CN109459016A - A kind of micro-nano satellite cluster relative positioning method based on location fingerprint - Google Patents
A kind of micro-nano satellite cluster relative positioning method based on location fingerprint Download PDFInfo
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- CN109459016A CN109459016A CN201811357419.7A CN201811357419A CN109459016A CN 109459016 A CN109459016 A CN 109459016A CN 201811357419 A CN201811357419 A CN 201811357419A CN 109459016 A CN109459016 A CN 109459016A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
A kind of micro-nano satellite cluster relative positioning method based on location fingerprint comprising the steps of: S1, set N dynamic benchmark star in micro-nano cluster, become the AP of cluster relative positioning, and need according to cluster, establish dynamic coordinate system；S2, it is based on true samples data and free space propagation model, establishes dynamic fingerprint library；S3, proper star periodic broadcasting；S4, member's star receive field intensity signal, and download fingerprint base, complete location fingerprint identification；S5, each member's star are communicated by Crosslink orientation, inform the measurement result of proper star relative positioning, proper star is filtered according to relative motion, to obtain continuous cluster relative positioning information.The present invention is during micro-nano satellite short distance cluster is formed into columns, set up simple omnidirectional antenna, pass through existing intersatellite communication link equipment, relative positional relationship between cluster can be obtained easily, quick relative positioning between member when close cluster can be achieved, and space environment is pure, equipment is simple and reliable.
Description
Technical field
The invention belongs to technical field of spacecraft navigation, and in particular to cluster Inter-satellite relative measure technology more particularly to one
Micro-nano satellite cluster relative positioning method of the kind based on location fingerprint.
Background technique
With the continuous development of various countries' satellite technology, to the high-timeliness of satellite, high-resolution, high efficiency-cost ratio, highly reliable
Property etc. proposes higher demand.Micro-nano satellite cluster relies on quick response, flexible deployment, autonomous networking, low in cost etc.
Feature becomes one of satellite fields main direction of studying.The structure of micro-nano cluster separates, and only by radio interconnected, formation is formed into columns
Flight synergistic observation can obtain mass data in the short time for hot information up to more efficient energy.Therefore the star of a micro-nano group of stars
Between relative positioning technology, become key precondition and the basis of micro-nano cluster Collaboration.
Traditional Cross-Link measurement technology, long-range stage are to carry out absolute fix according to respective satellite navigation receiver, by
Absolute fix information indirect derives relative positioning information；The short range stage is to carry out one by dedicated Inter-satellite relative measure single machine
It measures one, such as the vision camera of passive measurement, the optoelectronic device that actively radar of measurement, master passively combine.Using tradition
Long-range relative positioning means, each star in micro-nano cluster are required to installation satellite navigation receiver, and to clock synchronism have compared with
High request, while data traffic is huge between cluster, it is higher to pass Capability Requirement to the number of single satellite；It is opposite using convention proximity
Positioning means, each satellite in micro-nano cluster are required to still further be equipped with measurement single machine, the stand-alone configuration requirement to member's satellite
It is higher, meanwhile, every satellite needs are unfolded to measure one by one to each member's star, complete taking long time for cluster measurement, are not suitable for
Dynamic cluster, and still remain the problem that amount of communication data is excessively high between each star.
Therefore, it is the development for adapting to present satellites technology, applies need for meet between micro-nano collection groups of stars quick relative positioning
Ask, need to propose it is a kind of take into account dynamic environment, quickly the various aspects such as positioning, stand-alone configuration, amount of communication data demand is relatively fixed
Position technology, i.e., a kind of micro-nano satellite cluster relative positioning method based on location fingerprint proposed by the present invention.
Summary of the invention
The purpose of the present invention is to provide a kind of micro-nano satellite cluster relative positioning method based on location fingerprint, in micro-nano
Under satellite cluster dynamic environment, relative positioning only can be completed by intersatellite communication link and simple recept device, single machine is matched
It sets and requires low, amount of communication data is small, it can be achieved that member quickly positions, and method is simple and reliable, can be completed at the same time the star of cluster entirety
Between relative positioning, suitable for micro-nano satellite, commercial satellite cluster fly.
