CN109974692B - Hidden environment astronomical positioning system and method based on Mitsui signal - Google Patents
Hidden environment astronomical positioning system and method based on Mitsui signal Download PDFInfo
- Publication number
- CN109974692B CN109974692B CN201910218756.6A CN201910218756A CN109974692B CN 109974692 B CN109974692 B CN 109974692B CN 201910218756 A CN201910218756 A CN 201910218756A CN 109974692 B CN109974692 B CN 109974692B
- Authority
- CN
- China
- Prior art keywords
- carrier
- projection
- coordinate system
- sun
- direction vector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000011159 matrix material Substances 0.000 claims abstract description 30
- 230000009466 transformation Effects 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000004458 analytical method Methods 0.000 claims description 4
- 239000004576 sand Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims 1
- 239000000969 carrier Substances 0.000 abstract 1
- 238000004088 simulation Methods 0.000 description 5
- 230000007774 longterm Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Astronomy & Astrophysics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a hidden environment astronomical positioning system and method based on a neutron signal, wherein the projection of a sun-center direction vector in a carrier coordinate system is obtained by measuring through a neutron detector fixed on a carrier, an attitude transformation matrix from the carrier coordinate system to a geographical coordinate system is determined through a horizon sensor and a north indicator, and the projection of the sun-center direction vector in the geographical coordinate system is obtained through coordinate transformation; calculating by using a solar ephemeris and a clock to obtain the projection of the sun-center direction vector at the current moment in the earth-center inertial system, and obtaining the projection of the sun-center direction vector in the earth-center fixed connection system through coordinate conversion; and analyzing and calculating to obtain longitude and latitude information of the position of the carrier. The neutron-micro sub-signals can be transmitted underwater/underground, which is difficult to reach by electromagnetic waves, so that a potential astronomical navigation measurement mode is provided for users in a hidden environment. The method can provide navigation positioning service for carriers in a hidden environment such as a submarine and the like, and has higher military application value in a future informatization battlefield.
Description
Technical Field
The invention relates to a hidden environment astronomical positioning system and method based on a neutron signal, belonging to the technical field of navigation guidance.
Background
The accurate positioning, navigation and time service (PNT) capability is an important factor for measuring national military and economic strength, and the navigation information of a combat platform plays a crucial role in realizing the combat intention in the modern informatization combat environment. Currently, many military systems and combat platforms rely on GNSS (global navigation satellite system) or GNSS-based integrated navigation systems to obtain navigation information. However, satellite navigation signals are difficult to penetrate substances with high density, and after the satellite navigation signals enter underwater or soil, the attenuation phenomenon of radio signals is very serious, so that the satellite navigation signals are difficult to apply in deep sea environment.
The submarine is used as an important underwater operation platform, has extremely strong aggressivity and concealment, can continuously move for months in deep water of hundreds of meters, is used as the main force of strategic deterrence, and is indispensable weapon equipment in modern war. Because the submarine needs to submerge deeply, navigation signals such as traditional optics, GNSS and the like cannot be acquired; the inertial navigation mode has the problem that errors are accumulated along with time, and the long-term navigation precision of an inertial system is limited. Therefore, a new concept PNT technology needs to be researched, high-precision and high-safety autonomous navigation is realized, and guarantee is provided for realizing underwater combat and other tactical tasks.
As one of the basic particles constituting the world of materials, neutrino is a microscopic particle with stable performance, no electricity and moving at the speed of light. The most remarkable characteristic of the neutron is that the neutron propagates strictly in a straight line, has extremely strong penetrating power, and can penetrate soil or water layers, even lead plates with the thickness of several years.
The advantages of the mesoparticle as a navigation signal carrier are as follows: firstly, the neutron signal has strong penetration capacity, and the neutron signal source is used as a navigation beacon, so that the defect that the traditional electromagnetic wave signal is easily interfered and shielded and influenced can be overcome, and the method is an advanced autonomous navigation measurement mode; and secondly, the medium and micro sub signals are strictly transmitted in a straight line, and are not easy to reflect, refract and attenuate in the transmission process, so that the measurement accuracy can be guaranteed from a signal system.
