Optical satellite positioning method and device based on LM algorithm

Abstract

The invention provides an optical satellite positioning method and device based on an LM algorithm, and relates to the technical field of optical navigation. The method comprises the following steps: detecting a preliminary attitude quaternion and a preliminary optical satellite vector of a carrier through optical detection equipment, and determining a first optical satellite vector according to the preliminary attitude quaternion, the preliminary optical satellite vector and a preset first calculation mode; based on a preset second calculation mode, a satellite ephemeris and the first optical satellite vector, constructing a nonlinear objective function about the longitude and latitude of the carrier; calculating a Jacobian matrix based on a preset third calculation mode; and under the condition that the non-linear objective function does not meet the preset threshold condition, performing LM iterative optimization on the non-linear objective function based on a preset fourth calculation mode and a Jacobian matrix so as to determine the target position of the carrier according to the longitude and latitude meeting the preset threshold condition. By iteratively optimizing the longitude and the latitude of the carrier in a complex denial environment, the positioning accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of optical navigation technology, and for example to an optical satellite positioning method and apparatus based on the LM algorithm. Background Technology

[0002] The Levenberg-Marquardt (LM) algorithm is an optimization algorithm for solving nonlinear least squares problems. It combines the advantages of gradient descent and Gauss-Newton methods, exhibiting fast convergence and good stability. Current radio satellite navigation systems such as GPS (Global Positioning System) and BD (BeiDou Navigation Satellite System) can achieve high-precision positioning of locatable vehicles such as aircraft and automobiles by measuring signals from four or more radio satellites and utilizing spatial geometric positioning principles.

[0003] In related technologies, due to the poor directivity of radio signals and the severe power attenuation of the signal from the satellite transmitter to the receiver, there is a risk of being deceived and interfered with, which fails to meet the requirements for high-reliability navigation and cannot be used normally under radio denial conditions. Therefore, the positioning effect of current carrier positioning methods is poor. Summary of the Invention

[0004] This application aims to provide an optical satellite positioning method, device, electronic device, and storage medium based on the LM algorithm.

[0005] According to one aspect of this application, an optical satellite positioning method based on the LM algorithm is proposed, comprising: detecting the initial attitude quaternion and initial optical satellite vector of the carrier through an optical detection device installed on the carrier; determining the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system based on the initial attitude quaternion, the detected initial optical satellite vector, and a preset first calculation method; constructing a nonlinear objective function about the longitude and latitude of the carrier based on a preset second calculation method, satellite ephemeris, and the first optical satellite vector; calculating the Jacobian matrix of the nonlinear objective function based on a preset third calculation method; and performing LM iterative optimization on the nonlinear objective function based on a preset fourth calculation method and the Jacobian matrix when the nonlinear objective function does not meet a preset threshold condition, so as to determine the target position of the carrier based on the longitude and latitude that meet the preset threshold condition.

[0006] According to one aspect of this application, an optical satellite positioning device based on the LM algorithm is proposed, comprising:

[0007] The first vector determination module is used to detect the preliminary attitude quaternion and preliminary optical satellite vector of the carrier through the optical detection device installed on the carrier, and determine the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system according to the preliminary attitude quaternion, the preliminary optical satellite vector and the preset first calculation method.

[0008] The function determination module is used to construct a nonlinear objective function about the longitude and latitude of the carrier based on a preset second calculation method, satellite ephemeris and first optical satellite vector;

[0009] The matrix determination module is used to calculate the Jacobian matrix of the nonlinear objective function based on a preset third calculation method.

[0010] The iterative optimization module is used to perform LM iterative optimization on the nonlinear objective function based on the preset fourth calculation method and Jacobian matrix when the nonlinear objective function does not meet the preset threshold conditions, so as to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold conditions.

[0011] According to one aspect of this application, an electronic device is provided, comprising: a processor; and a memory storing a computer program that, when executed by the processor, causes the processor to perform the method described above.

[0012] According to one aspect of this application, a non-transitory computer-readable medium is proposed, on which readable instructions are stored, which, when executed by a processor, cause the processor to perform the method described above.

