Ultra-short baseline positioning method based on virtual transceiver array

Abstract

The application discloses a kind of based on virtual transceiver matrix's ultra-short baseline positioning method, belong to underwater acoustic target navigation positioning technical field.Method is: ship end installs entity transceiver and obtains position information;Mobile terminal installs transponder and Doppler log, obtains the distance information of entity transceiver and transponder, the speed information of mobile terminal, solves the initial position information of transponder containing error;After multiple periodic ranging, the position of virtual transceiver is calculated, the position information of virtual transceiver matrix is obtained, and virtual transceiver matrix is constructed;The initial position information of transponder containing error is regarded as iterative initial value, high-precision position information of transponder is solved by using iterative suppression algorithm, and the real-time position information of mobile terminal is obtained.The ultra-short baseline positioning method based on virtual transceiver matrix provided by the application can realize high-precision positioning in low signal-to-noise ratio environment without adding new hardware.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater acoustic target navigation and positioning, and particularly relates to an ultra-short baseline positioning method based on a virtual transceiver array. BACKGROUND

[0002] An underwater acoustic navigation and positioning system is a key support for underwater operation, target tracking and equipment navigation, and its positioning accuracy, stability and engineering deployment convenience are core technical indicators.

[0003] Existing underwater acoustic positioning technologies are mainly divided into long baseline, short baseline and ultra-short baseline. The long baseline positioning has high accuracy, but requires a large range of array deployment, and the array deployment process is complex and slow in response. The short baseline requires multiple array units to be arranged on the carrier end, and the system integration is difficult and the engineering application is complicated. The ultra-short baseline is widely used due to its small size and easy installation, but its array size is limited, and the positioning accuracy is insufficient when used alone. In addition, the complex marine environment easily interferes with the underwater acoustic signal, and it is difficult to achieve stable communication and positioning under low signal-to-noise ratio, which cannot meet the high-precision positioning requirements.

[0004] To improve the above problems, an ultra-short baseline positioning method based on a binary short baseline has been proposed. This method improves the array sensing capability by adding a transceiver to construct a binary short baseline architecture, which improves the positioning accuracy to a certain extent. However, this scheme requires additional hardware transceiver units, resulting in increased system complexity and deployment and maintenance costs, and cannot balance precision, portability and environmental adaptability. Therefore, there is an urgent need for an ultra-short baseline positioning method that does not require additional hardware, is more convenient for engineering application, and can achieve high-precision stable positioning under low signal-to-noise ratio. SUMMARY

[0005] In view of the deficiencies in the related art, the present application aims to provide an ultra-short baseline positioning method based on a virtual transceiver array to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] An ultra-short baseline positioning method based on a virtual transceiver array, using an ultra-short baseline positioning system, the ultra-short baseline positioning system comprising a physical transceiver and a transponder, the method comprising the following steps:

[0008] S1, installing a physical transceiver at the ship end, and obtaining the position information of the physical transceiver ; installing a transponder and a Doppler log at the mobile end, the ultra-short baseline positioning system periodically measures the distance between the physical transceiver and the transponder corresponding to each measurement period , and calculates the initial position information of the transponder with errors The Doppler odometer synchronously acquires speed information from the mobile device. And transmit it to the physical transceiver;

[0009] 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;

[0010] 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. .

[0011] In some embodiments, step S2 specifically includes:

[0012] 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:

[0013]

[0014] 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.

[0015] S22, regarding the first The ranging cycle and the first For each ranging cycle, the acoustic ranging observation equation is constructed as follows:

[0016]

[0017] The first Substituting the position information of the mobile terminal in each ranging cycle into the acoustic ranging observation equation yields:

[0018]

[0019] The motion displacement parameters of the mobile terminal in a single ranging period are transferred to the physical transceiver, so as to obtain the position of the virtual transceiver , wherein , , ;

[0020] S23, the calculation logic of step S22 is repeatedly performed until the positions of the virtual transceivers corresponding to all the ranging periods are obtained.

