A multi-beacon area navigation system and method based on a laser grid information field

Abstract

The application provides a multi-beacon area navigation system and method based on a laser grid information field, and belongs to the technical field of aircraft navigation. The system comprises a plurality of beacon modules and an aircraft module. The plurality of beacon modules are arranged to form a navigation area, and the area is forbidden after the arrangement is completed. The plurality of beacon modules are used for emitting laser signals containing time grid encoding, a self azimuth angle and a position coordinate. The aircraft module is used for receiving laser signals of a plurality of beacon modules in the plurality of beacon modules and obtaining time grid encoding by analysis after entering the navigation area. Angle information of the aircraft module relative to the plurality of beacon modules is obtained based on the time grid encoding. The aircraft module is also used for obtaining three-dimensional coordinates of the aircraft module based on the angle information of the aircraft relative to the plurality of beacon modules and the self azimuth angle and the position coordinate of the beacon module. The three-dimensional coordinates are used for navigating the aircraft module in the navigation area. The system can realize high-precision navigation of the aircraft module in a forbidden environment.

Description

Technical Field

[0001] This application relates to the field of aircraft navigation technology, and in particular to a multi-beacon area navigation system and method based on laser grid information field. Background Technology

[0002] With the continuous evolution of modern warfare, formation flying and cooperative navigation have become the mainstream operating modes for future aircraft. Cooperative operations significantly improve overall combat effectiveness through cooperation and resource sharing among units, while relative navigation between formations provides crucial support for command and decision-making and battlefield situational awareness. Accurate navigation information is the foundation for formation maintenance, coordinated maneuvering, and task allocation. However, in environments with strong electromagnetic interference and radio frequency denial (RFD), the drawbacks of traditional navigation methods become increasingly apparent. Global Navigation Satellite Systems (GNSS) are susceptible to electromagnetic suppression and deception interference, resulting in a significant decrease in reliability; data link navigation faces the risk of link interruption in radio-silent scenarios; while inertial navigation systems possess autonomous operating capabilities, errors accumulate over time, making it difficult to meet the requirements for high precision over extended periods; and visual navigation is limited by weather conditions, environmental conditions, and computational resource bottlenecks. Therefore, relying solely on any one of these navigation methods cannot simultaneously achieve high precision, low drift, and strong anti-interference capabilities in RFD environments. Thus, how to achieve reliable, continuous, and high-precision formation navigation for aircraft in denial environments has become a core issue that urgently needs to be addressed in the field of cooperative operations technology. Summary of the Invention

[0003] This application provides a multi-beacon area navigation system and method based on a laser grid information field, which can improve the positioning and navigation accuracy of aircraft in denied environments. The technical solution is as follows: According to one aspect of this application, a multi-beacon area navigation system based on a laser grid information field is provided, wherein the system includes: a plurality of beacon modules and an aircraft module, wherein the plurality of beacon modules are deployed to form a navigation area, and area denial is achieved after deployment; The aforementioned beacon modules are used to transmit laser signals containing time-grid encoding, their own azimuth angle, and position coordinates; The aircraft module is used to receive laser signals from multiple beacon modules among the plurality of beacon modules and parse them to obtain time grating codes after entering the navigation area, and to calculate the angle information of the aircraft module itself relative to the multiple beacon modules based on the time grating codes. The aircraft module is also used to calculate the three-dimensional coordinates of the aircraft module based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angle and position coordinates of the multiple beacon modules. The three-dimensional coordinates are used for navigation of the aircraft module within the navigation area.

[0004] According to another aspect of this application, a multi-beacon area navigation method based on a laser grid information field is provided. The method is applied to a multi-beacon area navigation system based on a laser grid information field. The system includes: a plurality of beacon modules and an aircraft module. The plurality of beacon modules, after deployment, form a navigation area, and area denial occurs after deployment. The method includes: Laser signals containing time-grid encoding, their own azimuth angle, and position coordinates are emitted through the aforementioned beacon modules; After entering the navigation area, the aircraft module receives laser signals from multiple beacon modules and parses them to obtain time grating codes. Based on the time grating codes, the aircraft module calculates its own angle information relative to the multiple beacon modules. The three-dimensional coordinates of the aircraft module are calculated based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angles of the multiple beacon modules and the beacon position coordinates. These three-dimensional coordinates are used for navigation of the aircraft module within the navigation area.

[0005] According to another aspect of this application, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to perform the multi-beacon area navigation method based on a laser grid information field as described above.

[0006] According to another aspect of this application, a computer program product is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned multi-beacon area navigation method based on a laser grid information field.

