CN114518585A - Target positioning method, device, terminal and storage medium based on single satellite - Google Patents
Target positioning method, device, terminal and storage medium based on single satellite Download PDFInfo
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- CN114518585A CN114518585A CN202210105926.1A CN202210105926A CN114518585A CN 114518585 A CN114518585 A CN 114518585A CN 202210105926 A CN202210105926 A CN 202210105926A CN 114518585 A CN114518585 A CN 114518585A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
The invention provides a target positioning method, a target positioning device, a target positioning terminal and a storage medium based on a single satellite. The method comprises the steps of obtaining coordinates of an intersatellite point A of a satellite; acquiring an incoming wave direction angle of a target B and a nadir angle from a satellite to the target; establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth; determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle; and determining the coordinates of the target B based on the position relation of the target B and the pole N. The invention solves the position relation between the target and the pole by utilizing the spherical trigonometry, the incoming wave direction angle and the nadir angle of the target, can determine the coordinates of the target by only using a single satellite, and can solve the problem that the satellite navigation can realize positioning by more than 4 visible satellites.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a target positioning method, a target positioning device, a target positioning terminal and a storage medium based on a single satellite.
Background
At present, there are three main methods for navigation and positioning of moving targets such as marine vessels: satellite navigation, inertial navigation, radar navigation. The common satellite navigation method needs more than 4 visible satellites to realize positioning, and the radar navigation depends on a ground radar station, so that the applicability is poor; the inertial navigation has the problem of error accumulation and is low in accuracy.
Disclosure of Invention
The embodiment of the invention provides a target positioning method, a target positioning device, a target positioning terminal and a storage medium based on a single satellite, and aims to solve the problem that satellite navigation requires more than 4 visible satellites to realize positioning.
In a first aspect, the present invention provides a target positioning method based on a single satellite, including:
acquiring coordinates of a satellite subsatellite point A;
acquiring an incoming wave direction angle of a target B and a nadir angle from a satellite to the target;
establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth;
determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle;
and determining the coordinates of the target B based on the position relation of the target B and the pole N.
In a possible implementation manner, the position relationship between the target B and the pole N comprises the distance between the target B and the pole N and the included angle between the extension line of the NA and the extension line of the NB;
determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the sub-satellite point A, the incoming wave direction angle and the nadir angle, and comprising the following steps:
acquiring coordinates of a lifting intersection point M of a satellite, and establishing a second spherical triangle with the lifting intersection point M, a subsatellite point A and a first intersection point A' as vertexes on the earth surface; the first intersection point A' is the intersection point of the NA extension line and the equator;
calculating an angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M and the coordinate of the intersatellite point A;
calculating an angle NAB based on the corner relationship, the angle MAA' and the incoming wave direction angle of the first spherical triangle;
establishing a triangle with the satellite S, the target B and the geocenter O as vertexes, and calculating the AB length based on the corner relationship between the nadir angle and the triangle SBO;
calculating the length of NB based on AB length, AN length, angle NAB and a spherical cosine formula to obtain the distance between a target B and a pole N;
and calculating an angle ANB based on the AB length, the NB length, the angle NAB and a spherical sine formula to obtain an included angle between the NA extension line and the NB extension line.
In one possible implementation, determining the coordinates of the target B based on the position relationship between the target B and the pole N includes:
calculating the latitude of the target B based on the distance between the target B and the pole N;
and calculating the longitude of the target B based on the included angle between the NA extended line and the NB extended line and the longitude of the substellar point A.
In one possible implementation, the angle MAA' in the calculation based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M, and the coordinate of the intersatellite point a includes:
the length of MA 'is calculated based on the coordinates of the intersection point M and the AA' length and a first formula:
MA′＝|λA′-λM|
wherein MA' represents the length of MAA′Longitude, λ, representing the first intersection AMRepresents the longitude of the point of intersection M;
calculating the length of the MA based on the length of the AA ', the length of the MA' and a spherical right-angle triangle formula;
the angle MAA 'is calculated based on the length of MA and the length of MA'.