The neutrino signal can be transmitted underwater/underground, which is difficult to reach by electromagnetic waves, so that a potential astronomical navigation measurement mode is provided for users in a hidden environment, and the sun serving as an astronomical navigation target celestial body is an ideal natural neutrino signal source. By applying the positioning method, the user in the hidden environment can more safely and reliably operate battlefield resources, concentrate dominant forces, realize system equipment calibration and suddenly implement accurate striking, and thus convert accurate and effective navigation information into operational advantages.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the hidden environment astronomical positioning system and method based on the neutron signal are provided, and effective navigation information can be provided for users under the condition that the traditional astronomical and radio signals are rejected.
The technical solution of the invention is as follows:
a hidden environment astronomical positioning method based on a Mitsui signal is provided, which comprises the following steps:
(1) the projection of the sun center direction vector in a carrier coordinate system is obtained through measurement of a neutron detector fixed on a carrier, the attitude conversion matrix from the carrier coordinate system to a geographical coordinate system is determined through a horizon sensor and a north indicator, and the projection of the sun center direction vector in the geographical coordinate system is obtained through coordinate conversion;
(2) calculating by using a solar ephemeris and a clock to obtain the projection of the sun-center direction vector at the current moment in the earth-center inertial system, and obtaining the projection of the sun-center direction vector in the earth-center fixed connection system through coordinate conversion;
(3) and (3) according to the projection of the sun center direction vector obtained in the step (1) in the geographic coordinate system and the projection of the sun center direction vector obtained in the step (2) in the earth fixed connection system, performing analysis calculation to obtain longitude and latitude information of the position where the carrier is located.
Preferably, the projection calculation formula of the direction of the centroid vector in the geographic coordinate system in the step (1) is as follows:
wherein S isbRepresents the projection of the sun direction vector measured by the neutron detector on the carrier coordinate system,
representing a carrier coordinate system to a geographic coordinate determined by a horizon finder and a north finderTransformation matrix of the system, SnRepresenting the projection of the sun direction vector on the geographical coordinate system.
Preferably, the method for determining the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system through the horizon sensor and the north indicator comprises the following steps: the pitch angle theta and the roll angle gamma of the carrier are obtained through the measurement of a horizon instrument, the heading angle psi of the carrier is obtained through the measurement of a north-pointing instrument, and an attitude transformation matrix from a carrier coordinate system to a geographic coordinate system is obtained through calculation
Preferably, the transformation matrix from the carrier coordinate system to the geographic coordinate system
The following were used:
preferably, the projection of the centroid direction vector obtained by coordinate transformation in the step (2) on the earth-solid connection system is specifically:
wherein S isiRepresents the projection of the sun direction vector on the earth center inertia system,
transformation matrix, S, representing the geocentric inertial system to the Earth' S solid-connected systemeRepresents the projection of the centroid direction vector on the earth's solid link.
Preferably, the method for calculating the projection of the current time sun-center direction vector on the geocentric inertial system through the solar ephemeris and the clock comprises the following steps: the ecliptic longitude lambda of the sun is calculated according to the solar ephemeris and the clock informationsAnd the ecliptic latitude phisThe projection formula of the sun center direction vector on the geocentric inertial system is calculated as follows:
wherein:
wherein epsilon is the yellow-red crossing angle.
Preferably, the transformation matrix of the geocentric inertial system to the Earth's fixed system
The following were used:
in the formula, alphaGThe method is used for treating the red channel in Greenwich mean.
Preferably, the method for analyzing and calculating the longitude and latitude information of the position where the carrier is located in the step (3) comprises the following steps:
wherein,
a transformation matrix representing the earth's fixed link to a geographic coordinate system, expressed as follows:
wherein L and λ represent the latitude and longitude of the carrier, respectively.
