CN108680941B - Single-station-based aircraft positioning system and method - Google Patents
Single-station-based aircraft positioning system and method Download PDFInfo
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- CN108680941B CN108680941B CN201810399733.5A CN201810399733A CN108680941B CN 108680941 B CN108680941 B CN 108680941B CN 201810399733 A CN201810399733 A CN 201810399733A CN 108680941 B CN108680941 B CN 108680941B
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses an aircraft positioning system and a positioning method based on a single station, wherein the positioning system comprises an aircraft flight control module, a phase measurement module, an inertial gyroscope, a satellite navigation positioning module and a processing module; the phase measurement module comprises two antennas which are positioned at different positions on the aircraft; the aircraft flight control module is used for controlling the aircraft to fly along a non-straight line; the processing module comprises a target signal azimuth angle calculation unit and a target signal distance calculation unit, wherein the target signal distance calculation unit calculates the distance between the aircraft and the target signal according to the target signal azimuth angle acquired by the aircraft and the aircraft position measured by the satellite navigation positioning module. The invention does not need to consider the Doppler frequency offset effect of the received signal caused by the movement of the aircraft, can realize high-precision information source positioning by combining the existing hardware equipment of the aircraft on the premise of only needing a single short baseline, and has great application value.
Description
Technical Field
The invention relates to the technical field of signal positioning, in particular to an aircraft positioning method based on a single station.
Background
The passive positioning technology of the short base line of the single station of movement is a high-precision signal positioning technology which can be applied to small aircrafts. The technology measures the phase difference of received signals by using a single-station short base line under the condition that an aircraft does S-shaped maneuvering flight, obtains the maneuvering rotation angle of the aircraft and the position information of the aircraft by combining general equipment of the aircraft, calculates the signal ambiguity by using a positioning algorithm, and obtains the azimuth and distance information of the signals to finish signal direction finding.
Conventional signal location techniques can be divided into multi-station and single station. Although the multi-station positioning technology has advantages in positioning accuracy and real-time performance, the multi-station positioning technology has the disadvantages of complex equipment, long erection time, large occupied area and extremely high time-frequency synchronization requirements among stations. The single station has simple structure and is easy to be rapidly deployed. The conventional single-station positioning technology requires that the length of a base line is ten times, one hundred times or even higher than the wavelength of a detection signal, and a multi-base-line technology and a virtual base-line technology are required to be adopted for solving the signal ambiguity, which all put high requirements on antenna arrangement. At present, a single-station long-baseline interferometer movement positioning method is mostly adopted on an aircraft, signal data and aircraft parameters of a plurality of positions on a flight track are measured by utilizing non-linear movement of the aircraft, and a virtual baseline is constructed by utilizing the positions of the flight track to realize signal direction finding. However, in the method, direction-finding errors are caused by complex nonlinear changes of signals generated by the motion and attitude changes of the aircraft in the motion process, and meanwhile, an external radiation source is required to establish a correction model, so that the system is complex in structure and high in cost.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a single-station-based aircraft positioning system and method that simplifies the system complexity and improves the overall reliability, in view of the above-mentioned deficiencies of the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that:
an aircraft positioning system based on a single station comprises an aircraft flight control module, a phase measurement module, an inertial gyroscope, a satellite navigation positioning module and a processing module; the phase measurement module comprises two antennas which are positioned at different positions on the aircraft;
the aircraft flight control module is used for controlling the aircraft to fly along a non-straight line;
the phase measurement module is used for measuring the phase difference theta of the two antennasm0(ii) a The inertial gyroscope is used for measuring the maneuvering rotation angle theta of the aircraftb0(ii) a The satellite navigation positioning module is used for measuring the position (x) of an aircraft0，y0，z0)；
The processing module comprises a target signal azimuth angle calculation unit and a target signal distance calculation unit, wherein the target signal azimuth angle calculation unit calculates the phase difference theta of the two antennas measured by the phase measurement modulem0And aircraft maneuver angle θ measured by inertial gyroscopeb0Obtaining a target signal azimuth angle; the target signal distance calculation unit obtains the target signal azimuth angle according to the aircraft and the aircraft position (x) measured by the satellite navigation positioning module0，y0，z0) And calculating the distance between the aircraft and the target signal.