In order to achieve the above object, the invention is realized by the following technical scheme: a kind of micro-nano based on location fingerprint is defended
Star cluster relative positioning method comprising the steps of:
S1, N dynamic benchmark star is set in micro-nano cluster, become the AP of cluster relative positioning, and need according to cluster,
Establish dynamic coordinate system；
S2, it is based on true samples data and free space propagation model, establishes dynamic fingerprint library；
S3, proper star periodic broadcasting；
S4, member's star receive field intensity signal, and download fingerprint base, complete location fingerprint identification；
S5, each member's star are communicated by Crosslink orientation, inform the measurement result of proper star relative positioning, proper star is according to phase
Movement is filtered, to obtain continuous cluster relative positioning information.
Further, the dynamic benchmark star for including in the step S1 are as follows:
In micro-nano satellite cluster, as the satellite of access hot spot, referred to as proper star.Since the proper star is in inertial coodinate system
With the equal on-fixed in position in dynamic coordinate system, therefore become dynamic benchmark star, be denoted as (R1,R2,...,RN), N is dynamic benchmark
Star number determines the specific value of N according to cluster scale.To meet the needs of cluster relative positioning, dynamic benchmark star needs to configure
Satellite navigation receiver, in real time obtained from the absolute position under inertial coodinate system.Dynamic benchmark star also needs configuration omnidirectional antennas
Line, can be in the direction-free homogeneous radiation signal in full airspace.Dynamic benchmark star is needed while being received from all members in cluster
The position of star resolves information, and the data reception capabilities compared with member's star are strong.
Further, the dynamic coordinate system O for including in the step S1MAre as follows:
It is planned according to cluster task, designs cluster virtual center satellite SCAnd its motion profile.Define dynamic coordinate system OMWith
Cluster virtual center star SCTrack system be overlapped, i.e., origin be SCMass center, X-direction be directed toward SCDirection of advance, Z-direction be directed toward
The earth's core direction, Y-direction meet right-handed helix criterion.Due to SCIt is moved always under inertial system, therefore the base of cluster relative positioning
Conventional coordinates OMIt is dynamic coordinate system.
Further, the true samples data for including in the step S2 are as follows:
The in-orbit sampling satellite of cruising of N proper star other proper stars each other provides the in-orbit true samples number of field strength
According to.
Further, the dynamic fingerprint library for including in the step S2 are as follows:
Fingerprint base is the database for describing the mapping relations from field intensity signal space to physical location space.Due to actual bit
Between emptying under inertial system time-varying, therefore the location fingerprint library in the present invention is dynamic fingerprint library, is denoted as Database=
(STRi,POSi), i=1,2 ..., L, L indicate reference point quantity.Wherein, field intensity signal space representation is STRi=(STRi1,
STRi2,...,STRiN), N is dynamic benchmark star；Physical location space is in dynamic coordinate system OMUnder be expressed as POSi=(XMi,YMi,
ZMi).Dynamic fingerprint library Database=(STRi,POSi) it is to combine in-orbit sampling satellite of cruising according to free-space propagation equation
True measurement data it is built-up.
Further, the proper star periodic broadcasting for including in the step S3 are as follows:
Dynamic benchmark star periodically broadcasts following content:
Signal fire states the presence of benchmark AP, obtains member's star from benchmark when cluster is added
AP name, the STR sample value of star N；
Dynamic fingerprint library, since the cluster relative positioning technology that the present invention uses uses distributed structure/architecture, proper star
It needs that fingerprint base is periodically broadcast to member's star for its positioning；
Relative position information between member is broadcast to member by continuous cluster relative positioning information, proper star, and member can be
When be obtained from the position in entire cluster.