Preferably, in the absence of radio signals, the carrier positioning is performed by adopting a hidden environment astronomical positioning method based on the picosignal.
Meanwhile, a hidden environment astronomical positioning system based on the neutron signal is provided, and is arranged on a carrier to be positioned and comprises a neutron detector, a horizon sensor, a north indicator, a clock and a processor;
the neutron detector is used for measuring the projection of the vector in the direction of the centroid in the carrier coordinate system; the horizon sensor and the north indicator are used for measuring the attitude of the carrier relative to a geographical coordinate system; the clock provides reference time information for carrier navigation positioning;
the processor acquires a posture conversion matrix from the carrier coordinate system to the geographic coordinate system according to the posture of the carrier relative to the geographic coordinate system, and the projection of the vector of the centroid direction on the carrier coordinate system is subjected to coordinate conversion to obtain the projection of the vector of the centroid direction on the geographic coordinate system; calculating by reference time information and a solar ephemeris to obtain the projection of the sun-center direction vector at the current moment in the earth-center inertial system, and obtaining the projection of the sun-center direction vector in the earth-center fixed connection system through coordinate conversion; and obtaining the longitude and latitude information of the position of the carrier through analysis and calculation.
Preferably, the projection calculation formula of the centroid direction vector in the geographic coordinate system is as follows:
wherein S isbRepresents the projection of the sun direction vector measured by the neutron detector on the carrier coordinate system,
representing a transformation matrix from the coordinate system of the carrier to the geographic coordinate system determined by means of a horizon finder and a north finder, SnRepresenting the projection of the sun direction vector on the geographical coordinate system.
Preferably, the method for obtaining the projection of the centroid direction vector on the earth fixed relation through coordinate transformation comprises the following steps:
wherein S isiRepresents the projection of the sun direction vector on the earth center inertia system,
transformation matrix, S, representing the geocentric inertial system to the Earth' S solid-connected systemeRepresents the projection of the centroid direction vector on the earth's solid link.
Preferably, the method for analyzing and calculating the longitude and latitude information of the position where the carrier is located comprises the following steps:
wherein,
a transformation matrix representing the earth's fixed link to a geographic coordinate system, expressed as follows:
wherein L and λ represent the latitude and longitude of the carrier, respectively.
Compared with the prior art, the invention has the beneficial effects that:
(1) the existing navigation technology for replacing or assisting the GNSS mainly comprises inertial navigation, astronomical navigation and the like, although the development is carried out for many years, the defects still exist under the application conditions of long-term navigation or signal shielding and the like, for example, the inertial navigation system is limited by the self characteristics of inertial devices, the error is accumulated along with time, and the long-term navigation precision of the inertial system is restricted. The traditional astronomical navigation sensor observes optical signals of a specific celestial body, the depth of the optical signals transmitted by penetrating through seawater is limited, and the requirement of navigation and positioning of underwater users is difficult to meet. The hidden environment astronomical positioning method based on the mesoparticle signal utilizes the advantages of strong penetrating power and good directivity of the mesoparticle signal, is beneficial to solving the problems caused by inherent vulnerability of the traditional GNSS and astronomical navigation system, and can provide stable navigation positioning service for users in the hidden environment.
(2) The calculation method can realize navigation positioning in the GNSS signal rejection environment, and has the advantages of high calculation precision, good long-term stability, high calculation efficiency and good autonomy. The single-point positioning precision can reach km magnitude.
(3) By applying the positioning method, the user in the hidden environment can more safely and reliably operate battlefield resources, concentrate dominant forces, realize system equipment calibration and suddenly implement accurate striking, and thus convert accurate and effective navigation information into operational advantages.
