning accuracy of the traditional positioning and the positioning accuracy of the present invention under a 3° direction finding error; Figure 6 This is a statistical chart comparing positioning accuracy. DETAILED DESCRIPTION
[0018] All features disclosed in all embodiments in this specification, or steps in all methods or processes implicitly disclosed, except for mutually exclusive features and / or steps, can be combined and / or expanded or replaced in any manner.
[0019] The specific implementation process of the present invention is as follows: In the present invention, the target data collected by individual sensors in a group is first timestamped according to the local time of the individual sensor. The individual sensor's identifier and its own position or heading information are then added to generate data entries with the timestamp, the source individual's identifier, and the source individual's position or heading information. All data entries generated by the group within a certain period are asynchronously collected, and asynchronous matching and positioning calculations are performed to obtain target location information. The present invention includes the following steps: Step (1): Single node collects data and adds tags. Specifically, a single node sensor Obtain the detection data of the target. When recording the target data, add the local timestamp, the node ID, and the instantaneous location information of the node to the target data.
[0020] ; And pack multiple entries into data packets.
[0021] ; Step (2), the computing terminal collects data. Specifically, The computing terminal (which can be a node that meets the computing power requirements or other types of computing nodes) collects and marks data packets collected by multiple nodes over a period of time. At this time, the time entries in each data packet are not aligned, and each is timestamped locally by the node.
[0022] Step (3), align the target data. Specifically, on the computing terminal, send Send alignment request separately and record the local time of the terminal when sending. , and ask the other node to reply to the local time of the node , record the transmission delay of data round trip , calculate the time difference between the two places , perform localized correction on the timestamp in the original target data.
[0023] ; ; Step (4), select data. Specifically, after processing all asynchronous data, re-match the data entries according to the timestamps after localization correction, and select the data that matches the reference time. The difference is not greater than The data entries are used as input for multi-station positioning to calculate the positioning results.
[0024] Step (5), group positioning. Specifically, based on the selected data with similar time, time difference or cross positioning calculation can reduce the error caused by time mismatch in asynchronous multi-station positioning. For moving target positioning, if the estimated target speed is fast, the time offset needs to be shortened. If the estimated target speed is low, you can extend To obtain more observation samples.
[0025] In other embodiments of the present invention, an asynchronous group positioning method without precise timing is proposed. In order to verify the performance of the group positioning method proposed by the present invention, according to Figure 1 The process shown in the figure is to carry out a Figure 3 In the embodiment shown, the specific steps are as follows: Step 1. Set up a simulation scenario: The test area is a square field with a size of 100 km × 100 km. Set the x and y axes as 1 unit represents 1 km. The group observation nodes are distributed on the left side of the field. Deployment, try to take into account various observation angles; the direction-finding error of each observation node is set at ±2° or ±3° according to different test groups; the local time error of the 6 nodes is set between ±5000ms (compared with the time of the computing terminal). The initial position of the target is , in order of different speeds 、 、 Move in all directions and at different speeds.
[0026] Step 2: After the experiment begins, the target begins to move. Every 0-200ms, a random node will obtain an observation result. This node will add its own ID and local timestamp to its direction finding result.
[0027] Step 3: The computing terminal receives all node data.
[0028] Step 4: The computing terminal performs time alignment. First, the time difference between each node and the computing terminal is collected according to the method of the present invention, and the timestamp of the data packet of the node is corrected. Then, the entries in the data packet are re-sorted by time.
[0029] Step 5: Calculate the terminal selection reference time and extract nearby data entries. Figure 2 As shown, when selecting data entries, first determine a reference time , this time is the local time of the calculation terminal. Then, according to the characteristics of the target to be located, select a suitable offset value If the target is a high-speed moving target, A smaller value should be selected. If the target is a slow moving target or a static target, A larger value can be selected. , offset value , in the database collected and adjusted by the computing terminal, select the time stamp that meets the interval The data entries are taken out. This embodiment selects , that is, each piece of data is matched with data that is at most 1000ms different from it. This operation ensures the timeliness of the moving target direction-finding data.
[0030] Step 6: This embodiment does not involve the optimization of the positioning algorithm itself, so the basic cross positioning algorithm is selected for the final calculation, and a cross is performed for every two data. According to step 5, two data are extracted each time in an interval for cross. The target position is calculated , and the actual target position at the current moment Compare and calculate the error value as the straight line distance between the two coordinates In a data packet, Positioning error value, positioning accuracy .