[0013] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application.

[0014] Beneficial effects:

[0015] The embodiments provided in this application, relying on attitude quaternions and optical satellite vectors, eliminate the need to receive external radio signals, fundamentally avoiding the risk of radio spoofing and making them suitable for complex radio denial environments. Optical observation data from multiple stars and optical satellites are acquired through onboard optical detection equipment, and combined with ephemeris data, a nonlinear objective function based on the carrier's latitude and longitude is constructed. An LM-related algorithm is used to iteratively optimize the objective function, resulting in fast convergence and dynamic adjustment of the damping factor, leading to more accurate latitude and longitude and improving positioning accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0017] Figure 1 A flowchart of the optical satellite positioning method based on the LM algorithm provided in this application embodiment;

[0018] Figure 2 A block diagram of an optical satellite positioning device based on the LM algorithm provided in this application embodiment;

[0019] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0021] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0025] For specific implementation details, please refer to the following examples.

[0026] Figure 1 This is a flowchart illustrating an optical satellite positioning method based on the LM algorithm provided in an embodiment of this application. The method in this embodiment can be applied to a positioning server. Figure 1 As shown, the method includes steps S10, S11, S12 and S13.

[0027] In step S10, the preliminary attitude quaternion and preliminary optical satellite vector of the carrier are detected by the optical detection device installed on the carrier, and the first optical satellite vector of the carrier in the geocentric coordinate system is determined according to the preliminary attitude quaternion, the preliminary optical satellite vector and the preset first calculation method.

[0028] This application utilizes an optical satellite to detect the position of a carrier for positioning. The carrier can be a mobile device carrying optical detection equipment and other detection instruments, such as a car or an airplane. Specifically, the optical detection equipment can be a pan-astronomical optical sensor that can automatically detect celestial objects such as stars and low-orbit optical satellites within its range, obtaining preliminary attitude quaternions and preliminary optical satellite vectors. The attitude quaternions describe the rotational attitude of the satellite's body coordinate system relative to a reference coordinate system, and the optical satellite vector describes the unit direction vector from the sensor towards the target (such as a star), represented in a specific coordinate system.

[0029] Preliminary attitude quaternion in this application Preliminary optical satellite vectors are used to characterize the rotational attitude of the carrier coordinate system (b) relative to the inertial coordinate system (i). The unit direction vector used to characterize the sensor pointing towards the aforementioned optical celestial bodies, i.e., the direction of the low-Earth orbit optical satellite vector in the carrier coordinate system. First optical satellite vector. Used to characterize the orientation of low-orbit optical satellite vectors in the geocentric coordinate system.

[0030] The first calculation method can be a pre-set method used to calculate the first optical satellite in a geocentric coordinate system at the current position of the carrier. In some implementations, the first calculation method includes default parameters and calculation logic, and the initial attitude quaternion and the initial optical satellite vector are substituted into the first calculation method to obtain the first optical satellite vector.

[0031] In step S11, a nonlinear objective function about the longitude and latitude of the carrier is constructed based on the preset second calculation method, satellite ephemeris and first optical satellite vector.

[0032] In this application, the carrier is located by determining its latitude and longitude. The second calculation method is a computational logic for calculating a nonlinear objective function relating to the carrier's latitude and longitude. This nonlinear objective function is generally used to minimize the difference between the observed latitude and longitude values ​​and the model's predicted values. Satellite ephemeris is a set of data describing the satellite's precise orbital position and velocity over a specific period of time, used to represent the satellite's spatial trajectory.

[0033] By substituting the satellite ephemeris and the first optical satellite vector into the second calculation method, a nonlinear objective function for the longitude and latitude of the carrier is constructed.

[0034] In step S12, the Jacobian matrix of the nonlinear objective function is calculated based on a preset third calculation method.