Drawings
FIG. 1 is a flow chart of a positioning method of the present invention;
FIG. 2 is a schematic view of a vector observation in the direction of the centroid;
fig. 3 is a graph of carrier positioning error based on the pico-sub signal, in which fig. 3(a) is a latitude error curve and fig. 3(b) is a longitude error curve.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention provides a hidden environment astronomical positioning method based on a Mitsui signal, which comprises the following steps as shown in figure 1:
(1) the projection of the vector in the sun center direction on the carrier coordinate system is obtained through the measurement of the medium and micro detector on the carrier, and the schematic view of observing the vector in the sun center direction is shown in fig. 2. Obtaining the projection of the vector of the centroid direction in a geographic coordinate system through coordinate conversion; the pitch angle theta and the roll angle gamma of the carrier are obtained through the measurement of a horizon instrument, the heading angle psi of the carrier is obtained through the measurement of a north-pointing instrument, and the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system is obtained through the calculation of a formula
The following were used:
the projection of the centroid direction vector on the geographic coordinate system is calculated as follows:
wherein S isbRepresents the projection of the sun direction vector measured by the neutron detector on the carrier coordinate system,
representing a transformation matrix from the coordinate system of the carrier to the geographic coordinate system determined by means of a horizon finder and a north finder, SnRepresenting the projection of the sun direction vector on the geographical coordinate system.
(2) The ecliptic longitude lambda of the sun is calculated according to the solar ephemeris and the clock informationsAnd the ecliptic latitude phisCalculating the projection of the sun-center direction vector on the earth-center inertial system by using the following formula
Wherein,
where ε is the yellow-red angle, which is approximately 23.439291.
Transformation matrix from geocentric inertial system to earth-fixed system
The following were used:
the projection of the sun center direction vector on the earth fixed connection system is obtained through coordinate conversion, and the coordinate conversion specifically comprises the following steps:
wherein S isiThe projection of the vector representing the direction of the center of the sun on the geocentric inertial system represents a transformation matrix from the geocentric inertial system to the earth' S fixed relation, SeRepresents the projection of the centroid direction vector on the earth's solid link.
(3) And (3) according to the projection of the sun direction vector obtained in the step (1) in a geographic coordinate system and the projection column writing equation of the sun direction vector obtained in the step (2) in the earth fixed connection system, obtaining longitude and latitude information of the position where the user is located through analysis and calculation, and accordingly achieving the hidden environment astronomical positioning based on the neutron signal. The column write equation is in the form of
Wherein,
a transformation matrix representing the earth's fixed link to a geographic coordinate system, expressed as follows:
wherein L and λ represent the latitude and longitude of the carrier, respectively. According to the formula, the coordinate conversion relation from the earth fixed connection system to the geographic coordinate system is only related to two unknowns of longitude and latitude of the carrier, and the two unknowns of longitude and latitude can be obtained by solving the equation set.
The positioning system comprises a medium micro-sub detector, a horizon sensor, a north indicator, a processor, a clock and the like, wherein the medium micro-sub detector is used for measuring the projection of a vector in the direction of the center of the day on a carrier coordinate system, the horizon sensor and the north indicator are used for measuring the posture of the carrier relative to a geographical coordinate system, the clock provides reference time information for the navigation and positioning of the carrier, and the processor calculates the position of the carrier according to the output of the navigation sensor.
