Ultra-short baseline positioning method based on virtual transceiver array

Abstract

The invention discloses an ultra-short baseline positioning method based on a virtual transceiver array, and belongs to the technical field of underwater acoustic target navigation and positioning. The method comprises the steps that a ship end is provided with an entity transceiver and obtains position information; the mobile terminal is provided with a transponder and a Doppler log, obtains the distance information between the entity transceiver and the transponder and the speed information of the mobile terminal, and solves the error-containing initial position information of the transponder; after multiple times of periodic distance measurement, the position of the virtual transceiver is adopted and calculated, the position information of the virtual transceiver array is obtained, and the virtual transceiver array is constructed; and setting the error-containing initial position information of the transponder as an iteration initial value, substituting and solving the high-precision position information of the transponder by adopting an iteration suppression algorithm, and obtaining the real-time position information of the mobile terminal. According to the ultra-short baseline positioning method based on the virtual transceiver array provided by the invention, high-precision positioning in a low signal-to-noise ratio environment can be realized without newly adding hardware.

Description

Technical Field

[0001] This invention belongs to the field of underwater acoustic target navigation and positioning technology, and particularly relates to an ultra-short baseline positioning method based on a virtual transceiver array. Background Technology

[0002] Underwater acoustic navigation and positioning systems are key support for underwater operations, target tracking, and equipment navigation. Their positioning accuracy, stability, and ease of engineering deployment are the core technical indicators.

[0003] Existing underwater acoustic positioning technologies are mainly divided into three categories: long baseline, short baseline, and ultra-short baseline. Long baseline positioning has high accuracy, but requires the deployment of arrays over a large area, which is complex and slow in response. Short baseline positioning requires the deployment of multiple array units at the carrier end, making system integration difficult and engineering applications cumbersome. Ultra-short baseline positioning is widely used due to its small size and ease of installation, but its array size is limited, resulting in insufficient positioning accuracy when used alone. Furthermore, the complex marine environment easily interferes with underwater acoustic signals, making it difficult to achieve stable communication and positioning under low signal-to-noise ratios, thus failing to meet the requirements for high-precision positioning.

[0004] To address the aforementioned issues, an ultra-short baseline (USB) positioning method based on binary short baselines has been proposed. This method enhances array sensing capabilities by adding transceivers to construct a binary short baseline architecture, thereby improving positioning accuracy to some extent. However, this approach requires additional hardware transceiver units, leading to increased system complexity and deployment / maintenance costs. It fails to balance accuracy, portability, and environmental adaptability. Therefore, there is an urgent need for an USB positioning method that requires no additional hardware, is simpler to implement in engineering, and can achieve high-precision and stable positioning even at low signal-to-noise ratios. Summary of the Invention

[0005] In view of the shortcomings of the related technologies, the purpose of this invention is to provide an ultra-short baseline positioning method based on a virtual transceiver array to solve the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An ultra-short baseline (USB) positioning method based on a virtual transceiver array employs an USB positioning system, which includes a physical transceiver and a transponder. The method comprises the following steps: S1. Install a physical transceiver at the bow of the ship and obtain the location information of the physical transceiver. By installing a transponder and a Doppler logger on the mobile device, the ultra-short baseline positioning system obtains the distance information between the physical transceiver and the transponder for each ranging cycle through periodic ranging. And calculate the initial position information of the transponder including the error. The Doppler odometer synchronously acquires speed information from the mobile device. And transmit it to the physical transceiver; S2. After completing at least three periodic ranging measurements, use the position information from the physical transceiver. Speed ​​information from mobile devices Calculate the location of the virtual transceiver Obtain the location information of the virtual transceiver array. To construct a virtual transceiver array; S3. Transfer the initial position information of the transponder, including the error. Assuming the initial values ​​for iteration, an iterative suppression algorithm based on damped diagonal elements is employed, incorporating the position information of the virtual transceiver array. and distance information between physical transceivers and transponders Solving for the high-precision position information of the transponder yields the real-time position information of the mobile device. .

