Relative positioning method and system

Abstract

The invention discloses a relative positioning method and system. The method comprises the following steps: acquiring respective inertial navigation positions, speeds, measurement distances, radial speeds and angles of double carriers; constructing a relative positioning model between the double carriers; substituting the obtained data into a system modeling module, and obtaining a relative positioning precision estimation value between the double carriers based on nonlinear optimization; and correcting the relative positioning error between the double carriers to obtain the relative positioning position between the double carriers. According to the method, the problems of unreliable satellite navigation positioning and large accumulative error of an inertial navigation system are solved, the relative positioning between the double carriers based on nonlinear optimization is realized, and the relative positioning precision between the double carriers in a complex environment is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of positioning and navigation technology, and specifically to a relative positioning method and system. Background Technology

[0002] With the rapid development of drone and intelligent missile technologies, inter-vehicle collaboration is gradually becoming one of the main directions for future development, and the need for dynamic relative positioning technology is becoming increasingly urgent. Inter-vehicle collaboration can optimize resource allocation and improve individual operational performance through information sharing. High-precision relative positioning between carriers is a prerequisite for efficient inter-vehicle cooperation.

[0003] Satellite navigation systems can be used for dynamic relative positioning between vehicles. However, with the rapid development of electronic signal jamming technology, the transmission links of satellite navigation systems are highly susceptible to interference. In complex electronic signal interference environments, the reliability of relative positioning information obtained through satellite navigation systems is poor, necessitating the search for a new dynamic relative positioning method to achieve collaborative relative position calibration. Furthermore, while inertial navigation systems exhibit very small inertial navigation errors in the short term, these errors accumulate over time, gradually widening the gap between the inertial navigation position and the actual position, leading to a decrease in positioning accuracy. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the technical problems of poor positioning reliability of satellite navigation system in complex electronic signal interference environment and large cumulative error when using inertial navigation system for positioning for a long time, so as to provide a relative positioning method and system.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a relative positioning method, comprising the following steps: Step S1: obtaining the inertial navigation position, velocity, measurement distance, radial velocity and angle of each of the two carriers; Step S2: constructing a relative positioning model between the two carriers; Step S3: obtaining an estimated value of the relative positioning accuracy between the two carriers based on nonlinear optimization; Step S4: correcting the relative positioning error between the two carriers to obtain the relative positioning position between the two carriers.

[0006] Furthermore, the process of constructing a relative positioning model between the two carriers includes the following steps: S21: Obtain the inertial navigation position and velocity difference between the two carriers based on their respective inertial navigation positions and velocities; S22: Obtain the true distance, true radial velocity, and true angle between the two carriers based on the preset inertial navigation positions, velocities, constant horizontal flight direction, and the inertial navigation position and velocity difference between the two carriers.

[0007] Furthermore, the process of obtaining the relative positioning accuracy estimate between the two carriers based on nonlinear optimization includes the following steps: S31: Obtain the measurement distance, measurement radial velocity, and measurement angle between the two carriers; S32: Use nonlinear optimization methods to process the differences between the measurement distance, measurement velocity, measurement angle and the true distance, true radial velocity, and true angle to obtain the estimated values ​​of the northward position error, eastward position error, northward velocity error, and eastward velocity error.

[0008] Furthermore, the process of correcting the relative positioning error between the two carriers includes the following steps: S41: Obtain the inertial navigation position difference between the two carriers based on their respective inertial navigation positions; S42: Obtain the corrected inertial navigation position difference between the two carriers based on the inertial navigation position difference, the estimated northward position error, and the estimated eastward position error.

[0009] Secondly, the present invention provides a relative positioning system, comprising: a data acquisition module for acquiring the position and velocity of each of the two carriers, and the measured distance, radial velocity, and angle between the two carriers; a system modeling module for constructing a relative positioning model between the two carriers; an error estimation module for substituting the acquired data into the system modeling module and obtaining an estimated value of the relative positioning accuracy between the two carriers based on nonlinear optimization; and a system correction module for obtaining the corrected relative positioning error between the two carriers and obtaining the relative positioning position of the two carriers for quality inspection.