In one possible implementation, building a triangle with the satellite S, the target B, and the geocenter O as vertices, and calculating the AB length based on the nadir angle and the corner relationship of the triangle SBO includes:
calculating an angle SBO based on a nadir angle, an earth radius, an orbital altitude of a satellite and a sine theorem;
the AB length is calculated based on the angle SBO and the earth radius.
In one possible implementation, acquiring the coordinates of the satellite's sub-satellite points includes:
acquiring ephemeris of a satellite;
acquiring coordinates of the satellite in a geocentric geostationary coordinate system in an ephemeris;
and calculating the coordinates of the satellite points under the satellite based on the coordinates of the satellite in the geocentric and geostationary coordinate system.
In a second aspect, the present invention provides a single satellite-based target positioning device, including:
the first acquisition module is used for acquiring the coordinate of the satellite subsatellite point A;
the second acquisition module is used for acquiring the incoming wave direction angle of the target B and the nadir angle from the satellite to the target B;
the computing module is used for establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth;
determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle;
and determining the coordinates of the target B based on the position relation of the target B and the pole N.
In a third aspect, the present invention provides a terminal comprising a memory, a processor and a computer program stored in the memory and being executable on the processor, wherein the processor implements the steps of the single satellite based target positioning method as shown in the first aspect or any one of the possible implementations of the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, which when executed by a processor, implements the steps of the single satellite based target positioning method as shown in the first aspect or any one of the possible implementations of the first aspect.
The invention provides a target positioning method, a target positioning device, a target positioning terminal and a storage medium based on a single satellite, wherein the method comprises the following steps: acquiring coordinates of a satellite subsatellite point A; acquiring an incoming wave direction angle of a target B and a nadir angle from a satellite to the target; establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth; determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle; and determining the coordinates of the target B based on the position relation of the target B and the pole N. The invention solves the position relation between the target and the pole by utilizing the spherical trigonometry, the incoming wave direction angle and the nadir angle of the target, can determine the coordinates of the target by only using a single satellite, and can solve the problem that the satellite navigation can realize positioning by more than 4 visible satellites.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is an application scenario diagram of a single satellite-based target positioning method according to an embodiment of the present invention;
FIG. 2 is a flowchart of an implementation of a single satellite-based target positioning method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a single satellite-based target positioning apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Fig. 1 is an application scenario diagram of a target positioning method based on a single satellite according to an embodiment of the present invention. It can be seen that the spatial geometrical relationship between the satellite S and the target B, the sub-satellite point a, and the earth center O is shown in fig. 1, AU is the direction of satellite movement, α is the incoming wave direction angle, N is the pole, the arc NA extension line intersects the equator at point a ', the arc NB extension line intersects the equator at point B', and the arc UA extension line intersects the equator at point M (since AU is the direction of satellite movement, M is the intersection point).
Referring to fig. 2, it shows a flowchart of an implementation of the target positioning method based on a single satellite according to the embodiment of the present invention, which is detailed as follows:
In this embodiment, the subsatellite point is an intersection point of a connecting line between the center of the earth and the satellite on the surface of the earth, and the coordinates of the subsatellite point can be obtained through satellite ephemeris.
In this embodiment, the incoming wave direction angle of the target B and the satellite-to-target nadir angle may be acquired based on the echo signals received by the satellite. The incoming wave direction angle refers to an included angle between a projection line of an observation vector of an echo signal and the running direction of the satellite in a satellite body coordinate system. The bottom-of-the-sky angle from the satellite to the target refers to the connecting line direction between the satellite and the target and the included angle between the satellite and the connecting line direction between the satellite and the subsatellite point.
In this embodiment, the interstellar point a, the target B, and the pole N are all on the earth surface, and the coordinates of the interstellar point a and the pole N are known, so that the coordinates of the target B can be solved according to the characteristics of the spherical triangle.