[0007] In some embodiments, step S2 specifically includes: S21, in the During each ranging cycle, the position information of the physical transceiver is: The location information of the mobile device is The speed information of the mobile device is Then the first The location information of the mobile terminal for each ranging cycle is:

[0008] in, This is the sequence number for periodic distance measurement. , For the ranging period, , , This refers to the motion displacement parameters of the mobile device within a single ranging cycle. S22, regarding the first The ranging cycle and the first For each ranging cycle, the acoustic ranging observation equation is constructed as follows:

[0009] The first Substituting the position information of the mobile terminal in each ranging cycle into the acoustic ranging observation equation yields:

[0010] The motion displacement parameters of the mobile device within a single ranging cycle are transferred to the physical transceiver to obtain the position of the virtual transceiver. ,in, , , ; S23. Repeat the calculation logic of step S22 until the position of the virtual transceiver corresponding to all ranging cycles is obtained.

[0011] In some embodiments, step S2 further includes: S24. Obtain and record Distance information corresponding to each ranging cycle Speed ​​information on mobile devices When the mobile device is in location At that time, establish the location of the virtual transceiver. Location of physical transceiver Relationships:

[0012] in, , For the first Speed ​​information of the mobile device corresponding to each ranging cycle; S25. Integrate the positions of virtual transceivers corresponding to all ranging cycles. Obtain the location information of the virtual transceiver array. This leads to the construction of a virtual transceiver array.

[0013] In some embodiments, step S3 specifically includes: S31. Construct the ranging equation as the distance constraint condition for the iterative suppression algorithm based on damped diagonal elements; S32. Based on the ranging equation, construct the Jacobian matrix and error matrix required for iteration; S33. Construct the incremental normal equation using the Jacobian matrix and the error matrix to solve for the iterative correction and update the position information of the transponder; S34. Determine whether the iteration meets the termination condition. If it does, output the high-precision position information of the transponder. If it does not, adjust the iteration coefficient and return to step S32 to iterate again.

[0014] In some embodiments, in step S31, based on the location information of the virtual transceiver array... Distance information between physical transceivers and transponders , construct the first Distance measurement equation for one ranging cycle:

[0015] in, This provides the high-precision position information of the transponder to be calculated.

[0016] In some embodiments, the initial value of the iteration is... In step S32, let The first high-precision position information of the transponder to be calculated The results of the next iteration are used to construct the Jacobian matrix. With error matrix :

[0017] in, , , , , , This is the theoretical distance obtained by substituting the current iteration position into the ranging equation.

[0018] In some embodiments, step S33 specifically includes: S331. Construct the incremental normal equation:

[0019] in, It is the identity matrix. These are the iteration coefficients; S332. Solve the incremental normal equation to obtain the iterative correction amount for the transponder position. ; S333, Update the iteration position based on the iteration correction amount: Calculate the current iteration error Corrected error ; like Then let the position of the responder in the next iteration be... ; like Then keep the current iteration position. And adjust the iteration coefficients Return to step S32 to reconstruct the matrix and continue iterating, where, It is an adjustment factor greater than 1.

[0020] In some embodiments, step S34 specifically involves setting a preset error threshold. ,judge: If the iterative correction amount If the iteration stops, then... This refers to the high-precision position information of the transponder; If the iterative correction amount Then adjust the iteration coefficients. Return to step S32 to rebuild the matrix and continue iterating until the termination condition is met.

[0021] In some embodiments, step S3 further includes step S35: for the first For each ranging cycle, steps S31 to S34 are executed sequentially to obtain the result. High-precision position information of the transponder for each cycle , for the For the first ranging cycle, similarly execute steps S31~S34 sequentially to obtain the first ranging cycle. High-precision position information of the transponder for each cycle The system iterates and calculates the distance measurement cycle sequentially, continuously acquiring high-precision position information of the transponder for each distance measurement cycle, and finally obtains the continuous real-time position information of the mobile terminal.

[0022] In some embodiments, in step S1, the location information of the physical transceiver... The location information is obtained in real time by rigidly connecting a BeiDou antenna to the top of the physical transceiver and setting the positioning frequency of the BeiDou antenna to match the periodic ranging period. .