[0021] In some embodiments, step S2 further comprises:

[0022] S24, the distance information corresponding to the ranging period and the speed information of the mobile terminal are obtained and recorded . When the mobile terminal is at a position , the position of the virtual transceiver is associated with the position of the physical transceiver:

[0023]

[0024] , wherein , is the speed information of the mobile terminal corresponding to the th ranging period;

[0025] S25, the positions of the virtual transceivers corresponding to all the ranging periods are integrated to obtain the position information of the virtual transceiver array , and then the virtual transceiver array is constructed.

[0026] In some embodiments, step S3 specifically comprises:

[0027] S31, a ranging equation is constructed as a distance constraint condition of the iterative suppression algorithm based on the damping diagonal element;

[0028] S32, based on the ranging equation, a Jacobian matrix and an error matrix required for iteration are constructed;

[0029] S33, an incremental normal equation is constructed by the Jacobian matrix and the error matrix to solve the iteration correction amount and update the position information of the transponder;

[0030] S34, it is judged whether the iteration meets the termination condition, if yes, the high-precision position information of the transponder is output, if not, the iteration coefficient is adjusted and the step S32 is returned to re-iterate.

[0031] In some embodiments, in step S31, based on the position information of the virtual transceiver array​​​ Distance information between physical transceivers and transponders , construct the first Distance measurement equation for one ranging cycle:

[0032]

[0033] in, This provides the high-precision position information of the transponder to be calculated.

[0034] 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 :

[0035]

[0036] in, , , , , , This is the theoretical distance obtained by substituting the current iteration position into the ranging equation.

[0037] In some embodiments, step S33 specifically includes:

[0038] S331. Construct the incremental normal equation:

[0039]

[0040] in, It is the identity matrix. These are the iteration coefficients;

[0041] S332. Solve the incremental normal equation to obtain the iterative correction amount for the transponder position. ;

[0042] S333, Update the iteration position based on the iteration correction amount:

[0043] Calculate the current iteration error Corrected error ;

[0044] like Then let the position of the responder in the next iteration be... ;

[0045] like Then keep the current iteration position. And adjust the iteration coefficients , return to step S32 to reconstruct the matrix and continue iteration, wherein, is an adjustment coefficient greater than 1.

[0046] In some embodiments, step S34 is specifically, a preset error threshold is determined.

[0047] If the iterative correction amount , the iteration is stopped, and the at this time is the high-precision position information of the transponder;

[0048] If the iterative correction amount , the iteration coefficient is adjusted, and the iteration is returned to step S32 to reconstruct the matrix and continue iteration until the termination condition is met.

[0049] In some embodiments, step S3 further includes step S35: for the first ranging period, steps S31-S34 are sequentially executed to obtain the high-precision position information of the transponder in the first period. For the first ranging period, steps S31-S34 are sequentially executed in the same way to obtain the high-precision position information of the transponder in the first period. The high-precision position information of the transponder in each ranging period is iteratively solved in time sequence, and the continuous real-time position information of the mobile terminal is finally obtained.

[0050] In some embodiments, in step S1, the position information of the physical transceiver is obtained by the following way: a Beidou antenna is hard-connected and installed at the upper end of the physical transceiver, and the positioning frequency of the Beidou antenna is set to be adapted to the period of the periodic ranging, so as to obtain the position information of the physical transceiver corresponding to each ranging period .

[0051] Compared with the prior art, the present application has the following advantages:

[0052] 1. The ultra-short baseline positioning method based on the virtual transceiver array provided by the present application solves the defect that the existing ultra-short baseline positioning needs to add hardware, does not need to additionally arrange a transceiving unit, greatly simplifies the system structure and deployment process, significantly reduces the equipment procurement and maintenance cost, while retaining the advantages of small size, easy installation of the ultra-short baseline, and adapting to the actual needs of underwater operation for equipment portability and rapid deployment.