[0007] The beneficial effects of the technical solutions provided in this application include at least the following: A multi-beacon area navigation system based on a laser grid information field is provided, comprising several beacon modules and an aircraft module. The beacon modules, after deployment, form a navigation area. After deployment, the area is denied. The beacon modules emit laser signals containing time-grid encoding, their own azimuth angle, and position coordinates. Upon entering the navigation area, the aircraft module receives laser signals from multiple beacon modules, parses them to obtain the time-grid encoding, and calculates its own angle information relative to the multiple beacon modules based on the time-grid encoding. Then, based on the angle information, the azimuth angle of the multiple beacon modules, and its position coordinates, the aircraft module's three-dimensional coordinates are calculated. These three-dimensional coordinates are used for navigation within the navigation area. By calculating the angle information of the aircraft module from the laser signals emitted by the beacon modules containing time-grid encoding, high-precision acquisition of the aircraft's angle information can be achieved. Combined with the position information of the multiple beacon modules, the aircraft's own position information is calculated, providing high-precision position information for aircraft navigation in denied environments, thus achieving high-precision navigation of the aircraft within the area. Moreover, the laser grid information field uses an active laser light source, which is less affected by weather conditions and can meet all-weather navigation requirements. It has no requirements for environmental stability and specificity. After the beacon module is deployed, it is not affected by changes in the combat environment. It has high measurement accuracy, good real-time performance, and low complexity of the airborne navigation system. It has the advantages of low computational load, low power consumption, and low cost. Attached Figure Description

[0008] Further details, features, and advantages of this application are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which: Figure 1 A system architecture diagram of a multi-beacon area navigation system based on a laser grid information field according to an exemplary embodiment of this application is shown; Figure 2 A flowchart of a multi-beacon area navigation method based on a laser grid information field according to an exemplary embodiment of this application is shown. Detailed Implementation

[0009] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0010] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0011] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this application are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should be noted that the modifications "a" and "a plurality" mentioned in this application are illustrative and not restrictive, and those skilled in the art should understand that unless explicitly indicated in the context, they should be understood as "one or more". The names of messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0012] The present invention will now be described with reference to the accompanying drawings. The technical solutions provided by the embodiments of this application will be explained in detail through specific examples and application scenarios.

[0013] To address the problem of low positioning accuracy and poor anti-interference capability of aircraft relying on any navigation method, such as global satellite navigation system, inertial navigation, visual navigation, or data link navigation, in denied environments, this application constructs a navigation area with multiple beacons. Multiple beacons emit laser signals containing time-grating codes, which are received and calculated by the aircraft. This allows for high-precision acquisition of the aircraft's angle information in denied environments. By combining the position information of multiple beacons, the aircraft's position coordinates can be calculated, enabling high-precision positioning and navigation of the aircraft (or aircraft modules) within the multi-beacon area.

[0014] Please refer to Figure 1 The diagram illustrates a system architecture of a multi-beacon area navigation system based on a laser grid information field, according to an exemplary embodiment of this application. The system includes several beacon modules 110 (beacon module 1, beacon module 2 to beacon module m) and an aircraft module 120. The deployed beacon modules form a navigation area, and area denial occurs after deployment. The number of beacon modules deployed in the navigation area is ≥3.

[0015] Several beacon modules 110 are used to transmit laser signals containing time-grid coding, their own azimuth angle, and position coordinates; The aircraft module 120 is used to receive laser signals from multiple beacon modules after entering the navigation area and parse them to obtain time grating codes, and to calculate the angle information of the aircraft module itself relative to the multiple beacon modules based on the time grating codes. The aircraft module 120 is also used to calculate the three-dimensional coordinates of the aircraft module based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angle and position coordinates of the multiple beacon modules. The three-dimensional coordinates are used for the navigation of the aircraft module within the navigation area.

[0016] In the navigation scenario described in this application, several (≥3) beacon modules need to be pre-deployed according to the navigation mission requirements to form a navigation area. The size of the navigation area is determined by the number of beacon modules and the effective range of each beacon module. The effective range of a beacon module is determined by the effective range of the laser signals emitted by the beacon module. After deployment, area denial is implemented. Area denial refers to actively constructing a continuous electromagnetic blockade zone to deprive the enemy of the spectrum usage rights of the entire navigation area. After area denial, GPS (Global Positioning System), radio, and data link are all blocked and cannot be used. When the aircraft module enters the navigation area (i.e., within the effective range of several beacons), the aircraft module can receive the laser signals emitted by the beacon modules. Considering that the position coordinates of at least three beacon modules are required for subsequent position coordinate calculation, when deploying multiple beacon modules, it is necessary to ensure that any location within the navigation area can receive the laser signals of at least three beacon modules.

