CN106324646B - Guided missile based on satellite navigation surveys attitude positioning method - Google Patents

Guided missile based on satellite navigation surveys attitude positioning method Download PDF

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Publication number
CN106324646B
CN106324646B CN201610709342.XA CN201610709342A CN106324646B CN 106324646 B CN106324646 B CN 106324646B CN 201610709342 A CN201610709342 A CN 201610709342A CN 106324646 B CN106324646 B CN 106324646B
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missile
indicate
guided missile
antenna
signal
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CN201610709342.XA
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Chinese (zh)
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CN106324646A (en
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赵光辉
张�杰
沈方芳
石光明
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西安电子科技大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/53Determining attitude

Abstract

A kind of guided missile survey attitude positioning method based on satellite navigation.Defining the invention firstly uses the space coordinate of guided missile and satellite away from ground direction is that the reference direction that guided missile rotates finally estimates the revolving speed of guided missile and rotate angle then with the frequency and phase of signal processing method estimation modulated signal.Specific steps include:1, signal is acquired;2, geometric position signal is handled;3, using calculus of finite differences, estimate the frequency change rate of modulated signal;4, using discrete Fourier transform, estimate the frequency of modulated signal;5, estimate the phase of modulated signal;6, the parameter of description guided missile rotation attitude is calculated;7, missile attitude is described.The present invention overcomes prior arts to survey appearance to long-range missile, and needs to prestore missile route, consumes the deficiency of memory space.The application range that guided missile surveys appearance is expanded, memory space and processing time loss are reduced.

Description

Guided missile based on satellite navigation surveys attitude positioning method

Technical field

The invention belongs to fields of communication technology, further relate to one of satellite positioning, signal processing technology field Guided missile based on satellite navigation surveys attitude positioning method.The present invention can define the reference of guided missile rotation using the space coordinate of guided missile and satellite Direction, with the frequency and phase of signal processing method estimation modulated signal, the final posture for determining guided missile rotation.

Background technique

Satellite navigation is using satellite to the pinpoint technology of object.There is mature technology to obtain using satellite navigation at present Obtain the space coordinate and heading of guided missile.And the estimation for guided missile rotation attitude, still unmature solution.

The patented technology that Interstate Electronics Corporation, Anaheim, CA (Us) possess " SYSTEMS AND METHODS FOR DETERMINING A ROTATIONAL POSITION OF AN OBJECT " (application Number:13/189,962, the applying date:2011.07.25 grant number:US 8,199,052B1, grant date:2012.06.12 it is mentioned in) A kind of method for estimating guided missile rotation position is gone out.This method utilizes global position system GPS at least four at any time Satellite can see the characteristics of same object, it is assumed that within missile flight time, it is seen that four satellites of guided missile are same group and defend Star.Satellite direction is directed toward as the rotation of rotary reference location expression guided missile using Missile-borne Antenna.It is prestored with PHASE-LOCKED LOOP PLL TECHNIQUE processing Missile route and satellite-signal calculate accurate guided missile rotation angle in real time.Shortcoming existing for the patented technology is:1. leading When bullet flight, it is necessary in the visual range of same group of satellite.For long-range missile, this method is invalid.2. to prestore Missile route this adds increased the consumption of memory and reduces processing speed.If guided missile yaws, the effect of this method It can have a greatly reduced quality.

Summary of the invention

It is an object of the invention to overcome the shortcomings of above-mentioned technology, appearance is rotated for the current effective ways estimation guided missile that lacks This status of state provides a kind of guided missile survey attitude positioning method based on satellite navigation, describes the rotation attitude of guided missile, mention for precise guidance It is supported for data.

Realizing the object of the invention concrete thought is:The ginseng of guided missile rotation is calculated according to the position coordinates of guided missile and satellite first Direction is examined, satellite launch is then handled to the modulated signal of guided missile, the frequency and phase of signal is obtained, finally according to modulated signal Frequency and phase obtain the time that the revolving speed of guided missile, the rotation angle of guided missile and guided missile rotate to reference direction.