[0053] 2. The virtual transceiver array based ultra-short baseline positioning method breaks through the precision bottleneck of the traditional ultra-short baseline due to the limited array scale, improves the array sensing capability by constructing a virtual transceiver array, and can realize high-precision stable positioning of underwater targets even in a complex marine environment with low signal-to-noise ratio, and meets the high-precision navigation requirements of underwater operation and target tracking. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0055] Figure 1 A method flowchart of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application;

[0056] Figure 2 A virtual transceiver array positioning method principle diagram of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application;

[0057] Figure 3 A damping diagonal element based iterative suppression algorithm flowchart of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application;

[0058] Figure 4 X-axis and Y-axis positioning error simulation results when the signal-to-noise ratio is 10dB of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application;

[0059] Figure 5 X-axis and Y-axis positioning error simulation results when the signal-to-noise ratio is 0dB of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application;

[0060] Figure 6 X-axis and Y-axis positioning error simulation results when the signal-to-noise ratio is -10dB of an embodiment of the virtual transceiver array based ultra-short baseline positioning method of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0062] In the description of the present application, it needs to be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0063] In the description of the present application, it needs to be understood that the terms "installation", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] Embodiment 1:

[0065] Referring to the accompanying Figures 1 to 6 , an exemplary embodiment of the ultra-short baseline positioning method based on the virtual transceiver array is given, which adopts an ultra-short baseline positioning system, the ultra-short baseline positioning system includes a physical transceiver and a transponder, the ultra-short baseline positioning method based on the virtual transceiver array includes the following steps:

[0066] S1, installing a physical transceiver at the ship end, obtaining the position information of the physical transceiver ; installing a transponder and a Doppler log at the mobile end, the ultra-short baseline positioning system obtains the distance information of the physical transceiver and the transponder corresponding to each ranging period through periodic ranging , and calculates the initial position information of the transponder with error ; the Doppler log synchronously obtains the speed information of the mobile end , and transmits it to the physical transceiver;

[0067] S2, after completing at least three times of periodic ranging, using the position information of the physical transceiver and the speed information of the mobile end , calculating the position of the virtual transceiver , obtaining the position information of the virtual transceiver array , to construct the virtual transceiver array;

[0068] S3, setting the initial position information of the transponder with error as the iteration initial value, using the iteration suppression algorithm based on the damping diagonal element, and substituting the position information of the virtual transceiver array And entity transceiver and distance information of transponder , solve the high-precision position information of the transponder, that is, obtain the real-time position information of the mobile terminal .

[0069] In step S1, the position information of the entity transceiver Obtained by: hard connecting the Beidou antenna at the upper end of the entity transceiver, and setting the positioning frequency of the Beidou antenna to adapt to the period of periodic ranging, so as to obtain the position information of the entity transceiver corresponding to each ranging period in real time .

[0070] Step S2 specifically includes:

[0071] 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 The position information of the mobile terminal in the first Ranging period is:

[0072]

[0073] Wherein, Is the serial number of periodic ranging, , Is the ranging period, , , Is the motion displacement parameter of the mobile terminal in a single ranging period;

[0074] S22, for the first Ranging period and the second Ranging period, the acoustic ranging observation equation is constructed as:

[0075]

[0076] Substitute the position information of the mobile terminal in the first Ranging period into the acoustic ranging observation equation to obtain:

[0077]

[0078] The motion displacement parameter of the mobile terminal in a single ranging period is transferred to the entity transceiver, so as to obtain the position Of the virtual transceiver, wherein, , , ;

[0079] S23, repeat the calculation logic of step S22 until the positions of the virtual transceivers corresponding to all ranging periods are obtained.

[0080] Step S2 further includes:

[0081] S24, obtain and record distance information corresponding to the i-th ranging period and speed information of the mobile terminal When the mobile terminal is at position , establish the association between the position of the virtual transceiver and the position of the physical transceiver:

[0082]

[0083] wherein, , is the speed information of the mobile terminal corresponding to the i-th ranging period;

[0084] S25, integrate the positions of the virtual transceivers corresponding to all ranging periods to obtain the position information of the virtual transceiver array and further construct the virtual transceiver array.

[0085] Step S3 specifically includes:

[0086] S31, construct a ranging equation as a distance constraint condition for the iterative suppression algorithm based on the damping diagonal element;

[0087] S32, based on the ranging equation, construct a Jacobian matrix and an error matrix required for iteration;

[0088] S33, construct an incremental normal equation through the Jacobian matrix and the error matrix to solve the iteration correction amount and update the position information of the transponder;

[0089] S34, judge whether the iteration meets the termination condition, if yes, output the high-precision position information of the transponder, if not, return to step S32 for re-iteration after adjusting the iteration coefficient.