And step 204, determining the position relation between the target B and the pole N based on the corner relation of the first spherical triangle, the coordinate of the subsatellite point A, the incoming wave direction angle and the nadir angle.
In this embodiment, the incoming wave direction angle may represent the position relationship between the target B and the sub-satellite point on the earth surface, the nadir angle may represent the position relationship between the target B and the satellite S in space, the distance between the satellite S and the sub-satellite point is known, and the coordinates of the sub-satellite point and the pole are known, and the position relationship between the target B and the pole N may be solved based on these information.
And step 205, determining the coordinates of the target B based on the position relation of the target B and the pole N.
In this embodiment, the pole N is an intersection of all the longitude lines, the latitude is 90, the circle where the target B and the pole N are located is a meridian, the pole is located at a special position on the earth, and the longitude and the latitude of the target B can be determined based on the angle relationship and the distance between the target B and the pole N.
In some embodiments, the positional relationship between the target B and the pole N comprises the distance between the target B and the pole N, and the included angle between the extension line of NA and the extension line of NB;
determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the sub-satellite point A, the incoming wave direction angle and the nadir angle, and comprising the following steps:
acquiring coordinates of a lifting intersection point M of a satellite, and establishing a second spherical triangle with the lifting intersection point M, a subsatellite point A and a first intersection point A' as vertexes on the earth surface; the first intersection point A' is the intersection point of the NA extension line and the equator;
calculating an angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M and the coordinate of the intersatellite point A;
calculating an angle NAB based on the corner relationship, the angle MAA' and the incoming wave direction angle of the first spherical triangle;
establishing a triangle with the satellite S, the target B and the geocenter O as vertexes, and calculating the AB length based on the corner relationship between the nadir angle and the triangle SBO;
calculating the length of NB based on AB length, AN length, angle NAB and a spherical cosine formula to obtain the distance between a target B and a pole N;
and calculating an angle ANB based on the AB length, the NB length, the angle NAB and a spherical sine formula to obtain an included angle between the NA extension line and the NB extension line.
In this embodiment, the intersection point of the satellite moving direction and the equator is the satellite elevation intersection point, and a spherical triangle may be constructed based on three points of which coordinates are known, namely the satellite elevation intersection point M, the substellar point a, and the first intersection point a ', so as to calculate the angle MAA'. From fig. 1, it can be seen that the angle MAA' and the angle β are opposite angles, the angles are the same, and the angle α is known, so that the angle NAB can be calculated. Then, a triangle SBO is constructed according to the earth radius, the AB arc length is obtained, the two side lengths and one angle for the triangle NAB are obtained, other side lengths and angles can be obtained according to the characteristics of the spherical triangle, and known quantity is not required to be introduced.
In some embodiments, determining the coordinates of target B based on the positional relationship of target B and pole N comprises:
calculating the latitude of the target B based on the distance between the target B and the pole N;
and calculating the longitude of the target B based on the included angle between the NA extended line and the NB extended line and the longitude of the substellar point A.
In this embodiment, the arc length from the pole N to the equator of one meridian circle is
After determining the distance between the target B and the pole N, the distance between the target B and the equator can be determined, so that the latitude of the target B is determined; the longitude and latitude of the subsatellite point A are known, and after the included angle between the NA extension line and the NB extension line is determined, the distance from the intersection point of the NA extension line and the equator line to the intersection point of the equator line of the NB extension line can be determined, so that the longitude of the target B can be determined.
In some embodiments, the angle MAA' in the calculation based on the corner relationship of the second spherical triangle, the coordinates of the ascent point M, and the coordinates of the intersatellite point a includes:
the length of MA 'is calculated based on the coordinates of the intersection point M and the AA' length and a first formula:
MA′＝|λA′-λM|
wherein MA' represents the length of MAA′Longitude, λ, representing the first intersection AMRepresents the longitude of the point of intersection M;
calculating the length of the MA based on the length of the AA ', the length of the MA' and a spherical right-angle triangle formula;
the angle MAA 'is calculated based on the length of MA and the length of MA'.