[0035] In this application, the third calculation method is used to characterize the calculation method of the Jacobian matrix. The Jacobian matrix is ​​the first-order partial derivative matrix of a multivariate vector function, used to describe the linear approximation of the function output's change with respect to the input. The third calculation method is used to process the nonlinear objective function to obtain the corresponding Jacobian matrix.

[0036] In step S13, if the nonlinear objective function does not meet the preset threshold condition, the nonlinear objective function is optimized by LM iteration based on the preset fourth calculation method and Jacobian matrix, so as to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold condition.

[0037] In this application, a threshold condition can be preset, which can be a condition corresponding to longitude and latitude. The fourth calculation method can be used to characterize the calculation logic of LM iteration. If the nonlinear objective function satisfies the preset threshold condition, the corresponding longitude and latitude are used as the target position of the carrier.

[0038] If the nonlinear objective function does not meet the preset threshold condition, the fourth calculation method can be used to process the Jacobian matrix to obtain new longitude and latitude, and then compared with the preset threshold condition to achieve iterative optimization of the nonlinear objective function. The longitude and latitude that finally meet the preset threshold condition will be used as the target position.

[0039] This application relies on optical observation data (attitude quaternions and optical satellite vectors), eliminating the need to receive external radio signals and fundamentally avoiding the risk of radio spoofing, making it suitable for complex radio denial environments. Optical observation data from multiple stars and optical satellites are acquired through onboard optical detection equipment, and combined with ephemeris data, a nonlinear objective function based on the carrier's latitude and longitude is constructed. An LM-related algorithm is used to iteratively optimize the objective function, resulting in fast convergence and dynamic adjustment of the damping factor, leading to more accurate latitude and longitude and improving positioning accuracy.

[0040] According to some embodiments, the preliminary attitude quaternion and preliminary optical satellite vector of the carrier can be detected by an optical detection device installed on the carrier, and the first calculation parameters corresponding to the first calculation method can be obtained; according to the update parameters in the first calculation method and the first calculation parameters, the first transformation quaternion of the carrier from the inertial coordinate system to the geocentric coordinate system at the current moment can be determined; according to the first transformation quaternion, the first calculation method, the vector calculation parameters in the first calculation parameters and the preliminary optical satellite vector, the first optical satellite vector can be determined.

[0041] In this application, the first calculation method may include multiple calculation logics, each of which involves multiple parameters. Some of these parameters can be obtained by directly acquiring or searching relevant stored information. The parameters that can be searched or acquired can be used as the first calculation parameters. These parameters may include update parameters and vector calculation parameters. The update parameters are used to calculate the first transformation quaternion, and the vector calculation parameters are used to calculate the first optical satellite vector.

[0042] In some implementations, the preliminary attitude quaternions and preliminary optical satellite vectors are obtained according to the steps described above. The first calculation parameters corresponding to the first calculation method are then obtained, and the updated parameters are substituted into the corresponding calculation logic of the first calculation method to obtain the first transformation quaternion from the inertial coordinate system to the geocentric coordinate system. Among them, t k Used to represent the current moment. Substituting the vector calculation parameters and the first transformation quaternion into the corresponding calculation logic of the first calculation method, the first optical satellite vector is obtained.

[0043] In the specific implementation process, the updated parameters include the Earth's rotation angular velocity vector ω. ie The output period Δt of the pan-astronomical optical sensor, and the conversion quaternion δq(ω) caused by the Earth's rotation angular velocity. ie Δt), t k-1 Transformation quaternion from inertial coordinate system (i) to geocentric Earth-fixed coordinate system (e) at time t. The calculation logic of the first calculation method includes:

[0044]

[0045] The first transformation quaternion is obtained through the above calculation logic.

[0046] This application achieves accurate transformation from the inertial coordinate system to the geocentric coordinate system using a first transformation quaternion, avoiding the singularity problem of the Euler angle method and ensuring the numerical stability of attitude and vector calculations. By combining vector calculation parameters, systematic errors caused by factors such as Earth's rotation and polar motion are eliminated, improving transformation accuracy. The first transformation quaternion is dynamically calculated based on updated parameters at the current moment, adapting to the needs of high-speed carrier movement or long-term missions and avoiding accumulated errors.