[0090] In step S31, based on the position information of the virtual transceiver array , the distance information of the physical transceiver and the transponder , construct the ranging equation of the i-th ranging period:

[0091]

[0092] wherein, ​​​​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.

[0093] 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 :

[0094]

[0095] in, , , , , , This is the theoretical distance obtained by substituting the current iteration position into the ranging equation.

[0096] Step S33 specifically includes:

[0097] S331. Construct the incremental normal equation:

[0098]

[0099] in, It is the identity matrix. These are the iteration coefficients;

[0100] S332. Solve the incremental normal equation to obtain the iterative correction amount for the transponder position. ;

[0101] S333, Update the iteration position based on the iteration correction amount:

[0102] Calculate the current iteration error Corrected error ;

[0103] like If the error is smaller after adjustment, then the position of the transponder in the next iteration is set to... ;

[0104] 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.

[0105] Step S34 is specifically, preset error threshold , determine:

[0106] If the iterative correction amount , represents the accuracy of the standard, stop iteration, the is the high-precision position information of the transponder;

[0107] If the iterative correction amount , represents the accuracy of the standard, adjust the iteration coefficient , return to step S32 to re-construct the matrix and continue iteration until the termination condition is met.

[0108] Step S3 also includes step S35: for the first ranging period, steps S31-S34 are executed in turn to obtain the high-precision position information of the transponder in the first period , for the first ranging period, similarly, steps S31-S34 are executed in turn to obtain the high-precision position information of the transponder in the first period , the high-precision position information of the transponder in each ranging period is obtained by iterative solution in time sequence, and the continuous real-time position information of the mobile terminal is finally obtained.

[0109] Referring to the accompanying Figure 2 , the virtual transceiver array positioning method principle diagram of the present embodiment intuitively presents the technical process from periodic ranging of the ship-end entity transceiver, to construction of the virtual transceiver array, to positioning of the mobile terminal based on the virtual transceiver array and distance information. Among them, the sea surface is the ship-end operation area, which is the location of the deployment carrier (such as the operation ship, represented by the blue trapezoid in the figure) of the entity transceiver, and the seabed is the operation area of the water-borne carrier, which is the activity range of the mobile terminal (such as underwater operation robot, represented by the streamline ellipse in the figure). 、 、 correspond to the actual positions of the entity transceivers deployed at the ship end in the first 、 、 ranging period, which are the position information of the entity transceivers obtained in step S1. 、 correspond to the virtual transceiver positions calculated based on the position (or ) of the entity transceiver in the corresponding period and the speed information of the water-borne carrier in the first 、 ranging period. and The virtual transceiver array is formed by the combination of the virtual transceivers. , , correspond to the to-be-positioned positions of the mobile terminal in the first , , correspond to the to-be-positioned positions of the mobile terminal in the first , , correspond to the distance information between the physical transceivers or the virtual transceivers and the transponders in the first , , correspond to the distance information between the physical transceivers or the virtual transceivers and the transponders in the first

[0110] In the above exemplary embodiment, the ultra-short baseline positioning method based on the virtual transceiver array solves the defect that the existing ultra-short baseline positioning needs to add hardware, without the need to additionally arrange the transceiving units, greatly simplifies the system structure and deployment process, significantly reduces the equipment procurement and maintenance costs, while retaining the advantages of small size, easy installation of the ultra-short baseline, and adapting to the actual needs of the portability and rapid deployment of underwater operations. The precision bottleneck of the traditional ultra-short baseline due to the limited array size is broken through, and the array sensing capability is improved by constructing the virtual transceiver array. Even in a complex marine environment with low signal-to-noise ratio, high-precision stable positioning of underwater targets can still be achieved, taking into account positioning accuracy and environmental adaptability, and meeting the high-precision navigation needs of underwater operations and target tracking.

[0111] A specific implementation example is given below:

[0112] The ultra-short baseline positioning method based on the virtual transceiver array of the present embodiment is verified using simulation data.

[0113] First, the parameters are given as follows: the starting position coordinates of the ship-end physical transceivers are set to (11, 10, 0), the starting position coordinates of the transponders are set to (-500, -700, 0), the sailing speed is set to (1.2, 1.5, 0) (unit: m / s), the waiting ranging period is set to 15, and the termination control constant is set to: , , .

