CN101001458A - Method of swarming aircraft positioning via network information based on mutual range information - Google Patents
Method of swarming aircraft positioning via network information based on mutual range information Download PDFInfo
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- CN101001458A CN101001458A CNA2006100893897A CN200610089389A CN101001458A CN 101001458 A CN101001458 A CN 101001458A CN A2006100893897 A CNA2006100893897 A CN A2006100893897A CN 200610089389 A CN200610089389 A CN 200610089389A CN 101001458 A CN101001458 A CN 101001458A
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Abstract
This invention relates to a method for localizing armada multinet based on the information of measuring distances mutually including: observer 1 is used in estimating error of each set of inertial navigation system, and the state quantity input by the observer is the error of the total inertial navigation system joining in the networking including a position error of the system and time asynchronous error between the inertial navigation system and a range system, and the quantity is the difference of distance between actual measurement and computation, in which, the actual measured distance is got by measuring distances among planes and the computation distance is got by computing position information data provided by the inertial navigation to get the optimum estimation to the input state volume from computation with a filter method based on a state equation and a measurement equation, observer 2 may be included here and the input state quantity of which is the error coefficient of the system, the measured volume is the optimum estimation to the input state quantity by computing the inertial navigation error estimated by observer 1 with a filter method based on the state equation and the measurement equation.
Description
Technical field
The present invention relates to a kind of ranging information of utilizing between a group of planes mutually and proofread and correct the inertial navigation method of accumulated error in time, belong to technical field of navigation and positioning.
Background technology
Information technology makes the mode of operation of information age have a revolutionary change in the extensive utilization of military field, and the war form is changed into the antagonism of system and system by the three-dimensional antagonism of large troop formation.Under this condition, Lock on is faced with that battle space is wide, situation is fast changing, resists motor-driven fierceness, electronic environment complexity, the transient problem of opportunity of combat.Group of planes networking will become a kind of basic working modes of aerial action under the confrontation between systems condition, to improve overall combat effectiveness.
Group of planes networking at present, Cooperative Air Combat are by the data of airborne data link transmission inertia/GPS integrated navigation system, put information thereby obtain its seat in the plane, in order to the collaborative flight of guiding formation aircraft.The defective that this method exists is: disturbed or can not use wartime under the situation of GPS at GPS, positioning accuracy is difficult to satisfy the requirement of group of planes cooperation, and the problems referred to above become more sharp-pointed concerning unmanned vehicle colony.
The error of considering inertial navigation system is normal distribution basically, therefore the many covers inertial navigation system that is operated in same position can obviously improve its positioning accuracy by output being got average weighted way, also can judge the system that soft fault occurs by voting formula when an aircraft is adorned 3 cover inertial navigations.Yet as a rule, an aircraft is only adorned the inertial navigation of 1-2 cover, and above-mentioned thinking is difficult to implement.
Summary of the invention
Technical problem of the present invention: overcome the deficiencies in the prior art, a kind of high method of swarming aircraft positioning via network based on mutual ranging information of interference, system accuracy that is not subjected to GPS is provided.
Technical solution of the present invention: based on the method for swarming aircraft positioning via network of mutual ranging information, its characteristics are: comprise that observer 1 is used for estimating respectively to overlap the inertial navigation system error, concrete steps are as follows: the quantity of state of observer 1 input comprises the site error of inertial navigation system and the time in-synchronization error between inertial navigation system and the ranging system for the error of whole inertial navigation systems of participation networking; Amount is measured as measured distance between machine and calculates the poor of distance, and wherein measured distance obtains by range finding between machine between machine; Calculate the navigation data of distance by circulating a notice of mutually between each node of a group of planes between machine, promptly the positional information calculation that is provided by inertial navigation obtains; Calculate optimal estimation according to state equation and measurement equation with the method for filtering to the input state amount.
The present invention observes 1 estimating respectively to overlap on the basis of inertial navigation system error, can also adopt observer 2 to estimate the error coefficient of inertial navigation system again, the steps include: that the quantity of state of observer 2 inputs is the error coefficient of inertial navigation system; The inertial navigation system error of measurement amount for estimating by observer 1 to obtain; Calculate optimal estimation according to state equation and measurement equation with the method for filtering to the input state amount.