The method for obtaining the azimuth angle of the target signal by the target signal azimuth angle calculation unit comprises the following steps:
where d is the distance between antennas A1 and A2; theta0Is the included angle between the target signal S and the initial position of the wing; λ is the target signal wavelength; thetam0、θm1、θm2The phase difference of the two antennas is measured when the phase measuring meter is respectively at the initial position, the position 1 and the position 2; thetab0、θb1、θb2The maneuvering rotating angles of the aircraft are measured when the aircraft is at the initial position, the position 1 and the position 2 respectively; deltaθ1＝θb1-θb0Δθ2＝θb2-θb0The maneuvering rotation angle difference of the aircraft at the position 1 and the position 2 and the initial position respectively; n is a radical of0And receiving the signal ambiguity, and taking a positive integer.
The target signal distance calculation unit calculates the distance R between the aircraft and the target signal1The method comprises the following steps:
wherein Δ θ is θ1-θ0，θ0For the azimuth angle, theta, of the target signal obtained in the first azimuth measurement of the target signal1Obtaining a target signal azimuth angle in the second target signal azimuth angle measurement;
is the distance between the aircraft's position at the second target signal azimuth measurement (x1, y1, z1) and the aircraft's position at the first target signal azimuth measurement (x0, y0, z 0).
The phase measurement module further comprises two radio frequency modules, two intermediate frequency modules and a phase discriminator.
A single-station-based aircraft positioning method is characterized by comprising a flight control step, a flight state parameter acquisition step and a parameter processing step;
the flight control step controls the aircraft to fly along a non-straight line;
the flight state parameter acquiring step acquires the phase difference theta of two antennas of the aircraft flying along a non-straight linem0Maneuvering angle theta of aircraftb0And measuring aircraft position (x)0，y0，z0)；
The parameter processing step is carried out according to the phase difference theta of the two antennas obtained in the flight state parameter obtaining stepm0Maneuvering angle theta of aircraftb0And measuring aircraft position (x)0，y0，z0) And obtaining the distance between the aircraft and the target signal to finish positioning.
The flight state parameter acquiring step comprises the following steps:
acquiring a first set of data:
time S0Measuring the phase difference theta of the two paths of signals at the momentm0Maneuvering angle theta of aircraftb0Aircraft position (x)0，y0，z0)；
Time S1Measuring the phase difference theta of the two paths of signals at the momentm1Maneuvering angle theta of aircraftb1An aircraft position;
time S2Measuring the phase difference theta of the two paths of signals at the momentm2Maneuvering angle theta of aircraftb2；
Acquiring a second set of data:
time S3Measuring the phase difference theta of the two paths of signals at the momentm3Maneuvering angle θ of aircraftb3Aircraft position (x)1，y1，z1)；
Time S4Measuring the phase difference theta of the two paths of signals at the momentm4Maneuvering angle theta of aircraftb4；
Time S5Measuring the phase difference theta of the two paths of signals at the momentm5Maneuvering angle theta of aircraftb5。
The parameter processing step includes:
resolving a first target signal based on a first set of measurement dataNumber azimuth angle theta0
θ0＝cos-1(P0)
In the formula, a11＝λ(1-cosΔθ1)、a12＝d sinΔθ1、a21＝λ(1-cosΔθ2)、a22＝d sinΔθ2、
Δθ1＝θb1-θb0Δθ2＝θb2-θb0。
Calculating the azimuth angle theta of the second target signal according to the second group of measurement data1：
θ1＝cos-1(P1)
In the formula, a11＝λ(1-cosΔθ1)、a12＝d sinΔθ1、a21＝λ(1-cosΔθ2)、a22＝d sinΔθ2、
Δθ1＝θb4-θb3Δθ2＝θb5-θb3。
Resolving a secondary signal distance R according to the primary signal direction and the secondary signal direction1And completing signal positioning:
in the formula (I), the compound is shown in the specification,
Δθ＝θ1-θ0。
the invention discloses a positioning system and a method, which comprises the following steps:
1) the signal positioning is composed of two parts of signal ranging and signal direction finding. And each complete S-shaped maneuver can complete multiple complete signal positioning.
2) In the signal positioning process, three or more data measurements are required to be completed for each signal direction finding.
3) In the signal positioning process, two or more signal direction finding needs to be completed in each signal ranging.
The invention discloses a positioning system and a method, which comprises the following steps:
1) the time of each data measurement and the maximum value of the maneuvering angle of the aircraft are calculated and determined by a moving single-station short-baseline passive positioning algorithm.
2) Each data measurement includes measuring the phase difference of the signals received by the two receiving antennas at the moment, the maneuvering angle of the aircraft and the position information of the aircraft.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention adopts the single-station short base line to realize direction finding, so the invention can be applied to small-sized equipment platforms.
2) The invention adopts the principle of single baseline direction finding and combines common aircraft general equipment (an inertial gyroscope and a satellite navigation positioning module) to realize signal positioning.
3) The invention realizes signal positioning without the limitation of the self movement speed of the aircraft and can realize quick positioning of a static or maneuvering signal source.