[0047] According to some embodiments, the vector calculation parameters include a second transformation quaternion from the carrier coordinate system to the inertial coordinate system. The tensor product of the second and first transformation quaternions can be determined according to a first calculation method, and this tensor product is determined as a third transformation quaternion from the carrier coordinate system to the geocentric-geostatic coordinate system; the first optical satellite vector is determined based on the third transformation quaternion and the preliminary optical satellite vector.

[0048] In this application, the calculation logic of the first calculation method may further include:

[0049]

[0050] in, Let be the second transformation quaternion from the carrier coordinate system (b) to the inertial coordinate system (i). This is the third transformation quaternion from the carrier coordinate system to the Earth-centered Earth-fixed coordinate system. The vector of the first optical satellite is calculated using the above method.

[0051] This application constructs a third quaternion (carrier system → inertial system) through coordinate transformation between the second quaternion (carrier system → inertial system) and the first quaternion (inertial system → ground-fixed system), forming a complete coordinate system transformation chain. The use of quaternion multiplication (rather than Euler angles or rotation matrix concatenation) for coordinate system transformation naturally avoids the gimbal lock-up problem, ensuring stable output even during large-angle maneuvers of the carrier.

[0052] According to some embodiments, the second calculation parameters corresponding to the second calculation method can be obtained; the equivalent observation value of the first optical satellite vector can be determined based on the observation parameters in the second calculation parameters and the first optical satellite vector; the orbital coordinate information of the optical satellite in the geocentric coordinate system can be found from the satellite ephemeris; the equivalent calculation value of the first optical satellite vector can be determined based on the actual calculation parameters in the second calculation parameters and the orbital coordinate information of the optical satellite; and the nonlinear objective function can be determined based on the equivalent observation value and the equivalent calculation value.

[0053] In this application, the calculation logic in the second calculation method involves multiple parameters, among which directly obtainable parameters can be used as second calculation parameters. The second calculation parameters may include observation parameters and actual calculation parameters, which are used to calculate the equivalent observation value ξ, respectively. k and equivalent calculated value

[0054] The orbital coordinates of an optical satellite in a geocentric-fixed coordinate system can be found from the satellite ephemeris. Among them, x, y, and z are used to represent the coordinate components on each axis.

[0055] In some implementations, the computational logic of the second computation method includes:

[0056]

[0057] in, For a nonlinear objective function, N k The radius of curvature of the meridian, where a is the major radius of the Earth's ellipse, and b is the eccentricity of the Earth's ellipse. M k The barometric altimeter is mounted on a carrier to obtain local altitude information. This is used to represent the first optical satellite vector and its axis components. The equivalent observed values ​​and equivalent calculated values ​​can be calculated using the above method, and then the nonlinear objective function can be obtained.

[0058] This application constructs an objective function by comparing the first optical satellite vector (equivalent observation value) measured by optical equipment with the orbital coordinate information (equivalent calculated value) provided by satellite ephemeris, thus forming a natural dual-source verification mechanism.

[0059] According to some embodiments, the measurement matrix and measurement vector of the nonlinear objective function can also be determined based on the Jacobian matrix, equivalent observations, and equivalent calculated values.

[0060] In this application, the calculation logic of the fourth calculation method may include:

[0061]

[0062] in, H is the Jacobian matrix. k Z is the measurement matrix. k Let be the measurement vector. The nonlinear objective function is a multi-dimensional function, i.e.:

[0063]

[0064] therefore Used to represent different dimensions.

[0065] This application constructs a measurement matrix and measurement vector using the Jacobian matrix, equivalent observations, and equivalent calculated values, transforming the nonlinear least squares problem into a standard form and improving data processing efficiency.