[0031] In this embodiment, the node direction finding error in the first group of experiments is ±2°. Figure 4 As shown in Figure 2, the average positioning accuracy of the traditional method is 9.538%, and the average positioning accuracy of the present invention is 4.554%; in the second group of experiments, the node direction finding error is ±3°. Figure 5 The average positioning accuracy of the traditional method is 15.941%, and the average positioning accuracy of the present invention is 7.195%. It can be seen that under the condition of no precise timing, the positioning accuracy of the present invention is better than that of the traditional method, and it has more stable positioning performance. The statistical comparison results are as follows: Figure 6 shown.
[0032] 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.
[0033] According to one aspect of an embodiment of the present invention, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described above.
[0034] As another aspect, embodiments of the present invention further provide a computer-readable medium, which may be included in the electronic device described in the above embodiments, or may exist independently and not incorporated into the electronic device. The computer-readable medium carries one or more programs, and when executed by the electronic device, the electronic device implements the methods described in the above embodiments.
Claims
1. An asynchronous group positioning method without precise timing, characterized in that: The following steps are involved: The target data collected by individual sensors in the group are timestamped according to the local time of the individual sensor, and then the individual sensor's identifier and the individual sensor's own position or heading information are added to generate a data entry with a timestamp, source individual identifier, and source individual position or heading information; Asynchronously collect all data entries generated by a group within a certain period of time, perform asynchronous matching and positioning calculations, and then obtain the target location information.
2. The asynchronous group positioning method without precise timing according to claim 1, characterized in that: The target data collected by individual sensors in the group are timestamped according to the local time of the individual sensors, and the individual sensor identifier and the position or heading information of the individual sensors themselves are added to generate data entries with the timestamp, the source individual identifier, and the source individual position or heading information; all data entries generated by the group within a certain period of time are asynchronously collected, and asynchronous matching and positioning calculation are performed to obtain the target position information, which specifically includes the following sub-steps: Step S1, collect data and add tags, sensor Get the target detection data, when recording the target data, for the target data Add local timestamp , This node ID , the instantaneous location information of this node : ； and pack multiple entries into packets : ； Step S2: The computing terminal collects data. The computing terminal collects data packets collected and marked by multiple nodes within a period of time. Step S3: align the target data and send it to each node on the computing terminal. Send alignment request separately and record the local time of the terminal when sending. , and ask the other node to reply to the local time of the node , record the transmission delay of data round trip Calculate the time difference between the two places using the following formula: , used to perform localized correction on the timestamp in the original target data, namely: ； ； Step S4: Select data. After processing all asynchronous data, rematch the data entries according to the timestamps after localization correction and select the time stamps that match the reference time. The difference is not greater than The data entries are used as input for multi-station positioning and the positioning results are calculated; Step S5, group positioning, performs time difference or cross positioning calculation based on the selected data within the set time range to reduce the error caused by time mismatch in asynchronous multi-station positioning.
3. The asynchronous group positioning method without precise timing according to claim 2, characterized in that: In step S1, the data collection and tagging is specifically a single-node data collection and tagging process. It is a single-node sensor.
4. The asynchronous group positioning method without precise timing according to claim 2, characterized in that: In step S2, the computing terminal includes a node that meets the set requirements.
5. The asynchronous group positioning method without precise timing according to claim 4, characterized in that: In step S2, the setting requirements include computing power requirements.
6. The asynchronous group positioning method without precise timing according to claim 2, characterized in that: In step S2, the entry times in the marked data packet are not aligned, and are all local timestamps of the respective nodes.
7. The asynchronous group positioning method without precise timing according to claim 2, characterized in that: In step S5, the time difference or cross positioning calculation is performed based on the selected data within the set time range to reduce the error caused by time mismatch in asynchronous multi-station positioning. Specifically, the sub-steps include: for moving target positioning, if the estimated target speed is higher than the set value, shorten the time offset ; If the estimated target speed is lower than the set value 2, To obtain more observation samples; setting value 1 and setting value 2 are confirmed based on empirical significance.
8. An asynchronous group positioning device without precise timing, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is loaded by the processor, the method according to any one of claims 1 to 7 is executed.
9. A computer-readable storage medium, characterized in that A computer program is stored in a readable storage medium, and the computer program is loaded by a processor to execute the method according to any one of claims 1 to 7.
10. An asynchronous group positioning system without precise timing, characterized in that: Including the asynchronous group positioning device without precise timing as described in claim 8.