Further, the location fingerprint identification for including in the step S4 are as follows:
Member's star (M1,M2,...,MQ), Q is that member's star number passes through signal receiving device received field after entering cluster
Strong signal, and fingerprint base is downloaded, after the AP for identifying each dynamic benchmark star, inside member's star, position is completed according to field intensity information
Fingerprint recognition.Location fingerprint recognizer selects location fingerprint positioning mode using the weighting neighbour based on field strength range information, i.e.,
KNN method.
Further, the Crosslink orientation communication for including in the step S5 are as follows:
Member's star configures omnidirectional antenna without basis of reference star, and member's star need to only configure directional aerial, and benchmark is directed toward in gain
Star, the location fingerprint recognition result of orientation passback member's star.
Further, the filtering for including in the step S5 are as follows:
According to the location information of proper star and member's star, mentioned in conjunction with dynamics of relative motion using Kalman filtering algorithm
Positioning precision between high member's star and proper star.
Detailed description of the invention
Fig. 1 is a kind of micro-nano satellite cluster relative positioning method flow chart based on location fingerprint；
Fig. 2 is cluster relative positioning dynamic coordinate system schematic diagram；
Fig. 3 is field strength fingerprint recognition schematic illustration.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of micro-nano satellite cluster relative positioning method based on location fingerprint comprising the steps of:
S1, N dynamic benchmark star is set in micro-nano cluster, become the AP of cluster relative positioning, and need according to cluster,
Establish dynamic coordinate system；
The dynamic benchmark star for including in step S1 is
In micro-nano satellite cluster, as the satellite of access hot spot, referred to as proper star.Since the proper star is in inertial coodinate system
With the equal on-fixed in position in dynamic coordinate system, therefore become dynamic benchmark star, be denoted as (R1,R2,...,RN), N is dynamic benchmark
Star number determines the specific value of N according to cluster scale.In view of cluster relative positioning is three-dimensional localization, therefore the number of N is extremely
It is more than or equal to 3 less.To meet the needs of cluster relative positioning, dynamic benchmark star need to configure satellite navigation receiver, obtain in real time
From the absolute position under inertial coodinate system.Dynamic benchmark star also needs configuration omnidirectional antenna, can be direction-free in full airspace
Homogeneous radiation signal.Dynamic benchmark star needs while receiving the position resolving information of all member's stars in cluster, compared with member
The data reception capabilities of star are strong.
The cluster relative positioning for including in step S1 is
The cluster that is made of micro-nano satellite is whole, has low cost, letter configuration, the high characteristics such as flexibly.What the present invention studied
Cluster relative positioning different from the relative measurement one by one of hub-and-spoke configuration, and refers in a measurement period, all member's satellites
Obtain relative position in itself and group between other all satellites simultaneously, i.e., itself clear positional relationship in the cluster.It should
Positional relationship is expressed in following dynamic coordinate systems.
As shown in connection with fig. 2, the dynamic coordinate system O for including in step S1MIt is
Virtual center star is the expectation central satellite planned and its track according to the in-orbit main task of micro-nano cluster,
For the orbits controlling of cluster using the mass center of this star as Formation Center, the motion profile of virtual center star reflects a group of stars for micro-nano cluster
Whole track.Define dynamic coordinate system OMWith cluster virtual center star SCTrack system be overlapped, i.e., origin be SCMass center, X-direction
It is directed toward SCDirection of advance, Z-direction is directed toward the earth's core direction, and Y-direction meets right-handed helix criterion.Due to SCUnder inertial system always
Movement, therefore the frame of reference O of cluster relative positioningMIt is dynamic coordinate system.Dynamic coordinate system OMWith earth inertial coordinates system OI
Between there are transformational relation, it is as follows:
OM=C1·OI
Wherein,
Wherein, u is latitude argument, and i is orbit inclination angle, and Ω is right ascension of ascending node.Therefore, dynamic benchmark star is led by satellite
The absolute location information certainly in geocentric inertial coordinate system that the receiver that navigates obtains, can be converted directly into dynamic coordinate system OM
In, to relative positioning of the subsequent completion proper star between collecting groups of stars.