[0023] Compared with the prior art, the beneficial effects of the present invention are: 1. The ultra-short baseline positioning method based on virtual transceiver array provided by this invention solves the defect of existing ultra-short baseline positioning that requires additional hardware. It eliminates the need for additional transceiver units, greatly simplifies the system structure and deployment process, significantly reduces equipment procurement and maintenance costs, and retains the advantages of ultra-short baselines such as small size and easy installation, thus meeting the actual needs of underwater operations for equipment portability and rapid deployment.

[0024] 2. The ultra-short baseline positioning method based on a virtual transceiver array provided by this invention breaks through the accuracy bottleneck of traditional ultra-short baselines due to the limitation of array size. By constructing a virtual transceiver array, the array's sensing capability is improved. Even in complex marine environments with low signal-to-noise ratios, it can still achieve high-precision and stable positioning of underwater targets, taking into account both positioning accuracy and environmental adaptability, and meeting the high-precision navigation requirements for underwater operations and target tracking. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart of an embodiment of the ultra-short baseline positioning method based on a virtual transceiver array of the present invention; Figure 2 This is a schematic diagram of a virtual transceiver array positioning method according to an embodiment of the ultra-short baseline positioning method based on a virtual transceiver array of the present invention. Figure 3This is a flowchart of an iterative suppression algorithm based on damped diagonal elements, representing an embodiment of the ultra-short baseline positioning method based on a virtual transceiver array according to the present invention. Figure 4 The simulation results of the X-axis and Y-axis positioning errors at a signal-to-noise ratio of 10dB are shown for an embodiment of the ultra-short baseline positioning method based on a virtual transceiver array according to the present invention. Figure 5 The simulation results of the X-axis and Y-axis positioning errors when the signal-to-noise ratio is 0dB, according to an embodiment of the ultra-short baseline positioning method based on a virtual transceiver array of the present invention. Figure 6 The simulation results of the X-axis and Y-axis positioning errors at a signal-to-noise ratio of -10dB are shown for one embodiment of the ultra-short baseline positioning method based on a virtual transceiver array according to the present invention. Detailed Implementation

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Example 1: See appendix Figures 1 to 6 This paper presents an illustrative embodiment of the ultra-short baseline positioning method based on a virtual transceiver array proposed in this invention. The method employs an ultra-short baseline positioning system, which includes a physical transceiver and a transponder. The ultra-short baseline positioning method based on a virtual transceiver array includes the following steps: S1. Install a physical transceiver at the bow of the ship and obtain the location information of the physical transceiver. By installing a transponder and a Doppler logger on the mobile device, the ultra-short baseline positioning system obtains the distance information between the physical transceiver and the transponder for each ranging cycle through periodic ranging. And calculate the initial position information of the transponder including the error. The Doppler odometer synchronously acquires speed information from the mobile device. And transmit it to the physical transceiver; S2. After completing at least three periodic ranging measurements, use the position information from the physical transceiver. Speed ​​information from mobile devices Calculate the location of the virtual transceiver Obtain the location information of the virtual transceiver array. To construct a virtual transceiver array; S3. Transfer the initial position information of the transponder, including the error. Assuming the initial values ​​for iteration, an iterative suppression algorithm based on damped diagonal elements is employed, incorporating the position information of the virtual transceiver array. and distance information between physical transceivers and transponders Solving for the high-precision position information of the transponder yields the real-time position information of the mobile device. .

[0030] In step S1, the location information of the physical transceiver The location information is obtained in real time by rigidly connecting a BeiDou antenna to the top of the physical transceiver and setting the positioning frequency of the BeiDou antenna to match the periodic ranging period. .

[0031] Step S2 specifically includes: S21, in the During each ranging cycle, the position information of the physical transceiver is: The location information of the mobile device is The speed information of the mobile device is Then the first The location information of the mobile terminal for each ranging cycle is:

[0032] in, This is the sequence number for periodic distance measurement. , For the ranging period, , , This refers to the motion displacement parameters of the mobile device within a single ranging cycle. S22, regarding the first The ranging cycle and the first For each ranging cycle, the acoustic ranging observation equation is constructed as follows:

[0033] The first Substituting the position information of the mobile terminal in each ranging cycle into the acoustic ranging observation equation yields:

[0034] The motion displacement parameters of the mobile device within a single ranging cycle are transferred to the physical transceiver to obtain the position of the virtual transceiver. ,in, , , ; S23. Repeat the calculation logic of step S22 until the position of the virtual transceiver corresponding to all ranging cycles is obtained.