[0017] The basic working principle of a multi-beacon area navigation system based on laser grid information fields is as follows: After deploying several (≥3) beacon modules to form a navigation area, these beacon modules can emit laser signals in real time containing time grating codes, their own azimuth angles, and position coordinates. After deployment, the area is closed. When an aircraft module enters the navigation area, it can receive laser beacons emitted by multiple beacon modules within the navigation area and analyze the laser signals to obtain time grating codes. Based on the analyzed time grating codes, multiple sets of angle information of the aircraft module relative to different beacon modules can be calculated. Each set of angle information is the azimuth angle and elevation angle of the aircraft module relative to different beacon modules. When there are ≥3 beacon modules, the aircraft module can calculate its three-dimensional coordinates using the least squares method based on the calculated multiple sets of absolute angle information, the azimuth angles and position coordinates of the multiple beacon modules, so that it can be navigated within the navigation area based on these three-dimensional coordinates.

[0018] Optionally, if more than three beacon modules are deployed within the navigation area, the aircraft module may receive laser signals emitted by more than three beacon modules at a certain flight position when it enters the navigation area. The flight module can select three of the received laser signals for subsequent calculation of three-dimensional coordinates; or, the aircraft module can perform subsequent calculations and redundancy checks based on all the received laser signals.

[0019] Specifically, when selecting three beacon modules from the received laser signals for subsequent calculation of the spacecraft's three-dimensional coordinates, it is necessary to ensure that the directions of each selected beacon module pointing to the spacecraft module are not all parallel.

[0020] After several beacon modules are deployed within the navigation area, the beacon azimuth and beacon position coordinates of each beacon module are fixed. Therefore, the beacon module's own azimuth and position coordinates can be measured in advance and stored in the beacon module so that they can be acquired and carried when emitting laser signals.

[0021] To facilitate obtaining the azimuth and position coordinates of each beacon module, such as Figure 1 As shown, each beacon module also includes a laser grid information field transmitter 111, an inertial navigation module 112, an attitude adjustment platform 113, and a carrier phase differential module 114. The attitude adjustment platform 113 dynamically adjusts the beacon module's attitude to ensure it remains horizontal under complex terrain conditions, with the horizontal position of the beacon module's location as the reference. The inertial navigation module 112 determines the beacon module's azimuth angle; the inertial navigation system itself has a north-finding function, allowing for initial alignment and determination of the beacon's azimuth angle. The carrier phase differential module 114 precisely positions each beacon module before area denial, determining its geodetic coordinates, i.e., its longitude, latitude, and altitude. The laser grid information field transmitter 111 transmits a laser signal containing time grating encoding, its azimuth angle, and its position coordinates. It should be noted that the beacon module's azimuth angle and position coordinates are obtained before area denial.

[0022] Specifically, the aircraft module 120 also includes an aircraft 121 and a laser grid information field receiver 122. The laser grid information field receiver 122 is used to receive laser signals from multiple beacon modules (the number of beacon modules n≥3) within the navigation area and parse them to obtain time grating codes. Based on the time grating codes, it calculates the angle information of the aircraft itself relative to the multiple beacon modules. The angle information of each group of aircraft modules is the azimuth and elevation angles of the aircraft module relative to different beacon modules. In other words, the laser signal is emitted by the laser grid information field transmitter in the beacon module, and the laser grid information field receiver on the aircraft module receives the laser signal and calculates the angle information of the aircraft module itself relative to the beacon modules.

[0023] The specific implementation method for obtaining the angle information of an aircraft through a laser grid information field can include: For each beacon module, the laser grid information field transmitter of the beacon module emits a laser signal containing a time grating code. Each grid corresponds to a unique time grating code. After scanning and shaping, a laser grid information field is generated. The laser grid information field receiver located in the aircraft module can receive the laser signal and parse it to obtain the unique time grating code. Then, based on the time grating code, the angle information of the aircraft module itself relative to the beacon module is calculated. The angle information of the aircraft module includes azimuth and elevation angle information. The azimuth and elevation angles are calculated separately for the two channels. The azimuth angle of the aircraft module is calculated using the time grating code of the horizontal scanning light strip, and the elevation angle of the aircraft module is calculated using the time grating code of the vertical scanning light strip.

[0024] In an exemplary example, the formula for calculating the angle information of the aircraft module itself relative to the beacon module can be as shown in formula (1): (1) in, To obtain the angle information of the aircraft module, namely the elevation angle or azimuth angle of the aircraft module, the elevation angle and azimuth angle of the aircraft module are calculated separately. It is a time-grid encoding. is the energy value of the time-grid coding, and N is the number of time-grid codes.

[0025] Before the navigation mission begins, multiple beacon modules based on laser grid information fields are deployed according to mission requirements to form a navigation area. The attitude adjustment platform dynamically adjusts the attitude of the beacon modules to ensure they are horizontal. The inertial navigation module determines the azimuth angle of each beacon module. The carrier phase differential module is used to accurately locate each beacon module before area rejection, obtaining the precise position information of each beacon module, i.e., the position coordinates of the beacon module in the geodetic coordinate system. The laser grid field laser and precision optical system of each beacon module start working. After deployment, area rejection is achieved, completing the construction of the area navigation system and proceeding to the subsequent workflow.