[0010] Furthermore, the data acquisition module obtains the position and velocity information of the two carriers from their respective inertial navigation systems.

[0011] Furthermore, the data acquisition module obtains the distance, radial velocity, and angle information between the two carriers from the sensors between the two carriers.

[0012] Furthermore, the data acquisition module acquires the position and velocity of each of the two carriers, as well as the measurement distance, radial velocity, and angle between the two carriers, according to a specified time.

[0013] Thirdly, embodiments of the present invention provide a computer device, including: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform a relative positioning method according to the first aspect of the present invention.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions for causing a computer to execute a relative positioning method according to the first aspect of the present invention.

[0015] The technical solution of this invention has the following advantages: This invention obtains the inertial navigation position and velocity of each of the two carriers, as well as the measured distance, radial velocity, and angle between them; constructs a relative positioning model between the two carriers; substitutes the obtained data into the system modeling module, and obtains an estimate of the relative positioning accuracy between the two carriers based on nonlinear optimization; corrects the relative positioning error between the two carriers, and obtains the relative positioning position between them; it solves the problems of unreliable satellite navigation positioning and large accumulated errors in the inertial navigation system, realizes relative positioning between the two carriers based on nonlinear optimization, and effectively improves the relative positioning accuracy between the two carriers in complex environments. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a relative positioning method provided by the present invention; Figure 2 A schematic flowchart illustrating a specific example of constructing a relative positioning model between two carriers, provided in an embodiment of the present invention; Figure 3 This is a schematic flowchart illustrating a specific example of obtaining an estimate of the relative positioning accuracy between two carriers, as provided in an embodiment of the present invention. Figure 4 A flowchart illustrating a specific example of correcting the relative positioning error between two carriers according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a relative positioning system provided in an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific preferred embodiments, but this does not limit the scope of protection of the present invention.

[0019] Example 1 like Figure 1 As shown, the steps of a relative positioning method in this embodiment include: Step S1: Obtain the inertial navigation position and velocity of each of the two carriers, as well as the measurement distance, radial velocity, and angle between the two carriers.

[0020] The measured position of carrier 1 is recorded as... The measured speed is recorded as The measured position of carrier 2 is recorded as follows: The measured speed is recorded as The measured distance between the two carriers is denoted as The radial velocity is measured and recorded as follows: The measured angle is recorded as .

[0021] Step S2: Based on the obtained inertial navigation positions, velocities, measurement distances, radial velocities, and angles of the two carriers, a relative positioning model between the two carriers with distance measurement constraints, velocity measurement constraints, and angle measurement constraints is obtained; Step S3: Based on the obtained relative positioning model between the two carriers and the obtained inertial navigation position, velocity, measurement distance, radial velocity and angle of each of the two carriers, obtain the estimated value of the relative positioning accuracy between the two carriers; Step S4: Based on the obtained relative positioning accuracy estimate between the two carriers, correct the relative positioning error between the two carriers to obtain the relative positioning position between the two carriers.

[0022] In one specific embodiment, such as Figure 2 As shown, the process of constructing a relative positioning model between the two carriers includes the following steps: Step S21: Obtain the difference in inertial navigation position and velocity between the two carriers based on their respective inertial navigation positions and velocities; Assume that the difference between the inertial navigation velocity and the actual velocity remains constant over a short period of time (velocity error remains constant), and the inertial navigation position error remains constant over a short period of time. To simplify the model, assume that the carrier is flying at level and that the orientation position remains constant.

[0023] The difference in inertial navigation position and velocity between the two carriers can be calculated using their respective inertial navigation positions and velocities. (1) (2) Among them, short time is set as a certain period of time. , These represent the position differences of the inertial navigation systems of the two carriers in the x, y, and z directions, respectively, i.e., the position of carrier 2 relative to carrier 1. These are the inertial navigation velocity differences between the two carriers, i.e., the velocities of carrier 2 relative to carrier 1 in the x, y, and z directions.