S2, it is based on true samples data and free space propagation model, establishes dynamic fingerprint library；
The free space propagation model for including in step S2 is
Field intensity signal in space, mainly considers large-scale fading.With the dynamic benchmark star R as signal transmitting terminalN
With member's star M of signal receiving endQBetween physical distance increase, field intensity signal intensity can according to free space propagation model send out
Raw a degree of decaying, model are as follows:
Wherein, PrIndicate the received signal strength of receiving end, PtIndicate the transmission power of transmitting terminal, d indicates receiving end and hair
Penetrate the physical distance at end, GrIndicate the antenna gain of receiving end, GtIndicate the antenna gain of transmitting terminal, λ indicates that wavelength, l indicate system
The path loss of system free space, loss can calculate are as follows:
lpass=20log (f)+20log (d)+32.4
The dynamic fingerprint library for including in step S2 is
Location fingerprint library is made of data and position correspondence.Data are by true samples data and ground experiment room nominal data
Composition.For dynamic benchmark star R1For, pass through proper star R equally in orbit2…RNReceived true samples data, match
Ground experiment room nominal data is closed, the propagation model of optimization is obtained, then using the propagation model of optimization, predicts other reference points
Field strength finger print data, to establish dynamic position fingerprint base of the true samples data in conjunction with prediction data.Similarly know it
Its dynamic benchmark star RN。
Fingerprint base is the database for describing the mapping relations from field intensity signal space to physical location space.Due to actual bit
Between emptying under inertial system time-varying, therefore the location fingerprint library in the present invention is dynamic fingerprint library, is denoted as Database=
(STRi,POSi), i=1,2 ..., L, L indicate reference point quantity.Wherein, field intensity signal space representation is STRi=(STRi1,
STRi2,...,STRiN), N is dynamic benchmark star；Physical location space is in dynamic coordinate system OMUnder be expressed as POSi=(XMi,YMi,
ZMi)。
S3, proper star periodic broadcasting；
Periodic broadcasting in step S3 is
Dynamic benchmark star periodically broadcasts following content:
Signal fire states the presence of benchmark AP, obtains member's star from benchmark when cluster is added
AP name, the field strength STR sample value of star N；
Dynamic fingerprint library, since the cluster relative positioning technology that the present invention uses uses distributed structure/architecture, proper star
It needs that fingerprint base is periodically broadcast to member's star, for its positioning；
Member's star i=1,2 ..., K, Q are member's star number by continuous cluster relative positioning information, proper star, are connected between star
Continuous relative position information is broadcast to member, and each member's star can be obtained from the position in entire cluster immediately.
S4, member's star receive field intensity signal, and download fingerprint base, complete location fingerprint identification；
Member's star (M1,M2,...,MQ) after entering cluster, field intensity signal is received by signal receiving device, and download and refer to
Location fingerprint identification after the AP for identifying each dynamic benchmark star, inside member's star, is completed according to field intensity information in line library.
Location fingerprint in step S4 identifies
Location fingerprint positioning mode is selected using the weighting neighbour based on field strength range information, i.e., is used as using field strength distance
The standard of similarity measurement between line field strength sample and offline location fingerprint.Remember DiFor member's star (M1,M2,...,MQ) in-orbit adopt
Euclidean distance between the field strength of collection and the field strength mean value of offline fingerprint base reference point, note L are the quantity of reference point, remember N
For the quantity of dynamic benchmark star, (STR is rememberedi1,STRi2,...,STRiN) be dynamic fingerprint library in i-th of reference point field strength mean value
Sample remembers (str1,str2,...,strN) be member's star inflight measurement the field strength maenvalue from N number of dynamic benchmark star,
According to following formula, the Euclidean distance of L reference point is calculated
L field strength is arranged apart from ascending order, the European geometric distance between two field strength samples is smaller to indicate more similar, selection
Reference point POS corresponding to preceding K minimum rangei, form the set D of the smallest K field strength distancei∈{MIN_K(D1,...,
DL), the position of member's star is calculated according to the position coordinates of reference point
S5, each member's star are communicated by Crosslink orientation, inform the measurement result of proper star relative positioning, proper star is according to phase
Movement is filtered, to obtain continuous cluster relative positioning information.