In the present embodiment, the geocentric longitude λ of aALatitude of geocentric
AA 'on one meridian circle, so that the arc AA' is perpendicular to the equator,
a' is on the equator line, the latitude is 0, and the arc can be known
The spherical right triangle formula is:
AM＝arccos(cos M A′ cos A A′)
knowing the length of the hypotenuse and the length of a right-angle side, calculating the angle corresponding to the right-angle side:
in some embodiments, building a triangle with the satellite S, the target B, and the geocenter O as vertices, and calculating the AB length based on the nadir angle and the corner relationship of the triangle SBO includes:
calculating an angle SBO based on a nadir angle, an earth radius, an orbital altitude of a satellite and a sine theorem;
the AB length is calculated based on the angle SBO and the earth radius.
In the present embodiment, in the triangular SBO, according to the sine theorem, there are:
can be pushed out:
then:
∠SOB＝π-θ-∠SBO＝AB
in some embodiments, acquiring the sub-satellite point coordinates of the satellite comprises:
acquiring ephemeris of a satellite;
acquiring coordinates of the satellite in a geocentric geostationary coordinate system in an ephemeris;
and calculating the coordinates of the satellite points under the satellite based on the coordinates of the satellite in the geocentric and geostationary coordinate system.
In this embodiment, the satellite ephemeris includes the operation parameters and orbit information of the satellite, and the coordinates of the satellite sub-satellite point can be calculated.
In a particular embodiment, a marine vessel is located with an onboard receiver on the vessel as a target. The space geometric relationship between the satellite S and the shipborne receiver B, the satellite subsatellite point A and the earth center O is shown in figure 1, the earth center and earth fixed coordinate system position (X, Y and Z) of the satellite S (obtained by satellite ephemeris calculation), the satellite nadir angle theta and the incoming wave direction angle alpha are shown in the figure; obtaining longitude lambda of B point of ship-borne receiverBLatitude and longitude
The solving steps are as follows:
step 1: obtaining the longitude Lambda of the earth center of the sub-satellite pointALatitude of geocentric
The longitude lambda of the satellite point can be obtained from the position (X, Y, Z) of the earth's center and earth's fixed coordinate system of the satelliteALatitude of geocentric
Comprises the following steps:
step 2: and (3) obtaining AN:
and step 3: solving an azimuth angle beta corresponding to the A point:
as can be seen from the figure, β ═ NAU ═ MAA ', so only MAA' can be solved.
In the spherical right-angled triangle MAA',
the M point is the ascending point of the satellite, and the longitude lambda of the M point can be obtained from the ephemeris of the satelliteMThen there is MA ═ λA′-λM|。
Two right-angle sides are known, the hypotenuse side is calculated: AM ═ arccos (cos M a 'cos a')
Knowing a hypotenuse and one of the cathetises, solving the angle corresponding to the cathetise:
and 4, step 4: solving the angle NAB:
∠NAB＝α+β
and 5: calculating the arc length AB:
as shown in fig. 3, in the triangular SBO, according to the sine theorem, there are:
Then, angle SOB ═ pi-theta-angle SBO ═ AB
Step 6: b, NB calculation:
from the spherical cosine equation:
NB＝arccos[cos(AN)cos(AB)+sin(AN)sin(AB)cos(∠NAB)]
and 7: calculating the latitude of the point B
And 8: solving for gamma, i.e. angle ANB
From the spherical sine formula:
and step 9: obtaining longitude lambda of point BB：
λB＝λB′＝λA′+A′B′＝λA+γ
The target positioning method based on the single satellite provided by the embodiment of the invention comprises the following steps: acquiring coordinates of a satellite subsatellite point A; acquiring an incoming wave direction angle of a target B and a nadir angle from a satellite to the target; establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth; determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle; and determining the coordinates of the target B based on the position relation of the target B and the pole N. The invention solves the position relation between the target and the pole by utilizing the spherical trigonometry, the incoming wave direction angle and the nadir angle of the target, can determine the coordinates of the target by only using a single satellite, and can solve the problem that the satellite navigation can realize positioning by more than 4 visible satellites.