[0035] Step S2 also includes: S24. Obtain and record Distance information corresponding to each ranging cycle Speed ​​information on mobile devices When the mobile device is in location At that time, establish the location of the virtual transceiver. Location of physical transceiver Relationships:

[0036] in, , For the first Speed ​​information of the mobile device corresponding to each ranging cycle; S25. Integrate the positions of virtual transceivers corresponding to all ranging cycles. Obtain the location information of the virtual transceiver array. This leads to the construction of a virtual transceiver array.

[0037] Step S3 specifically includes: S31. Construct the ranging equation as the distance constraint condition for the iterative suppression algorithm based on damped diagonal elements; S32. Based on the ranging equation, construct the Jacobian matrix and error matrix required for iteration; S33. Construct the incremental normal equation using the Jacobian matrix and the error matrix to solve for the iterative correction and update the position information of the transponder; S34. Determine whether the iteration meets the termination condition. If it does, output the high-precision position information of the transponder. If it does not, adjust the iteration coefficient and return to step S32 to iterate again.

[0038] In step S31, based on the location information of the virtual transceiver array Distance information between physical transceivers and transponders , construct the first Distance measurement equation for one ranging cycle:

[0039] in, This provides the high-precision position information of the transponder to be solved. The ranging equation is used to limit the distance constraints that the transponder position must satisfy during the iteration process, ensuring the accuracy of the iteration direction. Iteration initial value In step S32, let The first high-precision position information of the transponder to be calculated The results of the next iteration are used to construct the Jacobian matrix. With error matrix :

[0040] in, , , , , , This is the theoretical distance obtained by substituting the current iteration position into the ranging equation.

[0041] Step S33 specifically includes: S331. Construct the incremental normal equation:

[0042] in, It is the identity matrix. These are the iteration coefficients; S332. Solve the incremental normal equation to obtain the iterative correction amount for the transponder position. ; S333, Update the iteration position based on the iteration correction amount: Calculate the current iteration error Corrected error ; like If the error is smaller after adjustment, then the position of the transponder in the next iteration is set to... ; like If the adjustment is invalid, then the current iteration position is maintained. And adjust the iteration coefficients Solve again Return to step S32 to reconstruct the matrix and continue iterating, where, It is an adjustment factor greater than 1.

[0043] Step S34 specifically involves setting a preset error threshold. ,judge: If the iterative correction amount If the accuracy target is met, the iteration stops. This refers to the high-precision position information of the transponder; If the iterative correction amount If the accuracy is not met, the iteration coefficients will be adjusted. Return to step S32 to rebuild the matrix and continue iterating until the termination condition is met.

[0044] Step S3 also includes step S35: for the first For each ranging cycle, steps S31 to S34 are executed sequentially to obtain the result. High-precision position information of the transponder for each cycle , for the For the first ranging cycle, similarly execute steps S31~S34 sequentially to obtain the first ranging cycle. High-precision position information of the transponder for each cycle The system iterates and calculates the distance measurement cycle sequentially, continuously acquiring high-precision position information of the transponder for each distance measurement cycle, and finally obtains the continuous real-time position information of the mobile terminal.

[0045] See appendix Figure 2 This diagram illustrates the principle of the virtual transceiver array positioning method in this embodiment. It visually presents the technical process from periodic ranging by the physical transceiver on the ship to the construction of a virtual transceiver array, and then to the positioning of the mobile terminal based on the virtual transceiver array and distance information. The sea surface represents the ship's operating area, where the deployment carrier of the physical transceiver (such as a work vessel, represented by the blue trapezoid in the diagram) is located. The seabed represents the underwater operating area, the activity range of the mobile terminal (such as an underwater robot, represented by the streamlined ellipse in the diagram). , , Corresponding to the first , , During each ranging cycle, the actual position of the physical transceiver deployed at the ship's end is the position information of the physical transceiver obtained in step S1. , Corresponding to the first , Position of the physical transceiver based on the corresponding period in each ranging cycle. (or ), speed information of the underwater vehicle The calculated virtual transceiver location. and Together they form a virtual transceiver array, corresponding to step S2. , , Corresponding to the first , , The location to be located on the mobile device during each ranging cycle. , , Corresponding to the first , , The distance information between the physical transceiver or virtual transceiver and the transponder during each ranging cycle is used to provide basic constraints for positioning calculations.