In the following, the validity of the method of the invention is verified by a simulation example by taking the navigation and positioning of the carrier on the earth surface as an example. The carrier is arranged at east longitude 73 degrees and north latitude 41 degrees, and the posture is kept in a stable state relative to the ground. And a meson detector with meson signal source sight direction measuring capability, a horizon instrument and a north indicator are arranged on the carrier. The position information of the carrier is obtained based on the observation of a natural neutrino signal source of the sun, the standard deviation of the random error of the measurement of the sun sight line direction of the neutrino detector is assumed to be 0.02 degrees, and the standard deviation of the attitude measurement errors of the horizon instrument and the north indicator is 0.01 degrees. In the simulation process, the position of the carrier in the traditional radio and optical signal rejection environment is determined by solving an equation by utilizing the sun center direction vector information provided by the neutron detector, combining the attitude information to the ground provided by the horizon instrument and the north indicator and the known angular position information of the sun on the celestial sphere. The total of 100 simulations were performed, and the carrier position determination results are shown in fig. 3. In the figure, the solid line indicates the position determination error, fig. 3(a) indicates the latitude error, fig. 3(b) indicates the longitude error, the ordinate indicates the magnitude of the position determination error in degrees, and the abscissa indicates the number of times of simulation. As can be seen from fig. 3, the method of the present invention can determine the carrier position, and it can be known through statistical calculation that the single-point positioning accuracy can reach km magnitude based on the simulation conditions.
The main technical content of the invention can be used for solving the autonomous navigation problem of the underwater operation platform, can meet the military requirements of high precision, long time and autonomy, and has higher military application value in the future informatization battlefield.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (7)
1. A hidden environment astronomical positioning method based on a Mitsui signal is characterized by comprising the following steps:
(1) the projection of the sun center direction vector in a carrier coordinate system is obtained through measurement of a neutron detector fixed on a carrier, the attitude conversion matrix from the carrier coordinate system to a geographical coordinate system is determined through a horizon sensor and a north indicator, and the projection of the sun center direction vector in the geographical coordinate system is obtained through coordinate conversion;
(2) calculating by using a solar ephemeris and a clock to obtain the projection of the sun-center direction vector at the current moment in the earth-center inertial system, and obtaining the projection of the sun-center direction vector in the earth-center fixed connection system through coordinate conversion;
(3) according to the projection of the sun-center direction vector obtained in the step (1) in a geographic coordinate system and the projection of the sun-center direction vector obtained in the step (2) in the earth fixed connection system, performing analytic calculation to obtain longitude and latitude information of the position where the carrier is located;
the projection calculation formula of the direction vector of the centroid in the step (1) in the geographic coordinate system is as follows:
wherein S isbRepresents the projection of the sun direction vector measured by the neutron detector on the carrier coordinate system,
representing a transformation matrix from the coordinate system of the carrier to the geographic coordinate system determined by means of a horizon finder and a north finder, SnRepresenting a projection of the centroid direction vector in a geographic coordinate system;
the projection of the centroid direction vector obtained by coordinate transformation in the step (2) on the earth fixed connection system is specifically as follows:
wherein S isiRepresents the projection of the sun direction vector on the earth center inertia system,
transformation matrix, S, representing the geocentric inertial system to the Earth' S solid-connected systemeRepresenting the projection of the vector of the centroid direction on the earth fixed relation;
the method for analyzing and calculating the longitude and latitude information of the position of the carrier in the step (3) comprises the following steps:
wherein,
a transformation matrix representing the earth's fixed link to a geographic coordinate system, expressed as follows:
wherein L and λ represent the latitude and longitude of the carrier, respectively.
2. The hidden environment astronomical positioning method based on the pico-sub signal according to claim 1, wherein: the method for measuring the attitude transformation matrix from the carrier coordinate system to the geographic coordinate system by the horizon sensor and the north indicator comprises the following steps: the pitch angle theta and the roll angle gamma of the carrier are obtained through the measurement of a horizon instrument, the heading angle psi of the carrier is obtained through the measurement of a north-pointing instrument, and an attitude transformation matrix from a carrier coordinate system to a geographic coordinate system is obtained through calculation
3. The hidden environmental astronomical positioning method based on the pico-sub signal according to claim 2, wherein: a transformation matrix from the carrier coordinate system to the geographic coordinate system
As follows：
4. The hidden environment astronomical positioning method based on the pico-sub signal according to claim 1, wherein: the method for calculating the projection of the current time sun-center direction vector on the geocentric inertial system through the solar ephemeris and the clock comprises the following steps: the ecliptic longitude lambda of the sun is calculated according to the solar ephemeris and the clock informationsAnd the ecliptic latitude phisThe projection formula of the sun center direction vector on the geocentric inertial system is calculated as follows:
wherein:
wherein epsilon is the yellow-red crossing angle.