[0066] According to some embodiments, when the nonlinear objective function does not meet the preset threshold condition, the fourth calculation parameter corresponding to the fourth calculation method can be obtained; for any LM iteration optimization, the increment to be optimized corresponding to any iteration optimization is determined according to the fourth calculation method, the measurement vector, the measurement matrix, and the incremental calculation parameter in the fourth calculation parameter; the variable to be optimized corresponding to any iteration optimization is determined according to the fourth calculation method, the increment to be optimized, and the variable calculation parameter in the fourth calculation parameter; the updated longitude and latitude are determined based on the variable to be optimized, the Jacobian matrix, and the nonlinear objective function, so as to determine the target position of the carrier according to the updated longitude and latitude that meet the preset threshold condition.

[0067] The calculation logic in the fourth calculation method of this application involves multiple parameters, among which the parameters that can be directly obtained can be used as the fourth calculation parameters.

[0068] In some implementations, the computational logic of the fourth computation method includes:

[0069] Δx j =(H k,j +μI) -1 Z k,j ;

[0070]

[0071] Where j represents the number of iterations; The variable to be optimized is used to characterize the k-th time frame of any iteration, and the variable to be optimized in the j-th iteration is x. j The increment to be optimized in the j-th iteration is Δx. j H k,j Z is the measurement matrix used to characterize the j-th iteration of the frame at time k. k,j The measurement vector used to characterize the j-th iteration of the frame at time k. ρ can be used to characterize the iteration mode selection parameters. μ and μ' are used to characterize the preset variable parameters for adjusting the transformation amount, where μ can be the parameter for the current iteration, and μ' is the parameter for the next iteration. I is used to characterize the identity matrix.

[0072] In the specific implementation process, if ρ>0, then the variable to be optimized in the (j+1)th iteration is x. j+1 =x j +Δx j Corresponding v = 2; if ρ ≤ 0, then Δx j =0, xj+1 =x j μ' = μ*v, and the initial value of μ in the first iteration is given by μ = max(diag(H) k )) It is determined that v' = 2*v, where v and v' are the adjustment parameters for the change.

[0073] Based on the above method, the increment and variable to be optimized can be determined. Since these two parameters are related to λ... k , Relatedly, by combining the Jacobian matrix and the nonlinear objective function, the updated longitude and latitude can be determined, and then it can be determined whether the preset threshold conditions are met. If not, the LM iteration continues until the longitude and latitude that meet the conditions are obtained, and then the target position is obtained.

[0074] This application calculates the increment to be optimized in each iteration using the increment calculation parameter in the fourth calculation parameter. Based on this, and further combined with the variable calculation parameter, the variable to be optimized in each iteration is determined. The calculated increment and variable to be optimized are more accurate. By judging the results of multiple LM iterations based on the variable to be optimized, the Jacobian matrix, and the nonlinear objective function, the accurate target position can be obtained.

[0075] According to some embodiments, the nonlinear objective function and Jacobian matrix can be updated based on the variables to be optimized to determine a new measurement matrix and a new measurement vector, and to determine the updated longitude and latitude; the updated longitude and latitude that meet the preset threshold conditions are determined as the target location.

[0076] In this application, due to The variable to be optimized is used to characterize the k-th time frame of any iteration, and the variable to be optimized in the j-th iteration is x. j And Δx j =(H k,j +μI) -1 Z k,j The nonlinear objective function is: That is, the variables to be optimized and the nonlinear objective function and λ k , The relevant variable x is substituted into the calculation and a new nonlinear objective function is obtained.

[0077] The Jacobian matrix is: Substitute the variable x to be optimized into the calculation and obtain a new Jacobian matrix.

[0078] The measurement matrix is ​​as follows:

[0079] The measurement vector is:

[0080] Based on the above update, a new measurement matrix and measurement vector can be recalculated. Then, the new measurement matrix and measurement vector can be compared with the preset threshold conditions to determine whether the corresponding longitude and latitude meet the conditions. If they do, the target location can be determined.

[0081] This application updates the linear objective function and Jacobian matrix by using the variables to be optimized, thereby obtaining a new measurement matrix and a new measurement vector. This further determines whether the longitude and latitude meet the conditions, improving the accuracy of the target location. Each iteration dynamically updates the nonlinear objective function based on the variables to be optimized, ensuring that the optimization process always reflects the local geometric characteristics near the current optimal estimate, avoiding the accumulation of model errors caused by fixing the linearization point.