[0026] When the aircraft module enters the navigation area composed of several beacon modules, it falls within the effective range of these beacon modules. The laser grid information field transmitter of the beacon module works in conjunction with the laser grid information field receiver at the aircraft module to measure the corresponding angle information of the aircraft module. At the same time, the laser signal also carries the azimuth angle and position coordinates of each beacon module in the geodetic coordinate system. This allows the aircraft module to calculate its own position information based on the position information (in the geodetic coordinate system) of each beacon module and the measured angle information of the aircraft, thus achieving high-precision navigation of the aircraft within the navigation area under the condition of rejection.

[0027] Specifically, based on the angle information of the aircraft module relative to multiple (n≥3) beacon modules, and the azimuth and position coordinates of the multiple beacon modules, the three-dimensional coordinates of the aircraft module are calculated, which may include the following steps: Step S1: Based on the azimuth angles of the n beacon modules and the angle information of the aircraft module itself relative to the n beacon modules, determine n sets of absolute angle information of the aircraft module. Each set of absolute angle information includes azimuth angle and elevation angle. The absolute angle information is the angle information under the northeast-northeast coordinate system, and n≥3. Step S2: Convert the position coordinates of the n beacon modules in the geodetic coordinate system to the position coordinates in the ECEF coordinate system; Step S3: Based on n sets of absolute angle information and the position coordinates of n beacon modules in the ECEF coordinate system, calculate the three-dimensional coordinates of the spacecraft module.

[0028] In step S1, considering that the angle information of the aircraft module relative to each beacon module is calculated based on the laser signal emitted by each beacon module, in order to obtain the absolute angle information of the aircraft module itself, it is necessary to superimpose the azimuth and elevation angles of the beacon module itself on the calculated aircraft angle information; and on the basis that each beacon module is pre-adjusted to a horizontal state (that is, the elevation angle of the beacon module is 0), the n sets of absolute angle information of the aircraft module can be determined based only on the azimuth angles of the n beacon modules and the n sets of angle information of the aircraft module itself relative to the beacon modules, and each set of absolute angle information is the azimuth and elevation angles of the aircraft module.

[0029] In an exemplary example, the formula for calculating each set of absolute angle information can be as shown in formula (2):

[0030] (2) in, This represents the azimuth angle from the absolute angle information of the aircraft module calculated from the i-th beacon module out of n beacon modules. This represents the azimuth angle of the aircraft module relative to the i-th beacon module among n beacon modules. This represents the azimuth angle of the i-th beacon module out of n beacon modules; This represents the elevation angle from the absolute angle information of the aircraft module calculated based on the i-th beacon module out of n beacon modules. This represents the elevation angle of the aircraft module relative to the i-th beacon module among the n beacon modules.

[0031] Based on formula (2), for the i-th beacon module among n beacon modules, after calculating the angle information (including azimuth and elevation angle) of the aircraft module itself relative to the i-th beacon module, the sum of the azimuth angle and the azimuth angle of the i-th target beacon module is determined as the azimuth angle in the absolute angle information of the aircraft module. Since the i-th beacon module has been pre-adjusted to a horizontal state, that is, the elevation angle of the beacon module itself is 0, the elevation angle in the absolute angle information of the aircraft module is the calculated elevation angle.

[0032] To facilitate subsequent aircraft navigation, the three-dimensional coordinates calculated by all aircraft modules need to be in the same coordinate system. Considering practical needs, this application selects ECEF as the coordinate system for the final calculated three-dimensional coordinates. ECEF (Earth-Centered Earth-Fixed) is a globally unified Cartesian coordinate system with the Earth's center of mass as the origin, the X-axis pointing to the intersection of the equatorial plane and the prime meridian, the Y-axis pointing to the intersection of the equatorial plane and the 90° East meridian, and the Z-axis pointing to the Earth's North Pole.

[0033] In order to calculate the three-dimensional coordinates under ECEF, the position coordinates of each beacon module also need to be under ECEF. Correspondingly, in step S2, the position coordinates (longitude, latitude and altitude information) of n beacon modules in the geodetic coordinate system need to be converted into beacon position coordinates in the ECEF coordinate system.