Realize that specific step is as follows for the object of the invention:

(1) signal is acquired:

The geometric position signal and modulated signal from satellite launch to guided missile are acquired by Missile-borne Antenna;

(2) geometric position signal is handled:

(2a) calculates guided missile to the line direction of satellite according to line direction formula;

(2b) deviates from ground direction formula according to antenna, calculates missile antenna and deviates from ground direction;

(2c) calculates missile antenna reception gain maximum direction according to reception gain maximum direction formula;

(2d) calculates missile antenna away from ground direction and missile antenna gain maximum direction according to inner product of vector formula Angle;

(3) calculus of finite differences is used, estimates the frequency change rate of modulated signal:

(3a) arbitrarily intercepts one section from modulated signal and is used as measured signal, interception and measured signal phase from modulated signal Adjacent and length is one section identical, as auxiliary signal, according to the following formula, constructs difference frequency signal:

Δ X=X1X2 *

Wherein, Δ X indicates difference frequency signal, X1Indicate measured signal, X2Indicate auxiliary signal, * expression takes conjugate operation;

(3b) uses discrete Fourier transform, estimates the frequency of difference frequency signal;

(3c) according to the following formula, the frequency change rate of computation of modulation signals:

ωa=Δ ω/N

Wherein, ωaIndicate that the frequency change rate of modulated signal, Δ ω indicate the frequency of difference frequency signal, N indicates measured signal Length;

(4) discrete Fourier transform is used, estimates the frequency of modulated signal;

(5) estimate the phase of modulated signal:

(5a) according to reference signal constructive formula, constructing a central point phase is 0, length ginseng identical with measured signal Examine signal;

(5b) calculates the phase of measured signal according to phase calculation formula;

(6) parameter of description guided missile rotation attitude is calculated:

(6a) uses revolving speed calculation formula, calculates the revolving speed of guided missile;

(6b) uses rotation angle calculation formula, calculates the rotation angle of missile antenna;

(6c) uses rotational time calculation formula, calculates missile antenna and rotates to the time away from ground direction;

(7) missile attitude is described:

(7a) describes the spatial position of guided missile using the collected geometric position of Missile-borne Antenna;

(7b) describes guided missile using the time that the revolving speed, antenna rotation angle and antenna of guided missile are rotated to away from ground direction Rotation attitude.

Compared with the prior art, the present invention has the following advantages:

First, the present invention only sets rotary reference direction away from the direction on ground for missile antenna, this direction and satellite Position, the movement of satellite is unrelated.When overcoming missile flight in the prior art, it is necessary in same group of satellite visual range Problem.So that the present invention has the advantages that be suitable for long-range missile.

Second, the present invention is estimated using the frequency change rate of calculus of finite differences estimation modulated signal using construction reference signal method The phase of modulated signal can be used for the rotation attitude estimation of the gradual guided missile of revolving speed, overcome the prior art to solve this Problem needs to do the deficiency corrected according to the missile route prestored.So that the present invention is better than existing method in processing speed.

Third, the present invention are estimated using the frequency change rate of calculus of finite differences estimation modulated signal using construction reference signal method The phase of modulated signal, so that the present invention can still guarantee precision under low sample frequency.This can reduce signal acquisition system The cost of system.

Detailed description of the invention

Fig. 1 is flow chart of the invention;

Fig. 2 is missile flight posture schematic diagram of the present invention;

Fig. 3 is analogous diagram of the invention.

Specific embodiment

The present invention will be further described with reference to the accompanying drawing.

Referring to attached drawing 1, the specific steps of the present invention are as follows.

Step 1, signal is acquired.

Signal acquiring system acquires geometric position signal and modulation from satellite launch to guided missile by Missile-borne Antenna in real time Signal.Geometric position signal includes the spatial position coordinate, the spatial position coordinate of guided missile and the heading of guided missile of satellite.

Step 2, geometric position signal is handled.

In conjunction with the missile flight posture schematic diagram of the present invention of attached drawing 2, two important directions defined in the present invention are explained: Antenna is away from ground direction and reception gain maximum direction.

Symbol in Fig. 2Indicate missile heading, symbolIndicate acceleration of gravity direction, symbolIndicate guided missile To the line direction of satellite.