[0082] The following describes an apparatus embodiment of this application, which can be used to perform the method embodiment of this application. For details not disclosed in the apparatus embodiment of this application, please refer to the method embodiment of this application.

[0083] Figure 2 A block diagram of an optical satellite positioning device based on the LM algorithm provided in an embodiment of this application. Figure 2 As shown, the optical satellite positioning device 200 based on the LM algorithm includes a first vector determination module 201, a function determination module 202, a matrix determination module 203, and an iterative optimization module 204.

[0084] The first vector determination module 201 is used to detect the preliminary attitude quaternion and preliminary optical satellite vector of the carrier through the optical detection device installed on the carrier, and determine the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system according to the preliminary attitude quaternion, the preliminary optical satellite vector and the preset first calculation method.

[0085] The function determination module 202 is used to construct a nonlinear objective function about the longitude and latitude of the carrier based on a preset second calculation method, satellite ephemeris and first optical satellite vector;

[0086] The matrix determination module 203 is used to calculate the Jacobian matrix of the nonlinear objective function based on a preset third calculation method.

[0087] The iterative optimization module 204 is used to perform LM iterative optimization on the nonlinear objective function based on the preset fourth calculation method and Jacobian matrix when the nonlinear objective function does not meet the preset threshold conditions, so as to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold conditions.

[0088] Optionally, the first vector determination module 201 is specifically used for:

[0089] The initial attitude quaternion and initial optical satellite vector of the carrier are detected by the optical detection equipment set on the carrier, and the first calculation parameters corresponding to the first calculation method are obtained.

[0090] Based on the first calculation method and the updated parameters in the first calculation parameters, determine the first transformation quaternion of the carrier from the inertial coordinate system to the geocentric-ground-fixed coordinate system at the current moment;

[0091] The first optical satellite vector is determined based on the first transformation quaternion, the first calculation method, the vector calculation parameters in the first calculation parameters, and the preliminary optical satellite vector.

[0092] Optionally, the vector calculation parameters include the second transformation quaternion from the carrier coordinate system to the inertial coordinate system. Specifically, the first vector determination module 201, when determining the first optical satellite vector based on the first transformation quaternion, the first calculation method, the vector calculation parameters in the first calculation parameters, and the preliminary optical satellite vector, is used for:

[0093] Based on the first calculation method, the tensor product of the second transformation quaternion and the first transformation quaternion is determined, and the tensor product is determined as the third transformation quaternion of the carrier from the carrier coordinate system to the geocentric geofixed coordinate system;

[0094] The first optical satellite vector is determined based on the third transformation quaternion and the preliminary optical satellite vector.

[0095] Optionally, the function determination module 202 is specifically used for:

[0096] Obtain the second calculation parameters corresponding to the second calculation method;

[0097] Based on the observation parameters in the second calculation parameters and the first optical satellite vector, determine the equivalent observation value of the first optical satellite vector;

[0098] Find the optical satellite orbital coordinates in the geocentric-ground-fixed coordinate system from the satellite ephemeris;

[0099] Based on the actual calculation parameters in the second calculation parameters and the orbital coordinate information of the optical satellite, determine the equivalent calculated value of the first optical satellite vector;

[0100] The nonlinear objective function is determined based on the equivalent observed values ​​and the equivalent calculated values.

[0101] Optionally, the iterative optimization module 204 is further used for:

[0102] Based on the Jacobian matrix, equivalent observations, and equivalent calculated values, the measurement matrix and measurement vector of the nonlinear objective function are determined.

[0103] Optionally, the iterative optimization module 204 is further used for:

[0104] When the nonlinear objective function does not meet the preset threshold condition, obtain the fourth calculation parameter corresponding to the fourth calculation method;

[0105] For any LM iteration optimization, the increment to be optimized for any iteration optimization is determined based on the fourth calculation method, measurement vector, measurement matrix and the incremental calculation parameters in the fourth calculation parameters;

[0106] Based on the fourth calculation method, the increment to be optimized, and the variable calculation parameters in the fourth calculation parameters, determine the variable to be optimized for any iteration of optimization.