According to the navigation message of one visible satellite, the satellite nadir angle and the incoming wave direction angle corresponding to the navigation message, the position (longitude and latitude) of the ship can be calculated, the requirements on known conditions are few, and the calculation is simple and rapid;
the method adopts spherical trigonometry, flexibly applies basic definitions of concepts such as geocentric longitude and latitude, satellite ascending intersection point longitude and the like, and enables positioning according to a single satellite to be possible;
the arc length from the pole to the equator of one meridian ring is repeatedly applied
According to the theory, the latitude of the shipborne receiver (point B) is finally calculated;
the method is based on the satellite orbit knowledge that the intersection point of the satellite running direction and the equator is a rising intersection point, combines the definition of longitude and the change of longitude between meridians, and applies the particularity of a spherical right-angled triangle to obtain an important intermediate variable of the azimuth angle of the sub-satellite point;
the method applies the definition of the direction angle of incoming waves of the satellite, combines the intermediate variable of the azimuth angle of the subsatellite point, and converts the complex problem of solving the longitude of the receiver into the problem of solving one angle in the spherical triangle;
the longitude value of the shipborne receiver is obtained by applying the characteristics that the longitudes of all points on one meridian circle are the same, and the included angle between two meridian circles is longitude difference.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 3 is a schematic structural diagram of a single-satellite-based target positioning apparatus according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, which are detailed as follows:
as shown in fig. 3, the single satellite-based target positioning device 3 includes:
a first obtaining module 31, configured to obtain coordinates of an intersatellite point a of a satellite;
a second obtaining module 32, configured to obtain an incoming wave direction angle of the target B and a nadir angle from the satellite to the target B;
the calculation module 33 is configured to establish a first spherical triangle on the earth surface, where the first spherical triangle has a substellar point a, a target B, and a pole N as vertices; the pole N is the south pole of the earth or the north pole of the earth;
determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle;
and determining the coordinates of the target B based on the position relation of the target B and the pole N.
In some embodiments, the positional relationship between the target B and the pole N comprises the distance between the target B and the pole N, and the included angle between the extension line of NA and the extension line of NB;
the calculation module 33 is specifically configured to:
acquiring coordinates of a rising intersection point M of the satellite, and establishing a second spherical triangle on the earth surface by taking the rising intersection point M, the substellar point A and the first intersection point A' as vertexes; the first intersection point A' is the intersection point of the NA extension line and the equator;
calculating an angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M and the coordinate of the intersatellite point A;
calculating an angle NAB based on the corner relationship, the angle MAA' and the incoming wave direction angle of the first spherical triangle;
establishing a triangle with the satellite S, the target B and the geocenter O as vertexes, and calculating the AB length based on the corner relationship between the nadir angle and the triangle SBO;
calculating the length of NB based on AB length, AN length, angle NAB and a spherical cosine formula to obtain the distance between a target B and a pole N;
and calculating an angle ANB based on the AB length, the NB length, the angle NAB and a spherical sine formula to obtain an included angle between the NA extension line and the NB extension line.
In some embodiments, the calculation module 33 is specifically configured to:
calculating the latitude of the target B based on the distance between the target B and the pole N;
and calculating the longitude of the target B based on the included angle between the NA extended line and the NB extended line and the longitude of the substellar point A.
In some embodiments, the calculation module 33 is specifically configured to:
the length of MA 'is calculated based on the coordinates of the intersection point M and the AA' length and a first formula:
MA′＝|λA′-λM|
wherein MA' represents the length of MAA′Longitude, λ, representing the first intersection AMRepresents the longitude of the point of intersection M;
calculating the length of the MA based on the length of the AA ', the length of the MA' and a spherical right-angle triangle formula;
the angle MAA 'is calculated based on the length of MA and the length of MA'.