Missile-borne Antenna in Fig. 2 is rotated perpendicular to guided missile and with the rotation of guided missile.Add when antenna is rotated to gravity Directional velocity, for missile heading in same plane, antenna is directed toward " surface ".It this direction will be referred to as antenna in the present invention Away from ground direction, uses this direction as reference, describe the rotation of guided missile.Symbol in Fig. 2Indicate that antenna deviates from ground Direction.

In Fig. 2, when antenna rotates to and missile heading, guided missile to satellite links direction in same plane, antenna Reception gain reaches maximum, this direction will be referred to as reception gain maximum direction in the present invention.Symbol in Fig. 2It indicates Reception gain maximum direction.

According to definition above, when guided missile rotates to reception gain maximum direction, the phase of modulated signal is 0.Work as guided missile Other positions are rotated to, the phase of modulated signal is that antenna is directed toward the angle with reception gain maximum direction at this time.The present invention is just It is the phase by estimating modulated signal, acquires the angle of antenna direction and reception gain maximum direction, and then acquires antenna and refer to To the angle for deviating from ground direction with antenna, to describe the rotation angle of guided missile.

According to the following formula, guided missile is calculated to the line direction of satellite:

Wherein,Indicate the line direction from guided missile to satellite,Indicate the spatial position coordinate of satellite,Indicate guided missile Spatial position coordinate.

According to the following formula, it calculates missile antenna and deviates from ground direction:

Wherein,Indicate that missile antenna deviates from ground direction,Indicate acceleration of gravity direction,Indicate the flight of guided missile Direction.

According to the following formula, reception gain maximum direction is calculated:

Wherein,Indicate missile antenna reception gain maximum direction,Indicate the line direction from guided missile to satellite, Indicate the heading of guided missile.

According to the following formula, the angle that line deviates from ground direction and reception gain maximum direction is calculated:

Wherein, α indicates that missile antenna deviates from the angle in ground direction and missile antenna reception gain maximum direction, arccos Indicate anticosine operation,Indicate that missile antenna deviates from ground direction,Indicate missile antenna reception gain maximum direction.

Step 3, using calculus of finite differences, estimate the frequency change rate of modulated signal.

Any one section is intercepted from modulated signal as measured signal, intercepted from modulated signal it is adjacent with measured signal and Length is one section identical, as auxiliary signal, according to the following formula, constructs difference frequency signal:

Δ X=X1X2 *

Wherein, Δ X indicates difference frequency signal, X1Indicate measured signal, X2Indicate auxiliary signal, * expression takes conjugate operation.

With discrete Fourier transform, the frequency of difference frequency signal is estimated.

According to the following formula, the frequency change rate of computation of modulation signals:

ωa=Δ ω/N

Wherein, ωaIndicate that the frequency change rate of modulated signal, Δ ω indicate the frequency of difference frequency signal, N indicates measured signal Length;

Step 4, using discrete Fourier transform, estimate the frequency of modulated signal.

Step 5, estimate the phase of modulated signal.

According to the following formula, constructing a central point phase is 0, length reference signal identical with measured signal:

Wherein, XrefIndicate reference signal, k indicates the discrete sampling time of modulated signal, and k ∈ (- N/2, N/2), ∈ are indicated Belong to symbol, N indicates the length of reference signal, and exp indicates that nature truth of a matter symbol, j indicate imaginary unit, ω0Indicate modulation letter Number frequency, ωaIndicate the frequency change rate of modulated signal.

According to the following formula, the phase of measured signal is calculated:

Wherein, φ indicates the phase of measured signal, and N indicates the length of measured signal, and ∑ indicates sum operation, X1Indicate to Survey signal, XrefIndicate reference signal, conjugate operation is sought in * expression.

Step 6, the parameter of description guided missile rotation attitude is calculated.

According to the following formula, the revolving speed of guided missile is calculated:

N=ω0·fs/2π

Wherein n indicates the revolving speed of guided missile, ω0Indicate the frequency of modulated signal, fs indicates the sample frequency of modulated signal, π Indicate pi.

According to the following formula, the rotation angle of missile antenna is calculated:

γ=| α-φ |

Wherein, γ indicates the rotation angle of missile antenna, | | indicate the operation that takes absolute value, α indicates that missile antenna deviates from The angle in ground direction and missile antenna reception gain maximum direction, φ indicate the phase of modulated signal.