Crosslink orientation in step S5 communicates
Member's star (M1,M2,...,MQ) directional aerial need to be only configured, gain is oriented to dynamic benchmark star, orientation passback member
The location fingerprint recognition result of star
Filtering algorithm in step S5 is
Equation of Relative Motion with Small is as state equation between selecting star, as follows
Quantity of state relative position and relative velocity between starObserved quantity is member's star
PositionObservation model is
Z=h (X)+v
Filtering algorithm uses Kalman filtering, i.e.,
Proper star can obtain the continuous phase of micro-nano satellite cluster according to location fingerprint recognition result by above-mentioned filtering algorithm
To positioning result.
To sum up, during the present invention is with micro-nano satellite cluster, there are heavy dependence satellite navigation system, to member's satellite
Measurement single machine is more demanding, inter-satellite relative positioning can only carry out the reality that can not be obtained simultaneously one by one in cluster, propose one
Micro-nano satellite cluster relative positioning method of the kind based on location fingerprint.The effective utilization and implementation of the technology, to reducing, cluster is whole
Single machine when body relies on third party's navigation system, reduces member's satellite addition cluster constrains, and improves cluster satellite relative positioning
Independence, rapidity etc. for improving member's relative positioning in close cluster many-sided there is important theory significance and practice meaning
Justice.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint, which comprises the steps of:
S1, N dynamic benchmark star is set in micro-nano cluster, become the AP of cluster relative positioning, and need according to cluster, establish
Dynamic coordinate system；
S2, it is based on true samples data and free space propagation model, establishes dynamic fingerprint library；
S3, proper star periodic broadcasting；
S4, member's star receive field intensity signal, and download fingerprint base, complete location fingerprint identification；
S5, each member's star are communicated by Crosslink orientation, inform the measurement result of proper star relative positioning, proper star is according to opposite fortune
It is dynamic to be filtered, to obtain continuous cluster relative positioning information.
2. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint as described in claim 1, it is characterised in that:
In the step S1, position of the dynamic benchmark star in inertial space and the position under dynamic coordinate system are all movements；
AP of the proper star as cluster relative positioning, using high-power omnidirectional antenna；The absolute position of proper star passes through self-contained
Satellite navigation receiver obtains；Dynamic coordinate system is the virtual coordinate system obtained according to the mission planning of cluster satellite.
3. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint as claimed in claim 2, it is characterised in that:
In the step S2, the foundation in dynamic fingerprint library be by part true samples data binding signal field strength in vacuum environment
Free space propagation model derive gained, due to the movement of proper star and coordinate system, fingerprint base be also variation dynamic base.
4. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint as claimed in claim 3, it is characterised in that:
In the step S3, the content of proper star broadcast includes itself identification information and field strength fingerprint base.
5. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint as claimed in claim 4, it is characterised in that:
In the step S4, carried out using distributed mode it is to be positioned, i.e., member's star need to complete field intensity signal receive, fingerprint base
Downloading, and location fingerprint identification is carried out inside each member's star, calculate position of member's star under dynamic virtual coordinate system.
6. a kind of micro-nano satellite cluster relative positioning method based on location fingerprint as claimed in claim 5, it is characterised in that:
In the step S5, after each member's star obtains the position under each comfortable dynamic coordinate system, is communicated by Crosslink orientation and inform base
Foresight, proper star according to calculating the relative positioning between each member's star from location information under dynamic coordinate system as a result,
And proper star obtains continuous cluster relative positioning information according to specific filtering algorithm.
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