4) The invention constructs the rotating base line by utilizing the nonlinear (such as S-shaped) maneuvering flight of the aircraft without adopting a multi-base line and virtual base line method constructed by multiple channels, thereby reducing the complexity of the system.
5) The invention can realize one-time target signal direction finding by utilizing three-time data measurement in the nonlinear (such as S-shaped) maneuvering flight of the aircraft, and can realize one-time signal distance finding by utilizing two-time signal direction finding, thereby improving the data measurement efficiency, reducing the system resource overhead and reducing the calculation time delay.
6) The invention finishes signal positioning in the nonlinear (such as S-shaped) maneuvering flight of the aircraft, and can regulate and control the flying attitude, the speed and the rotating angle of the aircraft to realize the rapid measurement of multiple signal positioning or single signal positioning in single S-shaped maneuvering flight through the processing module.
7) In order to realize signal ranging, the invention only needs to ensure that the distance of the aircraft at the moment of signal ranging twice meets the precision requirement of the algorithm, and the aircraft does not need to fly along a straight line, thereby improving the maneuvering capability of the tail end of the aircraft.
8) The invention can only change the algorithm on the premise of not changing the hardware module, realize the fast switching of the plane wave front model/the spherical wave front model and ensure the high-precision positioning under far/near distance.
Drawings
FIG. 1 is a schematic view of the positioning principle of the present invention;
FIG. 2 is a signal direction finding schematic of the present invention;
FIG. 3 is a schematic diagram of signal ranging in accordance with the present invention;
FIG. 4 is a block diagram of a positioning system of the present invention;
FIG. 5 is a flow chart of a positioning method of the present invention;
FIG. 6 is a plot of maximum maneuver angle of the aircraft of the present invention, wherein (a) is a plot of maximum maneuver angle versus signal frequency, and (b) is a plot of maximum maneuver angle versus signal orientation;
1-a phase measurement module; 2-inertial gyroscopes; 3-a satellite navigation positioning system; 4-a processing module; 5-a sequential circuit; 11-a receiving antenna; 12-a radio frequency module; 13-an intermediate frequency module; 14-phase detector.
Detailed Description
The technical scheme of the invention is clearly and completely described in the following with reference to the accompanying drawings.
The single-station-based aircraft positioning system of the present invention, as shown in fig. 4, includes: the device comprises a phase measurement module 1, an inertial gyroscope 2, a satellite navigation positioning system 3, a processing module 4 and a time sequence circuit 5. The phase measurement module 1 includes: the system comprises two receiving antennas 11, two radio frequency modules 12, two intermediate frequency modules 13 and a phase discriminator 14, wherein all the components are connected in sequence.
The two receiving antennas form a short base line, and the length of the short base line can be 3.4m by taking the positioning of 300 MHz-2 GHz frequency signals as an example.
The short baseline direction is perpendicular to the aircraft fuselage axis.
In the signal positioning process, the aircraft does non-linear maneuvering flight like S-shaped maneuvering flight.
The single-station-based aircraft positioning method of the invention is a flowchart, and as shown in fig. 5, comprises the following specific steps:
firstly, signal positioning is started, a processing module is reset, and a time sequence circuit starts timing;
step two, the processing module calculates the maximum maneuvering angle of the aircraft according to the feedback servo and determines a first group of data measurement sampling time S0、S1、S2The second group of data measures the sampling time S3、S4、S5Commanding the aircraft to start S-shaped maneuvering flight;
step three, time S0Simultaneously triggering the phase measurement module, the inertial gyroscope and the satellite positioning navigation positioning system, and respectively measuring and storing the phase difference theta of the two paths of signals at the momentm0Maneuvering angle theta of aircraftb0Aircraft position (x)0，y0，z0)。
Step four, time S1Simultaneously triggering the phase measurement module, the inertial gyroscope and the satellite positioning navigation positioning system, and respectively measuring and storing the phase difference theta of the two paths of signals at the momentm1Maneuvering angle theta of aircraftb1。
Step five, time S2Simultaneously triggering the phase measurement module, the inertial gyroscope and the satellite positioning navigation positioning system, and respectively measuring and storing the phase difference theta of the two paths of signals at the momentm2Maneuvering angle theta of aircraftb2。
And step six, all the first group of measurement data is sent to a processing module, and the processing module calculates the first signal direction.