5. The hidden environment astronomical positioning method based on the pico-sub signal according to claim 1, wherein: transformation matrix from geocentric inertial system to earth-fixed system
The following were used:
in the formula, alphaGThe method is used for treating the red channel in Greenwich mean.
6. The hidden environment astronomical positioning method based on the pico-sub signal according to claim 1, wherein: and in the case of the absence of radio signals, carrying out carrier positioning by adopting a hidden environment astronomical positioning method based on the Mitsui signals.
7. A hidden environment astronomical positioning system based on a Mitsui signal is characterized in that: the covert environment astronomical positioning system is arranged on a carrier to be positioned and comprises a neutron detector, a horizon sensor, a north indicator, a clock and a processor;
the neutron detector is used for measuring the projection of the vector in the direction of the centroid in the carrier coordinate system; the horizon sensor and the north indicator are used for measuring the attitude of the carrier relative to a geographical coordinate system; the clock provides reference time information for carrier navigation positioning;
the processor acquires a posture conversion matrix from the carrier coordinate system to the geographic coordinate system according to the posture of the carrier relative to the geographic coordinate system, and the projection of the vector of the centroid direction on the carrier coordinate system is subjected to coordinate conversion to obtain the projection of the vector of the centroid direction on the geographic coordinate system; calculating by reference time information and a solar ephemeris to obtain the projection of the sun-center direction vector at the current moment in the earth-center inertial system, and obtaining the projection of the sun-center direction vector in the earth-center fixed connection system through coordinate conversion; obtaining longitude and latitude information of the position of the carrier through analysis and calculation;
the projection calculation formula of the centroid direction vector in the geographic coordinate system is as follows:
wherein S isbRepresents the projection of the sun direction vector measured by the neutron detector on the carrier coordinate system,
representing a transformation matrix from the coordinate system of the carrier to the geographic coordinate system determined by means of a horizon finder and a north finder, SnRepresenting a projection of the centroid direction vector in a geographic coordinate system;
the method for obtaining the projection of the sun center direction vector on the earth fixed connection system through coordinate conversion comprises the following steps:
wherein S isiRepresents the projection of the sun direction vector on the earth center inertia system,
transformation matrix, S, representing the geocentric inertial system to the Earth' S solid-connected systemeRepresenting the projection of the vector of the centroid direction on the earth fixed relation;
the method for analyzing and calculating the longitude and latitude information of the position of the carrier comprises the following steps:
wherein,
a transformation matrix representing the earth's fixed link to a geographic coordinate system, expressed as follows:
wherein L and λ represent the latitude and longitude of the carrier, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910218756.6A CN109974692B (en) | 2019-03-21 | 2019-03-21 | Hidden environment astronomical positioning system and method based on Mitsui signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910218756.6A CN109974692B (en) | 2019-03-21 | 2019-03-21 | Hidden environment astronomical positioning system and method based on Mitsui signal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109974692A CN109974692A (en) | 2019-07-05 |
| CN109974692B true CN109974692B (en) | 2021-08-10 |
Family