In some embodiments, the calculation module 33 is specifically configured to:
calculating an angle SBO based on a nadir angle, an earth radius, an orbital altitude of a satellite and a sine theorem;
the AB length is calculated based on the angle SBO and the earth radius.
In some embodiments, the first obtaining module is to:
acquiring ephemeris of a satellite;
acquiring coordinates of the satellite in a geocentric geostationary coordinate system in an ephemeris;
and calculating the coordinates of the satellite points under the satellite based on the coordinates of the satellite in the geocentric and geostationary coordinate system.
The target positioning device based on a single satellite provided by the embodiment of the invention comprises: the first acquisition module is used for acquiring the coordinate of the satellite subsatellite point A; the second acquisition module is used for acquiring the incoming wave direction angle of the target B and the nadir angle from the satellite to the target B; the computing module is used for establishing a first spherical triangle with a subsatellite point A, a target B and a pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth; determining the position relation between a target B and a pole N based on the corner relation of the first spherical triangle, the coordinate of the substellar point A, the incoming wave direction angle and the nadir angle; and determining the coordinates of the target B based on the position relation of the target B and the pole N. The invention solves the position relation between the target and the pole by utilizing the spherical trigonometry, the incoming wave direction angle and the nadir angle of the target, can determine the coordinates of the target by only using a single satellite, and can solve the problem that the satellite navigation can realize positioning by more than 4 visible satellites.
Fig. 4 is a schematic diagram of a terminal according to an embodiment of the present invention. As shown in fig. 4, the terminal 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps in the various single satellite based target positioning method embodiments described above. Alternatively, the processor 40 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the terminal 4.
The terminal 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal 4 may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is only an example of a terminal 4 and does not constitute a limitation of terminal 4 and may include more or less components than those shown, or some components in combination, or different components, for example, the terminal may also include input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the terminal 4, such as a hard disk or a memory of the terminal 4. The memory 41 may also be an external storage device of the terminal 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like provided on the terminal 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal 4. The memory 41 is used for storing the computer program and other programs and data required by the terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a processor, to implement the steps of the above embodiments of the single satellite based target positioning method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A target positioning method based on a single satellite is characterized by comprising the following steps:
acquiring coordinates of a satellite subsatellite point A;
acquiring an incoming wave direction angle of a target B and a nadir angle from the satellite to the target;
establishing a first spherical triangle with the subsatellite point A, the target B and the pole N as vertexes on the earth surface; the pole N is the south pole of the earth or the north pole of the earth;
determining the position relation between the target B and the pole N based on the corner relation of the first spherical triangle, the coordinate of the intersatellite point A, the incoming wave direction angle and the nadir angle;
and determining the coordinates of the target B based on the position relation of the target B and the pole N.
2. The single-satellite-based target positioning method according to claim 1, wherein the position relationship between the target B and the pole N comprises a distance between the target B and the pole N and an included angle between an extension line of NA and an extension line of NB;
the determining the position relationship between the target B and the pole N based on the corner relationship of the first spherical triangle, the coordinates of the intersatellite point a, the incoming wave direction angle and the nadir angle includes:
acquiring coordinates of a lifting intersection point M of the satellite, and establishing a second spherical triangle on the earth surface by taking the lifting intersection point M, the substellar point A and the first intersection point A' as vertexes; the first intersection point A' is the intersection point of the NA extension line and the equator;
calculating an angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M and the coordinate of the intersatellite point A;
calculating an angle NAB based on the corner relationship of the first spherical triangle, the angle MAA' and the incoming wave direction angle;
establishing a triangle with the satellite S, the target B and the geocenter O as vertexes, and calculating the AB length based on the corner relationship between the nadir angle and the triangle SBO;
calculating the length of NB based on AB length, AN length, angle NAB and a spherical cosine formula to obtain the distance between the target B and the pole N;
and calculating an angle ANB based on the AB length, the NB length, the angle NAB and a spherical sine formula to obtain an included angle between the NA extension line and the NB extension line.