The present invention's advantage compared with prior art is: the present invention utilizes the mutual ranging information between each aircraft node in the group of planes, adopt the method for filtering, not only can proofread and correct the error that inertial navigation accumulates in time, can also estimate the inertial navigation system error coefficient, and have diagnosis of inertial navigation soft fault and isolating power.Therefore the group of planes networking location technology that proposes of the present invention has been got rid of the hidden danger that GPS is subject to disturb, for improve inertial navigation system positioning accuracy level, reduce cost significant, with respect to improving reliability by unit and precision has remarkable advantages.
Description of drawings
Fig. 1 is a networking flight schematic diagram of implementing a group of planes of the present invention;
Fig. 2 is a model of implementing networking range finding corrective system of the present invention;
Fig. 3 implements any four times simulation result of observer behind the present invention 1;
Fig. 4 is 2 hours error propagation curves that respectively overlap inertial navigation behind enforcement the present invention.
Embodiment
The method of swarming aircraft positioning via network that the present invention proposes based on the mutual ranging information of aircraft, promptly in flight course, each node is found range mutually by data chainning between machine and is circulated a notice of navigation information separately in the group of planes, the data of obtaining are estimated and proofread and correct the site error and the time in-synchronization error of each node with the method for filtering, just can reach and " weighting " average similar effects.
Inter-machine communication of the present invention and distance measurement function can be realized by universal data link; Wireless set can be installed on aircraft on the hardware even can become the range finding communication system with communication network common transmit-receive mechanism.The U.S. has developed several tactical data link and has equipped army since nineteen sixties is brought into use data chainning, and that wherein use is wider is Link 4, Link 11 and Link 16.External relatively development, the research of domestic data chainning is started late, and independently technological development mainly concentrates on military electronic technology field.In view of inter-machine communication and range capability form, for the invention provides hardware foundation.
The present invention includes observer 1, to be used to estimate respectively to overlap the concrete steps of inertial navigation system error as follows:
(1) chooses the site error Δ X of the whole inertial navigation systems that participate in networking
i, Δ Y
i(plane positioning situation) reaches the time in-synchronization error Δ T that respectively overlaps between inertial navigation system and the ranging system
i(i=1,2 ..., n; N is an aircraft quantity in the network) as state variable;
(2) difference that adopts measured distance and distance (positional information that provides according to inertial navigation draws) is provided is stipulated only to find range once between any two airplanes as the measurement amount, if aircraft quantity is n in the network, then measurement equation is total to n (n-1)/2;
(3) estimate respectively to overlap the error of inertial navigation with the method for filtering;
(4) utilize above-mentioned steps (3) filtering to estimate
, in real time the output of inertial navigation system is proofreaied and correct, to improve the accuracy of output, improve the inertial navigation positioning accuracy.
On the basis of the error that adopts observer 1 to estimate respectively to overlap inertial navigation system, adopt observer 2 to estimate respectively to overlap the error model coefficient of inertial navigation again, step is as follows:
(1) choose respectively overlap inertial navigation error coefficient as state variable, observer 1 estimates
Be the measurement amount;
(2) estimate respectively to overlap the error coefficient of inertial navigation with the method for filtering;
(3) utilize the error coefficient that estimates that the open loop output calibration is carried out in inertial navigation;
Because the error coefficient of inertial navigation becomes slowly, can think that in the short period of time above-mentioned error coefficient is constant; Increasing above-mentioned error coefficient itself in time can change, and therefore, periodically carrying out networking range finding location just can be with the property retention of pure inertial navigation at a high level.
A group of planes of forming with one eight airplane is that example is further set forth specific implementation process of the present invention below.
Fig. 1 has provided group of planes networking flight schematic diagram, and four main frames are distributed on the circumference of 1 kilometer of diameter substantially, wing plane of every main frame band; Aircraft is with 1.5 minutes (the comprising 1 90 ° turning) of speed flight of 280 meter per seconds, all each is variant for the flying speed of each airplane size and direction, used inertial navigation precision is 2 nautical miles/hour levels, once found range mutually in per 0.1 second in the flight course, the distance measuring number of eight airplanes is 28.