ID=67079865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910218756.6A Active CN109974692B (en) | 2019-03-21 | 2019-03-21 | Hidden environment astronomical positioning system and method based on Mitsui signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109974692B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833878B (en) * | 2021-01-05 | 2023-05-05 | 上海航天控制技术研究所 | Near-ground multi-source astronomical autonomous navigation method |
| CN112987062A (en) * | 2021-02-25 | 2021-06-18 | 贵州华图科技有限公司 | Underground positioning method and system based on Chinese-micro son communication |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201126479Y (en) * | 2007-12-07 | 2008-10-01 | 天津修船技术研究所 | Cosmic radiation tau neutrino detector |
| CN101339036A (en) * | 2008-08-20 | 2009-01-07 | 北京航空航天大学 | Terrain auxiliary navigation method and apparatus |
| CN102506894A (en) * | 2011-10-11 | 2012-06-20 | 北京航空航天大学 | Stationary base platform absolute space attitude reference establishing method based on precise timing |
| WO2014199073A1 (en) * | 2013-06-12 | 2014-12-18 | Star Nav | Electronic sextant with a triaxial inertial system and method for position determination |
| CN104880192A (en) * | 2015-06-12 | 2015-09-02 | 北京航空航天大学 | Carrier course angle calculation method based on polarization compass |
| CN104880191A (en) * | 2015-06-02 | 2015-09-02 | 北京航空航天大学 | Polarization aided navigation method based on solar vectors |
| CN105115477A (en) * | 2015-07-27 | 2015-12-02 | 上海卫星工程研究所 | Ground point target push-scanning imaging task parameter spaceborne solving method |
| CN105180938A (en) * | 2015-06-03 | 2015-12-23 | 北京理工大学 | Particle filter-based gravity sampling vector matching positioning method |
| CN108657470A (en) * | 2018-05-14 | 2018-10-16 | 上海微小卫星工程中心 | Spacecraft windsurfing one dimensional driving mechanism stagnates position in-orbit identification and modification method |
| CN108759819A (en) * | 2018-06-08 | 2018-11-06 | 北京航空航天大学 | A kind of polarization navigation real-time location method based on omnimax polarization degree information |
| CN109459027A (en) * | 2018-11-09 | 2019-03-12 | 北京航空航天大学 | It is a kind of based on polarization-ground magnetic vector tight integration air navigation aid |
| CN109470237A (en) * | 2018-12-17 | 2019-03-15 | 大连理工大学 | One kind is based on polarised light and earth magnetism integrated navigation attitude measurement method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7773204B1 (en) * | 2006-07-20 | 2010-08-10 | United States Of America As Represented By The Secretary Of The Navy | Apparatus and method for spatial encoding of a search space |
| US8849565B1 (en) * | 2007-06-28 | 2014-09-30 | The Boeing Company | Navigation system based on neutrino detection |
| US20090228210A1 (en) * | 2007-06-28 | 2009-09-10 | The Boeing Company | Navigation system based on neutrino detection |
| CN101893440B (en) * | 2010-05-19 | 2011-12-14 | 哈尔滨工业大学 | Celestial autonomous navigation method based on star sensors |
| CN106847045A (en) * | 2017-01-20 | 2017-06-13 | 佛山市三水区希望火炬教育科技有限公司 | A kind of special submarine seabed strategy missile release system model of teenager's defence education |
-
2019
- 2019-03-21 CN CN201910218756.6A patent/CN109974692B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201126479Y (en) * | 2007-12-07 | 2008-10-01 | 天津修船技术研究所 | Cosmic radiation tau neutrino detector |
| CN101339036A (en) * | 2008-08-20 | 2009-01-07 | 北京航空航天大学 | Terrain auxiliary navigation method and apparatus |
| CN102506894A (en) * | 2011-10-11 | 2012-06-20 | 北京航空航天大学 | Stationary base platform absolute space attitude reference establishing method based on precise timing |
| WO2014199073A1 (en) * | 2013-06-12 | 2014-12-18 | Star Nav | Electronic sextant with a triaxial inertial system and method for position determination |
| CN104880191A (en) * | 2015-06-02 | 2015-09-02 | 北京航空航天大学 | Polarization aided navigation method based on solar vectors |
| CN105180938A (en) * | 2015-06-03 | 2015-12-23 | 北京理工大学 | Particle filter-based gravity sampling vector matching positioning method |