[0046] In the above illustrative embodiments, the ultra-short baseline (USB) positioning method based on a virtual transceiver array solves the problem of existing USB positioning methods requiring additional hardware. It eliminates the need for additional transceiver units, significantly simplifying the system structure and deployment process, and substantially reducing equipment procurement and maintenance costs. Simultaneously, it retains the advantages of USB's small size and ease of installation, adapting to the practical needs of underwater operations for equipment portability and rapid deployment. It overcomes the accuracy bottleneck of traditional USB due to array size limitations. By constructing a virtual transceiver array to enhance array sensing capabilities, it can achieve high-precision and stable positioning of underwater targets even in complex marine environments with low signal-to-noise ratios, balancing positioning accuracy and environmental adaptability to meet the high-precision navigation requirements of underwater operations and target tracking.

[0047] The following is a specific implementation example: The ultra-short baseline positioning method based on a virtual transceiver array in this embodiment is verified using simulation data.

[0048] The parameters are as follows: The initial position coordinates of the ship's physical transceiver are set to (11, 10, 0), the initial position coordinates of the transponder are set to (-500, -700, 0), the speed is set to (1.2, 1.5, 0) (unit: m / s), the distance measurement waiting period is set to 15, and the termination control constant is set. , , .

[0049] The signal-to-noise ratio (SNR) was set to 10dB, 0dB, and -10dB respectively. The location coordinates of the transponder were tracked, and the positioning errors under different SNRs were obtained, as shown in the attached figures. Figure 4 , Figure 5 , Figure 6 As shown. See appendix. Figure 4As can be seen, when the signal-to-noise ratio is 10dB, the positioning error is generally no greater than ±1.2m, and mostly distributed within the range of ±1m; see appendix. Figure 5 As can be seen, when the signal-to-noise ratio is 0dB, the positioning error is generally no greater than ±4m, and mostly distributed within the range of ±2.5m; see appendix. Figure 6 As can be seen, when the signal-to-noise ratio is -10dB, the positioning error is basically no greater than ±10m, and is mostly distributed within the range of ±5m.

[0050] In summary, the ultra-short baseline positioning method based on a virtual transceiver array in this embodiment can achieve high-precision positioning even at a low signal-to-noise ratio.

[0051] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A method for ultra-short baseline positioning based on a virtual transceiver array, using an ultra-short baseline positioning system comprising physical transceivers and transponders, characterized in that, The method comprises the following steps: S1, install the physical transceiver at the ship end, and acquire position information of the physical transceiver ; The transponder and Doppler log are installed on the mobile terminal, and the ultra-short baseline positioning system obtains distance information between the solid transceiver and the transponder corresponding to each ranging period through periodic ranging , and calculates the initial position information of the transponder with errors ; the Doppler log synchronously obtains the speed information of the mobile terminal , and transmits it to the solid transceiver S2, after completing at least three of said periodic ranging, using the position information of said physical transceivers with the speed information of said mobile terminal calculating the position of a virtual transceiver , obtaining position information of a virtual transceiver array to construct a virtual transceiver array; S3, obtaining the initial position information of the transponder with errors Set as an iterative initial value, an iterative suppression algorithm based on a damping diagonal element is adopted, and the position information of the virtual transceiver array is substituted And the distance information of the solid transceiver and the transponder Solve the high-precision position information of the transponder, that is, obtain the real-time position information of the mobile terminal .

2. The virtual transceiver array based ultra-short baseline positioning method according to claim 1, wherein, Step S2 specifically comprises: S21, in the first ranging period, the position information of the entity transceiver is , the position information of the mobile terminal is , and the speed information of the mobile terminal is , then the position information of the mobile terminal in the first ranging period is wherein, a sequence number for periodic ranging, , a ranging period, , , a motion displacement parameter of the mobile terminal in a single ranging period; S22, for the first ranging cycle and the second ranging cycle, the acoustic ranging observation equation is constructed as The first Substituting the position information of the mobile terminal in each ranging cycle into the acoustic ranging observation equation yields: transferring the motion displacement parameters of the mobile terminal in a single ranging period to the physical transceiver, thereby obtaining the position of the virtual transceiver wherein, , , ; S23, repeatedly execute the calculation logic of step S22 until the positions of the virtual transceivers corresponding to all ranging periods are obtained.

3. The virtual transceiver array based ultra-short baseline positioning method according to claim 2, wherein, Step S2 further comprises: S24. Obtain and record Distance information corresponding to each ranging cycle Speed ​​information on mobile devices When the mobile device is in location At that time, establish the location of the virtual transceiver. Location of physical transceiver Relationships: in, , For the first Speed ​​information of the mobile device corresponding to each ranging cycle; S25, integrate the positions of the virtual transceivers corresponding to all ranging periods to obtain position information of the virtual transceiver array and further construct the virtual transceiver array.

4. The virtual transceiver array based ultra-short baseline positioning method according to claim 3, wherein, Step S3 specifically comprises: S31, construct a ranging equation as a distance constraint condition of the iteration suppression algorithm based on the damping diagonal element; S32, based on the ranging equation, construct a Jacobian matrix and an error matrix required for iteration; S33, construct an increment normal equation through the Jacobian matrix and the error matrix to solve an iteration correction amount and update the position information of the transponder; S34, judge whether the iteration meets a termination condition, if yes, output high-precision position information of the transponder, if not, return to step S32 for reiteration after adjusting an iteration coefficient.

5. The virtual transceiver array based ultra-short baseline positioning method according to claim 4, wherein, In step S31, a ranging equation for the first ranging cycle is constructed based on the position information of the virtual transceiver array , the distance information of the physical transceiver and the transponder ​​ wherein, is the high-precision position information of the transponder to be solved.

6. The virtual transceiver array based ultra-short baseline positioning method according to claim 5, wherein, Iteration initial value In step S32, let The first high-precision position information of the transponder to be calculated The results of the next iteration are used to construct the Jacobian matrix. With error matrix : wherein, , , , , , is the theoretical distance of the ranging equation with the current iteration position.

7. The virtual transceiver array based ultra-short baseline positioning method according to claim 6, wherein, Step S33 specifically comprises: S331, construct an increment normal equation: wherein is the identity matrix, is an iteration coefficient; S332, solve the incremental normal equation to obtain an iterative correction of the transponder position ; S333, update the iteration position based on the iteration correction amount: compute current iteration error , modified error ; If , then let the transponder position for the next iteration be ; If then the current iteration position is maintained and the iteration coefficient is adjusted and the process returns to step S32 to reconstruct the matrix and continue the iteration, wherein is an adjustment coefficient greater than 1.

8. The virtual transceiver array based ultra-short baseline positioning method according to claim 7, wherein, Step S34 is specifically, preset error threshold , determine: If the iteration correction amount is 0, then the iteration is stopped, and the high-precision position information of the transponder at this time is . If the iteration correction amount , the iteration coefficient is adjusted , and the matrix is reconstructed and the iteration is continued until the termination condition is met.

9. The virtual transceiver array based ultra-short baseline positioning method according to claim 8, wherein, Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period Step S3 further comprises step S35: sequentially performing steps S31-S34 for the first ranging period to obtain high-precision position information of the transponder in the first period 10. The virtual transceiver array based ultra-short baseline positioning method according to claim 1, wherein, In step S1, the position information of the entity transceiver By the following way: the Beidou antenna is hard-connected and installed at the upper end of the entity transceiver, and the positioning frequency of the Beidou antenna is set to be matched with the period of the periodic ranging, so as to obtain the position information of the entity transceiver corresponding to each ranging period in real time .

Images