[0034] In an exemplary example, for each beacon module, the transformation method for converting its position coordinates in the geodetic coordinate system to its position coordinates in the ECEF coordinate system can be as shown in formula (3):

[0035]

[0036]

[0037]

[0038] (3) in, This represents the position coordinates of the i-th beacon module out of n beacon modules in the ECEF coordinate system. , , These are the values ​​of the position coordinates in the ECEF coordinate system on the X, Y, and Z axes, respectively. , , Let ) represent the position coordinates of the i-th beacon module in the geodetic coordinate system, corresponding to latitude, longitude, and altitude, respectively; a is the semi-major axis of the WGS-84 ellipsoid constant. The radius of curvature of the ellipsoid in the east-west direction is a = 6378137.0 m. Let be the flattening of the ellipsoid. .

[0039] Based on formula (3), for each of the n beacon modules, its position coordinates in the geodetic coordinate system can be substituted into formula (3) to obtain its position coordinates in the ECEF coordinate system.

[0040] After transforming the position coordinates of each beacon module to the ECEF coordinate system, in step S3, the three-dimensional coordinates of the aircraft module in the ECEF coordinate system can be calculated based on n sets of absolute angle information and the position coordinates of n beacon modules in the ECEF coordinate system.

[0041] In calculating the 3D coordinates, in addition to the position information of the beacon modules, the directional information between the beacon modules and the aircraft modules is also required. Step S3 (calculating the 3D coordinates of the aircraft module based on n sets of absolute angle information and the position coordinates of n beacon modules in the ECEF coordinate system) further includes: determining n unit direction vectors pointing from the n beacon modules to the aircraft module in the northeast-northeast coordinate system based on the n sets of absolute angle information; converting the n unit direction vectors into n unit line-of-sight direction vectors in the ECEF coordinate system based on the rotation matrix from the northeast-northeast coordinate system to the ECEF coordinate system; and calculating the 3D coordinates of the aircraft module based on the n unit line-of-sight direction vectors in the ECEF coordinate system and the position coordinates of the n beacon modules in the ECEF coordinate system.

[0042] First, for each of the n beacon modules, based on the absolute angle information of the aircraft module, the unit direction vector pointing from the beacon module to the aircraft module is determined. This unit direction vector is the unit direction vector in the ENU (East-North-Up) coordinate system. The ENU coordinate system refers to the East-North-Up coordinate system, which is a local rectangular coordinate system with the beacon module as the origin. The east axis points due east to the location of the origin, the north axis points due north, and the celestial axis is perpendicular to the local horizontal plane at the origin and points upward, forming a right-handed rectangular coordinate system. In an exemplary example, the unit direction vector pointing from the i-th beacon module to the aircraft module can be as shown in formula (4): (4) in, Let represent the unit direction vector pointing from the i-th beacon module to the spacecraft module out of n beacon modules. This represents the azimuth angle from the absolute angle information of the aircraft module calculated based on the i-th beacon module. This represents the elevation angle in the absolute angle information of the aircraft module calculated based on the i-th beacon module. Substituting the absolute angle information of the n sets of aircraft modules into formula (4), we obtain the unit direction vectors of the n beacon modules pointing to the aircraft module.

[0043] Since these n unit direction vectors are also unit direction vectors in a local Cartesian coordinate system with the beacon module as the origin, in order to facilitate subsequent position coordinate calculation in the ECEF coordinate system, it is also necessary to transform these unit direction vectors from the ENU coordinate system to the ECEF coordinate system. In one possible implementation, the n unit direction vectors are transformed into n unit line-of-sight direction vectors in the ECEF coordinate system based on a rotation matrix. In an exemplary example, the transformation process can be shown in formula (5): ,

[0044] (5) in, This represents the i-th unit line-of-sight direction vector in the ECEF coordinate system. Represents the transformation matrix. This represents the latitude of the i-th beacon module in the geodetic coordinate system. This represents the longitude of the i-th beacon module in the geodetic coordinate system. express It has a length of 1 and is a unit vector.

[0045] After obtaining the unit line-of-sight vectors pointing from each beacon module to the aircraft module, the three-dimensional coordinates of the aircraft module can be calculated based on the n unit line-of-sight vectors in the ECEF coordinate system and the position coordinates of the n beacon modules in the ECEF coordinate system. Specifically, the three-dimensional coordinates of the aircraft module are obtained by solving a preset formula using the least squares method. The preset formula is shown in formula (6): (6) Where P represents the three-dimensional coordinates, I represents the identity matrix, and n represents the number of beacon modules. This represents the position coordinates of the i-th beacon module out of n beacon modules in the ECEF coordinate system. Let represent the unit line-of-sight direction vector from the i-th beacon module to the aircraft module, where 1 ≤ i ≤ n.

[0046] In the process of solving formula (6), the projection matrix is ​​defined. , Its function is to project any vector onto a plane perpendicular to the plane. On the plane, therefore, Indicates from the beacon module The norm of the component of the vector pointing to aircraft module P perpendicular to the line-of-sight direction represents the distance from the aircraft module to the line-of-sight ray. The least-squares estimate of aircraft module P minimizes the sum of the squares of the distances from the aircraft to each line-of-sight ray: ,make , Then formula (6) can be simplified to the solution. When n≥3 and the lines of sight are not all parallel, It is reversible and has a unique solution.