[0114] The signal-to-noise ratio is set to 10 dB, 0 dB, and -10 dB, respectively, and the position coordinates of the tracked and positioned transponders are obtained, and the positioning errors under different signal-to-noise ratios are obtained, as shown in FIGS. 1-3, respectively. Figure 4 , Figure 5 , Figure 6 Referring to FIG. 1, it can be seen that when the signal-to-noise ratio is 10 dB, the positioning error is basically not greater than ±1.2 m, and most of them are distributed within ±1 m. Figure 4 Referring to FIG. 2, it can be seen that when the signal-to-noise ratio is 0 dB, the positioning error is basically not greater than ±1.5 m, and most of them are distributed within ±1.2 m. Figure 5It can be seen that when the signal-to-noise ratio is 0dB, the positioning error is basically not greater than ±4m, and most of them are distributed within ±2.5m; see the attached Figure 6 It can be seen that when the signal-to-noise ratio is-10dB, the positioning error is basically not greater than ±10m, and most of them are distributed within ±5m.

[0115] In summary, the virtual transceiver array based ultra-short baseline positioning method of the embodiment can achieve high-precision positioning under low signal-to-noise ratio.

[0116] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to.

[0117] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit it; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical scheme of the present application, which should be covered in the technical scheme range of the present application.

Claims

1. A method for ultra-short baseline positioning based on a virtual transceiver array, employing an ultra-short baseline positioning system, wherein the ultra-short baseline positioning system includes physical transceivers and transponders, characterized in that, The method includes the following steps: S1. Install the physical transceiver at the bow of the ship and obtain the location information of the physical transceiver. ; By installing the transponder and Doppler logger on the mobile device, the ultra-short baseline positioning system acquires 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 the speed information of the mobile terminal. 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 of the mobile device 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 error-included initial position information of the transponder. Let the initial value be set, and an iterative suppression algorithm based on damped diagonal elements be used, substituting the position information of the virtual transceiver array. and the distance information between the physical transceiver and the transponder Solving for the high-precision position information of the transponder yields the real-time position information of the mobile terminal. ; Specifically, step S2 includes: S21, in the During each ranging cycle, the position information of the physical transceiver is: The location information of the mobile terminal is The speed information of the mobile device is Then the first The location information of the mobile terminal for each ranging cycle is: in, This is the sequence number for periodic distance measurement. , For the ranging period, , , The displacement parameters of the mobile terminal 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: The first Substituting the position information of the mobile terminal in each ranging cycle into the acoustic ranging observation equation yields: The motion displacement parameters of the mobile terminal 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; 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 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.

2. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 1, characterized in that, Step S3 specifically includes: S31. Construct a ranging equation as the distance constraint condition for the iterative suppression algorithm based on damped diagonal elements; S32. Based on the distance measurement equation, construct the Jacobian matrix and error matrix required for the iteration; S33. Construct an 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.

3. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 2, characterized in that, In step S31, based on the location information of the virtual transceiver array Distance information between the physical transceiver and the transponder , construct the first Distance measurement equation for one ranging cycle: in, This refers to the high-precision position information of the transponder to be calculated.

4. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 3, characterized in that, 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 : in, , , , , , This is the theoretical distance obtained by substituting the current iteration position into the ranging equation.

5. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 4, characterized in that, Step S33 specifically includes: S331. Construct the incremental normal equation: 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 aforementioned 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.

6. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 5, characterized in that, Step S34 specifically involves setting a preset error threshold. ,judge: If iterative correction amount If the iteration stops, then... This refers to the high-precision position information of the transponder; If 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.

7. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 6, characterized in that, 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 location information of the transponder in each ranging cycle, continuously acquiring high-precision location information of the transponder in each ranging cycle, and finally obtaining the continuous real-time location information of the mobile terminal.

8. The ultra-short baseline positioning method based on a virtual transceiver array according to claim 1, characterized in that, In step S1, the location information of the physical transceiver The location information of the physical transceiver is obtained in real time by rigidly connecting a BeiDou antenna to the upper end of the physical transceiver and setting the positioning frequency of the BeiDou antenna to match the periodic ranging period. .

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