[0107] The updated longitude and latitude are determined based on the variables to be optimized, the Jacobian matrix, and the nonlinear objective function, so as to determine the target location of the carrier according to the updated longitude and latitude that meet the preset threshold conditions.

[0108] Optionally, the iterative optimization module 204, in determining the updated longitude and latitude based on the variables to be optimized, the Jacobian matrix, and the nonlinear objective function, and using the updated longitude and latitude that satisfy a preset threshold condition to determine the target location of the carrier, is specifically used for:

[0109] The nonlinear objective function and Jacobian matrix are updated based on the variables to be optimized in order to determine the new measurement matrix and the new measurement vector, and to determine the updated longitude and latitude.

[0110] The updated longitude and latitude that meet the preset threshold conditions are determined as the target location.

[0111] The device performs functions similar to those described above; other functions are described in the preceding descriptions and will not be repeated here.

[0112] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 3 As shown, the electronic device 300 of this embodiment may include a memory 301 and a processor 302.

[0113] The memory 301 stores a computer program, which, when executed by the processor 302, causes the processor 302 to perform the method described in the above embodiments.

[0114] The processor 302 and the memory 301 are connected, for example, via a bus.

[0115] Optionally, the electronic device 300 may also include a transceiver. It should be noted that in practical applications, the transceiver is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of this application.

[0116] Processor 302 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 302 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0117] A bus can include a pathway for transmitting information between the aforementioned components. The bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in the diagram, but this does not imply that there is only one bus or one type of bus.

[0118] The memory 301 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0119] The memory 301 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 302. The processor 302 is used to execute the application code stored in the memory 301 to implement the content shown in the foregoing method embodiments.

[0120] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0121] The electronic device in this embodiment can be used to execute the method of any of the above embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0122] This application also provides a non-transitory computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a processor, cause the processor to perform the method as described in the above embodiments.

[0123] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a non-transitory computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0124] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An optical satellite positioning method based on the LM algorithm, characterized in that, include: The initial attitude quaternion and initial optical satellite vector of the carrier are detected by optical detection equipment installed on the carrier, and the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system is determined according to the initial attitude quaternion, the initial optical satellite vector and the preset first calculation method. Based on the preset second calculation method, satellite ephemeris and the first optical satellite vector, a nonlinear objective function about the longitude and latitude of the carrier is constructed; Based on a preset third calculation method, the Jacobian matrix of the nonlinear objective function is calculated; If the nonlinear objective function does not meet the preset threshold condition, the nonlinear objective function is optimized by LM iteration based on the preset fourth calculation method and the Jacobian matrix, so as to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold condition.

2. The method according to claim 1, characterized in that, The step of detecting the preliminary attitude quaternion and preliminary optical satellite vector of the carrier through an optical detection device installed on the carrier, and determining the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system based on the preliminary attitude quaternion, the preliminary optical satellite vector, and a preset first calculation method, includes: The initial attitude quaternion and initial optical satellite vector of the carrier are detected by the optical detection equipment installed on the carrier, and the first calculation parameters corresponding to the first calculation method are obtained. Based on the first calculation method and the update parameter in the first calculation parameter, determine the first transformation quaternion of the carrier from the inertial coordinate system to the geocentric coordinate system at the current moment; The first optical satellite vector is determined based on the first transformation quaternion, the first calculation method, the vector calculation parameters in the first calculation parameters, and the preliminary optical satellite vector.

3. The method according to claim 2, characterized in that, The vector calculation parameters include the second transformation quaternion of the carrier from the carrier coordinate system to the inertial coordinate system; The step of determining the first optical satellite vector based on the first transformed quaternion, the first calculation method, the vector calculation parameters in the first calculation parameters, and the preliminary optical satellite vector includes: Based on the first calculation method, the tensor product of the second transformation quaternion and the first transformation quaternion is determined, and the tensor product is determined as the third transformation quaternion of the carrier from the carrier coordinate system to the geocentric coordinate system; The first optical satellite vector is determined based on the third transformed quaternion and the preliminary optical satellite vector.