[0047] In summary, this application provides a multi-beacon area navigation system based on a laser grid information field, comprising several beacon modules and an aircraft module. The beacon modules, once deployed, form a navigation area, which is then blocked. Each beacon module emits a laser signal containing a time-grid code, its own azimuth angle, and position coordinates. Upon entering the navigation area, the aircraft module receives the laser signals from multiple beacon modules and parses them to obtain the time-grid code. Based on the time-grid code, it calculates the angle information of the aircraft module relative to the multiple beacon modules. Then, based on the angle information, the azimuth angle of the multiple beacon modules, and its position coordinates, it calculates the three-dimensional coordinates of the aircraft module. These three-dimensional coordinates are used for navigation of the aircraft module within the navigation area. By calculating the angle information of the aircraft module from the laser signal containing time-grid encoding emitted by the beacon module, high-precision acquisition of the aircraft's angle information can be achieved. Combined with the position information from multiple beacon modules, the aircraft's own position information can be calculated, providing high-precision position information for aircraft navigation in area-denied environments (where laser signals can still be used), enabling high-precision navigation of aircraft within the area. Furthermore, the laser grid information field uses an active laser source, which is less affected by weather conditions, meeting all-weather navigation requirements. It has no requirements for environmental stability or specificity, and the beacon module deployment is unaffected by changes in the combat environment. It offers high measurement accuracy, good real-time performance, and low complexity for the airborne navigation system, with advantages such as low computational load, low power consumption, and low cost. Based on the multi-beacon area navigation system based on laser grid information fields described in the above embodiments, this application also provides a multi-beacon area navigation method based on laser grid information fields. Please refer to... Figure 2 The diagram illustrates a flowchart of a multi-beacon area navigation method based on a laser grid information field, according to an exemplary embodiment of this application. Figure 2 As shown, the method includes: Step 201: Transmit laser signals containing time grating codes, their own azimuth angle, and position coordinates through several beacon modules; Step 202: After entering the navigation area, the aircraft module receives laser signals from multiple beacon modules and parses them to obtain time grating codes, and calculates the angle information of the aircraft module itself relative to the multiple beacon modules based on the time grating codes. Step 203: The three-dimensional coordinates of the aircraft module are calculated based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angles of the multiple beacon modules and the beacon position coordinates. The three-dimensional coordinates are used for the navigation of the aircraft module within the navigation area.

[0048] Optionally, each beacon module includes a laser grid information field transmitter, an inertial navigation module, an attitude adjustment platform, and a carrier phase differential module. The method further includes: adjusting the attitude of the beacon module using the attitude adjustment platform to ensure the beacon module is horizontal; determining the beacon module's azimuth angle using the inertial navigation module; determining the beacon module's position coordinates using the carrier phase differential module, where the position coordinates are the longitude, latitude, and altitude information of the beacon module in a geodetic coordinate system; and transmitting laser signals containing time grating codes, azimuth angles, and position coordinates through several beacon modules, including: transmitting laser signals containing time grating codes, azimuth angles, and position coordinates through the laser grid information field transmitter.

[0049] Optionally, the aircraft module includes an aircraft and a laser grid information field receiver; after entering the navigation area, the aircraft module receives laser signals from multiple beacon modules and parses them to obtain time grating codes, and calculates the angle information of the aircraft module itself relative to the multiple beacon modules based on the time grating codes, including: after entering the navigation area, the laser grid information field receiver receives laser signals from multiple beacon modules and parses them to obtain time grating codes, and calculates the angle information of the aircraft itself relative to the multiple beacon modules based on the time grating codes.

[0050] Optionally, based on the angle information of the aircraft module itself relative to multiple beacon modules, and the azimuth and position coordinates of the multiple beacon modules, the three-dimensional coordinates of the aircraft module are calculated, including: determining n sets of absolute angle information of the aircraft module based on the azimuth of the n beacon modules and the angle information of the aircraft module itself relative to the n beacon modules, each set of absolute angle information including azimuth and elevation angle information, the absolute angle information being angle information in the northeast-northeast coordinate system, n≥3; converting the position coordinates of the n beacon modules in the geodetic coordinate system to position coordinates in the ECEF coordinate system; and calculating the three-dimensional coordinates of the aircraft module based on the n sets of absolute angle information and the position coordinates of the n beacon modules in the ECEF coordinate system.