[0024] Step S22: Based on the preset inertial navigation position, velocity, constant horizontal flight direction, and the inertial navigation position and velocity difference between the two carriers, obtain the true distance, true radial velocity, and true angle between the two carriers.

[0025] The inertial navigation system position error remains constant throughout the entire motion. Let the northward position error be... Let the eastward position error be... The inertial navigation velocity error remains constant; let the northbound velocity error be... Let the eastward velocity error be... .

[0026] The actual distance between the two carriers is denoted as The true radial velocity is denoted as The true angle is recorded as .

[0027] Establish distance measurement constraints That is, the actual distance between the two carriers: (3) in, This is the northward position error. Here, k represents the eastward positional error, and kt represents the duration of a certain time period. For northbound velocity error, This represents the eastward velocity error.

[0028] Establish speed measurement constraints That is, the true radial velocity between the two carriers: (4) Establish angle measurement constraints That is, the actual angle between the two carriers: (5) In one specific embodiment, such as Figure 3 As shown, the process of obtaining the relative positioning accuracy estimate between two carriers based on nonlinear optimization includes the following steps: S31: Obtain the measurement distance, radial velocity, and angle between the two carriers.

[0029] S32: Using a nonlinear optimization method to process the differences between the measured distance, measured speed, measured angle and the above-mentioned true distance, above-mentioned true radial speed, and above-mentioned true angle, estimates of the northward position error, eastward position error, northward speed error, and eastward speed error are obtained.

[0030] Define the position and velocity errors in the northward and directional directions to matrix x. (6) definition The difference between the true and measured values ​​of a single distance, velocity, and angle measurement is as follows: (7) in, , , These represent the actual distance, actual radial velocity, and actual angle between the two carriers, respectively. , , , , represent the measurement distance between the two carriers, the measurement radial velocity, and the measurement angle, respectively.

[0031] definition for The difference between the true and measured values ​​of the distance, velocity, and angle measurements: (8) Using nonlinear optimization methods to process Difference between the true and measured values ​​of distance, velocity, and angle measurements: (9) Obtain the estimated value (10) Among them, the northward position estimation error is The eastward position estimation error is Let the northbound velocity estimation error be... Let the eastward velocity estimation error be... .

[0032] In one specific embodiment, such as Figure 4 As shown, the process of correcting the relative positioning error between the two carriers includes the following steps: Step S41: Based on the respective inertial navigation positions of the two carriers, obtain the inertial navigation position difference between the two carriers; Step S42: Based on the position difference of the dual-carrier inertial navigation system, the above-mentioned northward position error estimate, and the above-mentioned eastward position error estimate, obtain the corrected position difference of the dual-carrier inertial navigation system.

[0033] Using northward position estimation error Eastward position estimation error Compensating for the relative positions between the two carriers, we obtain Thus, the relative positioning between the two carriers based on nonlinear optimization was completed.

[0034] Example 2 This embodiment provides a relative positioning system, such as Figure 5 As shown, it includes: Data acquisition module 1 is used to acquire the position and velocity of each of the two carriers, the measurement distance, radial velocity and angle between the two carriers; this module performs the method described in step S1 of embodiment 1, which will not be repeated here.

[0035] System modeling module 2 is used to construct a relative positioning model between the two carriers; this module executes the method described in step S2 of embodiment 1, which will not be repeated here.

[0036] Error estimation module 3 is used to substitute the acquired data into the system modeling module and obtain the relative positioning accuracy estimate between the two carriers based on nonlinear optimization; this module executes the method described in step S3 of embodiment 1, which will not be repeated here.

[0037] System calibration module 4 is used to obtain the corrected relative positioning error between the two carriers, and thus the relative positioning position of the two carriers for quality inspection. This module executes the method described in step S4 of embodiment 1, which will not be repeated here.