According to the following formula, it calculates missile antenna and rotates to the time away from ground direction.

Rotational time calculation formula is as follows:

Wherein tupIndicate that missile antenna rotates to the time away from ground direction, γ indicates the rotation angle of missile antenna, n Indicate that the revolving speed of guided missile, π indicate pi.

Step 7, missile attitude is described:

The spatial position of guided missile is described using the collected geometric position of Missile-borne Antenna.

Guided missile is described using the time that the revolving speed of guided missile, the rotation angle of antenna and antenna are rotated to away from ground direction Rotation attitude.

Effect of the invention is further described below with reference to analogous diagram.

1. simulated conditions:

The operating system of emulation experiment of the present invention be Intel (R) Core (TM) i7-4790CPU@3.60GHz, 64 Windows operating system, simulation software use MATLAB R (2014b).

Parameter set by emulation experiment of the present invention is as shown in the table:

Parameter Index The sample frequency of modulated signal 1KHz Guided missile revolving speed 300 revolutions per seconds Relative speed variation - 4 revolutions per seconds2 Missile flight speed 930 meter per seconds The initial position of guided missile [50,481,132] rice The initial velocity direction of guided missile [5,4,9] Missile position error of coordinate 20 meters Satellite altitude 3.6 ten thousand kms Coordinate of the satellite position error 5 meters Acceleration of gravity direction [0 0-9.8]

2. emulation content and interpretation of result:

According to parameter set by upper table emulation experiment of the present invention, missile flight emulation in 3 seconds is done.Simulation generates satellite hair Give the geometric position signal and modulated signal of guided missile.In order to simulate true environment, in emulation experiment to missile position coordinate with Coordinate of the satellite position is added to random error, is added to noise to modulated signal.

It according to the parameter of setting, calculates within the emulation period, the exact value of guided missile revolving speed and rotation angle.

Using method of the invention, the revolving speed and rotation angle of guided missile are estimated, and made the difference with exact value, miss as estimation Difference.Effect of the invention is evaluated according to evaluated error.

Fig. 3 (a) is guided missile error for rotating speed estimation analogous diagram.Abscissa indicates the flight time of guided missile in Fig. 3 (a), indulges and sits Mark indicates the evaluated error of guided missile revolving speed.The peak value of Fig. 3 (a) middle polyline is no more than 0.2, this shows that the speed estimate of guided missile misses Difference is no more than 0.2 (revolutions per second).

Fig. 3 (b) guided missile rotates angle evaluated error analogous diagram.Abscissa indicates the flight time of guided missile in Fig. 3 (b), indulges The evaluated error of coordinate representation guided missile rotation angle.The peak value of Fig. 3 (b) middle polyline is no more than 7, this shows the rotation angle of guided missile It spends evaluated error and is no more than 7 (degree).

In emulation experiment, the initial speed of guided missile is 300 (revolutions per seconds), and the sample frequency of modulated signal is 1KHz.So lead The every rotation of bullet 1 week, can about collect the discrete sampling point of 3 modulated signals, this belongs to condition of low sampling rate.In low sampling In the case of rate, simulation result is accurate.This shows that the present invention can accurately estimate the rotation attitude of guided missile according to satellite navigation, and It is also effective under low sample frequency.

Claims (9)

1. a kind of guided missile based on satellite navigation surveys attitude positioning method, include the following steps:
(1) signal is acquired:
The geometric position signal and modulated signal from satellite launch to guided missile are acquired by Missile-borne Antenna;
(2) geometric position signal is handled:
(2a) calculates guided missile to the line direction of satellite according to line direction formula;
(2b) deviates from ground direction formula according to antenna, calculates missile antenna and deviates from ground direction;
The antenna is as follows away from ground direction formula:
Wherein,Indicate that missile antenna deviates from ground direction, the antenna refers to away from ground direction, when antenna rotate to In same plane, antenna is directed toward " surface " for acceleration of gravity direction, missile heading, this direction will be referred to as antenna and deviates from Ground direction uses this direction as reference, describes the rotation of guided missile;Indicate acceleration of gravity direction,Indicate guided missile Heading;
(2c) calculates missile antenna reception gain maximum direction according to reception gain maximum direction formula;
(2d) calculates the folder that missile antenna deviates from ground direction and missile antenna gain maximum direction according to inner product of vector formula Angle;
(3) calculus of finite differences is used, estimates the frequency change rate of modulated signal:
(3a) arbitrarily intercepts one section as measured signal from modulated signal, intercepted from modulated signal it is adjacent with measured signal and Length is one section identical, as auxiliary signal, according to the following formula, constructs difference frequency signal:
Δ X=X1X2 *
Wherein, Δ X indicates difference frequency signal, X1Indicate measured signal, X2Indicate auxiliary signal, * expression takes conjugate operation;
(3b) uses discrete Fourier transform, estimates the frequency of difference frequency signal;
(3c) according to the following formula, the frequency change rate of computation of modulation signals:
ωa=Δ ω/N
Wherein, ωaIndicate that the frequency change rate of modulated signal, Δ ω indicate the frequency of difference frequency signal, N indicates the length of measured signal Degree;
(4) discrete Fourier transform is used, estimates the frequency of modulated signal;
(5) estimate the phase of modulated signal:
(5a) according to reference signal constructive formula, constructing a central point phase is 0, and length is identical with measured signal with reference to letter Number;
(5b) calculates the phase of measured signal according to phase calculation formula;
(6) parameter of description guided missile rotation attitude is calculated:
(6a) uses revolving speed calculation formula, calculates the revolving speed of guided missile;
(6b) uses rotation angle calculation formula, calculates the rotation angle of missile antenna;
(6c) uses rotational time calculation formula, calculates missile antenna and rotates to the time away from ground direction;
(7) missile attitude is described:
(7a) describes the spatial position of guided missile using the collected geometric position of Missile-borne Antenna;
(7b) rotates to the rotation that the time away from ground direction describes guided missile using the revolving speed, antenna rotation angle and antenna of guided missile Turn posture.
2. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (2a) Line direction formula it is as follows:
Wherein,Indicate the line direction from guided missile to satellite,Indicate the spatial position coordinate of satellite,Indicate the sky of guided missile Between position coordinates.
3. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (2c) Reception gain maximum direction formula it is as follows:
Wherein,Indicate missile antenna reception gain maximum direction,Indicate the line direction from guided missile to satellite,Expression is led The heading of bullet.
4. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (2d) Inner product of vector formula it is as follows:
Wherein, α indicates that missile antenna deviates from the angle in ground direction and missile antenna reception gain maximum direction, and arccos is indicated Anticosine operation,Indicate that missile antenna deviates from ground direction,Indicate missile antenna reception gain maximum direction.
5. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (5a) Reference signal constructive formula it is as follows:
Wherein, XrefIndicate reference signal, k indicates the discrete sampling time of modulated signal, and k ∈ (- N/2, N/2), ∈ expression belong to Symbol, N indicate the length of reference signal, and exp indicates that nature truth of a matter symbol, j indicate imaginary unit, ω0Indicate modulated signal Frequency, ωaIndicate the frequency change rate of modulated signal.
6. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (5b) Phase calculation formula it is as follows:
Wherein, φ indicates the phase of measured signal, and N indicates the length of measured signal, and Σ indicates sum operation, X1Indicate letter to be measured Number, XrefIndicate reference signal, * expression takes conjugate operation.
7. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (6a) Revolving speed calculation formula it is as follows:
N=ω0·fs/2π
Wherein, n indicates the revolving speed of guided missile, ω0Indicate the frequency of modulated signal, fs indicates the sample frequency of modulated signal, and π is indicated Pi.
8. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (6b) Rotation angle calculation formula is as follows:
γ=| α-φ |
Wherein, γ indicates the rotation angle of missile antenna, | | indicate the operation that takes absolute value, α indicates that missile antenna deviates from ground The angle in direction and missile antenna reception gain maximum direction, φ indicate the phase of modulated signal.
9. the guided missile according to claim 1 based on satellite navigation surveys attitude positioning method, it is characterised in that:Described in step (6c) Rotational time calculation formula it is as follows:
Wherein, tupIndicate that missile antenna rotates to the time away from ground direction, γ indicates the rotation angle of missile antenna, n table Show that the revolving speed of guided missile, π indicate pi.
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