Step seven, the aircraft continues flying, and the time S3Simultaneously triggering phase measurement module, inertial gyroscope and satellite statorA position navigation positioning system for respectively measuring and storing the phase difference theta of the two paths of signals at the momentm3Maneuvering angle θ of aircraftb3Aircraft position (x)1，y1，z1)。
Step eight, time S4Simultaneously triggering the phase measurement module, the inertial gyroscope and the satellite positioning navigation positioning system, and respectively measuring and storing the phase difference theta of the two paths of signals at the momentm4Maneuvering angle theta of aircraftb4。
Step nine, time S5Simultaneously triggering the phase measurement module, the inertial gyroscope and the satellite positioning navigation positioning system, and respectively measuring and storing the phase difference theta of the two paths of signals at the momentm5Maneuvering angle theta of aircraftb5。
And step ten, sending all the second group of measurement data to a processing module, and resolving the direction of the second signal by the processing module.
And step eleven, the processing module calculates a second signal distance according to the first signal direction and the second signal direction to complete signal positioning.
And step twelve, sending the signal positioning information to the subordinate equipment, and finishing the signal positioning.
The signal positioning is composed of two parts of signal ranging and signal direction finding. And each complete S-shaped maneuver can complete multiple complete signal positioning. In the signal positioning process, three or more data measurements are required to be completed for each signal direction finding. In the signal positioning process, two or more signal direction finding needs to be completed in each signal ranging.
The time of each data measurement and the maximum value of the maneuvering angle of the aircraft are calculated and determined by a passive positioning method of a moving single-station short base line, and refer to fig. 5. Each data measurement includes measuring the phase difference of the signals received by the two receiving antennas at the moment, the maneuvering angle of the aircraft and the position information of the aircraft. The processor module simultaneously carries out FFT (fast Fourier transform) on the data of the receiving channel according to the measured signal phase difference, the maneuvering angle of the aircraft and the position information of the aircraft to obtain the signal frequency, calculates and determines the sampling time of the aircraft by utilizing the four groups of information and calculates the signal azimuth and the distance.
The specific algorithm for determining the sampling moment of the aircraft and calculating the azimuth and the distance of the signal by utilizing four groups of information calculation is as follows:
calculating a first target signal azimuth angle theta according to a first group of measurement data0
θ0＝cos-1(P0)
In the formula, a11＝λ(1-cosΔθ1)、a12＝d sinΔθ1、a21＝λ(1-cosΔθ2)、a22＝d sinΔθ2、
Δθ1＝θb1-θb0、Δθ2＝θb2-θb0。
Calculating the azimuth angle theta of the second target signal according to the second group of measurement data1：
θ1＝cos-1(P1)
In the formula, a11＝λ(1-cosΔθ1)、a12＝d sinΔθ1、a21＝λ(1-cosΔθ2)、a22＝d sinΔθ2、
Δθ1＝θb4-θb3、Δθ2＝θb5-θb3。
Resolving a secondary signal distance R according to the primary signal direction and the secondary signal direction1And completing signal positioning:
in the formula (I), the compound is shown in the specification,
Δθ＝θ1-θ0。
the invention adopts a single-station short base line to realize direction finding, so the invention can be applied to a small equipment platform, the technology adopts the single-base line direction finding principle, and combines common general equipment (an inertial gyroscope and a satellite navigation positioning module) of an aircraft to realize signal positioning, the technology realizes signal positioning without the limitation of the self movement speed of the aircraft, and can realize quick positioning of a static or maneuvering signal source.
Claims (4)
1. An aircraft positioning system based on a single station, characterized in that: the system comprises an aircraft flight control module, a phase measurement module, an inertial gyroscope, a satellite navigation positioning module and a processing module; the phase measurement module comprises two antennas which are positioned at different positions on the aircraft;
the aircraft flight control module is used for controlling the aircraft to fly along a non-straight line;
the phase measurement module is used for measuring the phase difference of the two antennas; the inertial gyroscope is used for measuring the maneuvering rotation angle of the aircraft; the satellite navigation positioning module is used for measuring the position of an aircraft;
the processing module comprises a target signal azimuth angle calculation unit and a target signal distance calculation unit, and the target signal azimuth angle calculates a single target signal azimuth angle according to the phase difference of the two antennas measured by the phase measurement module and the maneuvering rotation angle of the aircraft measured by the inertial gyroscope; the target signal distance calculation unit calculates the distance between the aircraft and the target signal according to the target signal azimuth acquired by the aircraft and the aircraft position measured by the satellite navigation positioning module;
the method for obtaining the azimuth angle of the target signal by the target signal azimuth angle calculation unit comprises the following steps:
where d is the distance between antennas A1 and A2; theta0Is the included angle between the target signal S and the initial position of the wing; λ is the target signal wavelength; thetam0、θm1、θm2The phase difference of the two antennas is measured when the phase measuring meter is respectively at the initial position, the position 1 and the position 2; thetab0、θb1、θb2The maneuvering rotating angles of the aircraft are measured when the aircraft is at the initial position, the position 1 and the position 2 respectively; delta theta1＝θb1-θb0、Δθ2＝θb2-θb0The maneuvering rotation angle difference of the aircraft at the position 1 and the position 2 and the initial position respectively; n is the received signal ambiguity, taking a positive integer.