Fig. 2 has provided the model of implementing networking range finding corrective system of the present invention, and the core of this system is two observers that make up, and observer 1 is used to estimate respectively to overlap the error of inertial navigation, and observer 2 is used to estimate the ins error model coefficient.In observer 1, amount is measured as measured distance d
Ij mWith the positional information calculation that provides according to inertial navigation draw apart from d
Ij cPoor, i=1 here ..., n-1, j=i+1 ..., n.Observer 2 respectively overlaps ins error Δ X with observer 1 output
i, Δ Y
iAs the measurement amount.When opening, networking range finding corrective system directly uses the output of observer 1
Carry out output calibration, when networking range finding corrective system is closed, use the output of observer 2
With
Calculate
Carry out output calibration.
Emulation shows that the inertial navigation position estimation error can reach 5m (CEP) when range error is 20m (1 σ).Under the condition of carrying out 90 ° of turning flights, the estimated accuracy of inertial navigation time in-synchronization error can reach 0.01 second (1 σ).
Fig. 3 has provided any four times execution result of observer 1, and the outer end points of eight straight lines is respectively eight cover inertial navigation site error initial values among the figure, and interior end points is the ins error after proofreading and correct.As seen from Figure 3, proofread and correct through 1.5 minutes filtering, the error of eight cover inertial navigations nearly all reduces to zero.
If the error model of inertial navigation is:
ω=1.24 * 10 herein
-31/ second, be shura cycle angular frequency, S
Xi, S
YiBe respectively east orientation, north orientation flying distance that the i airplane is gone through, a
Xi..., e
XiAnd a
Yi..., e
YiRepresent error coefficient respectively.
The error coefficient that observer 2 during Fig. 4 provides according to the present invention is estimated is proofreaied and correct 2 hours error propagation curves that respectively overlap after the inertial navigation respectively, show estimate through 15 minutes error coefficients after, the precision of pure inertial navigation can improve 2-3 doubly.
Implementing equipment of the present invention need reach time synchronized and possess inter-machine communication and range capability.Data chainning between machine (U.S. claims IFDL) not only can be carried out data passes, can also finish time synchronized and range finding between machine, so data chainning is the prerequisite of group of planes networking location between the equipment machine.
The working method of time division multiple access is adopted in range finding between machine of the present invention, distributes certain time slot to transmit for each networking node member, and receives the signal of other member's emission.Above-mentioned transmitting comprise this node navigation data, be used to realize this node and the information of other node range finding and the range finding result of this node and other node.
It should be noted last that: above embodiment is the unrestricted technical scheme of the present invention in order to explanation only, and all modifications that does not break away from the spirit and scope of the present invention or local the replacement all should be encompassed in the middle of the claim scope of the present invention.
Claims (5)
1, based on the method for swarming aircraft positioning via network of mutual ranging information, it is characterized in that: comprise that observer 1 is used to estimate respectively to overlap the error of inertial navigation system, the quantity of state of observer 1 input comprises the site error of inertial navigation system and the time in-synchronization error between inertial navigation system and the ranging system for the error of whole inertial navigation systems of participation networking; Amount is measured as measured distance between machine and calculates the poor of distance, and wherein measured distance obtains by range finding between machine between machine; Calculate the navigation data of distance by circulating a notice of mutually between each node of a group of planes between machine, promptly the positional information calculation that is provided by inertial navigation obtains; Calculate optimal estimation according to state equation and measurement equation with the method for filtering to the input state amount.
2, the method for swarming aircraft positioning via network based on mutual ranging information according to claim 1 is characterized in that also also being connected to observer 2 behind observer 1, the quantity of state of observer 2 inputs is the error coefficient of inertial navigation system; The inertial navigation system error of measurement amount for estimating by observer 1 to obtain; Calculate optimal estimation according to state equation and measurement equation with the method for filtering to the input state amount.
3, the method for swarming aircraft positioning via network based on mutual ranging information according to claim 1 and 2, it is characterized in that: when the output of observer 1 is arranged, utilize its result directly to proofread and correct the inertial navigation system error, no observer 1 utilizes the estimated result of observer 2 to calculate the inertial navigation system error when exporting, periodic like this inertial navigation output is proofreaied and correct, with the property retention of pure inertial navigation at a high level.
4, the method for swarming aircraft positioning via network based on mutual ranging information according to claim 1, it is characterized in that: the working method of time division multiple access is adopted in range finding between described machine, distribute certain time slot to transmit for each networking node member, and receive the signal of other member's emission.
5, the method for swarming aircraft positioning via network based on mutual ranging information according to claim 4 is characterized in that: the described navigation data that comprises this node of transmitting, be used to realize this node and the information of other node range finding and the range finding result of this node and other node.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101957204A (en) * | 2010-09-28 | 2011-01-26 | 北京航空航天大学 | Air-fleet inertial navigation data fusion method based on mutual ranging information |
| CN101231336B (en) * | 2008-02-28 | 2011-06-29 | 上海交通大学 | Wireless node relative positioning method based on difference global positioning system |
| CN102183254A (en) * | 2011-02-21 | 2011-09-14 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| CN105467418A (en) * | 2015-12-22 | 2016-04-06 | 中船航海科技有限责任公司 | New relative positioning method for ship formation |
| CN105955067A (en) * | 2016-06-03 | 2016-09-21 | 哈尔滨工业大学 | Multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and simulation method using the same to implement |
| US9696407B1 (en) * | 2012-08-07 | 2017-07-04 | Rockwell Collins, Inc. | Backup navigation position determination using surveillance information |
| CN109269499A (en) * | 2018-09-07 | 2019-01-25 | 东南大学 | A kind of target network interworking localization method based on Relative Navigation |
| CN110146108A (en) * | 2019-05-10 | 2019-08-20 | 南京航空航天大学 | A kind of On-line Fault appraisal procedure for unmanned plane bee colony collaborative navigation |
| CN113093160A (en) * | 2021-03-25 | 2021-07-09 | 北京机电工程研究所 | Wireless ranging verification method between unmanned aerial vehicles |
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2006
- 2006-06-23 CN CNB2006100893897A patent/CN100478649C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231336B (en) * | 2008-02-28 | 2011-06-29 | 上海交通大学 | Wireless node relative positioning method based on difference global positioning system |
| CN101957204A (en) * | 2010-09-28 | 2011-01-26 | 北京航空航天大学 | Air-fleet inertial navigation data fusion method based on mutual ranging information |
| CN102183254A (en) * | 2011-02-21 | 2011-09-14 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| CN102183254B (en) * | 2011-02-21 | 2012-11-21 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| US9696407B1 (en) * | 2012-08-07 | 2017-07-04 | Rockwell Collins, Inc. | Backup navigation position determination using surveillance information |
| CN105467418A (en) * | 2015-12-22 | 2016-04-06 | 中船航海科技有限责任公司 | New relative positioning method for ship formation |
| CN105955067A (en) * | 2016-06-03 | 2016-09-21 | 哈尔滨工业大学 | Multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and simulation method using the same to implement |
| CN109269499A (en) * | 2018-09-07 | 2019-01-25 | 东南大学 | A kind of target network interworking localization method based on Relative Navigation |
| CN109269499B (en) * | 2018-09-07 | 2022-06-17 | 东南大学 | Target joint networking positioning method based on relative navigation |
| CN110146108A (en) * | 2019-05-10 | 2019-08-20 | 南京航空航天大学 | A kind of On-line Fault appraisal procedure for unmanned plane bee colony collaborative navigation |
| CN110146108B (en) * | 2019-05-10 | 2020-11-03 | 南京航空航天大学 | Fault online evaluation method for unmanned aerial vehicle swarm collaborative navigation |
| CN113093160A (en) * | 2021-03-25 | 2021-07-09 | 北京机电工程研究所 | Wireless ranging verification method between unmanned aerial vehicles |
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