[0051] Optionally, based on n sets of absolute angle information and the position coordinates of n beacon modules in the ECEF coordinate system, the three-dimensional coordinates of the aircraft module are calculated, including: determining n unit direction vectors pointing from the n beacon modules to the aircraft module in the northeast-northeast coordinate system based on the n sets of absolute angle information; converting the n unit direction vectors into n unit line-of-sight direction vectors in the ECEF coordinate system based on the rotation matrix from the northeast-northeast coordinate system to the ECEF coordinate system; and calculating the three-dimensional coordinates of the aircraft module based on the n unit line-of-sight direction vectors in the ECEF coordinate system and the position coordinates of the n beacon modules in the ECEF coordinate system.

[0052] Optionally, based on n unit line-of-sight direction vectors in the ECEF coordinate system and the position coordinates of n beacon modules in the ECEF coordinate system, the three-dimensional coordinates of the aircraft module are calculated, including: obtaining the three-dimensional coordinates of the aircraft module by solving a preset formula using the least squares method. The preset formula is:

[0053] Where P represents the three-dimensional coordinates, I represents the identity matrix, and n represents the number of beacon modules. This represents the position coordinates of the i-th beacon module out of n beacon modules in the ECEF coordinate system. Let represent the unit line-of-sight direction vector from the i-th beacon module to the aircraft module in the ECEF coordinate system, where 1 ≤ i ≤ n.

[0054] It should be noted that the specific implementation of each step in this embodiment can refer to the implementation method of the multi-beacon area navigation system based on laser grid information field described above, and will not be repeated here.

[0055] In summary, this application provides a multi-beacon area navigation method based on a laser grid information field. Several beacon modules are used to emit laser signals containing time-grating codes, their own azimuth angles, and position coordinates. After entering the navigation area, the aircraft module receives the laser signals from multiple beacon modules and parses them to obtain the time-grating codes. Based on the time-grating codes, the angle information of the aircraft module relative to the multiple beacon modules is calculated. Then, based on the angle information, the azimuth angles of the multiple beacon modules, and their position coordinates, the three-dimensional coordinates of the aircraft module are calculated. These three-dimensional coordinates are used for navigation of the aircraft module within the navigation area. By calculating the angle information of the aircraft module from the laser signals emitted by the beacon modules containing time-grating codes, high-precision acquisition of the aircraft's angle information can be achieved. Combined with the position information of the multiple beacon modules, the aircraft's own position information is calculated, providing high-precision position information for aircraft navigation in denied environments, thus achieving high-precision navigation of the aircraft within the area. Moreover, the laser grid information field uses an active laser light source, which is less affected by weather conditions and can meet all-weather navigation requirements. It has no requirements for environmental stability and specificity. After the beacon module is deployed, it is not affected by changes in the combat environment. It has high measurement accuracy, good real-time performance, and low complexity of the airborne navigation system. It has the advantages of low computational load, low power consumption, and low cost.

[0056] An exemplary embodiment of this application also provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a multi-beacon area navigation method based on a laser grid information field according to an embodiment of this application.

[0057] An exemplary embodiment of this application also provides a computer program product, including a computer program, wherein, when executed by a computer's processor, the computer program is used to cause the computer to perform a multi-beacon area navigation method based on a laser grid information field according to an embodiment of this application.

[0058] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited to the above embodiments, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A multi-beacon area navigation system based on a laser grid information field, characterized in that, The system includes: several beacon modules and aircraft modules. After the several beacon modules are deployed, they form a navigation area, and the area is denied after deployment. The aforementioned beacon modules are used to transmit laser signals containing time-grid encoding, their own azimuth angle, and position coordinates; The aircraft module is used to receive laser signals from multiple beacon modules among the plurality of beacon modules and parse them to obtain time grating codes after entering the navigation area, and to calculate the angle information of the aircraft module itself relative to the multiple beacon modules based on the time grating codes. The aircraft module is also used to calculate the three-dimensional coordinates of the aircraft module based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angle and position coordinates of the multiple beacon modules. The three-dimensional coordinates are used for navigation of the aircraft module within the navigation area.

2. The system according to claim 1, characterized in that, Each of the beacon modules includes a laser grid information field transmitter, an inertial navigation module, an attitude adjustment platform, and a carrier phase differential module; The attitude adjustment platform is used to adjust the attitude of the beacon module so that the beacon module is in a horizontal state; The inertial navigation module is used to determine the azimuth angle of the beacon module itself; The carrier phase differential module is used to determine the position coordinates of the beacon module, wherein the position coordinates are the longitude, latitude and altitude information of the beacon module in the geodetic coordinate system; The laser grid information field transmitter is used to transmit a laser signal containing the time grid code, its own azimuth angle, and its position coordinates.