2. The single-site based aircraft positioning system of claim 1, wherein: the target signal distance calculation unit calculates the distance R between the aircraft and the target signal1The method comprises the following steps:
wherein Δ θ is θ1-θ0，θ0For the azimuth angle, theta, of the target signal obtained in the first azimuth measurement of the target signal1Obtaining a target signal azimuth angle in the second target signal azimuth angle measurement;
for the aircraft position (x) at the second target signal azimuth measurement1，y1，z1) Position (x) at azimuth measurement time with first target signal0，y0，z0) The distance between them.
3. The single-site based aircraft positioning system of any of claims 1-2, wherein: the phase measurement module further comprises two radio frequency modules, two intermediate frequency modules and a phase discriminator.
4. A single-station-based aircraft positioning method is characterized by comprising a flight control step, a flight state parameter acquisition step and a parameter processing step;
the flight control step controls the aircraft to fly along a non-straight line;
the flight state parameter acquiring step acquires the phase difference of two antennas of the aircraft flying along a non-straight line, the maneuvering angle of the aircraft and the position of the measured aircraft;
the parameter processing step obtains the distance between the aircraft and the target signal to complete positioning according to the phase difference of the two antennas, the maneuvering angle of the aircraft and the position of the measured aircraft obtained in the flight state parameter obtaining step; the flight state parameter acquiring step comprises the following steps:
acquiring a first set of data:
time S0Measuring the phase difference theta of the two paths of signals at the momentm0Maneuvering angle theta of aircraftb0Aircraft position (x)0，y0，z0)；
Time S1Measuring the phase difference theta of the two paths of signals at the momentm1Maneuvering angle theta of aircraftb1
Time S2Measuring the phase difference theta of the two paths of signals at the momentm2Maneuvering angle theta of aircraftb2
Acquiring a second set of data:
time S3Measuring the phase difference theta of the two paths of signals at the momentm3Maneuvering angle θ of aircraftb3Aircraft position (x)1，y1，z1)；
Time S4Measuring the phase difference theta of the two paths of signals at the momentm4Maneuvering angle theta of aircraftb4；
Time S5Measuring the phase difference theta of the two paths of signals at the momentm5Maneuvering angle theta of aircraftb5；
The parameter processing step includes:
calculating a first target signal azimuth angle theta according to a first group of measurement data0：
θ0＝cos-1(P0) (1-5)
In the formula, a11＝λ(1-cosΔθ1)、a12＝d sinΔθ1、a21＝λ(1-cosΔθ2)、a22＝d sinΔθ2、
Wherein, Delta theta1＝θb1-θb0、Δθ2＝θb2-θb0λ is the target signal wavelength; n is a radical of0Target signal ambiguity, P, resolved for a first set of measurement data0A target signal azimuth cosine value calculated for the first set of measurement data;
calculating the azimuth angle theta of the second target signal according to the second group of measurement data1：
θ1＝cos-1(P1) (1-7)
In the formula, c11＝λ(1-cosΔθ3)、c12＝d sinΔθ3、c21＝λ(1-cosΔθ4)、c22＝d sinΔθ4、
Wherein, Delta theta3＝θb4-θb3、Δθ4＝θb5-θb3；N1Target signal ambiguity, P, resolved for a second set of measurement data1A target signal azimuth cosine value calculated for the second set of measurement data;
resolving a secondary signal distance R according to the primary signal direction and the secondary signal direction1And completing signal positioning:
in the formula (I), the compound is shown in the specification,
Δθ＝θ1-θ0。
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| CN112066978A (en) * | 2020-09-17 | 2020-12-11 | 西安思丹德信息技术有限公司 | Ground target active positioning method and device suitable for airborne equipment |
| CN112887899B (en) * | 2021-01-06 | 2022-03-11 | 清华大学 | Positioning system and positioning method based on single base station soft position information |
| CN114046786B (en) * | 2021-11-11 | 2023-04-25 | 中国电子科技集团公司第二十九研究所 | Track prediction method, device, equipment and storage medium |
| CN114460539B (en) * | 2022-02-14 | 2022-10-21 | 北京航天齐宇科技有限公司 | Passive synthetic aperture radiation source positioning method based on phase difference interference processing |
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