[0038] In one specific embodiment, the data acquisition module obtains the position and velocity information of the two carriers from their respective inertial navigation systems.

[0039] In one specific embodiment, the data acquisition module obtains the distance, radial velocity, and angle information between the two carriers from the sensors between the two carriers.

[0040] In one specific embodiment, the data acquisition module acquires the position and velocity of each of the two carriers, as well as the measurement distance, radial velocity, and angle between the two carriers at specified times.

[0041] Example 3 An embodiment of the present invention provides a computer device including: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to perform the relative positioning method of embodiment 1.

[0042] Example 4 This invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute a relative positioning method according to Embodiment 1. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A relative positioning method, characterized in that, Includes the following steps: Step S1: Obtain the inertial navigation position, velocity, measurement distance, radial velocity, and angle of each of the two carriers; Step S2: Based on the obtained inertial navigation positions, velocities, measurement distances, radial velocities, and angles of the two carriers, a relative positioning model between the two carriers with distance measurement constraints, velocity measurement constraints, and angle measurement constraints is obtained; Step S3: Based on the obtained relative positioning model between the two carriers and the obtained inertial navigation position, velocity, measurement distance, radial velocity and angle of each of the two carriers, obtain the estimated value of the relative positioning accuracy between the two carriers; Step S4: Based on the obtained relative positioning accuracy estimate between the two carriers, correct the relative positioning error between the two carriers to obtain the relative positioning position between the two carriers.

2. The relative positioning method according to claim 1, characterized in that, The process of constructing the relative positioning model between the two carriers includes the following steps: Step S21: Obtain the difference in inertial navigation position and velocity between the two carriers based on their respective inertial navigation positions and velocities; Step S32: Based on the preset inertial navigation position, velocity, constant horizontal flight direction, and the inertial navigation position and velocity difference between the two carriers, obtain the true distance, true radial velocity, and true angle between the two carriers.

3. The relative positioning method according to claim 2, characterized in that, The process of obtaining the relative positioning accuracy estimate between the two carriers based on nonlinear optimization includes the following steps: Step S31: Obtain the measurement distance, radial velocity, and angle between the two carriers; Step S32: Use a nonlinear optimization method to process the differences between the measured distance, measured speed, measured angle and the true distance, the true radial speed, and the true angle to obtain estimated values ​​of the northward position error, the eastward position error, the northward speed error, and the eastward speed error.

4. The relative positioning method according to claim 3, characterized in that, The process of correcting the relative positioning error between the two carriers includes the following steps: Step S41: Obtain the inertial navigation position difference between the two carriers based on their respective inertial navigation positions; Step S42: Obtain the corrected dual-carrier inertial navigation position difference based on the dual-carrier inertial navigation position difference, the estimated northward position error, and the estimated eastward position error.

5. A relative positioning system, characterized in that, include: The data acquisition module is used to acquire the position and velocity of each of the two carriers, as well as the measurement distance, radial velocity, and angle between the two carriers. The system modeling module is used to construct a relative positioning model between the two carriers. The error estimation module is used to input the acquired data into the system modeling module and obtain the relative positioning accuracy estimate between the two carriers based on nonlinear optimization. The system calibration module is used to obtain the relative positioning error between the two carriers after calibration, and to obtain the relative positioning position of the two carriers for quality inspection.

6. A relative positioning system according to claim 5, characterized in that, The data acquisition module obtains the position and velocity information of the two carriers from their respective inertial navigation systems.

7. A relative positioning system according to claim 5, characterized in that, The data acquisition module obtains the distance, radial velocity, and angle information between the two carriers from the sensors between the two carriers.

8. A relative positioning system according to claim 5, characterized in that, The data acquisition module acquires the position and velocity of each of the two carriers, as well as the measurement distance, radial velocity, and angle between the two carriers, according to a specified time.

9. A computer device, characterized in that, include: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform a relative positioning method according to any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform a relative positioning method as described in any one of claims 1-4.

Images