3. The system according to claim 1, characterized in that, The aircraft module includes an aircraft and a laser grid information field receiver; The laser grid information field receiver is used to receive laser signals from multiple beacon modules among the plurality of beacon modules and parse them to obtain time grating codes, and to calculate the angle information of the aircraft itself relative to the multiple beacon modules based on the time grating codes.

4. The system according to claim 1, characterized in that, The calculation of the three-dimensional coordinates of the aircraft module based on its angle information relative to multiple beacon modules, and the azimuth and position coordinates of the multiple beacon modules, includes: Based on the azimuth angles of the n beacon modules and the angle information of the aircraft module itself relative to the n beacon modules, n sets of absolute angle information of the aircraft module are determined. Each set of absolute angle information includes azimuth angle and elevation angle information. The absolute angle information is the angle information in the northeast-northeast coordinate system, and n≥3. The position coordinates of the n beacon modules in the geodetic coordinate system are converted into position coordinates in the ECEF coordinate system; Based on the n sets of absolute angle information and the position coordinates of the n beacon modules in the ECEF coordinate system, the three-dimensional coordinates of the spacecraft module are calculated.

5. The system according to claim 4, characterized in that, The calculation of the three-dimensional coordinates of the spacecraft module based on the n sets of absolute angle information and the position coordinates of the n beacon modules in the ECEF coordinate system includes: Based on the n sets of absolute angle information, n unit direction vectors are determined in the northeast-northeast coordinate system, pointing from the n beacon modules to the spacecraft module respectively; The n unit direction vectors are converted into n unit line-of-sight direction vectors in the ECEF coordinate system based on the rotation matrix from the Northeast Sky coordinate system to the ECEF coordinate system. Based on the n unit line-of-sight direction vectors in the ECEF coordinate system and the position coordinates of the n beacon modules in the ECEF coordinate system, the three-dimensional coordinates of the aircraft module are calculated.

6. The system according to claim 5, characterized in that, The process of calculating the three-dimensional coordinates of the aircraft module based on n unit line-of-sight direction vectors in the ECEF coordinate system and the position coordinates of the n beacon modules in the ECEF coordinate system includes: The three-dimensional coordinates of the aircraft module are obtained by solving a preset formula using the least squares method. The preset formula is as follows: Where P represents the three-dimensional coordinates, I represents the identity matrix, and n represents the number of beacon modules. This represents the position coordinates of the i-th beacon module out of n beacon modules in the ECEF coordinate system. Let represent the unit line-of-sight direction vector from the i-th beacon module to the aircraft module in the ECEF coordinate system, where 1≤i≤n.

7. A multi-beacon area navigation method based on laser grid information field, characterized in that, The method is applied to a multi-beacon area navigation system based on a laser grid information field. The system includes several beacon modules and an aircraft module. The beacon modules, after deployment, form a navigation area, and area denial occurs upon deployment. The method includes: Laser signals containing time-grid encoding, their own azimuth angle, and position coordinates are emitted through the aforementioned beacon modules; After entering the navigation area, the aircraft module receives laser signals from multiple beacon modules and parses them to obtain time grating codes. Based on the time grating codes, the aircraft module calculates its own angle information relative to the multiple beacon modules. The three-dimensional coordinates of the aircraft module are calculated based on the angle information of the aircraft module itself relative to multiple beacon modules, as well as the azimuth angles of the multiple beacon modules and the beacon position coordinates. These three-dimensional coordinates are used for navigation of the aircraft module within the navigation area.

8. The method according to claim 7, characterized in that, Each of the beacon modules includes a laser grid information field transmitter, an inertial navigation module, an attitude adjustment platform, and a carrier phase differential module; the method further includes: The attitude of the beacon module is adjusted by the attitude adjustment platform so that the beacon module is in a horizontal state; The inertial navigation module determines the beacon module's own azimuth angle; The position coordinates of the beacon module are determined by the carrier phase differential module. The position coordinates are the longitude, latitude, and altitude information of the beacon module in the geodetic coordinate system. The transmission of laser signals containing time-grating codes, their own azimuth angle, and position coordinates through the plurality of beacon modules includes: The laser signal, which includes the time grating code, its own azimuth angle, and its position coordinates, is emitted by the laser grating information field transmitter.

9. The method according to claim 7, characterized in that, The aircraft module includes an aircraft and a laser grid information field receiver; After entering the navigation area, the aircraft module receives laser signals from multiple beacon modules and parses them to obtain time grating codes. Based on these time grating codes, it calculates the angle information of the aircraft module relative to the multiple beacon modules, including: After entering the navigation area, the laser signal of multiple beacon modules among the multiple beacon modules is received by the laser grid information field receiver and the time grid code is obtained by parsing. Based on the time grid code, the angle information of the aircraft itself relative to the multiple beacon modules is calculated.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the multi-beacon area navigation method based on laser grid information field according to any one of claims 7-9.

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