4. The method according to claim 1, characterized in that, The nonlinear objective function constructed based on the preset second calculation method, satellite ephemeris, and the first optical satellite vector, concerning the longitude and latitude of the carrier, includes: Obtain the second calculation parameters corresponding to the second calculation method; Based on the observation parameters in the second calculation parameters and the first optical satellite vector, determine the equivalent observation value of the first optical satellite vector; Find the optical satellite orbital coordinates in the geocentric-ground-fixed coordinate system from the satellite ephemeris; Based on the actual calculation parameters in the second calculation parameters and the orbital coordinate information of the optical satellite, the equivalent calculated value of the first optical satellite vector is determined; The nonlinear objective function is determined based on the equivalent observed values ​​and the equivalent calculated values.

5. The method according to claim 4, characterized in that, The step of performing LM iterative optimization on the nonlinear objective function based on a preset fourth calculation method and the Jacobian matrix when the nonlinear objective function does not meet the preset threshold condition, in order to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold condition, further includes: The measurement matrix and measurement vector of the nonlinear objective function are determined based on the Jacobian matrix, the equivalent observations, and the equivalent calculated values.

6. The method according to claim 5, characterized in that, The step of performing LM iterative optimization on the nonlinear objective function based on a preset fourth calculation method and the Jacobian matrix when the nonlinear objective function does not meet the preset threshold condition, so as to determine the target location of the carrier by the longitude and latitude that meet the preset threshold condition, further includes: When the nonlinear objective function does not meet the preset threshold condition, the fourth calculation parameter corresponding to the fourth calculation method is obtained; For any LM iteration optimization, the increment to be optimized for any iteration optimization is determined based on the fourth calculation method, the measurement vector, the measurement matrix, and the incremental calculation parameters in the fourth calculation parameters. Based on the fourth calculation method, the increment to be optimized, and the variable calculation parameters in the fourth calculation parameters, determine the variable to be optimized for any one iteration of optimization. Based on the variables to be optimized, the Jacobian matrix, and the nonlinear objective function, updated longitude and latitude are determined, so as to determine the target location of the carrier according to the updated longitude and latitude that satisfy the preset threshold condition.

7. The method according to claim 6, characterized in that, The step of determining updated longitude and latitude based on the variable to be optimized, the Jacobian matrix, and the nonlinear objective function, and then determining the target location of the carrier according to the updated longitude and latitude satisfying the preset threshold condition, includes: The nonlinear objective function and the Jacobian matrix are updated based on the variables to be optimized to determine the updated measurement matrix and the updated measurement vector, and the updated longitude and latitude are determined. The updated longitude and latitude that meet the preset threshold conditions are determined as the target location.

8. An optical satellite positioning device based on the LM algorithm, characterized in that, include: The first vector determination module is used to detect the preliminary attitude quaternion and preliminary optical satellite vector of the carrier through an optical detection device installed on the carrier, and determine the first optical satellite vector of the carrier in the geocentric-ground-fixed coordinate system based on the preliminary attitude quaternion, the preliminary optical satellite vector and a preset first calculation method. The function determination module is used to construct a nonlinear objective function about the longitude and latitude of the carrier based on a preset second calculation method, satellite ephemeris and the first optical satellite vector; The matrix determination module is used to calculate the Jacobian matrix of the nonlinear objective function based on a preset third calculation method. The iterative optimization module is used to perform LM iterative optimization on the nonlinear objective function based on a preset fourth calculation method and the Jacobian matrix when the nonlinear objective function does not meet the preset threshold condition, so as to determine the target position of the carrier according to the longitude and latitude that meet the preset threshold condition.

9. An electronic device, characterized in that, include: processor; A memory storing a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-6.

10. A non-transitory computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-6.

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