3. The method according to claim 2, wherein the determining the coordinates of the target B based on the position relationship between the target B and the pole N comprises:
calculating the latitude of the target B based on the distance between the target B and the pole N;
and calculating the longitude of the target B based on the included angle between the NA extended line and the NB extended line and the longitude of the sub-satellite point A.
4. The single satellite based target positioning method according to claim 2, wherein the calculating of the angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending point M and the coordinate of the intersatellite point a comprises:
calculating the length of MA 'based on the coordinates of the intersection point M and the length of AA' and a first formula:
MA′＝|λA′-λM|
wherein MA' represents the length of MAA′Represents the longitude, λ, of the first intersection point AMRepresents the longitude of the point of intersection M;
calculating the length of the MA based on the length of the AA ', the length of the MA' and a spherical right-angle triangle formula;
the angle MAA 'is calculated based on the length of MA and the length of MA'.
5. The single satellite based target positioning method of claim 2, wherein the establishing a triangle with vertices of the satellite S, the target B and the geocenter O, and calculating the AB length based on the nadir angle and the corner relationship of the triangle SBO comprises:
calculating an angle SBO based on the nadir angle, the radius of the earth, the orbital altitude of the satellite, and a sine theorem;
calculating an AB length based on the angle SBO and the radius of the earth.
6. The single-satellite-based target positioning method according to any one of claims 1 to 5, wherein the acquiring of the coordinates of the satellite's sub-satellite points comprises:
acquiring ephemeris of a satellite;
acquiring coordinates of the satellite in a geocentric geostationary coordinate system in the ephemeris;
and calculating the coordinates of the subsatellite point of the satellite based on the coordinates of the satellite in the geocentric and geostationary coordinate system.
7. An apparatus for single satellite based target positioning, comprising:
the first acquisition module is used for acquiring the coordinate of the satellite subsatellite point A;
the second acquisition module is used for acquiring an incoming wave direction angle of a target B and a nadir angle from the satellite to the target B;
the computing module is used for establishing a first spherical triangle on the earth surface by taking the subsatellite point A, the target B and the pole N as vertexes; the pole N is the south pole of the earth or the north pole of the earth;
determining the position relation between the target B and the pole N based on the corner relation of the first spherical triangle, the coordinate of the intersatellite point A, the incoming wave direction angle and the nadir angle;
and determining the coordinates of the target B based on the position relation of the target B and the pole N.
8. The single satellite based target positioning device of claim 7, wherein the position relationship between the target B and the pole N comprises a distance between the target B and the pole N and an included angle between an extension of NA and an extension of NB;
the calculation module is specifically configured to:
acquiring coordinates of a lifting intersection point M of the satellite, and establishing a second spherical triangle on the earth surface by taking the lifting intersection point M, the substellar point A and the first intersection point A' as vertexes; the first intersection point A' is the intersection point of the NA extension line and the equator;
calculating an angle MAA' based on the corner relationship of the second spherical triangle, the coordinate of the ascending intersection point M and the coordinate of the intersatellite point A;
calculating an angle NAB based on the corner relationship of the first spherical triangle, the angle MAA' and the incoming wave direction angle;
establishing a triangle with the satellite S, the target B and the geocenter O as vertexes, and calculating the AB length based on the corner relationship between the nadir angle and the triangle SBO;
calculating the length of NB based on AB length, AN length, angle NAB and a spherical cosine formula to obtain the distance between the target B and the pole N;
and calculating an angle ANB based on the AB length, the NB length, the angle NAB and a spherical sine formula to obtain an included angle between the NA extension line and the NB extension line.
9. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program realizes the steps of the single satellite based target positioning method as claimed in any one of the preceding claims 1 to 6.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for single satellite based target positioning as claimed in any one of the claims 1 to 6 above.
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