| CN104880192A (en) * | 2015-06-12 | 2015-09-02 | 北京航空航天大学 | Carrier course angle calculation method based on polarization compass |
| CN105115477A (en) * | 2015-07-27 | 2015-12-02 | 上海卫星工程研究所 | Ground point target push-scanning imaging task parameter spaceborne solving method |
| CN108657470A (en) * | 2018-05-14 | 2018-10-16 | 上海微小卫星工程中心 | Spacecraft windsurfing one dimensional driving mechanism stagnates position in-orbit identification and modification method |
| CN108759819A (en) * | 2018-06-08 | 2018-11-06 | 北京航空航天大学 | A kind of polarization navigation real-time location method based on omnimax polarization degree information |
| CN109459027A (en) * | 2018-11-09 | 2019-03-12 | 北京航空航天大学 | It is a kind of based on polarization-ground magnetic vector tight integration air navigation aid |
| CN109470237A (en) * | 2018-12-17 | 2019-03-15 | 大连理工大学 | One kind is based on polarised light and earth magnetism integrated navigation attitude measurement method |
Non-Patent Citations (3)
| Title |
|---|
| 《科学》2018年度十大科学突破;方陵生;《世界科学》;20190131(第1期);第4-9页 * |
| A heuristic approach to the detection of solar neutrinos;G Nicolescu;《journal of physics G:nuclear and particle physics》;20131231(第40期);第1-10页 * |
| 中微子探测技术的发展及其军事应用前景;钟鸣;《国防科技》;20190228;第40卷(第1期);第5-8页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109974692A (en) | 2019-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lu et al. | Geodesy | |
| CN101893440B (en) | Celestial autonomous navigation method based on star sensors | |
| CN103968836B (en) | A kind of method and device calculating moving target position based on sequential pseudo range difference | |
| Jing et al. | Characterisation of GNSS space service volume | |
| Bhatta | Global navigation satellite systems: insights into GPS, GLONASS, Galileo, Compass, and others | |
| CN103364056A (en) | Scaling buoy of three-antenna multi-mode GNSS (Global Navigation Satellite System) satellite height gauge | |
| CN109974692B (en) | Hidden environment astronomical positioning system and method based on Mitsui signal | |
| Parkinson et al. | Introduction, early history, and assuring PNT (PTA) | |
| CN103091721B (en) | Satellite joint inversion earth gravitational field method using different orbit inclination angles | |
| Alonso Arroyo | Contributions to land, sea, and sea ice remote sensing using GNSS-reflectometry | |
| Forden | The Military Capabilities and Implications of China's Indigenous Satellite-Based Navigation System | |
| Xiong et al. | Submarine navigation based on gravity gradient-terrain matching | |
| Krošelj et al. | Overview of GNSS systems and their operation | |
| Malik et al. | Optimization of a hybrid highly elliptical orbit‐based navigation system for continuous high accuracy navigation: An optimum choice for regional navigation | |
| Wu et al. | Navigation and Positioning Technology | |
| Fu | An investigation of GNSS radio occultation atmospheric sounding technique for australian meteorology | |
| Ashman | Incorporation of GNSS multipath to improve autonomous rendezvous, docking and proximity operations in space | |
| Shuai et al. | Navigations from Ground to Space | |
| Sahoo et al. | Investigating the effect of TEC variability on a dual-band GNSS receiver's geographic location using carrier phase measurement | |
| Wang et al. | Key technologies research of PNT system | |
| Kiernan | Guidance From Above in the Gulf War: A satellite system for determining precise locations performed well in its first battlefield tryout—2 years before it was supposed to be fully operational | |
| Cerruti | Solar radio burst effects on Global Positioning System receivers | |
| Nie et al. | Ionospheric irregularities coinciding with the 2023 Typhoon Saola: A multi‐instrument study | |
| Yang et al. | Hybrid carrier tracking and position determination using the low elevation satellite signals | |
| Ibrahim | Ranging to new satellites from Helwan laser tracking station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |